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tfmini: use px4_open/read and default range finder device path

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this is more consistant and should enable it on qurt/linux
This commit is contained in:
ChristophTobler
2018-01-18 18:02:45 +01:00
committed by Lorenz Meier
parent 7bf3425b7e
commit 92dbb16d29
1 changed files with 14 additions and 17 deletions
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31
src/drivers/distance_sensor/tfmini/tfmini.cpp
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@@ -81,9 +81,6 @@
# error This requires CONFIG_SCHED_WORKQUEUE. # error This requires CONFIG_SCHED_WORKQUEUE.
#endif #endif
#define NAME "tfmini"
#define DEVICE_PATH "/dev/" NAME
class TFMINI : public device::CDev class TFMINI : public device::CDev
{ {
public: public:
@@ -174,7 +171,7 @@ private:
extern "C" __EXPORT int tfmini_main(int argc, char *argv[]); extern "C" __EXPORT int tfmini_main(int argc, char *argv[]);
TFMINI::TFMINI(const char *port, uint8_t rotation) : TFMINI::TFMINI(const char *port, uint8_t rotation) :
CDev(NAME, DEVICE_PATH), CDev("tfmini", RANGE_FINDER0_DEVICE_PATH),
_rotation(rotation), _rotation(rotation),
_min_distance(0.30f), _min_distance(0.30f),
_max_distance(12.0f), _max_distance(12.0f),
@@ -226,7 +223,7 @@ TFMINI::~TFMINI()
int int
TFMINI::init() TFMINI::init()
{ {
int hw_model; int32_t hw_model;
param_get(param_find("SENS_EN_TFMINI"), &hw_model); param_get(param_find("SENS_EN_TFMINI"), &hw_model);
switch (hw_model) { switch (hw_model) {
@@ -766,14 +763,14 @@ start(const char *port, uint8_t rotation)
} }
/* set the poll rate to default, starts automatic data collection */ /* set the poll rate to default, starts automatic data collection */
fd = open(DEVICE_PATH, O_RDONLY); fd = px4_open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
if (fd < 0) { if (fd < 0) {
warnx("Opening device '%s' failed"); warnx("Opening device '%s' failed");
goto fail; goto fail;
} }
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail; goto fail;
} }
@@ -818,14 +815,14 @@ test()
struct distance_sensor_s report; struct distance_sensor_s report;
ssize_t sz; ssize_t sz;
int fd = open(DEVICE_PATH, O_RDONLY); int fd = px4_open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
if (fd < 0) { if (fd < 0) {
err(1, "%s open failed (try 'tfmini start' if the driver is not running", RANGE_FINDER0_DEVICE_PATH); err(1, "%s open failed (try 'tfmini start' if the driver is not running", RANGE_FINDER0_DEVICE_PATH);
} }
/* do a simple demand read */ /* do a simple demand read */
sz = read(fd, &report, sizeof(report)); sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) { if (sz != sizeof(report)) {
err(1, "immediate read failed"); err(1, "immediate read failed");
@@ -836,18 +833,18 @@ test()
warnx("time: %llu", report.timestamp); warnx("time: %llu", report.timestamp);
/* start the sensor polling at 2 Hz rate */ /* start the sensor polling at 2 Hz rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate"); errx(1, "failed to set 2Hz poll rate");
} }
/* read the sensor 5x and report each value */ /* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) { for (unsigned i = 0; i < 5; i++) {
struct pollfd fds; px4_pollfd_struct_t fds{};
/* wait for data to be ready */ /* wait for data to be ready */
fds.fd = fd; fds.fd = fd;
fds.events = POLLIN; fds.events = POLLIN;
int ret = poll(&fds, 1, 2000); int ret = px4_poll(&fds, 1, 2000);
if (ret != 1) { if (ret != 1) {
warnx("timed out"); warnx("timed out");
@@ -855,7 +852,7 @@ test()
} }
/* now go get it */ /* now go get it */
sz = read(fd, &report, sizeof(report)); sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) { if (sz != sizeof(report)) {
warnx("read failed: got %d vs exp. %d", sz, sizeof(report)); warnx("read failed: got %d vs exp. %d", sz, sizeof(report));
@@ -870,7 +867,7 @@ test()
} }
/* reset the sensor polling to the default rate */ /* reset the sensor polling to the default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "ERR: DEF RATE"); errx(1, "ERR: DEF RATE");
} }
@@ -883,17 +880,17 @@ test()
void void
reset() reset()
{ {
int fd = open(DEVICE_PATH, O_RDONLY); int fd = px4_open(RANGE_FINDER0_DEVICE_PATH, O_RDONLY);
if (fd < 0) { if (fd < 0) {
err(1, "failed "); err(1, "failed ");
} }
if (ioctl(fd, SENSORIOCRESET, 0) < 0) { if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed"); err(1, "driver reset failed");
} }
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed"); err(1, "driver poll restart failed");
} }