fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

cm8jl65 move to px4 work queue

Browse Source
This commit is contained in:
Daniel Agar 2019-02-22 10:41:54 -05:00
parent e73dd73ea7
commit 6ef42e2c52
1 changed files with 15 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
View File

@ -43,7 +43,7 @@
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_workqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <sys/types.h>
#include <stdint.h>
@ -69,10 +69,6 @@
/* Configuration Constants */
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
#define CM8JL65_TAKE_RANGE_REG 'd'
// designated serial port on Pixhawk (TELEM2)
@ -82,7 +78,7 @@
#define CM8JL65_CONVERSION_INTERVAL 50*1000UL/* 50ms */
class CM8JL65 : public cdev::CDev
class CM8JL65 : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
@ -90,10 +86,10 @@ public:
CM8JL65(const char *port = CM8JL65_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
// Virtual destructor
virtual ~CM8JL65();
virtual ~CM8JL65() override;
virtual int init();
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
virtual int init() override;
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
/**
* Diagnostics - print some basic information about the driver.
@ -107,7 +103,6 @@ private:
float _min_distance;
float _max_distance;
int _conversion_interval;
work_s _work{};
ringbuffer::RingBuffer *_reports;
int _fd;
uint8_t _linebuf[25];
@ -151,15 +146,9 @@ private:
* Perform a reading cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
void Run() override;
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
@ -176,6 +165,7 @@ extern "C" __EXPORT int cm8jl65_main(int argc, char *argv[]);
CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
CDev(RANGE_FINDER0_DEVICE_PATH),
ScheduledWorkItem(px4::wq_configurations::hp_default),
_rotation(rotation),
_min_distance(0.10f),
_max_distance(9.0f),
@ -195,9 +185,9 @@ CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
{
/* store port name */
strncpy(_port, port, sizeof(_port) - 1);
/* enforce null termination */
_port[sizeof(_port) - 1] = '\0';
}
// Destructor
@ -310,10 +300,10 @@ CM8JL65::ioctl(device::file_t *filp, int cmd, unsigned long arg)
default: {
/* convert hz to tick interval via microseconds */
int ticks = USEC2TICK(1000000 / arg);
int interval = (1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(_conversion_interval)) {
if (interval < _conversion_interval) {
return -EINVAL;
}
@ -428,26 +418,17 @@ CM8JL65::start()
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&CM8JL65::cycle_trampoline, this, 1);
ScheduleNow();
}
void
CM8JL65::stop()
{
work_cancel(HPWORK, &_work);
ScheduleClear();
}
void
CM8JL65::cycle_trampoline(void *arg)
{
CM8JL65 *dev = static_cast<CM8JL65 *>(arg);
dev->cycle();
}
void
CM8JL65::cycle()
CM8JL65::Run()
{
/* fds initialized? */
if (_fd < 0) {
@ -495,9 +476,8 @@ CM8JL65::cycle()
_cycle_counter++;
}
/* schedule a fresh cycle call when a complete packet has been received */
work_queue(HPWORK, &_work, (worker_t)&CM8JL65::cycle_trampoline, this, USEC2TICK(_conversion_interval));
ScheduleDelayed(_conversion_interval);
_cycle_counter = 0;
}