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pwm_input: get rid of start full and instead start whenever someone reads from the driver, as well as various other small changes

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This commit is contained in:
Ban Siesta
2015-05-24 12:41:19 +01:00
parent 4e897bf197
commit bb3ad64aac
1 changed files with 44 additions and 63 deletions
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src/drivers/pwm_input/pwm_input.cpp
+44 -63
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@@ -223,7 +223,8 @@
#error PWMIN_TIMER_CHANNEL must be either 1 and 2.
#endif
#define TIMEOUT 300000 /* reset after no responce over this time in microseconds [0.3 secs] */
#define TIMEOUT_POLL 300000 /* reset after no response over this time in microseconds [0.3s] */
#define TIMEOUT_READ 200000 /* don't reset if the last read is back more than this time in microseconds [0.2s] */
class PWMIN : device::CDev
{
@@ -236,35 +237,33 @@ public:
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
void _publish(uint16_t status, uint32_t period, uint32_t pulse_width);
void _print_info(void);
void publish(uint16_t status, uint32_t period, uint32_t pulse_width);
void print_info(void);
void hard_reset();
private:
uint32_t error_count;
uint32_t pulses_captured;
uint32_t last_period;
uint32_t last_width;
uint64_t last_poll_time;
RingBuffer *reports;
bool timer_started;
uint32_t _error_count;
uint32_t _pulses_captured;
uint32_t _last_period;
uint32_t _last_width;
hrt_abstime _last_poll_time;
hrt_abstime _last_read_time;
ringbuffer::RingBuffer *_reports;
bool _timer_started;
range_finder_report data;
orb_advert_t range_finder_pub;
hrt_call _hard_reset_call; /* HRT callout for note completion */
hrt_call _freeze_test_call; /* HRT callout for note completion */
hrt_call hard_reset_call; // HRT callout for note completion
hrt_call freeze_test_call; // HRT callout for note completion
void _timer_init(void);
void timer_init(void);
void turn_on();
void turn_off();
void freeze_test();
void _turn_on();
void _turn_off();
void _freeze_test();
};
static int pwmin_tim_isr(int irq, void *context);
static void pwmin_start(bool full_start);
static void pwmin_start();
static void pwmin_info(void);
static void pwmin_test(void);
static void pwmin_reset(void);
@@ -273,21 +272,19 @@ static PWMIN *g_dev;
PWMIN::PWMIN() :
CDev("pwmin", PWMIN0_DEVICE_PATH),
error_count(0),
pulses_captured(0),
last_period(0),
last_width(0),
reports(nullptr),
timer_started(false),
range_finder_pub(-1)
_error_count(0),
_pulses_captured(0),
_last_period(0),
_last_width(0),
_reports(nullptr),
_timer_started(false)
{
memset(&data, 0, sizeof(data));
}
PWMIN::~PWMIN()
{
if (reports != nullptr) {
delete reports;
if (_reports != nullptr) {
delete _reports;
}
}
@@ -304,22 +301,13 @@ PWMIN::init()
* activate the timer when requested to when the device is opened */
CDev::init();
data.type = RANGE_FINDER_TYPE_LASER;
data.minimum_distance = 0.20f;
data.maximum_distance = 7.0f;
range_finder_pub = orb_advertise(ORB_ID(sensor_range_finder), &data);
fprintf(stderr, "[pwm_input] advertising %d\n"
, range_finder_pub);
reports = new RingBuffer(2, sizeof(struct pwm_input_s));
if (reports == nullptr) {
_reports = new ringbuffer::RingBuffer(2, sizeof(struct pwm_input_s));
if (_reports == nullptr) {
return -ENOMEM;
}
// Schedule freeze check to invoke periodically
hrt_call_every(&freeze_test_call, 0, TIMEOUT, reinterpret_cast<hrt_callout>(&PWMIN::freeze_test), this);
/* Schedule freeze check to invoke periodically */
hrt_call_every(&_freeze_test_call, 0, TIMEOUT_POLL, reinterpret_cast<hrt_callout>(&PWMIN::_freeze_test), this);
return OK;
}
@@ -424,8 +412,8 @@ PWMIN::open(struct file *filp)
int ret = CDev::open(filp);
if (ret == OK && !timer_started) {
g_dev->timer_init();
if (ret == OK && !_timer_started) {
g_dev->_timer_init();
}
return ret;
@@ -447,7 +435,7 @@ PWMIN::ioctl(struct file *filp, int cmd, unsigned long arg)
irqstate_t flags = irqsave();
if (!reports->resize(arg)) {
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
@@ -482,6 +470,8 @@ PWMIN::ioctl(struct file *filp, int cmd, unsigned long arg)
ssize_t
PWMIN::read(struct file *filp, char *buffer, size_t buflen)
{
_last_read_time = hrt_absolute_time();
unsigned count = buflen / sizeof(struct pwm_input_s);
struct pwm_input_s *buf = reinterpret_cast<struct pwm_input_s *>(buffer);
int ret = 0;
@@ -553,20 +543,19 @@ static int pwmin_tim_isr(int irq, void *context)
rSR = 0;
if (g_dev != nullptr) {
g_dev->_publish(status, period, pulse_width);
g_dev->publish(status, period, pulse_width);
}
return OK;
}
/*
start the driver
* start the driver
*/
static void pwmin_start(bool full_start)
static void pwmin_start()
{
if (g_dev != nullptr) {
printf("driver already started\n");
exit(1);
errx(1, "driver already started");
}
g_dev = new PWMIN();
@@ -642,31 +631,23 @@ static void pwmin_info(void)
exit(1);
}
g_dev->_print_info();
g_dev->print_info();
exit(0);
}
/*
driver entry point
* driver entry point
*/
int pwm_input_main(int argc, char *argv[])
{
const char *verb = argv[1];
/*
* init driver and start reading
*/
bool full_start = false;
if (!strcmp(argv[2], "full")) {
full_start = true;
}
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
pwmin_start(full_start);
pwmin_start();
}
/*
@@ -690,6 +671,6 @@ int pwm_input_main(int argc, char *argv[])
pwmin_reset();
}
errx(1, "unrecognized command, try 'start', 'start full', 'info', 'reset' or 'test'");
errx(1, "unrecognized command, try 'start', 'info', 'reset' or 'test'");
return 0;
}