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delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage

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This commit is contained in:
Daniel Agar
2021-01-12 22:04:52 -05:00
parent 7f5fae91b0
commit a57b9f9381
55 changed files with 117 additions and 553 deletions
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src/drivers/uavcan/sensors/mag.cpp
+13 -34
View File
@@ -44,55 +44,34 @@
const char *const UavcanMagnetometerBridge::NAME = "mag";
#define UAVCAN_MAG_BASE_DEVICE_PATH "/dev/uavcan/mag"
UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_mag", UAVCAN_MAG_BASE_DEVICE_PATH, UAVCAN_MAG_BASE_DEVICE_PATH, ORB_ID(sensor_mag)),
UavcanSensorBridgeBase("uavcan_mag", ORB_ID(sensor_mag)),
_sub_mag(node),
_sub_mag2(node)
{
}
int
UavcanMagnetometerBridge::init()
int UavcanMagnetometerBridge::init()
{
int res = device::CDev::init();
if (res < 0) {
return res;
}
res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
int res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
if (res < 0) {
PX4_ERR("failed to start uavcan sub: %d", res);
return res;
}
res = _sub_mag2.start(Mag2CbBinder(this, &UavcanMagnetometerBridge::mag2_sub_cb));
int res2 = _sub_mag2.start(Mag2CbBinder(this, &UavcanMagnetometerBridge::mag2_sub_cb));
if (res < 0) {
PX4_ERR("failed to start uavcan sub2: %d", res);
return res;
if (res2 < 0) {
PX4_ERR("failed to start uavcan sub2: %d", res2);
return res2;
}
return 0;
}
int
UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
default: {
return CDev::ioctl(filp, cmd, arg);
}
}
}
void
UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength>
&msg)
void UavcanMagnetometerBridge::mag_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &msg)
{
uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
@@ -121,7 +100,7 @@ UavcanMagnetometerBridge::mag2_sub_cb(const
{
uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
if (channel == nullptr || channel->class_instance < 0) {
if (channel == nullptr || channel->instance < 0) {
// Something went wrong - no channel to publish on; return
return;
}
@@ -156,10 +135,10 @@ int UavcanMagnetometerBridge::init_driver(uavcan_bridge::Channel *channel)
PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;
channel->class_instance = mag->get_class_instance();
channel->instance = mag->get_instance();
if (channel->class_instance < 0) {
PX4_ERR("UavcanMag: Unable to get a class instance");
if (channel->instance < 0) {
PX4_ERR("UavcanMag: Unable to get an instance");
delete mag;
channel->h_driver = nullptr;
return PX4_ERROR;