adis16497 move to px4 work queue

PX4 · Mar 15, 2019 · 6fee1b8 · 6fee1b8
1 parent 74b1882
commit 6fee1b8
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Showing 2 changed files with 10 additions and 16 deletions.
diff --git a/src/drivers/imu/adis16497/ADIS16497.cpp b/src/drivers/imu/adis16497/ADIS16497.cpp
@@ -68,6 +68,7 @@ using namespace time_literals;
 
 ADIS16497::ADIS16497(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation) :
 	SPI("ADIS16497", path_accel, bus, device, SPIDEV_MODE3, 5000000),
+	ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
 	_gyro(new ADIS16497_gyro(this, path_gyro)),
 	_sample_perf(perf_alloc(PC_ELAPSED, "ADIS16497_read")),
 	_sample_interval_perf(perf_alloc(PC_INTERVAL, "ADIS16497_read_int")),
@@ -474,7 +475,7 @@ ADIS16497::start()
 	stop();
 
 	// Start polling at the specified rate
-	hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&ADIS16497::measure_trampoline, this);
+	ScheduleOnInterval(_call_interval, 1000);
 #endif
 }
 
@@ -485,7 +486,7 @@ ADIS16497::stop()
 	// Disable data ready callback
 	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ADIS16497, false, false, false, nullptr, nullptr);
 #else
-	hrt_cancel(&_call);
+	ScheduleClear();
 #endif
 }
 
@@ -495,18 +496,16 @@ ADIS16497::data_ready_interrupt(int irq, void *context, void *arg)
 	ADIS16497 *dev = reinterpret_cast<ADIS16497 *>(arg);
 
 	/* make another measurement */
-	dev->measure();
+	dev->ScheduleNow();
 
 	return PX4_OK;
 }
 
 void
-ADIS16497::measure_trampoline(void *arg)
+ADIS16497::Run()
 {
-	ADIS16497 *dev = reinterpret_cast<ADIS16497 *>(arg);
-
 	/* make another measurement */
-	dev->measure();
+	measure();
 }
 
 int

diff --git a/src/drivers/imu/adis16497/ADIS16497.hpp b/src/drivers/imu/adis16497/ADIS16497.hpp
@@ -49,6 +49,7 @@
 #include <lib/conversion/rotation.h>
 #include <perf/perf_counter.h>
 #include <ecl/geo/geo.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 
 #define ADIS16497_GYRO_DEFAULT_RATE			1000
 #define ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ	80
@@ -94,7 +95,7 @@ static const uint32_t crc32_tab[] = {
 
 class ADIS16497_gyro;
 
-class ADIS16497 : public device::SPI
+class ADIS16497 : public device::SPI, public px4::ScheduledWorkItem
 {
 public:
 	ADIS16497(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation);
@@ -116,7 +117,6 @@ class ADIS16497 : public device::SPI
 private:
 	ADIS16497_gyro		*_gyro{nullptr};
 
-	struct hrt_call		_call {};
 	unsigned		_call_interval{1000};
 
 	struct gyro_calibration_s	_gyro_scale {};
@@ -197,15 +197,10 @@ class ADIS16497 : public device::SPI
 	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
+	 * Called by the ScheduledWorkItem 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;
 
 	static int		data_ready_interrupt(int irq, void *context, void *arg);