lps22hb: move to PX4Barometer and cleanup

src/drivers/barometer/lps22hb/CMakeLists.txt

@@ -38,4 +38,7 @@ px4_add_module(
 		LPS22HB.cpp
 		LPS22HB_I2C.cpp
 		LPS22HB_SPI.cpp
+	DEPENDS
+		drivers_barometer
+		px4_work_queue
 	)

src/drivers/barometer/lps22hb/LPS22HB.cpp

@@ -43,20 +43,16 @@
 #define LPS22HB_CONVERSION_INTERVAL	(1000000 / 25)	/* microseconds */
 
 LPS22HB::LPS22HB(I2CSPIBusOption bus_option, int bus, device::Device *interface) :
-	CDev(nullptr),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
+	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
-	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors"))
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
 {
 }
 
 LPS22HB::~LPS22HB()
 {
-	if (_class_instance != -1) {
-		unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_instance);
-	}
-
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
@@ -64,102 +60,18 @@ LPS22HB::~LPS22HB()
 	delete _interface;
 }
 
-int
-LPS22HB::init()
+int LPS22HB::init()
 {
-	int ret = CDev::init();
-
-	if (ret != OK) {
-		PX4_DEBUG("CDev init failed");
-		goto out;
-	}
-
 	if (reset() != OK) {
-		goto out;
+		return PX4_ERROR;
 	}
 
-	/* register alternate interfaces if we have to */
-	_class_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
-
-	ret = OK;
-
-	_measure_interval = LPS22HB_CONVERSION_INTERVAL;
 	start();
 
-out:
-	return ret;
-}
-
-int
-LPS22HB::ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	unsigned dummy = arg;
-
-	switch (cmd) {
-	case SENSORIOCSPOLLRATE: {
-			switch (arg) {
-
-			/* zero would be bad */
-			case 0:
-				return -EINVAL;
-
-			/* set default polling rate */
-			case SENSOR_POLLRATE_DEFAULT: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_interval == 0);
-
-					/* set interval for next measurement to minimum legal value */
-					_measure_interval = (LPS22HB_CONVERSION_INTERVAL);
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start) {
-						_measure_interval = (LPS22HB_CONVERSION_INTERVAL);
-						start();
-					}
-
-					return OK;
-				}
-
-			/* adjust to a legal polling interval in Hz */
-			default: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_interval == 0);
-
-					/* convert hz to tick interval via microseconds */
-					unsigned interval = (1000000 / arg);
-
-					/* check against maximum rate */
-					if (interval < (LPS22HB_CONVERSION_INTERVAL)) {
-						return -EINVAL;
-					}
-
-					/* update interval for next measurement */
-					_measure_interval = interval;
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start) {
-						start();
-					}
-
-					return OK;
-				}
-			}
-		}
-
-	case SENSORIOCRESET:
-		return reset();
-
-	case DEVIOCGDEVICEID:
-		return _interface->ioctl(cmd, dummy);
-
-	default:
-		/* give it to the superclass */
-		return CDev::ioctl(filp, cmd, arg);
-	}
+	return PX4_OK;
 }
 
-void
-LPS22HB::start()
+void LPS22HB::start()
 {
 	/* reset the report ring and state machine */
 	_collect_phase = false;
@@ -168,18 +80,12 @@ LPS22HB::start()
 	ScheduleNow();
 }
 
-int
-LPS22HB::reset()
+int LPS22HB::reset()
 {
-	int ret = PX4_ERROR;
-
-	ret = write_reg(CTRL_REG2, BOOT | SWRESET);
-
-	return ret;
+	return write_reg(CTRL_REG2, BOOT | SWRESET);
 }
 
-void
-LPS22HB::RunImpl()
+void LPS22HB::RunImpl()
 {
 	/* collection phase? */
 	if (_collect_phase) {
@@ -194,17 +100,6 @@ LPS22HB::RunImpl()
 
