From 43a04c9bca31f31328c56a439931b7d6438897cb Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 15 Dec 2021 15:34:50 -0500
Subject: [PATCH] fix PARAM_PREFIX for boards with px4io (CONFIG_BOARD_IO)

---
 src/drivers/camera_capture/CMakeLists.txt            | 11 +++++++++--
 src/drivers/camera_capture/camera_capture.cpp        |  6 ------
 src/drivers/camera_trigger/CMakeLists.txt            |  8 ++++++++
 .../interfaces/src/camera_interface.cpp              |  6 ------
 src/drivers/dshot/CMakeLists.txt                     | 12 ++++++++++--
 src/drivers/dshot/DShot.h                            |  5 -----
 src/drivers/pwm_out/CMakeLists.txt                   |  8 ++++++++
 src/drivers/pwm_out/PWMOut.hpp                       |  5 -----
 8 files changed, 35 insertions(+), 26 deletions(-)

diff --git a/src/drivers/camera_capture/CMakeLists.txt b/src/drivers/camera_capture/CMakeLists.txt
index 542e1b0843..37e9e88b86 100644
--- a/src/drivers/camera_capture/CMakeLists.txt
+++ b/src/drivers/camera_capture/CMakeLists.txt
@@ -30,13 +30,20 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(PARAM_PREFIX PWM_MAIN)
+
+if(CONFIG_BOARD_IO)
+	set(PARAM_PREFIX PWM_AUX)
+endif()
+
 px4_add_module(
 	MODULE drivers__camera_capture
 	MAIN camera_capture
 	COMPILE_FLAGS
+		-DPARAM_PREFIX="${PARAM_PREFIX}"
 	SRCS
 		camera_capture.cpp
 	DEPENDS
 		arch_io_pins
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+)
diff --git a/src/drivers/camera_capture/camera_capture.cpp b/src/drivers/camera_capture/camera_capture.cpp
index 751302b56a..05a17a5fcf 100644
--- a/src/drivers/camera_capture/camera_capture.cpp
+++ b/src/drivers/camera_capture/camera_capture.cpp
@@ -43,12 +43,6 @@
 
 #include <board_config.h>
 
-#ifdef BOARD_WITH_IO
-# define PARAM_PREFIX "PWM_AUX"
-#else
-# define PARAM_PREFIX "PWM_MAIN"
-#endif
-
 #define commandParamToInt(n) static_cast<int>(n >= 0 ? n + 0.5f : n - 0.5f)
 
 namespace camera_capture
diff --git a/src/drivers/camera_trigger/CMakeLists.txt b/src/drivers/camera_trigger/CMakeLists.txt
index 176e223403..77604edfc0 100644
--- a/src/drivers/camera_trigger/CMakeLists.txt
+++ b/src/drivers/camera_trigger/CMakeLists.txt
@@ -30,10 +30,18 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(PARAM_PREFIX PWM_MAIN)
+
+if(CONFIG_BOARD_IO)
+	set(PARAM_PREFIX PWM_AUX)
+endif()
+
 px4_add_module(
 	MODULE drivers__camera_trigger
 	MAIN camera_trigger
 	COMPILE_FLAGS
+		-DPARAM_PREFIX="${PARAM_PREFIX}"
 	SRCS
 		camera_trigger.cpp
 		interfaces/src/camera_interface.cpp
diff --git a/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp b/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
index 00f4d8d80b..855cdd72c8 100644
--- a/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
+++ b/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
@@ -35,12 +35,6 @@
 #include <px4_platform_common/log.h>
 #include <board_config.h>
 
-#ifdef BOARD_WITH_IO
-# define PARAM_PREFIX "PWM_AUX"
-#else
-# define PARAM_PREFIX "PWM_MAIN"
-#endif
-
 void CameraInterface::get_pins()
 {
 	// Set all pins as invalid
diff --git a/src/drivers/dshot/CMakeLists.txt b/src/drivers/dshot/CMakeLists.txt
index 177629738c..4e8866e008 100644
--- a/src/drivers/dshot/CMakeLists.txt
+++ b/src/drivers/dshot/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,10 +30,18 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(PARAM_PREFIX PWM_MAIN)
+
+if(CONFIG_BOARD_IO)
+	set(PARAM_PREFIX PWM_AUX)
+endif()
+
 px4_add_module(
 	MODULE drivers__dshot
 	MAIN dshot
-	STACK_MAIN 1200
+	COMPILE_FLAGS
+		-DPARAM_PREFIX="${PARAM_PREFIX}"
 	SRCS
 		DShot.cpp
 		DShotTelemetry.cpp
diff --git a/src/drivers/dshot/DShot.h b/src/drivers/dshot/DShot.h
index 6cbca38108..84ca6416f7 100644
--- a/src/drivers/dshot/DShot.h
+++ b/src/drivers/dshot/DShot.h
@@ -146,11 +146,6 @@ private:
 
 	void handle_vehicle_commands();
 
-#ifdef BOARD_WITH_IO
-# define PARAM_PREFIX "PWM_AUX"
-#else
-# define PARAM_PREFIX "PWM_MAIN"
-#endif
 	MixingOutput _mixing_output {PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	Telemetry *_telemetry{nullptr};
diff --git a/src/drivers/pwm_out/CMakeLists.txt b/src/drivers/pwm_out/CMakeLists.txt
index 1a4483f3bd..b75b046be7 100644
--- a/src/drivers/pwm_out/CMakeLists.txt
+++ b/src/drivers/pwm_out/CMakeLists.txt
@@ -30,10 +30,18 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(PARAM_PREFIX PWM_MAIN)
+
+if(CONFIG_BOARD_IO)
+	set(PARAM_PREFIX PWM_AUX)
+endif()
+
 px4_add_module(
 	MODULE drivers__pwm_out
 	MAIN pwm_out
 	COMPILE_FLAGS
+		-DPARAM_PREFIX="${PARAM_PREFIX}"
 	SRCS
 		PWMOut.cpp
 		PWMOut.hpp
diff --git a/src/drivers/pwm_out/PWMOut.hpp b/src/drivers/pwm_out/PWMOut.hpp
index 3c12019adc..c1d9476f30 100644
--- a/src/drivers/pwm_out/PWMOut.hpp
+++ b/src/drivers/pwm_out/PWMOut.hpp
@@ -129,11 +129,6 @@ private:
 
 	static const int MAX_PER_INSTANCE{8};
 
-#ifdef BOARD_WITH_IO
-# define PARAM_PREFIX "PWM_AUX"
-#else
-# define PARAM_PREFIX "PWM_MAIN"
-#endif
 	MixingOutput _mixing_output {PARAM_PREFIX, FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
 
 	uint32_t	_backup_schedule_interval_us{1_s};