From 99b6e7c9eb1b956499fd1ee315c20b7d04b9682b Mon Sep 17 00:00:00 2001
From: koalo <koalo@koalo.de>
Date: Thu, 22 Aug 2019 02:06:58 +0200
Subject: [PATCH] feat(bhi160): Prepare for other data types
---
epicardium/epicardium.h | 8 ++++-
epicardium/modules/bhi.c | 66 +++++++++++++++++++---------------
pycardium/modules/bhi160-sys.c | 60 +++++--------------------------
pycardium/modules/py/bhi160.py | 12 +++----
pycardium/modules/qstrdefs.h | 1 -
5 files changed, 59 insertions(+), 88 deletions(-)
diff --git a/epicardium/epicardium.h b/epicardium/epicardium.h
index 7af2a798..0687f9d2 100644
--- a/epicardium/epicardium.h
+++ b/epicardium/epicardium.h
@@ -154,7 +154,7 @@ API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
#define EPIC_INT_UART_RX 2
/** RTC Alarm interrupt. See :c:func:`epic_isr_rtc_alarm` */
#define EPIC_INT_RTC_ALARM 3
-/** TODO: BHI */
+/** BHI */
#define EPIC_INT_BHI160_ACCELEROMETER 4
API_ISR(EPIC_INT_BHI160_ACCELEROMETER, epic_isr_bhi160_accelerometer);
#define EPIC_INT_BHI160_GYROSCOPE 5
@@ -943,6 +943,10 @@ enum bhi160_sensor_type {
BHI160_GEOMAGNETIC_ROTATION_VECTOR = 10,
};
+enum bhi160_data_type {
+ BHI160_DATA_TYPE_VECTOR
+};
+
/**
* BHI160 Sensor Data Types
* ------------------------
@@ -953,6 +957,8 @@ enum bhi160_sensor_type {
* range. See the individual sensor's documentation for details.
*/
struct bhi160_data_vector {
+ enum bhi160_data_type data_type;
+
/** X */
int16_t x;
/** Y */
diff --git a/epicardium/modules/bhi.c b/epicardium/modules/bhi.c
index 04e2ec54..461039e3 100644
--- a/epicardium/modules/bhi.c
+++ b/epicardium/modules/bhi.c
@@ -139,8 +139,9 @@ int epic_bhi160_enable_sensor(
return -ENOMEM;
}
- int streamret = stream_register(bhi160_lookup_sd(sensor_type), stream);
- if (streamret < 0) {
+ int streamret =
+ stream_register(bhi160_lookup_sd(sensor_type), stream);
+ if (streamret < 0) {
xSemaphoreGive(bhi160_mutex);
hwlock_release(HWLOCK_I2C);
return streamret;
@@ -214,54 +215,61 @@ bhi160_handle_packet(bhy_data_type_t data_type, bhy_data_generic_t *sensor_data)
* Timestamp of the next samples, counting at 32 kHz.
* Currently unused.
