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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Flow driver: auto-format fixes
This commit is contained in:
Lorenz Meier
parent
1ff9e4d665
commit
1d29093f3d
@ -76,7 +76,7 @@
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#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION
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#define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84
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//range 0x42 - 0x49
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/* PX4FLOW Registers addresses */
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#define PX4FLOW_REG 0x00 /* Measure Register */
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@ -212,8 +212,9 @@ PX4FLOW::~PX4FLOW()
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stop();
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/* free any existing reports */
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if (_reports != nullptr)
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if (_reports != nullptr) {
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delete _reports;
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}
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}
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int
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@ -222,22 +223,25 @@ PX4FLOW::init()
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int ret = ERROR;
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/* do I2C init (and probe) first */
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if (I2C::init() != OK)
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if (I2C::init() != OK) {
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goto out;
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}
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/* allocate basic report buffers */
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_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
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if (_reports == nullptr)
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if (_reports == nullptr) {
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goto out;
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}
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/* get a publish handle on the px4flow topic */
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struct optical_flow_s zero_report;
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memset(&zero_report, 0, sizeof(zero_report));
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_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
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if (_px4flow_topic < 0)
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if (_px4flow_topic < 0) {
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debug("failed to create px4flow object. Did you start uOrb?");
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}
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ret = OK;
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/* sensor is ok, but we don't really know if it is within range */
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@ -258,7 +262,7 @@ PX4FLOW::probe()
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if (transfer(nullptr, 0, &val[0], 22) != OK) {
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return -EIO;
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}
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// that worked, so start a measurement cycle
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return measure();
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}
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@ -271,20 +275,20 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
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case SENSORIOCSPOLLRATE: {
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switch (arg) {
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/* switching to manual polling */
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/* switching to manual polling */
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case SENSOR_POLLRATE_MANUAL:
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stop();
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_measure_ticks = 0;
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return OK;
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/* external signalling (DRDY) not supported */
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/* external signalling (DRDY) not supported */
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case SENSOR_POLLRATE_EXTERNAL:
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/* zero would be bad */
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/* zero would be bad */
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case 0:
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return -EINVAL;
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/* set default/max polling rate */
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/* set default/max polling rate */
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case SENSOR_POLLRATE_MAX:
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case SENSOR_POLLRATE_DEFAULT: {
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/* do we need to start internal polling? */
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@ -294,13 +298,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
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_measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL);
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/* if we need to start the poll state machine, do it */
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if (want_start)
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if (want_start) {
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start();
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}
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return OK;
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}
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/* adjust to a legal polling interval in Hz */
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/* adjust to a legal polling interval in Hz */
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default: {
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/* do we need to start internal polling? */
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bool want_start = (_measure_ticks == 0);
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@ -309,15 +314,17 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
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unsigned ticks = USEC2TICK(1000000 / arg);
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/* check against maximum rate */
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if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL))
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if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
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return -EINVAL;
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}
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/* update interval for next measurement */
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_measure_ticks = ticks;
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/* if we need to start the poll state machine, do it */
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if (want_start)
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if (want_start) {
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start();
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}
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return OK;
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}
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@ -325,25 +332,29 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
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}
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case SENSORIOCGPOLLRATE:
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if (_measure_ticks == 0)
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if (_measure_ticks == 0) {
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return SENSOR_POLLRATE_MANUAL;
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}
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return (1000 / _measure_ticks);
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case SENSORIOCSQUEUEDEPTH: {
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 1) || (arg > 100))
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return -EINVAL;
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 1) || (arg > 100)) {
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return -EINVAL;
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}
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irqstate_t flags = irqsave();
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if (!_reports->resize(arg)) {
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irqrestore(flags);
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return -ENOMEM;
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}
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irqstate_t flags = irqsave();
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if (!_reports->resize(arg)) {
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irqrestore(flags);
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return -ENOMEM;
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}
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irqrestore(flags);
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return OK;
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}
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return OK;
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}
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case SENSORIOCGQUEUEDEPTH:
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return _reports->size();
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@ -366,8 +377,9 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
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int ret = 0;
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/* buffer must be large enough */
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if (count < 1)
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if (count < 1) {
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return -ENOSPC;
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}
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/* if automatic measurement is enabled */
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if (_measure_ticks > 0) {
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@ -428,13 +440,13 @@ PX4FLOW::measure()
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uint8_t cmd = PX4FLOW_REG;
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ret = transfer(&cmd, 1, nullptr, 0);
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if (OK != ret)
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{
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if (OK != ret) {
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perf_count(_comms_errors);
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log("i2c::transfer returned %d", ret);
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printf("i2c::transfer flow returned %d");
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printf("i2c::transfer flow returned %d");
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return ret;
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}
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ret = OK;
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return ret;
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@ -446,14 +458,13 @@ PX4FLOW::collect()
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int ret = -EIO;
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/* read from the sensor */
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uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0};
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uint8_t val[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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perf_begin(_sample_perf);
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ret = transfer(nullptr, 0, &val[0], 22);
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if (ret < 0)
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{
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if (ret < 0) {
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log("error reading from sensor: %d", ret);
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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@ -478,12 +489,12 @@ PX4FLOW::collect()
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int16_t gdist = val[21] << 8 | val[20];
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struct optical_flow_s report;
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report.flow_comp_x_m = float(flowcx)/1000.0f;
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report.flow_comp_y_m = float(flowcy)/1000.0f;
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report.flow_raw_x= val[3] << 8 | val[2];
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report.flow_raw_y= val[5] << 8 | val[4];
