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refactor paw3902: use driver base class

This commit is contained in:
Beat Küng 2020-03-11 18:46:45 +01:00 committed by Daniel Agar
parent 82f92b56db
commit b6119c71df
4 changed files with 73 additions and 177 deletions
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1
src/drivers/drv_sensor.h
View File

@ -128,6 +128,7 @@
#define DRV_ACC_DEVTYPE_BMI088 0x6a
#define DRV_OSD_DEVTYPE_ATXXXX 0x6b
#define DRV_FLOW_DEVTYPE_PMW3901 0x6c
#define DRV_FLOW_DEVTYPE_PAW3902 0x6d
#define DRV_DIST_DEVTYPE_LL40LS 0x70
#define DRV_DIST_DEVTYPE_MAPPYDOT 0x71

21
src/drivers/optical_flow/paw3902/PAW3902.cpp
View File

@ -33,9 +33,10 @@
#include "PAW3902.hpp"
PAW3902::PAW3902(int bus, enum Rotation yaw_rotation) :
SPI("PAW3902", nullptr, bus, PAW3902_SPIDEV, SPIDEV_MODE0, PAW3902_SPI_BUS_SPEED),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
PAW3902::PAW3902(I2CSPIBusOption bus_option, int bus, int devid, enum Rotation yaw_rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("PAW3902", nullptr, bus, devid, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_sample_perf(perf_alloc(PC_ELAPSED, "paw3902: read")),
_comms_errors(perf_alloc(PC_COUNT, "paw3902: com_err")),
_dupe_count_perf(perf_alloc(PC_COUNT, "paw3902: duplicate reading")),
@ -45,9 +46,6 @@ PAW3902::PAW3902(int bus, enum Rotation yaw_rotation) :
PAW3902::~PAW3902()
{
// make sure we are truly inactive
stop();
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
@ -534,7 +532,7 @@ PAW3902::registerWrite(uint8_t reg, uint8_t data)
}
void
PAW3902::Run()
PAW3902::RunImpl()
{
perf_begin(_sample_perf);
@ -686,14 +684,9 @@ PAW3902::start()
}
void
PAW3902::stop()
{
ScheduleClear();
}
void
PAW3902::print_info()
PAW3902::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_dupe_count_perf);

42
src/drivers/optical_flow/paw3902/PAW3902.hpp
View File

@ -44,7 +44,7 @@
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
#include <drivers/device/spi.h>
#include <conversion/rotation.h>
#include <lib/perf/perf_counter.h>
@ -56,26 +56,6 @@
/* Configuration Constants */
#if defined PX4_SPI_BUS_EXPANSION // crazyflie
# define PAW3902_BUS PX4_SPI_BUS_EXPANSION
#elif defined PX4_SPI_BUS_EXTERNAL1 // fmu-v5
# define PAW3902_BUS PX4_SPI_BUS_EXTERNAL1
#elif defined PX4_SPI_BUS_EXTERNAL // fmu-v4 extspi
# define PAW3902_BUS PX4_SPI_BUS_EXTERNAL
#else
# error "add the required spi bus from board_config.h here"
#endif
#if defined PX4_SPIDEV_EXPANSION_2 // crazyflie flow deck
# define PAW3902_SPIDEV PX4_SPIDEV_EXPANSION_2
#elif defined PX4_SPIDEV_EXTERNAL1_1 // fmu-v5 ext CS1
# define PAW3902_SPIDEV PX4_SPIDEV_EXTERNAL1_1
#elif defined PX4_SPIDEV_EXTERNAL // fmu-v4 extspi
# define PAW3902_SPIDEV PX4_SPIDEV_EXTERNAL
#else
# error "add the required spi dev from board_config.h here"
#endif
#define PAW3902_SPI_BUS_SPEED (2000000L) // 2MHz
#define DIR_WRITE(a) ((a) | (1 << 7))
@ -86,26 +66,30 @@ using namespace PixArt_PAW3902JF;
// PAW3902JF-TXQT is PixArt Imaging
class PAW3902 : public device::SPI, public px4::ScheduledWorkItem
class PAW3902 : public device::SPI, public I2CSPIDriver<PAW3902>
{
public:
PAW3902(int bus = PAW3902_BUS, enum Rotation yaw_rotation = ROTATION_NONE);
PAW3902(I2CSPIBusOption bus_option, int bus, int devid, enum Rotation yaw_rotation, int bus_frequency,
spi_mode_e spi_mode);
virtual ~PAW3902();
virtual int init();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void print_info();
int init() override;
void print_status() override;
void RunImpl();
void start();
void stop();
protected:
virtual int probe();
int probe() override;
private:
void Run() override;
uint8_t registerRead(uint8_t reg);
void registerWrite(uint8_t reg, uint8_t data);

186
src/drivers/optical_flow/paw3902/paw3902_main.cpp
View File

@ -32,159 +32,77 @@
****************************************************************************/
#include "PAW3902.hpp"
#include <px4_platform_common/module.h>
/**
* Local functions in support of the shell command.
*/
namespace pmw3902
{
PAW3902 *g_dev;
void start(int spi_bus);
void stop();
void test();
void reset();
void info();
void usage();
/**
* Start the driver.
*/
void
start(int spi_bus)
{
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new PAW3902(spi_bus, (enum Rotation)0);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
errx(1, "driver not running");
}
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
/**
* Print a little info about how to start/stop/use the driver
*/
void usage()
{
PX4_INFO("usage: pmw3902 {start|test|reset|info'}");
PX4_INFO(" [-b SPI_BUS]");
}
} // namespace pmw3902
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int paw3902_main(int argc, char *argv[]);
void
PAW3902::print_usage()
{
PRINT_MODULE_USAGE_NAME("paw3902", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *PAW3902::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
PAW3902 *instance = new PAW3902(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
int
paw3902_main(int argc, char *argv[])
{
if (argc < 2) {
pmw3902::usage();
return PX4_ERROR;
}
// don't exit from getopt loop to leave getopt global variables in consistent state,
// set error flag instead
bool err_flag = false;
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
int spi_bus = PAW3902_BUS;
using ThisDriver = PAW3902;
BusCLIArguments cli{false, true};
cli.spi_mode = SPIDEV_MODE0;
cli.default_spi_frequency = PAW3902_SPI_BUS_SPEED;
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'b':
spi_bus = (uint8_t)atoi(myoptarg);
break;
default:
err_flag = true;
case 'R':
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
}
}
if (err_flag) {
pmw3902::usage();
return PX4_ERROR;
const char *verb = cli.optarg();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
/*
* Start/load the driver.
*/
if (!strcmp(argv[myoptind], "start")) {
pmw3902::start(spi_bus);
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_FLOW_DEVTYPE_PAW3902);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
/*
* Stop the driver
*/
if (!strcmp(argv[myoptind], "stop")) {
pmw3902::stop();
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
/*
* Print driver information.
*/
if (!strcmp(argv[myoptind], "status")) {
pmw3902::info();
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
pmw3902::usage();
return PX4_ERROR;
ThisDriver::print_usage();
return -1;
}