Applied code-review suggestions.

- Removed blocking serial.
- Added passing variables by reference to parser.
- Removed commented code.

Signed-off-by: Claudio Micheli <claudio@auterion.com>

src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp

@@ -114,7 +114,7 @@ private:
 	uint8_t                   _cycle_counter;
 
 	enum CM8JL65_PARSE_STATE	 _parse_state;
-	unsigned char             _frame_data[4];
+	unsigned char             _frame_data[PARSER_BUF_LENGTH];
 	uint16_t                  _crc16;
 	int                       _distance_mm;
 
@@ -368,7 +368,7 @@ CM8JL65::collect()
 
 				while ((bytes_processed < bytes_read) && (!crc_valid)) {
 					//    printf("In the cycle, processing  byte %d, 0x%02X \n",bytes_processed, _linebuf[bytes_processed]);
-					if (OK == cm8jl65_parser(_linebuf[bytes_processed], _frame_data, &_parse_state, &_crc16, &_distance_mm)) {
+					if (OK == cm8jl65_parser(_linebuf[bytes_processed], _frame_data, _parse_state, _crc16, _distance_mm)) {
 						crc_valid = true;
 					}
 
@@ -379,7 +379,6 @@ CM8JL65::collect()
 
 			}
 
-			// else {printf("Starting frame wrong. Index: %d value 0x%02X \n",i,_linebuf[i]);}
 			i--;
 		}
 
@@ -417,11 +416,6 @@ CM8JL65::collect()
 
 	perf_end(_sample_perf);
 
-	/* ENABLE THIS IF YOU WANT TO PRINT OLD VALUES WHILE CRC CHECK IS WRONG
-	if (!crc_valid) {
-			return -EAGAIN;
-		}
-	else return OK; */
 	return OK;
 
 }
@@ -455,11 +449,10 @@ CM8JL65::cycle_trampoline(void *arg)
 void
 CM8JL65::cycle()
 {
-	//PX4_DEBUG("CM8JL65::cycle() - in the cycle");
 	/* fds initialized? */
 	if (_fd < 0) {
 		/* open fd */
-		_fd = ::open(_port, O_RDWR);
+		_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
 		if (_fd < 0) {
 			PX4_ERR("open failed (%i)", errno);
@@ -500,14 +493,10 @@ CM8JL65::cycle()
 
 	if (collect_ret == -EAGAIN) {
 		_cycle_counter++;
-		/* We are missing bytes to complete the packet, re-cycle at 1ms */
-		//	work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(1000LL));
-		//	return;
 	}
 
 
 	/* schedule a fresh cycle call when a complete packet has been received */
-	//work_queue(HPWORK,&_work,(worker_t)&CM8JL65::cycle_trampoline,this,USEC2TICK(_conversion_interval - _cycle_counter * 1000LL));
 	work_queue(HPWORK, &_work, (worker_t)&CM8JL65::cycle_trampoline, this, USEC2TICK(_conversion_interval));
 	_cycle_counter = 0;
 }

src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp

@@ -48,7 +48,7 @@
 
 
 
-// Note : No clue what those static variables are
+
 static const unsigned char crc_msb_vector[] = {
 	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
 	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
@@ -103,14 +103,14 @@ static const unsigned char crc_lsb_vector[] = {
 
 
 
-unsigned short crc16_calc(unsigned char *dataFrame, uint8_t crc16_length)
+unsigned short crc16_calc(unsigned char *data_frame, uint8_t crc16_length)
 {
 	unsigned char crc_high_byte = 0xFF;
 	unsigned char crc_low_byte = 0xFF;
 	int i;
 
 	while (crc16_length--) {
-		i = crc_low_byte ^ *(dataFrame++);
+		i = crc_low_byte ^ *(data_frame++);
 		crc_low_byte = (unsigned char)(crc_high_byte ^ crc_msb_vector[i]);
 		crc_high_byte = crc_lsb_vector[i];
 	}
@@ -118,62 +118,56 @@ unsigned short crc16_calc(unsigned char *dataFrame, uint8_t crc16_length)
 	return (unsigned short)(crc_high_byte << 8 | crc_low_byte);
 }
 
-int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, CM8JL65_PARSE_STATE *state, uint16_t *crc16, int *dist)
+int cm8jl65_parser(uint8_t c, uint8_t parserbuf[PARSER_BUF_LENGTH], CM8JL65_PARSE_STATE &state, uint16_t &crc16,
+		   int &dist)
 {
 	int ret = -1;
 
