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px4io cleanup unnecessary Device CDev usage

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This commit is contained in:
Daniel Agar 2018-08-18 15:10:28 -04:00
parent 01595947e5
commit 6ee47eef14
1 changed files with 17 additions and 18 deletions
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35
src/drivers/px4io/px4io.cpp
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@ -111,7 +111,7 @@
*
* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
*/
class PX4IO : public device::CDev
class PX4IO : public cdev::CDev
{
public:
/**
@ -446,12 +446,11 @@ private:
namespace
{
PX4IO *g_dev = nullptr;
}
PX4IO::PX4IO(device::Device *interface) :
CDev("px4io", PX4IO_DEVICE_PATH),
CDev(PX4IO_DEVICE_PATH),
_interface(interface),
_hardware(0),
_max_actuators(0),
@ -552,10 +551,10 @@ PX4IO::detect()
if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) {
DEVICE_LOG("IO not installed");
PX4_ERR("IO not installed");
} else {
DEVICE_LOG("IO version error");
PX4_ERR("IO version error");
mavlink_log_emergency(&_mavlink_log_pub, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
}
@ -563,7 +562,7 @@ PX4IO::detect()
}
}
DEVICE_LOG("IO found");
PX4_INFO("IO found");
return 0;
}
@ -633,7 +632,7 @@ PX4IO::init()
(_max_transfer < 16) || (_max_transfer > 255) ||
(_max_rc_input < 1) || (_max_rc_input > 255)) {
DEVICE_LOG("config read error");
PX4_ERR("config read error");
mavlink_log_emergency(&_mavlink_log_pub, "[IO] config read fail, abort.");
// ask IO to reboot into bootloader as the failure may
@ -768,7 +767,7 @@ PX4IO::init()
/* re-send if necessary */
if (!safety.armed) {
orb_publish(ORB_ID(vehicle_command), pub, &vcmd);
DEVICE_LOG("re-sending arm cmd");
PX4_WARN("re-sending arm cmd");
}
/* keep waiting for state change for 2 s */
@ -799,7 +798,7 @@ PX4IO::init()
ret = io_disable_rc_handling();
if (ret != OK) {
DEVICE_LOG("failed disabling RC handling");
PX4_ERR("failed disabling RC handling");
return ret;
}
@ -846,7 +845,7 @@ PX4IO::init()
nullptr);
if (_task < 0) {
DEVICE_DEBUG("task start failed: %d", errno);
PX4_ERR("task start failed: %d", errno);
return -errno;
}
@ -1221,7 +1220,7 @@ PX4IO::task_main()
unlock();
out:
DEVICE_DEBUG("exiting");
PX4_DEBUG("exiting");
/* clean up the alternate device node */
if (_primary_pwm_device) {
@ -1586,7 +1585,7 @@ PX4IO::io_set_rc_config()
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
if (ret != OK) {
DEVICE_LOG("rc config upload failed");
PX4_ERR("rc config upload failed");
break;
}
@ -1937,14 +1936,14 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
DEVICE_DEBUG("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
PX4_DEBUG("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
if (ret != (int)num_values) {
DEVICE_DEBUG("io_reg_set(%hhu,%hhu,%u): error %d", page, offset, num_values, ret);
PX4_DEBUG("io_reg_set(%hhu,%hhu,%u): error %d", page, offset, num_values, ret);
return -1;
}
@ -1962,14 +1961,14 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
DEVICE_DEBUG("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
PX4_DEBUG("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
if (ret != (int)num_values) {
DEVICE_DEBUG("io_reg_get(%hhu,%hhu,%u): data error %d", page, offset, num_values, ret);
PX4_DEBUG("io_reg_get(%hhu,%hhu,%u): data error %d", page, offset, num_values, ret);
return -1;
}
@ -2120,7 +2119,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
}
if (ret) {
DEVICE_LOG("mixer send error %d", ret);
PX4_ERR("mixer send error %d", ret);
return ret;
}
@ -2799,7 +2798,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
}
if (io_crc != arg) {
DEVICE_DEBUG("crc mismatch 0x%08x 0x%08lx", io_crc, arg);
PX4_DEBUG("crc mismatch 0x%08x 0x%08lx", io_crc, arg);
return -EINVAL;
}