fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

delete drv_gpio.h, modules/gpio_led, and fmu GPIO ioctls

Browse Source
This commit is contained in:
Daniel Agar 2018-11-28 21:56:51 -05:00 committed by Lorenz Meier
parent c303e36ed0
commit d4e06e517a
67 changed files with 6 additions and 1213 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ROMFS/px4fmu_common/init.d/airframes/4004_H4_680mm
View File

@ -25,6 +25,3 @@ fi
# Start FrSky telemetry on SERIAL4 (ttyS6, designated "SERIAL4/5" on the case)
frsky_telemetry start -d /dev/ttyS6
# GPIO LED
gpio_led start -p 6

1
boards/aerotenna/ocpoc/ubuntu.cmake
View File

@ -41,7 +41,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/airmind/mindpx-v2/default.cmake
View File

@ -58,7 +58,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

24
boards/airmind/mindpx-v2/src/board_config.h
View File

@ -305,30 +305,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0}, \
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0}, }
/*
* 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_SERVO_7 (1<<6) /**< servo 7 output */
#define GPIO_SERVO_8 (1<<7) /**< servo 8 output */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/atlflight/eagle/default.cmake
View File

@ -75,7 +75,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/atlflight/excelsior/default.cmake
View File

@ -75,7 +75,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/atmel/same70xplained/default.cmake
View File

@ -58,7 +58,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

16
boards/atmel/same70xplained/src/board_config.h
View File

@ -315,22 +315,6 @@ __BEGIN_DECLS
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, }
/*
* 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 BOARD_DMA_ALLOC_POOL_SIZE 5120
/****************************************************************************************************

1
boards/auav/x21/default.cmake
View File

@ -63,7 +63,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

28
boards/auav/x21/src/board_config.h
View File

@ -215,34 +215,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
{GPIO_VDD_BRICK_VALID, 0, 0}, \
{GPIO_VDD_5V_PERIPH_OC, 0, 0}, }
/*
* 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_3V3_SENSORS_EN (1<<6) /**< PE3 - VDD_3V3_SENSORS_EN */
#define GPIO_BRICK_VALID (1<<7) /**< PB5 - !VDD_BRICK_VALID */
#define GPIO_5V_PERIPH_OC (1<<8) /**< PE10 - !VDD_5V_PERIPH_OC */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/av/x-v1/default.cmake
View File

@ -63,7 +63,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

25
boards/av/x-v1/src/board_config.h
View File

@ -349,31 +349,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0}, \
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0}, \
}
/*
* 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_SERVO_7 (1<<6) /**< servo 7 output */
#define GPIO_SERVO_8 (1<<7) /**< servo 8 output */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/beaglebone/blue/cross.cmake
View File

@ -41,7 +41,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/beaglebone/blue/native.cmake
View File

@ -39,7 +39,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/bitcraze/crazyflie/default.cmake
View File

@ -27,7 +27,6 @@ px4_add_board(
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/emlid/navio2/cross.cmake
View File

@ -48,7 +48,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/emlid/navio2/native.cmake
View File

@ -46,7 +46,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/gumstix/aerocore2/default.cmake
View File

@ -61,7 +61,6 @@ px4_add_board(
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#gpio_led
land_detector
#landing_target_estimator
load_mon

3
boards/gumstix/aerocore2/src/board_config.h
View File

@ -202,9 +202,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{0, 0, 0}, }
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/intel/aerofc-v1/default.cmake
View File

@ -44,7 +44,6 @@ px4_add_board(
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/intel/aerofc-v1/rtps.cmake
View File

@ -46,7 +46,6 @@ px4_add_board(
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/nxp/fmuk66-v3/default.cmake
View File

@ -60,7 +60,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

26
boards/nxp/fmuk66-v3/src/board_config.h
View File

@ -421,38 +421,12 @@ __BEGIN_DECLS
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{0, GPIO_TRI, 0}, \
{GPIO_ECH, 0, 0}, \
}
#define BOARD_HAS_LED_PWM 1
#define LED_TIM3_CH1OUT /* PTD1 RGB_R */ PIN_FTM3_CH1_1
#define LED_TIM3_CH5OUT /* PTC9 RGB_G */ PIN_FTM3_CH5_1
#define LED_TIM3_CH4OUT /* PTC8 RGB_B */ PIN_FTM3_CH4_1
/*
* 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_SERVO_7 (1<<6) /**< servo 7 output U_TRI */
#define GPIO_SERVO_8 (1<<6) /**< servo 8 output U_ECH */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/omnibus/f4sd/default.cmake
View File

