fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 23:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor adis16448: use driver base class

Browse Source
This commit is contained in:
Beat Küng
2020-03-24 09:46:20 -04:00
committed by Daniel Agar
parent 7626be0485
commit d15fa82841
4 changed files with 72 additions and 131 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/drv_sensor.h
+1 -3
View File
@@ -112,9 +112,7 @@
#define DRV_ACC_DEVTYPE_FXOS8701C 0x52
#define DRV_GYR_DEVTYPE_FXAS2100C 0x54
#define DRV_ACC_DEVTYPE_ADIS16448 0x55
#define DRV_MAG_DEVTYPE_ADIS16448 0x56
#define DRV_GYR_DEVTYPE_ADIS16448 0x57
#define DRV_IMU_DEVTYPE_ADIS16448 0x57
#define DRV_BARO_DEVTYPE_LPS22HB 0x58
#define DRV_ACC_DEVTYPE_ADIS16477 0x59
src/drivers/imu/adis16448/ADIS16448.cpp
+12 -22
View File
@@ -37,18 +37,19 @@
#include "ADIS16448.h"
ADIS16448::ADIS16448(int bus, uint32_t device, enum Rotation rotation) :
SPI("ADIS16448", nullptr, bus, device, SPIDEV_MODE3, 1000000),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("ADIS16448", nullptr, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_baro(get_device_id(), ORB_PRIO_MAX),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_mag(get_device_id(), ORB_PRIO_MAX, rotation)
{
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ADIS16448);
_px4_baro.set_device_type(DRV_ACC_DEVTYPE_ADIS16448); // not a typo, baro uses accel device id
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ADIS16448);
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_ADIS16448);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
_px4_baro.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
_px4_mag.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
_px4_accel.set_scale(ADIS16448_ACCEL_SENSITIVITY);
_px4_gyro.set_scale(ADIS16448_GYRO_INITIAL_SENSITIVITY);
@@ -59,9 +60,6 @@ ADIS16448::ADIS16448(int bus, uint32_t device, enum Rotation rotation) :
ADIS16448::~ADIS16448()
{
// Ensure the driver is inactive.
stop();
// Delete the perf counter.
perf_free(_perf_read);
perf_free(_perf_transfer);
@@ -209,7 +207,7 @@ ADIS16448::probe()
}
if (!reset_success) {
PX4_ERR("unable to successfully reset");
DEVICE_DEBUG("unable to successfully reset");
return PX4_ERROR;
}
@@ -307,8 +305,9 @@ ADIS16448::set_gyro_dyn_range(uint16_t desired_gyro_dyn_range)
}
void
ADIS16448::print_info()
ADIS16448::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_perf_read);
perf_print_counter(_perf_transfer);
perf_print_counter(_perf_bad_transfer);
@@ -361,19 +360,10 @@ ADIS16448::write_reg16(unsigned reg, uint16_t value)
void
ADIS16448::start()
{
// Make sure we are stopped first.
stop();
// Start polling at the specified interval
ScheduleOnInterval((1_s / _sample_rate), 10000);
}
void
ADIS16448::stop()
{
ScheduleClear();
}
// computes the CCITT CRC16 on the data received from a burst read
static uint16_t ComputeCRC16(uint16_t burstData[13])
{
@@ -527,7 +517,7 @@ ADIS16448::measure()
}
void
ADIS16448::Run()
ADIS16448::RunImpl()
{
// Make another measurement.
measure();
src/drivers/imu/adis16448/ADIS16448.h
+12 -24
View File
@@ -50,7 +50,7 @@
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
using namespace time_literals;
@@ -98,21 +98,24 @@ static constexpr float ADIS16448_MAG_SENSITIVITY{1.0 / 7.0 / 1000.0}; // 7
static constexpr float ADIS16448_ACCEL_GYRO_UPDATE_RATE{819.2}; // accel and gryo max update 819.2 samples per second
static constexpr float ADIS16448_MAG_BARO_UPDATE_RATE{51.2}; // xMAGN_OUT and BARO_OUT registers update at 51.2 samples per second
class ADIS16448 : public device::SPI, public px4::ScheduledWorkItem
class ADIS16448 : public device::SPI, public I2CSPIDriver<ADIS16448>
{
public:
ADIS16448(int bus, uint32_t device, enum Rotation rotation);
ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode);
virtual ~ADIS16448();
virtual int init();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
/**
* Diagnostics - print some basic information about the driver and sensor.