 		/* next phase is measurement */
 		_collect_phase = false;
-
-		/*
-		 * Is there a collect->measure gap?
-		 */
-		if (_measure_interval > LPS22HB_CONVERSION_INTERVAL) {
-
-			/* schedule a fresh cycle call when we are ready to measure again */
-			ScheduleDelayed(_measure_interval - LPS22HB_CONVERSION_INTERVAL);
-
-			return;
-		}
 	}
 
 	/* measurement phase */
@@ -219,8 +114,7 @@ LPS22HB::RunImpl()
 	ScheduleDelayed(LPS22HB_CONVERSION_INTERVAL);
 }
 
-int
-LPS22HB::measure()
+int LPS22HB::measure()
 {
 	// Send the command to begin a 16-bit measurement.
 	int ret = write_reg(CTRL_REG2, IF_ADD_INC | ONE_SHOT);
@@ -232,14 +126,11 @@ LPS22HB::measure()
 	return ret;
 }
 
-int
-LPS22HB::collect()
+int LPS22HB::collect()
 {
 	perf_begin(_sample_perf);
-	sensor_baro_s new_report;
 
 	/* get measurements from the device : MSB enables register address auto-increment */
-#pragma pack(push, 1)
 	struct {
 		uint8_t		STATUS;
 		uint8_t		PRESS_OUT_XL;
@@ -247,11 +138,10 @@ LPS22HB::collect()
 		uint8_t		PRESS_OUT_H;
 		uint8_t		TEMP_OUT_L;
 		uint8_t		TEMP_OUT_H;
-	} report;
-#pragma pack(pop)
+	} report{};
 
 	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
-	new_report.timestamp = hrt_absolute_time();
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
 	int ret = _interface->read(STATUS, (uint8_t *)&report, sizeof(report));
 
 	if (ret != OK) {
@@ -260,50 +150,28 @@ LPS22HB::collect()
 		return ret;
 	}
 
+	uint32_t TEMP_OUT = report.TEMP_OUT_L + (report.TEMP_OUT_H << 8);
+	float temperature = 42.5f + (TEMP_OUT / 480.0f);
+	_px4_baro.set_temperature(temperature);
+
 	// To obtain the pressure in hPa, take the two’s complement of the complete word and then divide by 4096 LSB/hPa.
 	uint32_t P = report.PRESS_OUT_XL + (report.PRESS_OUT_L << 8) + (report.PRESS_OUT_H << 16);
 
-	uint32_t TEMP_OUT = report.TEMP_OUT_L + (report.TEMP_OUT_H << 8);
-
 	/* Pressure and MSL in mBar */
-	new_report.pressure = P / 4096.0f;
-	new_report.temperature = 42.5f + (TEMP_OUT / 480.0f);
-
-	/* get device ID */
-	new_report.device_id = _interface->get_device_id();
-	new_report.error_count = perf_event_count(_comms_errors);
-
-	if (_baro_topic != nullptr) {
-		/* publish it */
-		orb_publish(ORB_ID(sensor_baro), _baro_topic, &new_report);
-
-	} else {
-		bool sensor_is_onboard = !_interface->external();
-		_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &new_report, &_orb_class_instance,
-						  (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
-
-		if (_baro_topic == nullptr) {
-			PX4_ERR("advertise failed");
-		}
-	}
-
-	_last_report = new_report;
-
-	ret = OK;
+	float pressure = P / 4096.0f;
+	_px4_baro.update(timestamp_sample, pressure);
 
 	perf_end(_sample_perf);
-	return ret;
+	return PX4_OK;
 }
 
-int
-LPS22HB::write_reg(uint8_t reg, uint8_t val)
+int LPS22HB::write_reg(uint8_t reg, uint8_t val)
 {
 	uint8_t buf = val;
 	return _interface->write(reg, &buf, 1);
 }
 
-int
-LPS22HB::read_reg(uint8_t reg, uint8_t &val)
+int LPS22HB::read_reg(uint8_t reg, uint8_t &val)
 {
 	uint8_t buf = val;
 	int ret = _interface->read(reg, &buf, 1);
@@ -311,14 +179,10 @@ LPS22HB::read_reg(uint8_t reg, uint8_t &val)
 	return ret;
 }
 