@ -55,7 +55,6 @@ px4_add_board(
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

16
boards/omnibus/f4sd/src/board_config.h
View File

@ -254,22 +254,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, }
/*
* PX4FMUv4 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 */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/parrot/bebop/default.cmake
View File

@ -30,7 +30,6 @@ px4_add_board(
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/fmu-v2/default.cmake
View File

@ -70,7 +70,6 @@ px4_add_board(
fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#gpio_led
land_detector
#landing_target_estimator
load_mon

1
boards/px4/fmu-v2/lpe.cmake
View File

@ -68,7 +68,6 @@ px4_add_board(
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

35
boards/px4/fmu-v2/src/board_config.h
View File

@ -463,41 +463,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{0, GPIO_VDD_5V_PERIPH_EN, 0}, \
{0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
{GPIO_VDD_BRICK_VALID, 0, 0}, \
{GPIO_VDD_SERVO_VALID, 0, 0}, \
{GPIO_VDD_USB_VALID, 0, 0}, \
{GPIO_VDD_5V_HIPOWER_OC, 0, 0}, \
{GPIO_VDD_5V_PERIPH_OC, 0, 0}, }
/*
* 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_USB_VALID (1<<10) /**< PC0 - !GPIO_VDD_USB_VALID */
#define GPIO_5V_HIPOWER_OC (1<<11) /**< PE10 - !VDD_5V_HIPOWER_OC */
#define GPIO_5V_PERIPH_OC (1<<12) /**< PE10 - !VDD_5V_PERIPH_OC */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/px4/fmu-v2/test.cmake
View File

@ -69,7 +69,6 @@ px4_add_board(
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/fmu-v3/default.cmake
View File

@ -71,7 +71,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/fmu-v3/rtps.cmake
View File

@ -71,7 +71,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

35
boards/px4/fmu-v3/src/board_config.h
View File

@ -463,41 +463,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{0, GPIO_VDD_5V_PERIPH_EN, 0}, \
{0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
{GPIO_VDD_BRICK_VALID, 0, 0}, \
{GPIO_VDD_SERVO_VALID, 0, 0}, \
{GPIO_VDD_USB_VALID, 0, 0}, \
{GPIO_VDD_5V_HIPOWER_OC, 0, 0}, \
{GPIO_VDD_5V_PERIPH_OC, 0, 0}, }
/*
* 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_USB_VALID (1<<10) /**< PC0 - !GPIO_VDD_USB_VALID */
#define GPIO_5V_HIPOWER_OC (1<<11) /**< PE10 - !VDD_5V_HIPOWER_OC */
#define GPIO_5V_PERIPH_OC (1<<12) /**< PE10 - !VDD_5V_PERIPH_OC */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/px4/fmu-v3/stackcheck.cmake
View File

@ -71,7 +71,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/fmu-v4/default.cmake
View File

@ -56,7 +56,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/fmu-v4/rtps.cmake
View File

@ -57,7 +57,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

26
boards/px4/fmu-v4/src/board_config.h
View File

@ -320,32 +320,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
{GPIO_VDD_BRICK_VALID, 0, 0}, \
{GPIO_VDD_USB_VALID, 0, 0}, }
/**
* PX4FMUv4 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_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */
#define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */
#define GPIO_USB_VALID (1<<9) /**< PC0 - !GPIO_VDD_USB_VALID */
/* This board provides a DMA pool and APIs. */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/px4/fmu-v4/stackcheck.cmake
View File

@ -56,7 +56,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/fmu-v4pro/default.cmake
View File

@ -70,7 +70,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/fmu-v4pro/rtps.cmake
View File

