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drivers/modules: changes after mavlink_log change

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The mavlink_log API changes lead to changes in all drivers/modules using
it.
This commit is contained in:
Julian Oes
2016-03-24 13:10:02 +01:00
parent b49b012d35
commit bba0d0384d
62 changed files with 731 additions and 831 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/camera_trigger/camera_trigger.cpp
+2 -1
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@@ -51,6 +51,8 @@
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/uORB.h>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/sensor_combined.h>
@@ -59,7 +61,6 @@
#include <poll.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <mavlink/mavlink_log.h>
#include <board_config.h>
#define TRIGGER_PIN_DEFAULT 1
src/drivers/md25/md25.cpp
+2 -2
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@@ -50,7 +50,7 @@
#include <systemlib/err.h>
#include <arch/board/board.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/debug_key_value.h>
@@ -80,7 +80,7 @@ enum {
};
// File descriptors
static int mavlink_fd;
static orb_advert_t mavlink_log_pub;
MD25::MD25(const char *deviceName, int bus,
uint16_t address, uint32_t speed) :
src/drivers/px4fmu/fmu.cpp
+3 -3
View File
@@ -2517,18 +2517,18 @@ void
PX4FMU::dsm_bind_ioctl(int dsmMode)
{
if (!_armed.armed) {
// mavlink_log_info(_mavlink_fd, "[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
// mavlink_log_info(&_mavlink_log_pub, "[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
warnx("[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
int ret = ioctl(nullptr, DSM_BIND_START,
(dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
if (ret) {
// mavlink_log_critical(_mavlink_fd, "binding failed.");
// mavlink_log_critical(&_mavlink_log_pub, "binding failed.");
warnx("binding failed.");
}
} else {
// mavlink_log_info(_mavlink_fd, "[FMU] system armed, bind request rejected");
// mavlink_log_info(&_mavlink_log_pub, "[FMU] system armed, bind request rejected");
warnx("[FMU] system armed, bind request rejected");
}
}
src/drivers/px4io/px4io.cpp
+18 -25
View File
@@ -73,6 +73,7 @@
#include <systemlib/scheduling_priorities.h>
#include <systemlib/param/param.h>
#include <systemlib/circuit_breaker.h>
#include <systemlib/mavlink_log.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
@@ -92,7 +93,6 @@
#include <debug.h>
#include <mavlink/mavlink_log.h>
#include <modules/px4iofirmware/protocol.h>
#include "uploader.h"
@@ -264,7 +264,7 @@ private:
volatile int _task; ///< worker task id
volatile bool _task_should_exit; ///< worker terminate flag
int _mavlink_fd; ///< mavlink file descriptor.
orb_advert_t _mavlink_log_pub; ///< mavlink log pub
perf_counter_t _perf_update; ///< local performance counter for status updates
perf_counter_t _perf_write; ///< local performance counter for PWM control writes
@@ -505,7 +505,7 @@ PX4IO::PX4IO(device::Device *interface) :
_rc_last_valid(0),
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
_mavlink_log_pub(nullptr),
_perf_update(perf_alloc(PC_ELAPSED, "io update")),
_perf_write(perf_alloc(PC_ELAPSED, "io write")),
_perf_sample_latency(perf_alloc(PC_ELAPSED, "io latency")),
@@ -604,7 +604,7 @@ PX4IO::detect()
} else {
DEVICE_LOG("IO version error");
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
mavlink_log_emergency(&_mavlink_log_pub, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
}
return -1;
@@ -662,12 +662,12 @@ PX4IO::init()
/* if the error still persists after timing out, we give up */
if (protocol == _io_reg_get_error) {
mavlink_and_console_log_emergency(_mavlink_fd, "Failed to communicate with IO, abort.");
mavlink_and_console_log_emergency(&_mavlink_log_pub, "Failed to communicate with IO, abort.");
return -1;
}
if (protocol != PX4IO_PROTOCOL_VERSION) {
mavlink_and_console_log_emergency(_mavlink_fd, "IO protocol/firmware mismatch, abort.");
mavlink_and_console_log_emergency(&_mavlink_log_pub, "IO protocol/firmware mismatch, abort.");
return -1;
}
@@ -684,7 +684,7 @@ PX4IO::init()
(_max_rc_input < 1) || (_max_rc_input > 255)) {
DEVICE_LOG("config read error");
mavlink_log_emergency(_mavlink_fd, "[IO] config read fail, abort.");
mavlink_log_emergency(&_mavlink_log_pub, "[IO] config read fail, abort.");
return -1;
}
@@ -722,7 +722,7 @@ PX4IO::init()
/* get a status update from IO */
io_get_status();
mavlink_and_console_log_emergency(_mavlink_fd, "RECOVERING FROM FMU IN-AIR RESTART");
mavlink_and_console_log_emergency(&_mavlink_log_pub, "RECOVERING FROM FMU IN-AIR RESTART");
/* WARNING: COMMANDER app/vehicle status must be initialized.
