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drivers/pwm_out: cleanup for multi-platform use

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This commit is contained in:
Daniel Agar
2020-05-01 20:53:35 -04:00
parent 0a4e7142ee
commit 0c8dcf94bc
5 changed files with 113 additions and 115 deletions
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src/drivers/pwm_out/PWMOut.hpp
+24 -20
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@@ -36,11 +36,12 @@
#include <float.h>
#include <math.h>
#include <board_config.h>
#include <drivers/device/device.h>
#include <drivers/device/i2c.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <lib/cdev/CDev.hpp>
@@ -48,10 +49,6 @@
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
@@ -62,6 +59,14 @@
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#if defined(__PX4_NUTTX)
#include <drivers/device/i2c.h>
#endif // __PX4_NUTTX
#if defined(BOARD_HAS_CAPTURE)
#include <drivers/drv_input_capture.h>
#endif // BOARD_HAS_CAPTURE
using namespace time_literals;
/** Mode given via CLI */
@@ -76,12 +81,14 @@ enum PortMode {
PORT_PWM3,
PORT_PWM2,
PORT_PWM1,
#if defined(BOARD_HAS_CAPTURE)
PORT_PWM3CAP1,
PORT_PWM4CAP1,
PORT_PWM4CAP2,
PORT_PWM5CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
#endif // BOARD_HAS_CAPTURE
};
#if !defined(BOARD_HAS_PWM)
@@ -133,20 +140,20 @@ public:
/** change the FMU mode of the running module */
static int fmu_new_mode(PortMode new_mode);
static int test();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
virtual int init();
int set_mode(Mode mode);
Mode get_mode() { return _mode; }
static int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
#if defined(BOARD_HAS_CAPTURE)
static int test();
static void capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state,
uint32_t overflow);
#endif // BOARD_HAS_CAPTURE
void update_pwm_trims();
@@ -169,7 +176,6 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
unsigned _num_outputs{0};
int _class_instance{-1};
@@ -182,20 +188,18 @@ private:
perf_counter_t _cycle_perf;
void capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
void update_current_rate();
int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
int pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
void update_pwm_rev_mask();
void update_pwm_out_state(bool on);
void update_params();
static void sensor_reset(int ms);
static void peripheral_reset(int ms);
#if defined(BOARD_HAS_CAPTURE)
void capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
int capture_ioctl(file *filp, int cmd, unsigned long arg);
#endif // BOARD_HAS_CAPTURE
PWMOut(const PWMOut &) = delete;
PWMOut operator=(const PWMOut &) = delete;