@ -70,7 +70,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

39
boards/px4/fmu-v4pro/src/board_config.h
View File

@ -332,45 +332,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
{0, GPIO_VDD_3V3_PERIPH_EN, 0}, \
{GPIO_nVDD_BRICK1_VALID, 0, 0}, \
{GPIO_nVDD_BRICK2_VALID, 0, 0}, \
{GPIO_nVDD_USB_VALID, 0, 0}, \
{GPIO_VDD_5V_HIPOWER_OC, 0, 0}, \
{GPIO_VDD_5V_PERIPH_OC, 0, 0}, }
/*
* 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_3V3_SENSORS_EN (1<<6) /**< PE3 - GPIO_VDD_3V3_SENSORS_EN */
#define GPIO_3V3_PERIPH_EN (1<<7) /**< PC5 - GPIO_VDD_3V3_PERIPH_EN */
#define GPIO_BRICK1_VALID (1<<8) /**< PB5 - GPIO_nVDD_BRICK1_VALID */
#define GPIO_BRICK2_VALID (1<<9) /**< PG5 - GPIO_nVDD_BRICK2_VALID */
#define GPIO_USB_VBUS_VALID (1<<10) /**< PC0 - GPIO_nVDD_USB_VALID */
#define GPIO_5V_HIPOWER_OC (1<<11) /**< PF3 - !GPIO_VDD_5V_RC_OC */
#define GPIO_5V_PERIPH_OC (1<<12) /**< PE10 - !GPIO_VDD_5V_PERIPH_OC */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/px4/fmu-v5/default.cmake
View File

@ -70,7 +70,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/fmu-v5/rtps.cmake
View File

@ -71,7 +71,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

55
boards/px4/fmu-v5/src/board_config.h
View File

@ -645,61 +645,6 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0}, \
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0}, \
{GPIO_nPOWER_IN_A, 0, 0}, \
{GPIO_nPOWER_IN_B, 0, 0}, \
{GPIO_nPOWER_IN_C, 0, 0}, \
{0, GPIO_xVDD_5V_PERIPH_EN, 0}, \
{GPIO_nVDD_5V_PERIPH_OC, 0, 0}, \
{0, GPIO_nVDD_5V_HIPOWER_EN, 0}, \
{GPIO_nVDD_5V_HIPOWER_OC,0, 0}, \
{0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
{0, GPIO_VDD_3V3_SPEKTRUM_POWER_EN, 0}, \
{0, GPIO_VDD_5V_RC_EN, 0}, \
{0, GPIO_VDD_5V_WIFI_EN, 0}, \
{0, GPIO_VDD_3V3_SD_CARD_EN, 0}, \
{0, GPIO_HW_REV_DRIVE, 0}, \
{0, GPIO_HW_VER_DRIVE, 0}, \
}
/*
* 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_SERVO_7 (1<<6) /**< servo 7 output */
#define GPIO_SERVO_8 (1<<7) /**< servo 8 output */
#define GPIO_nPOWER_INPUT_A (1<<8) /**<PG1 GPIO_nPOWER_IN_A */
#define GPIO_nPOWER_INPUT_B (1<<9) /**<PG2 GPIO_nPOWER_IN_B */
#define GPIO_nPOWER_INPUT_C (1<<10) /**<PG3 GPIO_nPOWER_IN_C */
#define GPIO_PERIPH_5V_POWER_EN (1<<11) /**< PG4 - GPIO_nVDD_5V_PERIPH_EN */
#define GPIO_PERIPH_5V_POWER_OC (1<<12) /**< PE15 - GPIO_nVDD_5V_PERIPH_OC */
#define GPIO_PERIPH_5V_HIPOWER_EN (1<<13) /**< PF12 - GPIO_nVDD_5V_HIPOWER_EN */
#define GPIO_PERIPH_5V_HIPOWER_OC (1<<14) /**< PG13 - GPIO_nVDD_5V_HIPOWER_OC */
#define GPIO_3V3_SENSORS_EN (1<<15) /**< PE3 - VDD_3V3_SENSORS_EN */
#define GPIO_SPEKTRUM_POWER (1<<16) /**< PE4 - GPIO_VDD_3V3_SPEKTRUM_POWER_EN */
#define GPIO_RC_POWER_EN (1<<17) /**< PG5 - GPIO_VDD_5V_RC_EN */
#define GPIO_WIFI_POWER_EN (1<<18) /**< PG6 - GPIO_VDD_5V_WIFI_EN */
#define GPIO_SD_CARD_POWER_EN (1<<19) /**< PG7 - GPIO_VDD_3V3_SD_CARD_EN */
#define GPIO_HW_REV_DRIVE_EN (1<<20) /**< PH14 - GPIO_HW_REV_DRIVE */
#define GPIO_HW_VER_DRIVE_EN (1<<21) /**< PG0 - GPIO_HW_VER_DRIVE */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -71,7 +71,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/raspberrypi/cross.cmake
View File

@ -37,7 +37,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/px4/raspberrypi/native.cmake
View File

