pwm_out: cleanup and prep for linux compatibility

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -4,19 +4,6 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
-
-if ! ver hwcmp OMNIBUS_F4SD
-then
-	if ! ver hwcmp BITCRAZE_CRAZYFLIE
-	then
-		# Configure all I2C buses to 100 KHz as they
-		# are all external or slow
-		# TODO: move this
-		pwm_out i2c 1 100000
-		pwm_out i2c 2 100000
-	fi
-fi
-
 ###############################################################################
 #                           Begin Optional drivers                            #
 ###############################################################################

boards/px4/fmu-v4/init/rc.board_sensors

@@ -5,14 +5,6 @@
 
 board_adc start
 
-# We know there are sketchy boards out there
-# as chinese companies produce Pixracers without
-# fully understanding the critical parts of the
-# schematic and BOM, leading to sensor brownouts
-# on boot. Original Pixracers following the
-# open hardware design do not require this.
-pwm_out sensor_reset 50
-
 # Internal SPI
 ms5611 -s start
 

boards/uvify/core/init/rc.board_extras

@@ -7,9 +7,6 @@
 # IFO
 if param compare SYS_AUTOSTART 4071
 then
-	# Change rate to 400 Khz for fast barometer
-	#pwm_out i2c 1 400000
-
 	# IFO has only external i2c barometer.
 	# It does not start EKF2 in the beginning which is strange behaviour. but 3 seconds hack.
 	# We intentionally put this initialization to here for delayed initialization.

src/drivers/pwm_out/PWMOut.cpp

@@ -222,11 +222,6 @@ int PWMOut::set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_
 	return OK;
 }
 
-int PWMOut::set_i2c_bus_clock(unsigned bus, unsigned clock_hz)
-{
-	return device::I2C::set_bus_clock(bus, clock_hz);
-}
-
 void PWMOut::update_current_rate()
 {
 	/*
@@ -695,7 +690,7 @@ void PWMOut::update_params()
 	_num_disarmed_set = num_disarmed_set;
 }
 
-int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
+int PWMOut::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	int ret = pwm_ioctl(filp, cmd, arg);
 
@@ -707,7 +702,7 @@ int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
-int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
+int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	int ret = OK;
 
@@ -1094,34 +1089,6 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
-void PWMOut::sensor_reset(int ms)
-{
-	if (ms < 1) {
-		ms = 1;
-	}
-
-	board_spi_reset(ms, 0xffff);
-}
-
-void PWMOut::peripheral_reset(int ms)
-{
-	if (ms < 1) {
-		ms = 10;
-	}
-
-	board_peripheral_reset(ms);
-}
-
-namespace
-{
-
-int fmu_new_i2c_speed(unsigned bus, unsigned clock_hz)
-{
-	return PWMOut::set_i2c_bus_clock(bus, clock_hz);
-}
-
-} // namespace
-
 int PWMOut::test(const char *dev)
 {
 	int	 fd;
@@ -1267,50 +1234,6 @@ int PWMOut::custom_command(int argc, char *argv[])
 
 	const char *verb = argv[myoptind];
 
-	/* does not operate on a FMU instance */
-	if (!strcmp(verb, "i2c")) {
-		if (argc > 2) {
-			int bus = strtol(argv[1], 0, 0);
-			int clock_hz = strtol(argv[2], 0, 0);
-			int ret = fmu_new_i2c_speed(bus, clock_hz);
-
-			if (ret) {
-				PX4_ERR("setting I2C clock failed");
-			}
-
-			return ret;
-		}
-
-		return print_usage("not enough arguments");
-	}
-
-	if (!strcmp(verb, "sensor_reset")) {
-		if (argc > 1) {
-			int reset_time = strtol(argv[1], nullptr, 0);
-			sensor_reset(reset_time);
-
-		} else {
-			sensor_reset(0);
-			PX4_INFO("reset default time");
-		}
-
-		return 0;
-	}
-
-	if (!strcmp(verb, "peripheral_reset")) {
-		if (argc > 2) {
-			int reset_time = strtol(argv[2], 0, 0);
-			peripheral_reset(reset_time);
-
-		} else {
-			peripheral_reset(0);
-			PX4_INFO("reset default time");
-		}
-
-		return 0;
-	}
-
-
 	/* start pwm_out if not running */
 	if (!is_running()) {
 
@@ -1394,15 +1317,6 @@ By default the module runs on a work queue with a callback on the uORB actuator_
 
 	PRINT_MODULE_USAGE_NAME("pwm_out", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
-
-	PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_reset", "Do a sensor reset (SPI bus)");
-	PRINT_MODULE_USAGE_ARG("<ms>", "Delay time in ms between reset and re-enabling", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("peripheral_reset", "Reset board peripherals");
-	PRINT_MODULE_USAGE_ARG("<ms>", "Delay time in ms between reset and re-enabling", true);
-
-	PRINT_MODULE_USAGE_COMMAND_DESCR("i2c", "Configure I2C clock rate");
-	PRINT_MODULE_USAGE_ARG("<bus_id> <rate>", "Specify the bus id (>=0) and rate in Hz", false);
-
 	PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test outputs");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 

src/drivers/pwm_out/PWMOut.hpp

@@ -37,8 +37,8 @@
 #include <math.h>
 
 #include <board_config.h>
+
 #include <drivers/device/device.h>
-#include <drivers/device/i2c.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_pwm_output.h>
@@ -103,9 +103,9 @@ public:
 
 	static int test(const char *dev);
 
-	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+	int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
 
-	virtual int	init();
+	int init() override;
 
 	uint32_t	get_pwm_mask() const { return _pwm_mask; }
 	void		set_pwm_mask(uint32_t mask) { _pwm_mask = mask; }
@@ -113,8 +113,6 @@ public:
 	unsigned	get_alt_rate() const { return _pwm_alt_rate; }
 	unsigned	get_default_rate() const { return _pwm_default_rate; }
 
-	static int	set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
-
 	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
@@ -158,15 +156,12 @@ private:
 
 	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);
+	int			pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	bool		update_pwm_out_state(bool on);
 
 	void		update_params();
 
-	static void		sensor_reset(int ms);
-	static void		peripheral_reset(int ms);
-
 	PWMOut(const PWMOut &) = delete;
 	PWMOut operator=(const PWMOut &) = delete;