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report.ground_distance_m =float(gdist)/1000.0f;
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report.quality= val[10];
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report.flow_comp_x_m = float(flowcx) / 1000.0f;
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report.flow_comp_y_m = float(flowcy) / 1000.0f;
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report.flow_raw_x = val[3] << 8 | val[2];
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report.flow_raw_y = val[5] << 8 | val[4];
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report.ground_distance_m = float(gdist) / 1000.0f;
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report.quality = val[10];
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report.sensor_id = 0;
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report.timestamp = hrt_absolute_time();
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@ -520,11 +531,13 @@ PX4FLOW::start()
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true,
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true,
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true,
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SUBSYSTEM_TYPE_OPTICALFLOW};
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SUBSYSTEM_TYPE_OPTICALFLOW
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};
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static orb_advert_t pub = -1;
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if (pub > 0) {
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orb_publish(ORB_ID(subsystem_info), pub, &info);
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} else {
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pub = orb_advertise(ORB_ID(subsystem_info), &info);
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}
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@ -578,8 +591,9 @@ PX4FLOW::cycle()
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}
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/* measurement phase */
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if (OK != measure())
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if (OK != measure()) {
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log("measure error");
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}
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/* next phase is collection */
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_collect_phase = true;
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@ -630,33 +644,37 @@ start()
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{
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int fd;
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if (g_dev != nullptr)
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if (g_dev != nullptr) {
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errx(1, "already started");
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}
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/* create the driver */
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g_dev = new PX4FLOW(PX4FLOW_BUS);
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if (g_dev == nullptr)
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if (g_dev == nullptr) {
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goto fail;
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}
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if (OK != g_dev->init())
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if (OK != g_dev->init()) {
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goto fail;
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}
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/* set the poll rate to default, starts automatic data collection */
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fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
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if (fd < 0)
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if (fd < 0) {
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goto fail;
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}
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0)
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) {
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goto fail;
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}
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exit(0);
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fail:
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if (g_dev != nullptr)
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{
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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@ -669,15 +687,14 @@ fail:
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*/
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void stop()
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{
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if (g_dev != nullptr)
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{
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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else
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{
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} else {
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errx(1, "driver not running");
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}
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exit(0);
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}
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@ -695,14 +712,17 @@ test()
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int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
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if (fd < 0)
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if (fd < 0) {
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err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
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}
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/* do a simple demand read */
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sz = read(fd, &report, sizeof(report));
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if (sz != sizeof(report))
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// err(1, "immediate read failed");
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{
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warnx("immediate read failed");
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}
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warnx("single read");
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warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
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@ -711,8 +731,9 @@ test()
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/* start the sensor polling at 2Hz */
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if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
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if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
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errx(1, "failed to set 2Hz poll rate");
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}
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/* read the sensor 5x and report each value */
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for (unsigned i = 0; i < 5; i++) {
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@ -723,14 +744,16 @@ test()
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fds.events = POLLIN;
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ret = poll(&fds, 1, 2000);
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if (ret != 1)
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if (ret != 1) {
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errx(1, "timed out waiting for sensor data");
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}
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/* now go get it */
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sz = read(fd, &report, sizeof(report));
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if (sz != sizeof(report))
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if (sz != sizeof(report)) {
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err(1, "periodic read failed");
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}
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warnx("periodic read %u", i);
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warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
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@ -751,14 +774,17 @@ reset()
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{
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int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
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if (fd < 0)
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if (fd < 0) {
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err(1, "failed ");
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}
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if (ioctl(fd, SENSORIOCRESET, 0) < 0)
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if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
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err(1, "driver reset failed");
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}
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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err(1, "driver poll restart failed");
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}
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exit(0);
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}
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@ -769,8 +795,9 @@ reset()
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void
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info()
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{
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if (g_dev == nullptr)
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if (g_dev == nullptr) {
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errx(1, "driver not running");
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}
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printf("state @ %p\n", g_dev);
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g_dev->print_info();
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@ -786,32 +813,37 @@ px4flow_main(int argc, char *argv[])
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/*
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* Start/load the driver.
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*/
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if (!strcmp(argv[1], "start"))
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if (!strcmp(argv[1], "start")) {
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px4flow::start();
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}
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/*
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* Stop the driver
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*/
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if (!strcmp(argv[1], "stop"))
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px4flow::stop();
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/*
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* Stop the driver
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*/
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if (!strcmp(argv[1], "stop")) {
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px4flow::stop();
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}
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/*
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* Test the driver/device.
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*/
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if (!strcmp(argv[1], "test"))
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if (!strcmp(argv[1], "test")) {
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px4flow::test();
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}
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/*
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* Reset the driver.
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*/
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if (!strcmp(argv[1], "reset"))
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if (!strcmp(argv[1], "reset")) {
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px4flow::reset();
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}
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/*
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* Print driver information.
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*/
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if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
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if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
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px4flow::info();
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}
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errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
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}
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