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drivers/differential_pressure move all to px4 work queue

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This commit is contained in:
Daniel Agar 2019-02-21 09:46:22 -05:00
parent 83d3ead821
commit e1bc975065
8 changed files with 36 additions and 73 deletions
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22
src/drivers/differential_pressure/ets/ets_airspeed.cpp
View File

@ -84,9 +84,9 @@ protected:
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
virtual void cycle();
virtual int measure();
virtual int collect();
void Run() override;
int measure() override;
int collect() override;
};
@ -174,7 +174,7 @@ ETSAirspeed::collect()
}
void
ETSAirspeed::cycle()
ETSAirspeed::Run()
{
int ret;
@ -198,14 +198,10 @@ ETSAirspeed::cycle()
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
if (_measure_interval > CONVERSION_INTERVAL) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&Airspeed::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
ScheduleDelayed(_measure_interval - CONVERSION_INTERVAL);
return;
}
@ -224,11 +220,7 @@ ETSAirspeed::cycle()
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&Airspeed::cycle_trampoline,
this,
USEC2TICK(CONVERSION_INTERVAL));
ScheduleDelayed(CONVERSION_INTERVAL);
}
/**

22
src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
View File

@ -99,9 +99,9 @@ protected:
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
virtual void cycle();
virtual int measure();
virtual int collect();
void Run() override;
int measure() override;
int collect() override;
math::LowPassFilter2p _filter{MEAS_RATE, MEAS_DRIVER_FILTER_FREQ};
@ -238,7 +238,7 @@ MEASAirspeed::collect()
}
void
MEASAirspeed::cycle()
MEASAirspeed::Run()
{
int ret;
@ -261,14 +261,10 @@ MEASAirspeed::cycle()
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
if (_measure_interval > CONVERSION_INTERVAL) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&Airspeed::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
ScheduleDelayed(_measure_interval - CONVERSION_INTERVAL);
return;
}
@ -287,11 +283,7 @@ MEASAirspeed::cycle()
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&Airspeed::cycle_trampoline,
this,
USEC2TICK(CONVERSION_INTERVAL));
ScheduleDelayed(CONVERSION_INTERVAL);
}
/**

9
src/drivers/differential_pressure/ms5525/MS5525.cpp
View File

@ -272,7 +272,7 @@ MS5525::collect()
}
void
MS5525::cycle()
MS5525::Run()
{
int ret = PX4_ERROR;
@ -292,11 +292,10 @@ MS5525::cycle()
_collect_phase = false;
// is there a collect->measure gap?
if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
if (_measure_interval > CONVERSION_INTERVAL) {
// schedule a fresh cycle call when we are ready to measure again
work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this,
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
ScheduleDelayed(_measure_interval - CONVERSION_INTERVAL);
return;
}
@ -315,5 +314,5 @@ MS5525::cycle()
_collect_phase = true;
// schedule a fresh cycle call when the measurement is done
work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, USEC2TICK(CONVERSION_INTERVAL));
ScheduleDelayed(CONVERSION_INTERVAL);
}

2
src/drivers/differential_pressure/ms5525/MS5525.hpp
View File

@ -71,7 +71,7 @@ private:
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle() override;
void Run() override;
int measure() override;
int collect() override;

4
src/drivers/differential_pressure/sdp3x/SDP3X.cpp
View File

@ -168,7 +168,7 @@ SDP3X::collect()
}
void
SDP3X::cycle()
SDP3X::Run()
{
int ret = PX4_ERROR;
@ -181,7 +181,7 @@ SDP3X::cycle()
}
// schedule a fresh cycle call when the measurement is done
work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, USEC2TICK(CONVERSION_INTERVAL));
ScheduleDelayed(CONVERSION_INTERVAL);
}
bool SDP3X::crc(const uint8_t data[], unsigned size, uint8_t checksum)

2
src/drivers/differential_pressure/sdp3x/SDP3X.hpp
View File

@ -87,7 +87,7 @@ private:
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle() override;
void Run() override;
int measure() override { return 0; }
int collect() override;
int probe() override;

31
src/lib/drivers/airspeed/airspeed.cpp
View File

@ -58,8 +58,9 @@
Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
I2C("Airspeed", path, bus, address, 100000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_sensor_ok(false),
_measure_ticks(0),
_measure_interval(0),
_collect_phase(false),
_diff_pres_offset(0.0f),
_airspeed_pub(nullptr),
@ -69,11 +70,6 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
_sample_perf(perf_alloc(PC_ELAPSED, "aspd_read")),
_comms_errors(perf_alloc(PC_COUNT, "aspd_com_err"))
{
// enable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
Airspeed::~Airspeed()
@ -148,10 +144,10 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
/* set default polling rate */
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
bool want_start = (_measure_interval == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(_conversion_interval);
_measure_interval = USEC2TICK(_conversion_interval);
/* if we need to start the poll state machine, do it */
if (want_start) {
@ -164,18 +160,18 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
bool want_start = (_measure_interval == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
unsigned interval = (1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(_conversion_interval)) {
if (interval < _conversion_interval) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
_measure_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
@ -207,18 +203,11 @@ Airspeed::start()
_collect_phase = false;
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
ScheduleNow();
}
void
Airspeed::stop()
{
work_cancel(HPWORK, &_work);
}
void
Airspeed::cycle_trampoline(void *arg)
{
Airspeed *dev = (Airspeed *)arg;
dev->cycle();
ScheduleClear();
}

17
src/lib/drivers/airspeed/airspeed.h
View File

@ -39,15 +39,15 @@
#include <drivers/drv_hrt.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_workqueue.h>
#include <perf/perf_counter.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/uORB.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
/* Default I2C bus */
static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;
class __EXPORT Airspeed : public device::I2C
class __EXPORT Airspeed : public device::I2C, public px4::ScheduledWorkItem
{
public:
Airspeed(int bus, int address, unsigned conversion_interval, const char *path);
@ -69,13 +69,12 @@ protected:
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
virtual void cycle() = 0;
virtual void Run() = 0;
virtual int measure() = 0;
virtual int collect() = 0;
work_s _work;
bool _sensor_ok;
int _measure_ticks;
int _measure_interval;
bool _collect_phase;
float _diff_pres_offset;
@ -102,14 +101,6 @@ protected:
*/
void stop();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
/**
* add a new report to the reports queue
*