forked from Archive/PX4-Autopilot
l3gd20: convert to using RingBuffer class
This commit is contained in:
Andrew Tridgell
Lorenz Meier
parent
36b7b7bc5f
commit
63fb702d7f
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@ -61,6 +61,7 @@
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#include <drivers/drv_hrt.h>
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#include <drivers/device/spi.h>
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#include <drivers/drv_gyro.h>
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#include <drivers/device/ringbuffer.h>
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#include <board_config.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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@ -183,11 +184,8 @@ private:
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struct hrt_call _call;
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unsigned _call_interval;
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unsigned _num_reports;
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volatile unsigned _next_report;
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volatile unsigned _oldest_report;
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struct gyro_report *_reports;
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RingBuffer<gyro_report> *_reports;
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struct gyro_scale _gyro_scale;
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float _gyro_range_scale;
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@ -299,16 +297,9 @@ private:
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int self_test();
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
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SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
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_call_interval(0),
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_num_reports(0),
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_next_report(0),
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_oldest_report(0),
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_reports(nullptr),
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_gyro_range_scale(0.0f),
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_gyro_range_rad_s(0.0f),
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@ -340,7 +331,7 @@ L3GD20::~L3GD20()
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/* free any existing reports */
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if (_reports != nullptr)
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delete[] _reports;
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delete _reports;
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/* delete the perf counter */
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perf_free(_sample_perf);
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@ -356,16 +347,15 @@ L3GD20::init()
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goto out;
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/* allocate basic report buffers */
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_num_reports = 2;
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_oldest_report = _next_report = 0;
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_reports = new struct gyro_report[_num_reports];
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_reports = new RingBuffer<struct gyro_report>(2);
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if (_reports == nullptr)
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goto out;
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/* advertise sensor topic */
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memset(&_reports[0], 0, sizeof(_reports[0]));
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_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_reports[0]);
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struct gyro_report zero_report;
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memset(&zero_report, 0, sizeof(zero_report));
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_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report);
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reset();
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@ -415,6 +405,7 @@ ssize_t
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L3GD20::read(struct file *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(struct gyro_report);
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struct gyro_report *gbuf = reinterpret_cast<struct gyro_report *>(buffer);
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int ret = 0;
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/* buffer must be large enough */
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@ -430,10 +421,9 @@ L3GD20::read(struct file *filp, char *buffer, size_t buflen)
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* we are careful to avoid racing with it.
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*/
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while (count--) {
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if (_oldest_report != _next_report) {
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memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
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ret += sizeof(_reports[0]);
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INCREMENT(_oldest_report, _num_reports);
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if (_reports->get(*gbuf)) {
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ret += sizeof(*gbuf);
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gbuf++;
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}
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}
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@ -442,12 +432,13 @@ L3GD20::read(struct file *filp, char *buffer, size_t buflen)
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}
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/* manual measurement */
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_oldest_report = _next_report = 0;
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_reports->flush();
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measure();
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/* measurement will have generated a report, copy it out */
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memcpy(buffer, _reports, sizeof(*_reports));
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ret = sizeof(*_reports);
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if (_reports->get(*gbuf)) {
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ret = sizeof(*gbuf);
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}
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return ret;
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}
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@ -515,31 +506,22 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
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return 1000000 / _call_interval;
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case SENSORIOCSQUEUEDEPTH: {
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/* account for sentinel in the ring */
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arg++;
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 1) || (arg > 100))
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return -EINVAL;
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 2) || (arg > 100))
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return -EINVAL;
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/* allocate new buffer */
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struct gyro_report *buf = new struct gyro_report[arg];
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if (nullptr == buf)
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return -ENOMEM;
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/* reset the measurement state machine with the new buffer, free the old */
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stop();
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delete[] _reports;
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_num_reports = arg;
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_reports = buf;
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start();
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return OK;
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irqstate_t flags = irqsave();
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if (!_reports->resize(arg)) {
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irqrestore(flags);
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return -ENOMEM;
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}
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irqrestore(flags);
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return OK;
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}
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case SENSORIOCGQUEUEDEPTH:
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return _num_reports - 1;
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return _reports->size();
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case SENSORIOCRESET:
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reset();
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@ -708,7 +690,7 @@ L3GD20::start()
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stop();
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/* reset the report ring */
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_oldest_report = _next_report = 0;
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_reports->flush();
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/* start polling at the specified rate */
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hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&L3GD20::measure_trampoline, this);
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@ -768,7 +750,7 @@ L3GD20::measure()
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} raw_report;
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#pragma pack(pop)
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gyro_report *report = &_reports[_next_report];
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gyro_report report;
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/* start the performance counter */
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perf_begin(_sample_perf);
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@ -791,61 +773,56 @@ L3GD20::measure()
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* the offset is 74 from the origin and subtracting
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* 74 from all measurements centers them around zero.
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*/
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report->timestamp = hrt_absolute_time();
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report.timestamp = hrt_absolute_time();
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switch (_orientation) {
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case SENSOR_BOARD_ROTATION_000_DEG:
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/* keep axes in place */
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report->x_raw = raw_report.x;
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report->y_raw = raw_report.y;
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report.x_raw = raw_report.x;
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report.y_raw = raw_report.y;
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break;
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case SENSOR_BOARD_ROTATION_090_DEG:
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/* swap x and y */
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report->x_raw = raw_report.y;
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report->y_raw = raw_report.x;
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report.x_raw = raw_report.y;
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report.y_raw = raw_report.x;
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break;
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case SENSOR_BOARD_ROTATION_180_DEG:
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/* swap x and y and negate both */
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report->x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
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report->y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
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report.x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
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report.y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
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break;
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case SENSOR_BOARD_ROTATION_270_DEG:
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/* swap x and y and negate y */
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report->x_raw = raw_report.y;
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report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
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report.x_raw = raw_report.y;
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report.y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
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break;
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}
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report->z_raw = raw_report.z;
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report.z_raw = raw_report.z;
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report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
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report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
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report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
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report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
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report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
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report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
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report->x = _gyro_filter_x.apply(report->x);
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report->y = _gyro_filter_y.apply(report->y);
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report->z = _gyro_filter_z.apply(report->z);
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report.x = _gyro_filter_x.apply(report.x);
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report.y = _gyro_filter_y.apply(report.y);
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report.z = _gyro_filter_z.apply(report.z);
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report->scaling = _gyro_range_scale;
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report->range_rad_s = _gyro_range_rad_s;
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report.scaling = _gyro_range_scale;
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report.range_rad_s = _gyro_range_rad_s;
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/* post a report to the ring - note, not locked */
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INCREMENT(_next_report, _num_reports);
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/* if we are running up against the oldest report, fix it */
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if (_next_report == _oldest_report)
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INCREMENT(_oldest_report, _num_reports);
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_reports->force(report);
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/* notify anyone waiting for data */
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poll_notify(POLLIN);
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/* publish for subscribers */
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if (_gyro_topic > 0)
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orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report);
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orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
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_read++;
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@ -858,8 +835,7 @@ L3GD20::print_info()
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{
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printf("gyro reads: %u\n", _read);
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perf_print_counter(_sample_perf);
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printf("report queue: %u (%u/%u @ %p)\n",
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_num_reports, _oldest_report, _next_report, _reports);
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_reports->print_info("report queue");
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}
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int
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