fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

l3gd20 move to px4 work queue

Browse Source
This commit is contained in:
Daniel Agar 2019-01-27 20:43:13 -05:00
parent 427c49ac43
commit be3653f761
1 changed files with 12 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

41
src/drivers/imu/l3gd20/l3gd20.cpp
View File

@ -63,7 +63,6 @@
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_gyro.h>
#include <drivers/device/ringbuffer.h>
@ -72,6 +71,7 @@
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#define L3GD20_DEVICE_PATH "/dev/l3gd20"
@ -192,7 +192,7 @@
extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
class L3GD20 : public device::SPI
class L3GD20 : public device::SPI, public px4::ScheduledWorkItem
{
public:
L3GD20(int bus, const char *path, uint32_t device, enum Rotation rotation);
@ -219,7 +219,6 @@ protected:
private:
struct hrt_call _call;
unsigned _call_interval;
ringbuffer::RingBuffer *_reports;
@ -282,16 +281,7 @@ private:
*/
void disable_i2c();
/**
* Static trampoline from the hrt_call context; because we don't have a
* generic hrt wrapper yet.
*
* Called by the HRT in interrupt context at the specified rate if
* automatic polling is enabled.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void measure_trampoline(void *arg);
void Run() override;
/**
* check key registers for correct values
@ -395,7 +385,7 @@ const uint8_t L3GD20::_checked_registers[L3GD20_NUM_CHECKED_REGISTERS] = { ADDR_
L3GD20::L3GD20(int bus, const char *path, uint32_t device, enum Rotation rotation) :
SPI("L3GD20", path, bus, device, SPIDEV_MODE3,
11 * 1000 * 1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
_call{},
ScheduledWorkItem(px4::device_bus_to_wq(this->get_device_id())),
_call_interval(0),
_reports(nullptr),
_gyro_scale{},
@ -594,22 +584,20 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
bool want_start = (_call_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
unsigned interval = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000) {
if (interval < 1000) {
return -EINVAL;
}
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call_interval = ticks;
_call.period = _call_interval - L3GD20_TIMER_REDUCTION;
_call_interval = interval;
/* adjust filters */
float cutoff_freq_hz = _gyro_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f / ticks;
float sample_rate = 1.0e6f / interval;
set_driver_lowpass_filter(sample_rate, cutoff_freq_hz);
/* if we need to start the poll state machine, do it */
@ -778,16 +766,13 @@ L3GD20::start()
_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_call,
1000,
_call_interval - L3GD20_TIMER_REDUCTION,
(hrt_callout)&L3GD20::measure_trampoline, this);
ScheduleOnInterval(_call_interval - L3GD20_TIMER_REDUCTION, 10000);
}
void
L3GD20::stop()
{
hrt_cancel(&_call);
ScheduleClear();
}
void
@ -841,12 +826,10 @@ L3GD20::reset()
}
void
L3GD20::measure_trampoline(void *arg)
L3GD20::Run()
{
L3GD20 *dev = (L3GD20 *)arg;
/* make another measurement */
dev->measure();
measure();
}
void