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Fixed up init sequence of all sensors - we can publish in interrupt context, but not advertise! All advertisements now contain valid data

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Lorenz Meier
2014-01-14 15:40:46 +01:00
parent 1f5eda37ab
commit d199710651
8 changed files with 186 additions and 112 deletions
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src/drivers/mpu6000/mpu6000.cpp
+35 -24
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@@ -489,6 +489,35 @@ MPU6000::init()
_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
measure();
if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
if (_accel_topic < 0)
debug("failed to create sensor_accel publication");
}
if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp;
_gyro_reports->get(&grp);
_gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
if (_gyro->_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
}
out:
return ret;
}
@@ -1297,32 +1326,14 @@ MPU6000::measure()
poll_notify(POLLIN);
_gyro->parent_poll_notify();
if (_accel_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
if (_accel_topic > 0) {
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
} else {
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arb);
if (_accel_topic < 0)
debug("failed to create sensor_accel publication");
}
if (_accel_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
if (_gyro->_gyro_topic > 0) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
} else {
_gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grb);
if (_gyro->_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
}
if (_gyro->_gyro_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
}
/* stop measuring */