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refactor ll40ls: use driver base class

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This commit is contained in:
Beat Küng
2020-03-17 23:31:17 -04:00
committed by Daniel Agar
parent df99555132
commit 1b1e1ba31f
6 changed files with 78 additions and 228 deletions
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src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+7 -11
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@@ -41,9 +41,10 @@
#include "LidarLiteI2C.h"
LidarLiteI2C::LidarLiteI2C(const int bus, const uint8_t rotation, const int address) :
I2C("LL40LS", nullptr, bus, address, 100000),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
const int address) :
I2C("LL40LS", nullptr, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
{
_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
@@ -55,7 +56,6 @@ LidarLiteI2C::LidarLiteI2C(const int bus, const uint8_t rotation, const int addr
LidarLiteI2C::~LidarLiteI2C()
{
stop();
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_sensor_resets);
@@ -74,8 +74,9 @@ LidarLiteI2C::init()
}
void
LidarLiteI2C::print_info()
LidarLiteI2C::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_sensor_resets);
@@ -457,12 +458,7 @@ void LidarLiteI2C::start()
ScheduleNow();
}
void LidarLiteI2C::stop()
{
ScheduleClear();
}
void LidarLiteI2C::Run()
void LidarLiteI2C::RunImpl()
{
/* collection phase? */
if (_collect_phase) {