@ -35,7 +35,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/stm/32f4discovery/default.cmake
View File

@ -48,7 +48,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
#gpio_led
land_detector
landing_target_estimator
load_mon

1
boards/stm/nucleo-F767ZI/default.cmake
View File

@ -57,7 +57,6 @@ px4_add_board(
fw_pos_control_l1
gnd_att_control
gnd_pos_control
gpio_led
land_detector
landing_target_estimator
load_mon

25
boards/stm/nucleo-F767ZI/src/board_config.h
View File

@ -324,31 +324,6 @@ __BEGIN_DECLS
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
{0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
{GPIO_VDD_BRICK_VALID, 0, 0}, }
/*
* 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_3V3_SENSORS_EN (1<<6) /**< PE3 - VDD_3V3_SENSORS_EN */
#define GPIO_BRICK_VALID (1<<7) /**< PB10 - !VDD_BRICK_VALID */
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

1
platforms/posix/cmake/sitl_tests.cmake
View File

@ -13,7 +13,6 @@ set(tests
dataman
file2
float
gpio
hrt
hysteresis
int

8
src/drivers/boards/common/board_common.h
View File

@ -232,14 +232,6 @@
#define BOARD_BATTERY2_A_PER_V 0.0f
#endif
/* Conditional use of FMU GPIO
* If the board use the PX4FMU driver and the board provides
* BOARD_FMU_GPIO_TAB then we publish the logical BOARD_HAS_FMU_GPIO
*/
#if defined(BOARD_FMU_GPIO_TAB)
# define BOARD_HAS_FMU_GPIO
#endif
/* Conditional use of PX4 PIO is Used to determine if the board
* has a PX4IO processor.
* We then publish the logical BOARD_USES_PX4IO

77
src/drivers/drv_gpio.h
View File

@ -1,77 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_gpio.h
*
* Generic GPIO ioctl interface.
*/
#ifndef _DRV_GPIO_H
#define _DRV_GPIO_H
#include <px4_config.h>
#include <sys/ioctl.h>
/**
* Device paths for devices that support the GPIO ioctl protocol.
*/
#define PX4FMU_DEVICE_PATH "/dev/px4fmu"
#define PX4IO_DEVICE_PATH "/dev/px4io"
/*
* IOCTL definitions.
*
* For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
* by the operation, with the LSB being the lowest-numbered GPIO.
*
* Note that there may be board-specific relationships between GPIOs;
* applications using GPIOs should be aware of this.
*/
#define _GPIOCBASE 0x2700
#define GPIOC(_x) _IOC(_GPIOCBASE, _x)
/** reset all board GPIOs to their default state */
#define GPIO_RESET GPIOC(0)
/** configure the board GPIOs in (arg) as outputs */
#define GPIO_SET_OUTPUT GPIOC(1)
/** set the GPIOs in (arg) */
#define GPIO_SET GPIOC(10)
/** clear the GPIOs in (arg) */
#define GPIO_CLEAR GPIOC(11)
#endif /* _DRV_GPIO_H */

