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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
2018-12-03 16:30:39 +01:00
committed by Lorenz Meier
parent c303e36ed0
commit d4e06e517a
67 changed files with 6 additions and 1213 deletions
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src/drivers/px4fmu/fmu.cpp
+2 -164
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@@ -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);
}