*/
void print_info();
int init() override;
void print_status() override;
void RunImpl();
protected:
virtual int probe();
int probe() override;
private:
@@ -135,16 +138,6 @@ private:
*/
int measure();
/**
* Static trampoline from the hrt_call context; because we don't have a
* generic hrt wrapper yet.
* Called by the HRT in interrupt context at the specified rate if
* automatic polling is enabled.
*
* @param arg Instance pointer for the driver that is polling.
*/
void Run();
/**
* Modify a register in the ADIS16448
* Bits are cleared before bits are set.
@@ -196,11 +189,6 @@ private:
*/
void start();
/**
* Stop automatic measurement.
*/
void stop();
PX4Accelerometer _px4_accel;
PX4Barometer _px4_baro;
PX4Gyroscope _px4_gyro;
src/drivers/imu/adis16448/adis16448_main.cpp
+47 -82
View File
@@ -34,109 +34,74 @@
#include "ADIS16448.h"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
namespace adis16448
void
ADIS16448::print_usage()
{
ADIS16448 *g_dev{nullptr};
static int start(enum Rotation rotation)
{
if (g_dev != nullptr) {
PX4_WARN("already started");
return 0;
}
// create the driver
#if defined(PX4_SPI_BUS_EXT)
g_dev = new ADIS16448(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, rotation);
#elif defined(PX4_SPIDEV_EXTERNAL1_1)
g_dev = new ADIS16448(PX4_SPI_BUS_EXTERNAL1, PX4_SPIDEV_EXTERNAL1_1, rotation);
#else
PX4_ERR("External SPI not available");
return -1;
#endif
if (g_dev == nullptr) {
PX4_ERR("driver start failed");
return -1;
}
if (g_dev->init() != PX4_OK) {
PX4_ERR("driver init failed");
delete g_dev;
g_dev = nullptr;
return -1;
}
return 0;
PRINT_MODULE_USAGE_NAME("adis16448", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
static int stop()
I2CSPIDriverBase *ADIS16448::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
if (g_dev == nullptr) {
PX4_WARN("driver not running");
return -1;
ADIS16448 *instance = new ADIS16448(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
delete g_dev;
g_dev = nullptr;
return 0;
}
static int status()
{
if (g_dev == nullptr) {
PX4_INFO("driver not running");
return 0;
if (OK != instance->init()) {
delete instance;
return nullptr;
}
g_dev->print_info();
return 0;
return instance;
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'status'");
PX4_INFO("options:");
PX4_INFO(" -R rotation");
return 0;
}
} // namespace adis16448
extern "C" int adis16448_main(int argc, char *argv[])
{
enum Rotation rotation = ROTATION_NONE;
int myoptind = 1;
int ch = 0;
const char *myoptarg = nullptr;
int ch;
using ThisDriver = ADIS16448;
BusCLIArguments cli{false, true};
cli.default_spi_frequency = 1000000;
// start options
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
default:
return adis16448::usage();
}
}
const char *verb = argv[myoptind];
const char *verb = cli.optarg();
if (!strcmp(verb, "start")) {
return adis16448::start(rotation);
} else if (!strcmp(verb, "stop")) {
return adis16448::stop();
} else if (!strcmp(verb, "status")) {
return adis16448::status();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
return adis16448::usage();
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ADIS16448);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}