fly316/PX4-Autopilot
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Updated PX4 use / API of low level GPIO and other hardware-centric system facilities

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This commit is contained in:
Lorenz Meier
2016-05-28 14:56:17 +02:00
parent c2e2645c82
commit 7398164fcc
89 changed files with 1294 additions and 1087 deletions
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src/drivers/hc_sr04/hc_sr04.cpp
+8 -8
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@@ -297,9 +297,9 @@ HC_SR04::init()
/* init echo port : */
for (unsigned i = 0; i <= _sonars; i++) {
stm32_configgpio(_gpio_tab[i].trig_port);
stm32_gpiowrite(_gpio_tab[i].trig_port, false);
stm32_configgpio(_gpio_tab[i].echo_port);
px4_arch_configgpio(_gpio_tab[i].trig_port);
px4_arch_gpiowrite(_gpio_tab[i].trig_port, false);
px4_arch_configgpio(_gpio_tab[i].echo_port);
_latest_sonar_measurements.push_back(0);
}
@@ -441,14 +441,14 @@ HC_SR04::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
}
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
irqrestore(flags);
px4_leave_critical_section(flags);
return -ENOMEM;
}
irqrestore(flags);
px4_leave_critical_section(flags);
return OK;
}
@@ -546,9 +546,9 @@ HC_SR04::measure()
/*
* Send a plus begin a measurement.
*/
stm32_gpiowrite(_gpio_tab[_cycle_counter].trig_port, true);
px4_arch_gpiowrite(_gpio_tab[_cycle_counter].trig_port, true);
usleep(10); // 10us
stm32_gpiowrite(_gpio_tab[_cycle_counter].trig_port, false);
px4_arch_gpiowrite(_gpio_tab[_cycle_counter].trig_port, false);
stm32_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, sonar_isr);
_status = 0;