mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-21 12:47:34 +08:00
Jacob Dahl
ce3e62841f
* module_base: claude rewrite to remove CRTP bloat * module_base: apply to all drivers/modules * format * fix build errors * fix missing syntax * remove reference to module.h in files that need module_base.h * remove old ModuleBase<T> * add module_base.cpp to px4_protected_layers.cmake * fix IridiumSBD can_stop() * fix IridiumSBD.cpp * clang-tidy: downcast static cast * get_instance() template accessor, revert clang-tidy global * rename module_base.h to module.h * revert changes in zenoh/Kconfig.topics
87 lines
3.1 KiB
C++
87 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <px4_arch/micro_hal.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/pps_capture.h>
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#include <uORB/topics/sensor_gps.h>
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using namespace time_literals;
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class PPSCapture : public ModuleBase, public px4::ScheduledWorkItem
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{
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public:
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static Descriptor desc;
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PPSCapture();
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virtual ~PPSCapture();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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static int gpio_interrupt_callback(int irq, void *context, void *arg);
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/** PPSCapture is an interrupt-driven task and needs to be manually stopped */
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static void stop();
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private:
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void Run() override;
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int _channel{-1};
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uint32_t _pps_capture_gpio{0};
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uORB::Publication<pps_capture_s> _pps_capture_pub{ORB_ID(pps_capture)};
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uORB::Subscription _sensor_gps_sub{ORB_ID(sensor_gps)};
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orb_advert_t _mavlink_log_pub{nullptr};
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hrt_abstime _hrt_timestamp{0};
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hrt_abstime _last_gps_timestamp{0};
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uint64_t _last_gps_utc_timestamp{0};
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uint8_t _pps_rate_exceeded_counter{0};
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px4::atomic<bool> _pps_rate_failure{false};
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};
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