MCP9808: refactor driver based on feedback

- Remove enum class Register : uint8_t
- Explicitly initialize buffer
- Explicitly initialize temp_raw
- Rename uorb publisher
- Remove overide from print_status()
- Take timestamp after read, correct measurement_time to uint64 and use hrt_elapsed_time()
- Remove exit_and_cleanup
- Move functions out of main + cleanup whitespace

MCP9808: remove exit_and_cleanup

MCP9808: Take timestamp after read, correct measurement_time to uint64 and use hrt_elapsed_time()

MCP9808: remove overide from print_status()

MCP9808: rename uorb publisher

MCP9808: explicitly initialize temp_raw

MCP9808: explicitly initialize buffer

MCP9808: Remove enum class Register : uint8_t

MCP9808: move functions out of main + cleanup whitespace

src/drivers/temperature_sensor/mcp9808/mcp9808.cpp

@@ -33,16 +33,58 @@
 
 #include "mcp9808.h"
 
+MCP9808::MCP9808(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
+{
+	_sensor_temp.device_id = this->get_device_id();
+}
+
+MCP9808::~MCP9808()
+{
+	ScheduleClear();
+	perf_free(_cycle_perf);
+	perf_free(_comms_errors);
+}
+
+void MCP9808::RunImpl()
+{
+	perf_begin(_cycle_perf);
+
+	// publish at around 5HZ
+	if ((hrt_elapsed_time(&measurement_time)) > 200_ms) {
+
+		float temperature = read_temperature();
+		measurement_time = hrt_absolute_time(); // get the time the measurement was taken
+
+		if (std::isnan(temperature)) {
+
+			perf_count(_comms_errors);
+
+		} else {
+			_sensor_temp.timestamp = hrt_absolute_time();
+			_sensor_temp.timestamp_sample = measurement_time;
+			_sensor_temp.temperature = temperature;
+
+			_sensor_temp_pub.publish(_sensor_temp);
+		}
+	}
+
+	perf_end(_cycle_perf);
+}
+
 int MCP9808::probe()
 {
 	uint16_t manuf_id, device_id;
-	int ret = read_reg(Register::MANUF_ID, manuf_id);
+	int ret = read_reg(MCP9808_REG_MANUF_ID, manuf_id);
 
 	if (ret != PX4_OK) {
 		return ret;
 	}
 
-	ret = read_reg(Register::DEVICE_ID, device_id);
+	ret = read_reg(MCP9808_REG_DEVICE_ID, device_id);
 
 	if (ret != PX4_OK) {
 		return ret;
@@ -69,14 +111,14 @@ int MCP9808::init()
 
 	PX4_INFO("I2C initialized successfully");
 
-	ret = write_reg(Register::CONFIG, 0x0000); // Ensure default configuration
+	ret = write_reg(MCP9808_REG_CONFIG, 0x0000); // Ensure default configuration
 
 	if (ret != PX4_OK) {
 		PX4_ERR("Configuration failed");
 		return ret;
 	}
 
-	_to_sensor_temp.advertise();
+	_sensor_temp_pub.advertise();
 
 	ScheduleOnInterval(100_ms); // Sample at 10 Hz
 	return PX4_OK;
@@ -84,9 +126,9 @@ int MCP9808::init()
 
 float MCP9808::read_temperature()
 {
-	uint16_t temp_raw;
+	uint16_t temp_raw = 0;
 
-	if (read_reg(Register::AMBIENT_TEMP, temp_raw) != PX4_OK) {
+	if (read_reg(MCP9808_REG_AMBIENT_TEMP, temp_raw) != PX4_OK) {
 		return NAN;
 	}
 
@@ -99,10 +141,10 @@ float MCP9808::read_temperature()
 	return temp;
 }
 
-int MCP9808::read_reg(Register address, uint16_t &data)
+int MCP9808::read_reg(uint8_t address, uint16_t &data)
 {
-	uint8_t addr = static_cast<uint8_t>(address);
+	uint8_t addr = address;
-	uint8_t buffer[2]; // Buffer to hold the raw data
+	uint8_t buffer[2] = {}; // Buffer to hold the raw data
 
 	// Read 2 bytes from the register
 	int ret = transfer(&addr, 1, buffer, 2);
@@ -117,8 +159,8 @@ int MCP9808::read_reg(Register address, uint16_t &data)
 	return PX4_OK;
 }
 
