fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-03 09:11:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor ist8308: 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 030ba24f53
commit ee49e500e7
3 changed files with 87 additions and 194 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/magnetometer/isentek/ist8308/IST8308.cpp
+21 -39
View File
@@ -40,9 +40,9 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
return (msb << 8u) | lsb;
}
IST8308::IST8308(int bus, uint8_t address, enum Rotation rotation) :
I2C(MODULE_NAME, nullptr, bus, address, I2C_SPEED),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
IST8308::IST8308(I2CSPIBusOption bus_option, int bus, enum Rotation rotation, int bus_frequency) :
I2C(MODULE_NAME, nullptr, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_MAG_DEVTYPE_IST8308);
@@ -53,43 +53,34 @@ IST8308::IST8308(int bus, uint8_t address, enum Rotation rotation) :
IST8308::~IST8308()
{
Stop();
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
}
bool IST8308::Init()
int IST8308::init()
{
if (I2C::init() != PX4_OK) {
PX4_ERR("I2C::init failed");
return false;
int ret = I2C::init();
if (ret != PX4_OK) {
DEVICE_DEBUG("I2C::init failed (%i)", ret);
return ret;
}
return Reset();
}
void IST8308::Stop()
{
// wait until stopped
while (_state.load() != STATE::STOPPED) {
_state.store(STATE::REQUEST_STOP);
ScheduleNow();
px4_usleep(10);
}
return Reset() ? 0 : -1;
}
bool IST8308::Reset()
{
_state.store(STATE::RESET);
_state = STATE::RESET;
ScheduleClear();
ScheduleNow();
return true;
}
void IST8308::PrintInfo()
void IST8308::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
@@ -102,21 +93,21 @@ int IST8308::probe()
const uint8_t whoami = RegisterRead(Register::WAI);
if (whoami != Device_ID) {
PX4_WARN("unexpected WAI 0x%02x", whoami);
DEVICE_DEBUG("unexpected WAI 0x%02x", whoami);
return PX4_ERROR;
}
return PX4_OK;
}
void IST8308::Run()
void IST8308::RunImpl()
{
switch (_state.load()) {
switch (_state) {
case STATE::RESET:
// CNTL3: Software Reset
RegisterSetAndClearBits(Register::CNTL3, CNTL3_BIT::SRST, 0);
_reset_timestamp = hrt_absolute_time();
_state.store(STATE::WAIT_FOR_RESET);
_state = STATE::WAIT_FOR_RESET;
ScheduleDelayed(50_ms); // Power On Reset: max:50ms
break;
@@ -127,14 +118,14 @@ void IST8308::Run()
&& ((RegisterRead(Register::CNTL3) & CNTL3_BIT::SRST) == 0)) {
// if reset succeeded then configure
_state.store(STATE::CONFIGURE);
_state = STATE::CONFIGURE;
ScheduleNow();
} else {
// RESET not complete
if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
PX4_ERR("Reset failed, retrying");
_state.store(STATE::RESET);
_state = STATE::RESET;
ScheduleNow();
} else {
@@ -148,7 +139,7 @@ void IST8308::Run()
case STATE::CONFIGURE:
if (Configure()) {
// if configure succeeded then start reading every 20 ms (50 Hz)
_state.store(STATE::READ);
_state = STATE::READ;
ScheduleOnInterval(20_ms, 20_ms);
} else {
@@ -203,22 +194,13 @@ void IST8308::Run()
} else {
// register check failed, force reconfigure
PX4_DEBUG("Health check failed, reconfiguring");
_state.store(STATE::CONFIGURE);
_state = STATE::CONFIGURE;
ScheduleNow();
}
}
}
break;
case STATE::REQUEST_STOP:
ScheduleClear();
_state.store(STATE::STOPPED);
break;
case STATE::STOPPED:
// DO NOTHING
break;
}
}