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Merge #19549 #19608 #19657

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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>
This commit is contained in:
bors[bot] 2023-05-23 23:35:57 +00:00 committed by GitHub
commit 40d0f64a04
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 72 additions and 91 deletions
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18
Makefile.include
View File

@ -728,6 +728,15 @@ else
_LINK = $(if $(CPPMIX),$(LINKXX),$(LINK)) $$(find $(BASELIBS:%.module=$(BINDIR)/%/) -name "*.o" 2> /dev/null | sort) $(ARCHIVES_GROUP) $(LINKFLAGS) $(LINKFLAGPREFIX)-Map=$(BINDIR)/$(APPLICATION).map _LINK = $(if $(CPPMIX),$(LINKXX),$(LINK)) $$(find $(BASELIBS:%.module=$(BINDIR)/%/) -name "*.o" 2> /dev/null | sort) $(ARCHIVES_GROUP) $(LINKFLAGS) $(LINKFLAGPREFIX)-Map=$(BINDIR)/$(APPLICATION).map
endif # BUILDOSXNATIVE endif # BUILDOSXNATIVE
COMPILE_COMMANDS_PATH ?= $(RIOTBASE)/compile_commands.json
COMPILE_COMMANDS_FLAGS ?= --clangd
.PHONY: compile-commands
compile-commands: $(BUILDDEPS)
$(Q)DIRS="$(DIRS)" APPLICATION_BLOBS="$(BLOBS)" \
"$(MAKE)" -C $(APPDIR) -f $(RIOTMAKE)/application.inc.mk compile-commands
$(Q)$(RIOTTOOLS)/compile_commands/compile_commands.py $(COMPILE_COMMANDS_FLAGS) $(BINDIR) \
> $(COMPILE_COMMANDS_PATH)
ifeq ($(BUILD_IN_DOCKER),1) ifeq ($(BUILD_IN_DOCKER),1)
link: ..in-docker-container link: ..in-docker-container
else else
@ -751,15 +760,6 @@ $(APPLICATION_MODULE).module: pkg-build $(BUILDDEPS)
"$(MAKE)" -C $(APPDIR) -f $(RIOTMAKE)/application.inc.mk "$(MAKE)" -C $(APPDIR) -f $(RIOTMAKE)/application.inc.mk
$(APPLICATION_MODULE).module: FORCE $(APPLICATION_MODULE).module: FORCE
COMPILE_COMMANDS_PATH ?= $(RIOTBASE)/compile_commands.json
COMPILE_COMMANDS_FLAGS ?= --clangd
.PHONY: compile-commands
compile-commands: $(BUILDDEPS)
$(Q)DIRS="$(DIRS)" APPLICATION_BLOBS="$(BLOBS)" \
"$(MAKE)" -C $(APPDIR) -f $(RIOTMAKE)/application.inc.mk compile-commands
$(Q)$(RIOTTOOLS)/compile_commands/compile_commands.py $(COMPILE_COMMANDS_FLAGS) $(BINDIR) \
> $(COMPILE_COMMANDS_PATH)
# Other modules are built by application.inc.mk and packages building # Other modules are built by application.inc.mk and packages building
_SUBMAKE_LIBS = $(filter-out $(APPLICATION_MODULE).module $(APPDEPS), $(BASELIBS) $(ARCHIVES)) _SUBMAKE_LIBS = $(filter-out $(APPLICATION_MODULE).module $(APPDEPS), $(BASELIBS) $(ARCHIVES))
$(_SUBMAKE_LIBS): $(APPLICATION_MODULE).module pkg-build $(_SUBMAKE_LIBS): $(APPLICATION_MODULE).module pkg-build

