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replace FIFOSample -> sensor_accel_fifo/sensor_gyro_fifo

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This commit is contained in:
Daniel Agar
2020-06-18 20:49:15 -04:00
parent 6b343c1f5e
commit 56c86e77bd
34 changed files with 61 additions and 109 deletions
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src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
+1 -1
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@@ -402,7 +402,7 @@ bool BMI055_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
perf_end(_transfer_perf);
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.samples = samples;
accel.dt = FIFO_SAMPLE_DT;
src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.hpp
+1 -1
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@@ -59,7 +59,7 @@ private:
static constexpr uint32_t ACCEL_RATE{2000}; // 2000 Hz accel
static constexpr float FIFO_SAMPLE_DT{1e6f / ACCEL_RATE};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Accelerometer::FIFOSample::x) / sizeof(PX4Accelerometer::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp
+1 -1
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@@ -407,7 +407,7 @@ bool BMI055_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t sam
perf_end(_transfer_perf);
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = FIFO_SAMPLE_DT;
src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.hpp
+1 -1
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@@ -59,7 +59,7 @@ private:
static constexpr uint32_t GYRO_RATE{2000}; // 2000 Hz gyro
static constexpr float FIFO_SAMPLE_DT{1e6f / GYRO_RATE};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
+1 -1
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@@ -464,7 +464,7 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
perf_end(_transfer_perf);
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.samples = 0;
accel.dt = FIFO_SAMPLE_DT;
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.hpp
+1 -1
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@@ -59,7 +59,7 @@ private:
static constexpr uint32_t ACCEL_RATE{1600}; // 1600 Hz accel
static constexpr float FIFO_SAMPLE_DT{1e6f / ACCEL_RATE};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Accelerometer::FIFOSample::x) / sizeof(PX4Accelerometer::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp
+1 -1
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@@ -408,7 +408,7 @@ bool BMI088_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t sam
perf_end(_transfer_perf);
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = FIFO_SAMPLE_DT;
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.hpp
+1 -1
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@@ -59,7 +59,7 @@ private:
static constexpr uint32_t GYRO_RATE{2000}; // 2000 Hz gyro
static constexpr float FIFO_SAMPLE_DT{1e6f / GYRO_RATE};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm20602/ICM20602.cpp
+2 -2
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@@ -520,7 +520,7 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
bool ICM20602::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
@@ -571,7 +571,7 @@ bool ICM20602::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTrans
void ICM20602::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
src/drivers/imu/invensense/icm20602/ICM20602.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
+2 -2
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@@ -513,7 +513,7 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
bool ICM20608G::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.samples = 0;
accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
@@ -566,7 +566,7 @@ bool ICM20608G::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DA
void ICM20608G::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = FIFO_SAMPLE_DT;
src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm20649/ICM20649.cpp
+2 -2
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@@ -574,7 +574,7 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
bool ICM20649::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
@@ -625,7 +625,7 @@ bool ICM20649::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTrans
void ICM20649::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
src/drivers/imu/invensense/icm20649/ICM20649.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 9000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4500 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm20689/ICM20689.cpp
+2 -2
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@@ -512,7 +512,7 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
bool ICM20689::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.samples = 0;
accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
@@ -565,7 +565,7 @@ bool ICM20689::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DAT
void ICM20689::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = FIFO_SAMPLE_DT;
src/drivers/imu/invensense/icm20689/ICM20689.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm20948/ICM20948.cpp
+2 -2
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@@ -608,7 +608,7 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
bool ICM20948::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
@@ -659,7 +659,7 @@ bool ICM20948::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTrans
void ICM20948::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
src/drivers/imu/invensense/icm20948/ICM20948.hpp
+1 -1
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@@ -80,7 +80,7 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 9000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4500 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
+2 -2
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@@ -549,7 +549,7 @@ void ICM40609D::FIFOReset()
void ICM40609D::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
@@ -577,7 +577,7 @@ void ICM40609D::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTran
void ICM40609D::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
src/drivers/imu/invensense/icm40609d/ICM40609D.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float GYRO_RATE{1000000 / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE}; // 8 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+2 -2
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@@ -552,7 +552,7 @@ void ICM42688P::FIFOReset()
void ICM42688P::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
@@ -580,7 +580,7 @@ void ICM42688P::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTran
void ICM42688P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float GYRO_RATE{1000000 / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE}; // 8 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+2 -2
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@@ -517,7 +517,7 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
bool MPU6000::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.samples = 0;
accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
@@ -569,7 +569,7 @@ bool MPU6000::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA
void MPU6000::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = FIFO_SAMPLE_DT;
src/drivers/imu/invensense/mpu6000/MPU6000.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 1000 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/mpu6500/MPU6500.cpp
+2 -2
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@@ -504,7 +504,7 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
bool MPU6500::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
@@ -555,7 +555,7 @@ bool MPU6500::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransf
void MPU6500::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
src/drivers/imu/invensense/mpu6500/MPU6500.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+2 -2
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@@ -537,7 +537,7 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
bool MPU9250::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
@@ -588,7 +588,7 @@ bool MPU9250::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransf
void MPU9250::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
src/drivers/imu/invensense/mpu9250/MPU9250.hpp
+1 -1
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@@ -80,7 +80,7 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/st/ism330dlc/ISM330DLC.cpp
+2 -2
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@@ -284,12 +284,12 @@ void ISM330DLC::RunImpl()
perf_end(_transfer_perf);
PX4Accelerometer::FIFOSample accel;
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.samples = samples;
accel.dt = 1000000 / ST_ISM330DLC::LA_ODR;
PX4Gyroscope::FIFOSample gyro;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = 1000000 / ST_ISM330DLC::G_ODR;
src/drivers/imu/st/ism330dlc/ISM330DLC.hpp
+1 -1
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@@ -80,7 +80,7 @@ private:
// Sensor Configuration
static constexpr uint32_t GYRO_RATE{ST_ISM330DLC::G_ODR};
static constexpr uint32_t ACCEL_RATE{ST_ISM330DLC::LA_ODR};
static constexpr uint32_t FIFO_MAX_SAMPLES{ math::min(FIFO::SIZE / sizeof(FIFO::DATA) + 1, sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr uint32_t FIFO_MAX_SAMPLES{ math::min(FIFO::SIZE / sizeof(FIFO::DATA) + 1, sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {