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Changed device::px4_device_handle_t to device::file_t

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

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-24 17:49:35 -07:00
parent 20d35e33da
commit d913ec8dc9
28 changed files with 600 additions and 1327 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/rgbled/module.mk
-4
View File
@@ -4,10 +4,6 @@
MODULE_COMMAND = rgbled
ifeq ($(PX4_TARGET_OS),nuttx)
SRCS = rgbled.cpp
else
SRCS = rgbled_posix.cpp
endif
MAXOPTIMIZATION = -Os
src/drivers/rgbled/rgbled.cpp
+61 -40
View File
@@ -41,6 +41,7 @@
*/
#include <px4_config.h>
#include <px4_getopt.h>
#include <drivers/device/i2c.h>
@@ -54,7 +55,7 @@
#include <stdio.h>
#include <ctype.h>
#include <nuttx/wqueue.h>
#include <px4_workqueue.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@@ -88,7 +89,7 @@ public:
virtual int init();
virtual int probe();
virtual int info();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
private:
work_s _work;
@@ -129,7 +130,11 @@ void rgbled_usage();
extern "C" __EXPORT int rgbled_main(int argc, char *argv[]);
RGBLED::RGBLED(int bus, int rgbled) :
I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled, 100000 /* maximum speed supported */),
I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled
#ifdef __PX4_NUTTX
,100000 /* maximum speed supported */
#endif
),
_mode(RGBLED_MODE_OFF),
_r(0),
_g(0),
@@ -218,7 +223,7 @@ RGBLED::info()
}
int
RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg)
RGBLED::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
int ret = ENOTTY;
@@ -249,7 +254,11 @@ RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg)
default:
/* see if the parent class can make any use of it */
#ifdef __PX4_NUTTX
ret = CDev::ioctl(filp, cmd, arg);
#else
ret = VDev::ioctl(filp, cmd, arg);
#endif
break;
}
@@ -582,35 +591,39 @@ rgbled_main(int argc, char *argv[])
int ch;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
int myoptind = 1;
const char *myoptarg = NULL;
while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'a':
rgbledadr = strtol(optarg, NULL, 0);
rgbledadr = strtol(myoptarg, NULL, 0);
break;
case 'b':
i2cdevice = strtol(optarg, NULL, 0);
i2cdevice = strtol(myoptarg, NULL, 0);
break;
default:
rgbled_usage();
exit(0);
return 1;
}
}
if (optind >= argc) {
if (myoptind >= argc) {
rgbled_usage();
exit(1);
return 1;
}
const char *verb = argv[optind];
const char *verb = argv[myoptind];
int fd;
int ret;
if (!strcmp(verb, "start")) {
if (g_rgbled != nullptr)
errx(1, "already started");
if (g_rgbled != nullptr) {
warnx("already started");
return 1;
}
if (i2cdevice == -1) {
// try the external bus first
@@ -625,7 +638,8 @@ rgbled_main(int argc, char *argv[])
if (g_rgbled == nullptr) {
// fall back to default bus
if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
errx(1, "init failed");
warnx("init failed");
return 1;
}
i2cdevice = PX4_I2C_BUS_LED;
}
@@ -634,88 +648,95 @@ rgbled_main(int argc, char *argv[])
if (g_rgbled == nullptr) {
g_rgbled = new RGBLED(i2cdevice, rgbledadr);
if (g_rgbled == nullptr)
errx(1, "new failed");
if (g_rgbled == nullptr) {
warnx("new failed");
return 1;
}
if (OK != g_rgbled->init()) {
delete g_rgbled;
g_rgbled = nullptr;
errx(1, "init failed");
warnx("init failed");
return 1;
}
}
exit(0);
return 0;
}
/* need the driver past this point */
if (g_rgbled == nullptr) {
warnx("not started");
rgbled_usage();
exit(1);
return 1;
}
if (!strcmp(verb, "test")) {
fd = open(RGBLED0_DEVICE_PATH, 0);
fd = px4_open(RGBLED0_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED0_DEVICE_PATH);
warnx("Unable to open " RGBLED0_DEVICE_PATH);
return 1;
}
rgbled_pattern_t pattern = { {RGBLED_COLOR_RED, RGBLED_COLOR_GREEN, RGBLED_COLOR_BLUE, RGBLED_COLOR_WHITE, RGBLED_COLOR_OFF, RGBLED_COLOR_OFF},
{500, 500, 500, 500, 1000, 0 } // "0" indicates end of pattern
};
ret = ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern);
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_PATTERN);
ret = px4_ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern);
ret = px4_ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_PATTERN);
close(fd);
exit(ret);
px4_close(fd);
return ret;
}
if (!strcmp(verb, "info")) {
g_rgbled->info();
exit(0);
return 0;
}
if (!strcmp(verb, "off") || !strcmp(verb, "stop")) {
fd = open(RGBLED0_DEVICE_PATH, 0);
fd = px4_open(RGBLED0_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED0_DEVICE_PATH);
warnx("Unable to open " RGBLED0_DEVICE_PATH);
return 1;
}
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
close(fd);
ret = px4_ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
px4_close(fd);
/* delete the rgbled object if stop was requested, in addition to turning off the LED. */
if (!strcmp(verb, "stop")) {
delete g_rgbled;
g_rgbled = nullptr;
exit(0);
return 0;
}
exit(ret);
return ret;
}
if (!strcmp(verb, "rgb")) {
if (argc < 5) {
errx(1, "Usage: rgbled rgb <red> <green> <blue>");
warnx("Usage: rgbled rgb <red> <green> <blue>");
return 1;
}
fd = open(RGBLED0_DEVICE_PATH, 0);
fd = px4_open(RGBLED0_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED0_DEVICE_PATH);
warnx("Unable to open " RGBLED0_DEVICE_PATH);
return 1;
}
rgbled_rgbset_t v;
v.red = strtol(argv[2], NULL, 0);
v.green = strtol(argv[3], NULL, 0);
v.blue = strtol(argv[4], NULL, 0);
ret = ioctl(fd, RGBLED_SET_RGB, (unsigned long)&v);
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
close(fd);
exit(ret);
ret = px4_ioctl(fd, RGBLED_SET_RGB, (unsigned long)&v);
ret = px4_ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
px4_close(fd);
return ret;
}
rgbled_usage();
exit(0);
return 1;
}