int MPU9250::reset()
{
irqstate_t state;
/* When the mpu9250 starts from 0V the internal power on circuit
* per the data sheet will require:
*
* Start-up time for register read/write From power-up Typ:11 max:100 ms
*
*/
px4_usleep(110000);
// Hold off sampling until done (100 MS will be shortened)
state = px4_enter_critical_section();
_reset_wait = hrt_absolute_time() + 100000;
px4_leave_critical_section(state);
int ret;
ret = reset_mpu();
if (ret == OK && (_whoami == MPU_WHOAMI_9250)) {
ret = _mag->ak8963_reset();
}
state = px4_enter_critical_section();
_reset_wait = hrt_absolute_time() + 10;
px4_leave_critical_section(state);
return ret;
}
int LidarLiteI2C::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
default: {
int result = LidarLite::ioctl(filp, cmd, arg);
if (result == -EINVAL) {
result = I2C::ioctl(filp, cmd, arg);
}
return result;
}
}
}
int
BMI160::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
/* these are shared with the accel side */
case SENSORIOCSPOLLRATE:
case SENSORIOCGPOLLRATE:
case SENSORIOCRESET:
return ioctl(filp, cmd, arg);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_gyro_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case GYROIOCGSAMPLERATE:
return _gyro_sample_rate;
case GYROIOCSSAMPLERATE:
return gyro_set_sample_rate(arg);
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE:
return set_gyro_range(arg);
case GYROIOCGRANGE:
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int test_time(int argc, char *argv[])
{
hrt_abstime h, c;
int64_t lowdelta, maxdelta = 0;
int64_t delta, deltadelta;
/* enable the cycle counter */
(*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */
/* get an average delta between the two clocks - this should stay roughly the same */
delta = 0;
for (unsigned i = 0; i < 100; i++) {
uint32_t flags = px4_enter_critical_section();
h = hrt_absolute_time();
c = cycletime();
px4_leave_critical_section(flags);
delta += h - c;
}
lowdelta = abs(delta / 100);
/* loop checking the time */
for (unsigned i = 0; i < 100; i++) {
usleep(rand());
uint32_t flags = px4_enter_critical_section();
c = cycletime();
h = hrt_absolute_time();
px4_leave_critical_section(flags);
delta = abs(h - c);
deltadelta = abs(delta - lowdelta);
if (deltadelta > maxdelta) {
maxdelta = deltadelta;
}
if (deltadelta > 1000) {
fprintf(stderr, "h %" PRIu64 " c %" PRIu64 " d %" PRId64 "\n", h, c, delta - lowdelta);
}
}
printf("Maximum jitter %" PRId64 "us\n", maxdelta);
return 0;
}
static void
param_bus_lock(bool lock)
{
#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
// FMUv4 has baro and FRAM on the same bus,
// as this offers on average a 100% silent
// bus for the baro operation
// XXX this would be the preferred locking method
// if (dev == nullptr) {
// dev = px4_spibus_initialize(PX4_SPI_BUS_BARO);
// }
// SPI_LOCK(dev, lock);
// we lock like this for Pixracer for now
if (lock) {
irq_state = px4_enter_critical_section();
} else {
px4_leave_critical_section(irq_state);
}
#endif
}
/*
* Initialise the timer we are going to use.
