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pca8574 move to px4 work queue

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This commit is contained in:
Daniel Agar 2019-02-22 10:48:55 -05:00
parent e7f539f29a
commit 4ac48f154d
1 changed files with 8 additions and 20 deletions
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28
src/drivers/lights/pca8574/pca8574.cpp
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@ -56,7 +56,7 @@
#include <ctype.h>
#include <px4_getopt.h>
#include <nuttx/wqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
@ -71,7 +71,7 @@
#define ADDR 0x20 ///< I2C adress of PCA8574 (default, A0-A2 pulled to GND)
class PCA8574 : public device::I2C
class PCA8574 : public device::I2C, public px4::ScheduledWorkItem
{
public:
PCA8574(int bus, int pca8574);
@ -83,8 +83,6 @@ public:
bool is_running() { return _running; }
private:
work_s _work;
uint8_t _values_out;
uint8_t _values_in;
uint8_t _blinking;
@ -97,8 +95,7 @@ private:
bool _update_out;
int _counter;
static void led_trampoline(void *arg);
void led();
void Run() override;
int send_led_enable(uint8_t arg);
int send_led_values();
@ -118,6 +115,7 @@ extern "C" __EXPORT int pca8574_main(int argc, char *argv[]);
PCA8574::PCA8574(int bus, int pca8574) :
I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_values_out(0),
_values_in(0),
_blinking(0),
@ -129,7 +127,6 @@ PCA8574::PCA8574(int bus, int pca8574) :
_update_out(false),
_counter(0)
{
memset(&_work, 0, sizeof(_work));
}
int
@ -227,20 +224,11 @@ PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg)
return ret;
}
void
PCA8574::led_trampoline(void *arg)
{
PCA8574 *rgbl = reinterpret_cast<PCA8574 *>(arg);
rgbl->led();
}
/**
* Main loop function
*/
void
PCA8574::led()
PCA8574::Run()
{
if (_mode == IOX_MODE_TEST_OUT) {
@ -309,7 +297,8 @@ PCA8574::led()
// re-queue ourselves to run again later
_running = true;
work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval);
ScheduleDelayed(_led_interval);
}
/**
@ -318,7 +307,6 @@ PCA8574::led()
int
PCA8574::send_led_enable(uint8_t arg)
{
int ret = transfer(&arg, sizeof(arg), nullptr, 0);
return ret;
@ -335,7 +323,7 @@ PCA8574::send_led_values()
// if not active, kick it
if (!_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1);
ScheduleNow();
}
return 0;