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pwm_input: comment style

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This commit is contained in:
Ban Siesta
2015-05-24 12:40:29 +01:00
parent 1151996c0b
commit 4e897bf197
1 changed files with 59 additions and 82 deletions
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src/drivers/pwm_input/pwm_input.cpp
+59 -82
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@@ -36,6 +36,9 @@
* *
* PWM input driver based on earlier driver from Evan Slatyer, * PWM input driver based on earlier driver from Evan Slatyer,
* which in turn was based on drv_hrt.c * which in turn was based on drv_hrt.c
*
* @author: Andrew Tridgell
* @author: Ban Siesta <bansiesta@gmail.com>
*/ */
#include <px4_config.h> #include <px4_config.h>
@@ -81,7 +84,7 @@
#include <sys/stat.h> #include <sys/stat.h>
#include <fcntl.h> #include <fcntl.h>
// Reset pin define /* Reset pin define */
#define GPIO_VDD_RANGEFINDER_EN GPIO_GPIO5_OUTPUT #define GPIO_VDD_RANGEFINDER_EN GPIO_GPIO5_OUTPUT
#if HRT_TIMER == PWMIN_TIMER #if HRT_TIMER == PWMIN_TIMER
@@ -289,16 +292,16 @@ PWMIN::~PWMIN()
} }
/* /*
initialise the driver. This doesn't actually start the timer (that * initialise the driver. This doesn't actually start the timer (that
is done on open). We don't start the timer to allow for this driver * is done on open). We don't start the timer to allow for this driver
to be started in init scripts when the user may be using the input * to be started in init scripts when the user may be using the input
pin as PWM output * pin as PWM output
*/ */
int int
PWMIN::init() PWMIN::init()
{ {
// we just register the device in /dev, and only actually /* we just register the device in /dev, and only actually
// activate the timer when requested to when the device is opened * activate the timer when requested to when the device is opened */
CDev::init(); CDev::init();
data.type = RANGE_FINDER_TYPE_LASER; data.type = RANGE_FINDER_TYPE_LASER;
@@ -324,10 +327,10 @@ PWMIN::init()
/* /*
* Initialise the timer we are going to use. * Initialise the timer we are going to use.
*/ */
void PWMIN::timer_init(void) void PWMIN::_timer_init(void)
{ {
// run with interrupts disabled in case the timer is already /* run with interrupts disabled in case the timer is already
// setup. We don't want it firing while we are doing the setup * setup. We don't want it firing while we are doing the setup */
irqstate_t flags = irqsave(); irqstate_t flags = irqsave();
stm32_configgpio(GPIO_PWM_IN); stm32_configgpio(GPIO_PWM_IN);
@@ -350,9 +353,9 @@ void PWMIN::timer_init(void)
rCCER = CCER_PWMIN; rCCER = CCER_PWMIN;
rDCR = 0; rDCR = 0;
// for simplicity scale by the clock in MHz. This gives us /* for simplicity scale by the clock in MHz. This gives us
// readings in microseconds which is typically what is needed * readings in microseconds which is typically what is needed
// for a PWM input driver * for a PWM input driver */
uint32_t prescaler = PWMIN_TIMER_CLOCK / 1000000UL; uint32_t prescaler = PWMIN_TIMER_CLOCK / 1000000UL;
/* /*
@@ -376,38 +379,41 @@ void PWMIN::timer_init(void)
irqrestore(flags); irqrestore(flags);
timer_started = true; _timer_started = true;
} }
void void
PWMIN::freeze_test() PWMIN::_freeze_test()
{ {
/* timeout is true if least read was away back */ /* reset if last poll time was way back and a read was recently requested */
bool timeout = false; if (hrt_elapsed_time(&_last_poll_time) > TIMEOUT_POLL && hrt_elapsed_time(&_last_read_time) < TIMEOUT_READ) {
timeout = (hrt_absolute_time() - last_poll_time > TIMEOUT) ? true : false; warnx("Lidar is down, reseting");
if (timeout) {
fprintf(stderr, "[pwm_input] Lidar is down, reseting\n");
hard_reset(); hard_reset();
} }
} }
void void
PWMIN::turn_on() { stm32_gpiowrite(GPIO_VDD_RANGEFINDER_EN, 1); } PWMIN::_turn_on()
{
stm32_gpiowrite(GPIO_VDD_RANGEFINDER_EN, 1);
}
void void
PWMIN::turn_off() { stm32_gpiowrite(GPIO_VDD_RANGEFINDER_EN, 0); } PWMIN::_turn_off()
{
stm32_gpiowrite(GPIO_VDD_RANGEFINDER_EN, 0);
}
void void
PWMIN::hard_reset() PWMIN::hard_reset()
{ {
turn_off(); _turn_off();
hrt_call_after(&hard_reset_call, 9000, reinterpret_cast<hrt_callout>(&PWMIN::turn_on), this); hrt_call_after(&_hard_reset_call, 9000, reinterpret_cast<hrt_callout>(&PWMIN::_turn_on), this);
} }
/* /*
hook for open of the driver. We start the timer at this point, then * hook for open of the driver. We start the timer at this point, then
leave it running * leave it running
*/ */
int int
