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rgbled_pwm move to px4 work queue

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This commit is contained in:
Daniel Agar 2019-02-22 10:49:46 -05:00
parent 23f7a662c6
commit 4dd017cd59
1 changed files with 8 additions and 18 deletions
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26
src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp
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@ -54,7 +54,7 @@
#include <ctype.h>
#include <px4_getopt.h>
#include <nuttx/wqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <drivers/drv_hrt.h>
#include <perf/perf_counter.h>
@ -70,7 +70,7 @@
#define RGBLED_ONTIME 120
#define RGBLED_OFFTIME 120
class RGBLED_PWM : public device::CDev
class RGBLED_PWM : public device::CDev, public px4::ScheduledWorkItem
{
public:
RGBLED_PWM();
@ -82,7 +82,6 @@ public:
int status();
private:
work_s _work;
uint8_t _r;
uint8_t _g;
@ -93,8 +92,7 @@ private:
LedController _led_controller;
static void led_trampoline(void *arg);
void led();
void Run() override;
int send_led_rgb();
int get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
@ -115,7 +113,7 @@ RGBLED_PWM *g_rgbled = nullptr;
RGBLED_PWM::RGBLED_PWM() :
CDev("rgbled_pwm", RGBLED_PWM0_DEVICE_PATH),
_work{},
ScheduledWorkItem(px4::wq_configurations::lp_default),
_r(0),
_g(0),
_b(0),
@ -143,8 +141,9 @@ RGBLED_PWM::init()
send_led_rgb();
_running = true;
// kick off work queue
work_queue(LPWORK, &_work, (worker_t)&RGBLED_PWM::led_trampoline, this, 0);
ScheduleNow();
return OK;
}
@ -175,19 +174,11 @@ RGBLED_PWM::probe()
return (OK);
}
void
RGBLED_PWM::led_trampoline(void *arg)
{
RGBLED_PWM *rgbl = reinterpret_cast<RGBLED_PWM *>(arg);
rgbl->led();
}
/**
* Main loop function
*/
void
RGBLED_PWM::led()
RGBLED_PWM::Run()
{
if (!_should_run) {
int led_control_sub = _led_controller.led_control_subscription();
@ -249,8 +240,7 @@ RGBLED_PWM::led()
}
/* re-queue ourselves to run again later */
work_queue(LPWORK, &_work, (worker_t)&RGBLED_PWM::led_trampoline, this,
USEC2TICK(_led_controller.maximum_update_interval()));
ScheduleDelayed(_led_controller.maximum_update_interval());
}
/**