fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 23:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

tfmini cleanup unnecessary Device CDev usage

Browse Source
This commit is contained in:
Daniel Agar
2018-08-27 13:14:15 -04:00
parent 483bacad87
commit f2ef8708b2
1 changed files with 7 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/distance_sensor/tfmini/tfmini.cpp
+7 -13
View File
@@ -85,7 +85,7 @@
# error This requires CONFIG_SCHED_WORKQUEUE. # error This requires CONFIG_SCHED_WORKQUEUE.
#endif #endif
class TFMINI : public device::CDev class TFMINI : public cdev::CDev
{ {
public: public:
TFMINI(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); TFMINI(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
@@ -107,7 +107,7 @@ private:
float _min_distance; float _min_distance;
float _max_distance; float _max_distance;
int _conversion_interval; int _conversion_interval;
work_s _work; work_s _work{};
ringbuffer::RingBuffer *_reports; ringbuffer::RingBuffer *_reports;
int _measure_ticks; int _measure_ticks;
bool _collect_phase; bool _collect_phase;
@@ -170,7 +170,7 @@ private:
extern "C" __EXPORT int tfmini_main(int argc, char *argv[]); extern "C" __EXPORT int tfmini_main(int argc, char *argv[]);
TFMINI::TFMINI(const char *port, uint8_t rotation) : TFMINI::TFMINI(const char *port, uint8_t rotation) :
CDev("tfmini", RANGE_FINDER0_DEVICE_PATH), CDev(RANGE_FINDER0_DEVICE_PATH),
_rotation(rotation), _rotation(rotation),
_min_distance(0.30f), _min_distance(0.30f),
_max_distance(12.0f), _max_distance(12.0f),
@@ -192,12 +192,6 @@ TFMINI::TFMINI(const char *port, uint8_t rotation) :
strncpy(_port, port, sizeof(_port)); strncpy(_port, port, sizeof(_port));
/* enforce null termination */ /* enforce null termination */
_port[sizeof(_port) - 1] = '\0'; _port[sizeof(_port) - 1] = '\0';
// disable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
} }
TFMINI::~TFMINI() TFMINI::~TFMINI()
@@ -226,7 +220,7 @@ TFMINI::init()
switch (hw_model) { switch (hw_model) {
case 0: case 0:
DEVICE_LOG("disabled."); PX4_WARN("disabled.");
return 0; return 0;
case 1: /* TFMINI (12m, 100 Hz)*/ case 1: /* TFMINI (12m, 100 Hz)*/
@@ -236,7 +230,7 @@ TFMINI::init()
break; break;
default: default:
DEVICE_LOG("invalid HW model %d.", hw_model); PX4_ERR("invalid HW model %d.", hw_model);
return -1; return -1;
} }
@@ -329,7 +323,7 @@ TFMINI::init()
&_orb_class_instance, ORB_PRIO_HIGH); &_orb_class_instance, ORB_PRIO_HIGH);
if (_distance_sensor_topic == nullptr) { if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?"); PX4_ERR("failed to create distance_sensor object. Did you start uOrb?");
} }
} while (0); } while (0);
@@ -581,7 +575,7 @@ TFMINI::collect()
} }
/* publish most recent valid measurement from buffer */ /* publish most recent valid measurement from buffer */
struct distance_sensor_s report; distance_sensor_s report{};
report.timestamp = hrt_absolute_time(); report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;