166
src/drivers/px4fmu/fmu.cpp
View File

@ -42,7 +42,6 @@
#include <board_config.h>
#include <drivers/device/device.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_mixer.h>
@ -101,6 +100,8 @@ enum PortMode {
# error "board_config.h needs to define BOARD_HAS_PWM"
#endif
#define PX4FMU_DEVICE_PATH "/dev/px4fmu"
class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>
{
public:
@ -263,23 +264,8 @@ private:
void update_params();
struct GPIOConfig {
uint32_t input;
uint32_t output;
uint32_t alt;
};
#if defined(BOARD_HAS_FMU_GPIO)
static const GPIOConfig _gpio_tab[];
static const unsigned _ngpio;
#endif
static void sensor_reset(int ms);
static void peripheral_reset(int ms);
int gpio_reset(void);
int gpio_set_function(uint32_t gpios, int function);
int gpio_write(uint32_t gpios, int function);
int gpio_read(uint32_t *value);
int gpio_ioctl(file *filp, int cmd, unsigned long arg);
int capture_ioctl(file *filp, int cmd, unsigned long arg);
@ -296,11 +282,6 @@ private:
inline void reorder_outputs(uint16_t values[MAX_ACTUATORS]);
};
#if defined(BOARD_HAS_FMU_GPIO)
const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = BOARD_FMU_GPIO_TAB;
const unsigned PX4FMU::_ngpio = arraySize(PX4FMU::_gpio_tab);
#endif
pwm_limit_t PX4FMU::_pwm_limit;
actuator_armed_s PX4FMU::_armed = {};
work_s PX4FMU::_work = {};
@ -1464,13 +1445,6 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
if (ret != -ENOTTY) {
return ret;
}
/* try it as a Capture ioctl next */
ret = capture_ioctl(filp, cmd, arg);
@ -2311,100 +2285,6 @@ PX4FMU::peripheral_reset(int ms)
board_peripheral_reset(ms);
}
int
PX4FMU::gpio_reset(void)
{
#if !defined(BOARD_HAS_FMU_GPIO)
return -EINVAL;
#else
/*
* Setup default GPIO config - all pins as GPIOs, input if
* possible otherwise output if possible.
*/
for (unsigned i = 0; i < _ngpio; i++) {
if (_gpio_tab[i].input != 0) {
px4_arch_configgpio(_gpio_tab[i].input);
} else if (_gpio_tab[i].output != 0) {
px4_arch_configgpio(_gpio_tab[i].output);
}
}
# if defined(GPIO_GPIO_DIR)
/* if we have a GPIO direction control, set it to zero (input) */
px4_arch_gpiowrite(GPIO_GPIO_DIR, 0);
px4_arch_configgpio(GPIO_GPIO_DIR);
# endif
return OK;
#endif // !defined(BOARD_HAS_FMU_GPIO)
}
int
PX4FMU::gpio_set_function(uint32_t gpios, int function)
{
#if !defined(BOARD_HAS_FMU_GPIO)
return -EINVAL;
#else
/* configure selected GPIOs as required */
for (unsigned i = 0; i < _ngpio; i++) {
if (gpios & (1 << i)) {
switch (function) {
case GPIO_SET_OUTPUT:
if (_gpio_tab[i].output) {
px4_arch_configgpio(_gpio_tab[i].output);
}
break;
}
}
}
return OK;
#endif // !defined(BOARD_HAS_FMU_GPIO)
}
int
PX4FMU::gpio_write(uint32_t gpios, int function)
{
#if !defined(BOARD_HAS_FMU_GPIO)
return -EINVAL;
#else
int value = (function == GPIO_SET) ? 1 : 0;
for (unsigned i = 0; i < _ngpio; i++) {
if (gpios & (1 << i)) {
if (_gpio_tab[i].output) {
px4_arch_gpiowrite(_gpio_tab[i].output, value);
}
}
}
return OK;
#endif
}
int
PX4FMU::gpio_read(uint32_t *value)
{
#if !defined(BOARD_HAS_FMU_GPIO)
return -EINVAL;
#else
uint32_t bits = 0;
for (unsigned i = 0; i < _ngpio; i++) {
if (_gpio_tab[i].input != 0 && px4_arch_gpioread(_gpio_tab[i].input)) {
bits |= (1 << i);
}
}
*value = bits;
return OK;
#endif
}
int
PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
{
@ -2551,37 +2431,6 @@ PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
return ret;
}
int
PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = OK;
lock();
switch (cmd) {
case GPIO_RESET:
ret = gpio_reset();
break;
case GPIO_SET_OUTPUT:
ret = gpio_set_function(arg, cmd);
break;
case GPIO_SET:
case GPIO_CLEAR:
ret = gpio_write(arg, cmd);
break;
default:
ret = -ENOTTY;
}
unlock();
return ret;
}
int
PX4FMU::fmu_new_mode(PortMode new_mode)
{
@ -2590,7 +2439,6 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
}
PX4FMU::Mode servo_mode;
bool mode_with_input = false;
servo_mode = PX4FMU::MODE_NONE;
@ -2645,7 +2493,6 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
case PORT_PWM5CAP1:
/* select 5-pin PWM mode 1 capture */
servo_mode = PX4FMU::MODE_5PWM1CAP;
mode_with_input = true;
break;
# endif
@ -2659,7 +2506,6 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
case PORT_PWM4CAP1:
/* select 4-pin PWM mode 1 capture */
servo_mode = PX4FMU::MODE_4PWM1CAP;
mode_with_input = true;
break;
# endif
@ -2673,7 +2519,6 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
case PORT_PWM3CAP1:
/* select 3-pin PWM mode 1 capture */
servo_mode = PX4FMU::MODE_3PWM1CAP;
mode_with_input = true;
break;
# endif
@ -2687,7 +2532,6 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
case PORT_PWM2CAP2:
/* select 2-pin PWM mode 2 capture */
servo_mode = PX4FMU::MODE_2PWM2CAP;
mode_with_input = true;
break;
# endif
#endif
@ -2699,12 +2543,6 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
PX4FMU *object = get_instance();
if (servo_mode != object->get_mode()) {
/* reset to all-inputs */
if (mode_with_input) {
object->ioctl(0, GPIO_RESET, 0);
}
/* (re)set the PWM output mode */
object->set_mode(servo_mode);
}

