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AP_InertialSensor: move frontend update into ramfunc.

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Andy Piper 2022-04-01 20:59:10 +01:00 committed by Randy Mackay
parent 921379ceb9
commit ec0df918e5
3 changed files with 7 additions and 7 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -215,10 +215,10 @@ public:
float get_gyro_drift_rate(void) const { return ToRad(0.5f/60); } float get_gyro_drift_rate(void) const { return ToRad(0.5f/60); }
// update gyro and accel values from accumulated samples // update gyro and accel values from accumulated samples
void update(void); void update(void) __RAMFUNC__;
// wait for a sample to be available // wait for a sample to be available
void wait_for_sample(void); void wait_for_sample(void) __RAMFUNC__;
// class level parameters // class level parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];

8
libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
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@ -137,7 +137,7 @@ protected:
void _rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro) __RAMFUNC__; void _rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro) __RAMFUNC__;
// rotate gyro vector, offset and publish // rotate gyro vector, offset and publish
void _publish_gyro(uint8_t instance, const Vector3f &gyro); /* front end */ void _publish_gyro(uint8_t instance, const Vector3f &gyro) __RAMFUNC__; /* front end */
// this should be called every time a new gyro raw sample is // this should be called every time a new gyro raw sample is
// available - be it published or not the sample is raw in the // available - be it published or not the sample is raw in the
@ -151,7 +151,7 @@ protected:
void _notify_new_delta_angle(uint8_t instance, const Vector3f &dangle); void _notify_new_delta_angle(uint8_t instance, const Vector3f &dangle);
// rotate accel vector, scale, offset and publish // rotate accel vector, scale, offset and publish
void _publish_accel(uint8_t instance, const Vector3f &accel); /* front end */ void _publish_accel(uint8_t instance, const Vector3f &accel) __RAMFUNC__; /* front end */
// this should be called every time a new accel raw sample is available - // this should be called every time a new accel raw sample is available -
// be it published or not // be it published or not
@ -286,10 +286,10 @@ protected:
bool gyro_harmonic_notch_enabled(void) const { return _imu._harmonic_notch_filter.enabled(); } bool gyro_harmonic_notch_enabled(void) const { return _imu._harmonic_notch_filter.enabled(); }
// common gyro update function for all backends // common gyro update function for all backends
void update_gyro(uint8_t instance); /* front end */ void update_gyro(uint8_t instance) __RAMFUNC__; /* front end */
// common accel update function for all backends // common accel update function for all backends
void update_accel(uint8_t instance); /* front end */ void update_accel(uint8_t instance) __RAMFUNC__; /* front end */
// support for updating filter at runtime // support for updating filter at runtime
uint16_t _last_accel_filter_hz; uint16_t _last_accel_filter_hz;

2
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
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@ -45,7 +45,7 @@ public:
enum Rotation rotation); enum Rotation rotation);
/* update accel and gyro state */ /* update accel and gyro state */
bool update() override; /* front end */ bool update() override __RAMFUNC__; /* front end */
void accumulate() override; /* front end */ void accumulate() override; /* front end */
/* /*