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hshosehshose
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reverting to exti interface
1 parent 82cf60c commit 7df0be8

2 files changed

Lines changed: 108 additions & 78 deletions

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‎examples/nucleo_h723zg/bmi270/i2c/main.cpp‎

Lines changed: 107 additions & 78 deletions
Original file line numberDiff line numberDiff line change
@@ -9,10 +9,11 @@
99
*/
1010
// ----------------------------------------------------------------------------
1111

12+
#include <atomic>
1213
#include <cstdint>
1314
#include <modm/board.hpp>
1415
#include <modm/driver/inertial/bmi270.hpp>
15-
#include <modm/processing/timer.hpp>
16+
#include <modm/processing/fiber/mutex.hpp>
1617

1718
using namespace Board;
1819

@@ -28,6 +29,58 @@ using Imu = modm::Bmi270<Transport>;
2829

2930
Imu imu{Transport::I2cAddress::SdoLow};
3031

32+
std::atomic<uint32_t> accInterruptCount{0};
33+
std::atomic<uint32_t> gyroInterruptCount{0};
34+
35+
std::atomic<int32_t> accX{0};
36+
std::atomic<int32_t> accY{0};
37+
std::atomic<int32_t> accZ{0};
38+
39+
std::atomic<int32_t> gyroX{0};
40+
std::atomic<int32_t> gyroY{0};
41+
std::atomic<int32_t> gyroZ{0};
42+
43+
modm::fiber::mutex imuBusLock;
44+
45+
void
46+
onDataReadyInterrupt()
47+
{
48+
if (!imuBusLock.try_lock()) { return; }
49+
50+
const auto status = imu.getStatus();
51+
if (!status)
52+
{
53+
imuBusLock.unlock();
54+
return;
55+
}
56+
57+
if (status->accDataReady)
58+
{
59+
const auto data = imu.readAccData();
60+
if (data)
61+
{
62+
accInterruptCount.fetch_add(1, std::memory_order_relaxed);
63+
accX.store(data->raw[0], std::memory_order_relaxed);
64+
accY.store(data->raw[1], std::memory_order_relaxed);
65+
accZ.store(data->raw[2], std::memory_order_relaxed);
66+
}
67+
}
68+
69+
if (status->gyroDataReady)
70+
{
71+
const auto data = imu.readGyroData();
72+
if (data)
73+
{
74+
gyroInterruptCount.fetch_add(1, std::memory_order_relaxed);
75+
gyroX.store(data->raw[0], std::memory_order_relaxed);
76+
gyroY.store(data->raw[1], std::memory_order_relaxed);
77+
gyroZ.store(data->raw[2], std::memory_order_relaxed);
78+
}
79+
}
80+
81+
imuBusLock.unlock();
82+
}
83+
3184
bool
3285
configureDriver()
3386
{
@@ -74,99 +127,75 @@ main()
74127
{
75128
Board::initialize();
76129
Leds::setOutput();
77-
I2c::connect<Scl::Scl, Sda::Sda>(I2c::PullUps::External);
130+
I2c::connect<Scl::Scl, Sda::Sda>(I2c::PullUps::Internal);
78131
I2c::initialize<Board::SystemClock, 1_MHz, 10_pct>();
79132
Int1::setInput(Int1::InputType::PullDown);
80133
Int2::setInput(Int2::InputType::PullDown);
81134

82-
MODM_LOG_INFO << "BMI270 I2C polling example" << modm::endl;
135+
MODM_LOG_INFO << "BMI270 I2C interrupt example" << modm::endl;
83136

84137
if (!configureDriver()) { MODM_LOG_ERROR << "Configuration failed!" << modm::endl; }
85138

86-
uint32_t accSampleCount{0};
87-
uint32_t gyroSampleCount{0};
88-
modm::PeriodicTimer printTimer{1s};
89-
90-
Imu::AccData latestAccData{};
91-
latestAccData.raw = modm::Vector3i(0, 0, 0);
92-
latestAccData.range = Imu::AccRange::Range2g;
93-
94-
Imu::GyroData latestGyroData{};
95-
latestGyroData.raw = modm::Vector3i(0, 0, 0);
96-
latestGyroData.range = Imu::GyroRange::Range2000dps;
97-
98-
std::optional<Imu::SensorStatus> latestStatus;
139+
Exti::connect<Int1>(Exti::Trigger::RisingEdge, [](auto) { onDataReadyInterrupt(); });
99140

100141
while (true)
101142
{
102-
if (Int1::read())
143+
modm::this_fiber::sleep_for(1s);
144+
145+
const uint32_t accCount = accInterruptCount.exchange(0, std::memory_order_relaxed);
146+
const uint32_t gyroCount = gyroInterruptCount.exchange(0, std::memory_order_relaxed);
147+
148+
Imu::AccData accData{};
149+
accData.raw = modm::Vector3i(accX.load(std::memory_order_relaxed),
150+
accY.load(std::memory_order_relaxed),
151+
accZ.load(std::memory_order_relaxed));
152+
accData.range = Imu::AccRange::Range2g;
153+
154+
Imu::GyroData gyroData{};
155+
gyroData.raw = modm::Vector3i(gyroX.load(std::memory_order_relaxed),
156+
gyroY.load(std::memory_order_relaxed),
157+
gyroZ.load(std::memory_order_relaxed));
158+
gyroData.range = Imu::GyroRange::Range2000dps;
159+
160+
const modm::Vector3f acc = accData.getFloat();
161+
const modm::Vector3f gyro = gyroData.getFloat();
162+
163+
std::optional<Imu::Temperature> temperature;
164+
std::optional<Imu::SensorStatus> status;
165+
imuBusLock.lock();
166+
temperature = imu.getTemperature();
167+
status = imu.getStatus();
168+
imuBusLock.unlock();
169+
170+
MODM_LOG_INFO << "Interrupts in last 1s: acc=" << accCount << " gyro=" << gyroCount
171+
<< modm::endl;
172+
173+
MODM_LOG_INFO << "Latest Values Acc [mg] x: " << acc[0] << " y: " << acc[1]
174+
<< " z: " << acc[2] << modm::endl;
175+
MODM_LOG_INFO << "Latest Values Gyro [deg/s] x: " << gyro[0] << " y: " << gyro[1]
176+
<< " z: " << gyro[2] << modm::endl;
177+
178+
if (temperature and temperature->valid)
179+
{
180+
MODM_LOG_INFO << "Current Temperature [C]: " << temperature->celsius << modm::endl;
181+
} else
103182
{
104-
if (const auto status = imu.getStatus())
105-
{
106-
latestStatus = status;
107-
108-
if (status->accDataReady)
109-
{
110-
if (const auto accData = imu.readAccData())
111-
{
112-
latestAccData = *accData;
113-
++accSampleCount;
114-
}
115-
}
116-
117-
if (status->gyroDataReady)
118-
{
119-
if (const auto gyroData = imu.readGyroData())
120-
{
121-
latestGyroData = *gyroData;
122-
++gyroSampleCount;
123-
}
124-
}
125-
}
183+
MODM_LOG_INFO << "Temperature: invalid" << modm::endl;
126184
}
127185

128-
if (printTimer.execute())
186+
if (status)
187+
{
188+
MODM_LOG_INFO << "Current Status: acc=" << status->accDataReady
189+
<< " gyro=" << status->gyroDataReady << " aux=" << status->auxDataReady
190+
<< " cmd=" << status->commandReady << " auxBusy=" << status->auxBusy
191+
<< modm::endl;
192+
} else
129193
{
130-
const modm::Vector3f acc = latestAccData.getFloat();
131-
const modm::Vector3f gyro = latestGyroData.getFloat();
132-
const std::optional<Imu::Temperature> temperature = imu.getTemperature();
133-
134-
MODM_LOG_INFO << "Data-ready events in last 1s: acc=" << accSampleCount
135-
<< " gyro=" << gyroSampleCount << modm::endl;
136-
137-
accSampleCount = 0;
138-
gyroSampleCount = 0;
139-
140-
MODM_LOG_INFO << "Latest Values Acc [mg] x: " << acc[0] << " y: " << acc[1]
141-
<< " z: " << acc[2] << modm::endl;
142-
MODM_LOG_INFO << "Latest Values Gyro [deg/s] x: " << gyro[0] << " y: " << gyro[1]
143-
<< " z: " << gyro[2] << modm::endl;
144-
145-
if (temperature and temperature->valid)
146-
{
147-
MODM_LOG_INFO << "Current Temperature [C]: " << temperature->celsius << modm::endl;
148-
} else
149-
{
150-
MODM_LOG_INFO << "Temperature: invalid" << modm::endl;
151-
}
152-
153-
if (latestStatus)
154-
{
155-
MODM_LOG_INFO << "Current Status: acc=" << latestStatus->accDataReady
156-
<< " gyro=" << latestStatus->gyroDataReady
157-
<< " aux=" << latestStatus->auxDataReady
158-
<< " cmd=" << latestStatus->commandReady
159-
<< " auxBusy=" << latestStatus->auxBusy << modm::endl;
160-
} else
161-
{
162-
MODM_LOG_INFO << "Status: unavailable" << modm::endl;
163-
}
164-
MODM_LOG_INFO << modm::endl;
165-
166-
Board::LedGreen::toggle();
194+
MODM_LOG_INFO << "Status: unavailable" << modm::endl;
167195
}
196+
MODM_LOG_INFO << modm::endl;
168197

169-
modm::this_fiber::yield();
198+
Board::LedGreen::toggle();
170199
}
171200

172201
return 0;

‎examples/nucleo_h723zg/bmi270/i2c/project.xml‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -5,6 +5,7 @@
55
</options>
66
<modules>
77
<module>modm:build:scons</module>
8+
<module>modm:platform:exti</module>
89
<module>modm:platform:i2c:1</module>
910
<module>modm:driver:bmi270</module>
1011
<module>modm:processing:fiber</module>

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