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use gcc attributes to align and pack

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This commit is contained in:
Daniel Agar
2016-05-14 11:27:07 +02:00
committed by Lorenz Meier
parent 76387b1693
commit eb29b33620
14 changed files with 47 additions and 25 deletions
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src/drivers/device/integrator.cpp
+4 -4
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@@ -60,7 +60,7 @@ Integrator::~Integrator()
}
bool
Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt)
Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t *integral_dt)
{
if (_last_integration_time == 0) {
/* this is the first item in the integrator */
@@ -132,7 +132,7 @@ Integrator::put_with_interval(unsigned interval_us, math::Vector<3> &val, math::
}
math::Vector<3>
Integrator::get(bool reset, uint64_t &integral_dt)
Integrator::get(bool reset, uint64_t *integral_dt)
{
math::Vector<3> val = _integral;
@@ -158,12 +158,12 @@ Integrator::get_and_filtered(bool reset, uint64_t &integral_dt, math::Vector<3>
}
void
Integrator::_reset(uint64_t &integral_dt)
Integrator::_reset(uint64_t *integral_dt)
{
_integral(0) = 0.0f;
_integral(1) = 0.0f;
_integral(2) = 0.0f;
integral_dt = (_last_integration_time - _last_reset_time);
*integral_dt = (_last_integration_time - _last_reset_time);
_last_reset_time = _last_integration_time;
}
src/drivers/device/integrator.h
+3 -3
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@@ -60,7 +60,7 @@ public:
* @return true if putting the item triggered an integral reset and the integral should be
* published.
*/
bool put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt);
bool put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t *integral_dt);
/**
* Put an item into the integral but provide an interval instead of a timestamp.
@@ -84,7 +84,7 @@ public:
* @param integral_dt Get the dt in us of the current integration (only if reset).
* @return the integral since the last read-reset
*/
math::Vector<3> get(bool reset, uint64_t &integral_dt);
math::Vector<3> get(bool reset, uint64_t *integral_dt);
/**
* Get the current integral and reset the integrator if needed. Additionally give the
@@ -115,5 +115,5 @@ private:
*
* @param integral_dt Get the dt in us of the current integration.
*/
void _reset(uint64_t &integral_dt);
void _reset(uint64_t *integral_dt);
};
src/drivers/l3gd20/l3gd20.cpp
+1 -1
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@@ -1082,7 +1082,7 @@ L3GD20::measure()
math::Vector<3> gval(xin, yin, zin);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(report.timestamp, gval, gval_integrated, report.integral_dt);
bool gyro_notify = _gyro_int.put(report.timestamp, gval, gval_integrated, &report.integral_dt);
report.x_integral = gval_integrated(0);
report.y_integral = gval_integrated(1);
report.z_integral = gval_integrated(2);
src/drivers/lsm303d/lsm303d.cpp
+1 -1
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@@ -1649,7 +1649,7 @@ LSM303D::measure()
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, &accel_report.integral_dt);
accel_report.x_integral = aval_integrated(0);
accel_report.y_integral = aval_integrated(1);
accel_report.z_integral = aval_integrated(2);
src/drivers/mpu6000/mpu6000.cpp
+2 -2
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@@ -1905,7 +1905,7 @@ MPU6000::measure()
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, &arb.integral_dt);
arb.x_integral = aval_integrated(0);
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
@@ -1945,7 +1945,7 @@ MPU6000::measure()
math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, &grb.integral_dt);
grb.x_integral = gval_integrated(0);
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);
src/drivers/mpu6500/mpu6500.cpp
+2 -2
View File
@@ -1846,7 +1846,7 @@ MPU6500::measure()
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, &arb.integral_dt);
arb.x_integral = aval_integrated(0);
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
@@ -1881,7 +1881,7 @@ MPU6500::measure()
math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, &grb.integral_dt);
grb.x_integral = gval_integrated(0);
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);
src/drivers/mpu9250/mpu9250.cpp
+2 -2
View File
@@ -1418,7 +1418,7 @@ MPU9250::measure()
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, &arb.integral_dt);
arb.x_integral = aval_integrated(0);
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
@@ -1453,7 +1453,7 @@ MPU9250::measure()
math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, &grb.integral_dt);
grb.x_integral = gval_integrated(0);
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);
src/drivers/px4flow/px4flow.cpp
+2 -2
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@@ -541,9 +541,9 @@ PX4FLOW::collect()
/* rotate measurements according to parameter */
float zeroval = 0.0f;
rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
rotate_3f(_sensor_rotation, &report.pixel_flow_x_integral, &report.pixel_flow_y_integral, &zeroval);
rotate_3f(_sensor_rotation, report.gyro_x_rate_integral, report.gyro_y_rate_integral, report.gyro_z_rate_integral);
rotate_3f(_sensor_rotation, &report.gyro_x_rate_integral, &report.gyro_y_rate_integral, &report.gyro_z_rate_integral);
if (_px4flow_topic == nullptr) {
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);