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Ulanding: remove unnecessary posix/nuttx platform differences

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This commit is contained in:
jgs2185
2017-08-28 15:10:41 -05:00
committed by Nuno Marques
parent 085540d5de
commit f59530ec1f
1 changed files with 13 additions and 101 deletions
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src/drivers/ulanding/ulanding.cpp
+13 -101
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@@ -39,12 +39,9 @@
* Driver for the uLanding radar from Aerotenna
*/
#if defined(__PX4_POSIX)
#include <px4_config.h>
#include <px4_workqueue.h>
#include <px4_defines.h>
//this group added from hc_sr04
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
@@ -63,8 +60,6 @@
#include <drivers/device/ringbuffer.h>
#include <stdio.h>
#include <uORB/uORB.h>
#endif
#include <termios.h>
@@ -74,10 +69,8 @@
#include <uORB/topics/distance_sensor.h>
#if defined(__PX4_POSIX)
namespace ulanding
{
#endif
#define ULANDING_MIN_DISTANCE 0.315f
#define ULANDING_MAX_DISTANCE 50.0f
@@ -214,7 +207,9 @@ Radar::init()
#if defined(__PX4_POSIX)
/* do regular vdev init */
ret = VDev::init();
#else
ret = CDev::init();
#endif
if (ret != OK) {
PX4_WARN("vdev init failed");
break;
@@ -244,8 +239,17 @@ Radar::init()
// no input parity check, don't strip high bit off,
// no XON/XOFF software flow control
//
//TODO: only Posix/VDev/OcPoc?
uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
INLCR | PARMRK | INPCK | ISTRIP | IXON);
//
// No line processing
//
// echo off, echo newline off, canonical mode off,
// extended input processing off, signal chars off
//
//TODO: only for Posix/VDev/OcPoc?
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
//
// Output flags - Turn off output processing
@@ -258,7 +262,7 @@ Radar::init()
//// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
// ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
uart_config.c_oflag = 0;
//uart_config.c_oflag = 0;
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
@@ -266,13 +270,6 @@ Radar::init()
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);
//
// No line processing
//
// echo off, echo newline off, canonical mode off,
// extended input processing off, signal chars off
//
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
unsigned speed = B115200;
@@ -297,70 +294,7 @@ Radar::init()
}
::close(fd);
#else
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) {
PX4_WARN("cdev init failed");
break;
}
int fd = px4_open(RANGE_FINDER0_DEVICE_PATH, 0);
if (fd < 0) {
PX4_WARN("failed to open range finder device");
ret = 1;
break;
}
px4_close(fd);
/* open fd */
fd = px4_open(_port, O_RDWR | O_NOCTTY);
if (fd < 0) {
PX4_WARN("failed to open serial device");
ret = 1;
break;
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(fd, &uart_config);
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);
unsigned speed = B115200;
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
PX4_WARN("ERR CFG: %d ISPD", termios_state);
ret = 1;
break;
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
PX4_WARN("ERR CFG: %d OSPD\n", termios_state);
ret = 1;
break;
}
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
PX4_WARN("ERR baud %d ATTR", termios_state);
ret = 1;
break;
}
px4_close(fd);
#endif
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
struct distance_sensor_s ds_report = {};
@@ -495,7 +429,6 @@ bool Radar::read_and_parse(uint8_t *buf, int len, float *range)
void
Radar::task_main()
{
#if defined(__PX4_POSIX)
int fd = ::open(_port, O_RDWR | O_NOCTTY);
if (fd < 0) {
@@ -506,16 +439,9 @@ Radar::task_main()
PX4_WARN("not a serial device");
}
#else
int fd = px4_open(_port, O_RDWR | O_NOCTTY);
#endif
// we poll on data from the serial port
#if defined(__PX4_POSIX)
pollfd fds[1];
#else
px4_pollfd_struct_t fds[1];
#endif
fds[0].fd = fd;
fds[0].events = POLLIN;
@@ -524,11 +450,7 @@ Radar::task_main()
while (!_task_should_exit) {
// wait for up to 100ms for data
#if defined(__PX4_POSIX)
int pret = ::poll(fds, (sizeof(fds) / sizeof(fds[0])), 100);
#else
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
#endif
// timed out
if (pret == 0) {
@@ -544,11 +466,7 @@ Radar::task_main()
if (fds[0].revents & POLLIN) {
memset(&buf[0], 0, sizeof(buf));
#if defined(__PX4_POSIX)
int len = ::read(fd, &buf[0], sizeof(buf));
#else
int len = px4_read(fd, &buf[0], sizeof(buf));
#endif
if (len <= 0) {
PX4_DEBUG("error reading radar");
@@ -580,11 +498,7 @@ Radar::task_main()
}
}
#if define__PX4_POSIX
::close(fd);
#else
px4_close(fd);
#endif
}
int ulanding_radar_main(int argc, char *argv[])
@@ -658,6 +572,4 @@ int ulanding_radar_main(int argc, char *argv[])
PX4_WARN("unrecognized arguments, try: start [device_path], stop, info ");
return 1;
}
#if defined(__PX4_POSIX)
}; //namespace
#endif