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tap_esc cleanup unnecessary Device CDev usage

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This commit is contained in:
Daniel Agar
2018-08-27 13:14:15 -04:00
parent 6e97194ce6
commit a40161a3ec
1 changed files with 11 additions and 11 deletions
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src/drivers/tap_esc/tap_esc.cpp
+11 -11
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@@ -44,7 +44,7 @@
#include <cstring> #include <cstring>
#include <lib/mathlib/mathlib.h> #include <lib/mathlib/mathlib.h>
#include <drivers/device/device.h> #include <lib/cdev/CDev.hpp>
#include <perf/perf_counter.h> #include <perf/perf_counter.h>
#include <px4_module_params.h> #include <px4_module_params.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
@@ -82,7 +82,7 @@
/* /*
* This driver connects to TAP ESCs via serial. * This driver connects to TAP ESCs via serial.
*/ */
class TAP_ESC : public device::CDev, public ModuleBase<TAP_ESC>, public ModuleParams class TAP_ESC : public cdev::CDev, public ModuleBase<TAP_ESC>, public ModuleParams
{ {
public: public:
TAP_ESC(char const *const device, uint8_t channels_count); TAP_ESC(char const *const device, uint8_t channels_count);
@@ -104,7 +104,7 @@ public:
void run() override; void run() override;
virtual int init(); virtual int init();
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
void cycle(); void cycle();
private: private:
@@ -155,7 +155,7 @@ const uint8_t TAP_ESC::_device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS;
const uint8_t TAP_ESC::_device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR; const uint8_t TAP_ESC::_device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
TAP_ESC::TAP_ESC(char const *const device, uint8_t channels_count): TAP_ESC::TAP_ESC(char const *const device, uint8_t channels_count):
CDev("tap_esc", TAP_ESC_DEVICE_PATH), CDev(TAP_ESC_DEVICE_PATH),
ModuleParams(nullptr), ModuleParams(nullptr),
_perf_control_latency(perf_alloc(PC_ELAPSED, "tap_esc control latency")), _perf_control_latency(perf_alloc(PC_ELAPSED, "tap_esc control latency")),
_channels_count(channels_count) _channels_count(channels_count)
@@ -200,7 +200,7 @@ TAP_ESC::~TAP_ESC()
tap_esc_common::deinitialise_uart(_uart_fd); tap_esc_common::deinitialise_uart(_uart_fd);
DEVICE_LOG("stopping"); PX4_INFO("stopping");
perf_free(_perf_control_latency); perf_free(_perf_control_latency);
} }
@@ -351,12 +351,12 @@ void TAP_ESC::subscribe()
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) { if (sub_groups & (1 << i)) {
DEVICE_DEBUG("subscribe to actuator_controls_%d", i); PX4_DEBUG("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]); _control_subs[i] = orb_subscribe(_control_topics[i]);
} }
if (unsub_groups & (1 << i)) { if (unsub_groups & (1 << i)) {
DEVICE_DEBUG("unsubscribe from actuator_controls_%d", i); PX4_DEBUG("unsubscribe from actuator_controls_%d", i);
orb_unsubscribe(_control_subs[i]); orb_unsubscribe(_control_subs[i]);
_control_subs[i] = -1; _control_subs[i] = -1;
} }
@@ -414,7 +414,7 @@ void TAP_ESC::cycle()
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] >= 0) { if (_control_subs[i] >= 0) {
orb_set_interval(_control_subs[i], TAP_ESC_CTRL_UORB_UPDATE_INTERVAL); orb_set_interval(_control_subs[i], TAP_ESC_CTRL_UORB_UPDATE_INTERVAL);
DEVICE_DEBUG("New actuator update interval: %ums", TAP_ESC_CTRL_UORB_UPDATE_INTERVAL); PX4_DEBUG("New actuator update interval: %ums", TAP_ESC_CTRL_UORB_UPDATE_INTERVAL);
} }
} }
} }
@@ -428,7 +428,7 @@ void TAP_ESC::cycle()
/* this would be bad... */ /* this would be bad... */
if (ret < 0) { if (ret < 0) {
DEVICE_LOG("poll error %d", errno); PX4_ERR("poll error %d", errno);
} else { /* update even in the case of a timeout, to check for test_motor commands */ } else { /* update even in the case of a timeout, to check for test_motor commands */
@@ -652,7 +652,7 @@ int TAP_ESC::control_callback(uint8_t control_group, uint8_t control_index, floa
return 0; return 0;
} }
int TAP_ESC::ioctl(device::file_t *filp, int cmd, unsigned long arg) int TAP_ESC::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{ {
int ret = OK; int ret = OK;
@@ -684,7 +684,7 @@ int TAP_ESC::ioctl(device::file_t *filp, int cmd, unsigned long arg)
ret = _mixers->load_from_buf(buf, buflen); ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) { if (ret != 0) {
DEVICE_DEBUG("mixer load failed with %d", ret); PX4_DEBUG("mixer load failed with %d", ret);
delete _mixers; delete _mixers;
_mixers = nullptr; _mixers = nullptr;
_groups_required = 0; _groups_required = 0;