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rgbled_ncp5623c move to px4 work queue

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This commit is contained in:
Daniel Agar
2019-05-24 12:58:55 -04:00
parent 6ec7730bf1
commit 23f7a662c6
1 changed files with 9 additions and 23 deletions
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src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
+9 -23
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@@ -54,7 +54,7 @@
#include <stdio.h>
#include <ctype.h>
#include <px4_workqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
@@ -77,7 +77,7 @@
#define NCP5623_LED_OFF 0x00 /**< off */
class RGBLED_NPC5623C : public device::I2C
class RGBLED_NPC5623C : public device::I2C, public px4::ScheduledWorkItem
{
public:
RGBLED_NPC5623C(int bus, int rgbled);
@@ -87,7 +87,6 @@ public:
virtual int init();
virtual int probe();
private:
work_s _work;
float _brightness;
float _max_brightness;
@@ -102,8 +101,7 @@ private:
LedController _led_controller;
static void led_trampoline(void *arg);
void led();
void Run() override;
int send_led_rgb();
void update_params();
@@ -122,12 +120,8 @@ void rgbled_ncp5623c_usage();
extern "C" __EXPORT int rgbled_ncp5623c_main(int argc, char *argv[]);
RGBLED_NPC5623C::RGBLED_NPC5623C(int bus, int rgbled) :
I2C("rgbled1", RGBLED1_DEVICE_PATH, bus, rgbled
#ifdef __PX4_NUTTX
, 100000 /* maximum speed supported */
#endif
),
_work{},
I2C("rgbled1", RGBLED1_DEVICE_PATH, bus, rgbled, 100000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_brightness(1.0f),
_max_brightness(1.0f),
_r(0),
@@ -174,7 +168,8 @@ RGBLED_NPC5623C::init()
update_params();
_running = true;
work_queue(LPWORK, &_work, (worker_t)&RGBLED_NPC5623C::led_trampoline, this, 0);
ScheduleNow();
return OK;
}
@@ -187,19 +182,11 @@ RGBLED_NPC5623C::probe()
return write(NCP5623_LED_CURRENT, 0x00);
}
void
RGBLED_NPC5623C::led_trampoline(void *arg)
{
RGBLED_NPC5623C *rgbl = reinterpret_cast<RGBLED_NPC5623C *>(arg);
rgbl->led();
}
/**
* Main loop function
*/
void
RGBLED_NPC5623C::led()
RGBLED_NPC5623C::Run()
{
if (!_should_run) {
if (_param_sub >= 0) {
@@ -282,8 +269,7 @@ RGBLED_NPC5623C::led()
}
/* re-queue ourselves to run again later */
work_queue(LPWORK, &_work, (worker_t)&RGBLED_NPC5623C::led_trampoline, this,
USEC2TICK(_led_controller.maximum_update_interval()));
ScheduleDelayed(_led_controller.maximum_update_interval());
}
/**