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ll40ls cleanup unnecessary Device CDev usage

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This commit is contained in:
Daniel Agar
2018-08-27 13:14:15 -04:00
parent 585d3bbe55
commit bdba733dd4
3 changed files with 12 additions and 12 deletions
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src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+8 -8
View File
@@ -125,7 +125,7 @@ int LidarLiteI2C::init()
&_orb_class_instance, ORB_PRIO_LOW); &_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) { if (_distance_sensor_topic == nullptr) {
DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?"); PX4_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
} }
ret = OK; ret = OK;
@@ -185,9 +185,9 @@ int LidarLiteI2C::probe()
goto ok; goto ok;
} }
DEVICE_DEBUG("probe failed hw_version=0x%02x sw_version=0x%02x\n", PX4_DEBUG("probe failed hw_version=0x%02x sw_version=0x%02x\n",
(unsigned)_hw_version, (unsigned)_hw_version,
(unsigned)_sw_version); (unsigned)_sw_version);
} }
// not found on any address // not found on any address
@@ -309,7 +309,7 @@ int LidarLiteI2C::measure()
if (OK != ret) { if (OK != ret) {
perf_count(_comms_errors); perf_count(_comms_errors);
DEVICE_DEBUG("i2c::transfer returned %d", ret); PX4_DEBUG("i2c::transfer returned %d", ret);
// if we are getting lots of I2C transfer errors try // if we are getting lots of I2C transfer errors try
// resetting the sensor // resetting the sensor
@@ -407,7 +407,7 @@ int LidarLiteI2C::collect()
read before it is ready, so only consider it read before it is ready, so only consider it
an error if more than 100ms has elapsed. an error if more than 100ms has elapsed.
*/ */
DEVICE_DEBUG("error reading from sensor: %d", ret); PX4_DEBUG("error reading from sensor: %d", ret);
perf_count(_comms_errors); perf_count(_comms_errors);
if (perf_event_count(_comms_errors) % 10 == 0) { if (perf_event_count(_comms_errors) % 10 == 0) {
@@ -581,7 +581,7 @@ void LidarLiteI2C::cycle()
/* try a collection */ /* try a collection */
if (OK != collect()) { if (OK != collect()) {
DEVICE_DEBUG("collection error"); PX4_DEBUG("collection error");
/* if we've been waiting more than 200ms then /* if we've been waiting more than 200ms then
send a new acquire */ send a new acquire */
@@ -613,7 +613,7 @@ void LidarLiteI2C::cycle()
if (_collect_phase == false) { if (_collect_phase == false) {
/* measurement phase */ /* measurement phase */
if (OK != measure()) { if (OK != measure()) {
DEVICE_DEBUG("measure error"); PX4_DEBUG("measure error");
} else { } else {
/* next phase is collection. Don't switch to /* next phase is collection. Don't switch to
src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
+3 -3
View File
@@ -50,7 +50,7 @@
#include <drivers/drv_pwm_input.h> #include <drivers/drv_pwm_input.h>
LidarLitePWM::LidarLitePWM(const char *path, uint8_t rotation) : LidarLitePWM::LidarLitePWM(const char *path, uint8_t rotation) :
CDev("LidarLitePWM", path), CDev(path),
_rotation(rotation), _rotation(rotation),
_work{}, _work{},
_reports(nullptr), _reports(nullptr),
@@ -111,7 +111,7 @@ int LidarLitePWM::init()
&_orb_class_instance, ORB_PRIO_LOW); &_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) { if (_distance_sensor_topic == nullptr) {
DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?"); PX4_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
} }
return PX4_OK; return PX4_OK;
@@ -167,7 +167,7 @@ int LidarLitePWM::measure()
perf_begin(_sample_perf); perf_begin(_sample_perf);
if (PX4_OK != collect()) { if (PX4_OK != collect()) {
DEVICE_DEBUG("collection error"); PX4_DEBUG("collection error");
perf_count(_read_errors); perf_count(_read_errors);
perf_end(_sample_perf); perf_end(_sample_perf);
return PX4_ERROR; return PX4_ERROR;
src/drivers/distance_sensor/ll40ls/LidarLitePWM.h
+1 -1
View File
@@ -57,7 +57,7 @@
class LidarLitePWM : public LidarLite, public device::CDev class LidarLitePWM : public LidarLite, public cdev::CDev
{ {
public: public:
LidarLitePWM(const char *path, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); LidarLitePWM(const char *path, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);