pwm_out, dshot: remove mode_* handling and capture ioctl's

They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -21,8 +21,6 @@ then
 fi
 
 # initialize script variables
-set AUX_MODE                    none
-set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none

ROMFS/px4fmu_common/init.d/rc.interface

@@ -29,12 +29,6 @@ then
         fi
 fi
 
-# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
-if [ $USE_IO = no -a $AUX_BANK2 = none ]
-then
-	set AUX_MODE none
-fi
-
 #
 # Set the default output mode if none was set.
 #
@@ -76,15 +70,6 @@ then
 		fi
 	fi
 
-	if [ $OUTPUT_MODE = $OUTPUT_CMD ]
-	then
-		if ! $OUTPUT_CMD mode_$FMU_MODE
-		then
-			echo "$OUTPUT_CMD start failed"
-			tune_control play error
-		fi
-	fi
-
 	if [ $OUTPUT_MODE = uavcan_esc ]
 	then
 		if param compare UAVCAN_ENABLE 0
@@ -98,6 +83,15 @@ then
 		. ${R}etc/init.d/rc.io
 	fi
 
+	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
+	then
+		if ! $OUTPUT_CMD start
+		then
+			echo "$OUTPUT_CMD start failed"
+			tune_control play error
+		fi
+	fi
+
 	#
 	# Start IO for RC input if needed.
 	#
@@ -161,7 +155,7 @@ else
 	fi
 fi
 
-if [ $MIXER_AUX != none -a $AUX_MODE != none ]
+if [ $MIXER_AUX != none ]
 then
 	#
 	# Load aux mixer.
@@ -179,34 +173,26 @@ then
 
 	if [ $MIXER_AUX_FILE != none ]
 	then
-		# Start the output module
+		# Append aux mixer to main device.
-		if $OUTPUT_CMD mode_${AUX_MODE}
+		if param greater SYS_HITL 0
 		then
-			# Append aux mixer to main device.
+			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
-			if param greater SYS_HITL 0
 			then
-				if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
-				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
-				else
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-				fi
-			fi
-			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
-			then
-				if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-				else
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-				fi
 			else
-				echo "INFO  [init] setting PWM_AUX_OUT none"
+				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-				set PWM_AUX_OUT none
+			fi
+		fi
+		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
+		then
+			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+			then
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+			else
+				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
 			fi
 		else
-			echo "ERROR: Could not start: pwm_out mode_pwm"
+			echo "INFO  [init] setting PWM_AUX_OUT none"
-			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set PWM_AUX_OUT none
 		fi
 
@@ -228,36 +214,6 @@ fi
 
 param set PWM_AUX_OUT ${PWM_AUX_OUT}
 
-if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
-then
-	#
-	# Load aux mixer.
-	#
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
-	then
-		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
-	else
-
-		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
-		then
-			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
-		fi
-	fi
-
-	if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-	then
-		echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-
-		# Set PWM_AUX output frequency.
-		if [ $PWM_AUX_RATE != none ]
-		then
-			pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
-		fi
-	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-	fi
-fi
-
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]

ROMFS/px4fmu_common/init.d/rcS

@@ -22,10 +22,8 @@ set +e
 #
 set R /
 set AUTOCNF no
-set AUX_MODE pwm
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
-set FMU_MODE pwm
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
@@ -376,52 +374,9 @@ else
 		commander start
 	fi
 
-	# Sensors on the PWM interface bank.
-	if param compare -s SENS_EN_LL40LS 1
-	then
-		# Clear pins 5 and 6.
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi
-
-
-	# Check if ATS is enabled
-	if param compare FD_EXT_ATS_EN 1
-	then
-		# Clear pins 5 and 6.
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi
 
 	if param greater -s TRIG_MODE 0
 	then
-		if param compare TRIG_PINS_EX 0
-		then
-			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-			if param compare TRIG_PINS 56
-			then
-				# clear pins 5 and 6
-				set FMU_MODE pwm4
-				set AUX_MODE pwm4
-			else
-				if param compare TRIG_PINS 78
-				then
-					# clear pins 7 and 8
-					set FMU_MODE pwm6
-					set AUX_MODE pwm6
-				else
-					set FMU_MODE none
-					set AUX_MODE none
-				fi
-			fi
-		else
-			if param compare TRIG_PINS_EX 12288
-			then
-				set FMU_MODE pwm12
-				set AUX_MODE pwm12
-			fi
-		fi
-
 		camera_trigger start
 		camera_feedback start
 	fi
@@ -449,14 +404,7 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi
 
