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bmp280 move to px4 work queue

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This commit is contained in:
Daniel Agar
2019-05-24 12:58:55 -04:00
parent e1bc975065
commit 1e7c6be839
5 changed files with 36 additions and 43 deletions
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src/drivers/barometer/bmp280/CMakeLists.txt
+2
View File
@@ -42,4 +42,6 @@ px4_add_module(
bmp280_spi.cpp
bmp280_i2c.cpp
bmp280.cpp
DEPENDS
px4_work_queue
)
src/drivers/barometer/bmp280/bmp280.cpp
+28 -43
View File
@@ -54,7 +54,6 @@
#include <px4_log.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
@@ -68,6 +67,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
enum BMP280_BUS {
@@ -78,15 +78,11 @@ enum BMP280_BUS {
BMP280_BUS_SPI_EXTERNAL
};
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
/*
* BMP280 internal constants and data structures.
*/
class BMP280 : public cdev::CDev
class BMP280 : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
BMP280(bmp280::IBMP280 *interface, const char *path);
@@ -109,9 +105,8 @@ private:
uint8_t _curr_ctrl;
struct work_s _work;
unsigned _report_ticks; // 0 - no cycling, otherwise period of sending a report
unsigned _max_mesure_ticks; //ticks needed to measure
unsigned _report_interval; // 0 - no cycling, otherwise period of sending a report
unsigned _max_measure_interval; // interval in microseconds needed to measure
ringbuffer::RingBuffer *_reports;
@@ -135,8 +130,8 @@ private:
/* periodic execution helpers */
void start_cycle();
void stop_cycle();
void cycle(); //main execution
static void cycle_trampoline(void *arg);
void Run() override;
int measure(); //start measure
int collect(); //get results and publish
@@ -149,9 +144,10 @@ extern "C" __EXPORT int bmp280_main(int argc, char *argv[]);
BMP280::BMP280(bmp280::IBMP280 *interface, const char *path) :
CDev(path),
ScheduledWorkItem(px4::device_bus_to_wq(interface->get_device_id())),
_interface(interface),
_running(false),
_report_ticks(0),
_report_interval(0),
_reports(nullptr),
_collect_phase(false),
_baro_topic(nullptr),
@@ -161,8 +157,6 @@ BMP280::BMP280(bmp280::IBMP280 *interface, const char *path) :
_measure_perf(perf_alloc(PC_ELAPSED, "bmp280_measure")),
_comms_errors(perf_alloc(PC_COUNT, "bmp280_comms_errors"))
{
// work_cancel in stop_cycle called from the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
BMP280::~BMP280()
@@ -226,7 +220,7 @@ BMP280::init()
/* set config, recommended settings */
_curr_ctrl = BMP280_CTRL_P16 | BMP280_CTRL_T2;
_interface->set_reg(_curr_ctrl, BMP280_ADDR_CTRL);
_max_mesure_ticks = USEC2TICK(BMP280_MT_INIT + BMP280_MT * (16 - 1 + 2 - 1));
_max_measure_interval = (BMP280_MT_INIT + BMP280_MT * (16 - 1 + 2 - 1));
_interface->set_reg(BMP280_CONFIG_F16, BMP280_ADDR_CONFIG);
/* get calibration and pre process them*/
@@ -256,7 +250,7 @@ BMP280::init()
return -EIO;
}
usleep(TICK2USEC(_max_mesure_ticks));
usleep(_max_measure_interval);
if (collect()) {
return -EIO;
@@ -289,7 +283,7 @@ BMP280::read(struct file *filp, char *buffer, size_t buflen)
}
/* if automatic measurement is enabled */
if (_report_ticks > 0) {
if (_report_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
@@ -315,7 +309,7 @@ BMP280::read(struct file *filp, char *buffer, size_t buflen)
return -EIO;
}
usleep(TICK2USEC(_max_mesure_ticks));
usleep(_max_measure_interval);
if (collect()) {
return -EIO;
@@ -335,7 +329,7 @@ BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCSPOLLRATE: {
unsigned ticks = 0;
unsigned interval = 0;
switch (arg) {
@@ -343,23 +337,23 @@ BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
case SENSOR_POLLRATE_DEFAULT:
ticks = _max_mesure_ticks;
interval = _max_measure_interval;
/* FALLTHROUGH */
default: {
if (ticks == 0) {
ticks = USEC2TICK(USEC_PER_SEC / arg);
if (interval == 0) {
interval = (USEC_PER_SEC / arg);
}
/* do we need to start internal polling? */
bool want_start = (_report_ticks == 0);
bool want_start = (_report_interval == 0);
/* check against maximum rate */
if (ticks < _max_mesure_ticks) {
if (interval < _max_measure_interval) {
return -EINVAL;
}
_report_ticks = ticks;
_report_interval = interval;
if (want_start) {
start_cycle();
@@ -389,41 +383,33 @@ BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
void
BMP280::start_cycle()
{
/* reset the report ring and state machine */
_collect_phase = false;
_running = true;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&BMP280::cycle_trampoline, this, 1);
ScheduleNow();
}
void
BMP280::stop_cycle()
{
_running = false;
work_cancel(HPWORK, &_work);
ScheduleClear();
}
void
BMP280::cycle_trampoline(void *arg)
{
BMP280 *dev = reinterpret_cast<BMP280 *>(arg);
dev->cycle();
}
void
BMP280::cycle()
BMP280::Run()
{
if (_collect_phase) {
collect();
unsigned wait_gap = _report_ticks - _max_mesure_ticks;
unsigned wait_gap = _report_interval - _max_measure_interval;
if ((wait_gap != 0) && (_running)) {
work_queue(HPWORK, &_work, (worker_t)&BMP280::cycle_trampoline, this,
wait_gap); //need to wait some time before new measurement
//need to wait some time before new measurement
ScheduleDelayed(wait_gap);
return;
}
@@ -432,9 +418,8 @@ BMP280::cycle()
measure();
if (_running) {
work_queue(HPWORK, &_work, (worker_t)&BMP280::cycle_trampoline, this, _max_mesure_ticks);
ScheduleDelayed(_max_measure_interval);
}
}
int
@@ -517,7 +502,7 @@ BMP280::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u us \n", _report_ticks * USEC_PER_TICK);
printf("poll interval: %u us \n", _report_interval);
_reports->print_info("report queue");
sensor_baro_s brp = {};
src/drivers/barometer/bmp280/bmp280.h
+2
View File
@@ -148,6 +148,8 @@ public:
// bulk read of calibration data into buffer, return same pointer
virtual bmp280::calibration_s *get_calibration(uint8_t addr) = 0;
virtual uint32_t get_device_id() const = 0;
};
} /* namespace */
src/drivers/barometer/bmp280/bmp280_i2c.cpp
+2
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@@ -60,6 +60,8 @@ public:
bmp280::data_s *get_data(uint8_t addr);
bmp280::calibration_s *get_calibration(uint8_t addr);
uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
private:
struct bmp280::calibration_s _cal;
struct bmp280::data_s _data;
src/drivers/barometer/bmp280/bmp280_spi.cpp
+2
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@@ -76,6 +76,8 @@ public:
bmp280::data_s *get_data(uint8_t addr);
bmp280::calibration_s *get_calibration(uint8_t addr);
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
private:
spi_calibration_s _cal;
spi_data_s _data;