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remove unused code from b2_imu for lpc arch and cleanup a little for readability

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This commit is contained in:
Felix Ruess
2011-02-10 21:20:37 +01:00
parent 31a3f44ece
commit 4867436a0f
2 changed files with 54 additions and 83 deletions
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sw/airborne/arch/lpc21/peripherals/ms2001_arch.c
+1 -1
View File
@@ -14,7 +14,7 @@ static void EXTINT_ISR(void) __attribute__((naked));
void ms2001_arch_init( void ) {
ms2001_cur_axe = 0;
ms2001_cur_axe = 0;
/* configure SS pin */
Ms2001Unselect(); /* pin idles high */
sw/airborne/arch/lpc21/subsystems/imu/imu_b2_arch.c
+53 -82
View File
@@ -26,9 +26,6 @@
int imu_overrun = 0;
volatile uint8_t imu_ssp_status;
static void SSP_ISR(void) __attribute__((naked));
#if 0
static inline bool_t isr_try_mag(void);
#endif
/* SSPCR0 settings */
#define SSP_DDS8 0x07 << 0 /* data size : 8 bits */
@@ -104,91 +101,65 @@ void imu_periodic(void) {
#include "led.h"
#if 0
static inline bool_t isr_try_mag(void) {
switch (micromag_status) {
case MS2001_IDLE :
ImuSetSSP8bits();
Ms2001SendReq();
return TRUE;
case MS2001_GOT_EOC:
ImuSetSSP8bits();
Ms2001ReadRes();
return TRUE;
}
return FALSE;
}
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
static void SSP_ISR(void) {
ISR_ENTRY();
ISR_ENTRY();
switch (imu_ssp_status) {
case IMU_SSP_STA_BUSY_MAX1168:
Max1168OnSpiInt();
if (isr_try_mag())
imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
else
imu_ssp_status = IMU_SSP_STA_IDLE;
break;
case IMU_SSP_STA_BUSY_MS2100:
Ms2001OnSpiInt();
imu_ssp_status = IMU_SSP_STA_IDLE;
break;
default:
// spurious interrupt
LED_ON(1);
}
switch (imu_ssp_status) {
case IMU_SSP_STA_BUSY_MAX1168:
Max1168OnSpiInt();
if (ms2001_status == MS2001_IDLE || ms2001_status == MS2001_GOT_EOC) {
ImuSetSSP8bits();
if (ms2001_status == MS2001_IDLE) {
Ms2001SendReq();
}
else { /* MS2001_GOT_EOC */
Ms2001ReadRes();
}
imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
}
else {
imu_ssp_status = IMU_SSP_STA_IDLE;
}
break;
case IMU_SSP_STA_BUSY_MS2100:
Ms2001OnSpiInt();
if (ms2001_status == MS2001_IDLE) {
Ms2001SendReq();
imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
}
else
imu_ssp_status = IMU_SSP_STA_IDLE;
break;
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
#endif
static void SSP_ISR(void) {
ISR_ENTRY();
switch (imu_ssp_status) {
case IMU_SSP_STA_BUSY_MAX1168:
Max1168OnSpiInt();
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
if (ms2001_status == MS2001_IDLE || ms2001_status == MS2001_GOT_EOC) {
ImuSetSSP8bits();
if (ms2001_status == MS2001_IDLE) {
Ms2001SendReq();
}
else { /* MS2001_GOT_EOC */
Ms2001ReadRes();
}
imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
}
else {
#endif
imu_ssp_status = IMU_SSP_STA_IDLE;
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
}
#endif
break;
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
case IMU_SSP_STA_BUSY_MS2100:
Ms2001OnSpiInt();
if (ms2001_status == MS2001_IDLE) {
Ms2001SendReq();
imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
}
else
imu_ssp_status = IMU_SSP_STA_IDLE;
break;
#endif
// default:
// spurious interrupt
// FIXME LED_ON(1);
}
}
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
#else //no IMU_B2_MAG_MS2001
static void SSP_ISR(void) {
ISR_ENTRY();
switch (imu_ssp_status) {
case IMU_SSP_STA_BUSY_MAX1168:
Max1168OnSpiInt();
imu_ssp_status = IMU_SSP_STA_IDLE;
break;
// default:
// spurious interrupt
// FIXME LED_ON(1);
}
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
#endif //no IMU_B2_MAG_MS2001