-//    printf("parse byte 0x%02X \n", b);
+	switch (state) {
-
-	switch (*state) {
 	case STATE0_WAITING_FRAME:
 		if (c == START_FRAME_DIGIT1) {
-			*state = STATE1_GOT_DIGIT1;
+			state = STATE1_GOT_DIGIT1;
-			//printf("Got SFD1 \n");
 		}
 
 		break;
 
 	case STATE1_GOT_DIGIT1:
 		if (c == START_FRAME_DIGIT2) {
-			*state = STATE2_GOT_DIGIT2;
+			state = STATE2_GOT_DIGIT2;
-			//printf("Got SFD2 \n");
 		}
 
-		// @NOTE: (claudio@auterion.com): if second byte is wrong we skip all the frame and restart parsing !!
 		else if (c == START_FRAME_DIGIT1) {
-			*state = STATE1_GOT_DIGIT1;
+			state = STATE1_GOT_DIGIT1;
-			//printf("Discard previous SFD1, Got new SFD1 \n");
 
 		} else {
-			*state = STATE0_WAITING_FRAME;
+			state = STATE0_WAITING_FRAME;
 		}
 
 		break;
 
 	case STATE2_GOT_DIGIT2:
-		*state = STATE3_GOT_MSB_DATA;
+		state = STATE3_GOT_MSB_DATA;
 		parserbuf[DISTANCE_MSB_POS] = c;                  // MSB Data
-		//printf("Got DATA1 0x%02X \n", c);
 		break;
 
 	case STATE3_GOT_MSB_DATA:
-		*state = STATE4_GOT_LSB_DATA;
+		state = STATE4_GOT_LSB_DATA;
 		parserbuf[DISTANCE_LSB_POS] = c;                  // LSB Data
-		//printf("Got DATA2 0x%02X \n", c);
+
 		// do crc calculation
-		*crc16 = crc16_calc(parserbuf, CHECKSUM_LENGTH);
+		crc16 = crc16_calc(parserbuf, PARSER_BUF_LENGTH);
 		// convert endian
-		*crc16 = (*crc16 >> 8) | (*crc16 << 8);
+		crc16 = (crc16 >> 8) | (crc16 << 8);
 		break;
 
 
 	case STATE4_GOT_LSB_DATA:
-		if (c == (*crc16 >> 8)) {
+		if (c == (crc16 >> 8)) {
-			*state = STATE5_GOT_CHKSUM1;
+			state = STATE5_GOT_CHKSUM1;
 
 		} else {
 			// printf("Checksum invalid on high byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
-			*state = STATE0_WAITING_FRAME;
+			state = STATE0_WAITING_FRAME;
 
 		}
 
@@ -181,21 +175,18 @@ int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, CM8JL65_PARSE_STATE *state, ui
 
 	case STATE5_GOT_CHKSUM1:
 		// Here, reset state to `NOT-STARTED` no matter crc ok or not
-		*state = STATE0_WAITING_FRAME;
+		state = STATE0_WAITING_FRAME;
 
-		if (c == (*crc16 & 0xFF)) {
+		if (c == (crc16 & 0xFF)) {
 			// printf("Checksum verified \n");
-			*dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
+			dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
 			return 0;
 		}
 
-		/*else {
-		  //printf("Checksum invalidon low byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
-		}*/
 		break;
 
 	default:
-		printf("This should never happen. \n");
+		// Nothing todo
 		break;
 	}
 

src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.h

@@ -54,7 +54,7 @@
 // Frame data saved for CRC calculation
 #define DISTANCE_MSB_POS   2
 #define DISTANCE_LSB_POS   3
-#define CHECKSUM_LENGTH  4
+#define PARSER_BUF_LENGTH  4
 
 
 enum CM8JL65_PARSE_STATE {
@@ -69,4 +69,5 @@ enum CM8JL65_PARSE_STATE {
 
 
 
-int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, enum CM8JL65_PARSE_STATE *state, uint16_t *crc16, int *dist);
+int cm8jl65_parser(uint8_t c, uint8_t parserbuf[PARSER_BUF_LENGTH], enum CM8JL65_PARSE_STATE &state, uint16_t &crc16,
+		   int &dist);

src/drivers/distance_sensor/cm8jl65/parameters.c

@@ -1,45 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * Lanbao PSK-CM8JL65-CC5 distance sensor
- *
- * @reboot_required true
- * @min 0
- * @max 2
- * @group Sensors
- * @value 0 Disabled
- * @value 1 Enabled on TELEM2
- * @value 2 Enabled on TELEM1
- */
-PARAM_DEFINE_INT32(SENS_EN_CM8JL65, 0);