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replace PX4_XXX to LOG_XXX
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@ComerLater
ComerLater committed Aug 30, 2024
1 parent 05262ea commit 7670fd1
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Showing 68 changed files with 6,408 additions and 6,431 deletions.
14 changes: 7 additions & 7 deletions apps/peripheral/actuator/pwm_out/PWMOut.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ bool PWMOut::update_pwm_out_state(bool on) {
int ret = up_pwm_servo_init(_pwm_mask);

if (ret < 0) {
PX4_ERR("up_pwm_servo_init failed (%i)", ret);
LOG_E("up_pwm_servo_init failed (%i)", ret);
return false;
}

Expand All @@ -80,7 +80,7 @@ bool PWMOut::update_pwm_out_state(bool on) {
ret = up_pwm_servo_set_rate_group_update(timer, _timer_rates[timer]);

if (ret != 0) {
PX4_ERR("up_pwm_servo_set_rate_group_update failed for timer %i, rate %i (%i)", timer, _timer_rates[timer], ret);
LOG_E("up_pwm_servo_set_rate_group_update failed for timer %i, rate %i (%i)", timer, _timer_rates[timer], ret);
_timer_rates[timer] = -1;
_pwm_mask &= ~channels;
}
Expand Down Expand Up @@ -170,7 +170,7 @@ void PWMOut::Run() {
// PWMOut *instance = new PWMOut();

// if (!instance) {
// PX4_ERR("alloc failed");
// LOG_E("alloc failed");
// return -1;
// }

Expand Down Expand Up @@ -200,7 +200,7 @@ void PWMOut::update_params() {
if (output_function >= (int)OutputFunction::Servo1
&& output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
int32_t val = 1500;
PX4_INFO("Setting channel %i disarmed to %i", (int)val, i);
LOG_I("Setting channel %i disarmed to %i", (int)val, i);
param_set(_mixing_output.disarmedParamHandle(i), &val);

// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
Expand All @@ -220,7 +220,7 @@ void PWMOut::update_params() {

if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
tim_config = 50;
PX4_INFO("setting timer %i to %i Hz", timer, (int)tim_config);
LOG_I("setting timer %i to %i Hz", timer, (int)tim_config);
param_set(handle, &tim_config);
}
}
Expand All @@ -231,10 +231,10 @@ void PWMOut::update_params() {
if (output_function >= (int)OutputFunction::Motor1
&& output_function <= (int)OutputFunction::MotorMax) { // Function got set to a motor
int32_t val = 1100;
PX4_INFO("Setting channel %i minimum to %i", (int)val, i);
LOG_I("Setting channel %i minimum to %i", (int)val, i);
param_set(_mixing_output.minParamHandle(i), &val);
val = 1900;
PX4_INFO("Setting channel %i maximum to %i", (int)val, i);
LOG_I("Setting channel %i maximum to %i", (int)val, i);
param_set(_mixing_output.maxParamHandle(i), &val);
}
}
Expand Down
8 changes: 4 additions & 4 deletions apps/peripheral/actuator/pwm_out/PWMOut.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,16 +41,16 @@ class PWMOut final : public ModuleCommand<PWMOut>, public OutputModuleInterface
PWMOut();
~PWMOut() override;

/** @see ModuleBase */
/** @see ModuleCommand */
// static int task_spawn(int argc, char *argv[]);

/** @see ModuleBase */
/** @see ModuleCommand */
static int custom_command(int argc, char *argv[]);

/** @see ModuleBase */
/** @see ModuleCommand */
static int print_usage(const char *reason = nullptr);

/** @see ModuleBase::print_status() */
/** @see ModuleCommand::print_status() */
int print_status() override;

bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
Expand Down
72 changes: 36 additions & 36 deletions apps/peripheral/battery/batt_smbus/batt_smbus.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ BATT_SMBUS::~BATT_SMBUS() {
}

void BATT_SMBUS::RunImpl() {
int ret = PX4_OK;
int ret = RT_EOK;

// Temporary variable for storing SMBUS reads.
uint16_t result;
Expand Down Expand Up @@ -137,7 +137,7 @@ void BATT_SMBUS::RunImpl() {
new_report.temperature = ((float)result / 10.0f) + CONSTANTS_ABSOLUTE_NULL_CELSIUS;

