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Flow driver: auto-format fixes

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This commit is contained in:
Lorenz Meier
2014-10-28 12:53:24 +01:00
parent 1ff9e4d665
commit 1d29093f3d
1 changed files with 102 additions and 70 deletions
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src/drivers/px4flow/px4flow.cpp
+102 -70
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@@ -76,7 +76,7 @@
#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION #define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION
#define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84 #define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84
//range 0x42 - 0x49 //range 0x42 - 0x49
/* PX4FLOW Registers addresses */ /* PX4FLOW Registers addresses */
#define PX4FLOW_REG 0x00 /* Measure Register */ #define PX4FLOW_REG 0x00 /* Measure Register */
@@ -212,8 +212,9 @@ PX4FLOW::~PX4FLOW()
stop(); stop();
/* free any existing reports */ /* free any existing reports */
if (_reports != nullptr) if (_reports != nullptr) {
delete _reports; delete _reports;
}
} }
int int
@@ -222,22 +223,25 @@ PX4FLOW::init()
int ret = ERROR; int ret = ERROR;
/* do I2C init (and probe) first */ /* do I2C init (and probe) first */
if (I2C::init() != OK) if (I2C::init() != OK) {
goto out; goto out;
}
/* allocate basic report buffers */ /* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(struct optical_flow_s)); _reports = new RingBuffer(2, sizeof(struct optical_flow_s));
if (_reports == nullptr) if (_reports == nullptr) {
goto out; goto out;
}
/* get a publish handle on the px4flow topic */ /* get a publish handle on the px4flow topic */
struct optical_flow_s zero_report; struct optical_flow_s zero_report;
memset(&zero_report, 0, sizeof(zero_report)); memset(&zero_report, 0, sizeof(zero_report));
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report); _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
if (_px4flow_topic < 0) if (_px4flow_topic < 0) {
debug("failed to create px4flow object. Did you start uOrb?"); debug("failed to create px4flow object. Did you start uOrb?");
}
ret = OK; ret = OK;
/* sensor is ok, but we don't really know if it is within range */ /* sensor is ok, but we don't really know if it is within range */
@@ -258,7 +262,7 @@ PX4FLOW::probe()
if (transfer(nullptr, 0, &val[0], 22) != OK) { if (transfer(nullptr, 0, &val[0], 22) != OK) {
return -EIO; return -EIO;
} }
// that worked, so start a measurement cycle // that worked, so start a measurement cycle
return measure(); return measure();
} }
@@ -271,20 +275,20 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCSPOLLRATE: { case SENSORIOCSPOLLRATE: {
switch (arg) { switch (arg) {
/* switching to manual polling */ /* switching to manual polling */
case SENSOR_POLLRATE_MANUAL: case SENSOR_POLLRATE_MANUAL:
stop(); stop();
_measure_ticks = 0; _measure_ticks = 0;
return OK; return OK;
/* external signalling (DRDY) not supported */ /* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL: case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */ /* zero would be bad */
case 0: case 0:
return -EINVAL; return -EINVAL;
/* set default/max polling rate */ /* set default/max polling rate */
case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: { case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */ /* do we need to start internal polling? */
@@ -294,13 +298,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
_measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL); _measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */ /* if we need to start the poll state machine, do it */
if (want_start) if (want_start) {
start(); start();
}
return OK; return OK;
} }
/* adjust to a legal polling interval in Hz */ /* adjust to a legal polling interval in Hz */
default: { default: {
/* do we need to start internal polling? */ /* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0); bool want_start = (_measure_ticks == 0);
@@ -309,15 +314,17 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg); unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */ /* check against maximum rate */
