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Fix: Sensor: Fix the problem of uneven sampling.

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N/A

Simply using workqueue will result in uneven sampling, so
the timer is used here to ensure the uniformity of the sampling
rate.

Change-Id: If49f4782bfe7d6c4d8335141bda6d3209d6241ae
Signed-off-by: xiatian6 <xiatian6@xiaomi.com>
This commit is contained in:
xiatian6
2021-07-19 17:00:50 +08:00
parent cd8be916d4
commit f8ef15915a
2 changed files with 35 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
drivers/sensors/ak09919c.c
+34 -5
View File
@@ -43,6 +43,10 @@
#define AK09919C_RESOLUTION 0.15f /* uT/LSB. */
/* default ODR */
#define AK09919C_DEFAULT_ODR 20000 /* default 50 ms */
/* Register address. */
#define AK09919C_REG_WIA1 0x00 /* Company ID. */
@@ -107,7 +111,8 @@ struct ak09919c_dev_s
{
struct sensor_lowerhalf_s lower; /* The struct of lower half driver. */
FAR struct ak09919c_config_s *config; /* The board config function. */
uint64_t timestamp; /* Units is microseconds. */
uint64_t start_timestamp; /* Start timestamp(us). */
uint64_t sample_count; /* The count of sampling */
bool activated; /* Sensor working state. */
unsigned int interval; /* Sensor acquisition interval. */
uint8_t workmode; /* Sensor work mode. */
@@ -434,7 +439,6 @@ static int ak09919c_readmag(FAR struct ak09919c_dev_s *priv,
data->x = AK09919C_RESOLUTION * MAKE_S16(buffer[0], buffer[1]);
data->y = AK09919C_RESOLUTION * MAKE_S16(buffer[2], buffer[3]);
data->z = AK09919C_RESOLUTION * MAKE_S16(buffer[4], buffer[5]);
data->timestamp = priv->timestamp;
return ret;
}
@@ -749,6 +753,9 @@ static int ak09919c_activate(FAR struct sensor_lowerhalf_s *lower,
if (enable)
{
priv->start_timestamp = sensor_get_timestamp();
priv->sample_count = 1;
work_queue(HPWORK, &priv->work,
ak09919c_worker, priv,
priv->interval / USEC_PER_TICK);
@@ -784,12 +791,33 @@ static void ak09919c_worker(FAR void *arg)
{
struct sensor_event_mag tmp;
FAR struct ak09919c_dev_s *priv = arg;
int interval;
DEBUGASSERT(priv != NULL);
priv->timestamp = sensor_get_timestamp();
/* Get the timestamp. */
tmp.timestamp = sensor_get_timestamp();
/* Update the number of sampling points. */
priv->sample_count++;
/* Get fixed interval. */
interval = priv->start_timestamp +
priv->sample_count * priv->interval -
tmp.timestamp;
/* If it is negative, need to start immediately to compensate the time. */
if (interval < 0)
{
interval = 0;
}
work_queue(HPWORK, &priv->work, ak09919c_worker,
priv, priv->interval / USEC_PER_TICK);
priv, interval / USEC_PER_TICK);
if (ak09919c_readmag(priv, &tmp) >= 0)
{
@@ -818,7 +846,7 @@ static void ak09919c_worker(FAR void *arg)
*
****************************************************************************/
int ak09919c_register(int devno, FAR struct ak09919c_config_s *config)
int ak09919c_register(int devno, FAR const struct ak09919c_config_s *config)
{
FAR struct ak09919c_dev_s *priv;
int ret;
@@ -841,6 +869,7 @@ int ak09919c_register(int devno, FAR struct ak09919c_config_s *config)
priv->lower.buffer_number = CONFIG_SENSORS_AK09919C_BUFFER_NUMBER;
priv->lower.ops = &g_ak09919c_ops;
priv->lower.uncalibrated = true;
priv->interval = AK09919C_DEFAULT_ODR;
/* Check Device ID */
include/nuttx/sensors/ak09919c.h
+1 -1
View File
@@ -74,7 +74,7 @@ extern "C"
*
****************************************************************************/
int ak09919c_register(int devno, FAR struct ak09919c_config_s *config);
int ak09919c_register(int devno, FAR const struct ak09919c_config_s *config);
#undef EXTERN
#ifdef __cplusplus