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Speed up accelerometer data intake.

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The LIS2DH12 driver performed an unnecessary endianness conversion, as
data from the sensor was already coming in little-endian format.  The
MMA8652FC driver is now using the rev16 opcode to perform the swap
rather than doing all the bitshuffling operations in multiple steps.
This commit is contained in:
Alessandro Gatti
2019-08-29 04:03:54 +02:00
parent c96f1b528a
commit 5eb3df47df
5 changed files with 29 additions and 23 deletions
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2
workspace/TS100/Core/Inc/LIS2DH12.hpp
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@@ -34,7 +34,7 @@ public:
return static_cast<Orientation>((FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,LIS_INT2_SRC) >> 2) - 1); return static_cast<Orientation>((FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,LIS_INT2_SRC) >> 2) - 1);
#endif #endif
} }
static void getAxisReadings(int16_t *x, int16_t *y, int16_t *z); static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);
private: private:
}; };

2
workspace/TS100/Core/Inc/MMA8652FC.hpp
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@@ -19,7 +19,7 @@ public:
static void initalize(); // Initalize the system static void initalize(); // Initalize the system
static Orientation getOrientation();// Reads the I2C register and returns the orientation (true == left) static Orientation getOrientation();// Reads the I2C register and returns the orientation (true == left)
static void getAxisReadings(int16_t *x, int16_t *y, int16_t *z); static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);
private: private:
}; };

23
workspace/TS100/Core/Src/LIS2DH12.cpp
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@@ -5,9 +5,10 @@
* Author: Ralim * Author: Ralim
*/ */
#include <LIS2DH12.hpp> #include <array>
#include "cmsis_os.h"
#include "LIS2DH12.hpp"
#include "cmsis_os.h"
typedef struct { typedef struct {
const uint8_t reg; const uint8_t reg;
@@ -36,14 +37,14 @@ void LIS2DH12::initalize() {
} }
} }
void LIS2DH12::getAxisReadings(int16_t* x, int16_t* y, int16_t* z) { void LIS2DH12::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
uint8_t tempArr[6]; std::array<int16_t, 3> sensorData;
FRToSI2C::Mem_Read(LIS2DH_I2C_ADDRESS, 0xA8, I2C_MEMADD_SIZE_8BIT,
(uint8_t*) tempArr, 6);
(*x) = ((uint16_t) (tempArr[1] << 8 | tempArr[0])); FRToSI2C::Mem_Read(LIS2DH_I2C_ADDRESS, 0xA8, I2C_MEMADD_SIZE_8BIT,
(*y) = ((uint16_t) (tempArr[3] << 8 | tempArr[2])); reinterpret_cast<uint8_t*>(sensorData.begin()),
(*z) = ((uint16_t) (tempArr[5] << 8 | tempArr[4])); sensorData.size() * sizeof(int16_t));
x = sensorData[0];
y = sensorData[1];
z = sensorData[2];
} }

21
workspace/TS100/Core/Src/MMA8652FC.cpp
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@@ -5,7 +5,9 @@
* Author: Ben V. Brown * Author: Ben V. Brown
*/ */
#include <MMA8652FC.hpp> #include <array>
#include "MMA8652FC.hpp"
#include "cmsis_os.h" #include "cmsis_os.h"
typedef struct { typedef struct {
@@ -62,12 +64,15 @@ Orientation MMA8652FC::getOrientation() {
return ORIENTATION_FLAT; return ORIENTATION_FLAT;
} }
void MMA8652FC::getAxisReadings(int16_t *x, int16_t *y, int16_t *z) {
uint8_t tempArr[6];
FRToSI2C::Mem_Read( MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT,
(uint8_t*) tempArr, 6);
(*x) = tempArr[0] << 8 | tempArr[1]; void MMA8652FC::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
(*y) = tempArr[2] << 8 | tempArr[3]; std::array<int16_t, 3> sensorData;
(*z) = tempArr[4] << 8 | tempArr[5];
FRToSI2C::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT,
reinterpret_cast<uint8_t*>(sensorData.begin()),
sensorData.size() * sizeof(int16_t));
x = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[0])));
y = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[1])));
z = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[2])));
} }

4
workspace/TS100/Core/Src/main.cpp
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@@ -254,10 +254,10 @@ void startMOVTask(void const *argument __unused) {
threshold -= systemSettings.sensitivity * 200; // 200 is the step size threshold -= systemSettings.sensitivity * 200; // 200 is the step size
if (PCBVersion == 2) { if (PCBVersion == 2) {
LIS2DH12::getAxisReadings(&tx, &ty, &tz); LIS2DH12::getAxisReadings(tx, ty, tz);
rotation = LIS2DH12::getOrientation(); rotation = LIS2DH12::getOrientation();
} else if (PCBVersion == 1) { } else if (PCBVersion == 1) {
MMA8652FC::getAxisReadings(&tx, &ty, &tz); MMA8652FC::getAxisReadings(tx, ty, tz);
rotation = MMA8652FC::getOrientation(); rotation = MMA8652FC::getOrientation();
} }
if (systemSettings.OrientationMode == 2) { if (systemSettings.OrientationMode == 2) {