16
src/drivers/px4io/px4io.cpp
View File

@ -63,7 +63,6 @@
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_sbus.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
@ -449,6 +448,8 @@ namespace
PX4IO *g_dev = nullptr;
}
#define PX4IO_DEVICE_PATH "/dev/px4io"
PX4IO::PX4IO(device::Device *interface) :
CDev(PX4IO_DEVICE_PATH),
_interface(interface),
@ -2749,19 +2750,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
ret = (arg == PWM_SERVO_ENTER_TEST_MODE || PWM_SERVO_EXIT_TEST_MODE) ? 0 : -EINVAL;
break;
case GPIO_RESET: {
ret = -EINVAL;
break;
}
case GPIO_SET:
ret = -EINVAL;
break;
case GPIO_CLEAR:
ret = -EINVAL;
break;
case MIXERIOCGETOUTPUTCOUNT:
*(unsigned *)arg = _max_actuators;
break;

41
src/modules/gpio_led/CMakeLists.txt
View File

@ -1,41 +0,0 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__gpio_led
MAIN gpio_led
COMPILE_FLAGS
SRCS
gpio_led.c
DEPENDS
)

355
src/modules/gpio_led/gpio_led.c
View File

@ -1,355 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file gpio_led.c
*
* Status LED via GPIO driver.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <stdbool.h>
#include <px4_module.h>
#include <px4_log.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/battery_status.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
#include <modules/px4iofirmware/protocol.h>
#define CYCLE_RATE_HZ 5
#define PIN_NAME "AUX OUT 1"
/* Minimum pin number */
#define GPIO_MIN_SERVO_PIN 1
/* Maximum */
#if defined(GPIO_SERVO_16)
# define GPIO_MAX_SERVO_PIN 16
#elif defined(GPIO_SERVO_15)
# define GPIO_MAX_SERVO_PIN 15
#elif defined(GPIO_SERVO_14)
# define GPIO_MAX_SERVO_PIN 14
#elif defined(GPIO_SERVO_13)
# define GPIO_MAX_SERVO_PIN 13
#elif defined(GPIO_SERVO_12)
# define GPIO_MAX_SERVO_PIN 12
#elif defined(GPIO_SERVO_11)
# define GPIO_MAX_SERVO_PIN 11
#elif defined(GPIO_SERVO_10)
# define GPIO_MAX_SERVO_PIN 10
#elif defined(GPIO_SERVO_9)
# define GPIO_MAX_SERVO_PIN 9
#elif defined(GPIO_SERVO_8)
# define GPIO_MAX_SERVO_PIN 8
#elif defined(GPIO_SERVO_7)
# define GPIO_MAX_SERVO_PIN 7
#elif defined(GPIO_SERVO_6)
# define GPIO_MAX_SERVO_PIN 6
#elif defined(GPIO_SERVO_5)
# define GPIO_MAX_SERVO_PIN 5
#elif defined(GPIO_SERVO_4)
# define GPIO_MAX_SERVO_PIN 4
#else
# error "Board must define GPIO_SERVO_1 and GPIO_SERVO_n where n is 4-16"
#endif
struct gpio_led_s {
struct work_s work;
int gpio_fd;
int pin;
struct vehicle_status_s vehicle_status;
struct battery_status_s battery_status;
int vehicle_status_sub;
int battery_status_sub;
bool led_state;
int counter;
};
static struct gpio_led_s *gpio_led_data;
static volatile enum {
Stopped = 0,
Running = 1,
Falied = 2,
Stopping = 3
} gpio_led_state = Stopped;
__EXPORT int gpio_led_main(int argc, char *argv[]);
void gpio_led_start(FAR void *arg);
void gpio_led_cycle(FAR void *arg);
static void print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
This module is responsible for drving a single LED on one of the FMU AUX pins.
It listens on the vehicle_status and battery_status topics and provides visual annunciation on the LED.
### Implementation
The module runs on the work queue. It schedules at a fixed frequency of 5 Hz
### Examples
It is started with:
$ gpio_led start
To drive an LED connected AUX1 pin.
OR with any of the avaliabel AUX pins
$ gpio_led start -p 5
To drive an LED connected AUX5 pin.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("gpio_led", "driver");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "annunciation on AUX OUT pin");
PRINT_MODULE_USAGE_PARAM_FLAG('p', "Use specified AUX OUT pin number (default: 1)", true);
PRINT_MODULE_USAGE_COMMAND("stop");
}
int gpio_led_main(int argc, char *argv[])
{
if (argc < 2) {
print_usage(NULL);
exit(1);
} else {
if (!strcmp(argv[1], "start")) {
if (gpio_led_state != Stopped) {
PX4_WARN("already running");
exit(1);
}
/* by default GPIO_SERVO_1 on FMUv2 */
int pin = 1;
/* pin name to display */
char pin_name[sizeof(PIN_NAME) + 2] = PIN_NAME;
if (argc > 2) {