if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
return -EINVAL; return -EINVAL;
}
/* update interval for next measurement */ /* update interval for next measurement */
_measure_ticks = ticks; _measure_ticks = ticks;
/* if we need to start the poll state machine, do it */ /* if we need to start the poll state machine, do it */
if (want_start) if (want_start) {
start(); start();
}
return OK; return OK;
} }
@@ -325,25 +332,29 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
case SENSORIOCGPOLLRATE: case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL; return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks); return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: { case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */ /* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) if ((arg < 1) || (arg > 100)) {
return -EINVAL; return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags); irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK; return OK;
} }
case SENSORIOCGQUEUEDEPTH: case SENSORIOCGQUEUEDEPTH:
return _reports->size(); return _reports->size();
@@ -366,8 +377,9 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
int ret = 0; int ret = 0;
/* buffer must be large enough */ /* buffer must be large enough */
if (count < 1) if (count < 1) {
return -ENOSPC; return -ENOSPC;
}
/* if automatic measurement is enabled */ /* if automatic measurement is enabled */
if (_measure_ticks > 0) { if (_measure_ticks > 0) {
@@ -428,13 +440,13 @@ PX4FLOW::measure()
uint8_t cmd = PX4FLOW_REG; uint8_t cmd = PX4FLOW_REG;
ret = transfer(&cmd, 1, nullptr, 0); ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret) if (OK != ret) {
{
perf_count(_comms_errors); perf_count(_comms_errors);
log("i2c::transfer returned %d", ret); log("i2c::transfer returned %d", ret);
printf("i2c::transfer flow returned %d"); printf("i2c::transfer flow returned %d");
return ret; return ret;
} }
ret = OK; ret = OK;
return ret; return ret;
@@ -446,14 +458,13 @@ PX4FLOW::collect()
int ret = -EIO; int ret = -EIO;
/* read from the sensor */ /* read from the sensor */
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}; 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};
perf_begin(_sample_perf); perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 22); ret = transfer(nullptr, 0, &val[0], 22);
if (ret < 0) if (ret < 0) {
{
log("error reading from sensor: %d", ret); log("error reading from sensor: %d", ret);
perf_count(_comms_errors); perf_count(_comms_errors);
perf_end(_sample_perf); perf_end(_sample_perf);
@@ -478,12 +489,12 @@ PX4FLOW::collect()
int16_t gdist = val[21] << 8 | val[20]; int16_t gdist = val[21] << 8 | val[20];
struct optical_flow_s report; struct optical_flow_s report;
report.flow_comp_x_m = float(flowcx)/1000.0f; report.flow_comp_x_m = float(flowcx) / 1000.0f;
report.flow_comp_y_m = float(flowcy)/1000.0f; report.flow_comp_y_m = float(flowcy) / 1000.0f;
report.flow_raw_x= val[3] << 8 | val[2]; report.flow_raw_x = val[3] << 8 | val[2];
report.flow_raw_y= val[5] << 8 | val[4]; report.flow_raw_y = val[5] << 8 | val[4];
report.ground_distance_m =float(gdist)/1000.0f; report.ground_distance_m = float(gdist) / 1000.0f;
report.quality= val[10]; report.quality = val[10];
report.sensor_id = 0; report.sensor_id = 0;
report.timestamp = hrt_absolute_time(); report.timestamp = hrt_absolute_time();
@@ -520,11 +531,13 @@ PX4FLOW::start()
true, true,
true, true,
true, true,
SUBSYSTEM_TYPE_OPTICALFLOW}; SUBSYSTEM_TYPE_OPTICALFLOW
};
static orb_advert_t pub = -1; static orb_advert_t pub = -1;
if (pub > 0) { if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info); orb_publish(ORB_ID(subsystem_info), pub, &info);
} else { } else {
pub = orb_advertise(ORB_ID(subsystem_info), &info); pub = orb_advertise(ORB_ID(subsystem_info), &info);
} }
@@ -578,8 +591,9 @@ PX4FLOW::cycle()
} }
/* measurement phase */ /* measurement phase */
if (OK != measure()) if (OK != measure()) {
log("measure error"); log("measure error");
}
/* next phase is collection */ /* next phase is collection */
