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hc_sr04 cleanup unnecessary Device CDev usage

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This commit is contained in:
Daniel Agar 2018-08-18 15:06:57 -04:00
parent 43965c6e10
commit b7bf2dd688
1 changed files with 8 additions and 13 deletions
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21
src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
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@ -83,7 +83,7 @@
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class HC_SR04 : public device::CDev
class HC_SR04 : public cdev::CDev
{
public:
HC_SR04(unsigned sonars = 6);
@ -106,7 +106,7 @@ protected:
private:
float _min_distance;
float _max_distance;
work_s _work;
work_s _work{};
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
@ -201,7 +201,7 @@ extern "C" __EXPORT int hc_sr04_main(int argc, char *argv[]);
static int sonar_isr(int irq, void *context);
HC_SR04::HC_SR04(unsigned sonars) :
CDev("HC_SR04", SR04_DEVICE_PATH, 0),
CDev(SR04_DEVICE_PATH, 0),
_min_distance(SR04_MIN_DISTANCE),
_max_distance(SR04_MAX_DISTANCE),
_reports(nullptr),
@ -222,11 +222,6 @@ HC_SR04::HC_SR04(unsigned sonars) :
_status(0)
{
/* enable debug() calls */
_debug_enabled = false;
/* work_cancel in the dtor will explode if we don't do this... */
memset(&_work, 0, sizeof(_work));
}
HC_SR04::~HC_SR04()
@ -274,7 +269,7 @@ HC_SR04::init()
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
PX4_ERR("failed to create distance_sensor object");
}
/* init echo port : */
@ -290,7 +285,7 @@ HC_SR04::init()
_cycling_rate = SR04_CONVERSION_INTERVAL;
/* show the connected sonars in terminal */
DEVICE_DEBUG("Number of sonars set: %d", _sonars);
PX4_DEBUG("Number of sonars set: %d", _sonars);
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
@ -533,7 +528,7 @@ HC_SR04::collect()
/* read from the sensor */
if (_status != 2) {
DEVICE_DEBUG("erro sonar %d ,status=%d", _cycle_counter, _status);
PX4_DEBUG("erro sonar %d ,status=%d", _cycle_counter, _status);
px4_arch_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, nullptr);
perf_end(_sample_perf);
return (ret);
@ -645,7 +640,7 @@ HC_SR04::cycle()
/*_circle_count 计录当前sonar　*/
/* perform collection */
if (OK != collect()) {
DEVICE_DEBUG("collection error");
PX4_DEBUG("collection error");
}
/* change to next sonar */
@ -657,7 +652,7 @@ HC_SR04::cycle()
/* 测量next sonar */
if (OK != measure()) {
DEVICE_DEBUG("measure error sonar adress %d", _cycle_counter);
PX4_DEBUG("measure error sonar adress %d", _cycle_counter);
}