Changed device::px4_device_handle_t to device::file_t

This change allowed the _posix.cpp file changes to be merged
back into the original files.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/drivers/device/cdev.cpp

@@ -60,13 +60,13 @@ static const unsigned pollset_increment = 0;
  * The standard NuttX operation dispatch table can't call C++ member functions
  * directly, so we have to bounce them through this dispatch table.
  */
-static int	cdev_open(struct file *filp);
-static int	cdev_close(struct file *filp);
-static ssize_t	cdev_read(struct file *filp, char *buffer, size_t buflen);
-static ssize_t	cdev_write(struct file *filp, const char *buffer, size_t buflen);
-static off_t	cdev_seek(struct file *filp, off_t offset, int whence);
-static int	cdev_ioctl(struct file *filp, int cmd, unsigned long arg);
-static int	cdev_poll(struct file *filp, struct pollfd *fds, bool setup);
+static int	cdev_open(file_t *filp);
+static int	cdev_close(file_t *filp);
+static ssize_t	cdev_read(file_t *filp, char *buffer, size_t buflen);
+static ssize_t	cdev_write(file_t *filp, const char *buffer, size_t buflen);
+static off_t	cdev_seek(file_t *filp, off_t offset, int whence);
+static int	cdev_ioctl(file_t *filp, int cmd, unsigned long arg);
+static int	cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup);
 
 /**
  * Character device indirection table.
@@ -169,7 +169,7 @@ out:
  * Default implementations of the character device interface
  */
 int
-CDev::open(struct file *filp)
+CDev::open(file_t *filp)
 {
 	int ret = OK;
 
@@ -192,13 +192,13 @@ CDev::open(struct file *filp)
 }
 
 int
-CDev::open_first(struct file *filp)
+CDev::open_first(file_t *filp)
 {
 	return OK;
 }
 
 int
-CDev::close(struct file *filp)
+CDev::close(file_t *filp)
 {
 	int ret = OK;
 
@@ -222,31 +222,31 @@ CDev::close(struct file *filp)
 }
 
 int
-CDev::close_last(struct file *filp)
+CDev::close_last(file_t *filp)
 {
 	return OK;
 }
 
 ssize_t
-CDev::read(struct file *filp, char *buffer, size_t buflen)
+CDev::read(file_t *filp, char *buffer, size_t buflen)
 {
 	return -ENOSYS;
 }
 
 ssize_t
-CDev::write(struct file *filp, const char *buffer, size_t buflen)
+CDev::write(file_t *filp, const char *buffer, size_t buflen)
 {
 	return -ENOSYS;
 }
 
 off_t
-CDev::seek(struct file *filp, off_t offset, int whence)
+CDev::seek(file_t *filp, off_t offset, int whence)
 {
 	return -ENOSYS;
 }
 
 int
-CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
+CDev::ioctl(file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -275,7 +275,7 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 int
-CDev::poll(struct file *filp, struct pollfd *fds, bool setup)
+CDev::poll(file_t *filp, struct pollfd *fds, bool setup)
 {
 	int ret = OK;
 
@@ -347,7 +347,7 @@ CDev::poll_notify_one(struct pollfd *fds, pollevent_t events)
 }
 
 pollevent_t
-CDev::poll_state(struct file *filp)
+CDev::poll_state(file_t *filp)
 {
 	/* by default, no poll events to report */
 	return 0;
@@ -389,7 +389,7 @@ CDev::remove_poll_waiter(struct pollfd *fds)
 }
 
 static int
-cdev_open(struct file *filp)
+cdev_open(file_t *filp)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -397,7 +397,7 @@ cdev_open(struct file *filp)
 }
 
 static int
-cdev_close(struct file *filp)
+cdev_close(file_t *filp)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -405,7 +405,7 @@ cdev_close(struct file *filp)
 }
 
 static ssize_t
-cdev_read(struct file *filp, char *buffer, size_t buflen)
+cdev_read(file_t *filp, char *buffer, size_t buflen)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -413,7 +413,7 @@ cdev_read(struct file *filp, char *buffer, size_t buflen)
 }
 
 static ssize_t
-cdev_write(struct file *filp, const char *buffer, size_t buflen)
+cdev_write(file_t *filp, const char *buffer, size_t buflen)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -421,7 +421,7 @@ cdev_write(struct file *filp, const char *buffer, size_t buflen)
 }
 
