diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp index 3cfbeb959d57..6808ab3f7fce 100644 --- a/src/drivers/distance_sensor/teraranger/teraranger.cpp +++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp @@ -41,7 +41,7 @@ #include #include #include -#include +#include #include #include @@ -92,21 +92,17 @@ #define TERARANGER_CONVERSION_INTERVAL 50000 /* 50ms */ -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - -class TERARANGER : public device::I2C +class TERARANGER : public device::I2C, public px4::ScheduledWorkItem { public: TERARANGER(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING, int bus = TERARANGER_BUS_DEFAULT, int address = TRONE_BASEADDR); virtual ~TERARANGER(); - virtual int init(); + virtual int init() override; - virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen); - virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); + virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen) override; + virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg) override; /** * Diagnostics - print some basic information about the driver. @@ -114,17 +110,16 @@ class TERARANGER : public device::I2C void print_info(); protected: - virtual int probe(); + virtual int probe() override; private: uint8_t _rotation; float _min_distance; float _max_distance; - work_s _work{}; ringbuffer::RingBuffer *_reports; bool _sensor_ok; uint8_t _valid; - int _measure_ticks; + int _measure_interval; bool _collect_phase; int _class_instance; int _orb_class_instance; @@ -170,17 +165,9 @@ class TERARANGER : public device::I2C * Perform a poll cycle; collect from the previous measurement * and start a new one. */ - void cycle(); + void Run() override; int measure(); int collect(); - /** - * Static trampoline from the workq context; because we don't have a - * generic workq wrapper yet. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void cycle_trampoline(void *arg); - }; @@ -229,13 +216,14 @@ extern "C" __EXPORT int teraranger_main(int argc, char *argv[]); TERARANGER::TERARANGER(uint8_t rotation, int bus, int address) : I2C("TERARANGER", TERARANGER_DEVICE_PATH, bus, address, 100000), + ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())), _rotation(rotation), _min_distance(-1.0f), _max_distance(-1.0f), _reports(nullptr), _sensor_ok(false), _valid(0), - _measure_ticks(0), + _measure_interval(0), _collect_phase(false), _class_instance(-1), _orb_class_instance(-1), @@ -431,10 +419,10 @@ TERARANGER::ioctl(device::file_t *filp, int cmd, unsigned long arg) /* set default polling rate */ case SENSOR_POLLRATE_DEFAULT: { /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); + bool want_start = (_measure_interval == 0); /* set interval for next measurement to minimum legal value */ - _measure_ticks = USEC2TICK(TERARANGER_CONVERSION_INTERVAL); + _measure_interval = (TERARANGER_CONVERSION_INTERVAL); /* if we need to start the poll state machine, do it */ if (want_start) { @@ -447,18 +435,18 @@ TERARANGER::ioctl(device::file_t *filp, int cmd, unsigned long arg) /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); + bool want_start = (_measure_interval == 0); /* convert hz to tick interval via microseconds */ - int ticks = USEC2TICK(1000000 / arg); + int interval = (1000000 / arg); /* check against maximum rate */ - if (ticks < USEC2TICK(TERARANGER_CONVERSION_INTERVAL)) { + if (interval < (TERARANGER_CONVERSION_INTERVAL)) { return -EINVAL; } /* update interval for next measurement */ - _measure_ticks = ticks; + _measure_interval = interval; /* if we need to start the poll state machine, do it */ if (want_start) { @@ -489,7 +477,7 @@ TERARANGER::read(device::file_t *filp, char *buffer, size_t buflen) } /* if automatic measurement is enabled */ - if (_measure_ticks > 0) { + if (_measure_interval > 0) { /* * While there is space in the caller's buffer, and reports, copy them. @@ -621,25 +609,17 @@ TERARANGER::start() _reports->flush(); /* schedule a cycle to start things */ - work_queue(HPWORK, &_work, (worker_t)&TERARANGER::cycle_trampoline, this, 1); + ScheduleNow(); } void TERARANGER::stop() { - work_cancel(HPWORK, &_work); -} - -void -TERARANGER::cycle_trampoline(void *arg) -{ - TERARANGER *dev = (TERARANGER *)arg; - - dev->cycle(); + ScheduleClear(); } void -TERARANGER::cycle() +TERARANGER::Run() { /* collection phase? */ if (_collect_phase) { @@ -658,13 +638,9 @@ TERARANGER::cycle() /* * Is there a collect->measure gap? */ - if (_measure_ticks > USEC2TICK(TERARANGER_CONVERSION_INTERVAL)) { + if (_measure_interval > TERARANGER_CONVERSION_INTERVAL) { /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&TERARANGER::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(TERARANGER_CONVERSION_INTERVAL)); + ScheduleDelayed(_measure_interval - TERARANGER_CONVERSION_INTERVAL); return; } @@ -679,11 +655,7 @@ TERARANGER::cycle() _collect_phase = true; /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&TERARANGER::cycle_trampoline, - this, - USEC2TICK(TERARANGER_CONVERSION_INTERVAL)); + ScheduleDelayed(TERARANGER_CONVERSION_INTERVAL); } void @@ -691,7 +663,7 @@ TERARANGER::print_info() { perf_print_counter(_sample_perf); perf_print_counter(_comms_errors); - printf("poll interval: %u ticks\n", _measure_ticks); + printf("poll interval: %u\n", _measure_interval); _reports->print_info("report queue"); }