From 01595947e5d773074bbdb5da1077abc5390b516a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 18 Aug 2018 15:10:22 -0400
Subject: [PATCH] px4fmu cleanup unnecessary Device CDev usage

---
 src/drivers/px4fmu/fmu.cpp | 32 +++++++++++++++-----------------
 1 file changed, 15 insertions(+), 17 deletions(-)

diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index a3d065ca07..a6927563ec 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -52,6 +52,7 @@
 #include <px4_log.h>
 #include <px4_module.h>
 #include <circuit_breaker/circuit_breaker.h>
+#include <lib/cdev/CDev.hpp>
 #include <lib/mixer/mixer.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
@@ -96,7 +97,7 @@ enum PortMode {
 #  error "board_config.h needs to define BOARD_HAS_PWM"
 #endif
 
-class PX4FMU : public device::CDev, public ModuleBase<PX4FMU>
+class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>
 {
 public:
 	enum Mode {
@@ -297,7 +298,7 @@ actuator_armed_s	PX4FMU::_armed = {};
 work_s	PX4FMU::_work = {};
 
 PX4FMU::PX4FMU(bool run_as_task) :
-	CDev("fmu", PX4FMU_DEVICE_PATH),
+	CDev(PX4FMU_DEVICE_PATH),
 	_mode(MODE_NONE),
 	_pwm_default_rate(50),
 	_pwm_alt_rate(50),
@@ -364,9 +365,6 @@ PX4FMU::PX4FMU(bool run_as_task) :
 	_safety_off = true;
 	_safety_btn_off = true;
 #endif
-
-	/* only enable this during development */
-	_debug_enabled = false;
 }
 
 PX4FMU::~PX4FMU()
@@ -561,13 +559,13 @@ PX4FMU::set_mode(Mode mode)
 	case MODE_2PWM2CAP:	// v1 multi-port with flow control lines as PWM
 		up_input_capture_set(2, Rising, 0, NULL, NULL);
 		up_input_capture_set(3, Rising, 0, NULL, NULL);
-		DEVICE_DEBUG("MODE_2PWM2CAP");
+		PX4_DEBUG("MODE_2PWM2CAP");
 #endif
 
 	/* FALLTHROUGH */
 
 	case MODE_2PWM:	// v1 multi-port with flow control lines as PWM
-		DEVICE_DEBUG("MODE_2PWM");
+		PX4_DEBUG("MODE_2PWM");
 
 		/* default output rates */
 		_pwm_default_rate = 50;
@@ -582,14 +580,14 @@ PX4FMU::set_mode(Mode mode)
 #if defined(BOARD_HAS_CAPTURE)
 
 	case MODE_3PWM1CAP:	// v1 multi-port with flow control lines as PWM
-		DEVICE_DEBUG("MODE_3PWM1CAP");
+		PX4_DEBUG("MODE_3PWM1CAP");
 		up_input_capture_set(3, Rising, 0, NULL, NULL);
 #endif
 
 	/* FALLTHROUGH */
 
 	case MODE_3PWM:	// v1 multi-port with flow control lines as PWM
-		DEVICE_DEBUG("MODE_3PWM");
+		PX4_DEBUG("MODE_3PWM");
 
 		/* default output rates */
 		_pwm_default_rate = 50;
@@ -602,7 +600,7 @@ PX4FMU::set_mode(Mode mode)
 		break;
 
 	case MODE_4PWM: // v1 or v2 multi-port as 4 PWM outs
-		DEVICE_DEBUG("MODE_4PWM");
+		PX4_DEBUG("MODE_4PWM");
 
 		/* default output rates */
 		_pwm_default_rate = 50;
@@ -617,7 +615,7 @@ PX4FMU::set_mode(Mode mode)
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
 
 	case MODE_6PWM:
-		DEVICE_DEBUG("MODE_6PWM");
+		PX4_DEBUG("MODE_6PWM");
 
 		/* default output rates */
 		_pwm_default_rate = 50;
@@ -633,7 +631,7 @@ PX4FMU::set_mode(Mode mode)
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
 
 	case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
-		DEVICE_DEBUG("MODE_8PWM");
+		PX4_DEBUG("MODE_8PWM");
 		/* default output rates */
 		_pwm_default_rate = 50;
 		_pwm_alt_rate = 50;
@@ -648,7 +646,7 @@ PX4FMU::set_mode(Mode mode)
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
 
 	case MODE_14PWM:
-		DEVICE_DEBUG("MODE_14PWM");
+		PX4_DEBUG("MODE_14PWM");
 		/* default output rates */
 		_pwm_default_rate = 50;
 		_pwm_alt_rate = 50;
@@ -661,7 +659,7 @@ PX4FMU::set_mode(Mode mode)
 #endif
 
 	case MODE_NONE:
-		DEVICE_DEBUG("MODE_NONE");
+		PX4_DEBUG("MODE_NONE");
 
 		_pwm_default_rate = 10;	/* artificially reduced output rate */
 		_pwm_alt_rate = 10;
@@ -805,12 +803,12 @@ PX4FMU::subscribe()
 
 	for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
 		if (sub_groups & (1 << i)) {
-			DEVICE_DEBUG("subscribe to actuator_controls_%d", i);
+			PX4_DEBUG("subscribe to actuator_controls_%d", i);
 			_control_subs[i] = orb_subscribe(_control_topics[i]);
 		}
 
 		if (unsub_groups & (1 << i)) {
-			DEVICE_DEBUG("unsubscribe from actuator_controls_%d", i);
+			PX4_DEBUG("unsubscribe from actuator_controls_%d", i);
 			orb_unsubscribe(_control_subs[i]);
 			_control_subs[i] = -1;
 		}
@@ -1092,7 +1090,7 @@ PX4FMU::cycle()
 
 		/* this would be bad... */
 		if (ret < 0) {
-			DEVICE_LOG("poll error %d", errno);
+			PX4_DEBUG("poll error %d", errno);
 
 		} else if (ret == 0) {
 			/* timeout: no control data, switch to failsafe values */