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refactor mappydot: use driver base class

This commit is contained in:
Beat Küng 2020-03-02 12:03:10 +01:00 committed by Daniel Agar
parent 1b1e1ba31f
commit 7e3f40d1c2
3 changed files with 55 additions and 184 deletions
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2
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -73,7 +73,7 @@ fi
# mappydot lidar sensor
if param compare -s SENS_EN_MPDT 1
then
mappydot start -a
mappydot start -X
fi
# mb12xx sonar sensor

232
src/drivers/distance_sensor/mappydot/MappyDot.cpp
View File

@ -47,7 +47,8 @@
#include <perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/module.h>
#include <uORB/topics/distance_sensor.h>
/* MappyDot Registers */
@ -138,17 +139,20 @@
/* Configuration Constants */
#define MAPPYDOT_BASE_ADDR 0x08
#define MAPPYDOT_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
#define MAPPYDOT_MEASUREMENT_INTERVAL_USEC 50000 // 50ms measurement interval, 20Hz.
using namespace time_literals;
class MappyDot : public device::I2C, public ModuleParams, public px4::ScheduledWorkItem
class MappyDot : public device::I2C, public ModuleParams, public I2CSPIDriver<MappyDot>
{
public:
MappyDot(const int bus = MAPPYDOT_BUS_DEFAULT);
MappyDot(I2CSPIBusOption bus_option, const int bus, int bus_frequency);
virtual ~MappyDot();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
/**
* Initializes the sensors, advertises uORB topic,
* sets device addresses
@ -158,7 +162,7 @@ public:
/**
* Prints basic diagnostic information about the driver.
*/
void print_info();
void print_status() override;
/**
* Initializes the automatic measurement state machine and starts the driver.
@ -166,9 +170,9 @@ public:
void start();
/**
* Stop the automatic measurement state machine.
* Performs a poll cycle; collect from the previous measurement and start a new one.
*/
void stop();
void RunImpl();
protected:
@ -184,11 +188,6 @@ private:
*/
int collect();
/**
* Performs a poll cycle; collect from the previous measurement and start a new one.
*/
void Run() override;
/**
* Gets the current sensor rotation value.
*/
@ -222,17 +221,14 @@ private:
};
MappyDot::MappyDot(const int bus) :
I2C("MappyDot", MAPPYDOT_DEVICE_PATH, bus, MAPPYDOT_BASE_ADDR, MAPPYDOT_BUS_CLOCK),
MappyDot::MappyDot(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
I2C("MappyDot", MAPPYDOT_DEVICE_PATH, bus, MAPPYDOT_BASE_ADDR, bus_frequency),
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id()))
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
{}
MappyDot::~MappyDot()
{
// Ensure we are truly inactive.
stop();
// Unadvertise the distance sensor topic.
if (_distance_sensor_topic != nullptr) {
orb_unadvertise(_distance_sensor_topic);
@ -398,14 +394,15 @@ MappyDot::probe()
}
void
MappyDot::print_info()
MappyDot::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_comms_errors);
perf_print_counter(_sample_perf);
}
void
MappyDot::Run()
MappyDot::RunImpl()
{
// Collect the sensor data.
if (collect() != PX4_OK) {
@ -427,188 +424,61 @@ MappyDot::start()
}
void
MappyDot::stop()
MappyDot::print_usage()
{
ScheduleClear();
PRINT_MODULE_USAGE_NAME("mappydot", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
/**
* Local functions in support of the shell command.
*/
namespace mappydot
I2CSPIDriverBase *MappyDot::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
MappyDot *instance = new MappyDot(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
MappyDot *g_dev;
int start();
int start_bus(int i2c_bus);
int status();
int stop();
int usage();
/**
* Attempt to start driver on all available I2C busses.
*
* This function will return as soon as the first sensor
* is detected on one of the available busses or if no
* sensors are detected.
*/
int
start()
{
if (g_dev != nullptr) {
PX4_ERR("already started");
return PX4_ERROR;
if (instance == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
for (size_t i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
if (start_bus(i2c_bus_options[i]) == PX4_OK) {
return PX4_OK;
}
if (instance->init() != PX4_OK) {
delete instance;
return nullptr;
}
return PX4_ERROR;
instance->start();
return instance;
}
/**
* Start the driver on a specific bus.
*
* This function only returns if the sensor is up and running
* or could not be detected successfully.
*/
int
start_bus(int i2c_bus)
{
if (g_dev != nullptr) {
PX4_ERR("already started");
return PX4_OK;
}
// Instantiate the driver.
g_dev = new MappyDot(i2c_bus);
if (g_dev == nullptr) {
delete g_dev;
return PX4_ERROR;
}
// Initialize the sensor.
if (g_dev->init() != PX4_OK) {
delete g_dev;
g_dev = nullptr;
return PX4_ERROR;
}
// Start the driver.
g_dev->start();
PX4_INFO("driver started");
return PX4_OK;
}
/**
* Print the driver status.
*/
int
status()
{
if (g_dev == nullptr) {
PX4_ERR("driver not running");
return PX4_ERROR;
}
g_dev->print_info();
return PX4_OK;
}
/**
* Stop the driver.
*/
int
stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
PX4_INFO("driver stopped");
return PX4_OK;
}
/**
* Print usage information about the driver.
*/
int
usage()
{
PX4_INFO("Usage: mappydot <command> [options]");
PX4_INFO("options:");
PX4_INFO("\t-a --all");
PX4_INFO("\t-b --bus i2cbus (%i)", MAPPYDOT_BUS_DEFAULT);
PX4_INFO("command:");
PX4_INFO("\tstart|start_bus|status|stop");
return PX4_OK;
}
} // namespace mappydot
/**
* Driver 'main' command.
*/
extern "C" __EXPORT int mappydot_main(int argc, char *argv[])
{
const char *myoptarg = nullptr;
using ThisDriver = MappyDot;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = MAPPYDOT_BUS_CLOCK;
int ch;
int i2c_bus = MAPPYDOT_BUS_DEFAULT;
int myoptind = 1;
const char *verb = cli.parseDefaultArguments(argc, argv);
bool start_all = false;
while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'a':
start_all = true;
break;
case 'b':
i2c_bus = atoi(myoptarg);
break;
default:
PX4_WARN("Unknown option!");
return mappydot::usage();
}
if (!verb) {
ThisDriver::print_usage();
return -1;
}
if (myoptind >= argc) {
return mappydot::usage();
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_MAPPYDOT);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(argv[myoptind], "start")) {
if (start_all) {
return mappydot::start();
} else {
return mappydot::start_bus(i2c_bus);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
// Print the driver status.
if (!strcmp(argv[myoptind], "status")) {
return mappydot::status();
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
// Stop the driver.
if (!strcmp(argv[myoptind], "stop")) {
return mappydot::stop();
}
// Print driver usage information.
return mappydot::usage();
ThisDriver::print_usage();
return -1;
}

1
src/drivers/drv_sensor.h
View File

@ -130,6 +130,7 @@
#define DRV_FLOW_DEVTYPE_PMW3901 0x6c
#define DRV_DIST_DEVTYPE_LL40LS 0x70
#define DRV_DIST_DEVTYPE_MAPPYDOT 0x71
#define DRV_DEVTYPE_UNUSED 0xff