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batt_smbus move to new WQ

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This commit is contained in:
Daniel Agar
2019-06-04 12:03:27 -04:00
parent 3faab909d7
commit 574f7e9f00
2 changed files with 7 additions and 20 deletions
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src/drivers/batt_smbus/batt_smbus.cpp
+4 -13
View File
@@ -48,9 +48,8 @@
extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]);
struct work_s BATT_SMBUS::_work = {};
BATT_SMBUS::BATT_SMBUS(SMBus *interface, const char *path) :
ScheduledWorkItem(px4::device_bus_to_wq(interface->get_device_id())),
_interface(interface),
_cycle(perf_alloc(PC_ELAPSED, "batt_smbus_cycle")),
_batt_topic(nullptr),
@@ -151,8 +150,7 @@ int BATT_SMBUS::task_spawn(int argc, char *argv[])
return PX4_ERROR;
}
// Throw it into the work queue.
work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, dev, 0);
dev->ScheduleNow();
return PX4_OK;
@@ -163,13 +161,7 @@ int BATT_SMBUS::task_spawn(int argc, char *argv[])
return PX4_ERROR;
}
void BATT_SMBUS::cycle_trampoline(void *arg)
{
BATT_SMBUS *dev = (BATT_SMBUS *)arg;
dev->cycle();
}
void BATT_SMBUS::cycle()
void BATT_SMBUS::Run()
{
// Get the current time.
uint64_t now = hrt_absolute_time();
@@ -279,8 +271,7 @@ void BATT_SMBUS::cycle()
}
// Schedule a fresh cycle call when the measurement is done.
work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this,
USEC2TICK(BATT_SMBUS_MEASUREMENT_INTERVAL_US));
ScheduleDelayed(BATT_SMBUS_MEASUREMENT_INTERVAL_US);
}
}
src/drivers/batt_smbus/batt_smbus.h
+3 -7
View File
@@ -48,7 +48,7 @@
#include <lib/drivers/smbus/SMBus.hpp>
#include <mathlib/mathlib.h>
#include <px4_config.h>
#include <px4_workqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <perf/perf_counter.h>
#include <platforms/px4_module.h>
#include <uORB/topics/battery_status.h>
@@ -144,7 +144,7 @@ int serial_number();
class BATT_SMBUS : public ModuleBase<BATT_SMBUS>
class BATT_SMBUS : public ModuleBase<BATT_SMBUS>, public px4::ScheduledWorkItem
{
public:
@@ -280,9 +280,7 @@ public:
private:
static void cycle_trampoline(void *arg);
static work_s _work;
void Run() override;
perf_counter_t _cycle;
@@ -294,8 +292,6 @@ private:
bool _should_suspend{false};
void cycle();
/** @param _last_report Last published report, used for test(). */
battery_status_s _last_report = battery_status_s{};