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Ported accelsim, gyrosim and adcsim to DriverFramework

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Need to handle _pub_blocked flag in DriverFramework as a PX4
specific implementation.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-11-09 10:26:28 -08:00
parent 8b80a24d9d
commit 40c079efa8
3 changed files with 84 additions and 188 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/drivers/accelsim/accelsim.cpp
+73 -177
View File
File diff suppressed because it is too large Load Diff
src/platforms/posix/drivers/adcsim/adcsim.cpp
+1 -1
View File
@@ -102,7 +102,7 @@ private:
};
ADCSIM::ADCSIM(uint32_t channels) :
VirtDevObj("adcsim", ADC_BASE_DEV_PATH, 10000),
VirtDevObj("adcsim", "/dev/adcsim", ADC_BASE_DEV_PATH, 10000),
_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
_channel_count(0),
_samples(nullptr)
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+10 -10
View File
@@ -308,7 +308,7 @@ private:
extern "C" { __EXPORT int gyrosim_main(int argc, char *argv[]); }
GYROSIM::GYROSIM(const char *path_accel, const char *path_gyro, enum Rotation rotation) :
VirtDevObj("GYROSIM", path_accel, 1000),
VirtDevObj("GYROSIM", path_accel, nullptr, 1000),
_gyro(new GYROSIM_gyro(this, path_gyro)),
_product(GYROSIMES_REV_C4),
_accel_reports(nullptr),
@@ -484,7 +484,7 @@ GYROSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
// Get data from the simulator
Simulator *sim = Simulator::getInstance();
if (sim == NULL) {
if (sim == nullptr) {
PX4_WARN("failed accessing simulator");
return ENODEV;
}
@@ -1161,7 +1161,7 @@ GYROSIM::print_registers()
GYROSIM_gyro::GYROSIM_gyro(GYROSIM *parent, const char *path) :
// Set sample interval to 0 since device is read by parent
VirtDevObj("GYROSIM_gyro", path, 0),
VirtDevObj("GYROSIM_gyro", path, nullptr, 0),
_parent(parent),
_gyro_topic(nullptr),
_gyro_orb_class_instance(-1)
@@ -1226,10 +1226,10 @@ void usage();
int
start(enum Rotation rotation)
{
int fd;
GYROSIM **g_dev_ptr = &g_dev_sim;
const char *path_accel = MPU_DEVICE_PATH_ACCEL;
const char *path_gyro = MPU_DEVICE_PATH_GYRO;
DevHandle h;
if (*g_dev_ptr != nullptr) {
/* if already started, the still command succeeded */
@@ -1249,18 +1249,18 @@ start(enum Rotation rotation)
}
/* set the poll rate to default, starts automatic data collection */
fd = px4_open(path_accel, O_RDONLY);
DevMgr::getHandle(path_accel, h);
if (fd < 0) {
if (!h.isValid()) {
goto fail;
}
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
px4_close(fd);
if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
DevMgr::releaseHandle(h);
goto fail;
}
px4_close(fd);
DevMgr::releaseHandle(h);
return 0;
fail:
@@ -1469,7 +1469,7 @@ gyrosim_main(int argc, char *argv[])
/* jump over start/off/etc and look at options first */
int myoptind = 1;
const char *myoptarg = NULL;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {