yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

drivers/imu/invensense: FIFO_MAX_SAMPLES include sensor_accel_fifo in sample size limit

Browse Source
This commit is contained in:
Daniel Agar
2020-06-18 19:13:41 -04:00
parent 0eea814ca1
commit 3f19335f08
10 changed files with 20 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/drivers/imu/invensense/icm20602/ICM20602.hpp
View File

@@ -78,7 +78,8 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {

3
src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
View File

@@ -78,7 +78,8 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {

3
src/drivers/imu/invensense/icm20649/ICM20649.hpp
View File

@@ -78,7 +78,8 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 9000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4500 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {

3
src/drivers/imu/invensense/icm20689/ICM20689.hpp
View File

@@ -78,7 +78,8 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {

3
src/drivers/imu/invensense/icm20948/ICM20948.hpp
View File

@@ -80,7 +80,8 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 9000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4500 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {

3
src/drivers/imu/invensense/icm40609d/ICM40609D.hpp
View File

@@ -78,7 +78,8 @@ private:
static constexpr float GYRO_RATE{1000000 / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE}; // 8 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {

3
src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
View File

@@ -78,7 +78,8 @@ private:
static constexpr float GYRO_RATE{1000000 / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE}; // 8 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {

3
src/drivers/imu/invensense/mpu6000/MPU6000.hpp
View File

@@ -78,7 +78,8 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8000 Hz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 1000 Hz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {

3
src/drivers/imu/invensense/mpu6500/MPU6500.hpp
View File

@@ -78,7 +78,8 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {

3
src/drivers/imu/invensense/mpu9250/MPU9250.hpp
View File

@@ -80,7 +80,8 @@ private:
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {