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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/pwm_input/pwm_input.cpp
+9 -9
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@@ -321,14 +321,14 @@ void PWMIN::_timer_init(void)
{
/* run with interrupts disabled in case the timer is already
* setup. We don't want it firing while we are doing the setup */
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
/* configure input pin */
stm32_configgpio(GPIO_PWM_IN);
px4_arch_configgpio(GPIO_PWM_IN);
// XXX refactor this out of this driver
/* configure reset pin */
stm32_configgpio(GPIO_VDD_RANGEFINDER_EN);
px4_arch_configgpio(GPIO_VDD_RANGEFINDER_EN);
/* claim our interrupt vector */
irq_attach(PWMIN_TIMER_VECTOR, pwmin_tim_isr);
@@ -373,7 +373,7 @@ void PWMIN::_timer_init(void)
/* enable interrupts */
up_enable_irq(PWMIN_TIMER_VECTOR);
irqrestore(flags);
px4_leave_critical_section(flags);
_timer_started = true;
}
@@ -392,14 +392,14 @@ PWMIN::_freeze_test()
void
PWMIN::_turn_on()
{
stm32_gpiowrite(GPIO_VDD_RANGEFINDER_EN, 1);
px4_arch_gpiowrite(GPIO_VDD_RANGEFINDER_EN, 1);
}
// XXX refactor this out of this driver
void
PWMIN::_turn_off()
{
stm32_gpiowrite(GPIO_VDD_RANGEFINDER_EN, 0);
px4_arch_gpiowrite(GPIO_VDD_RANGEFINDER_EN, 0);
}
// XXX refactor this out of this driver
@@ -444,14 +444,14 @@ PWMIN::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;
}