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rgbled move to px4 work queue

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This commit is contained in:
Daniel Agar
2019-02-22 10:49:09 -05:00
parent 4ac48f154d
commit 6ec7730bf1
1 changed files with 9 additions and 25 deletions
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34
src/drivers/lights/rgbled/rgbled.cpp
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@@ -55,7 +55,7 @@
#include <stdio.h>
#include <ctype.h>
#include <px4_workqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
@@ -81,7 +81,7 @@
#define SETTING_ENABLE 0x02 /**< on */
class RGBLED : public device::I2C
class RGBLED : public device::I2C, public px4::ScheduledWorkItem
{
public:
RGBLED(int bus, int rgbled);
@@ -93,8 +93,6 @@ public:
int status();
private:
work_s _work;
float _brightness;
float _max_brightness;
@@ -108,8 +106,7 @@ private:
LedController _led_controller;
static void led_trampoline(void *arg);
void led();
void Run() override;
int send_led_enable(bool enable);
int send_led_rgb();
@@ -128,12 +125,8 @@ void rgbled_usage();
extern "C" __EXPORT int rgbled_main(int argc, char *argv[]);
RGBLED::RGBLED(int bus, int rgbled) :
I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled
#ifdef __PX4_NUTTX
, 100000 /* maximum speed supported */
#endif
),
_work{},
I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled, 100000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_brightness(1.0f),
_max_brightness(1.0f),
_r(0),
@@ -173,8 +166,9 @@ RGBLED::init()
update_params();
_running = true;
// kick off work queue
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 0);
ScheduleNow();
return OK;
}
@@ -230,19 +224,11 @@ RGBLED::status()
return ret;
}
void
RGBLED::led_trampoline(void *arg)
{
RGBLED *rgbl = reinterpret_cast<RGBLED *>(arg);
rgbl->led();
}
/**
* Main loop function
*/
void
RGBLED::led()
RGBLED::Run()
{
if (!_should_run) {
if (_param_sub >= 0) {
@@ -332,10 +318,8 @@ RGBLED::led()
send_led_rgb();
}
/* re-queue ourselves to run again later */
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this,
USEC2TICK(_led_controller.maximum_update_interval()));
ScheduleDelayed(_led_controller.maximum_update_interval());
}
/**