-int MCP9808::write_reg(Register address, uint16_t value)
+int MCP9808::write_reg(uint8_t address, uint16_t value)
 {
-	uint8_t buf[3] = {static_cast<uint8_t>(address), static_cast<uint8_t>(value >> 8), static_cast<uint8_t>(value & 0xFF)};
+	uint8_t buf[3] = {address, static_cast<uint8_t>(value >> 8), static_cast<uint8_t>(value & 0xFF)};
 	return transfer(buf, sizeof(buf), nullptr, 0);
 }

src/drivers/temperature_sensor/mcp9808/mcp9808.h

@@ -44,6 +44,12 @@
 
 using namespace time_literals;
 
+#define MCP9808_REG_CONFIG 0x01
+#define MCP9808_REG_AMBIENT_TEMP 0x05
+#define MCP9808_REG_MANUF_ID 0x06
+#define MCP9808_REG_DEVICE_ID 0x07
+#define MCP9808_REG_RESOLUTION 0x08
+
 class MCP9808 : public device::I2C, public I2CSPIDriver<MCP9808>
 {
 public:
@@ -56,30 +62,15 @@ public:
 	static void print_usage();
 
 protected:
-	void print_status() override;
+	void print_status();
-	void exit_and_cleanup() override;
 
 private:
-	enum class Register : uint8_t {
+	uORB::PublicationMulti<sensor_temp_s> _sensor_temp_pub{ORB_ID(sensor_temp)};
-		CONFIG = 0x01,
-		AMBIENT_TEMP = 0x05,
-		MANUF_ID = 0x06,
-		DEVICE_ID = 0x07,
-		RESOLUTION = 0x08
-	};
-
-	uORB::PublicationMulti<sensor_temp_s> _to_sensor_temp{ORB_ID(sensor_temp)};
 	perf_counter_t _cycle_perf;
 	perf_counter_t _comms_errors;
-
-
 	sensor_temp_s _sensor_temp{};
-
+	int read_reg(uint8_t address, uint16_t &data);
-
+	int write_reg(uint8_t address, uint16_t value);
-	int read_reg(Register address, uint16_t &data);
-	int write_reg(Register address, uint16_t value);
 	float read_temperature();
-
+	hrt_abstime measurement_time = 0;
-	uint32_t measurement_time = 0;
-
 };

src/drivers/temperature_sensor/mcp9808/mcp9808_main.cpp

@@ -41,59 +41,6 @@
 #include "mcp9808.h"
 #include <px4_platform_common/module.h>
 
-MCP9808::MCP9808(const I2CSPIDriverConfig &config) :
-	I2C(config),
-	I2CSPIDriver(config),
-	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
-	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
-
-{
-	_sensor_temp.device_id = this->get_device_id();
-
-}
-
-MCP9808::~MCP9808()
-{
-	ScheduleClear();
-	perf_free(_cycle_perf);
-	perf_free(_comms_errors);
-
-}
-
-void MCP9808::exit_and_cleanup()
-{
-	I2CSPIDriverBase::exit_and_cleanup();	// nothing to do
-}
-
-void MCP9808::RunImpl()
-{
-	perf_begin(_cycle_perf);
-
-	// publish at around 5HZ
-	if ((hrt_absolute_time() - measurement_time) > 200_ms) {
-
-		measurement_time = hrt_absolute_time(); // get the time the measurement was taken
-		float temperature = read_temperature();
-
-		if (std::isnan(temperature)) {
-
-			perf_count(_comms_errors);
-
-		} else {
-
-			_sensor_temp.timestamp = hrt_absolute_time();
-			_sensor_temp.timestamp_sample = measurement_time;
-			_sensor_temp.temperature = temperature;
-
-			_to_sensor_temp.publish(_sensor_temp);
-		}
-
-
-	}
-
-	perf_end(_cycle_perf);
-}
-
 void MCP9808::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("mcp9808", "driver");
@@ -103,13 +50,11 @@ void MCP9808::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-
 void MCP9808::print_status()
 {
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_cycle_perf);
 	perf_print_counter(_comms_errors);
-
 }
 
 extern "C" int mcp9808_main(int argc, char *argv[])