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refactor navio_sysfs_pwm_out: rename to rpi_pwm_out

This commit is contained in:
Beat Küng 2017-05-08 11:47:22 +02:00
parent 8ccbc068c2
commit 723f67b39a
5 changed files with 23 additions and 21 deletions
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2
cmake/configs/posix_rpi_common.cmake
View File

@ -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

3
posix-configs/rpi/px4.config
View File

@ -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

3
posix-configs/rpi/px4_fw.config
View File

@ -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

6
src/drivers/navio_sysfs_pwm_out/CMakeLists.txt → src/drivers/rpi_pwm_out/CMakeLists.txt
View File

@ -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
)

30
src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp → src/drivers/rpi_pwm_out/rpi_pwm_out.cpp
View File

@ -51,7 +51,7 @@
#include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h>
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;
}