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bmm150 move to px4 work queue

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This commit is contained in:
Daniel Agar
2019-05-24 12:58:55 -04:00
parent 78d35f2677
commit 537c139134
2 changed files with 16 additions and 35 deletions
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src/drivers/magnetometer/bmm150/bmm150.cpp
+13 -30
View File
@@ -249,8 +249,9 @@ usage()
} // namespace bmm150
BMM150 :: BMM150(int bus, const char *path, enum Rotation rotation) :
BMM150::BMM150(int bus, const char *path, enum Rotation rotation) :
I2C("BMM150", path, bus, BMM150_SLAVE_ADDRESS, BMM150_BUS_SPEED),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_running(false),
_call_interval(0),
_reports(nullptr),
@@ -285,9 +286,6 @@ BMM150 :: BMM150(int bus, const char *path, enum Rotation rotation) :
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_BMM150;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
// default scaling
_scale.x_offset = 0;
_scale.x_scale = 1.0f;
@@ -415,16 +413,14 @@ BMM150::start()
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&BMM150::cycle_trampoline, this, 1);
ScheduleNow();
}
void
BMM150::stop()
{
_running = false;
work_cancel(HPWORK, &_work);
ScheduleClear();
}
ssize_t
@@ -488,26 +484,17 @@ BMM150::read(struct file *filp, char *buffer, size_t buflen)
}
void
BMM150::cycle_trampoline(void *arg)
{
BMM150 *dev = reinterpret_cast<BMM150 *>(arg);
/* make measurement */
dev->cycle();
}
void
BMM150::cycle()
BMM150::Run()
{
if (_collect_phase) {
collect();
unsigned wait_gap = _call_interval - USEC2TICK(BMM150_CONVERSION_INTERVAL);
unsigned wait_gap = _call_interval - BMM150_CONVERSION_INTERVAL;
if ((wait_gap != 0) && (_running)) {
work_queue(HPWORK, &_work, (worker_t)&BMM150::cycle_trampoline, this,
wait_gap); //need to wait some time before new measurement
// need to wait some time before new measurement
ScheduleDelayed(wait_gap);
return;
}
@@ -517,11 +504,7 @@ BMM150::cycle()
if ((_running)) {
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&BMM150::cycle_trampoline,
this,
USEC2TICK(BMM150_CONVERSION_INTERVAL));
ScheduleDelayed(BMM150_CONVERSION_INTERVAL);
}
@@ -743,15 +726,15 @@ BMM150::ioctl(struct file *filp, int cmd, unsigned long arg)
bool want_start = (_call_interval == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
unsigned interval = (1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(BMM150_CONVERSION_INTERVAL)) {
if (interval < BMM150_CONVERSION_INTERVAL) {
return -EINVAL;
}
/* update interval for next measurement */
_call_interval = ticks;
_call_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
src/drivers/magnetometer/bmm150/bmm150.hpp
+3 -5
View File
@@ -20,7 +20,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <nuttx/wqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/conversions.h>
#include <nuttx/arch.h>
@@ -191,7 +191,7 @@ struct bmm150_data {
};
class BMM150 : public device::I2C
class BMM150 : public device::I2C, public px4::ScheduledWorkItem
{
public:
BMM150(int bus, const char *path, enum Rotation rotation);
@@ -217,7 +217,6 @@ protected:
virtual int probe();
private:
work_s _work{};
bool _running;
@@ -278,8 +277,7 @@ private:
int measure(); //start measure
int collect(); //get results and publish
static void cycle_trampoline(void *arg);
void cycle(); //main execution
void Run() override;
/**
* Read the specified number of bytes from BMM150.