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IMU heading support for spikr-RT-RasPike-ART and libraspike-art #2

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IMU heading support for spikr-RT-RasPike-ART and libraspike-art #2

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39 changes: 34 additions & 5 deletions lib/pbio/drv/block_device/block_device_w25qxx_stm32.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,18 @@
#include <pbio/error.h>
#include <pbio/int_math.h>

static struct {
/**
* How much data to load on boot. Includes
* the size of this field, because it is also saved.
*/
uint32_t saved_size;
/**
* A copy of the data, up to 1024 bytes, loaded from flash and application heap.
*/
uint8_t data[1024];
} ramdisk __attribute__((section(".noinit"), used));

/**
* SPI bus state.
*/
Expand Down Expand Up @@ -579,24 +591,25 @@ void pbdrv_block_device_init(void) {
process_start(&pbdrv_block_device_w25qxx_stm32_init_process);
}

static pbio_error_t init_process_err;

PROCESS_THREAD(pbdrv_block_device_w25qxx_stm32_init_process, ev, data) {

static pbio_error_t err;
static struct pt child;

PROCESS_BEGIN();

bdev.process = &pbdrv_block_device_w25qxx_stm32_init_process;

// Write the ID getter command
PROCESS_PT_SPAWN(&child, spi_command_thread(&child, &cmd_id_tx, &err));
if (err != PBIO_SUCCESS) {
PROCESS_PT_SPAWN(&child, spi_command_thread(&child, &cmd_id_tx, &init_process_err));
if (init_process_err != PBIO_SUCCESS) {
PROCESS_EXIT();
}

// Get ID command reply
PROCESS_PT_SPAWN(&child, spi_command_thread(&child, &cmd_id_rx, &err));
if (err != PBIO_SUCCESS) {
PROCESS_PT_SPAWN(&child, spi_command_thread(&child, &cmd_id_rx, &init_process_err));
if (init_process_err != PBIO_SUCCESS) {
PROCESS_EXIT();
}

Expand All @@ -607,10 +620,26 @@ PROCESS_THREAD(pbdrv_block_device_w25qxx_stm32_init_process, ev, data) {

bdev.process = NULL;

// Read size of stored data.
PROCESS_PT_SPAWN(&child, pbdrv_block_device_read(&child, 0, (uint8_t *)&ramdisk.saved_size, sizeof(ramdisk.saved_size), &init_process_err));
if (init_process_err == PBIO_SUCCESS) {
// Read the available data into RAM.
if (ramdisk.saved_size > sizeof(ramdisk.data)) ramdisk.saved_size = sizeof(ramdisk.data);
PROCESS_PT_SPAWN(&child, pbdrv_block_device_read(&child, 0, (uint8_t *)&ramdisk, ramdisk.saved_size, &init_process_err));
}

// Deinitialization done.
pbdrv_init_busy_down();

PROCESS_END();
}

pbio_error_t pbdrv_block_device_get_data(uint8_t **data) {
*data = &ramdisk.data[0];

// Higher level code can use the ramdisk data if initialization completed
// successfully. Otherwise it should reset to factory default data.
return init_process_err;
}

#endif // PBDRV_CONFIG_BLOCK_DEVICE_W25QXX_STM32