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teraranger cleanup unnecessary Device CDev usage

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This commit is contained in:
Daniel Agar
2018-08-18 15:08:26 -04:00
parent cfe34ee19c
commit 483bacad87
1 changed files with 11 additions and 17 deletions
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src/drivers/distance_sensor/teraranger/teraranger.cpp
+11 -17
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@@ -119,7 +119,7 @@ private:
uint8_t _rotation;
float _min_distance;
float _max_distance;
work_s _work;
work_s _work{};
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
uint8_t _valid;
@@ -244,12 +244,6 @@ TERARANGER::TERARANGER(uint8_t rotation, int bus, int address) :
{
// up the retries since the device misses the first measure attempts
I2C::_retries = 3;
// enable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
TERARANGER::~TERARANGER()
@@ -280,7 +274,7 @@ TERARANGER::init()
switch (hw_model) {
case 0: /* Disabled */
DEVICE_LOG("Disabled");
PX4_WARN("Disabled");
return ret;
case 1: /* Autodetect */
@@ -341,7 +335,7 @@ TERARANGER::init()
break;
default:
DEVICE_LOG("invalid HW model %d.", hw_model);
PX4_ERR("invalid HW model %d.", hw_model);
return ret;
}
@@ -364,7 +358,7 @@ TERARANGER::init()
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
PX4_ERR("failed to create distance_sensor object");
}
}
@@ -389,9 +383,9 @@ TERARANGER::probe()
}
}
DEVICE_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
(unsigned)who_am_i,
TERARANGER_WHO_AM_I_REG_VAL);
PX4_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
(unsigned)who_am_i,
TERARANGER_WHO_AM_I_REG_VAL);
// not found on any address
return -EIO;
@@ -593,7 +587,7 @@ TERARANGER::measure()
if (OK != ret) {
perf_count(_comms_errors);
DEVICE_LOG("i2c::transfer returned %d", ret);
PX4_DEBUG("i2c::transfer returned %d", ret);
return ret;
}
@@ -615,7 +609,7 @@ TERARANGER::collect()
ret = transfer(nullptr, 0, &val[0], 3);
if (ret < 0) {
DEVICE_LOG("error reading from sensor: %d", ret);
PX4_DEBUG("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
@@ -690,7 +684,7 @@ TERARANGER::cycle()
/* perform collection */
if (OK != collect()) {
DEVICE_LOG("collection error");
PX4_DEBUG("collection error");
/* restart the measurement state machine */
start();
return;
@@ -716,7 +710,7 @@ TERARANGER::cycle()
/* measurement phase */
if (OK != measure()) {
DEVICE_LOG("measure error");
PX4_DEBUG("measure error");
}
/* next phase is collection */