141
drivers/mpu9x50/mpu9x50.c
View File

@ -236,28 +236,19 @@ int mpu9x50_set_compass_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
return 0; return 0;
} }
static inline uint32_t gyro_fsr_enum_to_value(mpu9x50_gyro_ranges_t fsr)
{
return 250U << fsr;
}
int mpu9x50_read_gyro(const mpu9x50_t *dev, mpu9x50_results_t *output) int mpu9x50_read_gyro(const mpu9x50_t *dev, mpu9x50_results_t *output)
{ {
uint8_t data[6]; uint8_t data[6];
int16_t temp; int16_t temp;
float fsr;
switch (dev->conf.gyro_fsr) { assert((unsigned)dev->conf.gyro_fsr <= (unsigned)MPU9X50_GYRO_FSR_2000DPS);
case MPU9X50_GYRO_FSR_250DPS:
fsr = 250.0; uint32_t fsr = gyro_fsr_enum_to_value(dev->conf.gyro_fsr);
break;
case MPU9X50_GYRO_FSR_500DPS:
fsr = 500.0;
break;
case MPU9X50_GYRO_FSR_1000DPS:
fsr = 1000.0;
break;
case MPU9X50_GYRO_FSR_2000DPS:
fsr = 2000.0;
break;
default:
return -2;
}
/* Acquire exclusive access */ /* Acquire exclusive access */
i2c_acquire(DEV_I2C); i2c_acquire(DEV_I2C);
@ -267,38 +258,29 @@ int mpu9x50_read_gyro(const mpu9x50_t *dev, mpu9x50_results_t *output)
i2c_release(DEV_I2C); i2c_release(DEV_I2C);
/* Normalize data according to configured full scale range */ /* Normalize data according to configured full scale range */
temp = (data[0] << 8) | data[1]; temp = byteorder_lebuftohs(&data[0]);
output->x_axis = (temp * fsr) / MAX_VALUE; output->x_axis = (temp * fsr) / MAX_VALUE;
temp = (data[2] << 8) | data[3]; temp = byteorder_lebuftohs(&data[2]);
output->y_axis = (temp * fsr) / MAX_VALUE; output->y_axis = (temp * fsr) / MAX_VALUE;
temp = (data[4] << 8) | data[5]; temp = byteorder_lebuftohs(&data[4]);
output->z_axis = (temp * fsr) / MAX_VALUE; output->z_axis = (temp * fsr) / MAX_VALUE;
return 0; return 0;
} }
static inline uint32_t accel_fsr_enum_to_value(mpu9x50_accel_ranges_t fsr)
{
return 2000U << fsr;
}
int mpu9x50_read_accel(const mpu9x50_t *dev, mpu9x50_results_t *output) int mpu9x50_read_accel(const mpu9x50_t *dev, mpu9x50_results_t *output)
{ {
uint8_t data[6]; uint8_t data[6];
int16_t temp; int16_t temp;
float fsr;
switch (dev->conf.accel_fsr) { assert((unsigned)dev->conf.accel_fsr <= (unsigned)MPU9X50_ACCEL_FSR_16G);
case MPU9X50_ACCEL_FSR_2G:
fsr = 2000.0; uint32_t fsr = accel_fsr_enum_to_value(dev->conf.accel_fsr);
break;
case MPU9X50_ACCEL_FSR_4G:
fsr = 4000.0;
break;
case MPU9X50_ACCEL_FSR_8G:
fsr = 8000.0;
break;
case MPU9X50_ACCEL_FSR_16G:
fsr = 16000.0;
break;
default:
return -2;
}
/* Acquire exclusive access */ /* Acquire exclusive access */
i2c_acquire(DEV_I2C); i2c_acquire(DEV_I2C);
@ -308,16 +290,25 @@ int mpu9x50_read_accel(const mpu9x50_t *dev, mpu9x50_results_t *output)
i2c_release(DEV_I2C); i2c_release(DEV_I2C);
/* Normalize data according to configured full scale range */ /* Normalize data according to configured full scale range */
temp = (data[0] << 8) | data[1]; temp = byteorder_lebuftohs(&data[0]);
output->x_axis = (temp * fsr) / MAX_VALUE; output->x_axis = (temp * fsr) / MAX_VALUE;
temp = (data[2] << 8) | data[3]; temp = byteorder_lebuftohs(&data[2]);
output->y_axis = (temp * fsr) / MAX_VALUE; output->y_axis = (temp * fsr) / MAX_VALUE;
temp = (data[4] << 8) | data[5]; temp = byteorder_lebuftohs(&data[4]);
output->z_axis = (temp * fsr) / MAX_VALUE; output->z_axis = (temp * fsr) / MAX_VALUE;
return 0; return 0;
} }
static int16_t convert_magnometer(int16_t raw, uint8_t adjust)
