LidarLite: Code cleanup

src/drivers/ll40ls/LidarLite.h

@@ -80,9 +80,6 @@ public:
      */
     virtual void print_registers() = 0;
 
-private:
-    virtual int reset_sensor() = 0;
-
 protected:
     /**
     * Set the min and max distance thresholds if you want the end points of the sensors
@@ -96,6 +93,10 @@ protected:
 
     uint32_t            getMeasureTicks() const;
 
+    virtual int         measure() = 0;
+
+    virtual int         reset_sensor() = 0;
+
 private:
     float               _min_distance;
     float               _max_distance;    

src/drivers/ll40ls/LidarLiteI2C.h

@@ -95,6 +95,9 @@ protected:
     virtual int         probe();
     virtual int         read_reg(uint8_t reg, uint8_t &val);
 
+    int                 measure() override;
+    int                 reset_sensor() override;
+
 private:
     work_s              _work;
     RingBuffer          *_reports;
@@ -144,11 +147,8 @@ private:
     * and start a new one.
     */
     void                cycle();
-    int                 measure();
     int                 collect();
     
-    int                 reset_sensor() override;
-
     /**
     * Static trampoline from the workq context; because we don't have a
     * generic workq wrapper yet.

src/drivers/ll40ls/LidarLitePWM.cpp

@@ -73,3 +73,18 @@ void LidarLitePWM::print_registers()
 {
     printf("Not supported in PWM mode\n");
 }
+
+void LidarLitePWM::start()
+{
+
+}
+
+void LidarLitePWM::stop()
+{
+
+}
+
+int LidarLitePWM::measure()
+{
+    return OK;
+}

src/drivers/ll40ls/LidarLitePWM.h

@@ -51,6 +51,10 @@ public:
 
     int init() override;
 
+    void start() override;
+
+    void stop() override;
+
     /**
     * @brief
     *   Diagnostics - print some basic information about the driver.
@@ -63,6 +67,9 @@ public:
      */
     void print_registers() override;
 
+protected:
+    int measure() override;
+
 private:
     int _pwmSub;
     pwm_input_s _pwm;