*/
void PWMIN::_timer_init(void)
{
/* run with interrupts disabled in case the timer is already
* setup. We don't want it firing while we are doing the setup */
irqstate_t flags = px4_enter_critical_section();
/* configure input pin */
px4_arch_configgpio(GPIO_PWM_IN);
// XXX refactor this out of this driver
/* configure reset pin */
px4_arch_configgpio(GPIO_VDD_RANGEFINDER_EN);
/* claim our interrupt vector */
irq_attach(PWMIN_TIMER_VECTOR, pwmin_tim_isr, NULL);
/* Clear no bits, set timer enable bit.*/
modifyreg32(PWMIN_TIMER_POWER_REG, 0, PWMIN_TIMER_POWER_BIT);
/* disable and configure the timer */
rCR1 = 0;
rCR2 = 0;
rSMCR = 0;
rDIER = DIER_PWMIN_A;
rCCER = 0; /* unlock CCMR* registers */
rCCMR1 = CCMR1_PWMIN;
rCCMR2 = CCMR2_PWMIN;
rSMCR = SMCR_PWMIN_1; /* Set up mode */
rSMCR = SMCR_PWMIN_2; /* Enable slave mode controller */
rCCER = CCER_PWMIN;
rDCR = 0;
/* for simplicity scale by the clock in MHz. This gives us
* readings in microseconds which is typically what is needed
* for a PWM input driver */
uint32_t prescaler = PWMIN_TIMER_CLOCK / 1000000UL;
/*
* define the clock speed. We want the highest possible clock
* speed that avoids overflows.
*/
rPSC = prescaler - 1;
/* run the full span of the counter. All timers can handle
* uint16 */
rARR = UINT16_MAX;
/* generate an update event; reloads the counter, all registers */
rEGR = GTIM_EGR_UG;
/* enable the timer */
rCR1 = GTIM_CR1_CEN;
/* enable interrupts */
up_enable_irq(PWMIN_TIMER_VECTOR);
px4_leave_critical_section(flags);
_timer_started = true;
}
static void
hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
{
irqstate_t flags = px4_enter_critical_section();
/* if the entry is currently queued, remove it */
/* note that we are using a potentially uninitialised
entry->link here, but it is safe as sq_rem() doesn't
dereference the passed node unless it is found in the
list. So we potentially waste a bit of time searching the
queue for the uninitialised entry->link but we don't do
anything actually unsafe.
*/
if (entry->deadline != 0) {
sq_rem(&entry->link, &callout_queue);
}
entry->deadline = deadline;
entry->period = interval;
entry->callout = callout;
entry->arg = arg;
hrt_call_enter(entry);
px4_leave_critical_section(flags);
}
int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case BAROIOCSMSLPRESSURE: {
if ((arg < 80000) || (arg > 120000)) {
return -EINVAL;
} else {
DEVICE_LOG("new msl pressure %u", _msl_pressure);
_msl_pressure = arg;
return OK;
}
}
case BAROIOCGMSLPRESSURE: {
return _msl_pressure;
}
case SENSORIOCSPOLLRATE: {
// not supported yet, pretend that everything is ok
return OK;
}
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports.resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
default: {
return CDev::ioctl(filp, cmd, arg);
}
}
}
ssize_t
uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
{
SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
/* if the object has not been written yet, return zero */
if (_data == nullptr) {
return 0;
}
/* if the caller's buffer is the wrong size, that's an error */
if (buflen != _meta->o_size) {
return -EIO;
}
/*
* Perform an atomic copy & state update
*/
irqstate_t flags = px4_enter_critical_section();
if (_generation > sd->generation + _queue_size) {
/* Reader is too far behind: some messages are lost */
_lost_messages += _generation - (sd->generation + _queue_size);
sd->generation = _generation - _queue_size;
}
if (_generation == sd->generation && sd->generation > 0) {
/* The subscriber already read the latest message, but nothing new was published yet.
* Return the previous message
*/
--sd->generation;
}
/* if the caller doesn't want the data, don't give it to them */
if (nullptr != buffer) {
memcpy(buffer, _data + (_meta->o_size * (sd->generation % _queue_size)), _meta->o_size);
}
if (sd->generation < _generation) {
++sd->generation;
}
/* set priority */
sd->set_priority(_priority);
/*
* Clear the flag that indicates that an update has been reported, as
* we have just collected it.
*/
sd->set_update_reported(false);
px4_leave_critical_section(flags);
return _meta->o_size;
}
/**
* Store the absolute time in an interrupt-safe fashion
*/
hrt_abstime
hrt_store_absolute_time(volatile hrt_abstime *now)
{
irqstate_t flags = px4_enter_critical_section();
hrt_abstime ts = hrt_absolute_time();
px4_leave_critical_section(flags);
return ts;
}
/**
* Compare a time value with the current time as atomic operation
*/
hrt_abstime
hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
{
irqstate_t flags = px4_enter_critical_section();
hrt_abstime delta = hrt_absolute_time() - *then;
px4_leave_critical_section(flags);
return delta;
}
ssize_t
uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
{
/*
* Writes are legal from interrupt context as long as the
* object has already been initialised from thread context.