{
int32_t tmp = raw;
/* Compute sensitivity adjustment */
tmp += tmp * ((int32_t)adjust - 128) / 256;
/* return normalized data */
return (tmp * 3) / 10;
}
int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output) int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output)
{ {
uint8_t data[6]; uint8_t data[6];
@ -329,22 +320,12 @@ int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output)
/* Release the bus */ /* Release the bus */
i2c_release(DEV_I2C); i2c_release(DEV_I2C);
output->x_axis = (data[1] << 8) | data[0]; output->x_axis = convert_magnometer(byteorder_lebuftohs(&data[0]),
output->y_axis = (data[3] << 8) | data[2]; dev->conf.compass_x_adj);
output->z_axis = (data[5] << 8) | data[4]; output->y_axis = convert_magnometer(byteorder_lebuftohs(&data[2]),
dev->conf.compass_y_adj);
/* Compute sensitivity adjustment */ output->z_axis = convert_magnometer(byteorder_lebuftohs(&data[4]),
output->x_axis = (int16_t) (((float)output->x_axis) * dev->conf.compass_z_adj);
((((dev->conf.compass_x_adj - 128) * 0.5) / 128.0) + 1));
output->y_axis = (int16_t) (((float)output->y_axis) *
((((dev->conf.compass_y_adj - 128) * 0.5) / 128.0) + 1));
output->z_axis = (int16_t) (((float)output->z_axis) *
((((dev->conf.compass_z_adj - 128) * 0.5) / 128.0) + 1));
/* Normalize data according to full-scale range */
output->x_axis = output->x_axis * 0.3;
output->y_axis = output->y_axis * 0.3;
output->z_axis = output->z_axis * 0.3;
return 0; return 0;
} }
@ -374,18 +355,18 @@ int mpu9x50_set_gyro_fsr(mpu9x50_t *dev, mpu9x50_gyro_ranges_t fsr)
} }
switch (fsr) { switch (fsr) {
case MPU9X50_GYRO_FSR_250DPS: case MPU9X50_GYRO_FSR_250DPS:
case MPU9X50_GYRO_FSR_500DPS: case MPU9X50_GYRO_FSR_500DPS:
case MPU9X50_GYRO_FSR_1000DPS: case MPU9X50_GYRO_FSR_1000DPS:
case MPU9X50_GYRO_FSR_2000DPS: case MPU9X50_GYRO_FSR_2000DPS:
i2c_acquire(DEV_I2C); i2c_acquire(DEV_I2C);
i2c_write_reg(DEV_I2C, DEV_ADDR, i2c_write_reg(DEV_I2C, DEV_ADDR,
MPU9X50_GYRO_CFG_REG, (fsr << 3), 0); MPU9X50_GYRO_CFG_REG, (fsr << 3), 0);
i2c_release(DEV_I2C); i2c_release(DEV_I2C);
dev->conf.gyro_fsr = fsr; dev->conf.gyro_fsr = fsr;
break; break;
default: default:
return -2; return -2;
} }
return 0; return 0;
@ -398,18 +379,18 @@ int mpu9x50_set_accel_fsr(mpu9x50_t *dev, mpu9x50_accel_ranges_t fsr)
} }
switch (fsr) { switch (fsr) {
case MPU9X50_ACCEL_FSR_2G: case MPU9X50_ACCEL_FSR_2G:
case MPU9X50_ACCEL_FSR_4G: case MPU9X50_ACCEL_FSR_4G:
case MPU9X50_ACCEL_FSR_8G: case MPU9X50_ACCEL_FSR_8G:
case MPU9X50_ACCEL_FSR_16G: case MPU9X50_ACCEL_FSR_16G:
i2c_acquire(DEV_I2C); i2c_acquire(DEV_I2C);
i2c_write_reg(DEV_I2C, DEV_ADDR, i2c_write_reg(DEV_I2C, DEV_ADDR,
MPU9X50_ACCEL_CFG_REG, (fsr << 3), 0); MPU9X50_ACCEL_CFG_REG, (fsr << 3), 0);
i2c_release(DEV_I2C); i2c_release(DEV_I2C);
dev->conf.accel_fsr = fsr; dev->conf.accel_fsr = fsr;
break; break;
default: default:
return -2; return -2;
} }
return 0; return 0;

4
pkg/littlefs2/Makefile
View File

@ -1,7 +1,7 @@
PKG_NAME=littlefs2 PKG_NAME=littlefs2
PKG_URL=https://github.com/ARMmbed/littlefs.git PKG_URL=https://github.com/ARMmbed/littlefs.git
# v2.5.1 # v2.6
PKG_VERSION=6a53d76e90af33f0656333c1db09bd337fa75d23 PKG_VERSION=66f07563c333a6cfe25e51633ded6851568a0d49
PKG_LICENSE=Apache-2.0 PKG_LICENSE=Apache-2.0
include $(RIOTBASE)/pkg/pkg.mk include $(RIOTBASE)/pkg/pkg.mk