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19549: pkg/littlefs2: bump version to 2.6 r=benpicco a=benpicco 19608: build system: fix `make compile-commands BUILD_IN_DOCKER=1` r=benpicco a=maribu ### Contribution description Just run `make compile-commands` outside of docker, as the compile commands generated in the docker container won't be helpful for tools outside of the container anyway. 19657: drivers/mpu9x50: clean up code r=benpicco a=maribu ### Contribution description Avoid using floating point arithmetic and some minor cleanups. Co-authored-by: Benjamin Valentin <benjamin.valentin@ml-pa.com> Co-authored-by: Marian Buschsieweke <marian.buschsieweke@ovgu.de>
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@ -728,6 +728,15 @@ else
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_LINK = $(if $(CPPMIX),$(LINKXX),$(LINK)) $$(find $(BASELIBS:%.module=$(BINDIR)/%/) -name "*.o" 2> /dev/null | sort) $(ARCHIVES_GROUP) $(LINKFLAGS) $(LINKFLAGPREFIX)-Map=$(BINDIR)/$(APPLICATION).map
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endif # BUILDOSXNATIVE
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COMPILE_COMMANDS_PATH ?= $(RIOTBASE)/compile_commands.json
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COMPILE_COMMANDS_FLAGS ?= --clangd
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.PHONY: compile-commands
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compile-commands: $(BUILDDEPS)
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$(Q)DIRS="$(DIRS)" APPLICATION_BLOBS="$(BLOBS)" \
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"$(MAKE)" -C $(APPDIR) -f $(RIOTMAKE)/application.inc.mk compile-commands
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$(Q)$(RIOTTOOLS)/compile_commands/compile_commands.py $(COMPILE_COMMANDS_FLAGS) $(BINDIR) \
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> $(COMPILE_COMMANDS_PATH)
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ifeq ($(BUILD_IN_DOCKER),1)
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link: ..in-docker-container
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else
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@ -751,15 +760,6 @@ $(APPLICATION_MODULE).module: pkg-build $(BUILDDEPS)
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"$(MAKE)" -C $(APPDIR) -f $(RIOTMAKE)/application.inc.mk
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$(APPLICATION_MODULE).module: FORCE
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COMPILE_COMMANDS_PATH ?= $(RIOTBASE)/compile_commands.json
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COMPILE_COMMANDS_FLAGS ?= --clangd
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.PHONY: compile-commands
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compile-commands: $(BUILDDEPS)
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$(Q)DIRS="$(DIRS)" APPLICATION_BLOBS="$(BLOBS)" \
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"$(MAKE)" -C $(APPDIR) -f $(RIOTMAKE)/application.inc.mk compile-commands
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$(Q)$(RIOTTOOLS)/compile_commands/compile_commands.py $(COMPILE_COMMANDS_FLAGS) $(BINDIR) \
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> $(COMPILE_COMMANDS_PATH)
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# Other modules are built by application.inc.mk and packages building
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_SUBMAKE_LIBS = $(filter-out $(APPLICATION_MODULE).module $(APPDEPS), $(BASELIBS) $(ARCHIVES))
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$(_SUBMAKE_LIBS): $(APPLICATION_MODULE).module pkg-build
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@ -236,28 +236,19 @@ int mpu9x50_set_compass_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
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return 0;
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}
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static inline uint32_t gyro_fsr_enum_to_value(mpu9x50_gyro_ranges_t fsr)
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{
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return 250U << fsr;
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}
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int mpu9x50_read_gyro(const mpu9x50_t *dev, mpu9x50_results_t *output)
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{
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uint8_t data[6];
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int16_t temp;
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float fsr;
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switch (dev->conf.gyro_fsr) {
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case MPU9X50_GYRO_FSR_250DPS:
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fsr = 250.0;
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break;
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case MPU9X50_GYRO_FSR_500DPS:
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fsr = 500.0;
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break;
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case MPU9X50_GYRO_FSR_1000DPS:
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fsr = 1000.0;
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break;
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case MPU9X50_GYRO_FSR_2000DPS:
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fsr = 2000.0;
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break;
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default:
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return -2;
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}
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assert((unsigned)dev->conf.gyro_fsr <= (unsigned)MPU9X50_GYRO_FSR_2000DPS);
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uint32_t fsr = gyro_fsr_enum_to_value(dev->conf.gyro_fsr);
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/* Acquire exclusive access */
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i2c_acquire(DEV_I2C);
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@ -267,38 +258,29 @@ int mpu9x50_read_gyro(const mpu9x50_t *dev, mpu9x50_results_t *output)
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i2c_release(DEV_I2C);
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/* Normalize data according to configured full scale range */
