#include <OF/lib/ImuHub/ImuHub.hpp>
#include <OF/utils/Mahony.hpp>
#include <OF/utils/CCM.h>
#include <cerrno>
#include <cmath>
#include <zephyr/logging/log.h>
#include <zephyr/rtio/rtio.h>
#include <zephyr/sys/util.h>
#include <zephyr/kernel.h>
#include <zephyr/init.h>
#include <OF/utils/SeqlockBuf.hpp>

ImuHub.cpp 的引用(Include)关系图:

命名空间
namespace	OF

宏定义
#define	DT_DRV_COMPAT one_framework_imu_hub

函数
	LOG_MODULE_REGISTER (ImuHub, CONFIG_IMU_HUB_LOG_LEVEL)

	BUILD_ASSERT (CONFIG_IMU_HUB_PUBLISH_EVERY_N_FRAME !=0, "CONFIG_IMU_HUB_DATA_UPDATE_FRAME_CNT should not be 0!")

	RTIO_DEFINE_WITH_MEMPOOL (imu_rtio_ctx, 16, 16, 16, 512, sizeof(void *))

static int	imu_hub_init ()

	SYS_INIT (imu_hub_init, APPLICATION, CONFIG_APPLICATION_INIT_PRIORITY)

变量
OF_CCM_ATTR uint8_t	g_cnt {}

constexpr uint16_t	UPDATE_COUNT = CONFIG_IMU_HUB_PUBLISH_EVERY_N_FRAME / 2 * 2

OF_CCM_ATTR ImuHub	imu_hub

OF_CCM_ATTR Mahony	g_mahony {1.5f, 0.0f}

OF_CCM_ATTR IMUData	g_imu_data {}

OF_CCM_ATTR SeqlockBuf< IMUData >	g_imu_buf

OF_CCM_ATTR uint64_t	g_prev_timestamp {}

std::function< void(IMUData &)>	update_func

宏定义说明

◆ DT_DRV_COMPAT

#define DT_DRV_COMPAT one_framework_imu_hub

函数说明

◆ BUILD_ASSERT()

BUILD_ASSERT	(	CONFIG_IMU_HUB_PUBLISH_EVERY_N_FRAME !	= 0,
		"CONFIG_IMU_HUB_DATA_UPDATE_FRAME_CNT should not be 0!"	)

◆ imu_hub_init()

static int imu_hub_init ( )

static

◆ LOG_MODULE_REGISTER()

LOG_MODULE_REGISTER	(	ImuHub	,
		CONFIG_IMU_HUB_LOG_LEVEL	)

◆ SYS_INIT()

SYS_INIT	(	imu_hub_init	,
		APPLICATION	,
		CONFIG_APPLICATION_INIT_PRIORITY	)

变量说明

◆ g_cnt

OF_CCM_ATTR uint8_t g_cnt {}

◆ UPDATE_COUNT

uint16_t UPDATE_COUNT = CONFIG_IMU_HUB_PUBLISH_EVERY_N_FRAME / 2 * 2

constexpr

命名空间

宏定义

函数

变量