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AP_InertialSensor: make it easier to add multiple backends 

use _add_backend() to add new backends on startup
This commit is contained in:
Andrew Tridgell 2014-10-17 07:27:01 +11:00
parent 868ee3af23
commit 17b2214798
2 changed files with 37 additions and 16 deletions
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51
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -219,6 +219,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
AP_InertialSensor::AP_InertialSensor() :
_gyro_count(0),
_accel_count(0),
_backend_count(0),
_accel(),
_gyro(),
_board_orientation(ROTATION_NONE),
@ -299,6 +300,20 @@ AP_InertialSensor::init( Start_style style,
_have_sample = false;
}
/*
try to load a backend
*/
void AP_InertialSensor::_add_backend(AP_InertialSensor_Backend *(detect)(AP_InertialSensor &, Sample_rate), Sample_rate sample_rate)
{
if (_backend_count == INS_MAX_BACKENDS) {
hal.scheduler->panic(PSTR("Too many INS backends"));
}
_backends[_backend_count] = detect(*this, sample_rate);
if (_backends[_backend_count] != NULL) {
_backend_count++;
}
}
/*
detect available backends for this board
@ -307,21 +322,29 @@ void
AP_InertialSensor::_detect_backends(Sample_rate sample_rate)
{
#if HAL_INS_DEFAULT == HAL_INS_HIL
_backends[0] = AP_InertialSensor_HIL::detect(*this, sample_rate);
_add_backend(AP_InertialSensor_HIL::detect, sample_rate);
#elif HAL_INS_DEFAULT == HAL_INS_MPU6000
_backends[0] = AP_InertialSensor_MPU6000::detect(*this, sample_rate);
_add_backend(AP_InertialSensor_MPU6000::detect, sample_rate);
#elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
_backends[0] = AP_InertialSensor_PX4::detect(*this, sample_rate);
_add_backend(AP_InertialSensor_PX4::detect, sample_rate);
#elif HAL_INS_DEFAULT == HAL_INS_OILPAN
_backends[0] = AP_InertialSensor_Oilpan::detect(*this, sample_rate);
_add_backend(AP_InertialSensor_Oilpan::detect, sample_rate);
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250
_backends[0] = AP_InertialSensor_MPU9250::detect(*this, sample_rate);
_add_backend(AP_InertialSensor_MPU9250::detect, sample_rate);
#elif HAL_INS_DEFAULT == HAL_INS_FLYMAPLE
_backends[0] = AP_InertialSensor_Flymaple::detect(*this, sample_rate);
_add_backend(AP_InertialSensor_Flymaple::detect, sample_rate);
#else
#error Unrecognised HAL_INS_TYPE setting
#endif
if (_backends[0] == NULL ||
#if 0 // disabled due to broken hardware on some PXF capes
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
// the PXF also has a MPU6000
_add_backend(AP_InertialSensor_MPU6000::detect, sample_rate);
#endif
#endif
if (_backend_count == 0 ||
_gyro_count == 0 ||
_accel_count == 0) {
hal.scheduler->panic(PSTR("No INS backends available"));
@ -933,10 +956,8 @@ void AP_InertialSensor::update(void)
_gyro_healthy[i] = false;
_accel_healthy[i] = false;
}
for (int8_t i=0; i<INS_MAX_BACKENDS; i++) {
if (_backends[i] != NULL) {
_backends[i]->update();
}
for (uint8_t i=0; i<_backend_count; i++) {
_backends[i]->update();
}
// set primary to first healthy accel and gyro
for (int8_t i=0; i<INS_MAX_INSTANCES; i++) {
@ -1032,11 +1053,9 @@ check_sample:
bool gyro_available = false;
bool accel_available = false;
while (!gyro_available || !accel_available) {
for (uint8_t i=0; i<INS_MAX_BACKENDS; i++) {
if (_backends[i] != NULL) {
gyro_available |= _backends[i]->gyro_sample_available();
accel_available |= _backends[i]->accel_sample_available();
}
for (uint8_t i=0; i<_backend_count; i++) {
gyro_available |= _backends[i]->gyro_sample_available();
accel_available |= _backends[i]->accel_sample_available();
}
if (!gyro_available || !accel_available) {
hal.scheduler->delay_microseconds(100);

2
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -189,6 +189,7 @@ public:
private:
// load backend drivers
void _add_backend(AP_InertialSensor_Backend *(detect)(AP_InertialSensor &, Sample_rate), Sample_rate sample_rate);
void _detect_backends(Sample_rate sample_rate);
// accel and gyro initialisation
@ -219,6 +220,7 @@ private:
// counters on initialisation
uint8_t _gyro_count;
uint8_t _accel_count;
uint8_t _backend_count;
// Most recent accelerometer reading
Vector3f _accel[INS_MAX_INSTANCES];