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RPMCapture: refactor to clarify when an interrupt happened

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This commit is contained in:
Matthias Grob
2024-12-10 19:44:25 +01:00
parent 0943e0e96f
commit e6067800e2
2 changed files with 5 additions and 5 deletions
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src/drivers/rpm_capture/RPMCapture.cpp
+4 -4
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@@ -107,11 +107,11 @@ void RPMCapture::Run()
hrt_abstime now = hrt_absolute_time(); hrt_abstime now = hrt_absolute_time();
if (!_value_processed.load()) { if (_interrupt_happened.load()) {
// There was an interrupt // There was an interrupt
_period = _hrt_timestamp - _hrt_timestamp_prev; _period = _hrt_timestamp - _hrt_timestamp_prev;
_hrt_timestamp_prev = _hrt_timestamp; _hrt_timestamp_prev = _hrt_timestamp;
_value_processed.store(true); _interrupt_happened.store(false);
pwm_input_s pwm_input{}; pwm_input_s pwm_input{};
pwm_input.timestamp = now; pwm_input.timestamp = now;
@@ -157,12 +157,12 @@ int RPMCapture::gpio_interrupt_callback(int irq, void *context, void *arg)
{ {
RPMCapture *instance = static_cast<RPMCapture *>(arg); RPMCapture *instance = static_cast<RPMCapture *>(arg);
if (!instance->_value_processed.load()) { if (instance->_interrupt_happened.load()) {
++instance->_error_count; ++instance->_error_count;
} }
instance->_hrt_timestamp = hrt_absolute_time(); instance->_hrt_timestamp = hrt_absolute_time();
instance->_value_processed.store(false); instance->_interrupt_happened.store(true);
instance->ScheduleNow(); instance->ScheduleNow();
return PX4_OK; return PX4_OK;
src/drivers/rpm_capture/RPMCapture.hpp
+1 -1
View File
@@ -85,7 +85,7 @@ private:
hrt_abstime _hrt_timestamp_prev{0}; hrt_abstime _hrt_timestamp_prev{0};
uint32_t _period{UINT32_MAX}; uint32_t _period{UINT32_MAX};
uint32_t _error_count{0}; uint32_t _error_count{0};
px4::atomic<bool> _value_processed{true}; px4::atomic<bool> _interrupt_happened{false};
hrt_abstime _timestamp_last_update{0}; ///< to caluclate dt hrt_abstime _timestamp_last_update{0}; ///< to caluclate dt
AlphaFilter<float> _rpm_filter; AlphaFilter<float> _rpm_filter;