 static off_t
-cdev_seek(struct file *filp, off_t offset, int whence)
+cdev_seek(file_t *filp, off_t offset, int whence)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -429,7 +429,7 @@ cdev_seek(struct file *filp, off_t offset, int whence)
 }
 
 static int
-cdev_ioctl(struct file *filp, int cmd, unsigned long arg)
+cdev_ioctl(file_t *filp, int cmd, unsigned long arg)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -437,7 +437,7 @@ cdev_ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 static int
-cdev_poll(struct file *filp, struct pollfd *fds, bool setup)
+cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 

src/drivers/device/device_nuttx.h

@@ -44,6 +44,7 @@
  * Includes here should only cover the needs of the framework definitions.
  */
 #include <px4_config.h>
+#include <px4_posix.h>
 
 #include <errno.h>
 #include <stdbool.h>
@@ -59,6 +60,8 @@
 namespace device __EXPORT
 {
 
+typedef struct file file_t;
+
 /**
  * Fundamental base class for all device drivers.
  *
@@ -275,7 +278,7 @@ public:
 	 * @param filp		Pointer to the NuttX file structure.
 	 * @return		OK if the open is allowed, -errno otherwise.
 	 */
-	virtual int	open(struct file *filp);
+	virtual int	open(file_t *filp);
 
 	/**
 	 * Handle a close of the device.
@@ -286,7 +289,7 @@ public:
 	 * @param filp		Pointer to the NuttX file structure.
 	 * @return		OK if the close was successful, -errno otherwise.
 	 */
-	virtual int	close(struct file *filp);
+	virtual int	close(file_t *filp);
 
 	/**
 	 * Perform a read from the device.
@@ -298,7 +301,7 @@ public:
 	 * @param buflen	The number of bytes to be read.
 	 * @return		The number of bytes read or -errno otherwise.
 	 */
-	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
+	virtual ssize_t	read(file_t *filp, char *buffer, size_t buflen);
 
 	/**
 	 * Perform a write to the device.
@@ -310,7 +313,7 @@ public:
 	 * @param buflen	The number of bytes to be written.
 	 * @return		The number of bytes written or -errno otherwise.
 	 */
-	virtual ssize_t	write(struct file *filp, const char *buffer, size_t buflen);
+	virtual ssize_t	write(file_t *filp, const char *buffer, size_t buflen);
 
 	/**
 	 * Perform a logical seek operation on the device.
@@ -322,7 +325,7 @@ public:
 	 * @param whence	SEEK_OFS, SEEK_CUR or SEEK_END.
 	 * @return		The previous offset, or -errno otherwise.
 	 */
-	virtual off_t	seek(struct file *filp, off_t offset, int whence);
+	virtual off_t	seek(file_t *filp, off_t offset, int whence);
 
 	/**
 	 * Perform an ioctl operation on the device.
@@ -336,7 +339,7 @@ public:
 	 * @param arg		The ioctl argument value.
 	 * @return		OK on success, or -errno otherwise.
 	 */
-	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual int	ioctl(file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Perform a poll setup/teardown operation.
@@ -349,7 +352,7 @@ public:
 	 *			it is being torn down.
 	 * @return		OK on success, or -errno otherwise.
 	 */
-	virtual int	poll(struct file *filp, struct pollfd *fds, bool setup);
+	virtual int	poll(file_t *filp, struct pollfd *fds, bool setup);
 
 	/**
 	 * Test whether the device is currently open.
@@ -380,7 +383,7 @@ protected:
 	 * @param filp		The file that's interested.
 	 * @return		The current set of poll events.
 	 */
-	virtual pollevent_t poll_state(struct file *filp);
+	virtual pollevent_t poll_state(file_t *filp);
 
 	/**
 	 * Report new poll events.
@@ -398,7 +401,7 @@ protected:
 	 * @param fds		A poll waiter to notify.
 	 * @param events	The event(s) to send to the waiter.
 	 */
-	virtual void	poll_notify_one(struct pollfd *fds, pollevent_t events);
+	virtual void	poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
 
 	/**
 	 * Notification of the first open.
@@ -411,7 +414,7 @@ protected:
 	 * @param filp		Pointer to the NuttX file structure.
 	 * @return		OK if the open should proceed, -errno otherwise.
 	 */
-	virtual int	open_first(struct file *filp);
+	virtual int	open_first(file_t *filp);
 
