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airspeedsim move to cdev lib

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This commit is contained in:
Daniel Agar
2018-08-28 09:17:53 +02:00
committed by Beat Küng
parent 4da5e61f4a
commit 82ad7d77fa
3 changed files with 12 additions and 17 deletions
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src/modules/simulator/airspeedsim/airspeedsim.cpp
+5 -10
View File
@@ -70,7 +70,7 @@
#include "airspeedsim.h" #include "airspeedsim.h"
AirspeedSim::AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path) : AirspeedSim::AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path) :
CDev("AIRSPEEDSIM", path), CDev(path),
_reports(nullptr), _reports(nullptr),
_retries(0), _retries(0),
_sensor_ok(false), _sensor_ok(false),
@@ -83,11 +83,6 @@ AirspeedSim::AirspeedSim(int bus, int address, unsigned conversion_interval, con
_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")), _sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors")) _comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors"))
{ {
// enable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
} }
AirspeedSim::~AirspeedSim() AirspeedSim::~AirspeedSim()
@@ -116,7 +111,7 @@ AirspeedSim::init()
/* init base class */ /* init base class */
if (CDev::init() != OK) { if (CDev::init() != OK) {
DEVICE_DEBUG("CDev init failed"); PX4_ERR("CDev init failed");
goto out; goto out;
} }
@@ -131,7 +126,7 @@ AirspeedSim::init()
_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH); _class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
/* publication init */ /* publication init */
if (_class_instance == CLASS_DEVICE_PRIMARY) { if (_class_instance == 0) {
/* advertise sensor topic, measure manually to initialize valid report */ /* advertise sensor topic, measure manually to initialize valid report */
struct differential_pressure_s arp; struct differential_pressure_s arp;
@@ -168,7 +163,7 @@ AirspeedSim::probe()
} }
int int
AirspeedSim::ioctl(device::file_t *filp, int cmd, unsigned long arg) AirspeedSim::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{ {
switch (cmd) { switch (cmd) {
@@ -280,7 +275,7 @@ AirspeedSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
} }
ssize_t ssize_t
AirspeedSim::read(device::file_t *filp, char *buffer, size_t buflen) AirspeedSim::read(cdev::file_t *filp, char *buffer, size_t buflen)
{ {
unsigned count = buflen / sizeof(differential_pressure_s); unsigned count = buflen / sizeof(differential_pressure_s);
differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer); differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);
src/modules/simulator/airspeedsim/airspeedsim.h
+5 -5
View File
@@ -64,7 +64,7 @@
#include <drivers/drv_airspeed.h> #include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h> #include <drivers/device/ringbuffer.h>
#include <drivers/device/device.h> #include <lib/cdev/CDev.hpp>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h> #include <uORB/topics/differential_pressure.h>
@@ -76,7 +76,7 @@
# error This requires CONFIG_SCHED_WORKQUEUE. # error This requires CONFIG_SCHED_WORKQUEUE.
#endif #endif
class __EXPORT AirspeedSim : public device::CDev class __EXPORT AirspeedSim : public cdev::CDev
{ {
public: public:
AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path); AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path);
@@ -84,8 +84,8 @@ public:
virtual int init(); virtual int init();
virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen); virtual ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
/** /**
* Diagnostics - print some basic information about the driver. * Diagnostics - print some basic information about the driver.
@@ -115,7 +115,7 @@ protected:
virtual int transfer(const uint8_t *send, unsigned send_len, virtual int transfer(const uint8_t *send, unsigned send_len,
uint8_t *recv, unsigned recv_len); uint8_t *recv, unsigned recv_len);
struct work_s _work; struct work_s _work {};
bool _sensor_ok; bool _sensor_ok;
int _measure_ticks; int _measure_ticks;
bool _collect_phase; bool _collect_phase;
src/modules/simulator/airspeedsim/meas_airspeed_sim.cpp
+2 -2
View File
@@ -198,7 +198,7 @@ MEASAirspeedSim::collect()
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw); report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
report.differential_pressure_raw_pa = diff_press_pa_raw; report.differential_pressure_raw_pa = diff_press_pa_raw;
if (_airspeed_pub != nullptr && !(_pub_blocked)) { if (_airspeed_pub != nullptr) {
/* publish it */ /* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
} }
@@ -256,7 +256,7 @@ MEASAirspeedSim::cycle()
ret = measure(); ret = measure();
if (OK != ret) { if (OK != ret) {
DEVICE_DEBUG("measure error"); PX4_ERR("measure error");
} }
_sensor_ok = (ret == OK); _sensor_ok = (ret == OK);