*
* Writes outside interrupt context will allocate the object
* if it has not yet been allocated.
*
* Note that filp will usually be NULL.
*/
if (nullptr == _data) {
if (!up_interrupt_context()) {
lock();
/* re-check size */
if (nullptr == _data) {
_data = new uint8_t[_meta->o_size * _queue_size];
}
unlock();
}
/* failed or could not allocate */
if (nullptr == _data) {
return -ENOMEM;
}
}
/* If write size does not match, that is an error */
if (_meta->o_size != buflen) {
return -EIO;
}
/* Perform an atomic copy. */
irqstate_t flags = px4_enter_critical_section();
memcpy(_data + (_meta->o_size * (_generation % _queue_size)), buffer, _meta->o_size);
/* update the timestamp and generation count */
_last_update = hrt_absolute_time();
/* wrap-around happens after ~49 days, assuming a publisher rate of 1 kHz */
_generation++;
_published = true;
px4_leave_critical_section(flags);
/* notify any poll waiters */
poll_notify(POLLIN);
return _meta->o_size;
}
void
CDev::poll_notify(pollevent_t events)
{
/* lock against poll() as well as other wakeups */
irqstate_t state = px4_enter_critical_section();
for (unsigned i = 0; i < _max_pollwaiters; i++)
if (nullptr != _pollset[i]) {
poll_notify_one(_pollset[i], events);
}
px4_leave_critical_section(state);
}
/*
* handle ioctl requests
*/
int
PWMIN::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 500)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* user has asked for the timer to be reset. This may
* be needed if the pin was used for a different
* purpose (such as PWM output) */
_timer_init();
/* also reset the sensor */
hard_reset();
return OK;
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
/**
* Remove the entry from the callout list.
*/
void
hrt_cancel(struct hrt_call *entry)
{
irqstate_t flags = px4_enter_critical_section();
sq_rem(&entry->link, &callout_queue);
entry->deadline = 0;
/* if this is a periodic call being removed by the callout, prevent it from
* being re-entered when the callout returns.
*/
entry->period = 0;
px4_leave_critical_section(flags);
}
ssize_t
ADC::read(file *filp, char *buffer, size_t len)
{
const size_t maxsize = sizeof(px4_adc_msg_t) * _channel_count;
if (len > maxsize) {
len = maxsize;
}
/* block interrupts while copying samples to avoid racing with an update */
irqstate_t flags = px4_enter_critical_section();
memcpy(buffer, _samples, len);
px4_leave_critical_section(flags);
return len;
}
static void led_pwm_timer_init_timer(unsigned timer)
{
irqstate_t flags = px4_enter_critical_section();
/* enable the timer clock before we try to talk to it */
modifyreg32(led_pwm_timers[timer].clock_register, 0, led_pwm_timers[timer].clock_bit);
/* disable and configure the timer */
rCR1(timer) = 0;
rCR2(timer) = 0;
rSMCR(timer) = 0;
rDIER(timer) = 0;
rCCER(timer) = 0;
rCCMR1(timer) = 0;
rCCMR2(timer) = 0;
rCCR1(timer) = 0;
rCCR2(timer) = 0;
rCCR3(timer) = 0;
rCCR4(timer) = 0;
rCCER(timer) = 0;
rDCR(timer) = 0;
if ((led_pwm_timers[timer].base == STM32_TIM1_BASE) || (led_pwm_timers[timer].base == STM32_TIM8_BASE)) {
/* master output enable = on */
rBDTR(timer) = ATIM_BDTR_MOE;
}
/* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN
* then configure the timer to free-run at 1MHz.
* Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
*/
rPSC(timer) = (led_pwm_timers[timer].clock_freq / 1000000) - 1;
/* configure the timer to update at the desired rate */
rARR(timer) = (1000000 / LED_PWM_RATE) - 1;
/* generate an update event; reloads the counter and all registers */
rEGR(timer) = GTIM_EGR_UG;
px4_leave_critical_section(flags);
}
/**
* Fetch a never-wrapping absolute time value in microseconds from
* some arbitrary epoch shortly after system start.
*/
hrt_abstime
hrt_absolute_time(void)
{
hrt_abstime abstime;
uint32_t count;
irqstate_t flags;
/*
* Counter state. Marked volatile as they may change
* inside this routine but outside the irqsave/restore
* pair. Discourage the compiler from moving loads/stores
* to these outside of the protected range.
*/
static volatile hrt_abstime base_time;
static volatile uint32_t last_count;
/* prevent re-entry */
flags = px4_enter_critical_section();
/* get the current counter value */
count = rCNT;
/*
* Determine whether the counter has wrapped since the
* last time we're called.
*
* This simple test is sufficient due to the guarantee that
* we are always called at least once per counter period.
*/
if (count < last_count) {
base_time += HRT_COUNTER_PERIOD;
}
/* save the count for next time */
last_count = count;
/* compute the current time */
abstime = HRT_COUNTER_SCALE(base_time + count);
px4_leave_critical_section(flags);
return abstime;
}
int
LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
{
unsigned dummy = arg;
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(LPS25H_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(LPS25H_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
return reset();
case BAROIOCSMSLPRESSURE:
/* range-check for sanity */
if ((arg < 80000) || (arg > 120000)) {
return -EINVAL;
}
_msl_pressure = arg;
return OK;
case BAROIOCGMSLPRESSURE:
return _msl_pressure;
case DEVIOCGDEVICEID:
return _interface->ioctl(cmd, dummy);
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
int
FXAS21002C::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, FXAS21002C_DEFAULT_RATE);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000) {
return -EINVAL;
}
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call_interval = ticks;
_gyro_call.period = _call_interval - FXAS21002C_TIMER_REDUCTION;
/* adjust filters */
float cutoff_freq_hz = _gyro_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f / ticks;
set_sw_lowpass_filter(sample_rate, cutoff_freq_hz);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_interval == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCRESET:
reset();
return OK;
case GYROIOCSSAMPLERATE:
return set_samplerate(arg);
case GYROIOCGSAMPLERATE:
return _current_rate;
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE:
/* arg should be in dps */
return set_range(arg);
case GYROIOCGRANGE:
/* convert to dps and round */
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
SF1XX::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(_conversion_interval);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
int ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(_conversion_interval)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
case RANGEFINDERIOCSETMINIUMDISTANCE: {
set_minimum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE: {
set_maximum_distance(*(float *)arg);
return 0;
}
break;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
int
LIS3MDL::ioctl(struct file *filp, int cmd, unsigned long arg)
{
unsigned dummy = arg;
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(LIS3MDL_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(LIS3MDL_CONVERSION_INTERVAL)) {
// RobD: quick fix for Phil's testing return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / TICK2USEC(_measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCRESET:
return reset();
case MAGIOCSSAMPLERATE:
/* same as pollrate because device is in single measurement mode*/
return ioctl(filp, SENSORIOCSPOLLRATE, arg);
case MAGIOCGSAMPLERATE:
/* same as pollrate because device is in single measurement mode*/
return 1000000 / TICK2USEC(_measure_ticks);
case MAGIOCSRANGE:
return set_range(arg);
case MAGIOCGRANGE:
return _range_ga;
case MAGIOCSSCALE:
/* set new scale factors */
memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));
/* check calibration, but not actually return an error */
(void)check_calibration();
return 0;
case MAGIOCGSCALE:
/* copy out scale factors */
memcpy((struct mag_calibration_s *)arg, &_scale, sizeof(_scale));
return 0;
case MAGIOCCALIBRATE:
return calibrate(filp, arg);
case MAGIOCEXSTRAP:
return set_excitement(arg);
case MAGIOCSELFTEST:
return check_calibration();
case MAGIOCGEXTERNAL:
DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
return _interface->ioctl(cmd, dummy);
