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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 19:23:34 +08:00
airspeed sensor startup improvements (#7903)
This commit is contained in:
Daniel Agar
@@ -60,7 +60,6 @@
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Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
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I2C("Airspeed", path, bus, address, 100000),
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_reports(nullptr),
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_sensor_ok(false),
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_last_published_sensor_ok(true), /* initialize differently to force publication */
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_measure_ticks(0),
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@@ -90,11 +89,6 @@ Airspeed::~Airspeed()
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unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
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}
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/* free any existing reports */
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if (_reports != nullptr) {
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delete _reports;
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}
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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@@ -103,18 +97,9 @@ Airspeed::~Airspeed()
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int
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Airspeed::init()
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{
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int ret = PX4_ERROR;
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/* do I2C init (and probe) first */
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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::RingBuffer(2, sizeof(differential_pressure_s));
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if (_reports == nullptr) {
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goto out;
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if (I2C::init() != PX4_OK) {
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return PX4_ERROR;
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}
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/* register alternate interfaces if we have to */
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@@ -122,8 +107,7 @@ Airspeed::init()
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/* advertise sensor topic, measure manually to initialize valid report */
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measure();
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differential_pressure_s arp;
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_reports->get(&arp);
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differential_pressure_s arp = {};
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/* measurement will have generated a report, publish */
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_airspeed_pub = orb_advertise_multi(ORB_ID(differential_pressure), &arp, &_airspeed_orb_class_instance,
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@@ -133,10 +117,7 @@ Airspeed::init()
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PX4_WARN("uORB started?");
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}
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ret = OK;
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out:
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return ret;
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return PX4_OK;
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}
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int
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@@ -217,6 +198,7 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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}
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}
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}
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break;
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case SENSORIOCGPOLLRATE:
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if (_measure_ticks == 0) {
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@@ -225,27 +207,6 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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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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}
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ATOMIC_ENTER;
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if (!_reports->resize(arg)) {
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ATOMIC_LEAVE;
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return -ENOMEM;
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}
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ATOMIC_LEAVE;
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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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case SENSORIOCRESET:
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/* XXX implement this */
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return -EINVAL;
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@@ -269,72 +230,11 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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}
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}
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ssize_t
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Airspeed::read(device::file_t *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(differential_pressure_s);
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differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);
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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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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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/*
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* While there is space in the caller's buffer, and reports, copy them.
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* Note that we may be pre-empted by the workq thread while we are doing this;
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* we are careful to avoid racing with them.
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*/
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while (count--) {
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if (_reports->get(abuf)) {
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ret += sizeof(*abuf);
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abuf++;
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}
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}
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/* if there was no data, warn the caller */
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return ret ? ret : -EAGAIN;
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}
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/* manual measurement - run one conversion */
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do {
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_reports->flush();
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/* trigger a measurement */
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if (OK != measure()) {
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ret = -EIO;
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break;
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}
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/* wait for it to complete */
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usleep(_conversion_interval);
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/* run the collection phase */
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if (OK != collect()) {
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ret = -EIO;
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break;
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}
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/* state machine will have generated a report, copy it out */
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if (_reports->get(abuf)) {
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ret = sizeof(*abuf);
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}
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} while (0);
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return ret;
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}
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void
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Airspeed::start()
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{
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/* reset the report ring and state machine */
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_collect_phase = false;
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_reports->flush();
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/* schedule a cycle to start things */
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work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
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@@ -372,25 +272,7 @@ void
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Airspeed::cycle_trampoline(void *arg)
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{
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Airspeed *dev = (Airspeed *)arg;
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dev->cycle();
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// XXX we do not know if this is
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// really helping - do not update the
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// subsys state right now
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//dev->update_status();
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}
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void
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Airspeed::print_info()
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{
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perf_print_counter(_sample_perf);
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perf_print_counter(_comms_errors);
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warnx("poll interval: %u ticks", _measure_ticks);
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_reports->print_info("report queue");
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}
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void
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Airspeed::new_report(const differential_pressure_s &report)
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{
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_reports->force(&report);
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dev->update_status();
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}
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@@ -31,23 +31,13 @@
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*
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****************************************************************************/
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/**
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* @file airspeed.h
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* @author Simon Wilks
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*
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* Generic driver for airspeed sensors connected via I2C.
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*/
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#include <drivers/device/i2c.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/drv_airspeed.h>
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#include <drivers/drv_hrt.h>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_workqueue.h>
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#include <systemlib/airspeed.h>
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#include <systemlib/err.h>
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#include <systemlib/param/param.h>
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#include <systemlib/perf_counter.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/subsystem_info.h>
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@@ -56,10 +46,6 @@
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/* Default I2C bus */
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static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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class __EXPORT Airspeed : public device::I2C
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{
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public:
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@@ -68,17 +54,9 @@ public:
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virtual int init();
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virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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virtual void print_info();
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private:
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ringbuffer::RingBuffer *_reports;
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/* this class has pointer data members and should not be copied */
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Airspeed(const Airspeed &);
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Airspeed &operator=(const Airspeed &);
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@@ -118,16 +96,6 @@ protected:
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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/**
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* Test whether the device supported by the driver is present at a
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* specific address.
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*
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* @param address The I2C bus address to probe.
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* @return True if the device is present.
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*/
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int probe_address(uint8_t address);
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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