if (!strcmp(argv[2], "-p")) {
unsigned int n = strtoul(argv[3], NULL, 10);
if (n >= GPIO_MIN_SERVO_PIN && n <= GPIO_MAX_SERVO_PIN) {
pin = 1 << (n - 1);
snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n);
} else {
PX4_ERR("unsupported pin: %s (valid values are %d-%d)", argv[3], GPIO_MIN_SERVO_PIN, GPIO_MAX_SERVO_PIN);
exit(1);
}
}
}
gpio_led_data = malloc(sizeof(struct gpio_led_s));
if (gpio_led_data == NULL) {
PX4_ERR("failed to allocate memory!");
exit(1);
} else {
memset(gpio_led_data, 0, sizeof(struct gpio_led_s));
gpio_led_data->pin = pin;
int ret = work_queue(LPWORK, &(gpio_led_data->work), gpio_led_start, gpio_led_data, 0);
if (ret != 0) {
PX4_ERR("failed to queue work: %d", ret);
goto out;
} else {
usleep(1000000/CYCLE_RATE_HZ);
if (gpio_led_state != Running) {
gpio_led_state = Stopped;
goto out;
}
PX4_INFO("start, using pin: %s", pin_name);
exit(0);
}
}
} else if (!strcmp(argv[1], "stop")) {
if (gpio_led_state == Running) {
gpio_led_state = Stopping;
while(gpio_led_state != Stopped) {
usleep(1000000/CYCLE_RATE_HZ);
}
PX4_INFO("stopped");
free (gpio_led_data);
gpio_led_data = NULL;
exit(0);
} else {
PX4_WARN("not running");
exit(1);
}
} else {
print_usage("unrecognized command");
exit(1);
}
}
out:
free (gpio_led_data);
gpio_led_data = NULL;
exit(1);
}
void gpio_led_start(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
char *gpio_dev = PX4FMU_DEVICE_PATH;
/* open GPIO device */
priv->gpio_fd = open(gpio_dev, 0);
if (priv->gpio_fd < 0) {
PX4_ERR("gpio_led: GPIO device \"%s\" open fail\n", gpio_dev);
gpio_led_state = Falied;
return;
}
/* configure GPIO pin */
ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
/* initialize vehicle status structure */
memset(&priv->vehicle_status, 0, sizeof(priv->vehicle_status));
/* initialize battery status structure */
memset(&priv->battery_status, 0, sizeof(priv->battery_status));
/* subscribe to vehicle status topic */
priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* subscribe to battery status topic */
priv->battery_status_sub = orb_subscribe(ORB_ID(battery_status));
/* add worker to queue */
int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
if (ret != 0) {
PX4_ERR("gpio_led: failed to queue work: %d\n", ret);
close(priv->gpio_fd);
gpio_led_state = Falied;
return;
}
gpio_led_state = Running;
}
void gpio_led_cycle(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* check for vehicle status updates*/
bool updated;
orb_check(priv->vehicle_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->vehicle_status);
}
orb_check(priv->battery_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(battery_status), priv->battery_status_sub, &priv->battery_status);
}
/* select pattern for current vehiclestatus */
int pattern = 0;
if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_ARMED) {
if (priv->battery_status.warning == BATTERY_STATUS_BATTERY_WARNING_NONE
&& !priv->vehicle_status.failsafe) {
pattern = 0x3f; // ****** solid (armed)
} else {
pattern = 0x3e; // *****_ slow blink (armed, battery low or failsafe)
}
} else if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_STANDBY) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_STANDBY_ERROR) {
pattern = 0x28; // *_*___ slow double blink (disarmed, error)
}
/* blink pattern */
bool led_state_new = (pattern & (1 << priv->counter)) != 0;
if (led_state_new != priv->led_state) {
priv->led_state = led_state_new;
if (led_state_new) {
ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
} else {
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
}
}
priv->counter++;
if (priv->counter > 5) {
priv->counter = 0;
}
/* repeat cycle at 5 Hz */
if (gpio_led_state == Running) {
work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(1000000/CYCLE_RATE_HZ));
} else {
/* switch off LED on stop */
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
orb_unsubscribe(priv->vehicle_status_sub);
orb_unsubscribe(priv->battery_status_sub);
close(priv->gpio_fd);
gpio_led_state = Stopped;
}
}