case DEVIOCGDEVICEID:
return _interface->ioctl(cmd, dummy);
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
int
MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
/* these are shared with the accel side */
case SENSORIOCSPOLLRATE:
case SENSORIOCGPOLLRATE:
case SENSORIOCRESET:
return ioctl(filp, cmd, arg);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_gyro_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _gyro_reports->size();
case GYROIOCGSAMPLERATE:
return _sample_rate;
case GYROIOCSSAMPLERATE:
_set_sample_rate(arg);
return OK;
case GYROIOCGLOWPASS:
return _gyro_filter_x.get_cutoff_freq();
case GYROIOCSLOWPASS:
// set software filtering
_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
return OK;
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE:
/* XXX not implemented */
// XXX change these two values on set:
// _gyro_range_scale = xx
// _gyro_range_rad_s = xx
return -EINVAL;
case GYROIOCGRANGE:
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
case GYROIOCSELFTEST:
return gyro_self_test();
#ifdef GYROIOCSHWLOWPASS
case GYROIOCSHWLOWPASS:
_set_dlpf_filter(arg);
return OK;
#endif
#ifdef GYROIOCGHWLOWPASS
case GYROIOCGHWLOWPASS:
return _dlpf_freq;
#endif
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
int
MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCRESET:
return reset();
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
return ioctl(filp, SENSORIOCSPOLLRATE, 1000);
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000) {
return -EINVAL;
}
// adjust filters
float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f / ticks;
_set_dlpf_filter(cutoff_freq_hz);
_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
_set_dlpf_filter(cutoff_freq_hz_gyro);
_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call_interval = ticks;
/*
set call interval faster than the sample time. We
then detect when we have duplicate samples and reject
them. This prevents aliasing due to a beat between the
stm32 clock and the mpu9250 clock
*/
_call.period = _call_interval - MPU9250_TIMER_REDUCTION;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_interval == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_accel_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _accel_reports->size();
case ACCELIOCGSAMPLERATE:
return _sample_rate;
case ACCELIOCSSAMPLERATE:
_set_sample_rate(arg);
return OK;
case ACCELIOCGLOWPASS:
return _accel_filter_x.get_cutoff_freq();
case ACCELIOCSLOWPASS:
// set software filtering
_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
return OK;
case ACCELIOCSSCALE: {
/* copy scale, but only if off by a few percent */
struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
float sum = s->x_scale + s->y_scale + s->z_scale;
if (sum > 2.0f && sum < 4.0f) {
memcpy(&_accel_scale, s, sizeof(_accel_scale));
return OK;
} else {
return -EINVAL;
}
}
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSRANGE:
return set_accel_range(arg);
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / MPU9250_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
#ifdef ACCELIOCSHWLOWPASS
case ACCELIOCSHWLOWPASS:
_set_dlpf_filter(arg);
return OK;
#endif
#ifdef ACCELIOCGHWLOWPASS
case ACCELIOCGHWLOWPASS:
return _dlpf_freq;
#endif
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
int
FXOS8700CQ::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_mag_interval = 0;
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
/* 100 Hz is max for mag */
return mag_ioctl(filp, SENSORIOCSPOLLRATE, 100);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_mag_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000) {
return -EINVAL;
}
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_mag_call.period = _call_mag_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_mag_interval == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / _call_mag_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_mag_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _mag_reports->size();
case SENSORIOCRESET:
reset();
return OK;
case MAGIOCSSAMPLERATE:
return mag_set_samplerate(arg);
case MAGIOCGSAMPLERATE:
return _mag_samplerate;
case MAGIOCSLOWPASS:
case MAGIOCGLOWPASS:
/* not supported, no internal filtering */
return -EINVAL;
case MAGIOCSSCALE:
/* copy scale in */
memcpy(&_mag_scale, (struct mag_calibration_s *) arg, sizeof(_mag_scale));
return OK;
case MAGIOCGSCALE:
/* copy scale out */
memcpy((struct mag_calibration_s *) arg, &_mag_scale, sizeof(_mag_scale));
return OK;
case MAGIOCSRANGE:
return mag_set_range(arg);
case MAGIOCGRANGE:
return _mag_range_ga;
case MAGIOCSELFTEST:
return mag_self_test();
case MAGIOCGEXTERNAL:
/* Even if this sensor is on the "external" SPI bus
* it is still fixed to the autopilot assembly,
* so always return 0.
