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fix dma locked

This commit is contained in:
Hugo Chiang 2023-02-11 13:48:06 +08:00
parent fea22959ed
commit e06cc3154a
1 changed files with 19 additions and 17 deletions
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36
src/main/drivers/accgyro/accgyro_spi_sh3001.c
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@ -42,7 +42,7 @@
extern compCoef_t sh3001CompCoef;
// Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
#define GYRO_EXTI_DETECT_THRESHOLD 10 // since the no-latched clean time is too long
#define SH3001_EXTI_DETECT_THRESHOLD 0 // since the no-latched clean time is too long
#ifdef USE_GYRO_EXTI
// Called in ISR context
@ -88,7 +88,7 @@ void sh3001ExtiHandler(extiCallbackRec_t* cb)
bool sh3001AccRead(accDev_t *acc)
{
switch (acc->gyro->gyroModeSPI) {
case GYRO_EXTI_INIT:
case GYRO_EXTI_INT:
case GYRO_EXTI_NO_INT:
{
@ -148,6 +148,7 @@ bool sh3001AccRead(accDev_t *acc)
break;
}
case GYRO_EXTI_INIT:
default:
break;
}
@ -155,27 +156,25 @@ bool sh3001AccRead(accDev_t *acc)
return true;
}
uint8_t initCount = 0;
static uint8_t sh3001InitCont = 0;
bool sh3001GyroRead(gyroDev_t *gyro)
{
int16_t *gyroData = (int16_t *)gyro->dev.rxBuf;
switch (gyro->gyroModeSPI) {
case GYRO_EXTI_INIT:
{
initCount++;
if (initCount > 200) {
// 0 R 1L 1H 2L 2H 3L 3H AL AH BL BH CL CH TL TH PP
// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
// 0 1 2 3 4 5 6 7 8
sh3001InitCont++;
if (sh3001InitCont > 200 ){
#ifdef USE_GYRO_EXTI
// Initialise the tx buffer to all 0x00
memset(gyro->dev.txBuf, 0x00, 18);
// 0 R 1L 1H 2L 2H 3L 3H AL AH BL BH CL CH TL TH EL EH
// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
// 0 1 2 3 4 5 6 7 8
#ifdef USE_GYRO_EXTI
// Check that minimum number of interrupts have been detected
// We need some offset from the gyro interrupts to ensure sampling after the interrupt
gyro->gyroDmaMaxDuration = 5;
// Using DMA for gyro access upsets the scheduler on the F4
if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
// Check that minimum number of interrupts have been detected
if (gyro->detectedEXTI > SH3001_EXTI_DETECT_THRESHOLD) {
if (spiUseDMA(&gyro->dev)) {
gyro->dev.callbackArg = (uint32_t)gyro;
gyro->dev.txBuf[1] = SH3001_REG_ACC_X_DATA_L | 0x80;
@ -185,6 +184,9 @@ bool sh3001GyroRead(gyroDev_t *gyro)
gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
gyro->segments[0].negateCS = true;
gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
// clear the data ready flag inside of the sensor
spiSequence(&gyro->dev, gyro->segments);
spiWait(&gyro->dev);
} else {
// Interrupts are present, but no DMA
gyro->gyroModeSPI = GYRO_EXTI_INT;
@ -203,11 +205,11 @@ bool sh3001GyroRead(gyroDev_t *gyro)
case GYRO_EXTI_NO_INT:
{
gyro->dev.txBuf[1] = SH3001_REG_GYRO_X_DATA_L | 0x80;
// 0 R 1L 1H 2L 2H 3L 3H TL TH EL EH
// 1 2 3 4 5 6 7 8 9 10
// 0 R 1L 1H 2L 2H 3L 3H TL TH PP
// 1 2 3 4 5 6 7 8 9 10 txBuf & rxBuf
// 0 1 2 3 4 5
busSegment_t segments[] = {
{.u.buffers = {NULL, NULL}, 11, true, NULL},
{.u.buffers = {NULL, NULL}, 10, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
segments[0].u.buffers.txData = &gyro->dev.txBuf[1];
@ -249,7 +251,7 @@ bool sh3001GyroRead(gyroDev_t *gyro)
// If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
// up an old value.
uint8_t paramP = gyro->dev.rxBuf[16] & 0x1F;
uint8_t paramP = gyro->dev.rxBuf[15] & 0x1F;
int32_t gyroTempX = gyroData[4] - (paramP - sh3001CompCoef.paramP0) * sh3001CompCoef.jX * sh3001CompCoef.xMulti;
int32_t gyroTempY = gyroData[5] - (paramP - sh3001CompCoef.paramP0) * sh3001CompCoef.jY * sh3001CompCoef.yMulti;