 	/**
 	 * Notification of the last close.
@@ -424,7 +427,7 @@ protected:
 	 * @param filp		Pointer to the NuttX file structure.
 	 * @return		OK if the open should return OK, -errno otherwise.
 	 */
-	virtual int	close_last(struct file *filp);
+	virtual int	close_last(file_t *filp);
 
         /**
 	 * Register a class device name, automatically adding device
@@ -470,7 +473,7 @@ private:
 	 *
 	 * @return		OK, or -errno on error.
 	 */
-	int		store_poll_waiter(struct pollfd *fds);
+	int		store_poll_waiter(px4_pollfd_struct_t *fds);
 
 	/**
 	 * Remove a poll waiter.

src/drivers/device/i2c_posix.cpp

@@ -221,7 +221,7 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 	return ret;
 }
 
-int I2C::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+int I2C::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	//struct i2c_rdwr_ioctl_data *packets = (i2c_rdwr_ioctl_data *)(void *)arg;
 
@@ -231,11 +231,11 @@ int I2C::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
 		return 0;
 	default:
 		/* give it to the superclass */
-		return VDev::ioctl(handlep, cmd, arg);
+		return VDev::ioctl(filp, cmd, arg);
 	}
 }
 
-ssize_t	I2C::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+ssize_t	I2C::read(file_t *filp, char *buffer, size_t buflen)
 {
 	if (simulate) {
 		// FIXME no idea what this should be
@@ -246,7 +246,7 @@ ssize_t	I2C::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
 	return ::read(_fd, buffer, buflen);
 }
 
-ssize_t	I2C::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
+ssize_t	I2C::write(file_t *filp, const char *buffer, size_t buflen)
 {
 	if (simulate) {
 		warnx ("2C SIM I2C::write");

src/drivers/device/i2c_posix.h

@@ -93,9 +93,9 @@ protected:
 
 	virtual int	init();
 
-	virtual ssize_t	read(px4_dev_handle_t *handlep, char *buffer, size_t buflen);
-	virtual ssize_t	write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
-	virtual int	ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual ssize_t	read(file_t *handlep, char *buffer, size_t buflen);
+	virtual ssize_t	write(file_t *handlep, const char *buffer, size_t buflen);
+	virtual int	ioctl(file_t *handlep, int cmd, unsigned long arg);
 
 	/**
 	 * Perform an I2C transaction to the device.

src/drivers/device/module.mk

@@ -38,14 +38,15 @@
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS =		  \
 		  device_nuttx.cpp \
-		  cdev_nuttx.cpp \
+		  cdev.cpp \
 		  i2c_nuttx.cpp \
 		  pio.cpp \
 		  spi.cpp \
 		  ringbuffer.cpp
 else
-SRCS =		  vdev.cpp \
-		  device.cpp \
+SRCS =		  \
+		  device_posix.cpp \
+		  vdev.cpp \
 		  vdev_posix.cpp \
 		  i2c_posix.cpp  \
 		  sim.cpp \

src/drivers/device/vdev.cpp

@@ -207,7 +207,7 @@ out:
  * Default implementations of the character device interface
  */
 int
-VDev::open(px4_dev_handle_t *handlep)
+VDev::open(file_t *filep)
 {
 	int ret = PX4_OK;
 
@@ -219,7 +219,7 @@ VDev::open(px4_dev_handle_t *handlep)
 	if (_open_count == 1) {
 
 		/* first-open callback may decline the open */
-		ret = open_first(handlep);
+		ret = open_first(filep);
 
 		if (ret != PX4_OK)
 			_open_count--;
@@ -231,14 +231,14 @@ VDev::open(px4_dev_handle_t *handlep)
 }
 
 int
-VDev::open_first(px4_dev_handle_t *handlep)
+VDev::open_first(file_t *filep)
 {
 	debug("VDev::open_first");
 	return PX4_OK;
 }
 
 int
-VDev::close(px4_dev_handle_t *handlep)
+VDev::close(file_t *filep)
 {
 	debug("VDev::close");
 	int ret = PX4_OK;
@@ -251,7 +251,7 @@ VDev::close(px4_dev_handle_t *handlep)
 
 		/* callback cannot decline the close */
 		if (_open_count == 0)
-			ret = close_last(handlep);
+			ret = close_last(filep);
 
 	} else {
 		ret = -EBADF;
@@ -263,34 +263,34 @@ VDev::close(px4_dev_handle_t *handlep)
 }
 
 int
-VDev::close_last(px4_dev_handle_t *handlep)
+VDev::close_last(file_t *filep)
 {
 	debug("VDev::close_last");
 	return PX4_OK;
 }
 
 ssize_t
-VDev::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+VDev::read(file_t *filep, char *buffer, size_t buflen)
 {
 	debug("VDev::read");
 	return -ENOSYS;
 }
 
 ssize_t
-VDev::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
+VDev::write(file_t *filep, const char *buffer, size_t buflen)
 {
 	debug("VDev::write");
 	return -ENOSYS;
 }
 
 off_t
-VDev::seek(px4_dev_handle_t *handlep, off_t offset, int whence)
+VDev::seek(file_t *filep, off_t offset, int whence)
 {
 	return -ENOSYS;
 }
 
 int
-VDev::ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+VDev::ioctl(file_t *filep, int cmd, unsigned long arg)
 {
 	int ret = -ENOTTY;
 
@@ -320,7 +320,7 @@ VDev::ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg)
 }
 
 int
-VDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
+VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 {
 	int ret = PX4_OK;
 	debug("VDev::Poll %s", setup ? "setup" : "teardown");
@@ -335,8 +335,8 @@ VDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
 		 * Save the file pointer in the pollfd for the subclass'
 		 * benefit.
 		 */
-		fds->priv = (void *)handlep;
-		debug("VDev::poll: fds->priv = %p", handlep);
+		fds->priv = (void *)filep;
+		debug("VDev::poll: fds->priv = %p", filep);
 
 		/*
 		 * Handle setup requests.
@@ -349,7 +349,7 @@ VDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
 			 * Check to see whether we should send a poll notification
 			 * immediately.
 			 */
-			fds->revents |= fds->events & poll_state(handlep);
+			fds->revents |= fds->events & poll_state(filep);
 
 			/* yes? post the notification */
 			if (fds->revents != 0)
@@ -402,7 +402,7 @@ VDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 }
 
 pollevent_t
-VDev::poll_state(px4_dev_handle_t *handlep)
+VDev::poll_state(file_t *filep)
 {
 	debug("VDev::poll_notify");
 	/* by default, no poll events to report */

src/drivers/device/vdev.h

@@ -57,17 +57,14 @@
 namespace device __EXPORT
 {
 
-#define  PX4_F_RDONLY 1
-#define  PX4_F_WRONLY 2
-
-struct px4_dev_handle_t {
+struct file_t {
 	int fd;
 	int flags;
 	void *priv;
 	void *vdev;
 
-	px4_dev_handle_t() : fd(-1), flags(0), priv(NULL), vdev(NULL) {}
-	px4_dev_handle_t(int f, void *c, int d) : fd(d), flags(f), priv(NULL), vdev(c) {}
+	file_t() : fd(-1), flags(0), priv(NULL), vdev(NULL) {}
+	file_t(int f, void *c, int d) : fd(d), flags(f), priv(NULL), vdev(c) {}
 };
 
 /**
@@ -242,13 +239,13 @@ public:
 	 *
 	 * This is handled internally and should not normally be overridden.
 	 *
-	 * @param handlep	Pointer to the internal file structure.
+	 * @param filep	Pointer to the internal file structure.
 	 * @param fds		Poll descriptor being waited on.
 	 * @param setup		True if this is establishing a request, false if
 	 *			it is being torn down.
 	 * @return		OK on success, or -errno otherwise.
 	 */
-	virtual int	poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup);
+	virtual int	poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup);
 
 	/**
 	 * Test whether the device is currently open.
@@ -266,10 +263,10 @@ public:
 	 * This function is called for every open of the device. The default
 	 * implementation maintains _open_count and always returns OK.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @return		OK if the open is allowed, -errno otherwise.
 	 */
-	virtual int	open(px4_dev_handle_t *handlep);
+	virtual int	open(file_t *filep);
 
 	/**
 	 * Handle a close of the device.
@@ -277,46 +274,46 @@ public:
 	 * This function is called for every close of the device. The default
 	 * implementation maintains _open_count and returns OK as long as it is not zero.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @return		OK if the close was successful, -errno otherwise.
 	 */
-	virtual int	close(px4_dev_handle_t *handlep);
+	virtual int	close(file_t *filep);
 