*/
return 0;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCRESET:
/*
* TODO: we could implement a reset of the AK8963 registers
*/
//return reset();
return _parent->ioctl(filp, cmd, arg);
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
/*
* TODO: investigate being able to stop
* the continuous sampling
*/
//stop();
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
return ioctl(filp, SENSORIOCSPOLLRATE, 100);
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_AK8963_SAMPLE_RATE);
/* adjust to a legal polling interval in Hz */
default: {
if (MPU9250_AK8963_SAMPLE_RATE != arg) {
return -EINVAL;
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
return MPU9250_AK8963_SAMPLE_RATE;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_mag_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _mag_reports->size();
case MAGIOCGSAMPLERATE:
return MPU9250_AK8963_SAMPLE_RATE;
case MAGIOCSSAMPLERATE:
/*
* We don't currently support any means of changing
* the sampling rate of the mag
*/
if (MPU9250_AK8963_SAMPLE_RATE != arg) {
return -EINVAL;
}
return OK;
case MAGIOCSSCALE:
/* copy scale in */
memcpy(&_mag_scale, (struct mag_scale *) arg, sizeof(_mag_scale));
return OK;
case MAGIOCGSCALE:
/* copy scale out */
memcpy((struct mag_scale *) arg, &_mag_scale, sizeof(_mag_scale));
return OK;
case MAGIOCSRANGE:
return -EINVAL;
case MAGIOCGRANGE:
return 48; // fixed full scale measurement range of +/- 4800 uT == 48 Gauss
case MAGIOCSELFTEST:
return self_test();
#ifdef MAGIOCSHWLOWPASS
case MAGIOCSHWLOWPASS:
return -EINVAL;
#endif
#ifdef MAGIOCGHWLOWPASS
case MAGIOCGHWLOWPASS:
return -EINVAL;
#endif
default:
return (int)CDev::ioctl(filp, cmd, arg);
}
}
int
uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
{
SubscriberData *sd = filp_to_sd(filp);
switch (cmd) {
case ORBIOCLASTUPDATE: {
irqstate_t state = px4_enter_critical_section();
*(hrt_abstime *)arg = _last_update;
px4_leave_critical_section(state);
return OK;
}
case ORBIOCUPDATED:
*(bool *)arg = appears_updated(sd);
return OK;
case ORBIOCSETINTERVAL: {
int ret = PX4_OK;
lock();
if (arg == 0) {
if (sd->update_interval) {
delete(sd->update_interval);
sd->update_interval = nullptr;
}
} else {
if (sd->update_interval) {
sd->update_interval->interval = arg;
} else {
sd->update_interval = new UpdateIntervalData();
if (sd->update_interval) {
memset(&sd->update_interval->update_call, 0, sizeof(hrt_call));
sd->update_interval->interval = arg;
} else {
ret = -ENOMEM;
}
}
}
unlock();
return ret;
}
case ORBIOCGADVERTISER:
*(uintptr_t *)arg = (uintptr_t)this;
return OK;
case ORBIOCGPRIORITY:
*(int *)arg = sd->priority();
return OK;
case ORBIOCSETQUEUESIZE:
//no need for locking here, since this is used only during the advertisement call,
//and only one advertiser is allowed to open the DeviceNode at the same time.
