From c042f49fdefe79a67df6ef2829fba7d8e0c66e46 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Wed, 23 Nov 2016 15:21:44 -1000
Subject: [PATCH] System Changes for AUAV X2.1

---
 src/drivers/drv_gpio.h          | 44 +++++++++++++++++++++++++++++----
 src/drivers/px4io/px4io.cpp     |  3 ++-
 src/modules/gpio_led/gpio_led.c | 18 +++++++++-----
 3 files changed, 53 insertions(+), 12 deletions(-)

diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index c980fa3998..4ca2ca5d94 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -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
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index bdbe35df87..737410027f 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -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";
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index 2fffdcb97e..c58575de7b 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/src/modules/gpio_led/gpio_led.c
@@ -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) {