// Only publish if no errors.
if (ret == PX4_OK) {
if (ret == RT_EOK) {
new_report.capacity = _batt_capacity;
new_report.cycle_count = _cycle_count;
new_report.serial_number = _serial_number;
Expand Down Expand Up @@ -182,7 +182,7 @@ void BATT_SMBUS::resume() {
int BATT_SMBUS::get_cell_voltages() {
// Temporary variable for storing SMBUS reads.
uint16_t result = 0;
int ret = PX4_OK;
int ret = RT_EOK;

if (_device_type == SMBUS_DEVICE_TYPE::BQ40Z50) {
ret |= _interface->read_word(BATT_SMBUS_BQ40Z50_CELL_1_VOLTAGE, result);
Expand All @@ -208,8 +208,8 @@ int BATT_SMBUS::get_cell_voltages() {
uint8_t DAstatus1[32 + 2] = {}; // 32 bytes of data and 2 bytes of address

//TODO: need to consider if set voltages to 0? -1?
if (PX4_OK != manufacturer_read(BATT_SMBUS_DASTATUS1, DAstatus1, sizeof(DAstatus1))) {
return PX4_ERROR;
if (RT_EOK != manufacturer_read(BATT_SMBUS_DASTATUS1, DAstatus1, sizeof(DAstatus1))) {
return RT_ERROR;
}

// Convert millivolts to volts.
Expand All @@ -224,8 +224,8 @@ int BATT_SMBUS::get_cell_voltages() {
uint8_t DAstatus3[18 + 2] = {}; // 18 bytes of data and 2 bytes of address

//TODO: need to consider if set voltages to 0? -1?
if (PX4_OK != manufacturer_read(BATT_SMBUS_DASTATUS3, DAstatus3, sizeof(DAstatus3))) {
return PX4_ERROR;
if (RT_EOK != manufacturer_read(BATT_SMBUS_DASTATUS3, DAstatus3, sizeof(DAstatus3))) {
return RT_ERROR;
}

_cell_voltages[4] = ((float)((DAstatus3[1] << 8) | DAstatus3[0]) / 1000.0f);
Expand Down Expand Up @@ -256,12 +256,12 @@ void BATT_SMBUS::set_undervoltage_protection(float average_current) {
uint8_t protections_a_tmp = BATT_SMBUS_ENABLED_PROTECTIONS_A_CUV_DISABLED;
uint16_t address = BATT_SMBUS_ENABLED_PROTECTIONS_A_ADDRESS;

if (dataflash_write(address, &protections_a_tmp, 1) == PX4_OK) {
if (dataflash_write(address, &protections_a_tmp, 1) == RT_EOK) {
_cell_undervoltage_protection_status = 0;
PX4_WARN("Disabled CUV");
LOG_W("Disabled CUV");

} else {
PX4_WARN("Failed to disable CUV");
LOG_W("Failed to disable CUV");
}
}

Expand All @@ -272,12 +272,12 @@ void BATT_SMBUS::set_undervoltage_protection(float average_current) {
uint8_t protections_a_tmp = BATT_SMBUS_ENABLED_PROTECTIONS_A_DEFAULT;
uint16_t address = BATT_SMBUS_ENABLED_PROTECTIONS_A_ADDRESS;

if (dataflash_write(address, &protections_a_tmp, 1) == PX4_OK) {
if (dataflash_write(address, &protections_a_tmp, 1) == RT_EOK) {
_cell_undervoltage_protection_status = 1;
PX4_WARN("Enabled CUV");
LOG_W("Enabled CUV");

} else {
PX4_WARN("Failed to enable CUV");
LOG_W("Failed to enable CUV");
}
}
}
Expand All @@ -290,7 +290,7 @@ int BATT_SMBUS::dataflash_read(const uint16_t address, void *data, const unsigne

int ret = _interface->block_write(code, &address, 2, true);

if (ret != PX4_OK) {
if (ret != RT_EOK) {
return ret;
}

Expand All @@ -308,7 +308,7 @@ int BATT_SMBUS::dataflash_write(const uint16_t address, void *data, const unsign
tx_buf[1] = (address >> 8) & 0xff;

if (length > MAC_DATA_BUFFER_SIZE) {
return PX4_ERROR;
return RT_ERROR;
}

memcpy(&tx_buf[2], data, length);
Expand All @@ -320,7 +320,7 @@ int BATT_SMBUS::dataflash_write(const uint16_t address, void *data, const unsign
}

int BATT_SMBUS::get_startup_info() {
int ret = PX4_OK;
int ret = RT_EOK;

