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bmi055 move to px4 work queue

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This commit is contained in:
Daniel Agar
2019-05-24 12:58:55 -04:00
parent be3653f761
commit e27a8e1010
6 changed files with 25 additions and 70 deletions
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src/drivers/imu/bmi055/BMI055_accel.cpp
+10 -23
View File
@@ -48,6 +48,7 @@ const uint8_t BMI055_accel::_checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTER
BMI055_accel::BMI055_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation) :
BMI055("BMI055_ACCEL", path_accel, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_accel_read")),
_measure_interval(perf_alloc(PC_INTERVAL, "bmi055_accel_measure_interval")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi055_accel_bad_transfers")),
@@ -76,8 +77,6 @@ BMI055_accel::BMI055_accel(int bus, const char *path_accel, uint32_t device, enu
_accel_scale.y_scale = 1.0f;
_accel_scale.z_offset = 0;
_accel_scale.z_scale = 1.0f;
memset(&_call, 0, sizeof(_call));
}
BMI055_accel::~BMI055_accel()
@@ -306,31 +305,23 @@ BMI055_accel::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 rate */
if (ticks < 1000) {
if (interval < 1000) {
return -EINVAL;
}
// adjust filters
float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f / ticks;
float sample_rate = 1.0e6f / interval;
_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
/* update interval for next measurement */
_call_interval = ticks;
/*
set call interval faster than the sample time. We
then detect when we have duplicate samples and reject
them. This prevents aliasing due to a beat between the
stm32 clock and the bmi055 clock
*/
_call.period = _call_interval - BMI055_TIMER_REDUCTION;
_call_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
@@ -440,26 +431,22 @@ BMI055_accel::start()
_accel_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_call,
1000,
_call_interval - BMI055_TIMER_REDUCTION,
(hrt_callout)&BMI055_accel::measure_trampoline, this);
ScheduleOnInterval(_call_interval - BMI055_TIMER_REDUCTION, 1000);
reset();
}
void
BMI055_accel::stop()
{
hrt_cancel(&_call);
ScheduleClear();
}
void
BMI055_accel::measure_trampoline(void *arg)
BMI055_accel::Run()
{
BMI055_accel *dev = reinterpret_cast<BMI055_accel *>(arg);
/* make another measurement */
dev->measure();
measure();
}
void