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refactor mb12xx: use driver base class

This commit is contained in:
Beat Küng 2020-03-02 13:55:55 +01:00 committed by Daniel Agar
parent 7e3f40d1c2
commit f743585160
3 changed files with 67 additions and 259 deletions
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2
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -79,7 +79,7 @@ fi
# mb12xx sonar sensor
if param greater -s SENS_EN_MB12XX 0
then
mb12xx start -a
mb12xx start -X
fi
# pga460 sonar sensor

323
src/drivers/distance_sensor/mb12xx/mb12xx.cpp
View File

@ -63,7 +63,8 @@
#include <px4_platform_common/px4_config.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/module.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <uORB/uORB.h>
#include <uORB/topics/distance_sensor.h>
@ -72,7 +73,6 @@ using namespace time_literals;
/* Configuration Constants */
#define MB12XX_BASE_ADDR 0x70 // 7-bit address is 0x70 = 112. 8-bit address is 0xE0 = 224.
#define MB12XX_MIN_ADDR 0x5A // 7-bit address is 0x5A = 90. 8-bit address is 0xB4 = 180.
#define MB12XX_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
#define MB12XX_BUS_SPEED 100000 // 100kHz bus speed.
#define MB12XX_DEVICE_PATH "/dev/mb12xx"
@ -88,18 +88,22 @@ using namespace time_literals;
#define MB12XX_MEASURE_INTERVAL 100_ms // 60ms minimum for one sonar.
#define MB12XX_INTERVAL_BETWEEN_SUCCESIVE_FIRES 100_ms // 30ms minimum between each sonar measurement (watch out for interference!).
class MB12XX : public device::I2C, public ModuleParams, public px4::ScheduledWorkItem
class MB12XX : public device::I2C, public ModuleParams, public I2CSPIDriver<MB12XX>
{
public:
MB12XX(const int bus = MB12XX_BUS_DEFAULT);
MB12XX(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address);
virtual ~MB12XX();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
virtual int init() override;
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
void print_status() override;
/**
* Sets a new device address.
@ -117,11 +121,13 @@ public:
void start();
/**
* Stop the automatic measurement state machine.
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void stop();
void RunImpl();
protected:
void custom_method(const BusCLIArguments &cli) override;
private:
@ -140,12 +146,6 @@ private:
*/
int measure();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void Run() override;
px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> _sensor_addresses {};
px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> _sensor_rotations {};
@ -178,18 +178,15 @@ private:
);
};
MB12XX::MB12XX(const int bus) :
I2C("MB12xx", MB12XX_DEVICE_PATH, bus, MB12XX_BASE_ADDR, MB12XX_BUS_SPEED),
MB12XX::MB12XX(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address) :
I2C("MB12xx", MB12XX_DEVICE_PATH, bus, address, 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, address)
{
}
MB12XX::~MB12XX()
{
// Ensure we are truly inactive.
stop();
// Unadvertise the distance sensor topic.
if (_distance_sensor_topic != nullptr) {
orb_unadvertise(_distance_sensor_topic);
@ -344,8 +341,9 @@ MB12XX::measure()
}
void
MB12XX::print_info()
MB12XX::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_error);
PX4_INFO("poll interval: %ums", _measure_interval / 1000);
@ -356,7 +354,7 @@ MB12XX::print_info()
}
void
MB12XX::Run()
MB12XX::RunImpl()
{
// Collect the sensor data.
if (collect() != PX4_OK) {
@ -406,267 +404,76 @@ MB12XX::start()
}
void
MB12XX::stop()
MB12XX::custom_method(const BusCLIArguments &cli)
{
ScheduleClear();
set_address(cli.i2c_address);
}
/**
* Local functions in support of the shell command.
*/
namespace mb12xx
I2CSPIDriverBase *MB12XX::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
MB12XX *instance = new MB12XX(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address);
MB12XX *g_dev;
if (instance == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
int reset();
int set_address(const uint8_t address = MB12XX_BASE_ADDR);
int start();
int start_bus(const int i2c_bus = MB12XX_BUS_DEFAULT);
int status();
int stop();
int test();
int usage();
if (instance->init() != PX4_OK) {
