bmi160 move to px4 work queue

src/drivers/imu/bmi160/bmi160.cpp

@@ -20,9 +20,9 @@ const uint8_t BMI160::_checked_registers[BMI160_NUM_CHECKED_REGISTERS] = {    BM
 
 BMI160::BMI160(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation) :
 	SPI("BMI160", path_accel, bus, device, SPIDEV_MODE3, BMI160_BUS_SPEED),
+	ScheduledWorkItem(px4::device_bus_to_wq(this->get_device_id())),
 	_gyro(new BMI160_gyro(this, path_gyro)),
 	_whoami(0),
-	_call{},
 	_call_interval(0),
 	_accel_reports(nullptr),
 	_accel_scale{},
@@ -86,8 +86,6 @@ BMI160::BMI160(int bus, const char *path_accel, const char *path_gyro, uint32_t
 	_gyro_scale.y_scale  = 1.0f;
 	_gyro_scale.z_offset = 0;
 	_gyro_scale.z_scale  = 1.0f;
-
-	memset(&_call, 0, sizeof(_call));
 }
 
 
@@ -575,16 +573,16 @@ BMI160::ioctl(struct file *filp, int cmd, unsigned long arg)
 					bool want_start = (_call_interval == 0);
 
 					/* convert hz to hrt interval via microseconds */
-					unsigned ticks = 1000000 / arg;
+					unsigned interval = 1000000 / arg;
 
 					/* check against maximum sane rate */
-					if (ticks < 1000) {
+					if (interval < 1000) {
 						return -EINVAL;
 					}
 
 					// adjust filters
 					float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
-					float sample_rate = 1.0e6f / ticks;
+					float sample_rate = 1.0e6f / interval;
 					_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
 					_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
 					_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
@@ -597,15 +595,7 @@ BMI160::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 					/* update interval for next measurement */
 					/* XXX this is a bit shady, but no other way to adjust... */
-					_call_interval = ticks;
-
-					/*
-					  set call interval faster then the sample time. We
-					  then detect when we have duplicate samples and reject
-					  them. This prevents aliasing due to a beat between the
-					  stm32 clock and the bmi160 clock
-					 */
-					_call.period = _call_interval - BMI160_TIMER_REDUCTION;
+					_call_interval = interval;
 
 					/* if we need to start the poll state machine, do it */
 					if (want_start) {
@@ -817,26 +807,22 @@ BMI160::start()
 	_gyro_reports->flush();
 
 	/* start polling at the specified rate */
-	hrt_call_every(&_call,
-		       1000,
-		       _call_interval - BMI160_TIMER_REDUCTION,
-		       (hrt_callout)&BMI160::measure_trampoline, this);
+	ScheduleOnInterval(_call_interval - BMI160_TIMER_REDUCTION, 1000);
+
 	reset();
 }
 
 void
 BMI160::stop()
 {
-	hrt_cancel(&_call);
+	ScheduleClear();
 }
 
 void
-BMI160::measure_trampoline(void *arg)
+BMI160::Run()
 {
-	BMI160 *dev = reinterpret_cast<BMI160 *>(arg);
-
 	/* make another measurement */
-	dev->measure();
+	measure();
 }
 
 void

src/drivers/imu/bmi160/bmi160.hpp

@@ -35,6 +35,7 @@
 #include <drivers/drv_mag.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 
 #define DIR_READ                0x80
 #define DIR_WRITE               0x00
@@ -243,7 +244,7 @@
 
 class BMI160_gyro;
 
-class BMI160 : public device::SPI
+class BMI160 : public device::SPI, public px4::ScheduledWorkItem
 {
 public:
 	BMI160(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation);
@@ -276,7 +277,6 @@ private:
 	BMI160_gyro		*_gyro;
 	uint8_t			_whoami;	/** whoami result */
 
-	struct hrt_call		_call;
 	unsigned		_call_interval;
 
 	ringbuffer::RingBuffer	*_accel_reports;
@@ -355,16 +355,7 @@ private:
 	 */
 	int			reset();
 
-	/**
-	 * Static trampoline from the hrt_call context; because we don't have a
-	 * generic hrt wrapper yet.
-	 *
-	 * Called by the HRT in interrupt context at the specified rate if
-	 * automatic polling is enabled.
-	 *
-	 * @param arg		Instance pointer for the driver that is polling.
-	 */
-	static void		measure_trampoline(void *arg);
+	void			Run() override;
 
 	/**
 	 * Fetch measurements from the sensor and update the report buffers.