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PX4 System gpio_led:Removed FMUv1

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This commit is contained in:
David Sidrane
2017-09-10 13:37:23 -04:00
committed by Daniel Agar
parent 901af8d02c
commit 8c8ea0754a
1 changed files with 27 additions and 104 deletions
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src/modules/gpio_led/gpio_led.c
+27 -104
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@@ -56,49 +56,42 @@
#include <drivers/drv_gpio.h> #include <drivers/drv_gpio.h>
#include <modules/px4iofirmware/protocol.h> #include <modules/px4iofirmware/protocol.h>
#if defined(BOARD_HAS_FMU_GPIO) && defined(GPIO_SERVO_1) #define PIN_NAME "AUX OUT 1"
# define LED_ON_SERVO_GPIO
# define PIN_NAME "AUX OUT 1"
/* Minimum pin number */ /* Minimum pin number */
# define GPIO_MIN_SERVO_PIN 1 #define GPIO_MIN_SERVO_PIN 1
/* Maximum */ /* Maximum */
# if defined(GPIO_SERVO_16) #if defined(GPIO_SERVO_16)
# define GPIO_MAX_SERVO_PIN 16 # define GPIO_MAX_SERVO_PIN 16
# elif defined(GPIO_SERVO_15) #elif defined(GPIO_SERVO_15)
# define GPIO_MAX_SERVO_PIN 15 # define GPIO_MAX_SERVO_PIN 15
# elif defined(GPIO_SERVO_14) #elif defined(GPIO_SERVO_14)
# define GPIO_MAX_SERVO_PIN 14 # define GPIO_MAX_SERVO_PIN 14
# elif defined(GPIO_SERVO_13) #elif defined(GPIO_SERVO_13)
# define GPIO_MAX_SERVO_PIN 13 # define GPIO_MAX_SERVO_PIN 13
# elif defined(GPIO_SERVO_12) #elif defined(GPIO_SERVO_12)
# define GPIO_MAX_SERVO_PIN 12 # define GPIO_MAX_SERVO_PIN 12
# elif defined(GPIO_SERVO_11) #elif defined(GPIO_SERVO_11)
# define GPIO_MAX_SERVO_PIN 11 # define GPIO_MAX_SERVO_PIN 11
# elif defined(GPIO_SERVO_10) #elif defined(GPIO_SERVO_10)
# define GPIO_MAX_SERVO_PIN 10 # define GPIO_MAX_SERVO_PIN 10
# elif defined(GPIO_SERVO_9) #elif defined(GPIO_SERVO_9)
# define GPIO_MAX_SERVO_PIN 9 # define GPIO_MAX_SERVO_PIN 9
# elif defined(GPIO_SERVO_8) #elif defined(GPIO_SERVO_8)
# define GPIO_MAX_SERVO_PIN 8 # define GPIO_MAX_SERVO_PIN 8
# elif defined(GPIO_SERVO_7) #elif defined(GPIO_SERVO_7)
# define GPIO_MAX_SERVO_PIN 7 # define GPIO_MAX_SERVO_PIN 7
# elif defined(GPIO_SERVO_6) #elif defined(GPIO_SERVO_6)
# define GPIO_MAX_SERVO_PIN 6 # define GPIO_MAX_SERVO_PIN 6
# endif #else
#endif # error "Board must define GPIO_SERVO_1 and GPIO_SERVO_n where n is 6-16"
#if defined(BOARD_HAS_FMU_GPIO) && defined(GPIO_EXT_1)
# define LED_ON_EXT_GPIO_AND_PIO
# define PIN_NAME "PX4FMU GPIO_EXT1"
#endif #endif
struct gpio_led_s { struct gpio_led_s {
struct work_s work; struct work_s work;
int gpio_fd; int gpio_fd;
bool use_io;
int pin; int pin;
struct vehicle_status_s vehicle_status; struct vehicle_status_s vehicle_status;
struct battery_status_s battery_status; struct battery_status_s battery_status;
@@ -121,23 +114,9 @@ void gpio_led_cycle(FAR void *arg);
int gpio_led_main(int argc, char *argv[]) int gpio_led_main(int argc, char *argv[])
{ {
if (argc < 2) { if (argc < 2) {
#if defined(LED_ON_EXT_GPIO_AND_PIO)
errx(1, "usage: gpio_led {start|stop} [-p <1|2|a1|a2|r1|r2>]\n"
"\t-p\tUse pin:\n"
"\t\t1\tPX4FMU GPIO_EXT1 (default)\n"
"\t\t2\tPX4FMU GPIO_EXT2\n"
"\t\ta1\tPX4IO ACC1\n"
"\t\ta2\tPX4IO ACC2\n"
