openpilot_comma

7501 Commits

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5.7 GiB

Tag: Branch: Tree: f4a4ec8fa2

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Author	SHA1	Message	Date
Willem Melching	84a3c355e5	sensord: use interrupts to improve LSM6DS3 timing accuracy (#24525 ) * change LSM6DS3TR(-c) gyroscope and accelerometer to interrupt * add pthread for linking * add interrupt collector thread to fetch in parallel to non interrupt based sensors * change get_event interface to return true on successful read * fetch sensor interrupts via gpiochip * avoid sending empty messages (interrupt only, non interupt magn can leave a gap in the orphan block) * add verifier script to sensor interrupts (sensor_data_to_hist.py) * add/update sensord testsweet (test_sensord.py) * add poll timed out check * unexport interrupt gpio pins * gpiochip on both edges, but skip falling edge if rising edge is detected, this is handled in the sensor as the status flag is checked if new data is availble * add test to sensord to verify 100Hz interrupt frequency * add sensor shutdown/low power mode functionality on sensord exit * relax test, will be readded in the splitup PR Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>	3 years ago

Author

SHA1

Message

Date

Willem Melching

84a3c355e5

sensord: use interrupts to improve LSM6DS3 timing accuracy (#24525 )

* change LSM6DS3TR(-c) gyroscope  and accelerometer to interrupt

* add pthread for linking

* add interrupt collector thread to fetch in parallel to non interrupt based sensors

* change get_event interface to return true on successful read

* fetch sensor interrupts via gpiochip

* avoid sending empty messages (interrupt only, non interupt magn can leave a gap in the orphan block)

* add verifier script to sensor interrupts (sensor_data_to_hist.py)

* add/update sensord testsweet (test_sensord.py)

* add poll timed out check

* unexport interrupt gpio pins

* gpiochip on both edges, but skip falling edge if rising edge is detected, this is handled in the sensor as the status flag is checked if new data is availble

* add test to sensord to verify 100Hz interrupt frequency

* add sensor shutdown/low power mode functionality on sensord exit

* relax test, will be readded in the splitup PR

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>

3 years ago

1 Commits (f4a4ec8fa21dfef5ef0ebe2eafaadc1c2536d861)