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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/lib/drivers/device/Device.hpp
+1
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@@ -147,6 +147,7 @@ public:
DeviceBusType_SPI = 2,
DeviceBusType_UAVCAN = 3,
DeviceBusType_SIMULATION = 4,
DeviceBusType_SERIAL = 5,
};
/*
src/lib/drivers/rangefinder/PX4Rangefinder.cpp
+8 -9
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@@ -41,6 +41,7 @@ PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_or
set_device_id(device_id);
set_orientation(device_orientation);
set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER); // Default to type LASER
}
PX4Rangefinder::~PX4Rangefinder()
@@ -50,17 +51,15 @@ PX4Rangefinder::~PX4Rangefinder()
void PX4Rangefinder::set_device_type(uint8_t device_type)
{
// TODO: range finders should have device ids
// current DeviceStructure
union device::Device::DeviceId device_id;
device_id.devid = _distance_sensor_pub.get().device_id;
// // current DeviceStructure
// union device::Device::DeviceId device_id;
// device_id.devid = _distance_sensor_pub.get().device_id;
// update to new device type
device_id.devid_s.devtype = device_type;
// // update to new device type
// device_id.devid_s.devtype = devtype;
// // copy back to report
// _distance_sensor_pub.get().device_id = device_id.devid;
// copy back to report
_distance_sensor_pub.get().device_id = device_id.devid;
}
void PX4Rangefinder::set_orientation(const uint8_t device_orientation)
src/lib/drivers/rangefinder/PX4Rangefinder.hpp
+4 -3
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@@ -45,10 +45,11 @@ public:
const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
~PX4Rangefinder();
void set_device_type(uint8_t device_type);
//void set_error_count(uint64_t error_count) { _distance_sensor_pub.get().error_count = error_count; }
// Set the MAV_DISTANCE_SENSOR type (LASER, ULTRASOUND, INFRARED, RADAR)
void set_rangefinder_type(uint8_t rangefinder_type) { _distance_sensor_pub.get().type = rangefinder_type; };
void set_device_id(const uint8_t device_id) { _distance_sensor_pub.get().id = device_id; };
void set_device_id(const uint8_t device_id) { _distance_sensor_pub.get().device_id = device_id; };
void set_device_type(const uint8_t device_type);
void set_fov(const float fov) { set_hfov(fov); set_vfov(fov); }
void set_hfov(const float fov) { _distance_sensor_pub.get().h_fov = fov; }