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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/pca9685_pwm_out/main.cpp
+8 -66
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@@ -43,7 +43,6 @@
#include <lib/mixer_module/mixer_module.hpp>
#include <px4_platform_common/module.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/getopt.h>
@@ -57,16 +56,14 @@
using namespace drv_pca9685_pwm;
using namespace time_literals;
class PCA9685Wrapper : public cdev::CDev, public ModuleBase<PCA9685Wrapper>, public OutputModuleInterface
class PCA9685Wrapper : public ModuleBase<PCA9685Wrapper>, public OutputModuleInterface
{
public:
PCA9685Wrapper(int schd_rate_limit = 400);
~PCA9685Wrapper() override ;
int init() override;
int ioctl(cdev::file_t *filep, int cmd, unsigned long arg) override;
int init();
void mixerChanged() override;
@@ -121,7 +118,6 @@ protected:
};
PCA9685Wrapper::PCA9685Wrapper(int schd_rate_limit) :
CDev(nullptr),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
_schd_rate_limit(schd_rate_limit)
@@ -146,20 +142,12 @@ PCA9685Wrapper::~PCA9685Wrapper()
int PCA9685Wrapper::init()
{
int ret = CDev::init();
int ret = pca9685->init();
if (ret != PX4_OK) {
return ret;
}
ret = pca9685->init();
if (ret != PX4_OK) {
return ret;
}
_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
this->ChangeWorkQueue(px4::device_bus_to_wq(pca9685->get_device_id()));
PX4_INFO("running on I2C bus %d address 0x%.2x", pca9685->get_device_bus(), pca9685->get_device_address());
@@ -379,7 +367,6 @@ void PCA9685Wrapper::Run()
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
pca9685->Stop();
delete pca9685;
@@ -389,8 +376,6 @@ void PCA9685Wrapper::Run()
return;
}
SmartLock lock_guard(_lock);
perf_begin(_cycle_perf);
switch (_state) {
@@ -466,49 +451,6 @@ void PCA9685Wrapper::Run()
perf_end(_cycle_perf);
}
int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
{
SmartLock lock_guard(_lock);
int ret = OK;
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;
}
case PWM_SERVO_GET_COUNT:
*(unsigned *)arg = PCA9685_PWM_CHANNEL_COUNT;
break;
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
case PWM_SERVO_ARM:
case PWM_SERVO_DISARM:
break;
default:
ret = -ENOTTY;
break;
}
if (ret == -ENOTTY) {
ret = CDev::ioctl(filep, cmd, arg);
}
return ret;
}
int PCA9685Wrapper::print_usage(const char *reason)
{
if (reason) {
@@ -550,7 +492,6 @@ int PCA9685Wrapper::print_status() {
pca9685->get_device_bus(),
pca9685->get_device_address(),
(double)(pca9685->getFrequency()));
PX4_INFO("CDev path: %s%d", PWM_OUTPUT_BASE_DEVICE_PATH, this->_class_instance);
return ret;
}
@@ -623,16 +564,17 @@ int PCA9685Wrapper::task_spawn(int argc, char **argv) {
return PX4_ERROR;
}
void PCA9685Wrapper::mixerChanged() {
void PCA9685Wrapper::mixerChanged()
{
OutputModuleInterface::mixerChanged();
if (_mixing_output.mixers()) { // only update trims if mixer loaded
updatePWMParamTrim();
}
_mixing_output.updateSubscriptions(false);
}
extern "C" __EXPORT int pca9685_pwm_out_main(int argc, char *argv[]);
int pca9685_pwm_out_main(int argc, char *argv[]){
extern "C" __EXPORT int pca9685_pwm_out_main(int argc, char *argv[]){
return PCA9685Wrapper::main(argc, argv);
}