-	#
+	# Camera capture driver (before pwm_out)
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
-	# Camera capture driver
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -465,6 +413,13 @@ else
 		fi
 	fi
 
+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	#
 	# Start the navigator.
 	#
@@ -564,10 +519,8 @@ fi
 #
 unset R
 unset AUTOCNF
-unset AUX_MODE
 unset FCONFIG
 unset FEXTRAS
-unset FMU_MODE
 unset FRC
 unset IO_PRESENT
 unset IOFW

src/drivers/camera_trigger/camera_trigger_params.c

@@ -131,15 +131,14 @@ PARAM_DEFINE_INT32(TRIG_MODE, 0);
  * Camera trigger pin
  *
  * Selects which FMU pin is used (range: AUX1-AUX8 on Pixhawk controllers with an I/O board,
- * MAIN1-MAIN8 on controllers without an I/O board. The PWM interface takes two pins per camera, while relay
+ * MAIN1-MAIN8 on controllers without an I/O board).
+ *
+ * The PWM interface takes two pins per camera, while relay
  * triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.
  * For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will
  * be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61.
  * In GPIO mode the delay pin to pin is < .2 uS.
  *
- * Note: only with a value of 56 or 78 it is possible to use the lower pins for
- * actuator outputs (e.g. ESC's).
- *
  * @min 1
  * @max 12345678
  * @decimal 0

src/drivers/drv_input_capture.h

@@ -48,26 +48,10 @@
 
 __BEGIN_DECLS
 
-/**
- * Path for the default capture input device.
- *
- *
- */
-#define INPUT_CAPTURE_BASE_DEVICE_PATH "/dev/capture"
-#define INPUT_CAPTURE0_DEVICE_PATH	"/dev/capture0"
-
 typedef void (*capture_callback_t)(void *context, uint32_t chan_index,
 				   hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
 
-/**
- * Maximum number of PWM input channels supported by the device.
- */
-#ifndef INPUT_CAPTURE_MAX_CHANNELS
-#define INPUT_CAPTURE_MAX_CHANNELS 6
-#endif
-
 typedef uint16_t capture_filter_t;
-typedef uint16_t capture_t;
 
 typedef enum input_capture_edge {
 	Disabled 	= 	0,
@@ -76,12 +60,6 @@ typedef enum input_capture_edge {
 	Both		=   3
 } input_capture_edge;
 
-typedef struct input_capture_element_t {
-	hrt_abstime			time_stamp;
-	input_capture_edge	edge;
-	bool				overrun;
-} input_capture_element_t;
-
 typedef struct input_capture_stats_t {
 	uint32_t 		   edges;
 	uint32_t 		   overflows;
@@ -90,90 +68,6 @@ typedef struct input_capture_stats_t {
 	uint16_t		   latency;
 } input_capture_stats_t;
 
-/**
- * input capture values for a channel
- *
- * This allows for Capture input driver values to be set without a
- * param_get() dependency
- */
-typedef struct input_capture_config_t {
-	uint8_t 		channel;
-	capture_filter_t filter;
-	input_capture_edge edge;
-	capture_callback_t callback;
-	void			   *context;
-
-} input_capture_config_t;
-
-/*
- * ioctl() definitions
- *
- * Note that ioctls and ORB updates should not be mixed, as the
- * behaviour of the system in this case is not defined.
- */
-#define _INPUT_CAP_BASE		0x2d00
-
-/** Set Enable a channel arg is pointer to input_capture_config
- * with all parameters set.
- *  edge controls the mode: Disable will free the capture channel.
- *  (When edge is Disabled call back and context are ignored)
- *  context may be null. If callback and context are null the
- *  callback will be disabled.
- *  */
-
-#define INPUT_CAP_SET			_PX4_IOC(_INPUT_CAP_BASE, 0)
-
-/** Set the call back on a capture channel - arg is pointer to
- * input_capture_config with channel call back and context set
- * context may be null. If both ate null the call back will be
- * disabled  */
-#define INPUT_CAP_SET_CALLBACK	_PX4_IOC(_INPUT_CAP_BASE, 1)
-
-/** Get the call back on a capture channel - arg is pointer to
- * input_capture_config with channel set.
- */
-#define INPUT_CAP_GET_CALLBACK	_PX4_IOC(_INPUT_CAP_BASE, 2)
-
-/** Set Edge a channel  arg is pointer to input_capture_config
- * with channel and edge set */
-#define INPUT_CAP_SET_EDGE		_PX4_IOC(_INPUT_CAP_BASE, 3)
-
-/** Get Edge for a channel   arg is pointer to input_capture_config
- * with channel set */
-#define INPUT_CAP_GET_EDGE		_PX4_IOC(_INPUT_CAP_BASE, 4)
-
-/** Set Filter input filter channel    arg is pointer to input_capture_config
- * with channel and filter set */
-#define INPUT_CAP_SET_FILTER	_PX4_IOC(_INPUT_CAP_BASE, 5)
-
-/** Set Filter input filter channel   arg is pointer to input_capture_config
- * with channel set */
-#define INPUT_CAP_GET_FILTER	_PX4_IOC(_INPUT_CAP_BASE, 6)
-
-/** Get the number of capture in *(unsigned *)arg */
-#define INPUT_CAP_GET_COUNT		_PX4_IOC(_INPUT_CAP_BASE, 7)
-
-/** Set the number of capture in (unsigned)arg - allows change of
- * split between servos and capture  */
-#define INPUT_CAP_SET_COUNT		_PX4_IOC(_INPUT_CAP_BASE, 8)
-
-/** Get channel stats - arg is pointer to input_capture_config
- * with channel set.
- */
-#define INPUT_CAP_GET_STATS		_PX4_IOC(_INPUT_CAP_BASE, 9)
-
-/** Get channel stats - arg is pointer to input_capture_config
- * with channel set.
- */
-#define INPUT_CAP_GET_CLR_STATS	_PX4_IOC(_INPUT_CAP_BASE, 10)
-
-/*
- *
- *
- * WARNING WARNING WARNING! DO NOT EXCEED 31 IN IOC INDICES HERE!
- *
- *
- */
 
 __EXPORT int up_input_capture_set(unsigned channel, input_capture_edge edge, capture_filter_t filter,
 				  capture_callback_t callback, void *context);

src/drivers/drv_pwm_output.h

@@ -218,25 +218,7 @@ typedef uint16_t	servo_position_t;
 /** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
 #define PWM_SERVO_SET_OVERRIDE_IMMEDIATE	_PX4_IOC(_PWM_SERVO_BASE, 32)
 
-/** set auxillary output mode. These correspond to enum Mode in px4fmu/fmu.cpp */
+/** set auxillary output mode */
-#define PWM_SERVO_MODE_NONE         0
-#define PWM_SERVO_MODE_1PWM         1
-#define PWM_SERVO_MODE_2PWM         2
-#define PWM_SERVO_MODE_2PWM2CAP     3
-#define PWM_SERVO_MODE_3PWM         4
-#define PWM_SERVO_MODE_3PWM1CAP     5
-#define PWM_SERVO_MODE_4PWM         6
-#define PWM_SERVO_MODE_4PWM1CAP     7
-#define PWM_SERVO_MODE_4PWM2CAP     8
-#define PWM_SERVO_MODE_5PWM         9
-#define PWM_SERVO_MODE_5PWM1CAP    10
-#define PWM_SERVO_MODE_6PWM        11
-#define PWM_SERVO_MODE_8PWM        12
-#define PWM_SERVO_MODE_12PWM       13
-#define PWM_SERVO_MODE_14PWM       14
-#define PWM_SERVO_MODE_4CAP        15
-#define PWM_SERVO_MODE_5CAP        16
-#define PWM_SERVO_MODE_6CAP        17
 #define PWM_SERVO_ENTER_TEST_MODE  18
 #define PWM_SERVO_EXIT_TEST_MODE   19
 #define PWM_SERVO_SET_MODE         _PX4_IOC(_PWM_SERVO_BASE, 34)

src/drivers/dshot/DShot.h

@@ -64,64 +64,13 @@ public:
 	DShot();
 	virtual ~DShot();
 
-	enum Mode {
-		MODE_NONE = 0,
-		MODE_1PWM,
-		MODE_2PWM,
-		MODE_2PWM2CAP,
-		MODE_3PWM,
-		MODE_3PWM1CAP,
-		MODE_4PWM,
-		MODE_4PWM1CAP,
-		MODE_4PWM2CAP,
-		MODE_5PWM,
-		MODE_5PWM1CAP,
-		MODE_6PWM,
-		MODE_8PWM,
-		MODE_12PWM,
-		MODE_14PWM,
-		MODE_4CAP,
-		MODE_5CAP,
-		MODE_6CAP,
-	};
-
-	/** Mode given via CLI */
-	enum PortMode {
-		PORT_MODE_UNSET = 0,
-		PORT_FULL_GPIO,
-		PORT_FULL_PWM,
-		PORT_PWM14,
-		PORT_PWM12,
-		PORT_PWM8,
-		PORT_PWM6,
-		PORT_PWM5,
-		PORT_PWM4,
-		PORT_PWM3,
-		PORT_PWM2,
-		PORT_PWM1,
-		PORT_PWM3CAP1,
-		PORT_PWM4CAP1,
-		PORT_PWM4CAP2,
-		PORT_PWM5CAP1,
-		PORT_PWM2CAP2,
-		PORT_CAPTURE,
-	};
-
-	static void capture_trampoline(void *context, const uint32_t channel_index, const hrt_abstime edge_time,
-				       const uint32_t edge_state, const uint32_t overflow);
-
 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[]);
 
-	Mode get_mode() { return _mode; }
-
 	virtual int init();
 
 	virtual int ioctl(file *filp, int cmd, unsigned long arg);
 
-	/** change the mode of the running module */
-	static int module_new_mode(const PortMode new_mode);
-
 	void mixerChanged() override;
 
 	/** @see ModuleBase::print_status() */
@@ -141,8 +90,6 @@ public:
 	 */
 	int send_command_thread_safe(const dshot_command_t command, const int num_repetitions, const int motor_index);
 
-	int set_mode(const Mode new_mode);
-
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
@@ -179,19 +126,12 @@ private:
 		int last_motor_index{-1};
 	};
 
-	void capture_callback(const uint32_t channel_index, const hrt_abstime edge_time,
-			      const uint32_t edge_state, const uint32_t overflow);
-
-	int capture_ioctl(file *filp, const int cmd, const unsigned long arg);
-
 	void enable_dshot_outputs(const bool enabled);
 
 	void init_telemetry(const char *device);
 
 	void handle_new_telemetry_data(const int motor_index, const DShotTelemetry::EscData &data);
 
-	int pwm_ioctl(file *filp, const int cmd, const unsigned long arg);
-
 	int request_esc_info();
 
 	void Run() override;
@@ -215,7 +155,7 @@ private:
 	bool _outputs_on{false};
 	bool _waiting_for_esc_info{false};
 
-	unsigned _num_outputs{0};
+	static constexpr unsigned _num_outputs{DIRECT_PWM_OUTPUT_CHANNELS};
 	uint32_t _output_mask{0};
 
 	int _class_instance{-1};
@@ -224,8 +164,6 @@ private:
 
 	Command _current_command{};
 
-	Mode _mode{MODE_NONE};
-
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	DEFINE_PARAMETERS(

src/drivers/pwm_out/PWMOut.hpp

@@ -40,7 +40,6 @@
 #include <drivers/device/device.h>
 #include <drivers/device/i2c.h>
 #include <drivers/drv_hrt.h>
-#include <drivers/drv_input_capture.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_pwm_output.h>
 #include <lib/cdev/CDev.hpp>
@@ -64,33 +63,10 @@
 
 using namespace time_literals;
 