return update_queue_size(arg);
case ORBIOCGETINTERVAL:
if (sd->update_interval) {
*(unsigned *)arg = sd->update_interval->interval;
} else {
*(unsigned *)arg = 0;
}
return OK;
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
int
FXOS8700CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_accel_interval = 0;
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
return ioctl(filp, SENSORIOCSPOLLRATE, 1600);
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, FXOS8700C_ACCEL_DEFAULT_RATE);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_accel_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 500) {
return -EINVAL;
}
/* adjust filters */
accel_set_driver_lowpass_filter((float)arg, _accel_filter_x.get_cutoff_freq());
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call_accel_interval = ticks;
_accel_call.period = _call_accel_interval - FXOS8700C_TIMER_REDUCTION;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_accel_interval == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / _call_accel_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_accel_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _accel_reports->size();
case SENSORIOCRESET:
reset();
return OK;
case ACCELIOCSSAMPLERATE:
return accel_set_samplerate(arg);
case ACCELIOCGSAMPLERATE:
return _accel_samplerate;
case ACCELIOCSLOWPASS: {
return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg);
}
case ACCELIOCGLOWPASS:
return static_cast<int>(_accel_filter_x.get_cutoff_freq());
case ACCELIOCSSCALE: {
/* copy scale, but only if off by a few percent */
struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
float sum = s->x_scale + s->y_scale + s->z_scale;
if (sum > 2.0f && sum < 4.0f) {
memcpy(&_accel_scale, s, sizeof(_accel_scale));
return OK;
} else {
return -EINVAL;
}
}
case ACCELIOCSRANGE:
/* arg needs to be in G */
return accel_set_range(arg);
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / FXOS8700C_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSELFTEST:
return accel_self_test();
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
/* With internal low pass filters enabled, 250 Hz is sufficient */
return ioctl(filp, SENSORIOCSPOLLRATE, 250);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000) {
return -EINVAL;
}
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call.period = _call_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_interval == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement */
return -EINVAL;
case ACCELIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */
return -EINVAL;
case ACCELIOCGSAMPLERATE:
return 1200; /* always operating in low-noise mode */
case ACCELIOCSLOWPASS:
return set_lowpass(arg);
case ACCELIOCGLOWPASS:
return _current_lowpass;
case ACCELIOCSSCALE:
/* copy scale in */
memcpy(&_accel_scale, (struct accel_calibration_s *) arg, sizeof(_accel_scale));
return OK;
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSRANGE:
return set_range(arg);
case ACCELIOCGRANGE:
return _current_range;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
bool
uORB::DeviceNode::appears_updated(SubscriberData *sd)
{
/* assume it doesn't look updated */
bool ret = false;
/* avoid racing between interrupt and non-interrupt context calls */
irqstate_t state = px4_enter_critical_section();
/* check if this topic has been published yet, if not bail out */
if (_data == nullptr) {
ret = false;
goto out;
}
/*
* If the subscriber's generation count matches the update generation
* count, there has been no update from their perspective; if they
* don't match then we might have a visible update.
*/
while (sd->generation != _generation) {
/*
* Handle non-rate-limited subscribers.
*/
if (sd->update_interval == nullptr) {
ret = true;
break;
}
/*
* If we have previously told the subscriber that there is data,
* and they have not yet collected it, continue to tell them
* that there has been an update. This mimics the non-rate-limited
* behaviour where checking / polling continues to report an update
* until the topic is read.
*/
if (sd->update_reported()) {
ret = true;
break;
}
/*
* If the interval timer is still running, the topic should not
* appear updated, even though at this point we know that it has.
* We have previously been through here, so the subscriber
* must have collected the update we reported, otherwise
* update_reported would still be true.
*/
if (!hrt_called(&sd->update_interval->update_call)) {
break;
}
/*
* Make sure that we don't consider the topic to be updated again
* until the interval has passed once more by restarting the interval
* timer and thereby re-scheduling a poll notification at that time.
*/
hrt_call_after(&sd->update_interval->update_call,
sd->update_interval->interval,
&uORB::DeviceNode::update_deferred_trampoline,
(void *)this);
/*
* Remember that we have told the subscriber that there is data.
*/
sd->set_update_reported(true);
ret = true;
break;
}
out:
px4_leave_critical_section(state);
/* consider it updated */
return ret;
}
