X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.c;h=a1c32d4d836db80808389009a8b38d0e6d2565ee;hb=aab7b31b71aa7c87c5a5003084e4b7773c30835f;hp=eb4044be225ebd257aa058eaaf7615fe193f560a;hpb=6a62edd4a1f01a6ee380c3aabaff3f437e8d6f1e;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index eb4044be..a1c32d4d 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -102,16 +102,12 @@ ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which)
 	int16_t	diff = test - normal;
 
 	if (diff < MPU6000_ST_ACCEL(16) / 2) {
-		printf ("%s accel self test value too small (normal %d, test %d)\n",
-			which, normal, test);
-		return FALSE;
+		return 1;
 	}
 	if (diff > MPU6000_ST_ACCEL(16) * 2) {
-		printf ("%s accel self test value too large (normal %d, test %d)\n",
-			which, normal, test);
-		return FALSE;
+		return 1;
 	}
-	return TRUE;
+	return 0;
 }
 
 static uint8_t
@@ -122,23 +118,19 @@ ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which)
 	if (diff < 0)
 		diff = -diff;
 	if (diff < MPU6000_ST_GYRO(2000) / 2) {
-		printf ("%s gyro self test value too small (normal %d, test %d)\n",
-			which, normal, test);
-		return FALSE;
+		return 1;
 	}
 	if (diff > MPU6000_ST_GYRO(2000) * 2) {
-		printf ("%s gyro self test value too large (normal %d, test %d)\n",
-			which, normal, test);
-		return FALSE;
+		return 1;
 	}
-	return TRUE;
+	return 0;
 }
 
 static void
 ao_mpu6000_setup(void)
 {
 	struct ao_mpu6000_sample	normal_mode, test_mode;
-	int				t;
+	int				errors =0;
 
 	if (ao_mpu6000_configured)
 		return;
@@ -147,9 +139,9 @@ ao_mpu6000_setup(void)
 	
 	ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
 			     (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
-	while (ao_mpu6000_reg_read(MPU6000_PWR_MGMT_1) &
-	       (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET))
-		ao_yield();
+
+	/* Wait for it to reset. If we talk too quickly, it appears to get confused */
+	ao_delay(AO_MS_TO_TICKS(100));
 
 	/* Reset signal conditioning */
 	ao_mpu6000_reg_write(MPU6000_USER_CONTROL,
@@ -224,13 +216,16 @@ ao_mpu6000_setup(void)
 	ao_delay(AO_MS_TO_TICKS(10));
 	ao_mpu6000_sample(&normal_mode);
 	
-	ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
-	ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
-	ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z");
+	errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
+	errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
+	errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z");
 
-	ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x");
-	ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y");
-	ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
+	errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x");
+	errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y");
+	errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
+
+	if (errors)
+		ao_panic(AO_PANIC_SELF_TEST);
 
 	/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
 	ao_mpu6000_reg_write(MPU6000_CONFIG,
@@ -245,21 +240,42 @@ ao_mpu6000_setup(void)
 	ao_mpu6000_configured = 1;
 }
 
+struct ao_mpu6000_sample ao_mpu6000_current;
+uint8_t ao_mpu6000_valid;
+
+static void
+ao_mpu6000(void)
+{
+	ao_mpu6000_setup();
+	for (;;)
+	{
+		struct ao_mpu6000_sample ao_mpu6000_next;
+		ao_mpu6000_sample(&ao_mpu6000_next);
+		ao_arch_critical(
+			ao_mpu6000_current = ao_mpu6000_next;
+			ao_mpu6000_valid = 1;
+			);
+		ao_delay(0);
+	}
+}
+
+static struct ao_task ao_mpu6000_task;
 
 static void
 ao_mpu6000_show(void)
 {
 	struct ao_mpu6000_sample	sample;
 
-	ao_mpu6000_setup();
-	ao_mpu6000_sample(&sample);
+	ao_arch_critical(
+		sample = ao_mpu6000_current;
+		);
 	printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
-		ao_mpu6000_accel(sample.accel_x),
-		ao_mpu6000_accel(sample.accel_y),
-		ao_mpu6000_accel(sample.accel_z),
-		ao_mpu6000_gyro(sample.gyro_x),
-		ao_mpu6000_gyro(sample.gyro_y),
-		ao_mpu6000_gyro(sample.gyro_z));
+		sample.accel_x,
+		sample.accel_y,
+		sample.accel_z,
+		sample.gyro_x,
+		sample.gyro_y,
+		sample.gyro_z);
 }
 
 static const struct ao_cmds ao_mpu6000_cmds[] = {
@@ -271,6 +287,8 @@ void
 ao_mpu6000_init(void)
 {
 	ao_mpu6000_configured = 0;
+	ao_mpu6000_valid = 0;
 
+	ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
 	ao_cmd_register(&ao_mpu6000_cmds[0]);
 }