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

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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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/boards/common/board_common.h
-8
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
src/drivers/drv_gpio.h
-77
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 */
src/drivers/px4fmu/fmu.cpp
+2 -164
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);
}
src/drivers/px4io/px4io.cpp
+2 -14
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;