*/
- static uint32_t timestamp = 0;
+ static uint32_t timestamp = 0;
+ enum bhi160_sensor_type sensor_type = 0;
+ int epic_int = 0;
+ bool wakeup = false;
switch (sensor_id) {
- case VS_ID_TIMESTAMP_MSW:
case VS_ID_TIMESTAMP_MSW_WAKEUP:
+ wakeup = true;
+ /* fall through */
+ case VS_ID_TIMESTAMP_MSW:
MXC_ASSERT(data_type == BHY_DATA_TYPE_SCALAR_U16);
timestamp = sensor_data->data_scalar_u16.data << 16;
break;
- case VS_ID_TIMESTAMP_LSW:
case VS_ID_TIMESTAMP_LSW_WAKEUP:
+ wakeup = true;
+ /* fall through */
+ case VS_ID_TIMESTAMP_LSW:
MXC_ASSERT(data_type == BHY_DATA_TYPE_SCALAR_U16);
timestamp = (timestamp & 0xFFFF0000) |
sensor_data->data_scalar_u16.data;
break;
- case VS_ID_ACCELEROMETER:
case VS_ID_ACCELEROMETER_WAKEUP:
- MXC_ASSERT(data_type == BHY_DATA_TYPE_VECTOR);
- if (bhi160_streams[BHI160_ACCELEROMETER].queue == NULL) {
+ case VS_ID_GYROSCOPE_WAKEUP:
+ wakeup = true;
+ /* fall through */
+ case VS_ID_ACCELEROMETER:
+ case VS_ID_GYROSCOPE:
+ switch (sensor_id) {
+ case VS_ID_ACCELEROMETER_WAKEUP:
+ case VS_ID_ACCELEROMETER:
+ sensor_type = BHI160_ACCELEROMETER;
+ epic_int = EPIC_INT_BHI160_ACCELEROMETER;
+ break;
+ case VS_ID_GYROSCOPE_WAKEUP:
+ case VS_ID_GYROSCOPE:
+ sensor_type = BHI160_GYROSCOPE;
+ epic_int = EPIC_INT_BHI160_GYROSCOPE;
break;
}
- data_vector.x = sensor_data->data_vector.x;
- data_vector.y = sensor_data->data_vector.y;
- data_vector.z = sensor_data->data_vector.z;
- xQueueSend(
- bhi160_streams[BHI160_ACCELEROMETER].queue,
- &data_vector,
- BHI160_MUTEX_WAIT_MS
- );
- if (sensor_id == VS_ID_ACCELEROMETER_WAKEUP) {
- api_interrupt_trigger(EPIC_INT_BHI160_ACCELEROMETER);
- }
- break;
- case VS_ID_GYROSCOPE:
- case VS_ID_GYROSCOPE_WAKEUP:
+
MXC_ASSERT(data_type == BHY_DATA_TYPE_VECTOR);
- if (bhi160_streams[BHI160_GYROSCOPE].queue == NULL) {
+ if (bhi160_streams[sensor_type].queue == NULL) {
break;
}
- data_vector.x = sensor_data->data_vector.x;
- data_vector.y = sensor_data->data_vector.y;
- data_vector.z = sensor_data->data_vector.z;
+ data_vector.data_type = BHI160_DATA_TYPE_VECTOR;
+ data_vector.x = sensor_data->data_vector.x;
+ data_vector.y = sensor_data->data_vector.y;
+ data_vector.z = sensor_data->data_vector.z;
xQueueSend(
- bhi160_streams[BHI160_GYROSCOPE].queue,
+ bhi160_streams[sensor_type].queue,
&data_vector,
BHI160_MUTEX_WAIT_MS
);
- if (sensor_id == VS_ID_GYROSCOPE_WAKEUP) {
- api_interrupt_trigger(EPIC_INT_BHI160_GYROSCOPE);
+ if (wakeup) {
+ api_interrupt_trigger(epic_int);
}
break;
default:
diff --git a/pycardium/modules/bhi160-sys.c b/pycardium/modules/bhi160-sys.c
index 439ac1d4..af1cb8b8 100644
--- a/pycardium/modules/bhi160-sys.c
+++ b/pycardium/modules/bhi160-sys.c
@@ -7,13 +7,6 @@
extern const mp_obj_type_t mp_type_bhi160_sample;
-typedef struct _bhi160_sample_obj_t {
- mp_obj_base_t base;
- int x;
- int y;
- int z;
-} bhi160_sample_obj_t;
-
STATIC mp_obj_t mp_bhi160_enable_sensor(size_t n_args, const mp_obj_t *args)
{
int sensor_type = mp_obj_get_int(args[0]);
@@ -37,55 +30,20 @@ STATIC mp_obj_t mp_bhi160_read_sensor(mp_obj_t stream_id_in)
mp_obj_list_t *list = mp_obj_new_list(0, NULL);
