fly316/PX4-Autopilot
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Pull v2 pieces up to build with the merge

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This commit is contained in:
px4dev
2013-07-07 17:53:55 -07:00
parent 43f1843cc7
commit b4029dd824
60 changed files with 1167 additions and 227 deletions
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src/drivers/px4fmu/fmu.cpp
+14 -14
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@@ -59,10 +59,10 @@
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
# include <drivers/boards/px4fmu/px4fmu_internal.h>
# define FMU_HAVE_PPM
#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
# include <drivers/boards/px4fmuv2/px4fmu_internal.h>
# undef FMU_HAVE_PPM
#else
@@ -158,7 +158,7 @@ private:
};
const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
@@ -168,7 +168,7 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0},
@@ -873,7 +873,7 @@ PX4FMU::gpio_reset(void)
}
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* if we have a GPIO direction control, set it to zero (input) */
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
stm32_configgpio(GPIO_GPIO_DIR);
@@ -883,7 +883,7 @@ PX4FMU::gpio_reset(void)
void
PX4FMU::gpio_set_function(uint32_t gpios, int function)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
@@ -918,7 +918,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
}
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
@@ -1024,17 +1024,17 @@ fmu_new_mode(PortMode new_mode)
break;
case PORT_FULL_PWM:
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* select 4-pin PWM mode */
servo_mode = PX4FMU::MODE_4PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
servo_mode = PX4FMU::MODE_6PWM;
#endif
break;
/* mixed modes supported on v1 board only */
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
case PORT_FULL_SERIAL:
/* set all multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
@@ -1116,7 +1116,7 @@ test(void)
if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed");
#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (ioctl(fd, PWM_SERVO_SET(4), 1800) < 0) err(1, "servo 5 set failed");
if (ioctl(fd, PWM_SERVO_SET(5), 2000) < 0) err(1, "servo 6 set failed");
@@ -1183,7 +1183,7 @@ fmu_main(int argc, char *argv[])
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
} else if (!strcmp(verb, "mode_serial")) {
new_mode = PORT_FULL_SERIAL;
@@ -1217,9 +1217,9 @@ fmu_main(int argc, char *argv[])
fake(argc - 1, argv + 1);
fprintf(stderr, "FMU: unrecognised command, try:\n");
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
fprintf(stderr, " mode_gpio, mode_pwm\n");
#endif
exit(1);