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move initial sensor priority to parameters and purge ORB_PRIORITY

Browse Source 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
This commit is contained in:
Daniel Agar
2020-08-16 22:21:04 -04:00
parent 971b1e4b4d
commit 27f23ac290
124 changed files with 463 additions and 509 deletions
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src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
+1 -1
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@@ -87,7 +87,7 @@ static constexpr unsigned char crc_lsb_vector[] = {
CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
_px4_rangefinder(0 /* TODO: device ids */, ORB_PRIO_DEFAULT, rotation)
_px4_rangefinder(0 /* TODO: device ids */, rotation)
{
// Store the port name.
strncpy(_port, port, sizeof(_port) - 1);
src/drivers/distance_sensor/leddar_one/LeddarOne.cpp
+1 -1
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@@ -39,7 +39,7 @@
LeddarOne::LeddarOne(const char *serial_port, uint8_t device_orientation):
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(serial_port)),
_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, device_orientation)
_px4_rangefinder(0 /* device id not yet used */, device_orientation)
{
_serial_port = strdup(serial_port);
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+1 -1
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@@ -45,7 +45,7 @@ LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint
const int address) :
I2C(DRV_RNG_DEVTYPE_LL40LS, MODULE_NAME, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_rangefinder(get_device_id(), rotation)
{
_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
src/drivers/distance_sensor/ll40ls_pwm/LidarLitePWM.cpp
+1 -1
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@@ -50,7 +50,7 @@
LidarLitePWM::LidarLitePWM(const uint8_t rotation) :
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
_px4_rangefinder(0 /* device id not yet used */, rotation)
{
_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
src/drivers/distance_sensor/mappydot/MappyDot.cpp
+1 -2
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@@ -275,8 +275,7 @@ MappyDot::collect()
report.variance = 0;
int instance_id;
orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id, ORB_PRIO_DEFAULT);
orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id);
}
perf_end(_sample_perf);
src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+1 -1
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@@ -233,7 +233,7 @@ MB12XX::collect()
report.variance = 0.0f;
int instance_id;
orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id, ORB_PRIO_DEFAULT);
orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id);
// Begin the next measurement.
if (measure() != PX4_OK) {
src/drivers/distance_sensor/sf0x/SF0X.cpp
+1 -1
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@@ -41,7 +41,7 @@
SF0X::SF0X(const char *port, uint8_t rotation) :
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation),
_px4_rangefinder(0 /* device id not yet used */, rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err"))
{
src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+1 -1
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@@ -117,7 +117,7 @@ private:
SF1XX::SF1XX(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
I2C(DRV_DIST_DEVTYPE_SF1XX, MODULE_NAME, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(DRV_DIST_DEVTYPE_SF1XX, ORB_PRIO_DEFAULT, rotation)
_px4_rangefinder(DRV_DIST_DEVTYPE_SF1XX, rotation)
{
}
src/drivers/distance_sensor/srf02/SRF02.cpp
+1 -1
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@@ -36,7 +36,7 @@
SRF02::SRF02(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
I2C(DRV_DIST_DEVTYPE_SRF02, MODULE_NAME, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_rangefinder(get_device_id(), rotation)
{
_px4_rangefinder.set_max_distance(SRF02_MAX_DISTANCE);
_px4_rangefinder.set_min_distance(SRF02_MIN_DISTANCE);
src/drivers/distance_sensor/teraranger/TERARANGER.cpp
+1 -1
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@@ -76,7 +76,7 @@ static uint8_t crc8(uint8_t *p, uint8_t len)
TERARANGER::TERARANGER(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency) :
I2C(DRV_DIST_DEVTYPE_TERARANGER, MODULE_NAME, bus, TERARANGER_ONE_BASEADDR, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_rangefinder(get_device_id(), rotation)
{
// up the retries since the device misses the first measure attempts
I2C::_retries = 3;
src/drivers/distance_sensor/tfmini/TFMINI.cpp
+1 -1
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@@ -37,7 +37,7 @@
TFMINI::TFMINI(const char *port, uint8_t rotation) :
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
_px4_rangefinder(0 /* TODO: device id */, ORB_PRIO_DEFAULT, rotation)
_px4_rangefinder(0 /* TODO: device id */, rotation)
{
// store port name
strncpy(_port, port, sizeof(_port) - 1);
