fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 11:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor lsm303d: use driver base class

Browse Source
This commit is contained in:
Beat Küng
2020-03-24 09:46:20 -04:00
committed by Daniel Agar
parent 3423809cd9
commit 6cf4de9e02
6 changed files with 76 additions and 158 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/lsm303d/LSM303D.cpp
+9 -19
View File
@@ -53,9 +53,10 @@ static constexpr uint8_t _checked_registers[] = {
ADDR_CTRL_REG7
};
LSM303D::LSM303D(int bus, uint32_t device, enum Rotation rotation) :
SPI("LSM303D", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("LSM303D", nullptr, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: acc_read")),
@@ -71,9 +72,6 @@ LSM303D::LSM303D(int bus, uint32_t device, enum Rotation rotation) :
LSM303D::~LSM303D()
{
// make sure we are truly inactive
stop();
// delete the perf counter
perf_free(_accel_sample_perf);
perf_free(_mag_sample_perf);
@@ -89,8 +87,8 @@ LSM303D::init()
int ret = SPI::init();
if (ret != OK) {
PX4_ERR("SPI init failed (%i)", ret);
return PX4_ERROR;
DEVICE_DEBUG("SPI init failed (%i)", ret);
return ret;
}
reset();
@@ -407,21 +405,12 @@ LSM303D::mag_set_samplerate(unsigned frequency)
void
LSM303D::start()
{
// make sure we are stopped first
stop();
// start polling at the specified rate
ScheduleOnInterval(_call_accel_interval - LSM303D_TIMER_REDUCTION);
}
void
LSM303D::stop()
{
ScheduleClear();
}
void
LSM303D::Run()
LSM303D::RunImpl()
{
// make another accel measurement
measureAccelerometer();
@@ -581,8 +570,9 @@ LSM303D::measureMagnetometer()
}
void
LSM303D::print_info()
LSM303D::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_accel_sample_perf);
perf_print_counter(_mag_sample_perf);
perf_print_counter(_bad_registers);