 	/**
 	 * Perform a read from the device.
 	 *
 	 * The default implementation returns -ENOSYS.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @param buffer	Pointer to the buffer into which data should be placed.
 	 * @param buflen	The number of bytes to be read.
 	 * @return		The number of bytes read or -errno otherwise.
 	 */
-	virtual ssize_t	read(px4_dev_handle_t *handlep, char *buffer, size_t buflen);
+	virtual ssize_t	read(file_t *filep, char *buffer, size_t buflen);
 
 	/**
 	 * Perform a write to the device.
 	 *
 	 * The default implementation returns -ENOSYS.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @param buffer	Pointer to the buffer from which data should be read.
 	 * @param buflen	The number of bytes to be written.
 	 * @return		The number of bytes written or -errno otherwise.
 	 */
-	virtual ssize_t	write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
+	virtual ssize_t	write(file_t *filep, const char *buffer, size_t buflen);
 
 	/**
 	 * Perform a logical seek operation on the device.
 	 *
 	 * The default implementation returns -ENOSYS.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @param offset	The new file position relative to whence.
 	 * @param whence	SEEK_OFS, SEEK_CUR or SEEK_END.
 	 * @return		The previous offset, or -errno otherwise.
 	 */
-	virtual off_t	seek(px4_dev_handle_t *handlep, off_t offset, int whence);
+	virtual off_t	seek(file_t *filep, off_t offset, int whence);
 
 	/**
 	 * Perform an ioctl operation on the device.
@@ -325,12 +322,12 @@ public:
 	 * returns -ENOTTY. Subclasses should call the default implementation
 	 * for any command they do not handle themselves.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @param cmd		The ioctl command value.
 	 * @param arg		The ioctl argument value.
 	 * @return		OK on success, or -errno otherwise.
 	 */
-	virtual int	ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual int	ioctl(file_t *filep, int cmd, unsigned long arg);
 
 	static VDev *getDev(const char *path);
 	static void showDevices(void);
@@ -352,10 +349,10 @@ protected:
 	 *
 	 * The default implementation returns no events.
 	 *
-	 * @param handlep		The file that's interested.
+	 * @param filep		The file that's interested.
 	 * @return		The current set of poll events.
 	 */
-	virtual pollevent_t poll_state(px4_dev_handle_t *handlep);
+	virtual pollevent_t poll_state(file_t *filep);
 
 	/**
 	 * Report new poll events.
@@ -383,10 +380,10 @@ protected:
 	 *
 	 * The default implementation returns OK.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @return		OK if the open should proceed, -errno otherwise.
 	 */
-	virtual int	open_first(px4_dev_handle_t *handlep);
+	virtual int	open_first(file_t *filep);
 
 	/**
 	 * Notification of the last close.
@@ -396,10 +393,10 @@ protected:
 	 *
 	 * The default implementation returns OK.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @return		OK if the open should return OK, -errno otherwise.
 	 */
-	virtual int	close_last(px4_dev_handle_t *handlep);
+	virtual int	close_last(file_t *filep);
 
         /**
 	 * Register a class device name, automatically adding device

src/drivers/device/vdev_posix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file vcdev_posix.cpp
+ * @file vdev_posix.cpp
  *
  * POSIX-like API for virtual character device
  */
@@ -47,6 +47,8 @@
 #include <pthread.h>
 #include <unistd.h>
 
+#define PX4_DEBUG(...)  
+
 using namespace device;
 
 extern "C" {
@@ -74,7 +76,7 @@ static void *timer_handler(void *data)
 }
 
 #define PX4_MAX_FD 100
-static px4_dev_handle_t *filemap[PX4_MAX_FD] = {};
+static device::file_t *filemap[PX4_MAX_FD] = {};
 
 int px4_errno;
 
@@ -95,7 +97,7 @@ int px4_open(const char *path, int flags)
 	else {
 		for (i=0; i<PX4_MAX_FD; ++i) {
 			if (filemap[i] == 0) {
-				filemap[i] = new px4_dev_handle_t(flags,dev,i);
+				filemap[i] = new device::file_t(flags,dev,i);
 				break;
 			}
 		}