From b8befe36b921f7d63a48da541493e3d85eec6665 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 22 Feb 2019 10:40:25 -0500
Subject: [PATCH] lps25h move to px4 work queue

---
 src/drivers/barometer/lps25h/lps25h.cpp | 66 +++++++------------------
 1 file changed, 19 insertions(+), 47 deletions(-)

diff --git a/src/drivers/barometer/lps25h/lps25h.cpp b/src/drivers/barometer/lps25h/lps25h.cpp
index b9523c8fb2..9bafef1a5d 100644
--- a/src/drivers/barometer/lps25h/lps25h.cpp
+++ b/src/drivers/barometer/lps25h/lps25h.cpp
@@ -57,7 +57,7 @@
 #include <unistd.h>
 
 #include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 #include <nuttx/clock.h>
 
 #include <board_config.h>
@@ -189,11 +189,7 @@ enum LPS25H_BUS {
 	LPS25H_BUS_SPI
 };
 
-#ifndef CONFIG_SCHED_WORKQUEUE
-# error This requires CONFIG_SCHED_WORKQUEUE.
-#endif
-
-class LPS25H : public cdev::CDev
+class LPS25H : public cdev::CDev, public px4::ScheduledWorkItem
 {
 public:
 	LPS25H(device::Device *interface, const char *path);
@@ -213,8 +209,7 @@ protected:
 	device::Device			*_interface;
 
 private:
-	work_s			_work{};
-	unsigned		_measure_ticks{0};
+	unsigned		_measure_interval{0};
 
 	ringbuffer::RingBuffer	*_reports{nullptr};
 	bool			_collect_phase{false};
@@ -259,15 +254,7 @@ private:
 	 * and measurement to provide the most recent measurement possible
 	 * at the next interval.
 	 */
-	void			cycle();
-
-	/**
-	 * Static trampoline from the workq context; because we don't have a
-	 * generic workq wrapper yet.
-	 *
-	 * @param arg		Instance pointer for the driver that is polling.
-	 */
-	static void		cycle_trampoline(void *arg);
+	void			Run() override;
 
 	/**
 	 * Write a register.
@@ -312,6 +299,7 @@ extern "C" __EXPORT int lps25h_main(int argc, char *argv[]);
 
 LPS25H::LPS25H(device::Device *interface, const char *path) :
 	CDev(path),
+	ScheduledWorkItem(px4::device_bus_to_wq(interface->get_device_id())),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, "lps25h_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "lps25h_comms_errors"))
@@ -386,7 +374,7 @@ LPS25H::read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* if automatic measurement is enabled */
-	if (_measure_ticks > 0) {
+	if (_measure_interval > 0) {
 
 		/*
 		 * While there is space in the caller's buffer, and reports, copy them.
@@ -448,10 +436,10 @@ LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
 			/* set default polling rate */
 			case SENSOR_POLLRATE_DEFAULT: {
 					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
+					bool want_start = (_measure_interval == 0);
 
 					/* set interval for next measurement to minimum legal value */
-					_measure_ticks = USEC2TICK(LPS25H_CONVERSION_INTERVAL);
+					_measure_interval = (LPS25H_CONVERSION_INTERVAL);
 
 					/* if we need to start the poll state machine, do it */
 					if (want_start) {
@@ -464,18 +452,18 @@ LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
 			/* adjust to a legal polling interval in Hz */
 			default: {
 					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
+					bool want_start = (_measure_interval == 0);
 
 					/* convert hz to tick interval via microseconds */
-					unsigned ticks = USEC2TICK(1000000 / arg);
+					unsigned interval = (1000000 / arg);
 
 					/* check against maximum rate */
-					if (ticks < USEC2TICK(LPS25H_CONVERSION_INTERVAL)) {
+					if (interval < (LPS25H_CONVERSION_INTERVAL)) {
 						return -EINVAL;
 					}
 
 					/* update interval for next measurement */
-					_measure_ticks = ticks;
+					_measure_interval = interval;
 
 					/* if we need to start the poll state machine, do it */
 					if (want_start) {
@@ -507,13 +495,13 @@ LPS25H::start()
 	_reports->flush();
 
 	/* schedule a cycle to start things */
-	work_queue(HPWORK, &_work, (worker_t)&LPS25H::cycle_trampoline, this, 1);
+	ScheduleNow();
 }
 
 void
 LPS25H::stop()
 {
-	work_cancel(HPWORK, &_work);
+	ScheduleClear();
 }
 
 int
@@ -540,15 +528,7 @@ LPS25H::reset()
 }
 
 void
-LPS25H::cycle_trampoline(void *arg)
-{
-	LPS25H *dev = reinterpret_cast<LPS25H *>(arg);
-
-	dev->cycle();
-}
-
-void
-LPS25H::cycle()
+LPS25H::Run()
 {
 	/* collection phase? */
 	if (_collect_phase) {
@@ -567,14 +547,10 @@ LPS25H::cycle()
 		/*
 		 * Is there a collect->measure gap?
 		 */
-		if (_measure_ticks > USEC2TICK(LPS25H_CONVERSION_INTERVAL)) {
+		if (_measure_interval > (LPS25H_CONVERSION_INTERVAL)) {
 
 			/* schedule a fresh cycle call when we are ready to measure again */
-			work_queue(HPWORK,
-				   &_work,
-				   (worker_t)&LPS25H::cycle_trampoline,
-				   this,
-				   _measure_ticks - USEC2TICK(LPS25H_CONVERSION_INTERVAL));
+			ScheduleDelayed(_measure_interval - LPS25H_CONVERSION_INTERVAL);
 
 			return;
 		}
@@ -589,11 +565,7 @@ LPS25H::cycle()
 	_collect_phase = true;
 
 	/* schedule a fresh cycle call when the measurement is done */
-	work_queue(HPWORK,
-		   &_work,
-		   (worker_t)&LPS25H::cycle_trampoline,
-		   this,
-		   USEC2TICK(LPS25H_CONVERSION_INTERVAL));
+	ScheduleDelayed(LPS25H_CONVERSION_INTERVAL);
 }
 
 int
@@ -713,7 +685,7 @@ LPS25H::print_info()
 {
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-	printf("poll interval:  %u ticks\n", _measure_ticks);
+	printf("poll interval:  %u \n", _measure_interval);
 	print_message(_last_report);
 
 	_reports->print_info("report queue");