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delete drv_mixer.h

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent d3312f955f
commit 0019ffbea6
20 changed files with 14 additions and 484 deletions
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src/drivers/dshot/DShot.cpp
+1 -57
View File
@@ -41,7 +41,6 @@ char DShot::_telemetry_device[] {};
px4::atomic_bool DShot::_request_telemetry_init{false};
DShot::DShot() :
CDev("/dev/dshot"),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
{
_mixing_output.setAllDisarmedValues(DSHOT_DISARM_VALUE);
@@ -59,32 +58,13 @@ DShot::~DShot()
// make sure outputs are off
up_dshot_arm(false);
// clean up the alternate device node
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
perf_free(_cycle_perf);
delete _telemetry;
}
int DShot::init()
{
// do regular cdev init
int ret = CDev::init();
if (ret != OK) {
return ret;
}
// try to claim the generic PWM output device node as well - it's OK if we fail at this
_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
// lets not be too verbose
} else if (_class_instance < 0) {
PX4_ERR("FAILED registering class device");
}
_mixing_output.setDriverInstance(_class_instance);
_mixing_output.setDriverInstance(0);
_output_mask = (1u << _num_outputs) - 1;
@@ -486,8 +466,6 @@ void DShot::Run()
return;
}
SmartLock lock_guard(_lock);
perf_begin(_cycle_perf);
_mixing_output.update();
@@ -645,40 +623,6 @@ void DShot::update_params()
}
}
int DShot::ioctl(file *filp, int cmd, unsigned long arg)
{
SmartLock lock_guard(_lock);
int ret = OK;
PX4_DEBUG("dshot ioctl cmd: %d, arg: %ld", cmd, arg);
switch (cmd) {
case MIXERIOCRESET:
_mixing_output.resetMixer();
break;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strlen(buf);
ret = _mixing_output.loadMixer(buf, buflen);
break;
}
default:
ret = -ENOTTY;
break;
}
// if nobody wants it, let CDev have it
if (ret == -ENOTTY) {
ret = CDev::ioctl(filp, cmd, arg);
}
return ret;
}
int DShot::custom_command(int argc, char *argv[])
{
const char *verb = argv[0];
src/drivers/dshot/DShot.h
+1 -6
View File
@@ -34,7 +34,6 @@
#include <drivers/device/device.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_mixer.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
@@ -60,7 +59,7 @@ static constexpr int DSHOT_DISARM_VALUE = 0;
static constexpr int DSHOT_MIN_THROTTLE = 1;
static constexpr int DSHOT_MAX_THROTTLE = 1999;
class DShot : public cdev::CDev, public ModuleBase<DShot>, public OutputModuleInterface
class DShot : public ModuleBase<DShot>, public OutputModuleInterface
{
public:
DShot();
@@ -71,8 +70,6 @@ public:
virtual int init();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
void mixerChanged() override;
/** @see ModuleBase::print_status() */
@@ -166,8 +163,6 @@ private:
static constexpr unsigned _num_outputs{DIRECT_PWM_OUTPUT_CHANNELS};
uint32_t _output_mask{0};
int _class_instance{-1};
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
Command _current_command{};