// Read battery threshold params on startup.
// TODO: support instances
Expand Down Expand Up @@ -364,19 +364,19 @@ int BATT_SMBUS::get_startup_info() {
_state_of_health = state_of_health;
}

if (lifetime_data_flush() == PX4_OK) {
if (lifetime_data_flush() == RT_EOK) {
// Flush needs time to complete, otherwise device is busy. 100ms not enough, 200ms works.
px4_usleep(200_ms);

if (lifetime_read_block_one() == PX4_OK) {
if (lifetime_read_block_one() == RT_EOK) {
if (_lifetime_max_delta_cell_voltage > BATT_CELL_VOLTAGE_THRESHOLD_FAILED) {
PX4_WARN("Battery Damaged Will Not Fly. Lifetime max voltage difference: %4.2f",
(double)_lifetime_max_delta_cell_voltage);
LOG_W("Battery Damaged Will Not Fly. Lifetime max voltage difference: %4.2f",
(double)_lifetime_max_delta_cell_voltage);
}
}

} else {
PX4_WARN("Failed to flush lifetime data");
LOG_W("Failed to flush lifetime data");
}

return ret;
Expand All @@ -391,7 +391,7 @@ int BATT_SMBUS::manufacturer_read(const uint16_t cmd_code, void *data, const uns

int ret = _interface->block_write(code, address, 2, false);

if (ret != PX4_OK) {
if (ret != RT_EOK) {
return ret;
}

Expand Down Expand Up @@ -440,9 +440,9 @@ int BATT_SMBUS::lifetime_data_flush() {
int BATT_SMBUS::lifetime_read_block_one() {
uint8_t lifetime_block_one[32 + 2] = {}; // 32 bytes of data and 2 bytes of address

if (PX4_OK != manufacturer_read(BATT_SMBUS_LIFETIME_BLOCK_ONE, lifetime_block_one, sizeof(lifetime_block_one))) {
PX4_INFO("Failed to read lifetime block 1.");
return PX4_ERROR;
if (RT_EOK != manufacturer_read(BATT_SMBUS_LIFETIME_BLOCK_ONE, lifetime_block_one, sizeof(lifetime_block_one))) {
LOG_I("Failed to read lifetime block 1.");
return RT_ERROR;
}

//Get max cell voltage delta and convert from mV to V.
Expand All @@ -453,9 +453,9 @@ int BATT_SMBUS::lifetime_read_block_one() {
_lifetime_max_delta_cell_voltage = (float)(lifetime_block_one[29] << 8 | lifetime_block_one[28]) / 1000.0f;
}

PX4_INFO("Max Cell Delta: %4.2f", (double)_lifetime_max_delta_cell_voltage);
LOG_I("Max Cell Delta: %4.2f", (double)_lifetime_max_delta_cell_voltage);

return PX4_OK;
return RT_EOK;
}

void BATT_SMBUS::print_usage() {
Expand Down Expand Up @@ -492,19 +492,19 @@ To write to flash to set parameters. address, number_of_bytes, byte0, ... , byte
I2CSPIDriverBase *BATT_SMBUS::instantiate(const I2CSPIDriverConfig &config, int runtime_instance) {
SMBus *interface = new SMBus(DRV_BAT_DEVTYPE_SMBUS, config.bus, config.i2c_address);
if (interface == nullptr) {
PX4_ERR("alloc failed");
LOG_E("alloc failed");
return nullptr;
}
BATT_SMBUS *instance = new BATT_SMBUS(config, interface);

if (instance == nullptr) {
PX4_ERR("alloc failed");
LOG_E("alloc failed");
return nullptr;
}

int ret = instance->get_startup_info();

