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mb12xx: Refactor driver class to allow for multiple sensors and cleanup (#11859)

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* Migrate mb12xx driver class member variable initialization to declarations.
Format whitespace and alphabetize/group/order var declarations.
Refactor driver reset() and mb12xx_main() methods for readability.
Deprecate usage of IOCTL.

* Deprecate the _reports ringbuffer, _class_instance, and read() method and minor formatting in the mb12xx driver.

* Add time_literal usage and #define MB12XX_BUS_SPEED.

* Refactor the mb12xx driver to mirror the mappy_dot driver implementation and create functionality for multiple sensors.

* Add stack size for the mb12xx driver.
This commit is contained in:
Mark Sauder
2019-06-27 11:59:40 -04:00
committed by Daniel Agar
parent c5deba53a2
commit 94c1f21473
3 changed files with 662 additions and 658 deletions
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src/drivers/distance_sensor/mb12xx/CMakeLists.txt
+1
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@@ -33,6 +33,7 @@
px4_add_module(
MODULE drivers__mb12xx
MAIN mb12xx
STACK_MAIN 1400
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+409 -658
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File diff suppressed because it is too large Load Diff
src/drivers/distance_sensor/mb12xx/parameters.c
+252
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@@ -40,3 +40,255 @@
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
/**
* MaxBotix MB12XX Sensor 0 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_0_ROT, 0);
/**
* MaxBotix MB12XX Sensor 1 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_1_ROT, 0);
/**
* MaxBotix MB12XX Sensor 2 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_2_ROT, 0);
/**
* MaxBotix MB12XX Sensor 3 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_3_ROT, 0);
/**
* MaxBotix MB12XX Sensor 4 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_4_ROT, 0);
/**
* MaxBotix MB12XX Sensor 5 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_5_ROT, 0);
/**
* MaxBotix MB12XX Sensor 6 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_6_ROT, 0);
/**
* MaxBotix MB12XX Sensor 7 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_7_ROT, 0);
/**
* MaxBotix MB12XX Sensor 8 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_8_ROT, 0);
/**
* MaxBotix MB12XX Sensor 9 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_9_ROT, 0);
/**
* MaxBotix MB12XX Sensor 10 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_10_ROT, 0);
/**
* MaxBotix MB12XX Sensor 12 Rotation
*
* This parameter defines the rotation of the sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0);