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ist8310 move to px4 work queue

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This commit is contained in:
Daniel Agar 2019-02-18 21:35:52 -05:00
parent ec0d1d6f62
commit 83d3ead821
2 changed files with 24 additions and 50 deletions
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2
src/drivers/magnetometer/ist8310/CMakeLists.txt
View File

@ -38,4 +38,6 @@ px4_add_module(
STACK_MAIN 1500
SRCS
ist8310.cpp
DEPENDS
px4_work_queue
)

72
src/drivers/magnetometer/ist8310/ist8310.cpp
View File

@ -58,7 +58,6 @@
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <board_config.h>
@ -77,6 +76,8 @@
#include <float.h>
#include <lib/conversion/rotation.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
/*
* IST8310 internal constants and data structures.
*/
@ -182,11 +183,7 @@ enum IST8310_BUS {
IST8310_BUS_I2C_INTERNAL = 5,
};
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class IST8310 : public device::I2C
class IST8310 : public device::I2C, public px4::ScheduledWorkItem
{
public:
IST8310(int bus_number, int address, const char *path, enum Rotation rotation);
@ -206,8 +203,8 @@ protected:
virtual int probe();
private:
work_s _work{};
unsigned _measure_ticks{0};
unsigned _measure_interval{0};
ringbuffer::RingBuffer *_reports{nullptr};
@ -286,15 +283,7 @@ private:
* and measurement to provide the most recent measurement possible
* at the next interval.
*/
void cycle();
/**
* 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);
void Run() override;
/**
* Write a register.
@ -388,6 +377,7 @@ extern "C" __EXPORT int ist8310_main(int argc, char *argv[]);
IST8310::IST8310(int bus_number, int address, const char *path, enum Rotation rotation) :
I2C("IST8310", path, bus_number, address, IST8310_DEFAULT_BUS_SPEED),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_sample_perf(perf_alloc(PC_ELAPSED, "ist8310_read")),
_comms_errors(perf_alloc(PC_COUNT, "ist8310_com_err")),
_range_errors(perf_alloc(PC_COUNT, "ist8310_rng_err")),
@ -535,7 +525,7 @@ IST8310::read(struct file *filp, char *buffer, size_t buflen)
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
if (_measure_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
@ -594,10 +584,10 @@ IST8310::ioctl(struct file *filp, int cmd, unsigned long arg)
/* set default polling rate */
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
bool want_start = (_measure_interval == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(IST8310_CONVERSION_INTERVAL);
_measure_interval = IST8310_CONVERSION_INTERVAL;
/* if we need to start the poll state machine, do it */
if (want_start) {
@ -610,18 +600,18 @@ IST8310::ioctl(struct file *filp, int cmd, unsigned long arg)
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
bool want_start = (_measure_interval == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
unsigned interval = (1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(IST8310_CONVERSION_INTERVAL)) {
if (interval < IST8310_CONVERSION_INTERVAL) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
_measure_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
@ -669,13 +659,13 @@ IST8310::start()
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&IST8310::cycle_trampoline, this, 1);
ScheduleNow();
}
void
IST8310::stop()
{
work_cancel(HPWORK, &_work);
ScheduleClear();
}
int
@ -695,14 +685,6 @@ IST8310::reset()
return OK;
}
void
IST8310::cycle_trampoline(void *arg)
{
IST8310 *dev = (IST8310 *)arg;
dev->cycle();
}
int
IST8310::probe()
{
@ -726,7 +708,7 @@ IST8310::probe()
}
void
IST8310::cycle()
IST8310::Run()
{
/* collection phase? */
if (_collect_phase) {
@ -745,14 +727,10 @@ IST8310::cycle()
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(IST8310_CONVERSION_INTERVAL)) {
if (_measure_interval > IST8310_CONVERSION_INTERVAL) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&IST8310::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(IST8310_CONVERSION_INTERVAL));
ScheduleDelayed(_measure_interval - IST8310_CONVERSION_INTERVAL);
return;
}
@ -767,22 +745,16 @@ IST8310::cycle()
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&IST8310::cycle_trampoline,
this,
USEC2TICK(IST8310_CONVERSION_INTERVAL));
ScheduleDelayed(IST8310_CONVERSION_INTERVAL);
}
int
IST8310::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
ret = write_reg(ADDR_CTRL1, CTRL1_MODE_SINGLE);
int ret = write_reg(ADDR_CTRL1, CTRL1_MODE_SINGLE);
if (OK != ret) {
perf_count(_comms_errors);
@ -1143,7 +1115,7 @@ IST8310::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("poll interval: %u interval\n", _measure_interval);
print_message(_last_report);
_reports->print_info("report queue");
}