for (int i = 0; i < n; i++) {
- bhi160_sample_obj_t *o = m_new_obj(bhi160_sample_obj_t);
- o->base.type = &mp_type_bhi160_sample;
- o->x = buf[i].x;
- o->y = buf[i].y;
- o->z = buf[i].z;
-
- mp_obj_list_append(list, MP_OBJ_FROM_PTR(o));
+ if (buf[i].data_type != BHI160_DATA_TYPE_VECTOR) {
+ // other data types are currently not supported
+ mp_raise_OSError(EINVAL);
+ }
+ mp_obj_t tuple[3];
+ tuple[0] = mp_obj_new_int(buf[i].x);
+ tuple[1] = mp_obj_new_int(buf[i].y);
+ tuple[2] = mp_obj_new_int(buf[i].z);
+ mp_obj_list_append(list, mp_obj_new_tuple(3, tuple));
}
return MP_OBJ_FROM_PTR(list);
}
-STATIC mp_obj_t mp_bhi160_x(mp_obj_t type)
-{
- bhi160_sample_obj_t *self = MP_OBJ_TO_PTR(type);
- return MP_OBJ_NEW_SMALL_INT(self->x);
-}
-static MP_DEFINE_CONST_FUN_OBJ_1(mp_bhi160_x_obj, mp_bhi160_x);
-
-STATIC mp_obj_t mp_bhi160_y(mp_obj_t type)
-{
- bhi160_sample_obj_t *self = MP_OBJ_TO_PTR(type);
- return MP_OBJ_NEW_SMALL_INT(self->y);
-}
-static MP_DEFINE_CONST_FUN_OBJ_1(mp_bhi160_y_obj, mp_bhi160_y);
-
-STATIC mp_obj_t mp_bhi160_z(mp_obj_t type)
-{
- bhi160_sample_obj_t *self = MP_OBJ_TO_PTR(type);
- return MP_OBJ_NEW_SMALL_INT(self->z);
-}
-static MP_DEFINE_CONST_FUN_OBJ_1(mp_bhi160_z_obj, mp_bhi160_z);
-
-STATIC const mp_rom_map_elem_t bhi160_sample_locals_dict_table[] = {
- { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&mp_bhi160_x_obj) },
- { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&mp_bhi160_y_obj) },
- { MP_ROM_QSTR(MP_QSTR_z), MP_ROM_PTR(&mp_bhi160_z_obj) },
-};
-
-STATIC MP_DEFINE_CONST_DICT(
- bhi160_sample_locals_dict, bhi160_sample_locals_dict_table
-);
-
-const mp_obj_type_t mp_type_bhi160_sample = {
- { &mp_type_type },
- .name = MP_QSTR_BHI160Sample,
- .locals_dict = (mp_obj_dict_t *)&bhi160_sample_locals_dict,
-};
-
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(
mp_bhi160_enable_sensor_obj, 4, 4, mp_bhi160_enable_sensor
);
diff --git a/pycardium/modules/py/bhi160.py b/pycardium/modules/py/bhi160.py
index 5b07cc48..7d318581 100644
--- a/pycardium/modules/py/bhi160.py
+++ b/pycardium/modules/py/bhi160.py
@@ -65,9 +65,9 @@ class BHI160Accelerometer(BHI160):
def convert(self, sample):
return dict(
{
- "x": self.convert_single(sample.x()),
- "y": self.convert_single(sample.y()),
- "z": self.convert_single(sample.z()),
+ "x": self.convert_single(sample[0]),
+ "y": self.convert_single(sample[1]),
+ "z": self.convert_single(sample[2]),
}
)
@@ -91,8 +91,8 @@ class BHI160Gyroscope(BHI160):
def convert(self, sample):
return dict(
{
- "x": self.convert_single(sample.x()),
- "y": self.convert_single(sample.y()),
- "z": self.convert_single(sample.z()),
+ "x": self.convert_single(sample[0]),
+ "y": self.convert_single(sample[1]),
+ "z": self.convert_single(sample[2]),
}
)
diff --git a/pycardium/modules/qstrdefs.h b/pycardium/modules/qstrdefs.h
index 94ead401..77978542 100644
--- a/pycardium/modules/qstrdefs.h
+++ b/pycardium/modules/qstrdefs.h
@@ -65,7 +65,6 @@ Q(RTC_ALARM)
Q(sys_bhi160)
Q(enable_sensor)
Q(read_sensor)
-Q(BHI160Sample)
Q(x)
Q(y)
Q(z)
--
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