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ll40ls: changed I2C driver to new ringbuffer namespace, and various style stuff

This commit is contained in:
Ban Siesta 2015-05-24 12:46:23 +01:00
parent fbc4ca61ac
commit ef658cf926
2 changed files with 15 additions and 18 deletions
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15
src/drivers/ll40ls/LidarLiteI2C.cpp
View File

@ -46,7 +46,6 @@
#include <poll.h> #include <poll.h>
#include <string.h> #include <string.h>
#include <stdio.h> #include <stdio.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
/* oddly, ERROR is not defined for c++ */ /* oddly, ERROR is not defined for c++ */
@ -57,17 +56,17 @@ static const int ERROR = -1;
LidarLiteI2C::LidarLiteI2C(int bus, const char *path, int address) : LidarLiteI2C::LidarLiteI2C(int bus, const char *path, int address) :
I2C("LL40LS", path, bus, address, 100000), I2C("LL40LS", path, bus, address, 100000),
_work(), _work{},
_reports(nullptr), _reports(nullptr),
_sensor_ok(false), _sensor_ok(false),
_collect_phase(false), _collect_phase(false),
_class_instance(-1), _class_instance(-1),
_range_finder_topic(-1), _range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")), _sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_i2c_read")),
_comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")), _comms_errors(perf_alloc(PC_COUNT, "ll40ls_i2c_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")), _buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_i2c_overflows")),
_sensor_resets(perf_alloc(PC_COUNT, "ll40ls_resets")), _sensor_resets(perf_alloc(PC_COUNT, "ll40ls_i2c_resets")),
_sensor_zero_resets(perf_alloc(PC_COUNT, "ll40ls_zero_resets")), _sensor_zero_resets(perf_alloc(PC_COUNT, "ll40ls_i2c_zero_resets")),
_last_distance(0), _last_distance(0),
_zero_counter(0), _zero_counter(0),
_acquire_time_usec(0), _acquire_time_usec(0),
@ -116,7 +115,7 @@ int LidarLiteI2C::init()
} }
/* allocate basic report buffers */ /* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report)); _reports = new ringbuffer::RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr) { if (_reports == nullptr) {
goto out; goto out;

18
src/drivers/ll40ls/LidarLiteI2C.h
View File

@ -40,9 +40,6 @@
#pragma once #pragma once
//Forward declaration
class RingBuffer;
#include "LidarLite.h" #include "LidarLite.h"
#include <nuttx/wqueue.h> #include <nuttx/wqueue.h>
@ -50,6 +47,7 @@ class RingBuffer;
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
#include <drivers/device/i2c.h> #include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h> #include <uORB/topics/subsystem_info.h>
@ -76,10 +74,10 @@ public:
LidarLiteI2C(int bus, const char *path, int address = LL40LS_BASEADDR); LidarLiteI2C(int bus, const char *path, int address = LL40LS_BASEADDR);
virtual ~LidarLiteI2C(); virtual ~LidarLiteI2C();
virtual int init() override; int init() override;
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg) override; int ioctl(struct file *filp, int cmd, unsigned long arg) override;
/** /**
* Diagnostics - print some basic information about the driver. * Diagnostics - print some basic information about the driver.
@ -92,15 +90,15 @@ public:
void print_registers() override; void print_registers() override;
protected: protected:
virtual int probe(); int probe();
virtual int read_reg(uint8_t reg, uint8_t &val); int read_reg(uint8_t reg, uint8_t &val);
int measure() override; int measure() override;
int reset_sensor() override; int reset_sensor();
private: private:
work_s _work; work_s _work;
RingBuffer *_reports; ringbuffer::RingBuffer *_reports;
bool _sensor_ok; bool _sensor_ok;
bool _collect_phase; bool _collect_phase;
int _class_instance; int _class_instance;