if (ret != PX4_OK) {
if (ret != RT_EOK) {
delete instance;
return nullptr;
}
Expand All @@ -517,9 +517,9 @@ I2CSPIDriverBase *BATT_SMBUS::instantiate(const I2CSPIDriverConfig &config, int
void BATT_SMBUS::custom_method(const BusCLIArguments &cli) {
switch (cli.custom1) {
case 1: {
PX4_INFO("The manufacturer name: %s", _manufacturer_name);
PX4_INFO("The manufacturer date: %" PRId16, _manufacture_date);
PX4_INFO("The serial number: %d" PRId16, _serial_number);
LOG_I("The manufacturer name: %s", _manufacturer_name);
LOG_I("The manufacturer date: %" PRId16, _manufacture_date);
LOG_I("The serial number: %d" PRId16, _serial_number);
} break;
case 2:
unseal();
Expand All @@ -539,8 +539,8 @@ void BATT_SMBUS::custom_method(const BusCLIArguments &cli) {
uint8_t *tx_buf = (uint8_t *)cli.custom_data;
unsigned length = tx_buf[0];

if (PX4_OK != dataflash_write(address, tx_buf + 1, length)) {
PX4_ERR("Dataflash write failed: %u", address);
if (RT_EOK != dataflash_write(address, tx_buf + 1, length)) {
LOG_E("Dataflash write failed: %u", address);
}
px4_usleep(100_ms);
}
Expand Down Expand Up @@ -603,7 +603,7 @@ extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]) {
cli.custom_data = &tx_buf;

if (length > 32) {
PX4_WARN("Data length out of range: Max 32 bytes");
LOG_W("Data length out of range: Max 32 bytes");
return 1;
}

Expand Down
20 changes: 10 additions & 10 deletions apps/peripheral/battery/batt_smbus/batt_smbus.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -120,7 +120,7 @@ class BATT_SMBUS : public I2CSPIDriver<BATT_SMBUS> {
* @brief Reads data from flash.
* @param address The address to start the read from.
* @param data The returned data.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
* @return Returns RT_EOK on success, RT_ERROR on failure.
*/
int dataflash_read(const uint16_t address, void *data, const unsigned length);

Expand All @@ -129,13 +129,13 @@ class BATT_SMBUS : public I2CSPIDriver<BATT_SMBUS> {
* @param address The start address of the write.
* @param data The data to be written.
* @param length The number of bytes being written.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
* @return Returns RT_EOK on success, RT_ERROR on failure.
*/
int dataflash_write(const uint16_t address, void *data, const unsigned length);

/**
* @brief Read info from battery on startup.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
* @return Returns RT_EOK on success, RT_ERROR on failure.
*/
int get_startup_info();

Expand All @@ -144,7 +144,7 @@ class BATT_SMBUS : public I2CSPIDriver<BATT_SMBUS> {
* @param cmd_code The command code.
* @param data The returned data.
* @param length The number of bytes being written.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
* @return Returns RT_EOK on success, RT_ERROR on failure.
*/
int manufacturer_read(const uint16_t cmd_code, void *data, const unsigned length);

Expand All @@ -153,37 +153,37 @@ class BATT_SMBUS : public I2CSPIDriver<BATT_SMBUS> {
* @param cmd_code The command code.
* @param data The sent data.
* @param length The number of bytes being written.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
* @return Returns RT_EOK on success, RT_ERROR on failure.
*/
int manufacturer_write(const uint16_t cmd_code, void *data, const unsigned length);

/**
* @brief Unseals the battery to allow writing to restricted flash.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
* @return Returns RT_EOK on success, RT_ERROR on failure.
*/
int unseal();

/**
* @brief Seals the battery to disallow writing to restricted flash.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
* @return Returns RT_EOK on success, RT_ERROR on failure.
*/
int seal();

/**
* @brief This command flushes the RAM Lifetime Data to data flash to help streamline evaluation testing.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
* @return Returns RT_EOK on success, RT_ERROR on failure.
*/
int lifetime_data_flush();

/**
* @brief Reads the lifetime data from block 1.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
* @return Returns RT_EOK on success, RT_ERROR on failure.
*/
int lifetime_read_block_one();

/**
* @brief Reads the cell voltages.
* @return Returns PX4_OK on success or associated read error code on failure.
* @return Returns RT_EOK on success or associated read error code on failure.
*/
int get_cell_voltages();

Expand Down
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