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Merge remote-tracking branch 'upstream/master' into linux

Browse Source 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Conflicts:
	src/modules/commander/gyro_calibration.cpp
	src/modules/mavlink/mavlink_ftp.cpp
This commit is contained in:
Mark Charlebois
2015-05-16 15:04:38 -07:00
parent 6a1c28fbc1 26954ece2c
commit 36f5d47ed9
45 changed files with 714 additions and 400 deletions
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src/drivers/lsm303d/lsm303d.cpp
+26 -20
View File
@@ -196,6 +196,7 @@ static const int ERROR = -1;
#define REG7_CONT_MODE_M ((0<<1) | (0<<0))
#define REG_STATUS_A_NEW_ZYXADA 0x08
#define INT_CTRL_M 0x12
#define INT_SRC_M 0x13
@@ -217,6 +218,14 @@ static const int ERROR = -1;
#define EXTERNAL_BUS 0
#endif
/*
we set the timer interrupt to run a bit faster than the desired
sample rate and then throw away duplicates using the data ready bit.
This time reduction is enough to cope with worst case timing jitter
due to other timers
*/
#define LSM303D_TIMER_REDUCTION 200
extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); }
@@ -289,9 +298,9 @@ private:
perf_counter_t _accel_sample_perf;
perf_counter_t _mag_sample_perf;
perf_counter_t _accel_reschedules;
perf_counter_t _bad_registers;
perf_counter_t _bad_values;
perf_counter_t _accel_duplicates;
uint8_t _register_wait;
@@ -561,9 +570,9 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota
_mag_read(0),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")),
_accel_reschedules(perf_alloc(PC_COUNT, "lsm303d_accel_resched")),
_bad_registers(perf_alloc(PC_COUNT, "lsm303d_bad_registers")),
_bad_values(perf_alloc(PC_COUNT, "lsm303d_bad_values")),
_accel_duplicates(perf_alloc(PC_COUNT, "lsm303d_accel_duplicates")),
_register_wait(0),
_accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -622,7 +631,7 @@ LSM303D::~LSM303D()
perf_free(_mag_sample_perf);
perf_free(_bad_registers);
perf_free(_bad_values);
perf_free(_accel_reschedules);
perf_free(_accel_duplicates);
}
int
@@ -874,7 +883,9 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_accel_call.period = _call_accel_interval = ticks;
_call_accel_interval = ticks;
_accel_call.period = _call_accel_interval - LSM303D_TIMER_REDUCTION;
/* if we need to start the poll state machine, do it */
if (want_start)
@@ -1388,7 +1399,10 @@ LSM303D::start()
_mag_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_accel_call, 1000, _call_accel_interval, (hrt_callout)&LSM303D::measure_trampoline, this);
hrt_call_every(&_accel_call,
1000,
_call_accel_interval - LSM303D_TIMER_REDUCTION,
(hrt_callout)&LSM303D::measure_trampoline, this);
hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&LSM303D::mag_measure_trampoline, this);
}
@@ -1466,20 +1480,6 @@ LSM303D::measure()
check_registers();
// if the accel doesn't have any data ready then re-schedule
// for 100 microseconds later. This ensures we don't double
// read a value and then miss the next value.
// Note that DRDY is not available when the lsm303d is
// connected on the external bus
#ifdef GPIO_EXTI_ACCEL_DRDY
if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
perf_count(_accel_reschedules);
hrt_call_delay(&_accel_call, 100);
perf_end(_accel_sample_perf);
return;
}
#endif
if (_register_wait != 0) {
// we are waiting for some good transfers before using
// the sensor again.
@@ -1493,6 +1493,12 @@ LSM303D::measure()
raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report));
if (!(raw_accel_report.status & REG_STATUS_A_NEW_ZYXADA)) {
perf_end(_accel_sample_perf);
perf_count(_accel_duplicates);
return;
}
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
@@ -1681,7 +1687,7 @@ LSM303D::print_info()
perf_print_counter(_mag_sample_perf);
perf_print_counter(_bad_registers);
perf_print_counter(_bad_values);
perf_print_counter(_accel_reschedules);
perf_print_counter(_accel_duplicates);
_accel_reports->print_info("accel reports");
_mag_reports->print_info("mag reports");
::printf("checked_next: %u\n", _checked_next);