AP_HAL_Linux: rename RCOutput_Navio to RCOutput_PCA9685

The RCOutput_Navio is now generic enough to be used by other boards.
Rename it to use the name of the chip, PCA9685.

libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h

@@ -28,7 +28,7 @@ namespace Linux {
     class LinuxRCInput_ZYNQ;
     class LinuxRCOutput_PRU;
     class LinuxRCOutput_AioPRU;
-    class LinuxRCOutput_Navio;
+    class LinuxRCOutput_PCA9685;
     class LinuxRCOutput_ZYNQ;
     class LinuxRCOutput_Bebop;
     class LinuxSemaphore;

libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h

@@ -19,7 +19,7 @@
 #include "RCInput_Navio.h"
 #include "RCOutput_PRU.h"
 #include "RCOutput_AioPRU.h"
-#include "RCOutput_Navio.h"
+#include "RCOutput_PCA9685.h"
 #include "RCOutput_ZYNQ.h"
 #include "RCOutput_Bebop.h"
 #include "Semaphores.h"

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -94,7 +94,7 @@ static LinuxRCOutput_AioPRU rcoutDriver;
   use the PCA9685 based RCOutput driver on Navio
  */
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
-static LinuxRCOutput_Navio rcoutDriver(true, 3, RPI_GPIO_27);
+static LinuxRCOutput_PCA9685 rcoutDriver(true, 3, RPI_GPIO_27);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
 static LinuxRCOutput_ZYNQ rcoutDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP

libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp

@@ -4,7 +4,7 @@
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
-#include "RCOutput_Navio.h"
+#include "RCOutput_PCA9685.h"
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
@@ -58,9 +58,9 @@ using namespace Linux;
 
 static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-LinuxRCOutput_Navio::LinuxRCOutput_Navio(bool external_clock,
-                                         uint8_t channel_offset,
-                                         uint8_t oe_pin_number) :
+LinuxRCOutput_PCA9685::LinuxRCOutput_PCA9685(bool external_clock,
+                                             uint8_t channel_offset,
+                                             uint8_t oe_pin_number) :
     _i2c_sem(NULL),
     _enable_pin(NULL),
     _frequency(50),
@@ -75,16 +75,16 @@ LinuxRCOutput_Navio::LinuxRCOutput_Navio(bool external_clock,
         _osc_clock = PCA9685_INTERNAL_CLOCK;
 }
 
-LinuxRCOutput_Navio::~LinuxRCOutput_Navio()
+LinuxRCOutput_PCA9685::~LinuxRCOutput_PCA9685()
 {
     delete [] _pulses_buffer;
 }
 
-void LinuxRCOutput_Navio::init(void* machtnicht)
+void LinuxRCOutput_PCA9685::init(void* machtnicht)
 {
     _i2c_sem = hal.i2c->get_semaphore();
     if (_i2c_sem == NULL) {
-        hal.scheduler->panic(PSTR("PANIC: RCOutput_Navio did not get "
+        hal.scheduler->panic(PSTR("PANIC: RCOutput_PCA9685 did not get "
                                   "valid I2C semaphore!"));
         return; /* never reached */
     }
@@ -100,7 +100,7 @@ void LinuxRCOutput_Navio::init(void* machtnicht)
     _enable_pin->write(0);
 }
 
-void LinuxRCOutput_Navio::reset_all_channels()
+void LinuxRCOutput_PCA9685::reset_all_channels()
 {
     if (!_i2c_sem->take(10)) {
         return;
@@ -115,7 +115,7 @@ void LinuxRCOutput_Navio::reset_all_channels()
     _i2c_sem->give();
 }
 
-void LinuxRCOutput_Navio::set_freq(uint32_t chmask, uint16_t freq_hz)
+void LinuxRCOutput_PCA9685::set_freq(uint32_t chmask, uint16_t freq_hz)
 {
 
     /* Correctly finish last pulses */
@@ -158,22 +158,22 @@ void LinuxRCOutput_Navio::set_freq(uint32_t chmask, uint16_t freq_hz)
     _i2c_sem->give();
 }
 
-uint16_t LinuxRCOutput_Navio::get_freq(uint8_t ch)
+uint16_t LinuxRCOutput_PCA9685::get_freq(uint8_t ch)
 {
     return _frequency;
 }
 
-void LinuxRCOutput_Navio::enable_ch(uint8_t ch)
+void LinuxRCOutput_PCA9685::enable_ch(uint8_t ch)
 {
 
 }
 
-void LinuxRCOutput_Navio::disable_ch(uint8_t ch)
+void LinuxRCOutput_PCA9685::disable_ch(uint8_t ch)
 {
     write(ch, 0);
 }
 
-void LinuxRCOutput_Navio::write(uint8_t ch, uint16_t period_us)
+void LinuxRCOutput_PCA9685::write(uint8_t ch, uint16_t period_us)
 {
     if(ch >= PWM_CHAN_COUNT){
         return;
@@ -201,18 +201,18 @@ void LinuxRCOutput_Navio::write(uint8_t ch, uint16_t period_us)
     _i2c_sem->give();
 }
 
-void LinuxRCOutput_Navio::write(uint8_t ch, uint16_t* period_us, uint8_t len)
+void LinuxRCOutput_PCA9685::write(uint8_t ch, uint16_t* period_us, uint8_t len)
 {
     for (int i = 0; i < len; i++)
         write(ch + i, period_us[i]);
 }
 
-uint16_t LinuxRCOutput_Navio::read(uint8_t ch)
+uint16_t LinuxRCOutput_PCA9685::read(uint8_t ch)
 {
     return _pulses_buffer[ch];
 }
 
-void LinuxRCOutput_Navio::read(uint16_t* period_us, uint8_t len)
+void LinuxRCOutput_PCA9685::read(uint16_t* period_us, uint8_t len)
 {
     for (int i = 0; i < len; i++) 
         period_us[i] = read(0 + i);

libraries/AP_HAL_Linux/RCOutput_PCA9685.h

@@ -1,14 +1,14 @@
 
-#ifndef __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__
-#define __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__
+#ifndef __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__
+#define __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__
 
 #include "AP_HAL_Linux.h"
 
-class Linux::LinuxRCOutput_Navio : public AP_HAL::RCOutput {
+class Linux::LinuxRCOutput_PCA9685 : public AP_HAL::RCOutput {
     public:
-    LinuxRCOutput_Navio(bool external_clock, uint8_t channel_offset,
-                        uint8_t oe_pin_number);
-    ~LinuxRCOutput_Navio();
+    LinuxRCOutput_PCA9685(bool external_clock, uint8_t channel_offset,
+                          uint8_t oe_pin_number);
+    ~LinuxRCOutput_PCA9685();
     void     init(void* machtnichts);
     void     reset_all_channels();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
@@ -35,4 +35,4 @@ private:
     uint8_t _oe_pin_number;
 };
 
-#endif // __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__
+#endif // __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__