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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/mpu6500/mpu6500.cpp
+8 -8
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@@ -703,7 +703,7 @@ int MPU6500::reset()
while (--tries != 0) {
irqstate_t state;
state = irqsave();
state = px4_enter_critical_section();
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
@@ -716,7 +716,7 @@ int MPU6500::reset()
// Disable I2C bus (recommended on datasheet)
write_checked_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
px4_leave_critical_section(state);
if (read_reg(MPUREG_PWR_MGMT_1) == MPU_CLK_SEL_PLLGYROZ) {
break;
@@ -1292,14 +1292,14 @@ MPU6500::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
}
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
if (!_accel_reports->resize(arg)) {
irqrestore(flags);
px4_leave_critical_section(flags);
return -ENOMEM;
}
irqrestore(flags);
px4_leave_critical_section(flags);
return OK;
}
@@ -1377,14 +1377,14 @@ MPU6500::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
}
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
if (!_gyro_reports->resize(arg)) {
irqrestore(flags);
px4_leave_critical_section(flags);
return -ENOMEM;
}
irqrestore(flags);
px4_leave_critical_section(flags);
return OK;
}