-void
-LPS22HB::print_status()
+void LPS22HB::print_status()
 {
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	PX4_INFO("poll interval:  %u", _measure_interval);
-
-	print_message(_last_report);
+	_px4_baro.print_status();
 }

src/drivers/barometer/lps22hb/LPS22HB.hpp

@@ -36,17 +36,10 @@
 #include <cstring>
 
 #include <drivers/device/Device.hpp>
-#include <drivers/device/i2c.h>
-#include <drivers/device/spi.h>
-#include <drivers/drv_baro.h>
-#include <lib/cdev/CDev.hpp>
-#include <perf/perf_counter.h>
-#include <px4_platform_common/getopt.h>
+#include <lib/perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <systemlib/err.h>
-#include <uORB/uORB.h>
-
+#include <lib/drivers/barometer/PX4Barometer.hpp>
 
 static constexpr uint8_t WHO_AM_I = 0x0F;
 static constexpr uint8_t LPS22HB_ID_WHO_AM_I = 0xB1;
@@ -81,7 +74,7 @@ static constexpr uint8_t TEMP_OUT_H = 0x2C;
 extern device::Device *LPS22HB_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
 extern device::Device *LPS22HB_I2C_interface(int bus, int bus_frequency);
 
-class LPS22HB : public cdev::CDev, public I2CSPIDriver<LPS22HB>
+class LPS22HB : public I2CSPIDriver<LPS22HB>
 {
 public:
 	LPS22HB(I2CSPIBusOption bus_option, int bus, device::Device *interface);
@@ -91,32 +84,21 @@ public:
 					     int runtime_instance);
 	static void print_usage();
 
-	virtual int		init();
-
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+	int			init();
 
 	void			print_status();
 
 	void			RunImpl();
 
-protected:
-	device::Device			*_interface;
-
 private:
-	unsigned		_measure_interval{0};
+	PX4Barometer		_px4_baro;
+	device::Device		*_interface;
 
 	bool			_collect_phase{false};
 
-	orb_advert_t		_baro_topic{nullptr};
-
-	int			_orb_class_instance{-1};
-	int			_class_instance{-1};
-
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
 
-	sensor_baro_s	_last_report{};           /**< used for info() */
-
 	/**
 	 * Initialise the automatic measurement state machine and start it.
 	 *
@@ -130,7 +112,6 @@ private:
 	 */
 	int			reset();
 
-
 	/**
 	 * Write a register.
 	 *
@@ -160,8 +141,4 @@ private:
 	 * Collect the result of the most recent measurement.
 	 */
 	int			collect();
-
-	/* this class has pointer data members, do not allow copying it */
-	LPS22HB(const LPS22HB &);
-	LPS22HB operator=(const LPS22HB &);
 };

src/drivers/barometer/lps22hb/LPS22HB_I2C.cpp

@@ -39,6 +39,8 @@
 
 #include "LPS22HB.hpp"
 
+#include <drivers/device/i2c.h>
+
 #define LPS22HB_ADDRESS		0x5D
 
 device::Device *LPS22HB_I2C_interface(int bus, int bus_frequency);
@@ -47,13 +49,13 @@ class LPS22HB_I2C : public device::I2C
 {
 public:
 	LPS22HB_I2C(int bus, int bus_frequency);
-	virtual ~LPS22HB_I2C() = default;
+	~LPS22HB_I2C() override = default;
 
-	virtual int	read(unsigned address, void *data, unsigned count);
-	virtual int	write(unsigned address, void *data, unsigned count);
+	int	read(unsigned address, void *data, unsigned count) override;
+	int	write(unsigned address, void *data, unsigned count) override;
 
 protected:
-	virtual int	probe();
+	int	probe() override;
 
 };
 