PWMIN::open(struct file *filp) PWMIN::open(struct file *filp)
@@ -427,7 +433,7 @@ PWMIN::open(struct file *filp)
/* /*
handle ioctl requests * handle ioctl requests
*/ */
int int
PWMIN::ioctl(struct file *filp, int cmd, unsigned long arg) PWMIN::ioctl(struct file *filp, int cmd, unsigned long arg)
@@ -452,14 +458,15 @@ PWMIN::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
case SENSORIOCGQUEUEDEPTH: case SENSORIOCGQUEUEDEPTH:
return reports->size(); return _reports->size();
case SENSORIOCRESET: case SENSORIOCRESET:
/* user has asked for the timer to be reset. This may /* user has asked for the timer to be reset. This may
be needed if the pin was used for a different * be needed if the pin was used for a different
purpose (such as PWM output) * purpose (such as PWM output) */
*/ _timer_init();
timer_init(); /* also reset the sensor */
hard_reset();
return OK; return OK;
default: default:
@@ -470,7 +477,7 @@ PWMIN::ioctl(struct file *filp, int cmd, unsigned long arg)
/* /*
read some samples from the device * read some samples from the device
*/ */
ssize_t ssize_t
PWMIN::read(struct file *filp, char *buffer, size_t buflen) PWMIN::read(struct file *filp, char *buffer, size_t buflen)
@@ -485,76 +492,56 @@ PWMIN::read(struct file *filp, char *buffer, size_t buflen)
} }
while (count--) { while (count--) {
if (reports->get(buf)) { if (_reports->get(buf)) {
ret += sizeof(struct pwm_input_s); ret += sizeof(struct pwm_input_s);
buf++; buf++;
} }
} }
/* if there was no data, warn the caller */ /* if there was no data, warn the caller */
return ret ? ret : -EAGAIN; return ret ? ret : -EAGAIN;
} }
/* /*
publish some data from the ISR in the ring buffer * publish some data from the ISR in the ring buffer
*/ */
void PWMIN::_publish(uint16_t status, uint32_t period, uint32_t pulse_width) void PWMIN::publish(uint16_t status, uint32_t period, uint32_t pulse_width)
{ {
/* if we missed an edge, we have to give up */ /* if we missed an edge, we have to give up */
if (status & SR_OVF_PWMIN) { if (status & SR_OVF_PWMIN) {
error_count++; _error_count++;
return; return;
} }
last_poll_time = hrt_absolute_time(); _last_poll_time = hrt_absolute_time();
struct pwm_input_s pwmin_report; struct pwm_input_s pwmin_report;
pwmin_report.timestamp = last_poll_time; pwmin_report.timestamp = _last_poll_time;
pwmin_report.error_count = error_count; pwmin_report.error_count = _error_count;
pwmin_report.period = period; pwmin_report.period = period;
pwmin_report.pulse_width = pulse_width; pwmin_report.pulse_width = pulse_width;
data.distance = pulse_width * 1e-3f; _reports->force(&pwmin_report);
data.timestamp = pwmin_report.timestamp;
data.error_count = error_count;
if (data.distance < data.minimum_distance || data.distance > data.maximum_distance) {
data.valid = false;
} else {
data.valid = true;
}
if (range_finder_pub > 0) {
orb_publish(ORB_ID(sensor_range_finder), range_finder_pub, &data);
}
reports->force(&pwmin_report);
last_period = period;
last_width = pulse_width;
pulses_captured++;
} }
/* /*
print information on the last captured * print information on the last captured
*/ */
void PWMIN::_print_info(void) void PWMIN::print_info(void)
{ {
if (!timer_started) { if (!_timer_started) {
printf("timer not started - try the 'test' command\n"); printf("timer not started - try the 'test' command\n");
} else { } else {
printf("count=%u period=%u width=%u\n", printf("count=%u period=%u width=%u\n",
(unsigned)pulses_captured, (unsigned)_pulses_captured,
(unsigned)last_period, (unsigned)_last_period,
(unsigned)last_width); (unsigned)_last_width);
} }
} }
/* /*
Handle the interupt, gathering pulse data * Handle the interupt, gathering pulse data
*/ */
static int pwmin_tim_isr(int irq, void *context) static int pwmin_tim_isr(int irq, void *context)
{ {
@@ -592,21 +579,11 @@ static void pwmin_start(bool full_start)
errx(1, "driver init failed"); errx(1, "driver init failed");
} }
if (full_start) {
int fd = open(PWMIN0_DEVICE_PATH, O_RDONLY);
if (fd == -1) {
errx(1, "Failed to open device");
}
close(fd);
}
exit(0); exit(0);
} }
/* /*
test the driver * test the driver
*/ */
static void pwmin_test(void) static void pwmin_test(void)
{ {
@@ -636,7 +613,7 @@ static void pwmin_test(void)
} }
/* /*
reset the timer * reset the timer
*/ */
static void pwmin_reset(void) static void pwmin_reset(void)
{ {
@@ -656,7 +633,7 @@ static void pwmin_reset(void)
} }
/* /*
show some information on the driver * show some information on the driver
*/ */
static void pwmin_info(void) static void pwmin_info(void)
{ {