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tap_esc: made _uart_fd a class member

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This commit is contained in:
Alessandro Simovic
2018-04-18 07:48:24 +02:00
committed by Beat Küng
parent 64aab8a685
commit 4ab8c2a682
1 changed files with 6 additions and 4 deletions
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src/drivers/tap_esc/tap_esc.cpp
+6 -4
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@@ -79,7 +79,6 @@
* This driver connects to TAP ESCs via serial. * This driver connects to TAP ESCs via serial.
*/ */
static int _uart_fd = -1; //todo:refactor in to class
class TAP_ESC : public device::CDev, public ModuleParams class TAP_ESC : public device::CDev, public ModuleParams
{ {
public: public:
@@ -96,13 +95,14 @@ public:
MODE_5CAP, MODE_5CAP,
MODE_6CAP, MODE_6CAP,
}; };
TAP_ESC(int channels_count); TAP_ESC(int channels_count, int uart_fd);
virtual ~TAP_ESC(); virtual ~TAP_ESC();
virtual int init(); virtual int init();
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
void cycle(); void cycle();
private: private:
int _uart_fd;
static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM]; static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM]; static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM];
@@ -173,9 +173,10 @@ TAP_ESC *tap_esc = nullptr;
# define TAP_ESC_DEVICE_PATH "/dev/tap_esc" # define TAP_ESC_DEVICE_PATH "/dev/tap_esc"
TAP_ESC::TAP_ESC(int channels_count): TAP_ESC::TAP_ESC(int channels_count, int uart_fd):
CDev("tap_esc", TAP_ESC_DEVICE_PATH), CDev("tap_esc", TAP_ESC_DEVICE_PATH),
ModuleParams(nullptr), ModuleParams(nullptr),
_uart_fd(uart_fd),
_is_armed(false), _is_armed(false),
_poll_fds_num(0), _poll_fds_num(0),
_mode(MODE_4PWM), //FIXME: what is this mode used for??? _mode(MODE_4PWM), //FIXME: what is this mode used for???
@@ -937,6 +938,7 @@ namespace tap_esc_drv
volatile bool _task_should_exit = false; // flag indicating if tap_esc task should exit volatile bool _task_should_exit = false; // flag indicating if tap_esc task should exit
static int _uart_fd = -1;
static char _device[32] = {}; static char _device[32] = {};
static bool _is_running = false; // flag indicating if tap_esc app is running static bool _is_running = false; // flag indicating if tap_esc app is running
static px4_task_t _task_handle = -1; // handle to the task main thread static px4_task_t _task_handle = -1; // handle to the task main thread
@@ -967,7 +969,7 @@ int tap_esc_start(void)
if (tap_esc == nullptr) { if (tap_esc == nullptr) {
tap_esc = new TAP_ESC(_supported_channel_count); tap_esc = new TAP_ESC(_supported_channel_count, _uart_fd);
if (tap_esc == nullptr) { if (tap_esc == nullptr) {
ret = -ENOMEM; ret = -ENOMEM;