From ff647e7bc86d3ac4b9cfcb8bd528d9d92299e3fa Mon Sep 17 00:00:00 2001
From: Hidenori <hidenori.kobayashi@gmail.com>
Date: Tue, 19 Jul 2016 11:00:49 -0400
Subject: [PATCH] Navio: GPIO driver command fix and update ifdefs

---
 src/drivers/navio_gpio/navio_gpio.cpp      | 22 ++++++++++++++++------
 src/drivers/navio_gpio/navio_gpio.h        | 12 ++++--------
 src/lib/version/version.h                  |  2 +-
 src/modules/commander/commander_helper.cpp |  4 ++--
 4 files changed, 23 insertions(+), 17 deletions(-)

diff --git a/src/drivers/navio_gpio/navio_gpio.cpp b/src/drivers/navio_gpio/navio_gpio.cpp
index 5158a39d98..f39f9387ab 100644
--- a/src/drivers/navio_gpio/navio_gpio.cpp
+++ b/src/drivers/navio_gpio/navio_gpio.cpp
@@ -145,10 +145,10 @@ int navio_gpio_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "start")) {
+		PX4_WARN("gpio should only be started directly for debugging");
 
 		if (gpio != nullptr && gpio->isMapped()) {
 			PX4_WARN("already mapped");
-			/* this is not an error */
 			return 0;
 		}
 
@@ -156,13 +156,14 @@ int navio_gpio_main(int argc, char *argv[])
 
 		if (gpio == nullptr) {
 			PX4_ERR("alloc failed");
-			return -1;
+			return 1;
 		}
 
 		int ret = gpio->start();
 
 		if (ret != 0) {
 			PX4_ERR("start failed");
+			return 1;
 		}
 
 		return 0;
@@ -170,12 +171,16 @@ int navio_gpio_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "stop")) {
 
-		if (gpio == nullptr || gpio->isMapped()) {
-			PX4_WARN("not mapped");
-			/* this is not an error */
+		if (gpio == nullptr) {
+			PX4_WARN("gpio not started from navio_gpio");
 			return 0;
 		}
 
+		if (!gpio->isMapped()) {
+			PX4_WARN("not mapped");
+			return 1;
+		}
+
 		gpio->stop();
 
 		delete gpio;
@@ -185,7 +190,12 @@ int navio_gpio_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "status")) {
-		if (gpio != nullptr && gpio->isMapped()) {
+		if (gpio == nullptr) {
+			PX4_WARN("gpio not started from navio_gpio");
+			return 0;
+		}
+
+		if (gpio->isMapped()) {
 			PX4_INFO("mapped");
 
 		} else {
diff --git a/src/drivers/navio_gpio/navio_gpio.h b/src/drivers/navio_gpio/navio_gpio.h
index 76163190eb..ac2bde2468 100644
--- a/src/drivers/navio_gpio/navio_gpio.h
+++ b/src/drivers/navio_gpio/navio_gpio.h
@@ -86,13 +86,10 @@ namespace navio_gpio
 class Gpio
 {
 public:
-	Gpio() :
-		_isMapped(false)
-	{
-	}
+	Gpio()
+	{ }
 	~Gpio()
-	{
-	}
+	{ }
 
 	int start();
 	int stop();
@@ -102,7 +99,7 @@ public:
 	bool gpioread(uint32_t pinset);
 	void gpiowrite(uint32_t pinset, bool value);
 
-	bool isMapped() { return _isMapped; }
+	bool isMapped() { return _gpio_map != nullptr; }
 
 private:
 	void atomic_modify(uint32_t addr,
@@ -111,7 +108,6 @@ private:
 			   unsigned int value);
 
 	void *_gpio_map;
-	bool _isMapped;
 
 	SyncObj m_lock;
 };
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index b524cb2878..ae2acbd4eb 100644
--- a/src/lib/version/version.h
+++ b/src/lib/version/version.h
@@ -59,7 +59,7 @@ __END_DECLS
 #  define	HW_ARCH "EAGLE"
 #elif defined(CONFIG_ARCH_BOARD_EXCELSIOR)
 #  define HW_ARCH "EXCELSIOR"
-#elif defined(CONFIG_ARCH_BOARD_RPI) || defined(CONFIG_ARCH_BOARD_NAVIO2)
+#elif defined(CONFIG_ARCH_BOARD_RPI)
 #  define	HW_ARCH "RPI"
 #elif defined(CONFIG_ARCH_BOARD_BEBOP)
 #  define	HW_ARCH "BEBOP"
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index aaa8bf7e8a..1efcc385d3 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -267,7 +267,7 @@ int led_init()
 {
 	blink_msg_end = 0;
 
-#ifndef CONFIG_ARCH_BOARD_NAVIO2
+#ifndef CONFIG_ARCH_BOARD_RPI
 	/* first open normal LEDs */
 	DevMgr::getHandle(LED0_DEVICE_PATH, h_leds);
 
@@ -305,7 +305,7 @@ int led_init()
 
 void led_deinit()
 {
-#ifndef CONFIG_ARCH_BOARD_NAVIO2
+#ifndef CONFIG_ARCH_BOARD_RPI
 	DevMgr::releaseHandle(h_leds);
 #endif
 	DevMgr::releaseHandle(h_rgbleds);