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bma180 move to px4 work queue

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This commit is contained in:
Daniel Agar 2019-01-27 20:52:24 -05:00
parent e27a8e1010
commit 370f0f73ce
1 changed files with 11 additions and 25 deletions
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36
src/drivers/imu/bma180/bma180.cpp
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@ -57,7 +57,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
@ -66,6 +66,7 @@
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/device/ringbuffer.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#define ACCEL_DEVICE_PATH "/dev/bma180"
@ -121,7 +122,7 @@
extern "C" { __EXPORT int bma180_main(int argc, char *argv[]); }
class BMA180 : public device::SPI
class BMA180 : public device::SPI, public px4::ScheduledWorkItem
{
public:
BMA180(int bus, uint32_t device);
@ -142,7 +143,6 @@ protected:
private:
struct hrt_call _call;
unsigned _call_interval;
ringbuffer::RingBuffer *_reports;
@ -168,16 +168,7 @@ private:
*/
void stop();
/**
* Static trampoline from the hrt_call context; because we don't have a
* generic hrt wrapper yet.
*
* Called by the HRT in interrupt context at the specified rate if
* automatic polling is enabled.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void measure_trampoline(void *arg);
void Run() override;
/**
* Fetch measurements from the sensor and update the report ring.
@ -232,6 +223,7 @@ private:
BMA180::BMA180(int bus, uint32_t device) :
SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
ScheduledWorkItem(px4::device_bus_to_wq(this->get_device_id())),
_call_interval(0),
_reports(nullptr),
_accel_range_scale(0.0f),
@ -416,17 +408,13 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
bool want_start = (_call_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
unsigned interval = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000) {
if (interval < 1000) {
return -EINVAL;
}
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call.period = _call_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
@ -598,22 +586,20 @@ BMA180::start()
_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&BMA180::measure_trampoline, this);
ScheduleOnInterval(_call_interval, 10000);
}
void
BMA180::stop()
{
hrt_cancel(&_call);
ScheduleClear();
}
void
BMA180::measure_trampoline(void *arg)
BMA180::Run()
{
BMA180 *dev = (BMA180 *)arg;
/* make another measurement */
dev->measure();
measure();
}
void