-/** Mode given via CLI */
-enum PortMode {
-	PORT_MODE_UNSET = 0,
-	PORT_FULL_GPIO,
-	PORT_FULL_PWM,
-	PORT_PWM14,
-	PORT_PWM12,
-	PORT_PWM8,
-	PORT_PWM6,
-	PORT_PWM5,
-	PORT_PWM4,
-	PORT_PWM3,
-	PORT_PWM2,
-	PORT_PWM1,
-	PORT_PWM3CAP1,
-	PORT_PWM4CAP1,
-	PORT_PWM4CAP2,
-	PORT_PWM5CAP1,
-	PORT_PWM2CAP2,
-	PORT_CAPTURE,
-};
-
 #if !defined(BOARD_HAS_PWM)
 #  error "board_config.h needs to define BOARD_HAS_PWM"
 #endif
 
-// TODO: keep in sync with drivers/camera_capture
 #define PX4FMU_DEVICE_PATH	"/dev/px4fmu"
 
 static constexpr int PWM_OUT_MAX_INSTANCES{(DIRECT_PWM_OUTPUT_CHANNELS > 8) ? 2 : 1};
@@ -99,29 +75,6 @@ extern pthread_mutex_t pwm_out_module_mutex;
 class PWMOut : public cdev::CDev, public OutputModuleInterface
 {
 public:
-	enum Mode {
-		MODE_NONE,
-		MODE_1PWM,
-		MODE_2PWM,
-		MODE_2PWM2CAP,
-		MODE_3PWM,
-		MODE_3PWM1CAP,
-		MODE_4PWM,
-		MODE_4PWM1CAP,
-		MODE_4PWM2CAP,
-		MODE_5PWM,
-		MODE_5PWM1CAP,
-		MODE_6PWM,
-		MODE_8PWM,
-		MODE_12PWM,
-		MODE_14PWM,
-		MODE_4CAP,
-		MODE_5CAP,
-		MODE_6CAP,
-
-		MODE_NO_REQUEST
-	};
-
 	PWMOut() = delete;
 	explicit PWMOut(int instance = 0, uint8_t output_base = 0);
 
@@ -148,30 +101,20 @@ public:
 	static bool trylock_module() { return (pthread_mutex_trylock(&pwm_out_module_mutex) == 0); }
 	static void unlock_module() { pthread_mutex_unlock(&pwm_out_module_mutex); }
 
-	/** change the FMU mode of the running module */
-	static int fmu_new_mode(PortMode new_mode);
-
 	static int test(const char *dev);
 
 	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
 
 	virtual int	init();
 
-	int		set_mode(Mode mode);
-	Mode		get_mode() const { return _mode; }
 	uint32_t	get_pwm_mask() const { return _pwm_mask; }
 	void		set_pwm_mask(uint32_t mask) { _pwm_mask = mask; }
 	uint32_t	get_alt_rate_channels() const { return _pwm_alt_rate_channels; }
 	unsigned	get_alt_rate() const { return _pwm_alt_rate; }
 	unsigned	get_default_rate() const { return _pwm_default_rate; }
-	void		request_mode(Mode new_mode);
 
 	static int	set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
 
-	static void	capture_trampoline(void *context, uint32_t chan_index,
-					   hrt_abstime edge_time, uint32_t edge_state,
-					   uint32_t overflow);
-
 	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
@@ -189,10 +132,6 @@ private:
 
 	MixingOutput _mixing_output{FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
 
-	Mode		_mode{MODE_NONE};
-
-	px4::atomic<Mode> _new_mode_request{MODE_NO_REQUEST};
-
 	uint32_t	_backup_schedule_interval_us{1_s};
 
 	unsigned	_pwm_default_rate{50};
@@ -216,8 +155,6 @@ private:
 	perf_counter_t	_cycle_perf;
 	perf_counter_t	_interval_perf;
 
-	void		capture_callback(uint32_t chan_index,
-					 hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
 	void		update_current_rate();
 	int			set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
 	int			pwm_ioctl(file *filp, int cmd, unsigned long arg);
@@ -229,8 +166,6 @@ private:
 	static void		sensor_reset(int ms);
 	static void		peripheral_reset(int ms);
 
-	int		capture_ioctl(file *filp, int cmd, unsigned long arg);
-
 	PWMOut(const PWMOut &) = delete;
 	PWMOut operator=(const PWMOut &) = delete;