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AP_Baro: added timer to PX4 driver

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this gives us more samples when main sketch is reading slowly
This commit is contained in:
Andrew Tridgell 2013-01-21 18:20:05 +11:00
parent 1188c9e335
commit b9b3ef91a1
2 changed files with 43 additions and 8 deletions
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37
libraries/AP_Baro/AP_Baro_PX4.cpp
View File

@ -17,6 +17,14 @@
extern const AP_HAL::HAL& hal;
float AP_Baro_PX4::_pressure_sum;
float AP_Baro_PX4::_temperature_sum;
uint32_t AP_Baro_PX4::_sum_count;
uint32_t AP_Baro_PX4::_last_timer;
uint64_t AP_Baro_PX4::_last_timestamp;
volatile bool AP_Baro_PX4::_in_accumulate;
int AP_Baro_PX4::_baro_fd;
// Public Methods //////////////////////////////////////////////////////////////
bool AP_Baro_PX4::init(void)
{
@ -31,6 +39,8 @@ bool AP_Baro_PX4::init(void)
// average over up to 10 samples
ioctl(_baro_fd, SENSORIOCSQUEUEDEPTH, 10);
hal.scheduler->register_timer_process(_baro_timer);
}
return true;
@ -48,7 +58,7 @@ uint8_t AP_Baro_PX4::read(void)
_pressure = (_pressure_sum / _sum_count) * 100.0f;
_temperature = (_temperature_sum / _sum_count) * 10.0f;
_pressure_samples = _sum_count;
_last_update = (uint32_t)_last_timestamp;
_pressure_sum = 0;
_temperature_sum = 0;
_sum_count = 0;
@ -58,16 +68,37 @@ uint8_t AP_Baro_PX4::read(void)
}
// accumulate sensor values
void AP_Baro_PX4::accumulate(void)
void AP_Baro_PX4::_accumulate(void)
{
struct baro_report baro_report;
if (_in_accumulate) {
return;
}
_in_accumulate = true;
while (::read(_baro_fd, &baro_report, sizeof(baro_report)) == sizeof(baro_report)) {
_pressure_sum += baro_report.pressure; // Pressure in mbar
_temperature_sum += baro_report.temperature; // degrees celcius
_sum_count++;
_last_update = hal.scheduler->millis();
_last_timestamp = baro_report.timestamp;
}
_in_accumulate = false;
}
// accumulate sensor values
void AP_Baro_PX4::accumulate(void)
{
_accumulate();
}
void AP_Baro_PX4::_baro_timer(uint32_t now)
{
// accumulate samples at 100Hz
if (now - _last_timer > 10000) {
return;
}
_last_timer = hal.scheduler->micros();
_accumulate();
}
float AP_Baro_PX4::get_pressure() {

14
libraries/AP_Baro/AP_Baro_PX4.h
View File

@ -19,12 +19,16 @@ public:
private:
float _temperature;
float _pressure;
float _pressure_sum;
float _temperature_sum;
uint32_t _sum_count;
static float _pressure_sum;
static float _temperature_sum;
static uint32_t _sum_count;
static volatile bool _in_accumulate;
static void _accumulate(void);
static void _baro_timer(uint32_t now);
static uint64_t _last_timestamp;
// baro driver handle
int _baro_fd;
static int _baro_fd;
static uint32_t _last_timer;
};
#endif // __AP_BARO_PX4_H__