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Drivers: Distance Sensors: Add proper device IDs

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Add new DeviceBusType_SERIAL to Device::DeviceId union
Add DRV_DIST_DEVTYPE's for all distance sensors
Change distance_sensor_s.id to distance_sensor_s.device_id
Modify all distance_sensor drivers to apply 'proper' device_id
This commit is contained in:
JacobCrabill
2021-01-27 17:02:20 -05:00
committed by Daniel Agar
parent adf2d2f73a
commit 85796fbd84
26 changed files with 168 additions and 38 deletions
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src/drivers/distance_sensor/tfmini/TFMINI.cpp
+15 -1
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@@ -33,17 +33,31 @@
#include "TFMINI.hpp"
#include <lib/drivers/device/Device.hpp>
#include <fcntl.h>
TFMINI::TFMINI(const char *port, uint8_t rotation) :
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
_px4_rangefinder(0 /* TODO: device id */, rotation)
_px4_rangefinder(0, rotation)
{
// store port name
strncpy(_port, port, sizeof(_port) - 1);
// enforce null termination
_port[sizeof(_port) - 1] = '\0';
device::Device::DeviceId device_id;
device_id.devid_s.devtype = DRV_DIST_DEVTYPE_TFMINI;
device_id.devid_s.bus_type = device::Device::DeviceBusType_SERIAL;
uint8_t bus_num = atoi(&_port[sizeof(_port) - 2]);
if (bus_num < 10) {
device_id.devid_s.bus = bus_num;
}
_px4_rangefinder.set_device_id(device_id.devid);
_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
}
TFMINI::~TFMINI()