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Move all drivers to multi pub/sub API

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This commit is contained in:
Lorenz Meier
2015-01-29 16:33:53 +01:00
parent cc7a00b96e
commit d851a630d8
8 changed files with 87 additions and 99 deletions
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src/drivers/mpu6000/mpu6000.cpp
+24 -39
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -175,6 +175,12 @@
#define MPU6000_ONE_G 9.80665f
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
#define EXTERNAL_BUS 0
#endif
/*
the MPU6000 can only handle high SPI bus speeds on the sensor and
interrupt status registers. All other registers have a maximum 1MHz
@@ -234,7 +240,7 @@ private:
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
orb_id_t _accel_orb_id;
int _accel_orb_class_instance;
int _accel_class_instance;
RingBuffer *_gyro_reports;
@@ -360,6 +366,13 @@ private:
*/
uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); }
/**
* Get the internal / external state
*
* @return true if the sensor is not on the main MCU board
*/
bool is_external() { return (_bus == EXTERNAL_BUS); }
/**
* Measurement self test
*
@@ -457,7 +470,7 @@ protected:
private:
MPU6000 *_parent;
orb_advert_t _gyro_topic;
orb_id_t _gyro_orb_id;
int _gyro_orb_class_instance;
int _gyro_class_instance;
/* do not allow to copy this class due to pointer data members */
@@ -479,7 +492,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_accel_orb_id(nullptr),
_accel_orb_class_instance(-1),
_accel_class_instance(-1),
_gyro_reports(nullptr),
_gyro_scale{},
@@ -613,22 +626,8 @@ MPU6000::init()
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
switch (_accel_class_instance) {
case CLASS_DEVICE_PRIMARY:
_accel_orb_id = ORB_ID(sensor_accel0);
break;
case CLASS_DEVICE_SECONDARY:
_accel_orb_id = ORB_ID(sensor_accel1);
break;
case CLASS_DEVICE_TERTIARY:
_accel_orb_id = ORB_ID(sensor_accel2);
break;
}
_accel_topic = orb_advertise(_accel_orb_id, &arp);
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
&_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
if (_accel_topic < 0) {
warnx("ADVERT FAIL");
@@ -639,22 +638,8 @@ MPU6000::init()
struct gyro_report grp;
_gyro_reports->get(&grp);
switch (_gyro->_gyro_class_instance) {
case CLASS_DEVICE_PRIMARY:
_gyro->_gyro_orb_id = ORB_ID(sensor_gyro0);
break;
case CLASS_DEVICE_SECONDARY:
_gyro->_gyro_orb_id = ORB_ID(sensor_gyro1);
break;
case CLASS_DEVICE_TERTIARY:
_gyro->_gyro_orb_id = ORB_ID(sensor_gyro2);
break;
}
_gyro->_gyro_topic = orb_advertise(_gyro->_gyro_orb_id, &grp);
_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
&_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
if (_gyro->_gyro_topic < 0) {
warnx("ADVERT FAIL");
@@ -1763,12 +1748,12 @@ MPU6000::measure()
perf_begin(_controller_latency_perf);
perf_begin(_system_latency_perf);
/* publish it */
orb_publish(_accel_orb_id, _accel_topic, &arb);
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
if (!(_pub_blocked)) {
/* publish it */
orb_publish(_gyro->_gyro_orb_id, _gyro->_gyro_topic, &grb);
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
}
/* stop measuring */
@@ -1818,7 +1803,7 @@ MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
CDev("MPU6000_gyro", path),
_parent(parent),
_gyro_topic(-1),
_gyro_orb_id(nullptr),
_gyro_orb_class_instance(-1),
_gyro_class_instance(-1)
{
}