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temp = (data[0] << 8) | data[1];
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temp = byteorder_lebuftohs(&data[0]);
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output->x_axis = (temp * fsr) / MAX_VALUE;
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temp = (data[2] << 8) | data[3];
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temp = byteorder_lebuftohs(&data[2]);
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output->y_axis = (temp * fsr) / MAX_VALUE;
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temp = (data[4] << 8) | data[5];
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temp = byteorder_lebuftohs(&data[4]);
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output->z_axis = (temp * fsr) / MAX_VALUE;
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return 0;
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}
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static inline uint32_t accel_fsr_enum_to_value(mpu9x50_accel_ranges_t fsr)
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{
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return 2000U << fsr;
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}
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int mpu9x50_read_accel(const mpu9x50_t *dev, mpu9x50_results_t *output)
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{
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uint8_t data[6];
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int16_t temp;
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float fsr;
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switch (dev->conf.accel_fsr) {
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case MPU9X50_ACCEL_FSR_2G:
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fsr = 2000.0;
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break;
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case MPU9X50_ACCEL_FSR_4G:
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fsr = 4000.0;
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break;
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case MPU9X50_ACCEL_FSR_8G:
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fsr = 8000.0;
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break;
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case MPU9X50_ACCEL_FSR_16G:
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fsr = 16000.0;
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break;
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default:
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return -2;
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}
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assert((unsigned)dev->conf.accel_fsr <= (unsigned)MPU9X50_ACCEL_FSR_16G);
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uint32_t fsr = accel_fsr_enum_to_value(dev->conf.accel_fsr);
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/* Acquire exclusive access */
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i2c_acquire(DEV_I2C);
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@ -308,16 +290,25 @@ int mpu9x50_read_accel(const mpu9x50_t *dev, mpu9x50_results_t *output)
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i2c_release(DEV_I2C);
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/* Normalize data according to configured full scale range */
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temp = (data[0] << 8) | data[1];
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temp = byteorder_lebuftohs(&data[0]);
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output->x_axis = (temp * fsr) / MAX_VALUE;
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temp = (data[2] << 8) | data[3];
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temp = byteorder_lebuftohs(&data[2]);
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output->y_axis = (temp * fsr) / MAX_VALUE;
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temp = (data[4] << 8) | data[5];
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temp = byteorder_lebuftohs(&data[4]);
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output->z_axis = (temp * fsr) / MAX_VALUE;
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return 0;
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}
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static int16_t convert_magnometer(int16_t raw, uint8_t adjust)
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{
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int32_t tmp = raw;
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/* Compute sensitivity adjustment */
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tmp += tmp * ((int32_t)adjust - 128) / 256;
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/* return normalized data */
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return (tmp * 3) / 10;
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}
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int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output)
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{
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uint8_t data[6];
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@ -329,22 +320,12 @@ int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output)
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/* Release the bus */
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i2c_release(DEV_I2C);
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output->x_axis = (data[1] << 8) | data[0];
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output->y_axis = (data[3] << 8) | data[2];
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output->z_axis = (data[5] << 8) | data[4];
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/* Compute sensitivity adjustment */
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output->x_axis = (int16_t) (((float)output->x_axis) *
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((((dev->conf.compass_x_adj - 128) * 0.5) / 128.0) + 1));
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output->y_axis = (int16_t) (((float)output->y_axis) *
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((((dev->conf.compass_y_adj - 128) * 0.5) / 128.0) + 1));
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output->z_axis = (int16_t) (((float)output->z_axis) *