1
src/systemcmds/tests/CMakeLists.txt
View File

@ -42,7 +42,6 @@ set(srcs
test_file.c
test_file2.c
test_float.cpp
test_gpio.c
test_hott_telemetry.c
test_hrt.cpp
test_hysteresis.cpp

119
src/systemcmds/tests/test_gpio.c
View File

@ -1,119 +0,0 @@
/****************************************************************************
* px4/sensors/test_gpio.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <px4_posix.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include "tests_main.h"
#include <drivers/drv_gpio.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: test_gpio
****************************************************************************/
int test_gpio(int argc, char *argv[])
{
int ret = 0;
#if defined(BOARD_USES_PX4IO)
int fd = px4_open(PX4IO_DEVICE_PATH, 0);
if (fd < 0) {
PX4_ERR("GPIO: open fail");
return ERROR;
}
/* set all GPIOs to default state */
px4_ioctl(fd, GPIO_RESET, ~0);
/* XXX need to add some GPIO waving stuff here */
/* Go back to default */
px4_ioctl(fd, GPIO_RESET, ~0);
px4_close(fd);
PX4_INFO("GPIO test successful.");
#endif
return ret;
}

4
src/systemcmds/tests/test_hott_telemetry.c
View File

@ -43,12 +43,12 @@
* Included Files
****************************************************************************/
#include <drivers/drv_gpio.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_log.h>
#include <px4_posix.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <systemlib/err.h>
#include <errno.h>
#include <fcntl.h>

33
src/systemcmds/tests/test_jig_voltages.c
View File

@ -51,39 +51,6 @@
#include <drivers/drv_adc.h>
#include <systemlib/err.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: test_gpio
****************************************************************************/
int test_jig_voltages(int argc, char *argv[])
{
int fd = open(ADC0_DEVICE_PATH, O_RDONLY);

1
src/systemcmds/tests/test_led.c
View File

@ -1,5 +1,4 @@
/****************************************************************************
* px4/sensors/test_gpio.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*

1
src/systemcmds/tests/test_sleep.c
View File

@ -1,5 +1,4 @@
/****************************************************************************
* px4/sensors/test_gpio.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*

1
src/systemcmds/tests/test_uart_send.c
View File

@ -1,5 +1,4 @@
/****************************************************************************
* px4/sensors/test_gpio.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Lorenz Meier <lm@inf.ethz.ch>

1
src/systemcmds/tests/tests_main.c
View File

@ -108,7 +108,6 @@ const struct {
{"dataman", test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST},
{"file2", test_file2, OPT_NOJIGTEST},
{"float", test_float, 0},
{"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST},
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
{"int", test_int, 0},

1
src/systemcmds/tests/tests_main.h
View File

@ -62,7 +62,6 @@ extern int test_dataman(int argc, char *argv[]);
extern int test_file(int argc, char *argv[]);
extern int test_file2(int argc, char *argv[]);
extern int test_float(int argc, char *argv[]);
extern int test_gpio(int argc, char *argv[]);
extern int test_hott_telemetry(int argc, char *argv[]);
extern int test_hrt(int argc, char *argv[]);
extern int test_int(int argc, char *argv[]);

1
src/systemcmds/usb_connected/usb_connected.c
View File

@ -42,7 +42,6 @@
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <drivers/drv_gpio.h>
#include <arch/board/board.h>
#include <board_config.h>