delete instance;
return nullptr;
}
/**
* Reset the driver.
*/
int
reset()
{
PX4_INFO("driver resetting");
stop();
start();
return PX4_OK;
instance->start();
return instance;
}
int
set_address(const uint8_t address)
{
if (g_dev != nullptr) {
if (g_dev->set_address(address) != PX4_OK) {
PX4_ERR("address not set");
return PX4_ERROR;
}
}
reset();
return PX4_OK;
void
MB12XX::print_usage()
{
PRINT_MODULE_USAGE_NAME("mb12xx", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x70);
PRINT_MODULE_USAGE_COMMAND("set_address");
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x70);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
/**
* 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;
}
for (unsigned i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
if (start_bus(i2c_bus_options[i]) == PX4_OK) {
return PX4_OK;
}
}
return PX4_ERROR;
}
/**
* 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(const int i2c_bus)
{
if (g_dev != nullptr) {
PX4_ERR("already started");
return PX4_OK;
}
// Instantiate the driver.
g_dev = new MB12XX(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;
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
int
test()
{
int fd = px4_open(MB12XX_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
PX4_ERR("%s open failed (try 'mb12xx start' if the driver is not running)", MB12XX_DEVICE_PATH);
return PX4_ERROR;
}
// Perform a simple demand read.
distance_sensor_s report {};
ssize_t sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_ERR("immediate read failed");
return PX4_ERROR;
}
print_message(report);
PX4_INFO("PASS");
return PX4_OK;
}
/**
* Print information about the driver usage.
*/
int
usage()
{
PX4_INFO("usage: mb12xx <command> [options]");
PX4_INFO("options:");
PX4_INFO("\t-a --all available busses");
PX4_INFO("\t-b --bus i2cbus (%d)", MB12XX_BUS_DEFAULT);
PX4_INFO("\t-A --set device address (0-112, 0x00-0x70)");
PX4_INFO("command:");
PX4_INFO("\treset|set_address|start|status|stop|test|usage");
return PX4_OK;
}
} // namespace mb12xx
/**
* Driver 'main' command.
*/
extern "C" __EXPORT int mb12xx_main(int argc, char *argv[])
{
const char *myoptarg = nullptr;
using ThisDriver = MB12XX;
BusCLIArguments cli{true, false};
cli.i2c_address = MB12XX_BASE_ADDR;
cli.default_i2c_frequency = MB12XX_BUS_SPEED;
int ch = 0;
int i2c_bus = MB12XX_BUS_DEFAULT;
int myoptind = 1;
const char *verb = cli.parseDefaultArguments(argc, argv);
uint8_t address = MB12XX_BASE_ADDR;
bool start_all = false;
while ((ch = px4_getopt(argc, argv, "abs:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'a':
start_all = true;
break;
case 'b':
i2c_bus = atoi(myoptarg);
break;
case 's':
address = (uint8_t)atoi(myoptarg);
break;
default:
PX4_WARN("Unknown option!");
return mb12xx::usage();
}
if (!verb) {
ThisDriver::print_usage();
return -1;
}
if (myoptind >= argc) {
return mb12xx::usage();
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_MB12XX);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
// Reset the driver.
if (!strcmp(argv[myoptind], "reset")) {
return mb12xx::reset();
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
// Set the device I2C address.
if (!strcmp(argv[myoptind], "set_address")) {
return mb12xx::set_address(address);
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
// Start/load the driver.
if (!strcmp(argv[myoptind], "start")) {
if (start_all) {
return mb12xx::start();
} else {
return mb12xx::start_bus(i2c_bus);
}
if (!strcmp(verb, "set_address")) {
return ThisDriver::module_custom_method(cli, iterator);
}
// Print the driver status.
if (!strcmp(argv[myoptind], "status")) {
return mb12xx::status();
}
// Stop the driver.
if (!strcmp(argv[myoptind], "stop")) {
return mb12xx::stop();
}
// Test the driver/device.
if (!strcmp(argv[myoptind], "test")) {
return mb12xx::test();
}
// Print driver usage information.
return mb12xx::usage();
ThisDriver::print_usage();
return -1;
}

1
src/drivers/drv_sensor.h
View File

@ -131,6 +131,7 @@
#define DRV_DIST_DEVTYPE_LL40LS 0x70
#define DRV_DIST_DEVTYPE_MAPPYDOT 0x71
#define DRV_DIST_DEVTYPE_MB12XX 0x72
#define DRV_DEVTYPE_UNUSED 0xff