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move initial sensor priority to parameters and purge ORB_PRIORITY

Browse Source 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
This commit is contained in:
Daniel Agar
2020-08-21 10:12:13 -04:00
parent 971b1e4b4d
commit 27f23ac290
124 changed files with 463 additions and 509 deletions
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src/drivers/imu/adis16448/ADIS16448.cpp
+4 -4
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@@ -41,10 +41,10 @@ ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_ADIS16448, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_baro(get_device_id(), ORB_PRIO_MAX),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_mag(get_device_id(), ORB_PRIO_MAX, rotation)
_px4_accel(get_device_id(), rotation),
_px4_baro(get_device_id()),
_px4_gyro(get_device_id(), rotation),
_px4_mag(get_device_id(), rotation)
{
_px4_accel.set_scale(ADIS16448_ACCEL_SENSITIVITY);
_px4_gyro.set_scale(ADIS16448_GYRO_INITIAL_SENSITIVITY);
src/drivers/imu/adis16477/ADIS16477.cpp
+2 -2
View File
@@ -57,8 +57,8 @@ ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(DRV_IMU_DEVTYPE_ADIS16477, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_drdy_gpio(drdy_gpio)
src/drivers/imu/adis16497/ADIS16497.cpp
+2 -2
View File
@@ -74,8 +74,8 @@ ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(DRV_IMU_DEVTYPE_ADIS16497, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_drdy_gpio(drdy_gpio)
src/drivers/imu/bma180/bma180.cpp
+1 -1
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@@ -179,7 +179,7 @@ BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
spi_mode_e spi_mode) :
SPI(DRV_ACC_DEVTYPE_BMA180, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_accel(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read"))
{
}
src/drivers/imu/bmi160/bmi160.cpp
+8 -8
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@@ -53,15 +53,15 @@ BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_BMI160, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation),
_accel_reads(perf_alloc(PC_COUNT, MODULE_NAME": accel read")),
_gyro_reads(perf_alloc(PC_COUNT, MODULE_NAME":gyro read")),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME":read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME":bad transfers")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME":bad registers")),
_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME":good transfers")),
_reset_retries(perf_alloc(PC_COUNT, MODULE_NAME":reset retries")),
_gyro_reads(perf_alloc(PC_COUNT, MODULE_NAME": gyro read")),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad registers")),
_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good transfers")),
_reset_retries(perf_alloc(PC_COUNT, MODULE_NAME": reset retries")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicates"))
{
}
src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
+1 -1
View File
@@ -43,7 +43,7 @@ namespace Bosch::BMI055::Accelerometer
BMI055_Accelerometer::BMI055_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
BMI055(DRV_ACC_DEVTYPE_BMI055, "BMI055_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_accel(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_accel: DRDY interval");
src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp
+1 -1
View File
@@ -43,7 +43,7 @@ namespace Bosch::BMI055::Gyroscope
BMI055_Gyroscope::BMI055_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
BMI055(DRV_GYR_DEVTYPE_BMI055, "BMI055_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_gyro: DRDY interval");
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
+1 -1
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@@ -43,7 +43,7 @@ namespace Bosch::BMI088::Accelerometer
BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
BMI088(DRV_ACC_DEVTYPE_BMI088, "BMI088_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_accel: DRDY interval");
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp
+1 -1
View File
@@ -43,7 +43,7 @@ namespace Bosch::BMI088::Gyroscope
BMI088_Gyroscope::BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
BMI088(DRV_GYR_DEVTYPE_BMI088, "BMI088_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_gyro: DRDY interval");
src/drivers/imu/fxas21002c/FXAS21002C.cpp
+1 -1
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@@ -69,7 +69,7 @@ FXAS21002C::FXAS21002C(device::Device *interface, I2CSPIBusOption bus_option, in
int i2c_address) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
_interface(interface),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_px4_gyro(_interface->get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp
+2 -2
View File
@@ -57,9 +57,9 @@ FXOS8701CQ::FXOS8701CQ(device::Device *interface, I2CSPIBusOption bus_option, in
int i2c_address) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
_interface(interface),
_px4_accel(interface->get_device_id(), ORB_PRIO_LOW, rotation),
_px4_accel(interface->get_device_id(), rotation),
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
_px4_mag(interface->get_device_id(), ORB_PRIO_LOW, rotation),
_px4_mag(interface->get_device_id(), rotation),
_mag_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": mag read")),
#endif
_accel_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": acc read")),
src/drivers/imu/invensense/icm20602/ICM20602.cpp
+2 -2
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@@ -45,8 +45,8 @@ ICM20602::ICM20602(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
SPI(DRV_IMU_DEVTYPE_ICM20602, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
+2 -2
