drivers device naming consistency

src/drivers/device/CMakeLists.txt

@@ -31,42 +31,33 @@
 #
 ############################################################################
 
-set(SRCS)
+set(SRCS_PLATFORM)
-
-list(APPEND SRCS
-	CDev.cpp
-	ringbuffer.cpp
-	integrator.cpp
-)
-
-include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-
 if (${OS} STREQUAL "nuttx")
-	include_directories(nuttx)
+	list(APPEND SRCS_PLATFORM
-	list(APPEND SRCS
 		nuttx/cdev_platform.cpp
 	)
-
 	if ("${CONFIG_I2C}" STREQUAL "y")
-		list(APPEND SRCS nuttx/i2c_nuttx.cpp)
+		list(APPEND SRCS_PLATFORM nuttx/I2C.cpp)
 	endif()
 
 	if ("${CONFIG_SPI}" STREQUAL "y")
-		list(APPEND SRCS nuttx/spi.cpp)
+		list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
 	endif()
 else()
-	include_directories(posix)
+	list(APPEND SRCS_PLATFORM
-	list(APPEND SRCS
+		posix/I2C.cpp
 		posix/cdev_platform.cpp
 		posix/vfile.cpp
-		posix/i2c_posix.cpp
 	)
-
 endif()
 
 px4_add_module(
 	MODULE drivers__device
-	SRCS ${SRCS}
+	SRCS
+		CDev.cpp
+		ringbuffer.cpp
+		integrator.cpp
+		${SRCS_PLATFORM}
 	DEPENDS
 		platforms__common
 	)

src/drivers/device/i2c.h

@@ -33,7 +33,7 @@
 #pragma once
 
 #ifdef __PX4_NUTTX
-#include "nuttx/i2c_nuttx.h"
+#include "nuttx/I2C.hpp"
 #else
-#include "posix/i2c_posix.h"
+#include "posix/I2C.hpp"
 #endif

src/drivers/device/nuttx/I2C.cpp

@@ -40,7 +40,7 @@
  *       that is supplied.  Should we just depend on the bus knowing?
  */
 
-#include "i2c.h"
+#include "I2C.hpp"
 
 namespace device
 {

src/drivers/device/nuttx/SPI.cpp

@@ -45,9 +45,10 @@
  * non-interrupt-mode client.
  */
 
+#include "SPI.hpp"
+
 #include <px4_config.h>
 #include <nuttx/arch.h>
-#include "spi.h"
 
 #ifndef CONFIG_SPI_EXCHANGE
 # error This driver requires CONFIG_SPI_EXCHANGE
@@ -128,13 +129,6 @@ out:
 	return ret;
 }
 
-int
-SPI::probe()
-{
-	// assume the device is too stupid to be discoverable
-	return OK;
-}
-
 int
 SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 {
@@ -170,12 +164,6 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	return result;
 }
 
-void
-SPI::set_frequency(uint32_t frequency)
-{
-	_frequency = frequency;
-}
-
 int
 SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
 {

src/drivers/device/nuttx/SPI.hpp

@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file spi.h
+ *
+ * Base class for devices connected via SPI.
+ */
+
+#ifndef _DEVICE_SPI_H
+#define _DEVICE_SPI_H
+
+#include "../CDev.hpp"
+
+#include <px4_spi.h>
+
+namespace device __EXPORT
+{
+
+/**
+ * Abstract class for character device on SPI
+ */
+class __EXPORT SPI : public CDev
+{
+protected:
+	/**
+	 * Constructor
+	 *
+	 * @param name		Driver name
+	 * @param devname	Device node name
+	 * @param bus		SPI bus on which the device lives
+	 * @param device	Device handle (used by SPI_SELECT)
+	 * @param mode		SPI clock/data mode
+	 * @param frequency	SPI clock frequency
+	 */
+	SPI(const char *name,
+	    const char *devname,
+	    int bus,
+	    uint32_t device,
+	    enum spi_mode_e mode,
+	    uint32_t frequency);
+	virtual ~SPI();
+
+	/**
+	 * Locking modes supported by the driver.
+	 */
+	enum LockMode {
+		LOCK_PREEMPTION,	/**< the default; lock against all forms of preemption. */
+		LOCK_THREADS,		/**< lock only against other threads, using SPI_LOCK */
+		LOCK_NONE		/**< perform no locking, only safe if the bus is entirely private */
+	};
+
+	virtual int	init();
+
+	/**
+	 * Check for the presence of the device on the bus.
+	 */
+	virtual int	probe() { return PX4_OK; }
+
+	/**
+	 * Perform a SPI transfer.
+	 *
+	 * If called from interrupt context, this interface does not lock
+	 * the bus and may interfere with non-interrupt-context callers.
+	 *
+	 * Clients in a mixed interrupt/non-interrupt configuration must
+	 * ensure appropriate interlocking.
+	 *
+	 * At least one of send or recv must be non-null.
+	 *
+	 * @param send		Bytes to send to the device, or nullptr if
+	 *			no data is to be sent.
+	 * @param recv		Buffer for receiving bytes from the device,
+	 *			or nullptr if no bytes are to be received.
+	 * @param len		Number of bytes to transfer.
+	 * @return		OK if the exchange was successful, -errno
+	 *			otherwise.
+	 */
+	int		transfer(uint8_t *send, uint8_t *recv, unsigned len);
+
+	/**
+	 * Set the SPI bus frequency
+	 * This is used to change frequency on the fly. Some sensors
+	 * (such as the MPU6000) need a lower frequency for setup
+	 * registers and can handle higher frequency for sensor
+	 * value registers
+	 *
+	 * @param frequency	Frequency to set (Hz)
+	 */
+	void		set_frequency(uint32_t frequency) { _frequency = frequency; }
+
+	/**
+	 * Set the SPI bus locking mode
+	 *
+	 * This set the SPI locking mode. For devices competing with NuttX SPI
+	 * drivers on a bus the right lock mode is LOCK_THREADS.
+	 *
+	 * @param mode	Locking mode
+	 */
+	void		set_lockmode(enum LockMode mode) { locking_mode = mode; }
+
+	LockMode	locking_mode;	/**< selected locking mode */
+
+private:
+	uint32_t			_device;
+	enum spi_mode_e		_mode;
+	uint32_t		_frequency;
+	struct spi_dev_s	*_dev;
+
+	/* this class does not allow copying */
+	SPI(const SPI &);
+	SPI operator=(const SPI &);
+
+protected:
+	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
+
+	bool	external() { return px4_spi_bus_external(get_device_bus()); }
+
+};
+
+} // namespace device
+
+#endif /* _DEVICE_SPI_H */

