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refactor ak09916: use driver base class

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This commit is contained in:
Beat Küng
2020-03-11 18:57:52 +01:00
committed by Daniel Agar
parent 47b329cc54
commit 20db735d77
2 changed files with 65 additions and 143 deletions
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src/drivers/magnetometer/ak09916/ak09916.cpp
+51 -130
View File
@@ -42,101 +42,17 @@
#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include "ak09916.hpp"
extern "C" { __EXPORT int ak09916_main(int argc, char *argv[]); }
extern "C" __EXPORT int ak09916_main(int argc, char *argv[]);
namespace ak09916
{
AK09916 *g_dev_ext;
AK09916 *g_dev_int;
void start(bool, enum Rotation);
void info(bool);
void usage();
void start(bool external_bus, enum Rotation rotation)
{
AK09916 **g_dev_ptr = (external_bus ? &g_dev_ext : &g_dev_int);
const char *path = (external_bus ? AK09916_DEVICE_PATH_MAG_EXT : AK09916_DEVICE_PATH_MAG);
if (*g_dev_ptr != nullptr) {
PX4_ERR("already started");
exit(0);
}
if (external_bus) {
#if defined(PX4_I2C_BUS_EXPANSION)
*g_dev_ptr = new AK09916(PX4_I2C_BUS_EXPANSION, path, rotation);
#else
PX4_ERR("External I2C not available");
exit(0);
#endif
} else {
PX4_ERR("Internal I2C not available");
exit(0);
}
if (*g_dev_ptr == nullptr || (OK != (*g_dev_ptr)->init())) {
PX4_ERR("driver start failed");
delete (*g_dev_ptr);
*g_dev_ptr = nullptr;
exit(1);
}
exit(0);
}
void
stop(bool external_bus)
{
AK09916 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
if (*g_dev_ptr == nullptr) {
PX4_ERR("driver not running");
exit(1);
}
(*g_dev_ptr)->stop();
exit(0);
}
void
info(bool external_bus)
{
AK09916 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
if (*g_dev_ptr == nullptr) {
PX4_ERR("driver not running");
exit(1);
}
printf("state @ %p\n", *g_dev_ptr);
(*g_dev_ptr)->print_info();
exit(0);
}
void
usage()
{
PX4_INFO("missing command: try 'start', 'info', stop'");
PX4_INFO("options:");
PX4_INFO(" -X (external bus)");
PX4_INFO(" -R (rotation)");
}
} // namespace ak09916
AK09916::AK09916(int bus, const char *path, enum Rotation rotation) :
I2C("AK09916", path, bus, AK09916_I2C_ADDR, 400000),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
AK09916::AK09916(I2CSPIBusOption bus_option, const int bus, int bus_frequency, enum Rotation rotation) :
I2C("AK09916", nullptr, bus, AK09916_I2C_ADDR, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_mag(get_device_id(), ORB_PRIO_MAX, rotation),
_mag_reads(perf_alloc(PC_COUNT, "ak09916_mag_reads")),
_mag_errors(perf_alloc(PC_COUNT, "ak09916_mag_errors")),
@@ -161,7 +77,7 @@ AK09916::init()
int ret = I2C::init();
if (ret != OK) {
PX4_WARN("AK09916 mag init failed");
DEVICE_DEBUG("AK09916 mag init failed (%i)", ret);
return ret;
}
@@ -229,8 +145,9 @@ AK09916::measure()
}
void
AK09916::print_info()
AK09916::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_mag_reads);
perf_print_counter(_mag_errors);
perf_print_counter(_mag_overruns);
@@ -308,78 +225,82 @@ AK09916::setup()
void
AK09916::start()
{
_cycle_interval = AK09916_CONVERSION_INTERVAL_us;
ScheduleNow();
}
void
AK09916::stop()
AK09916::RunImpl()
{
// Ensure no new items are queued while we cancel this one.
_cycle_interval = 0;
try_measure();
ScheduleDelayed(_cycle_interval);
}
ScheduleClear();
I2CSPIDriverBase *
AK09916::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, int runtime_instance)
{
AK09916 *interface = new AK09916(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
if (interface == nullptr) {
PX4_ERR("failed creating interface for bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
if (interface->init() != OK) {
delete interface;
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
return interface;
}
void
AK09916::Run()
AK09916::print_usage()
{
if (_cycle_interval == 0) {
return;
}
try_measure();
if (_cycle_interval > 0) {
ScheduleDelayed(_cycle_interval);
}
PRINT_MODULE_USAGE_NAME("ak09916", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
int
ak09916_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
bool external_bus = false;
enum Rotation rotation = ROTATION_NONE;
using ThisDriver = AK09916;
BusCLIArguments cli{true, false};
while ((ch = px4_getopt(argc, argv, "XR:", &myoptind, &myoptarg)) != EOF) {
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
break;
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
default:
ak09916::usage();
return 0;
}
}
if (myoptind >= argc) {
ak09916::usage();
const char *verb = cli.optarg();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
const char *verb = argv[myoptind];
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_AK09916);
if (!strcmp(verb, "start")) {
ak09916::start(external_bus, rotation);
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
ak09916::stop(external_bus);
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "info")) {
ak09916::info(external_bus);
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ak09916::usage();
return -1;
ThisDriver::print_usage();
return 1;
}
src/drivers/magnetometer/ak09916/ak09916.hpp
+14 -13
View File
@@ -39,12 +39,9 @@
#include <systemlib/conversions.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/i2c.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
static constexpr auto AK09916_DEVICE_PATH_MAG = "/dev/ak09916_i2c_int";
static constexpr auto AK09916_DEVICE_PATH_MAG_EXT = "/dev/ak09916_i2c_ext";
// in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit.
static constexpr float AK09916_MAG_RANGE_GA = 1.5e-3f;
@@ -80,23 +77,27 @@ struct ak09916_regs {
#pragma pack(pop)
class AK09916 : public device::I2C, px4::ScheduledWorkItem
class AK09916 : public device::I2C, public I2CSPIDriver<AK09916>
{
public:
AK09916(int bus, const char *path, enum Rotation rotation);
~AK09916();
AK09916(I2CSPIBusOption bus_option, const int bus, int bus_frequency, enum Rotation rotation);
virtual ~AK09916();
virtual int init() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
void start();
void stop();
void print_info();
int probe();
void print_status() override;
int probe() override;
void RunImpl();
protected:
int setup();
int setup_master_i2c();
bool check_id();
void Run();
void try_measure();
bool is_ready();
void measure();
@@ -110,7 +111,7 @@ private:
PX4Magnetometer _px4_mag;
uint32_t _cycle_interval{0};
static constexpr uint32_t _cycle_interval{AK09916_CONVERSION_INTERVAL_us};
perf_counter_t _mag_reads;
perf_counter_t _mag_errors;