View File
@@ -45,8 +45,8 @@ ICM20608G::ICM20608G(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
SPI(DRV_IMU_DEVTYPE_ICM20608G, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20649/ICM20649.cpp
+2 -2
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@@ -45,8 +45,8 @@ ICM20649::ICM20649(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
SPI(DRV_IMU_DEVTYPE_ICM20649, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20689/ICM20689.cpp
+2 -2
View File
@@ -45,8 +45,8 @@ ICM20689::ICM20689(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
SPI(DRV_IMU_DEVTYPE_ICM20689, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20948/ICM20948.cpp
+2 -2
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@@ -47,8 +47,8 @@ ICM20948::ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
SPI(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20948/ICM20948_AK09916.cpp
+1 -1
View File
@@ -48,7 +48,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
ICM20948_AK09916::ICM20948_AK09916(ICM20948 &icm20948, enum Rotation rotation) :
ScheduledWorkItem("icm20948_ak09916", px4::device_bus_to_wq(icm20948.get_device_id())),
_icm20948(icm20948),
_px4_mag(icm20948.get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_mag(icm20948.get_device_id(), rotation)
{
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK09916);
_px4_mag.set_external(icm20948.external());
src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
+2 -2
View File
@@ -45,8 +45,8 @@ ICM40609D::ICM40609D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
SPI(DRV_IMU_DEVTYPE_ICM40609D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+2 -2
View File
@@ -45,8 +45,8 @@ ICM42688P::ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+2 -2
View File
@@ -45,8 +45,8 @@ MPU6000::MPU6000(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
SPI(DRV_IMU_DEVTYPE_MPU6000, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/mpu6500/MPU6500.cpp
+2 -2
View File
@@ -45,8 +45,8 @@ MPU6500::MPU6500(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
SPI(DRV_IMU_DEVTYPE_MPU6500, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+2 -2
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@@ -47,8 +47,8 @@ MPU9250::MPU9250(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
SPI(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp
+1 -1
View File
@@ -48,7 +48,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
MPU9250_AK8963::MPU9250_AK8963(MPU9250 &mpu9250, enum Rotation rotation) :
ScheduledWorkItem("mpu9250_ak8963", px4::device_bus_to_wq(mpu9250.get_device_id())),
_mpu9250(mpu9250),
_px4_mag(mpu9250.get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_mag(mpu9250.get_device_id(), rotation)
{
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK8963);
_px4_mag.set_external(mpu9250.external());
src/drivers/imu/l3gd20/L3GD20.cpp
+1 -1
View File
@@ -39,7 +39,7 @@ L3GD20::L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotati
spi_mode_e spi_mode) :
SPI(DRV_GYR_DEVTYPE_L3GD20, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
src/drivers/imu/lsm303d/LSM303D.cpp
+2 -2
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@@ -57,8 +57,8 @@ LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_LSM303D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
_px4_accel(get_device_id(), rotation),
_px4_mag(get_device_id(), rotation),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: acc_read")),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: mag_read")),
_bad_registers(perf_alloc(PC_COUNT, "lsm303d: bad_reg")),
src/drivers/imu/mpu6000/MPU6000.cpp
+2 -2
View File
@@ -44,8 +44,8 @@ MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_t
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, 0, device_type),
_interface(interface),
_device_type(device_type),
_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_accel(_interface->get_device_id(), rotation),
_px4_gyro(_interface->get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6k_read")),
_bad_transfers(perf_alloc(PC_COUNT, "mpu6k_bad_trans")),
_bad_registers(perf_alloc(PC_COUNT, "mpu6k_bad_reg")),
src/drivers/imu/mpu9250/MPU9250_mag.cpp
+1 -2
View File
@@ -53,8 +53,7 @@
// Otherwise, it will passthrough the parent MPU9250
MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, enum Rotation rotation) :
_interface(interface),
_px4_mag(parent->_interface->get_device_id(), (parent->_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH),
rotation),
_px4_mag(parent->_interface->get_device_id(), rotation),
_parent(parent),
_mag_overruns(perf_alloc(PC_COUNT, MODULE_NAME": mag overruns")),
_mag_overflows(perf_alloc(PC_COUNT, MODULE_NAME": mag overflows")),
src/drivers/imu/mpu9250/mpu9250.cpp
+2 -2
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@@ -74,8 +74,8 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, enum
I2CSPIBusOption bus_option, int bus) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
_interface(interface),
_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_accel(_interface->get_device_id(), rotation),
_px4_gyro(_interface->get_device_id(), rotation),
_mag(this, mag_interface, rotation),
_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
src/drivers/imu/st/ism330dlc/ISM330DLC.cpp
+2 -2
View File
@@ -44,8 +44,8 @@ ISM330DLC::ISM330DLC(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
SPI(DRV_IMU_DEVTYPE_ST_ISM330DLC, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
}
src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp
+2 -2
View File
@@ -42,8 +42,8 @@ LSM9DS1::LSM9DS1(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
}