mirror of https://github.com/ArduPilot/ardupilot
125 lines
3.4 KiB
C++
125 lines
3.4 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include "AP_InertialSensor_rate_config.h"
|
|
#include "AP_InertialSensor.h"
|
|
#include "AP_InertialSensor_Backend.h"
|
|
|
|
#if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
|
|
#include "FastRateBuffer.h"
|
|
#include <stdio.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
// hal.console can be accessed from bus threads on ChibiOS
|
|
#define debug(fmt, args ...) do {hal.console->printf("IMU: " fmt "\n", ## args); } while(0)
|
|
#else
|
|
#define debug(fmt, args ...) do {printf("IMU: " fmt "\n", ## args); } while(0)
|
|
#endif
|
|
|
|
void AP_InertialSensor::enable_fast_rate_buffer()
|
|
{
|
|
fast_rate_buffer = NEW_NOTHROW FastRateBuffer();
|
|
}
|
|
|
|
void AP_InertialSensor::disable_fast_rate_buffer()
|
|
{
|
|
delete fast_rate_buffer;
|
|
fast_rate_buffer = nullptr;
|
|
}
|
|
|
|
uint32_t AP_InertialSensor::get_num_gyro_samples()
|
|
{
|
|
return fast_rate_buffer->get_num_gyro_samples();
|
|
}
|
|
|
|
void AP_InertialSensor::set_rate_decimation(uint8_t rdec)
|
|
{
|
|
fast_rate_buffer->set_rate_decimation(rdec);
|
|
}
|
|
|
|
// are gyro samples being sourced from the rate loop buffer
|
|
bool AP_InertialSensor::use_rate_loop_gyro_samples() const
|
|
{
|
|
return fast_rate_buffer != nullptr;
|
|
}
|
|
|
|
// whether or not to push the current gyro sample
|
|
bool AP_InertialSensor::is_rate_loop_gyro_enabled(uint8_t instance) const
|
|
{
|
|
return use_rate_loop_gyro_samples() && fast_rate_buffer->use_rate_loop_gyro_samples() && instance == AP::ahrs().get_primary_gyro_index();
|
|
}
|
|
|
|
bool AP_InertialSensor::get_next_gyro_sample(Vector3f& gyro)
|
|
{
|
|
if (!use_rate_loop_gyro_samples()) {
|
|
return false;
|
|
}
|
|
|
|
return fast_rate_buffer->get_next_gyro_sample(gyro);
|
|
}
|
|
|
|
bool FastRateBuffer::get_next_gyro_sample(Vector3f& gyro)
|
|
{
|
|
if (!use_rate_loop_gyro_samples()) {
|
|
return false;
|
|
}
|
|
|
|
if (_rate_loop_gyro_window.available() == 0) {
|
|
_notifier.wait_blocking();
|
|
}
|
|
|
|
WITH_SEMAPHORE(_mutex);
|
|
|
|
return _rate_loop_gyro_window.pop(gyro);
|
|
}
|
|
|
|
bool AP_InertialSensor::push_next_gyro_sample(const Vector3f& gyro)
|
|
{
|
|
if (++fast_rate_buffer->rate_decimation_count < fast_rate_buffer->rate_decimation) {
|
|
return false;
|
|
}
|
|
/*
|
|
tell the rate thread we have a new sample
|
|
*/
|
|
WITH_SEMAPHORE(fast_rate_buffer->_mutex);
|
|
|
|
if (!fast_rate_buffer->_rate_loop_gyro_window.push(gyro)) {
|
|
debug("dropped rate loop sample");
|
|
}
|
|
fast_rate_buffer->rate_decimation_count = 0;
|
|
fast_rate_buffer->_notifier.signal();
|
|
return true;
|
|
}
|
|
|
|
void AP_InertialSensor::update_backend_filters()
|
|
{
|
|
for (uint8_t i=0; i<_backend_count; i++) {
|
|
_backends[i]->update_filters();
|
|
}
|
|
}
|
|
|
|
void AP_InertialSensor_Backend::update_filters()
|
|
{
|
|
WITH_SEMAPHORE(_sem);
|
|
|
|
update_accel_filters(accel_instance);
|
|
update_gyro_filters(gyro_instance);
|
|
}
|
|
|
|
#endif // AP_INERTIALSENSOR_RATE_LOOP_WINDOW_ENABLED
|