add public API to read the buffer for burst reads from imu

lab11 · Jun 19, 2024 · 33cc47a · 33cc47a
1 parent 7b9f2ed
commit 33cc47a
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Showing 3 changed files with 12 additions and 7 deletions.
diff --git a/software/firmware/src/peripherals/include/imu.h b/software/firmware/src/peripherals/include/imu.h
@@ -309,6 +309,7 @@ void imu_read_axis_remap(bno055_axis_remap_t *remap);
 bool imu_set_axis_remap(bno055_axis_remap_t remap);
 void imu_read_euler_data(bno055_euler_t *euler);
 bool imu_read_in_motion(void);
+void imu_read_burst_buffer(uint8_t *destBuffer);
 
 // Math utilities
 void quaternion_to_euler(bno055_quaternion_t quaternion, bno055_euler_t *euler);

diff --git a/software/firmware/src/peripherals/src/imu.c b/software/firmware/src/peripherals/src/imu.c
@@ -40,11 +40,7 @@ void imu_iom_isr(void)
 static void nonblocking_read_complete(void *pCallbackCtxt, uint32_t transactionStatus)
 {
    uint8_t localBuffer[BURST_READ_LEN] = {0};
-
-   AM_CRITICAL_BEGIN
-   memcpy(localBuffer, gReadBuffer, BURST_READ_LEN);
-   memset(gReadBuffer, 0, BURST_READ_LEN);
-   AM_CRITICAL_END
+   imu_read_burst_buffer(localBuffer);
    data_ready_callback(localBuffer);
 }
 
@@ -527,3 +523,11 @@ bool imu_read_in_motion(void)
 {
    return previously_in_motion;
 }
+
+void imu_read_burst_buffer(uint8_t *destBuffer)
+{
+    AM_CRITICAL_BEGIN
+    memcpy(destBuffer, gReadBuffer, BURST_READ_LEN);
+    memset(gReadBuffer, 0, BURST_READ_LEN);
+    AM_CRITICAL_END
+}
diff --git a/software/firmware/tests/peripherals/test_imu.c b/software/firmware/tests/peripherals/test_imu.c
@@ -38,9 +38,9 @@ static void read_data(uint8_t interrupt_status)
 }
 
 static void handle_burst_data(uint8_t *localBuffer){
-    int16_t read_buffer[BURST_READ_SIZE/2] = {0};
+    int16_t read_buffer[BURST_READ_LEN/2] = {0};
 
-    for (uint32_t i = 0; i < BURST_READ_SIZE/2; i++)
+    for (uint32_t i = 0; i < BURST_READ_LEN/2; i++)
     {
        read_buffer[i] = ((int16_t)localBuffer[i*2]) | (((int16_t)localBuffer[i*2+1]) << 8);
     }