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AP_Module: added FSYNC state to raw accel report

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This commit is contained in:
Andrew Tridgell 2016-08-31 14:56:44 +10:00
parent 6f9530ebaa
commit 902daff3a3
4 changed files with 17 additions and 5 deletions
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3
libraries/AP_Module/AP_Module.cpp
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@ -235,7 +235,7 @@ void AP_Module::call_hook_gyro_sample(uint8_t instance, float dt, const Vector3f
/* /*
call any accel_sample hooks call any accel_sample hooks
*/ */
void AP_Module::call_hook_accel_sample(uint8_t instance, float dt, const Vector3f &accel) void AP_Module::call_hook_accel_sample(uint8_t instance, float dt, const Vector3f &accel, bool fsync_set)
{ {
#if AP_MODULE_SUPPORTED #if AP_MODULE_SUPPORTED
if (hooks[HOOK_ACCEL_SAMPLE] == nullptr) { if (hooks[HOOK_ACCEL_SAMPLE] == nullptr) {
@ -254,6 +254,7 @@ void AP_Module::call_hook_accel_sample(uint8_t instance, float dt, const Vector3
state.accel[0] = accel[0]; state.accel[0] = accel[0];
state.accel[1] = accel[1]; state.accel[1] = accel[1];
state.accel[2] = accel[2]; state.accel[2] = accel[2];
state.fsync_set = fsync_set;
for (const struct hook_list *h=hooks[HOOK_ACCEL_SAMPLE]; h; h=h->next) { for (const struct hook_list *h=hooks[HOOK_ACCEL_SAMPLE]; h; h=h->next) {
ap_hook_accel_sample_fn_t fn = reinterpret_cast<ap_hook_accel_sample_fn_t>(h->symbol); ap_hook_accel_sample_fn_t fn = reinterpret_cast<ap_hook_accel_sample_fn_t>(h->symbol);

2
libraries/AP_Module/AP_Module.h
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@ -60,7 +60,7 @@ public:
static void call_hook_gyro_sample(uint8_t instance, float dt, const Vector3f &gyro); static void call_hook_gyro_sample(uint8_t instance, float dt, const Vector3f &gyro);
// call any accel_sample hooks // call any accel_sample hooks
static void call_hook_accel_sample(uint8_t instance, float dt, const Vector3f &accel); static void call_hook_accel_sample(uint8_t instance, float dt, const Vector3f &accel, bool fsync_set);
private: private:

5
libraries/AP_Module/AP_Module_Structures.h
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@ -17,7 +17,7 @@ extern "C" {
#define AHRS_state_version 1 #define AHRS_state_version 1
#define gyro_sample_version 1 #define gyro_sample_version 1
#define accel_sample_version 1 #define accel_sample_version 2
enum AHRS_status { enum AHRS_status {
AHRS_STATUS_INITIALISING = 0, AHRS_STATUS_INITIALISING = 0,
@ -122,6 +122,9 @@ struct accel_sample {
// body frame rates in m/s/s // body frame rates in m/s/s
float accel[3]; float accel[3];
// true if external frame sync is set
bool fsync_set;
}; };
/* /*

12
libraries/AP_Module/examples/ModuleTest/module/moduletest.c
View File

@ -53,13 +53,21 @@ void ap_hook_gyro_sample(const struct gyro_sample *state)
void ap_hook_accel_sample(const struct accel_sample *state) void ap_hook_accel_sample(const struct accel_sample *state)
{ {
static uint64_t last_print_us; static uint64_t last_print_us;
static uint32_t counter;
static uint32_t fsync_count;
counter++;
if (state->fsync_set) {
fsync_count++;
}
if (state->time_us - last_print_us < 1000000UL) { if (state->time_us - last_print_us < 1000000UL) {
return; return;
} }
last_print_us = state->time_us; last_print_us = state->time_us;
// print accels once per second // print accels once per second
printf("accel (%.1f,%.1f,%.1f)\n", printf("accel (%.1f,%.1f,%.1f) %lu %lu\n",
state->accel[0], state->accel[0],
state->accel[1], state->accel[1],
state->accel[2]); state->accel[2],
(unsigned long)counter,
(unsigned long)fsync_count);
} }