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MB12XX Driver: Added a class instance and device specific path

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This commit is contained in:
akdslr
2014-07-08 12:03:47 +02:00
committed by Lorenz Meier
parent 67b7a85888
commit ba54983cdf
1 changed files with 32 additions and 13 deletions
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src/drivers/mb12xx/mb12xx.cpp
+32 -13
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@@ -74,6 +74,7 @@
/* Configuration Constants */
#define MB12XX_BUS PX4_I2C_BUS_EXPANSION
#define MB12XX_BASEADDR 0x70 /* 7-bit address. 8-bit address is 0xE0 */
#define MB12XX_DEVICE_PATH "/dev/mb12xx"
/* MB12xx Registers addresses */
@@ -124,6 +125,7 @@ private:
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
int _class_instance;
orb_advert_t _range_finder_topic;
@@ -187,7 +189,7 @@ private:
extern "C" __EXPORT int mb12xx_main(int argc, char *argv[]);
MB12XX::MB12XX(int bus, int address) :
I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000),
I2C("MB12xx", MB12XX_DEVICE_PATH, bus, address, 100000),
_min_distance(MB12XX_MIN_DISTANCE),
_max_distance(MB12XX_MAX_DISTANCE),
_reports(nullptr),
@@ -195,6 +197,7 @@ MB12XX::MB12XX(int bus, int address) :
_measure_ticks(0),
_collect_phase(false),
_range_finder_topic(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")),
_comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows"))
@@ -215,6 +218,15 @@ MB12XX::~MB12XX()
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_buffer_overflows);
}
int
@@ -234,13 +246,18 @@ MB12XX::init()
goto out;
}
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
if (_range_finder_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report;
measure();
_reports->get(&rf_report);
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
if (_range_finder_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
}
}
ret = OK;
@@ -505,8 +522,10 @@ MB12XX::collect()
report.distance = si_units;
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it */
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
@@ -665,7 +684,7 @@ start()
}
/* set the poll rate to default, starts automatic data collection */
fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
fd = open(MB12XX_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
goto fail;
@@ -715,10 +734,10 @@ test()
ssize_t sz;
int ret;
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
int fd = open(MB12XX_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH);
err(1, "%s open failed (try 'mb12xx start' if the driver is not running", MB12XX_DEVICE_PATH);
}
/* do a simple demand read */
@@ -776,7 +795,7 @@ test()
void
reset()
{
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
int fd = open(MB12XX_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");