src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp
+1 -1
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@@ -35,7 +35,7 @@
AerotennaULanding::AerotennaULanding(const char *port, uint8_t rotation) :
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
_px4_rangefinder(0 /* TODO: device ids */, ORB_PRIO_DEFAULT, rotation)
_px4_rangefinder(0 /* TODO: device ids */, rotation)
{
/* store port name */
strncpy(_port, port, sizeof(_port) - 1);
src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp
+1 -1
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@@ -62,7 +62,7 @@
VL53L0X::VL53L0X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
I2C(DRV_DIST_DEVTYPE_VL53L0X, MODULE_NAME, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
_px4_rangefinder(0 /* device id not yet used */, rotation)
{
// VL53L0X typical range 0-2 meters with 25 degree field of view
_px4_rangefinder.set_min_distance(0.f);
src/drivers/imu/adis16448/ADIS16448.cpp
+4 -4
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@@ -41,10 +41,10 @@ ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_ADIS16448, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_baro(get_device_id(), ORB_PRIO_MAX),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_mag(get_device_id(), ORB_PRIO_MAX, rotation)
_px4_accel(get_device_id(), rotation),
_px4_baro(get_device_id()),
_px4_gyro(get_device_id(), rotation),
_px4_mag(get_device_id(), rotation)
{
_px4_accel.set_scale(ADIS16448_ACCEL_SENSITIVITY);
_px4_gyro.set_scale(ADIS16448_GYRO_INITIAL_SENSITIVITY);
src/drivers/imu/adis16477/ADIS16477.cpp
+2 -2
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@@ -57,8 +57,8 @@ ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(DRV_IMU_DEVTYPE_ADIS16477, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_drdy_gpio(drdy_gpio)
src/drivers/imu/adis16497/ADIS16497.cpp
+2 -2
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@@ -74,8 +74,8 @@ ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(DRV_IMU_DEVTYPE_ADIS16497, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_drdy_gpio(drdy_gpio)
src/drivers/imu/bma180/bma180.cpp
+1 -1
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@@ -179,7 +179,7 @@ BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
spi_mode_e spi_mode) :
SPI(DRV_ACC_DEVTYPE_BMA180, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_accel(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read"))
{
}
src/drivers/imu/bmi160/bmi160.cpp
+8 -8
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@@ -53,15 +53,15 @@ BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_BMI160, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation),
_accel_reads(perf_alloc(PC_COUNT, MODULE_NAME": accel read")),
_gyro_reads(perf_alloc(PC_COUNT, MODULE_NAME":gyro read")),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME":read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME":bad transfers")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME":bad registers")),
_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME":good transfers")),
_reset_retries(perf_alloc(PC_COUNT, MODULE_NAME":reset retries")),
_gyro_reads(perf_alloc(PC_COUNT, MODULE_NAME": gyro read")),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad registers")),
_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good transfers")),
_reset_retries(perf_alloc(PC_COUNT, MODULE_NAME": reset retries")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicates"))
{
}
src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
+1 -1
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@@ -43,7 +43,7 @@ namespace Bosch::BMI055::Accelerometer
BMI055_Accelerometer::BMI055_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
BMI055(DRV_ACC_DEVTYPE_BMI055, "BMI055_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_accel(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_accel: DRDY interval");
src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp
+1 -1
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@@ -43,7 +43,7 @@ namespace Bosch::BMI055::Gyroscope
BMI055_Gyroscope::BMI055_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
BMI055(DRV_GYR_DEVTYPE_BMI055, "BMI055_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_gyro: DRDY interval");
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
+1 -1
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@@ -43,7 +43,7 @@ namespace Bosch::BMI088::Accelerometer
BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
BMI088(DRV_ACC_DEVTYPE_BMI088, "BMI088_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_accel: DRDY interval");
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp
+1 -1
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@@ -43,7 +43,7 @@ namespace Bosch::BMI088::Gyroscope
BMI088_Gyroscope::BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
BMI088(DRV_GYR_DEVTYPE_BMI088, "BMI088_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_gyro: DRDY interval");
src/drivers/imu/fxas21002c/FXAS21002C.cpp
+1 -1
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@@ -69,7 +69,7 @@ FXAS21002C::FXAS21002C(device::Device *interface, I2CSPIBusOption bus_option, in
int i2c_address) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
_interface(interface),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_px4_gyro(_interface->get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp
+2 -2
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@@ -57,9 +57,9 @@ FXOS8701CQ::FXOS8701CQ(device::Device *interface, I2CSPIBusOption bus_option, in
int i2c_address) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
_interface(interface),
_px4_accel(interface->get_device_id(), ORB_PRIO_LOW, rotation),
_px4_accel(interface->get_device_id(), rotation),
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
_px4_mag(interface->get_device_id(), ORB_PRIO_LOW, rotation),
_px4_mag(interface->get_device_id(), rotation),
_mag_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": mag read")),
#endif
_accel_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": acc read")),
src/drivers/imu/invensense/icm20602/ICM20602.cpp
+2 -2
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@@ -45,8 +45,8 @@ ICM20602::ICM20602(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
SPI(DRV_IMU_DEVTYPE_ICM20602, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
+2 -2
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@@ -45,8 +45,8 @@ ICM20608G::ICM20608G(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
SPI(DRV_IMU_DEVTYPE_ICM20608G, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20649/ICM20649.cpp
+2 -2
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@@ -45,8 +45,8 @@ ICM20649::ICM20649(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
SPI(DRV_IMU_DEVTYPE_ICM20649, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20689/ICM20689.cpp
+2 -2
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@@ -45,8 +45,8 @@ ICM20689::ICM20689(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
SPI(DRV_IMU_DEVTYPE_ICM20689, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20948/ICM20948.cpp
+2 -2
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@@ -47,8 +47,8 @@ ICM20948::ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
SPI(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm20948/ICM20948_AK09916.cpp
+1 -1
View File
@@ -48,7 +48,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
ICM20948_AK09916::ICM20948_AK09916(ICM20948 &icm20948, enum Rotation rotation) :
ScheduledWorkItem("icm20948_ak09916", px4::device_bus_to_wq(icm20948.get_device_id())),
_icm20948(icm20948),
_px4_mag(icm20948.get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_mag(icm20948.get_device_id(), rotation)
{
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK09916);
_px4_mag.set_external(icm20948.external());
src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
+2 -2
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@@ -45,8 +45,8 @@ ICM40609D::ICM40609D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
SPI(DRV_IMU_DEVTYPE_ICM40609D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+2 -2
View File
@@ -45,8 +45,8 @@ ICM42688P::ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+2 -2
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@@ -45,8 +45,8 @@ MPU6000::MPU6000(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
SPI(DRV_IMU_DEVTYPE_MPU6000, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/mpu6500/MPU6500.cpp
+2 -2
View File
@@ -45,8 +45,8 @@ MPU6500::MPU6500(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
SPI(DRV_IMU_DEVTYPE_MPU6500, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+2 -2
View File
@@ -47,8 +47,8 @@ MPU9250::MPU9250(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
SPI(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
if (drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp
+1 -1
View File
@@ -48,7 +48,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
MPU9250_AK8963::MPU9250_AK8963(MPU9250 &mpu9250, enum Rotation rotation) :
ScheduledWorkItem("mpu9250_ak8963", px4::device_bus_to_wq(mpu9250.get_device_id())),
_mpu9250(mpu9250),
_px4_mag(mpu9250.get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_mag(mpu9250.get_device_id(), rotation)
{
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK8963);
_px4_mag.set_external(mpu9250.external());
src/drivers/imu/l3gd20/L3GD20.cpp
+1 -1
View File
@@ -39,7 +39,7 @@ L3GD20::L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotati
spi_mode_e spi_mode) :
SPI(DRV_GYR_DEVTYPE_L3GD20, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
src/drivers/imu/lsm303d/LSM303D.cpp
+2 -2
View File
@@ -57,8 +57,8 @@ LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_LSM303D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
