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General cleanup of /dev/px4io and /dev/px4fmu

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- Use distinct common symbols for px4io and px4fmu device files, and use
instead of hardcoded filenames
- Use common symbols defining px4io bits consistently between px4fmu and
px4io builds.
This commit is contained in:
Jean Cyr
2013-07-09 20:37:00 -04:00
parent 328f4f8c87
commit 897b541b12
8 changed files with 26 additions and 55 deletions
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src/modules/gpio_led/gpio_led.c
+4 -9
View File
@@ -53,11 +53,7 @@
#include <uORB/topics/vehicle_status.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
#define PX4IO_RELAY1 (1<<0)
#define PX4IO_RELAY2 (1<<1)
#define PX4IO_ACC1 (1<<2)
#define PX4IO_ACC2 (1<<3)
#include <modules/px4iofirmware/protocol.h>
struct gpio_led_s {
struct work_s work;
@@ -186,10 +182,9 @@ void gpio_led_start(FAR void *arg)
char *gpio_dev;
if (priv->use_io) {
gpio_dev = "/dev/px4io";
gpio_dev = PX4IO_DEVICE_PATH;
} else {
gpio_dev = "/dev/px4fmu";
gpio_dev = PX4FMU_DEVICE_PATH;
}
/* open GPIO device */
@@ -203,6 +198,7 @@ void gpio_led_start(FAR void *arg)
}
/* configure GPIO pin */
/* px4fmu only, px4io doesn't support GPIO_SET_OUTPUT and will ignore */
ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
/* subscribe to vehicle status topic */
@@ -263,7 +259,6 @@ void gpio_led_cycle(FAR void *arg)
if (led_state_new) {
ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
} else {
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
}
src/modules/px4iofirmware/protocol.h
+7
View File
@@ -157,6 +157,13 @@
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
/* px4io relay bit definitions */
#define PX4IO_RELAY1 (1<<0)
#define PX4IO_RELAY2 (1<<1)
#define PX4IO_ACC1 (1<<2)
#define PX4IO_ACC2 (1<<3)
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */
#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */
enum { /* DSM bind states */
src/modules/px4iofirmware/registers.c
+4 -4
View File
@@ -349,10 +349,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_P_SETUP_RELAYS:
value &= PX4IO_P_SETUP_RELAYS_VALID;
r_setup_relays = value;
POWER_RELAY1(value & (1 << 0) ? 1 : 0);
POWER_RELAY2(value & (1 << 1) ? 1 : 0);
POWER_ACC1(value & (1 << 2) ? 1 : 0);
POWER_ACC2(value & (1 << 3) ? 1 : 0);
POWER_RELAY1(value & PX4IO_RELAY1 ? 1 : 0);
POWER_RELAY2(value & PX4IO_RELAY2 ? 1 : 0);
POWER_ACC1(value & PX4IO_ACC1 ? 1 : 0);
POWER_ACC2(value & PX4IO_ACC2 ? 1 : 0);
break;
case PX4IO_P_SETUP_SET_DEBUG: