fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 01:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

hc_sr04 cleanup unnecessary Device CDev usage

Browse Source
This commit is contained in:
Daniel Agar
2018-08-27 13:14:15 -04:00
parent 43965c6e10
commit b7bf2dd688
1 changed files with 8 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
+8 -13
View File
@@ -83,7 +83,7 @@
# error This requires CONFIG_SCHED_WORKQUEUE. # error This requires CONFIG_SCHED_WORKQUEUE.
#endif #endif
class HC_SR04 : public device::CDev class HC_SR04 : public cdev::CDev
{ {
public: public:
HC_SR04(unsigned sonars = 6); HC_SR04(unsigned sonars = 6);
@@ -106,7 +106,7 @@ protected:
private: private:
float _min_distance; float _min_distance;
float _max_distance; float _max_distance;
work_s _work; work_s _work{};
ringbuffer::RingBuffer *_reports; ringbuffer::RingBuffer *_reports;
bool _sensor_ok; bool _sensor_ok;
int _measure_ticks; 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); static int sonar_isr(int irq, void *context);
HC_SR04::HC_SR04(unsigned sonars) : HC_SR04::HC_SR04(unsigned sonars) :
CDev("HC_SR04", SR04_DEVICE_PATH, 0), CDev(SR04_DEVICE_PATH, 0),
_min_distance(SR04_MIN_DISTANCE), _min_distance(SR04_MIN_DISTANCE),
_max_distance(SR04_MAX_DISTANCE), _max_distance(SR04_MAX_DISTANCE),
_reports(nullptr), _reports(nullptr),
@@ -222,11 +222,6 @@ HC_SR04::HC_SR04(unsigned sonars) :
_status(0) _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() HC_SR04::~HC_SR04()
@@ -274,7 +269,7 @@ HC_SR04::init()
&_orb_class_instance, ORB_PRIO_LOW); &_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) { 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 : */ /* init echo port : */
@@ -290,7 +285,7 @@ HC_SR04::init()
_cycling_rate = SR04_CONVERSION_INTERVAL; _cycling_rate = SR04_CONVERSION_INTERVAL;
/* show the connected sonars in terminal */ /* show the connected sonars in terminal */
DEVICE_DEBUG("Number of sonars set: %d", _sonars); PX4_DEBUG("Number of sonars set: %d", _sonars);
ret = OK; ret = OK;
/* sensor is ok, but we don't really know if it is within range */ /* 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 */ /* read from the sensor */
if (_status != 2) { 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); px4_arch_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, nullptr);
perf_end(_sample_perf); perf_end(_sample_perf);
return (ret); return (ret);
@@ -645,7 +640,7 @@ HC_SR04::cycle()
/*_circle_count 计录当前sonar　*/ /*_circle_count 计录当前sonar　*/
/* perform collection */ /* perform collection */
if (OK != collect()) { if (OK != collect()) {
DEVICE_DEBUG("collection error"); PX4_DEBUG("collection error");
} }
/* change to next sonar */ /* change to next sonar */
@@ -657,7 +652,7 @@ HC_SR04::cycle()
/* 测量next sonar */ /* 测量next sonar */
if (OK != measure()) { if (OK != measure()) {
DEVICE_DEBUG("measure error sonar adress %d", _cycle_counter); PX4_DEBUG("measure error sonar adress %d", _cycle_counter);
} }