* If this fails (or the app is not started), worst-case IO
@@ -751,7 +751,7 @@ PX4IO::init()
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 3000) {
mavlink_and_console_log_emergency(_mavlink_fd, "Failed to recover from in-air restart (1), abort");
mavlink_and_console_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (1), abort");
return 1;
}
@@ -807,7 +807,7 @@ PX4IO::init()
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 2000) {
mavlink_and_console_log_emergency(_mavlink_fd, "Failed to recover from in-air restart (2), abort");
mavlink_and_console_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (2), abort");
return 1;
}
@@ -854,7 +854,7 @@ PX4IO::init()
ret = io_set_rc_config();
if (ret != OK) {
mavlink_and_console_log_critical(_mavlink_fd, "IO RC config upload fail");
mavlink_and_console_log_critical(&_mavlink_log_pub, "IO RC config upload fail");
return ret;
}
}
@@ -911,8 +911,6 @@ PX4IO::task_main()
hrt_abstime poll_last = 0;
hrt_abstime orb_check_last = 0;
_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
@@ -1027,11 +1025,6 @@ PX4IO::task_main()
/* run at 5Hz */
orb_check_last = now;
/* try to claim the MAVLink log FD */
if (_mavlink_fd < 0) {
_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
}
/* check updates on uORB topics and handle it */
bool updated = false;
@@ -1087,7 +1080,7 @@ PX4IO::task_main()
int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
if (pret != OK) {
mavlink_and_console_log_critical(_mavlink_fd, "IO vscale upload failed");
mavlink_and_console_log_critical(&_mavlink_log_pub, "IO vscale upload failed");
}
/* send RC throttle failsafe value to IO */
@@ -1104,7 +1097,7 @@ PX4IO::task_main()
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
mavlink_and_console_log_critical(_mavlink_fd, "failsafe upload failed, FS: %d us", (int)failsafe_thr);
mavlink_and_console_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %d us", (int)failsafe_thr);
}
}
}
@@ -1546,7 +1539,7 @@ PX4IO::io_set_rc_config()
/* check the IO initialisation flag */
if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
mavlink_and_console_log_critical(_mavlink_fd, "config for RC%d rejected by IO", i + 1);
mavlink_and_console_log_critical(&_mavlink_log_pub, "config for RC%d rejected by IO", i + 1);
break;
}
@@ -1619,16 +1612,16 @@ void
PX4IO::dsm_bind_ioctl(int dsmMode)
{
if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
mavlink_log_info(_mavlink_fd, "[IO] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
mavlink_log_info(&_mavlink_log_pub, "[IO] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
int ret = ioctl(nullptr, DSM_BIND_START,
(dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
if (ret) {
mavlink_log_critical(_mavlink_fd, "binding failed.");
mavlink_log_critical(&_mavlink_log_pub, "binding failed.");
}
} else {
mavlink_log_info(_mavlink_fd, "[IO] system armed, bind request rejected");
mavlink_log_info(&_mavlink_log_pub, "[IO] system armed, bind request rejected");
}
}
@@ -2148,7 +2141,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
} while (retries > 0);
if (retries == 0) {
mavlink_and_console_log_info(_mavlink_fd, "[IO] mixer upload fail");
mavlink_and_console_log_info(&_mavlink_log_pub, "[IO] mixer upload fail");
/* load must have failed for some reason */
return -EINVAL;
src/drivers/roboclaw/RoboClaw.cpp
+1 -1
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@@ -50,8 +50,8 @@
#include <termios.h>
#include <systemlib/err.h>
#include <systemlib/mavlink_log.h>
#include <arch/board/board.h>
#include <mavlink/mavlink_log.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls_0.h>