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boards: cuav_x25-super: migrate core_heater to new ModuleBase API

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The core_heater driver was written against the old CRTP ModuleBase<T>
pattern which was removed in ce3e62841f. Replace with the
descriptor-based API matching src/drivers/heater/.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
2026-03-02 09:22:48 -08:00
parent 02e73e3b6f
commit 12babb33cb
2 changed files with 9 additions and 6 deletions
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boards/cuav/x25-super/core_heater/core_heater.cpp
+7 -5
View File
@@ -47,6 +47,8 @@
# error "To use the heater driver, the board_config.h must define and initialize GPIO_CORE_HEATER_OUTPUT" # error "To use the heater driver, the board_config.h must define and initialize GPIO_CORE_HEATER_OUTPUT"
# endif # endif
ModuleBase::Descriptor Core_Heater::desc{task_spawn, custom_command, print_usage};
Core_Heater::Core_Heater() : Core_Heater::Core_Heater() :
ModuleParams(nullptr), ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default) ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
@@ -62,7 +64,7 @@ Core_Heater::~Core_Heater()
int Core_Heater::custom_command(int argc, char *argv[]) int Core_Heater::custom_command(int argc, char *argv[])
{ {
// Check if the driver is running. // Check if the driver is running.
if (!is_running()) { if (!is_running(desc)) {
PX4_INFO("not running"); PX4_INFO("not running");
return PX4_ERROR; return PX4_ERROR;
} }
@@ -117,7 +119,7 @@ bool Core_Heater::initialize_topics()
void Core_Heater::Run() void Core_Heater::Run()
{ {
if (should_exit()) { if (should_exit()) {
exit_and_cleanup(); exit_and_cleanup(desc);
return; return;
} }
@@ -216,8 +218,8 @@ int Core_Heater::task_spawn(int argc, char *argv[])
return PX4_ERROR; return PX4_ERROR;
} }
_object.store(core_heater); desc.object.store(core_heater);
_task_id = task_id_is_work_queue; desc.task_id = task_id_is_work_queue;
core_heater->start(); core_heater->start();
return 0; return 0;
@@ -257,5 +259,5 @@ Background process running periodically on the LP work queue to regulate IMU tem
extern "C" __EXPORT int core_heater_main(int argc, char *argv[]) extern "C" __EXPORT int core_heater_main(int argc, char *argv[])
{ {
return Core_Heater::main(argc, argv); return ModuleBase::main(Core_Heater::desc, argc, argv);
} }
boards/cuav/x25-super/core_heater/core_heater.h
+2 -1
View File
@@ -56,9 +56,10 @@ using namespace time_literals;
#define CONTROLLER_PERIOD_DEFAULT 10000 #define CONTROLLER_PERIOD_DEFAULT 10000
#define TEMPERATURE_TARGET_THRESHOLD 2.5f #define TEMPERATURE_TARGET_THRESHOLD 2.5f
class Core_Heater : public ModuleBase<Core_Heater>, public ModuleParams, public px4::ScheduledWorkItem class Core_Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
{ {
public: public:
static Descriptor desc;
Core_Heater(); Core_Heater();
virtual ~Core_Heater(); virtual ~Core_Heater();