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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/uavcan/uavcan_main.cpp
+4 -50
View File
@@ -58,7 +58,6 @@
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include "uavcan_module.hpp"
@@ -941,44 +940,6 @@ UavcanNode::enable_idle_throttle_when_armed(bool value)
}
}
int
UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret = OK;
pthread_mutex_lock(&_node_mutex);
switch (cmd) {
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
break;
case MIXERIOCRESET:
_mixing_interface_esc.mixingOutput().resetMixer();
break;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strlen(buf);
ret = _mixing_interface_esc.mixingOutput().loadMixer(buf, buflen);
}
break;
default:
ret = -ENOTTY;
break;
}
pthread_mutex_unlock(&_node_mutex);
if (ret == -ENOTTY) {
ret = CDev::ioctl(filp, cmd, arg);
}
return ret;
}
bool UavcanMixingInterfaceESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
unsigned num_control_groups_updated)
{
@@ -998,18 +959,11 @@ void UavcanMixingInterfaceESC::mixerChanged()
{
int rotor_count = 0;
if (_mixing_output.useDynamicMixing()) {
for (unsigned i = 0; i < MAX_ACTUATORS; ++i) {
rotor_count += _mixing_output.isFunctionSet(i);
for (unsigned i = 0; i < MAX_ACTUATORS; ++i) {
rotor_count += _mixing_output.isFunctionSet(i);
if (i < esc_status_s::CONNECTED_ESC_MAX) {
_esc_controller.esc_status().esc[i].actuator_function = (uint8_t)_mixing_output.outputFunction(i);
}
}
} else {
if (_mixing_output.mixers()) {
rotor_count = _mixing_output.mixers()->get_multirotor_count();
if (i < esc_status_s::CONNECTED_ESC_MAX) {
_esc_controller.esc_status().esc[i].actuator_function = (uint8_t)_mixing_output.outputFunction(i);
}
}
src/drivers/uavcan/uavcan_main.hpp
-2
View File
@@ -178,8 +178,6 @@ public:
virtual ~UavcanNode();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
static int start(uavcan::NodeID node_id, uint32_t bitrate);
uavcan::Node<> &get_node() { return _node; }
src/drivers/uavcan/uavcan_module.hpp
-4
View File
@@ -63,9 +63,5 @@
#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
#define UAVCAN_ESC_DEVICE_PATH "/dev/uavcan/esc"
// ioctl interface
#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
// public prototypes
extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);