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delete lib/mixer and mixer_module static mixing

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent 0019ffbea6
commit a7bbcd5b04
79 changed files with 219 additions and 6835 deletions
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src/drivers/actuators/modalai_esc/modalai_esc.cpp
+1 -25
View File
@@ -38,7 +38,6 @@
#include "modalai_esc.hpp"
#include "modalai_esc_serial.hpp"
#define MODALAI_ESC_DEVICE_PATH "/dev/uart_esc"
#define MODALAI_ESC_DEFAULT_PORT "/dev/ttyS1"
#define MODALAI_ESC_VOXL_PORT "/dev/ttyS4"
@@ -48,7 +47,6 @@
const char *_device;
ModalaiEsc::ModalaiEsc() :
CDev(MODALAI_ESC_DEVICE_PATH),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
_output_update_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": output update interval"))
@@ -96,35 +94,15 @@ ModalaiEsc::~ModalaiEsc()
_uart_port_bridge = nullptr;
}
/* clean up the alternate device node */
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
perf_free(_cycle_perf);
perf_free(_output_update_perf);
}
int ModalaiEsc::init()
{
/* do regular cdev init */
int ret = CDev::init();
if (ret != OK) {
return ret;
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
_class_instance = register_class_devname(MODALAI_ESC_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* lets not be too verbose */
} else if (_class_instance < 0) {
PX4_ERR("FAILED registering class device");
}
_mixing_output.setDriverInstance(_class_instance);
/* Getting initial parameter values */
ret = update_params();
int ret = update_params();
if (ret != OK) {
return ret;
@@ -1135,8 +1113,6 @@ void ModalaiEsc::Run()
return;
}
SmartLock lock_guard(_lock);
perf_begin(_cycle_perf);
/* Open serial port in this thread */
src/drivers/actuators/modalai_esc/modalai_esc.hpp
+1 -7
View File
@@ -34,7 +34,6 @@
#pragma once
#include <drivers/device/device.h>
#include <lib/cdev/CDev.hpp>
#include <lib/led/led.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/perf/perf_counter.h>
@@ -51,7 +50,7 @@
#include "qc_esc_packet.h"
#include "qc_esc_packet_types.h"
class ModalaiEsc : public cdev::CDev, public ModuleBase<ModalaiEsc>, public OutputModuleInterface
class ModalaiEsc : public ModuleBase<ModalaiEsc>, public OutputModuleInterface
{
public:
ModalaiEsc();
@@ -76,9 +75,6 @@ public:
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
/** @see OutputModuleInterface */
void mixerChanged() override;
virtual int init();
typedef enum {
@@ -183,8 +179,6 @@ private:
ch_assign_t _output_map[MODALAI_ESC_OUTPUT_CHANNELS] {{1, 1}, {2, 1}, {3, 1}, {4, 1}};
MixingOutput _mixing_output{"MODALAI_ESC", MODALAI_ESC_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
int _class_instance{-1};
perf_counter_t _cycle_perf;
perf_counter_t _output_update_perf;