mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
b292873304
The main thread would always be blocked on the semaphore to read the data from accelerometer and gyroscope. Especially if we have a slow update of these values in _accumulate() due to the I2C transfer function taking too much time: the timer thread would never give up the CPU, causing starvation on the main thread. This fixes the issue by reducing the critical region using a flip-buffer so _accumulate() can work on its own copy of the data. Now that the critical region is smaller, also avoid the semaphore and use a spinlock instead.
64 lines
1.6 KiB
C++
64 lines
1.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_L3G4200D_H__
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#define __AP_INERTIAL_SENSOR_L3G4200D_H__
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <pthread.h>
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#include "AP_InertialSensor.h"
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#include <Filter.h>
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#include <LowPassFilter2p.h>
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class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_L3G4200D(AP_InertialSensor &imu);
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~AP_InertialSensor_L3G4200D();
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/* update accel and gyro state */
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bool update();
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bool gyro_sample_available(void) { return _have_sample; }
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bool accel_sample_available(void) { return _have_sample; }
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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// return product ID
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int16_t product_id(void) const { return AP_PRODUCT_ID_L3G4200D; }
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private:
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bool _init_sensor(void);
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void _accumulate(void);
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struct {
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Vector3f accel_filtered;
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Vector3f gyro_filtered;
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} _data[2];
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int _data_idx;
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pthread_spinlock_t _data_lock;
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bool _have_gyro_sample;
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bool _have_accel_sample;
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volatile bool _have_sample;
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// support for updating filter at runtime
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uint8_t _last_filter_hz;
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void _set_filter_frequency(uint8_t filter_hz);
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// Low Pass filters for gyro and accel
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LowPassFilter2pVector3f _accel_filter;
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LowPassFilter2pVector3f _gyro_filter;
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// gyro and accel instances
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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};
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#endif
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#endif // __AP_INERTIAL_SENSOR_L3G4200D_H__
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