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use gcc attributes to align and pack

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This commit is contained in:
Daniel Agar
2016-04-27 20:44:15 -04:00
committed by Lorenz Meier
parent 76387b1693
commit eb29b33620
14 changed files with 47 additions and 25 deletions
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5
msg/templates/uorb/msg.h.template
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@@ -173,7 +173,8 @@ def print_parsed_fields():
}@
// #pragma pack(push, 1) badly breaks alignment everywhere!
// #pragma pack(push, 1)
ORBPACKED(
#ifdef __cplusplus
@#class @(uorb_struct) {
struct __EXPORT @(uorb_struct) {
@@ -198,7 +199,7 @@ for constant in spec.constants:
print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
}
#endif
};
});
//#pragma pack(pop)
/* register this as object request broker structure */

8
src/drivers/device/integrator.cpp
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@@ -60,7 +60,7 @@ Integrator::~Integrator()
}
bool
Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt)
Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t *integral_dt)
{
if (_last_integration_time == 0) {
/* this is the first item in the integrator */
@@ -132,7 +132,7 @@ Integrator::put_with_interval(unsigned interval_us, math::Vector<3> &val, math::
}
math::Vector<3>
Integrator::get(bool reset, uint64_t &integral_dt)
Integrator::get(bool reset, uint64_t *integral_dt)
{
math::Vector<3> val = _integral;
@@ -158,12 +158,12 @@ Integrator::get_and_filtered(bool reset, uint64_t &integral_dt, math::Vector<3>
}
void
Integrator::_reset(uint64_t &integral_dt)
Integrator::_reset(uint64_t *integral_dt)
{
_integral(0) = 0.0f;
_integral(1) = 0.0f;
_integral(2) = 0.0f;
integral_dt = (_last_integration_time - _last_reset_time);
*integral_dt = (_last_integration_time - _last_reset_time);
_last_reset_time = _last_integration_time;
}

6
src/drivers/device/integrator.h
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@@ -60,7 +60,7 @@ public:
* @return true if putting the item triggered an integral reset and the integral should be
* published.
*/
bool put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt);
bool put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t *integral_dt);
/**
* Put an item into the integral but provide an interval instead of a timestamp.
@@ -84,7 +84,7 @@ public:
* @param integral_dt Get the dt in us of the current integration (only if reset).
* @return the integral since the last read-reset
*/
math::Vector<3> get(bool reset, uint64_t &integral_dt);
math::Vector<3> get(bool reset, uint64_t *integral_dt);
/**
* Get the current integral and reset the integrator if needed. Additionally give the
@@ -115,5 +115,5 @@ private:
*
* @param integral_dt Get the dt in us of the current integration.
*/
void _reset(uint64_t &integral_dt);
void _reset(uint64_t *integral_dt);
};

2
src/drivers/l3gd20/l3gd20.cpp
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@@ -1082,7 +1082,7 @@ L3GD20::measure()
math::Vector<3> gval(xin, yin, zin);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(report.timestamp, gval, gval_integrated, report.integral_dt);
bool gyro_notify = _gyro_int.put(report.timestamp, gval, gval_integrated, &report.integral_dt);
report.x_integral = gval_integrated(0);
report.y_integral = gval_integrated(1);
report.z_integral = gval_integrated(2);

2
src/drivers/lsm303d/lsm303d.cpp
View File

@@ -1649,7 +1649,7 @@ LSM303D::measure()
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, &accel_report.integral_dt);
accel_report.x_integral = aval_integrated(0);
accel_report.y_integral = aval_integrated(1);
accel_report.z_integral = aval_integrated(2);

4
src/drivers/mpu6000/mpu6000.cpp
View File

@@ -1905,7 +1905,7 @@ MPU6000::measure()
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, &arb.integral_dt);
arb.x_integral = aval_integrated(0);
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
@@ -1945,7 +1945,7 @@ MPU6000::measure()
math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, &grb.integral_dt);
grb.x_integral = gval_integrated(0);
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);

4
src/drivers/mpu6500/mpu6500.cpp
View File

@@ -1846,7 +1846,7 @@ MPU6500::measure()
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, &arb.integral_dt);
arb.x_integral = aval_integrated(0);
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
@@ -1881,7 +1881,7 @@ MPU6500::measure()
math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, &grb.integral_dt);
grb.x_integral = gval_integrated(0);
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);

4
src/drivers/mpu9250/mpu9250.cpp
View File

@@ -1418,7 +1418,7 @@ MPU9250::measure()
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, &arb.integral_dt);
arb.x_integral = aval_integrated(0);
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
@@ -1453,7 +1453,7 @@ MPU9250::measure()
math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, &grb.integral_dt);
grb.x_integral = gval_integrated(0);
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);

4
src/drivers/px4flow/px4flow.cpp
View File

@@ -541,9 +541,9 @@ PX4FLOW::collect()
/* rotate measurements according to parameter */
float zeroval = 0.0f;
rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
rotate_3f(_sensor_rotation, &report.pixel_flow_x_integral, &report.pixel_flow_y_integral, &zeroval);
rotate_3f(_sensor_rotation, report.gyro_x_rate_integral, report.gyro_y_rate_integral, report.gyro_z_rate_integral);
rotate_3f(_sensor_rotation, &report.gyro_x_rate_integral, &report.gyro_y_rate_integral, &report.gyro_z_rate_integral);
if (_px4flow_topic == nullptr) {
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);

10
src/lib/conversion/rotation.cpp
View File

@@ -52,6 +52,16 @@ get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix)
#define HALF_SQRT_2 0.70710678118654757f
__EXPORT void
rotate_3f(enum Rotation rot, float *x, float *y, float *z)
{
float &x2 = *x;
float &y2 = *y;
float &z2 = *z;
rotate_3f(rot, x2, y2, z2);
}
__EXPORT void
rotate_3f(enum Rotation rot, float &x, float &y, float &z)
{

5
src/lib/conversion/rotation.h
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@@ -130,6 +130,11 @@ const rot_lookup_t rot_lookup[] = {
__EXPORT void
get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix);
/**
* rotate a 3 element float vector in-place
*/
__EXPORT void
rotate_3f(enum Rotation rot, float *x, float *y, float *z);
/**
* rotate a 3 element float vector in-place

7
src/modules/mavlink/mavlink_receiver.cpp
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@@ -490,8 +490,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
enum Rotation flow_rot;
param_get(param_find("SENS_FLOW_ROT"), &flow_rot);
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
struct optical_flow_s f = {};
f.timestamp = flow.time_usec;
f.integration_timespan = flow.integration_time_us;
@@ -508,8 +507,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
/* rotate measurements according to parameter */
float zeroval = 0.0f;
rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
rotate_3f(flow_rot, f.gyro_x_rate_integral, f.gyro_y_rate_integral, f.gyro_z_rate_integral);
rotate_3f(flow_rot, &f.pixel_flow_x_integral, &f.pixel_flow_y_integral, &zeroval);
rotate_3f(flow_rot, &f.gyro_x_rate_integral, &f.gyro_y_rate_integral, &f.gyro_z_rate_integral);
if (_flow_pub == nullptr) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);

7
src/modules/uORB/uORB.h
View File

@@ -46,6 +46,13 @@
// Hack until everything is using this header
#include <systemlib/visibility.h>
// Macro to define packed structures
#ifdef __GNUC__
#define ORBPACKED( __Declaration__ ) __Declaration__ __attribute__((aligned(4), packed))
#else
#define ORBPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
#endif
/**
* Object metadata.
*/

4
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
View File

@@ -1103,7 +1103,7 @@ GYROSIM::_measure()
math::Vector<3> aval(mpu_report.accel_x, mpu_report.accel_y, mpu_report.accel_z);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, &arb.integral_dt);
arb.x_integral = aval_integrated(0);
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
@@ -1125,7 +1125,7 @@ GYROSIM::_measure()
math::Vector<3> gval(mpu_report.gyro_x, mpu_report.gyro_y, mpu_report.gyro_z);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(grb.timestamp, gval, gval_integrated, grb.integral_dt);
bool gyro_notify = _gyro_int.put(grb.timestamp, gval, gval_integrated, &grb.integral_dt);
grb.x_integral = gval_integrated(0);
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);