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author | px4dev <px4@purgatory.org> | 2013-07-24 22:53:10 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-07-24 22:53:10 -0700 |
commit | 33e33d71b8177fd3c1c9972e13d14184a5428e42 (patch) | |
tree | 107e8dddb3a04a6e4ef23681bce5c38ba6652323 /src/drivers/ms5611 | |
parent | d57d12818a3c79cc992ff70e765734e7145603d0 (diff) | |
download | px4-firmware-33e33d71b8177fd3c1c9972e13d14184a5428e42.tar.gz px4-firmware-33e33d71b8177fd3c1c9972e13d14184a5428e42.tar.bz2 px4-firmware-33e33d71b8177fd3c1c9972e13d14184a5428e42.zip |
Just the changes required to avoid SPI bus conflicts for MS5611
Diffstat (limited to 'src/drivers/ms5611')
-rw-r--r-- | src/drivers/ms5611/ms5611_spi.cpp | 28 |
1 files changed, 24 insertions, 4 deletions
diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp index 156832a61..1ea698922 100644 --- a/src/drivers/ms5611/ms5611_spi.cpp +++ b/src/drivers/ms5611/ms5611_spi.cpp @@ -103,6 +103,14 @@ private: * @param reg The register to read. */ uint16_t _reg16(unsigned reg); + + /** + * Wrapper around transfer() that prevents interrupt-context transfers + * from pre-empting us. The sensor may (does) share a bus with sensors + * that are polled from interrupt context (or we may be pre-empted) + * so we need to guarantee that transfers complete without interruption. + */ + int _transfer(uint8_t *send, uint8_t *recv, unsigned len); }; device::Device * @@ -161,7 +169,7 @@ MS5611_SPI::read(unsigned offset, void *data, unsigned count) /* read the most recent measurement */ buf[0] = 0 | DIR_WRITE; - int ret = transfer(&buf[0], &buf[0], sizeof(buf)); + int ret = _transfer(&buf[0], &buf[0], sizeof(buf)); if (ret == OK) { /* fetch the raw value */ @@ -206,7 +214,7 @@ MS5611_SPI::_reset() { uint8_t cmd = ADDR_RESET_CMD | DIR_WRITE; - return transfer(&cmd, nullptr, 1); + return _transfer(&cmd, nullptr, 1); } int @@ -214,7 +222,7 @@ MS5611_SPI::_measure(unsigned addr) { uint8_t cmd = addr | DIR_WRITE; - return transfer(&cmd, nullptr, 1); + return _transfer(&cmd, nullptr, 1); } @@ -244,9 +252,21 @@ MS5611_SPI::_reg16(unsigned reg) cmd[0] = reg | DIR_READ; - transfer(cmd, cmd, sizeof(cmd)); + _transfer(cmd, cmd, sizeof(cmd)); return (uint16_t)(cmd[1] << 8) | cmd[2]; } +int +MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len) +{ + irqstate_t flags = irqsave(); + + int ret = transfer(send, recv, len); + + irqrestore(flags); + + return ret; +} + #endif /* PX4_SPIDEV_BARO */ |