src/drivers/device/posix/I2C.cpp

@@ -40,7 +40,7 @@
  *       that is supplied.  Should we just depend on the bus knowing?
  */
 
-#include "i2c_posix.h"
+#include "I2C.hpp"
 
 #ifdef __PX4_LINUX
 #include <linux/i2c.h>

src/drivers/device/posix/SPI.hpp

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file spi.h
+ *
+ * Base class for devices connected via SPI.
+ */
+
+#ifndef _DEVICE_SPI_H
+#define _DEVICE_SPI_H
+
+#include "CDev.hpp"
+
+#include <px4_spi.h>
+
+namespace device __EXPORT
+{
+
+// TODO: implement posix spi
+
+} // namespace device
+
+#endif /* _DEVICE_SPI_H */

src/drivers/device/spi.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2017 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
@@ -30,124 +30,10 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
+#pragma once
 
-/**
+#ifdef __PX4_NUTTX
- * @file spi.h
+#include "nuttx/SPI.hpp"
- *
+#else
- * Base class for devices connected via SPI.
+#include "posix/SPI.hpp"
- */
+#endif
-
-#ifndef _DEVICE_SPI_H
-#define _DEVICE_SPI_H
-
-#include "device.h"
-
-#include <px4_spi.h>
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on SPI
- */
-class __EXPORT SPI : public CDev
-{
-protected:
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param bus		SPI bus on which the device lives
-	 * @param device	Device handle (used by SPI_SELECT)
-	 * @param mode		SPI clock/data mode
-	 * @param frequency	SPI clock frequency
-	 */
-	SPI(const char *name,
-	    const char *devname,
-	    int bus,
-	    uint32_t device,
-	    enum spi_mode_e mode,
-	    uint32_t frequency);
-	virtual ~SPI();
-
-	/**
-	 * Locking modes supported by the driver.
-	 */
-	enum LockMode {
-		LOCK_PREEMPTION,	/**< the default; lock against all forms of preemption. */
-		LOCK_THREADS,		/**< lock only against other threads, using SPI_LOCK */
-		LOCK_NONE		/**< perform no locking, only safe if the bus is entirely private */
-	};
-
-	virtual int	init();
-
-	/**
-	 * Check for the presence of the device on the bus.
-	 */
-	virtual int	probe();
-
-	/**
-	 * Perform a SPI transfer.
-	 *
-	 * If called from interrupt context, this interface does not lock
-	 * the bus and may interfere with non-interrupt-context callers.
-	 *
-	 * Clients in a mixed interrupt/non-interrupt configuration must
-	 * ensure appropriate interlocking.
-	 *
-	 * At least one of send or recv must be non-null.
-	 *
-	 * @param send		Bytes to send to the device, or nullptr if
-	 *			no data is to be sent.
-	 * @param recv		Buffer for receiving bytes from the device,
-	 *			or nullptr if no bytes are to be received.
-	 * @param len		Number of bytes to transfer.
-	 * @return		OK if the exchange was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(uint8_t *send, uint8_t *recv, unsigned len);
-
-	/**
-	 * Set the SPI bus frequency
-	 * This is used to change frequency on the fly. Some sensors
-	 * (such as the MPU6000) need a lower frequency for setup
-	 * registers and can handle higher frequency for sensor
-	 * value registers
-	 *
-	 * @param frequency	Frequency to set (Hz)
-	 */
-	void		set_frequency(uint32_t frequency);
-
-	/**
-	 * Set the SPI bus locking mode
-	 *
-	 * This set the SPI locking mode. For devices competing with NuttX SPI
-	 * drivers on a bus the right lock mode is LOCK_THREADS.
-	 *
-	 * @param mode	Locking mode
-	 */
-	void		set_lockmode(enum LockMode mode) { locking_mode = mode; }
-
-	LockMode	locking_mode;	/**< selected locking mode */
-
-private:
-	uint32_t			_device;
-	enum spi_mode_e		_mode;
-	uint32_t		_frequency;
-	struct spi_dev_s	*_dev;
-
-	/* this class does not allow copying */
-	SPI(const SPI &);
-	SPI operator=(const SPI &);
-
-protected:
-	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
-
-	bool	external() { return px4_spi_bus_external(get_device_bus()); }
-
-};
-
-} // namespace device
-
-#endif /* _DEVICE_SPI_H */