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refactor ina226: use driver base class

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This commit is contained in:
Beat Küng
2020-03-17 23:31:17 -04:00
committed by Daniel Agar
parent d6b9cfa3e2
commit 832ccd262e
5 changed files with 73 additions and 309 deletions
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src/drivers/power_monitor/ina226/ina226.cpp
+8 -32
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@@ -37,29 +37,14 @@
*
* Driver for the I2C attached INA226
*/
#define INA226_RAW // remove this
#include "ina226.h"
#include <string.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <drivers/device/i2c.h>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/power_monitor.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
INA226::INA226(int battery_index, int bus, int address) :
I2C("INA226", nullptr, i2c_bus_options[bus], address, 100000),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
INA226::INA226(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address, int battery_index) :
I2C("INA226", nullptr, bus, address, bus_frequency),
ModuleParams(nullptr),
index(bus),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address),
_sample_perf(perf_alloc(PC_ELAPSED, "ina226_read")),
_comms_errors(perf_alloc(PC_COUNT, "ina226_com_err")),
_collection_errors(perf_alloc(PC_COUNT, "ina226_collection_err")),
@@ -112,9 +97,6 @@ INA226::INA226(int battery_index, int bus, int address) :
INA226::~INA226()
{
/* make sure we are truly inactive */
stop();
/* free perf counters */
perf_free(_sample_perf);
perf_free(_comms_errors);
@@ -173,8 +155,6 @@ INA226::init()
ret = OK;
}
set_device_address(INA226_BASEADDR); /* set I2c Address */
start();
_sensor_ok = true;
@@ -329,13 +309,7 @@ INA226::start()
}
void
INA226::stop()
{
ScheduleClear();
}
void
INA226::Run()
INA226::RunImpl()
{
if (_initialized) {
if (_collect_phase) {
@@ -391,8 +365,10 @@ INA226::Run()
}
void
INA226::print_info()
INA226::print_status()
{
I2CSPIDriverBase::print_status();
if (_initialized) {
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
@@ -401,6 +377,6 @@ INA226::print_info()
} else {
PX4_INFO("Device not initialized. Retrying every %d ms until battery is plugged in.",
INA226_INIT_RETRY_INTERVAL_US);
INA226_INIT_RETRY_INTERVAL_US / 1000);
}
}