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i2c spi init + custom methods: use WorkItemSingleShot

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Use it for custom methods as well (like reset), and run by default on the
work queue, since they typically access the bus.
This commit is contained in:
Beat Küng
2020-03-17 23:31:17 -04:00
committed by Daniel Agar
parent 8c41025565
commit e7f04109d9
2 changed files with 44 additions and 57 deletions
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platforms/common/include/px4_platform_common/i2c_spi_buses.h
+4 -29
View File
@@ -176,7 +176,8 @@ public:
static int module_stop(BusInstanceIterator &iterator);
static int module_status(BusInstanceIterator &iterator);
static int module_custom_method(const BusCLIArguments &cli, BusInstanceIterator &iterator);
static int module_custom_method(const BusCLIArguments &cli, BusInstanceIterator &iterator,
bool run_on_work_queue = true);
using instantiate_method = I2CSPIDriverBase * (*)(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
@@ -200,6 +201,8 @@ protected:
instantiate_method instantiate, I2CSPIInstance **instances);
private:
static void custom_method_trampoline(void *argument);
void request_stop_and_wait();
px4::atomic_bool _task_should_exit{false};
@@ -246,31 +249,3 @@ template<class T, int MAX_NUM>
I2CSPIInstance *I2CSPIDriver<T, MAX_NUM>::_instances[MAX_NUM] {};
/**
* @class I2CSPIDriverInitializer
* Helper class to initialize a driver: it ensures the object is initialzed on
* the work queue where the driver is running. This is required so that all
* bus accesses come from the same thread.
*/
class I2CSPIDriverInitializer : public px4::WorkItem
{
public:
using instantiate_method = I2CSPIDriverBase::instantiate_method;
I2CSPIDriverInitializer(const px4::wq_config_t &config,
const BusCLIArguments &cli, const BusInstanceIterator &iterator,
instantiate_method instantiate, int runtime_instance);
~I2CSPIDriverInitializer();
void wait();
I2CSPIDriverBase *instance() const { return _instance; }
protected:
void Run() override;
private:
I2CSPIDriverBase *_instance{nullptr};
const BusCLIArguments &_cli;
const BusInstanceIterator &_iterator;
const int _runtime_instance;
instantiate_method _instantiate;
px4_sem_t _sem;
};