fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor pcf8583: use driver base class

Browse Source
This commit is contained in:
Beat Küng 2020-03-11 18:52:46 +01:00 committed by Daniel Agar
parent bb4ff04caf
commit fb6ce09dc4
4 changed files with 64 additions and 111 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/drivers/drv_sensor.h
View File

@ -145,6 +145,7 @@
#define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b
#define DRV_BAT_DEVTYPE_SMBUS 0x7c
#define DRV_SENS_DEVTYPE_IRLOCK 0x7d
#define DRV_SENS_DEVTYPE_PCF8583 0x7e
#define DRV_DEVTYPE_UNUSED 0xff

24
src/drivers/rpm/pcf8583/PCF8583.cpp
View File

@ -33,18 +33,13 @@
#include "PCF8583.hpp"
PCF8583::PCF8583(int bus, int address) :
I2C("PCF8583", nullptr, bus, address, 400000),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
ModuleParams(nullptr)
PCF8583::PCF8583(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
I2C("PCF8583", nullptr, bus, PCF8583_BASEADDR_DEFAULT, bus_frequency),
ModuleParams(nullptr),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
{
}
PCF8583::~PCF8583()
{
ScheduleClear();
}
int PCF8583::init()
{
set_device_address(_param_pcf8583_addr.get());
@ -53,9 +48,9 @@ int PCF8583::init()
return PX4_ERROR;
}
PX4_INFO("addr: %d, pool: %d, reset: %d, magenet: %d", get_device_address(), _param_pcf8583_pool.get(),
_param_pcf8583_reset.get(),
_param_pcf8583_magnet.get());
PX4_DEBUG("addr: %d, pool: %d, reset: %d, magenet: %d", get_device_address(), _param_pcf8583_pool.get(),
_param_pcf8583_reset.get(),
_param_pcf8583_magnet.get());
// set counter mode
setRegister(0x00, 0b00100000);
@ -114,7 +109,7 @@ uint8_t PCF8583::readRegister(uint8_t reg)
return rcv;
}
void PCF8583::Run()
void PCF8583::RunImpl()
{
// read sensor and compute frequency
int oldcount = _count;
@ -145,7 +140,8 @@ void PCF8583::Run()
_rpm_pub.publish(msg);
}
void PCF8583::print_info()
void PCF8583::print_status()
{
I2CSPIDriverBase::print_status();
PX4_INFO("poll interval: %d us", _param_pcf8583_pool.get());
}

17
src/drivers/rpm/pcf8583/PCF8583.hpp
View File

@ -45,7 +45,7 @@
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
#include <drivers/device/i2c.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/rpm.h>
@ -54,19 +54,24 @@
/* Configuration Constants */
#define PCF8583_BASEADDR_DEFAULT 0x50
class PCF8583 : public device::I2C, public px4::ScheduledWorkItem, public ModuleParams
class PCF8583 : public device::I2C, public ModuleParams, public I2CSPIDriver<PCF8583>
{
public:
PCF8583(int bus = PX4_I2C_BUS_EXPANSION, int address = PCF8583_BASEADDR_DEFAULT);
~PCF8583() override;
PCF8583(I2CSPIBusOption bus_option, const int bus, int bus_frequency);
~PCF8583() override = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
void print_info();
void print_status() override;
private:
int probe() override;
void Run() override ; // Perform a poll cycle; overide for ScheduledWorkItem
int getCounter();
void resetCounter();

133
src/drivers/rpm/pcf8583/pcf8583_main.cpp
View File

@ -34,109 +34,60 @@
#include "PCF8583.hpp"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
namespace pcf8583
void
PCF8583::print_usage()
{
PCF8583 *g_dev{nullptr};
PRINT_MODULE_USAGE_NAME("pcf8583", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
static int start(int i2c_bus)
I2CSPIDriverBase *PCF8583::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
if (g_dev != nullptr) {
PX4_WARN("already started");
return 0;
PCF8583 *instance = new PCF8583(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
if (instance == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
// create the driver
g_dev = new PCF8583(i2c_bus);
if (instance->init() != PX4_OK) {
delete instance;
return nullptr;
}
if (g_dev == nullptr) {
PX4_ERR("driver alloc failed");
return instance;
}
extern "C" __EXPORT int pcf8583_main(int argc, char *argv[])
{
using ThisDriver = PCF8583;
BusCLIArguments cli{true, false};
const char *verb = cli.parseDefaultArguments(argc, argv);
if (!verb) {
ThisDriver::print_usage();
return -1;
}
if (g_dev->init() != PX4_OK) {
PX4_ERR("driver init failed");
delete g_dev;
g_dev = nullptr;
return -1;
}
PX4_INFO("pcf8583 for bus: %d started.", i2c_bus);
return 0;
}
static int stop()
{
if (g_dev == nullptr) {
PX4_WARN("driver not running");
return -1;
}
delete g_dev;
g_dev = nullptr;
return 0;
}
static int status()
{
if (g_dev == nullptr) {
PX4_INFO("driver not running");
return 0;
}
g_dev->print_info();
return 0;
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'status'");
PX4_INFO("options:");
PX4_INFO(" -b i2cbus (%d)", PX4_I2C_BUS_EXPANSION);
return 0;
}
} // namespace pcf8583
extern "C" int pcf8583_main(int argc, char *argv[])
{
int i2c_bus = PX4_I2C_BUS_EXPANSION;
int myoptind = 1;
int ch = 0;
const char *myoptarg = nullptr;
// start options
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
i2c_bus = atoi(myoptarg);
break;
default:
return pcf8583::usage();
}
}
if (myoptind >= argc) {
pcf8583::usage();
return -1;
}
const char *verb = argv[myoptind];
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_SENS_DEVTYPE_PCF8583);
if (!strcmp(verb, "start")) {
return pcf8583::start(i2c_bus);
} else if (!strcmp(verb, "stop")) {
return pcf8583::stop();
} else if (!strcmp(verb, "status")) {
return pcf8583::status();
return ThisDriver::module_start(cli, iterator);
}
return pcf8583::usage();
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}