@@ -68,10 +70,9 @@ LPS22HB_I2C::LPS22HB_I2C(int bus, int bus_frequency) :
 {
 }
 
-int
-LPS22HB_I2C::probe()
+int LPS22HB_I2C::probe()
 {
-	uint8_t id;
+	uint8_t id = 0;
 
 	_retries = 10;
 
@@ -87,11 +88,10 @@ LPS22HB_I2C::probe()
 		return -EIO;
 	}
 
-	return OK;
+	return PX4_OK;
 }
 
-int
-LPS22HB_I2C::write(unsigned address, void *data, unsigned count)
+int LPS22HB_I2C::write(unsigned address, void *data, unsigned count)
 {
 	uint8_t buf[32];
 

src/drivers/barometer/lps22hb/LPS22HB_SPI.cpp

@@ -39,6 +39,8 @@
 
 #include "LPS22HB.hpp"
 
+#include <drivers/device/spi.h>
+
 /* SPI protocol address bits */
 #define DIR_READ			(1<<7)
 #define DIR_WRITE			(0<<7)
@@ -49,12 +51,13 @@ class LPS22HB_SPI : public device::SPI
 {
 public:
 	LPS22HB_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
-	virtual ~LPS22HB_SPI() = default;
+	~LPS22HB_SPI() override = default;
 
-	virtual int	init();
-	virtual int	read(unsigned address, void *data, unsigned count);
-	virtual int	write(unsigned address, void *data, unsigned count);
+	int	read(unsigned address, void *data, unsigned count) override;
+	int	write(unsigned address, void *data, unsigned count) override;
 
+protected:
+	int	probe() override;
 };
 
 device::Device *
@@ -63,21 +66,13 @@ LPS22HB_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi
 	return new LPS22HB_SPI(bus, devid, bus_frequency, spi_mode);
 }
 
-LPS22HB_SPI::LPS22HB_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
-	: SPI(DRV_BARO_DEVTYPE_LPS22HB, MODULE_NAME, bus, device, spi_mode, bus_frequency)
+LPS22HB_SPI::LPS22HB_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
+	SPI(DRV_BARO_DEVTYPE_LPS22HB, MODULE_NAME, bus, device, spi_mode, bus_frequency)
 {
 }
 
-int
-LPS22HB_SPI::init()
+int LPS22HB_SPI::probe()
 {
-	int ret = SPI::init();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("SPI init failed");
-		return -EIO;
-	}
-
 	// read WHO_AM_I value
 	uint8_t id = 0;
 
@@ -91,11 +86,10 @@ LPS22HB_SPI::init()
 		return -EIO;
 	}
 
-	return OK;
+	return PX4_OK;
 }
 
-int
-LPS22HB_SPI::write(unsigned address, void *data, unsigned count)
+int LPS22HB_SPI::write(unsigned address, void *data, unsigned count)
 {
 	uint8_t buf[32];
 
@@ -109,8 +103,7 @@ LPS22HB_SPI::write(unsigned address, void *data, unsigned count)
 	return transfer(&buf[0], &buf[0], count + 1);
 }
 
-int
-LPS22HB_SPI::read(unsigned address, void *data, unsigned count)
+int LPS22HB_SPI::read(unsigned address, void *data, unsigned count)
 {
 	uint8_t buf[32];
 

src/drivers/barometer/lps22hb/lps22hb_main.cpp

@@ -34,11 +34,7 @@
 #include "LPS22HB.hpp"
 #include <px4_platform_common/module.h>
 
-extern "C" __EXPORT int lps22hb_main(int argc, char *argv[]);
-
-
-void
-LPS22HB::print_usage()
+void LPS22HB::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("lps22hb", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
@@ -85,7 +81,7 @@ I2CSPIDriverBase *LPS22HB::instantiate(const BusCLIArguments &cli, const BusInst
 	return dev;
 }
 
-extern "C" int lps22hb_main(int argc, char *argv[])
+extern "C" __EXPORT int lps22hb_main(int argc, char *argv[])
 {
 	using ThisDriver = LPS22HB;
 	BusCLIArguments cli{true, true};