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differential_pressure sensors: use driver base class

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This commit is contained in:
Beat Küng
2020-03-17 23:31:17 -04:00
committed by Daniel Agar
parent 0924ff7fcf
commit 3b7b2dc871
14 changed files with 248 additions and 890 deletions
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src/lib/drivers/airspeed/airspeed.cpp
+3 -73
View File
@@ -56,11 +56,10 @@
#include <drivers/airspeed/airspeed.h>
Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
I2C("Airspeed", path, bus, address, 100000),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
Airspeed::Airspeed(int bus, int bus_frequency, int address, unsigned conversion_interval, const char *path) :
I2C("Airspeed", path, bus, address, bus_frequency),
_sensor_ok(false),
_measure_interval(0),
_measure_interval(conversion_interval),
_collect_phase(false),
_diff_pres_offset(0.0f),
_airspeed_orb_class_instance(-1),
@@ -73,9 +72,6 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
Airspeed::~Airspeed()
{
/* make sure we are truly inactive */
stop();
if (_class_instance != -1) {
unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
}
@@ -121,57 +117,6 @@ int
Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* zero would be bad */
case 0:
return -EINVAL;
/* set default polling rate */
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_interval == 0);
/* set interval for next measurement to minimum legal value */
_measure_interval = USEC2TICK(_conversion_interval);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_interval == 0);
/* convert hz to tick interval via microseconds */
unsigned interval = (1000000 / arg);
/* check against maximum rate */
if (interval < _conversion_interval) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
break;
case AIRSPEEDIOCSSCALE: {
struct airspeed_scale *s = (struct airspeed_scale *)arg;
_diff_pres_offset = s->offset_pa;
@@ -184,18 +129,3 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
}
}
void
Airspeed::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
/* schedule a cycle to start things */
ScheduleNow();
}
void
Airspeed::stop()
{
ScheduleClear();
}
src/lib/drivers/airspeed/airspeed.h
+7 -33
View File
@@ -42,34 +42,28 @@
#include <perf/perf_counter.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/PublicationMulti.hpp>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
/* Default I2C bus */
static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;
class __EXPORT Airspeed : public device::I2C, public px4::ScheduledWorkItem
class __EXPORT Airspeed : public device::I2C
{
public:
Airspeed(int bus, int address, unsigned conversion_interval, const char *path);
Airspeed(int bus, int bus_frequency, int address, unsigned conversion_interval, const char *path);
virtual ~Airspeed();
virtual int init();
int init() override;
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
private:
/* this class has pointer data members and should not be copied */
Airspeed(const Airspeed &);
Airspeed &operator=(const Airspeed &);
Airspeed(const Airspeed &) = delete;
Airspeed &operator=(const Airspeed &) = delete;
protected:
virtual int probe();
int probe() override;
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
virtual void Run() = 0;
virtual int measure() = 0;
virtual int collect() = 0;
@@ -88,26 +82,6 @@ protected:
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* add a new report to the reports queue
*
* @param report differential_pressure_s report
*/
void new_report(const differential_pressure_s &report);
};