feat(bhi160): Prepare for other data types

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 */

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:

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
 );

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]),
             }
         )

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)