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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/stm32/drv_io_timer.c
+8 -8
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@@ -397,7 +397,7 @@ static int io_timer_init_timer(unsigned timer)
if (rv == 0) {
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
set_timer_initalized(timer);
@@ -448,7 +448,7 @@ static int io_timer_init_timer(unsigned timer)
up_enable_irq(io_timers[timer].vectorno);
irqrestore(flags);
px4_leave_critical_section(flags);
}
return rv;
@@ -520,11 +520,11 @@ int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
io_timer_init_timer(channels_timer(channel));
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
/* Set up IO */
if (gpio) {
stm32_configgpio(gpio);
px4_arch_configgpio(gpio);
}
@@ -570,7 +570,7 @@ int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
channel_handlers[channel].callback = channel_handler;
channel_handlers[channel].context = context;
rDIER(timer) |= dier_setbits << shifts;
irqrestore(flags);
px4_leave_critical_section(flags);
}
return rv;
@@ -643,7 +643,7 @@ int io_timer_set_enable(bool state, io_timer_channel_mode_t mode, io_timer_chann
}
}
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
for (unsigned actions = 0; actions < arraySize(action_cache) && action_cache[actions].base != 0 ; actions++) {
uint32_t rvalue = _REG32(action_cache[actions].base, STM32_GTIM_CCER_OFFSET);
@@ -667,7 +667,7 @@ int io_timer_set_enable(bool state, io_timer_channel_mode_t mode, io_timer_chann
for (unsigned chan = 0; chan < arraySize(action_cache[actions].gpio); chan++) {
if (action_cache[actions].gpio[chan]) {
stm32_configgpio(action_cache[actions].gpio[chan]);
px4_arch_configgpio(action_cache[actions].gpio[chan]);
action_cache[actions].gpio[chan] = 0;
}
}
@@ -681,7 +681,7 @@ int io_timer_set_enable(bool state, io_timer_channel_mode_t mode, io_timer_chann
}
}
irqrestore(flags);
px4_leave_critical_section(flags);
return 0;
}