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System Changes for AUAV X2.1

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This commit is contained in:
David Sidrane 2016-11-23 15:21:44 -10:00 committed by Lorenz Meier
parent 5b5076ae01
commit c042f49fde
3 changed files with 53 additions and 12 deletions
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44
src/drivers/drv_gpio.h
View File

@ -42,6 +42,34 @@
#include <sys/ioctl.h>
#ifdef CONFIG_ARCH_BOARD_AUAV_X21
/*
* PX4FMUv2 GPIO numbers.
*
* There are no alternate functions on this board.
*/
# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
# define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
# define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
# define GPIO_5V_PERIPH_EN (1<<6) /**< PA8 - !VDD_5V_PERIPH_EN */
# define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */
# define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */
# define GPIO_SERVO_VALID (1<<9) /**< PB7 - !VDD_SERVO_VALID */
# define GPIO_5V_HIPOWER_OC (1<<10) /**< PE10 - !VDD_5V_HIPOWER_OC */
# define GPIO_5V_PERIPH_OC (1<<11) /**< PE10 - !VDD_5V_PERIPH_OC */
/**
* Device paths for things that support the GPIO ioctl protocol.
*/
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
# define PX4IO_DEVICE_PATH "/dev/px4io"
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/*
* PX4FMU GPIO numbers.
@ -199,12 +227,18 @@
/* no GPIO driver on the SITL configuration */
#endif
#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2) && \
!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && \
!defined(CONFIG_ARCH_BOARD_PX4IO_V2) && \
!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && \
!defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
!defined(CONFIG_ARCH_BOARD_AUAV_X21) && \
!defined(CONFIG_ARCH_BOARD_AEROCORE) && \
!defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
!defined(CONFIG_ARCH_BOARD_MINDPX_V2) && \
!defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && !defined(CONFIG_ARCH_BOARD_SITL) && \
!defined(CONFIG_ARCH_BOARD_TAP_V1) && !defined(CONFIG_ARCH_BOARD_ASC_V1) && \
!defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && \
!defined(CONFIG_ARCH_BOARD_SITL) && \
!defined(CONFIG_ARCH_BOARD_TAP_V1) && \
!defined(CONFIG_ARCH_BOARD_ASC_V1) && \
!defined(CONFIG_ARCH_BOARD_CRAZYFLIE)
# error No CONFIG_ARCH_BOARD_xxxx set
#endif

3
src/drivers/px4io/px4io.cpp
View File

@ -3625,7 +3625,8 @@ px4io_main(int argc, char *argv[])
fn[1] = "/fs/microsd/px4io1.bin";
fn[2] = "/fs/microsd/px4io.bin";
fn[3] = nullptr;
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || \
defined(CONFIG_ARCH_BOARD_AUAV_X21)
fn[0] = "/etc/extras/px4io-v2.bin";
fn[1] = "/fs/microsd/px4io2.bin";
fn[2] = "/fs/microsd/px4io.bin";

18
src/modules/gpio_led/gpio_led.c
View File

@ -92,8 +92,10 @@ int gpio_led_main(int argc, char *argv[])
"\t\tr2\tPX4IO RELAY2"
);
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) \
|| defined(CONFIG_ARCH_BOARD_MINDPX_V2)
#if defined(CONFIG_ARCH_BOARD_AUAV_X21) || \
defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || \
defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || \
defined(CONFIG_ARCH_BOARD_MINDPX_V2)
errx(1, "usage: gpio_led {start|stop} [-p <n>]\n"
"\t-p <n>\tUse specified AUX OUT pin number (default: 1)"
);
@ -115,8 +117,10 @@ int gpio_led_main(int argc, char *argv[])
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
char *pin_name = "PX4FMU GPIO_EXT1";
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) \
|| defined(CONFIG_ARCH_BOARD_MINDPX_V2)
#if defined(CONFIG_ARCH_BOARD_AUAV_X21) || \
defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || \
defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || \
defined(CONFIG_ARCH_BOARD_MINDPX_V2)
char pin_name[] = "AUX OUT 1";
#endif
@ -159,8 +163,10 @@ int gpio_led_main(int argc, char *argv[])
}
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) \
|| defined(CONFIG_ARCH_BOARD_MINDPX_V2)
#if defined(CONFIG_ARCH_BOARD_AUAV_X21) || \
defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || \
defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || \
defined(CONFIG_ARCH_BOARD_MINDPX_V2)
unsigned int n = strtoul(argv[3], NULL, 10);
if (n >= 1 && n <= 6) {