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((((dev->conf.compass_z_adj - 128) * 0.5) / 128.0) + 1));
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/* Normalize data according to full-scale range */
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output->x_axis = output->x_axis * 0.3;
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output->y_axis = output->y_axis * 0.3;
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output->z_axis = output->z_axis * 0.3;
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output->x_axis = convert_magnometer(byteorder_lebuftohs(&data[0]),
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dev->conf.compass_x_adj);
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output->y_axis = convert_magnometer(byteorder_lebuftohs(&data[2]),
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dev->conf.compass_y_adj);
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output->z_axis = convert_magnometer(byteorder_lebuftohs(&data[4]),
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dev->conf.compass_z_adj);
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return 0;
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}
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@ -374,18 +355,18 @@ int mpu9x50_set_gyro_fsr(mpu9x50_t *dev, mpu9x50_gyro_ranges_t fsr)
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}
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switch (fsr) {
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case MPU9X50_GYRO_FSR_250DPS:
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case MPU9X50_GYRO_FSR_500DPS:
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case MPU9X50_GYRO_FSR_1000DPS:
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case MPU9X50_GYRO_FSR_2000DPS:
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i2c_acquire(DEV_I2C);
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i2c_write_reg(DEV_I2C, DEV_ADDR,
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MPU9X50_GYRO_CFG_REG, (fsr << 3), 0);
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i2c_release(DEV_I2C);
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dev->conf.gyro_fsr = fsr;
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break;
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default:
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return -2;
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case MPU9X50_GYRO_FSR_250DPS:
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case MPU9X50_GYRO_FSR_500DPS:
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case MPU9X50_GYRO_FSR_1000DPS:
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case MPU9X50_GYRO_FSR_2000DPS:
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i2c_acquire(DEV_I2C);
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i2c_write_reg(DEV_I2C, DEV_ADDR,
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MPU9X50_GYRO_CFG_REG, (fsr << 3), 0);
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i2c_release(DEV_I2C);
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dev->conf.gyro_fsr = fsr;
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break;
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default:
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return -2;
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}
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return 0;
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@ -398,18 +379,18 @@ int mpu9x50_set_accel_fsr(mpu9x50_t *dev, mpu9x50_accel_ranges_t fsr)
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}
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switch (fsr) {
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case MPU9X50_ACCEL_FSR_2G:
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case MPU9X50_ACCEL_FSR_4G:
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case MPU9X50_ACCEL_FSR_8G:
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case MPU9X50_ACCEL_FSR_16G:
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i2c_acquire(DEV_I2C);
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i2c_write_reg(DEV_I2C, DEV_ADDR,
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MPU9X50_ACCEL_CFG_REG, (fsr << 3), 0);
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i2c_release(DEV_I2C);
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dev->conf.accel_fsr = fsr;
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break;
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default:
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return -2;
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case MPU9X50_ACCEL_FSR_2G:
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case MPU9X50_ACCEL_FSR_4G:
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case MPU9X50_ACCEL_FSR_8G:
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case MPU9X50_ACCEL_FSR_16G:
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i2c_acquire(DEV_I2C);
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i2c_write_reg(DEV_I2C, DEV_ADDR,
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MPU9X50_ACCEL_CFG_REG, (fsr << 3), 0);
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i2c_release(DEV_I2C);
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dev->conf.accel_fsr = fsr;
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break;
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default:
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return -2;
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}
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return 0;
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@ -1,7 +1,7 @@
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PKG_NAME=littlefs2
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PKG_URL=https://github.com/ARMmbed/littlefs.git
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# v2.5.1
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PKG_VERSION=6a53d76e90af33f0656333c1db09bd337fa75d23
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# v2.6
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PKG_VERSION=66f07563c333a6cfe25e51633ded6851568a0d49
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PKG_LICENSE=Apache-2.0
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include $(RIOTBASE)/pkg/pkg.mk
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