laeThreadImu.cxx

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////////////////////////////////////////////////////////////////////////////////
//
// Package:   Laelaps
//
// File:      laeThreadImu.cxx
//
/*! \file
 *
 * $LastChangedDate: 2015-08-07 14:25:35 -0600 (Fri, 07 Aug 2015) $
 * $Rev: 4051 $
 *
 * \brief Laelaps IMU thread class implementation.
 *
 * \author Robin Knight (robin.knight@roadnarrows.com)
 *
 * \par Copyright
 *   \h_copy 2015-2018. RoadNarrows LLC.\n
 *   http://www.roadnarrows.com\n
 *   All Rights Reserved
 */
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 * @EulaBegin@
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 * and may not be used without RoadNarrows LLC's written consent,
 * except as provided in these terms and conditions or in the copyright
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////////////////////////////////////////////////////////////////////////////////

#include <sys/types.h>
#include <sys/time.h>
#include <time.h>
#include <pthread.h>

#include <string>

#include "rnr/rnrconfig.h"
#include "rnr/log.h"

#include "Laelaps/laelaps.h"
#include "Laelaps/laeUtils.h"
#include "Laelaps/laeTune.h"

#include "Laelaps/laeImu.h"

#include "Laelaps/laeThread.h"
#include "Laelaps/laeThreadImu.h"

using namespace std;
using namespace laelaps;
using namespace sensor::imu;

//------------------------------------------------------------------------------
// LaeThreadImu Class
//------------------------------------------------------------------------------
  
const double LaeThreadImu::ThreadImuPrioDft  = 80;     ///< default priority
const double LaeThreadImu::ThreadImuHzDft    = 30.0;   ///< default run rate

LaeThreadImu::LaeThreadImu(LaeImuCleanFlight &hwif) :
    LaeThread("IMU"), m_hwif(hwif)
{
}

LaeThreadImu::~LaeThreadImu()
{
}

int LaeThreadImu::reload(const LaeTunes &tunes)
{
  double  fHz;
  int     rc;

  lock();

  fHz = tunes.getImuHz();

  if( fHz != m_fHz )
  {
    setHz(fHz);
  }

  rc = m_hwif.reload(tunes);

  unlock();

  return rc;
}

void LaeThreadImu::exec()
{
  m_hwif.exec();
}