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Code Issues Releases Activity

OP-1658 - Support reset for main sensors

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This commit is contained in:
Alessio Morale 2014-12-29 13:03:54 +01:00
parent 73a7dc00d4
commit bdd9ac7c60
2 changed files with 14 additions and 1 deletions
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9
flight/modules/Sensors/sensors.c
View File

@ -68,6 +68,7 @@
#include <CoordinateConversions.h> #include <CoordinateConversions.h>
#include <pios_board_info.h> #include <pios_board_info.h>
#include <string.h> #include <string.h>
// Private constants // Private constants
#define STACK_SIZE_BYTES 1000 #define STACK_SIZE_BYTES 1000
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) #define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
@ -123,6 +124,7 @@ PERF_DEFINE_COUNTER(counterAccelPeriod);
PERF_DEFINE_COUNTER(counterMagPeriod); PERF_DEFINE_COUNTER(counterMagPeriod);
PERF_DEFINE_COUNTER(counterBaroPeriod); PERF_DEFINE_COUNTER(counterBaroPeriod);
PERF_DEFINE_COUNTER(counterSensorPeriod); PERF_DEFINE_COUNTER(counterSensorPeriod);
PERF_DEFINE_COUNTER(counterSensorResets);
// Private functions // Private functions
static void SensorsTask(void *parameters); static void SensorsTask(void *parameters);
@ -202,6 +204,7 @@ int32_t SensorsInitialize(void)
RevoCalibrationConnectCallback(&settingsUpdatedCb); RevoCalibrationConnectCallback(&settingsUpdatedCb);
AttitudeSettingsConnectCallback(&settingsUpdatedCb); AttitudeSettingsConnectCallback(&settingsUpdatedCb);
AccelGyroSettingsConnectCallback(&settingsUpdatedCb); AccelGyroSettingsConnectCallback(&settingsUpdatedCb);
return 0; return 0;
} }
@ -250,6 +253,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
PERF_INIT_COUNTER(counterMagPeriod, 0x53000003); PERF_INIT_COUNTER(counterMagPeriod, 0x53000003);
PERF_INIT_COUNTER(counterBaroPeriod, 0x53000004); PERF_INIT_COUNTER(counterBaroPeriod, 0x53000004);
PERF_INIT_COUNTER(counterSensorPeriod, 0x53000005); PERF_INIT_COUNTER(counterSensorPeriod, 0x53000005);
PERF_INIT_COUNTER(counterSensorResets, 0x53000006);
// Test sensors // Test sensors
bool sensors_test = true; bool sensors_test = true;
@ -270,7 +274,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
// Main task loop // Main task loop
lastSysTime = xTaskGetTickCount(); lastSysTime = xTaskGetTickCount();
uint32_t reset_counter = 0;
while (1) { while (1) {
// TODO: add timeouts to the sensor reads and set an error if the fail // TODO: add timeouts to the sensor reads and set an error if the fail
@ -302,6 +306,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
processSamples3d(&sensor_context, sensor); processSamples3d(&sensor_context, sensor);
clearContext(&sensor_context); clearContext(&sensor_context);
} else if (is_primary) { } else if (is_primary) {
PIOS_SENSOR_Reset(sensor);
reset_counter++;
PERF_TRACK_VALUE(counterSensorResets, reset_counter);
error = true; error = true;
} }
} else { } else {

6
flight/pios/inc/pios_sensors.h
View File

@ -143,6 +143,12 @@ static inline void PIOS_SENSOR_Fetch(const PIOS_SENSORS_Instance *sensor, void *
sensor->driver->fetch(samples, size, sensor->context); sensor->driver->fetch(samples, size, sensor->context);
} }
static inline void PIOS_SENSOR_Reset(const PIOS_SENSORS_Instance *sensor)
{
PIOS_Assert(sensor);
sensor->driver->reset(sensor->context);
}
/** /**
* retrieve the sensor queue * retrieve the sensor queue
* @param sensor * @param sensor