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adis16448 move to px4 work queue

This commit is contained in:
Daniel Agar 2019-01-27 20:30:09 -05:00
parent 16b26c1927
commit 6113caaa33
1 changed files with 12 additions and 28 deletions
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40
src/drivers/imu/adis16448/adis16448.cpp
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@ -68,7 +68,6 @@
#include <nuttx/clock.h>
#include <board_config.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
@ -80,6 +79,7 @@
#include <drivers/drv_mag.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#define DIR_READ 0x00
#define DIR_WRITE 0x80
@ -185,7 +185,7 @@
class ADIS16448_gyro;
class ADIS16448_mag;
class ADIS16448 : public device::SPI
class ADIS16448 : public device::SPI, public px4::ScheduledWorkItem
{
public:
ADIS16448(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, uint32_t device,
@ -224,7 +224,6 @@ private:
uint16_t _product; /** product code */
struct hrt_call _call;
unsigned _call_interval;
ringbuffer::RingBuffer *_gyro_reports;
@ -324,16 +323,7 @@ private:
*/
int reset();
/**
* Static trampoline from the hrt_call context; because we don't have a
* generic hrt wrapper yet.
*
* Called by the HRT in interrupt context at the specified rate if
* automatic polling is enabled.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void measure_trampoline(void *arg);
void Run() override;
/**
* Fetch measurements from the sensor and update the report buffers.
@ -471,10 +461,10 @@ extern "C" { __EXPORT int adis16448_main(int argc, char *argv[]); }
ADIS16448::ADIS16448(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, uint32_t device,
enum Rotation rotation) :
SPI("ADIS16448", path_accel, bus, device, SPIDEV_MODE3, SPI_BUS_SPEED),
ScheduledWorkItem(px4::device_bus_to_wq(this->get_device_id())),
_gyro(new ADIS16448_gyro(this, path_gyro)),
_mag(new ADIS16448_mag(this, path_mag)),
_product(0),
_call{},
_call_interval(0),
_gyro_reports(nullptr),
_gyro_scale{},
@ -544,8 +534,6 @@ ADIS16448::ADIS16448(int bus, const char *path_accel, const char *path_gyro, con
_mag_scale.y_scale = 1.0f;
_mag_scale.z_offset = 0;
_mag_scale.z_scale = 1.0f;
memset(&_call, 0, sizeof(_call));
}
ADIS16448::~ADIS16448()
@ -994,16 +982,16 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
bool want_start = (_call_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
unsigned interval = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000) {
if (interval < 1000) {
return -EINVAL;
}
// adjust filters
float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f / ticks;
float sample_rate = 1.0e6f / interval;
_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
@ -1022,7 +1010,7 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call.period = _call_interval = ticks;
_call_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
@ -1171,23 +1159,19 @@ ADIS16448::start()
_mag_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&ADIS16448::measure_trampoline, this);
ScheduleOnInterval(_call_interval, 10000);
}
void
ADIS16448::stop()
{
hrt_cancel(&_call);
ScheduleClear();
}
void
ADIS16448::measure_trampoline(void *arg)
ADIS16448::Run()
{
ADIS16448 *dev = reinterpret_cast<ADIS16448 *>(arg);
/* make another measurement */
dev->measure();
measure();
}
int