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drivers helper classes remove empty publication (forced advertise)

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- this is no longer necessary with all publications outside of ISRs
This commit is contained in:
Daniel Agar
2019-08-03 14:08:45 -04:00
parent 483280236b
commit 6a6bc4be58
6 changed files with 35 additions and 37 deletions
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src/lib/drivers/accelerometer/PX4Accelerometer.cpp
+10 -9
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@@ -50,10 +50,6 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Ro
// set software low pass filter for controllers
updateParams();
configure_filter(_param_imu_accel_cutoff.get());
// force initial publish to allocate uORB buffer
// TODO: can be removed once all drivers are in threads
_sensor_accel_pub.update();
}
PX4Accelerometer::~PX4Accelerometer()
@@ -63,7 +59,8 @@ PX4Accelerometer::~PX4Accelerometer()
}
}
int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
int
PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case ACCELIOCSSCALE: {
@@ -85,7 +82,8 @@ int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
}
}
void PX4Accelerometer::set_device_type(uint8_t devtype)
void
PX4Accelerometer::set_device_type(uint8_t devtype)
{
// current DeviceStructure
union device::Device::DeviceId device_id;
@@ -98,13 +96,15 @@ void PX4Accelerometer::set_device_type(uint8_t devtype)
_sensor_accel_pub.get().device_id = device_id.devid;
}
void PX4Accelerometer::set_sample_rate(unsigned rate)
void
PX4Accelerometer::set_sample_rate(unsigned rate)
{
_sample_rate = rate;
_filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
}
void PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
void
PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
{
sensor_accel_s &report = _sensor_accel_pub.get();
report.timestamp = timestamp;
@@ -145,7 +145,8 @@ void PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
}
}
void PX4Accelerometer::print_status()
void
PX4Accelerometer::print_status()
{
PX4_INFO(ACCEL_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
PX4_INFO("sample rate: %d Hz", _sample_rate);
src/lib/drivers/barometer/PX4Barometer.cpp
+6 -7
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@@ -43,10 +43,6 @@ PX4Barometer::PX4Barometer(uint32_t device_id, uint8_t priority) :
_class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
_sensor_baro_pub.get().device_id = device_id;
// force initial publish to allocate uORB buffer
// TODO: can be removed once all drivers are in threads
_sensor_baro_pub.update();
}
PX4Barometer::~PX4Barometer()
@@ -56,7 +52,8 @@ PX4Barometer::~PX4Barometer()
}
}
void PX4Barometer::set_device_type(uint8_t devtype)
void
PX4Barometer::set_device_type(uint8_t devtype)
{
// current DeviceStructure
union device::Device::DeviceId device_id;
@@ -69,7 +66,8 @@ void PX4Barometer::set_device_type(uint8_t devtype)
_sensor_baro_pub.get().device_id = device_id.devid;
}
void PX4Barometer::update(hrt_abstime timestamp, float pressure)
void
PX4Barometer::update(hrt_abstime timestamp, float pressure)
{
sensor_baro_s &report = _sensor_baro_pub.get();
@@ -81,7 +79,8 @@ void PX4Barometer::update(hrt_abstime timestamp, float pressure)
_sensor_baro_pub.update();
}
void PX4Barometer::print_status()
void
PX4Barometer::print_status()
{
PX4_INFO(BARO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
src/lib/drivers/gyroscope/PX4Gyroscope.cpp
+10 -9
View File
@@ -50,10 +50,6 @@ PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation r
// set software low pass filter for controllers
updateParams();
configure_filter(_param_imu_gyro_cutoff.get());
// force initial publish to allocate uORB buffer
// TODO: can be removed once all drivers are in threads
_sensor_gyro_pub.update();
}
PX4Gyroscope::~PX4Gyroscope()
@@ -63,7 +59,8 @@ PX4Gyroscope::~PX4Gyroscope()
}
}
int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
int
PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case GYROIOCSSCALE: {
@@ -85,7 +82,8 @@ int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
}
}
void PX4Gyroscope::set_device_type(uint8_t devtype)
void
PX4Gyroscope::set_device_type(uint8_t devtype)
{
// current DeviceStructure
union device::Device::DeviceId device_id;
@@ -98,13 +96,15 @@ void PX4Gyroscope::set_device_type(uint8_t devtype)
_sensor_gyro_pub.get().device_id = device_id.devid;
}
void PX4Gyroscope::set_sample_rate(unsigned rate)
void
PX4Gyroscope::set_sample_rate(unsigned rate)
{
_sample_rate = rate;
_filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
}
void PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z)
void
PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z)
{
sensor_gyro_s &report = _sensor_gyro_pub.get();
report.timestamp = timestamp;
@@ -145,7 +145,8 @@ void PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z)
}
}
void PX4Gyroscope::print_status()
void
PX4Gyroscope::print_status()
{
PX4_INFO(GYRO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
PX4_INFO("sample rate: %d Hz", _sample_rate);
src/lib/drivers/magnetometer/PX4Magnetometer.cpp
+8 -8
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@@ -45,10 +45,6 @@ PX4Magnetometer::PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rota
_sensor_mag_pub.get().device_id = device_id;
_sensor_mag_pub.get().scaling = 1.0f;
// force initial publish to allocate uORB buffer
// TODO: can be removed once all drivers are in threads
_sensor_mag_pub.update();
}
PX4Magnetometer::~PX4Magnetometer()
@@ -58,7 +54,8 @@ PX4Magnetometer::~PX4Magnetometer()
}
}
int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
int
PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case MAGIOCSSCALE: {
@@ -94,7 +91,8 @@ int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
}
}
void PX4Magnetometer::set_device_type(uint8_t devtype)
void
PX4Magnetometer::set_device_type(uint8_t devtype)
{
// current DeviceStructure
union device::Device::DeviceId device_id;
@@ -107,7 +105,8 @@ void PX4Magnetometer::set_device_type(uint8_t devtype)
_sensor_mag_pub.get().device_id = device_id.devid;
}
void PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
void
PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
{
sensor_mag_s &report = _sensor_mag_pub.get();
report.timestamp = timestamp;
@@ -136,7 +135,8 @@ void PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_
_sensor_mag_pub.update();
}
void PX4Magnetometer::print_status()
void
PX4Magnetometer::print_status()
{
PX4_INFO(MAG_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
src/lib/drivers/rangefinder/PX4Rangefinder.cpp
+1 -2
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@@ -37,8 +37,7 @@
PX4Rangefinder::PX4Rangefinder(uint32_t device_id, uint8_t priority, uint8_t rotation) :
CDev(nullptr),
_distance_sensor_pub{ORB_ID(distance_sensor), priority},
_rotation{rotation}
_distance_sensor_pub{ORB_ID(distance_sensor), priority}
{
_class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
src/lib/drivers/rangefinder/PX4Rangefinder.hpp
-2
View File
@@ -66,8 +66,6 @@ private:
uORB::PublicationData<distance_sensor_s> _distance_sensor_pub;
const uint8_t _rotation;
int _class_device_instance{-1};
};