From 723f67b39ac6853eb9acba05427ba802d6890438 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 8 May 2017 11:47:22 +0200 Subject: [PATCH] refactor navio_sysfs_pwm_out: rename to rpi_pwm_out --- cmake/configs/posix_rpi_common.cmake | 2 +- posix-configs/rpi/px4.config | 3 +- posix-configs/rpi/px4_fw.config | 3 +- .../CMakeLists.txt | 6 ++-- .../rpi_pwm_out.cpp} | 30 +++++++++---------- 5 files changed, 23 insertions(+), 21 deletions(-) rename src/drivers/{navio_sysfs_pwm_out => rpi_pwm_out}/CMakeLists.txt (95%) rename src/drivers/{navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp => rpi_pwm_out/rpi_pwm_out.cpp} (93%) diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake index 0b38d03424..84ce025caa 100644 --- a/cmake/configs/posix_rpi_common.cmake +++ b/cmake/configs/posix_rpi_common.cmake @@ -77,8 +77,8 @@ set(config_module_list drivers/gps drivers/navio_adc drivers/navio_sysfs_rc_in - drivers/navio_sysfs_pwm_out drivers/linux_gpio + drivers/rpi_pwm_out drivers/navio_rgbled drivers/pwm_out_sim drivers/rpi_rc_in diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config index 154f35dd00..32d0304cf9 100644 --- a/posix-configs/rpi/px4.config +++ b/posix-configs/rpi/px4.config @@ -1,3 +1,4 @@ +# navio config for a quad uorb start param load param set SYS_AUTOSTART 4001 @@ -30,6 +31,6 @@ mavlink start -d /dev/ttyUSB0 mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50 mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50 navio_sysfs_rc_in start -navio_sysfs_pwm_out start +rpi_pwm_out start logger start -t -b 200 mavlink boot_complete diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config index b0cfd2aa17..d542831ef3 100644 --- a/posix-configs/rpi/px4_fw.config +++ b/posix-configs/rpi/px4_fw.config @@ -1,3 +1,4 @@ +# navio config for FW uorb start param load param set MAV_BROADCAST 1 @@ -28,6 +29,6 @@ mavlink stream -u 14556 -s MANUAL_CONTROL -r 10 navio_sysfs_rc_in start -navio_sysfs_pwm_out start -m ROMFS/px4fmu_common/mixers/AERT.main.mix +rpi_pwm_out start -m ROMFS/px4fmu_common/mixers/AERT.main.mix logger start -t -b 200 mavlink boot_complete diff --git a/src/drivers/navio_sysfs_pwm_out/CMakeLists.txt b/src/drivers/rpi_pwm_out/CMakeLists.txt similarity index 95% rename from src/drivers/navio_sysfs_pwm_out/CMakeLists.txt rename to src/drivers/rpi_pwm_out/CMakeLists.txt index 135afd57b2..2c5603adb4 100644 --- a/src/drivers/navio_sysfs_pwm_out/CMakeLists.txt +++ b/src/drivers/rpi_pwm_out/CMakeLists.txt @@ -31,11 +31,11 @@ # ############################################################################ px4_add_module( - MODULE drivers__navio_sysfs_pwm_out - MAIN navio_sysfs_pwm_out + MODULE drivers__rpi_pwm_out + MAIN rpi_pwm_out COMPILE_FLAGS SRCS - navio_sysfs_pwm_out.cpp + rpi_pwm_out.cpp DEPENDS platforms__common ) diff --git a/src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp b/src/drivers/rpi_pwm_out/rpi_pwm_out.cpp similarity index 93% rename from src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp rename to src/drivers/rpi_pwm_out/rpi_pwm_out.cpp index a842441843..7f545eea76 100644 --- a/src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp +++ b/src/drivers/rpi_pwm_out/rpi_pwm_out.cpp @@ -51,7 +51,7 @@ #include #include -namespace navio_sysfs_pwm_out +namespace rpi_pwm_out { static px4_task_t _task_handle = -1; volatile bool _task_should_exit = false; @@ -463,12 +463,12 @@ void usage() PX4_INFO(" pwm_out status"); } -} // namespace navio_sysfs_pwm_out +} // namespace rpi_pwm_out /* driver 'main' command */ -extern "C" __EXPORT int navio_sysfs_pwm_out_main(int argc, char *argv[]); +extern "C" __EXPORT int rpi_pwm_out_main(int argc, char *argv[]); -int navio_sysfs_pwm_out_main(int argc, char *argv[]) +int rpi_pwm_out_main(int argc, char *argv[]) { int ch; int myoptind = 1; @@ -486,47 +486,47 @@ int navio_sysfs_pwm_out_main(int argc, char *argv[]) while ((ch = px4_getopt(argc, argv, "d:m:", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 'd': - strncpy(navio_sysfs_pwm_out::_device, myoptarg, sizeof(navio_sysfs_pwm_out::_device)); + strncpy(rpi_pwm_out::_device, myoptarg, sizeof(rpi_pwm_out::_device)); break; case 'm': - strncpy(navio_sysfs_pwm_out::_mixer_filename, myoptarg, sizeof(navio_sysfs_pwm_out::_mixer_filename)); + strncpy(rpi_pwm_out::_mixer_filename, myoptarg, sizeof(rpi_pwm_out::_mixer_filename)); break; } } // gets the parameters for the esc's pwm - param_get(param_find("PWM_DISARMED"), &navio_sysfs_pwm_out::_pwm_disarmed); - param_get(param_find("PWM_MIN"), &navio_sysfs_pwm_out::_pwm_min); - param_get(param_find("PWM_MAX"), &navio_sysfs_pwm_out::_pwm_max); + param_get(param_find("PWM_DISARMED"), &rpi_pwm_out::_pwm_disarmed); + param_get(param_find("PWM_MIN"), &rpi_pwm_out::_pwm_min); + param_get(param_find("PWM_MAX"), &rpi_pwm_out::_pwm_max); /* * Start/load the driver. */ if (!strcmp(verb, "start")) { - if (navio_sysfs_pwm_out::_is_running) { + if (rpi_pwm_out::_is_running) { PX4_WARN("pwm_out already running"); return 1; } - navio_sysfs_pwm_out::start(); + rpi_pwm_out::start(); } else if (!strcmp(verb, "stop")) { - if (!navio_sysfs_pwm_out::_is_running) { + if (!rpi_pwm_out::_is_running) { PX4_WARN("pwm_out is not running"); return 1; } - navio_sysfs_pwm_out::stop(); + rpi_pwm_out::stop(); } else if (!strcmp(verb, "status")) { - PX4_WARN("pwm_out is %s", navio_sysfs_pwm_out::_is_running ? "running" : "not running"); + PX4_WARN("pwm_out is %s", rpi_pwm_out::_is_running ? "running" : "not running"); return 0; } else { - navio_sysfs_pwm_out::usage(); + rpi_pwm_out::usage(); return 1; }