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drivers/mpu9x50: migrate to ztimer

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This commit is contained in:
Alexandre Abadie 2021-12-08 15:27:18 +01:00
parent f4474ed817
commit 3a8a543a0c
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GPG Key ID: 1C919A403CAE1405
7 changed files with 26 additions and 23 deletions
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3
drivers/mpu9x50/Kconfig
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@ -28,6 +28,7 @@ config MODULE_MPU9X50
bool bool
depends on HAS_PERIPH_I2C depends on HAS_PERIPH_I2C
select MODULE_PERIPH_I2C select MODULE_PERIPH_I2C
select MODULE_XTIMER select MODULE_ZTIMER
select MODULE_ZTIMER_MSEC
endif # TEST_KCONFIG endif # TEST_KCONFIG

3
drivers/mpu9x50/Makefile.dep
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@ -1,2 +1,3 @@
FEATURES_REQUIRED += periph_i2c FEATURES_REQUIRED += periph_i2c
USEMODULE += xtimer USEMODULE += ztimer
USEMODULE += ztimer_msec

8
drivers/mpu9x50/include/mpu9x50_internal.h
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@ -43,10 +43,10 @@ extern "C" {
* @name Sleep times in microseconds * @name Sleep times in microseconds
* @{ * @{
*/ */
#define MPU9X50_COMP_MODE_SLEEP_US (1000) #define MPU9X50_COMP_MODE_SLEEP_MS (1) /**< 1ms sleep for comp mode */
#define MPU9X50_BYPASS_SLEEP_US (3000) #define MPU9X50_BYPASS_SLEEP_MS (3) /**< 3ms sleep for bypass */
#define MPU9X50_PWR_CHANGE_SLEEP_US (50000) #define MPU9X50_PWR_CHANGE_SLEEP_MS (50) /**< 50ms sleep to change power */
#define MPU9X50_RESET_SLEEP_US (100000) #define MPU9X50_RESET_SLEEP_MS (100) /**< 100ms sleep during driver reset */
/** @} */ /** @} */
/** /**

22
drivers/mpu9x50/mpu9x50.c
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@ -24,7 +24,7 @@
#include "mpu9x50_regs.h" #include "mpu9x50_regs.h"
#include "mpu9x50_internal.h" #include "mpu9x50_internal.h"
#include "periph/i2c.h" #include "periph/i2c.h"
#include "xtimer.h" #include "ztimer.h"
#include "byteorder.h" #include "byteorder.h"
#define ENABLE_DEBUG 0 #define ENABLE_DEBUG 0
@ -73,7 +73,7 @@ int mpu9x50_init(mpu9x50_t *dev, const mpu9x50_params_t *params)
/* Reset MPU9X50 registers and afterwards wake up the chip */ /* Reset MPU9X50 registers and afterwards wake up the chip */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_RESET, 0); i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_RESET, 0);
xtimer_usleep(MPU9X50_RESET_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_RESET_SLEEP_MS);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_WAKEUP, 0); i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_WAKEUP, 0);
/* Release the bus, it is acquired again inside each function */ /* Release the bus, it is acquired again inside each function */
@ -103,7 +103,7 @@ int mpu9x50_init(mpu9x50_t *dev, const mpu9x50_params_t *params)
temp &= ~(MPU9X50_PWR_ACCEL | MPU9X50_PWR_GYRO); temp &= ~(MPU9X50_PWR_ACCEL | MPU9X50_PWR_GYRO);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_2_REG, temp, 0); i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_2_REG, temp, 0);
i2c_release(DEV_I2C); i2c_release(DEV_I2C);
xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_PWR_CHANGE_SLEEP_MS);
return 0; return 0;
} }
@ -142,7 +142,7 @@ int mpu9x50_set_accel_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
i2c_release(DEV_I2C); i2c_release(DEV_I2C);
dev->conf.accel_pwr = pwr_conf; dev->conf.accel_pwr = pwr_conf;
xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_PWR_CHANGE_SLEEP_MS);
return 0; return 0;
} }
@ -188,7 +188,7 @@ int mpu9x50_set_gyro_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
i2c_release(DEV_I2C); i2c_release(DEV_I2C);
dev->conf.gyro_pwr = pwr_conf; dev->conf.gyro_pwr = pwr_conf;
xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_PWR_CHANGE_SLEEP_MS);
return 0; return 0;
} }
@ -231,7 +231,7 @@ int mpu9x50_set_compass_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
i2c_release(DEV_I2C); i2c_release(DEV_I2C);
dev->conf.compass_pwr = pwr_conf; dev->conf.compass_pwr = pwr_conf;
xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_PWR_CHANGE_SLEEP_MS);
return 0; return 0;
} }
@ -492,10 +492,10 @@ static int compass_init(mpu9x50_t *dev)
/* Configure Power Down mode */ /* Configure Power Down mode */
i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_POWER_DOWN, 0); i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_POWER_DOWN, 0);
xtimer_usleep(MPU9X50_COMP_MODE_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_COMP_MODE_SLEEP_MS);
/* Configure Fuse ROM access */ /* Configure Fuse ROM access */
i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_FUSE_ROM, 0); i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_FUSE_ROM, 0);
xtimer_usleep(MPU9X50_COMP_MODE_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_COMP_MODE_SLEEP_MS);
/* Read sensitivity adjustment values from Fuse ROM */ /* Read sensitivity adjustment values from Fuse ROM */
i2c_read_regs(DEV_I2C, DEV_COMP_ADDR, COMPASS_ASAX_REG, data, 3, 0); i2c_read_regs(DEV_I2C, DEV_COMP_ADDR, COMPASS_ASAX_REG, data, 3, 0);
dev->conf.compass_x_adj = data[0]; dev->conf.compass_x_adj = data[0];
@ -503,7 +503,7 @@ static int compass_init(mpu9x50_t *dev)
dev->conf.compass_z_adj = data[2]; dev->conf.compass_z_adj = data[2];
/* Configure Power Down mode again */ /* Configure Power Down mode again */
i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_POWER_DOWN, 0); i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_POWER_DOWN, 0);
xtimer_usleep(MPU9X50_COMP_MODE_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_COMP_MODE_SLEEP_MS);
/* Disable Bypass Mode to configure MPU as master to the compass */ /* Disable Bypass Mode to configure MPU as master to the compass */
conf_bypass(dev, 0); conf_bypass(dev, 0);
@ -553,13 +553,13 @@ static void conf_bypass(const mpu9x50_t *dev, uint8_t bypass_enable)
if (bypass_enable) { if (bypass_enable) {
data &= ~(BIT_I2C_MST_EN); data &= ~(BIT_I2C_MST_EN);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, data, 0); i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, data, 0);
xtimer_usleep(MPU9X50_BYPASS_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_BYPASS_SLEEP_MS);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_INT_PIN_CFG_REG, BIT_I2C_BYPASS_EN, 0); i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_INT_PIN_CFG_REG, BIT_I2C_BYPASS_EN, 0);
} }
else { else {
data |= BIT_I2C_MST_EN; data |= BIT_I2C_MST_EN;
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, data, 0); i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, data, 0);
xtimer_usleep(MPU9X50_BYPASS_SLEEP_US); ztimer_sleep(ZTIMER_MSEC, MPU9X50_BYPASS_SLEEP_MS);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_INT_PIN_CFG_REG, REG_RESET, 0); i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_INT_PIN_CFG_REG, REG_RESET, 0);
} }
} }

3
tests/driver_mpu9x50/Makefile
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@ -3,6 +3,7 @@ include ../Makefile.tests_common
DRIVER ?= mpu9150 DRIVER ?= mpu9150
USEMODULE += $(DRIVER) USEMODULE += $(DRIVER)
USEMODULE += xtimer USEMODULE += ztimer
USEMODULE += ztimer_msec
include $(RIOTBASE)/Makefile.include include $(RIOTBASE)/Makefile.include

3
tests/driver_mpu9x50/app.config.test
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@ -1,4 +1,5 @@
# this file enables modules defined in Kconfig. Do not use this file for # this file enables modules defined in Kconfig. Do not use this file for
# application configuration. This is only needed during migration. # application configuration. This is only needed during migration.
CONFIG_MODULE_MPU9150=y CONFIG_MODULE_MPU9150=y
CONFIG_MODULE_XTIMER=y CONFIG_MODULE_ZTIMER=y
CONFIG_MODULE_ZTIMER_MSEC=y

7
tests/driver_mpu9x50/main.c
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@ -23,14 +23,13 @@
#include <stdio.h> #include <stdio.h>
#include <inttypes.h> #include <inttypes.h>
#include "xtimer.h" #include "timex.h"
#include "ztimer.h"
#include "board.h" #include "board.h"
#include "mpu9x50.h" #include "mpu9x50.h"
#include "mpu9x50_params.h" #include "mpu9x50_params.h"
#define SLEEP_USEC (1000 * 1000u)
int main(void) int main(void)
{ {
mpu9x50_t dev; mpu9x50_t dev;
@ -92,7 +91,7 @@ int main(void)
printf("Temperature [milli deg] : %"PRId32"\n", temperature); printf("Temperature [milli deg] : %"PRId32"\n", temperature);
printf("\n+-------------------------------------+\n"); printf("\n+-------------------------------------+\n");
xtimer_usleep(SLEEP_USEC); ztimer_sleep(ZTIMER_MSEC, MS_PER_SEC); /* 1s delay */
} }
return 0; return 0;