"\t\tr1\tPX4IO RELAY1\n"
"\t\tr2\tPX4IO RELAY2"
);
#endif
#if defined(LED_ON_SERVO_GPIO)
errx(1, "usage: gpio_led {start|stop} [-p <n>]\n" errx(1, "usage: gpio_led {start|stop} [-p <n>]\n"
"\t-p <n>\tUse specified AUX OUT pin number (default: 1)" "\t-p <n>\tUse specified AUX OUT pin number (default: 1)"
); );
#endif
} else { } else {
@@ -146,64 +125,18 @@ int gpio_led_main(int argc, char *argv[])
errx(1, "already running"); errx(1, "already running");
} }
bool use_io = false; /* by default GPIO_SERVO_1 on FMUv2 */
/* by default use GPIO_EXT_1 on FMUv1 and GPIO_SERVO_1 on FMUv2 */
int pin = 1; int pin = 1;
/* pin name to display */ /* pin name to display */
#if defined(LED_ON_EXT_GPIO_AND_PIO)
char *pin_name = PIN_NAME;
#endif
#if defined(LED_ON_SERVO_GPIO)
char pin_name[sizeof(PIN_NAME) + 2] = PIN_NAME; char pin_name[sizeof(PIN_NAME) + 2] = PIN_NAME;
#endif
if (argc > 2) { if (argc > 2) {
if (!strcmp(argv[2], "-p")) { if (!strcmp(argv[2], "-p")) {
#if defined(LED_ON_EXT_GPIO_AND_PIO)
if (!strcmp(argv[3], "1")) {
use_io = false;
pin = GPIO_EXT_1;
pin_name = "PX4FMU GPIO_EXT1";
} else if (!strcmp(argv[3], "2")) {
use_io = false;
pin = GPIO_EXT_2;
pin_name = "PX4FMU GPIO_EXT2";
} else if (!strcmp(argv[3], "a1")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_ACC1;
pin_name = "PX4IO ACC1";
} else if (!strcmp(argv[3], "a2")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_ACC2;
pin_name = "PX4IO ACC2";
} else if (!strcmp(argv[3], "r1")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_POWER1;
pin_name = "PX4IO RELAY1";
} else if (!strcmp(argv[3], "r2")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_POWER2;
pin_name = "PX4IO RELAY2";
} else {
errx(1, "unsupported pin: %s", argv[3]);
}
#endif // defined(LED_ON_EXT_GPIO_AND_PIO)
#if defined(LED_ON_SERVO_GPIO)
unsigned int n = strtoul(argv[3], NULL, 10); unsigned int n = strtoul(argv[3], NULL, 10);
if (n >= GPIO_MIN_SERVO_PIN && n <= GPIO_MAX_SERVO_PIN) { if (n >= GPIO_MIN_SERVO_PIN && n <= GPIO_MAX_SERVO_PIN) {
use_io = false;
pin = 1 << (n - 1); pin = 1 << (n - 1);
snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n); snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n);
@@ -211,13 +144,11 @@ int gpio_led_main(int argc, char *argv[])
errx(1, "unsupported pin: %s", argv[3]); errx(1, "unsupported pin: %s", argv[3]);
} }
#endif // defined(LED_ON_SERVO_GPIO)
} }
} }
gpio_led_data = malloc(sizeof(struct gpio_led_s)); gpio_led_data = malloc(sizeof(struct gpio_led_s));
memset(gpio_led_data, 0, sizeof(struct gpio_led_s)); memset(gpio_led_data, 0, sizeof(struct gpio_led_s));
gpio_led_data->use_io = use_io;
gpio_led_data->pin = pin; gpio_led_data->pin = pin;
int ret = work_queue(LPWORK, &(gpio_led_data->work), gpio_led_start, gpio_led_data, 0); int ret = work_queue(LPWORK, &(gpio_led_data->work), gpio_led_start, gpio_led_data, 0);
@@ -252,14 +183,6 @@ void gpio_led_start(FAR void *arg)
char *gpio_dev = PX4FMU_DEVICE_PATH; char *gpio_dev = PX4FMU_DEVICE_PATH;
#if defined(BOARD_USES_PX4IO)
if (priv->use_io) {
gpio_dev = PX4IO_DEVICE_PATH;
}
#endif
/* open GPIO device */ /* open GPIO device */
priv->gpio_fd = open(gpio_dev, 0); priv->gpio_fd = open(gpio_dev, 0);