_collect_phase = true; _collect_phase = true;
@@ -630,33 +644,37 @@ start()
{ {
int fd; int fd;
if (g_dev != nullptr) if (g_dev != nullptr) {
errx(1, "already started"); errx(1, "already started");
}
/* create the driver */ /* create the driver */
g_dev = new PX4FLOW(PX4FLOW_BUS); g_dev = new PX4FLOW(PX4FLOW_BUS);
if (g_dev == nullptr) if (g_dev == nullptr) {
goto fail; goto fail;
}
if (OK != g_dev->init()) if (OK != g_dev->init()) {
goto fail; goto fail;
}
/* set the poll rate to default, starts automatic data collection */ /* set the poll rate to default, starts automatic data collection */
fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0) if (fd < 0) {
goto fail; goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) {
goto fail; goto fail;
}
exit(0); exit(0);
fail: fail:
if (g_dev != nullptr) if (g_dev != nullptr) {
{
delete g_dev; delete g_dev;
g_dev = nullptr; g_dev = nullptr;
} }
@@ -669,15 +687,14 @@ fail:
*/ */
void stop() void stop()
{ {
if (g_dev != nullptr) if (g_dev != nullptr) {
{
delete g_dev; delete g_dev;
g_dev = nullptr; g_dev = nullptr;
}
else } else {
{
errx(1, "driver not running"); errx(1, "driver not running");
} }
exit(0); exit(0);
} }
@@ -695,14 +712,17 @@ test()
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0) if (fd < 0) {
err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH); err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
}
/* do a simple demand read */ /* do a simple demand read */
sz = read(fd, &report, sizeof(report)); sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) if (sz != sizeof(report))
// err(1, "immediate read failed"); {
warnx("immediate read failed");
}
warnx("single read"); warnx("single read");
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -711,8 +731,9 @@ test()
/* start the sensor polling at 2Hz */ /* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate"); errx(1, "failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */ /* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) { for (unsigned i = 0; i < 5; i++) {
@@ -723,14 +744,16 @@ test()
fds.events = POLLIN; fds.events = POLLIN;
ret = poll(&fds, 1, 2000); ret = poll(&fds, 1, 2000);
if (ret != 1) if (ret != 1) {
errx(1, "timed out waiting for sensor data"); errx(1, "timed out waiting for sensor data");
}
/* now go get it */ /* now go get it */
sz = read(fd, &report, sizeof(report)); sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) if (sz != sizeof(report)) {
err(1, "periodic read failed"); err(1, "periodic read failed");
}
warnx("periodic read %u", i); warnx("periodic read %u", i);
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -751,14 +774,17 @@ reset()
{ {
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0) if (fd < 0) {
err(1, "failed "); err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed"); err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed"); err(1, "driver poll restart failed");
}
exit(0); exit(0);
} }
@@ -769,8 +795,9 @@ reset()
void void
info() info()
{ {
if (g_dev == nullptr) if (g_dev == nullptr) {
errx(1, "driver not running"); errx(1, "driver not running");
}
printf("state @ %p\n", g_dev); printf("state @ %p\n", g_dev);
g_dev->print_info(); g_dev->print_info();
@@ -786,32 +813,37 @@ px4flow_main(int argc, char *argv[])
/* /*
* Start/load the driver. * Start/load the driver.
*/ */
if (!strcmp(argv[1], "start")) if (!strcmp(argv[1], "start")) {
px4flow::start(); px4flow::start();
}
/* /*
* Stop the driver * Stop the driver
*/ */
if (!strcmp(argv[1], "stop")) if (!strcmp(argv[1], "stop")) {
px4flow::stop(); px4flow::stop();
}
/* /*
* Test the driver/device. * Test the driver/device.
*/ */
if (!strcmp(argv[1], "test")) if (!strcmp(argv[1], "test")) {
px4flow::test(); px4flow::test();
}
/* /*
* Reset the driver. * Reset the driver.
*/ */
if (!strcmp(argv[1], "reset")) if (!strcmp(argv[1], "reset")) {
px4flow::reset(); px4flow::reset();
}
/* /*
* Print driver information. * Print driver information.
*/ */
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
px4flow::info(); px4flow::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
} }