_px4_accel(get_device_id(), rotation),
_px4_mag(get_device_id(), rotation),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: acc_read")),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: mag_read")),
_bad_registers(perf_alloc(PC_COUNT, "lsm303d: bad_reg")),
src/drivers/imu/mpu6000/MPU6000.cpp
+2 -2
View File
@@ -44,8 +44,8 @@ MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_t
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, 0, device_type),
_interface(interface),
_device_type(device_type),
_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_accel(_interface->get_device_id(), rotation),
_px4_gyro(_interface->get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6k_read")),
_bad_transfers(perf_alloc(PC_COUNT, "mpu6k_bad_trans")),
_bad_registers(perf_alloc(PC_COUNT, "mpu6k_bad_reg")),
src/drivers/imu/mpu9250/MPU9250_mag.cpp
+1 -2
View File
@@ -53,8 +53,7 @@
// Otherwise, it will passthrough the parent MPU9250
MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, enum Rotation rotation) :
_interface(interface),
_px4_mag(parent->_interface->get_device_id(), (parent->_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH),
rotation),
_px4_mag(parent->_interface->get_device_id(), rotation),
_parent(parent),
_mag_overruns(perf_alloc(PC_COUNT, MODULE_NAME": mag overruns")),
_mag_overflows(perf_alloc(PC_COUNT, MODULE_NAME": mag overflows")),
src/drivers/imu/mpu9250/mpu9250.cpp
+2 -2
View File
@@ -74,8 +74,8 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, enum
I2CSPIBusOption bus_option, int bus) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
_interface(interface),
_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_accel(_interface->get_device_id(), rotation),
_px4_gyro(_interface->get_device_id(), rotation),
_mag(this, mag_interface, rotation),
_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
src/drivers/imu/st/ism330dlc/ISM330DLC.cpp
+2 -2
View File
@@ -44,8 +44,8 @@ ISM330DLC::ISM330DLC(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
SPI(DRV_IMU_DEVTYPE_ST_ISM330DLC, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
}
src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp
+2 -2
View File
@@ -42,8 +42,8 @@ LSM9DS1::LSM9DS1(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
{
}
src/drivers/magnetometer/akm/ak09916/AK09916.cpp
+1 -1
View File
@@ -43,7 +43,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
AK09916::AK09916(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
I2C(DRV_MAG_DEVTYPE_AK09916, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation)
_px4_mag(get_device_id(), rotation)
{
_px4_mag.set_external(external());
}
src/drivers/magnetometer/akm/ak8963/AK8963.cpp
+1 -1
View File
@@ -43,7 +43,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
AK8963::AK8963(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
I2C(DRV_MAG_DEVTYPE_AK8963, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation)
_px4_mag(get_device_id(), rotation)
{
_px4_mag.set_external(external());
}
src/drivers/magnetometer/bmm150/bmm150.cpp
+1 -1
View File
@@ -43,7 +43,7 @@
BMM150::BMM150(I2CSPIBusOption bus_option, const int bus, int bus_frequency, enum Rotation rotation) :
I2C(DRV_MAG_DEVTYPE_BMM150, MODULE_NAME, bus, BMM150_SLAVE_ADDRESS, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
_px4_mag(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good transfers")),
src/drivers/magnetometer/bmm150/bmm150.hpp
-1
View File
@@ -39,7 +39,6 @@
#include <systemlib/conversions.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#define BMM150_SLAVE_ADDRESS 0x10
src/drivers/magnetometer/hmc5883/HMC5883.cpp
+1 -1
View File
@@ -35,7 +35,7 @@
HMC5883::HMC5883(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
_px4_mag(interface->get_device_id(), interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
_px4_mag(interface->get_device_id(), rotation),
_interface(interface),
_range_ga(1.9f),
_collect_phase(false),
src/drivers/magnetometer/isentek/ist8308/IST8308.cpp
+1 -1
View File
@@ -43,7 +43,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
IST8308::IST8308(I2CSPIBusOption bus_option, int bus, enum Rotation rotation, int bus_frequency) :
I2C(DRV_MAG_DEVTYPE_IST8308, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation)
_px4_mag(get_device_id(), rotation)
{
_px4_mag.set_external(external());
}
src/drivers/magnetometer/ist8310/ist8310.cpp
+1 -1
View File
@@ -270,7 +270,7 @@ private:
IST8310::IST8310(I2CSPIBusOption bus_option, int bus_number, int address, enum Rotation rotation, int bus_frequency) :
I2C(DRV_MAG_DEVTYPE_IST8310, MODULE_NAME, bus_number, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus_number, address),
_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
_px4_mag(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err")),
_range_errors(perf_alloc(PC_COUNT, MODULE_NAME": rng_err")),

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