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emlid navio2: update RGB LED driver (move away from DriverFramework)

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- delete unused linux gpio wrapper
This commit is contained in:
Daniel Agar
2020-01-07 17:47:15 -05:00
parent ace1acca3c
commit f3cd5b19c8
12 changed files with 231 additions and 860 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/drivers/CMakeLists.txt
-1
View File
@@ -37,7 +37,6 @@ add_subdirectory(barometer)
add_subdirectory(device)
add_subdirectory(gyroscope)
add_subdirectory(led)
add_subdirectory(linux_gpio)
add_subdirectory(magnetometer)
add_subdirectory(rangefinder)
add_subdirectory(smbus)
src/lib/drivers/linux_gpio/CMakeLists.txt
-38
View File
@@ -1,38 +0,0 @@
############################################################################
#
# Copyright (c) 2016 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_library(linux_gpio
linux_gpio.cpp
)
#add_subdirectory(test)
src/lib/drivers/linux_gpio/linux_gpio.cpp
-241
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@@ -1,241 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 - 2017 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.
*
****************************************************************************/
#include "linux_gpio.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include <string.h>
#include <stdlib.h>
#include <px4_platform_common/posix.h>
#define PIN_INDEX_BUFFER_MAX (16)
#define PIN_DIRECTION_BUFFER_MAX (30 + PIN_INDEX_BUFFER_MAX)
#define PIN_VALUE_BUFFER_MAX (26 + PIN_INDEX_BUFFER_MAX)
LinuxGPIO::LinuxGPIO(unsigned int pin)
: _pin(pin)
, _fd(-1)
{
}
LinuxGPIO::~LinuxGPIO()
{
if (_fd != -1) {
close(_fd);
}
}
int LinuxGPIO::exportPin()
{
int ret;
char pinIndex[PIN_INDEX_BUFFER_MAX];
char valuePath[PIN_VALUE_BUFFER_MAX];
int fd = -1;
int bytes_to_write;
struct stat statbuf;
/* If GPIO was already opened, close it */
if (_fd != -1) {
close(_fd);
_fd = -1;
}
/* Check if GPIO is already exported */
snprintf(valuePath, PIN_VALUE_BUFFER_MAX, "/sys/class/gpio/gpio%d/value", _pin);
ret = stat(valuePath, &statbuf);
if (ret == -1) {
/* GPIO is not exported */
fd = open("/sys/class/gpio/export", O_WRONLY);
if (fd == -1) {
int err = errno;
PX4_ERR("export %u: open: %s (%d)", _pin, strerror(err), err);
return -1;
}
bytes_to_write = snprintf(pinIndex, PIN_INDEX_BUFFER_MAX, "%u", _pin);
ret = write(fd, pinIndex, bytes_to_write);
if (ret == -1) {
int err = errno;
PX4_ERR("export %u: write: %s (%d)", _pin, strerror(err), err);
goto cleanup;
} else if (ret != bytes_to_write) {
PX4_ERR("export %u: write incomplete %d != %d", _pin, ret, bytes_to_write);
goto cleanup;
}
}
_fd = open(valuePath, O_RDWR);
if (_fd == -1) {
int err = errno;
ret = -1;
PX4_ERR("export %u: open: %s (%d)", _pin, strerror(err), err);
goto cleanup;
}
ret = 0;
cleanup:
if (fd != -1) {
close(fd);
}
return ret;
}
int LinuxGPIO::unexportPin()
{
char pinIndex[PIN_INDEX_BUFFER_MAX];
int fd;
int ret;
int bytes_to_write;
if (_fd != -1) {
close(_fd);
_fd = -1;
}
fd = open("/sys/class/gpio/unexport", O_WRONLY);
if (fd == -1) {
int err = errno;
PX4_ERR("unexport %u: open: %s (%d)", _pin, strerror(err), err);
return -1;
}
bytes_to_write = snprintf(pinIndex, PIN_INDEX_BUFFER_MAX, "%u", _pin);
ret = write(fd, pinIndex, bytes_to_write);
if (ret == -1) {
int err = errno;
PX4_ERR("unexport %u: write: %s (%d)", _pin, strerror(err), err);
goto cleanup;
} else if (ret != bytes_to_write) {
PX4_ERR("unexport %u: write incomplete %d != %d", _pin, ret, bytes_to_write);
goto cleanup;
}
ret = 0;
cleanup:
close(fd);
return ret;
}
int LinuxGPIO::setDirection(LinuxGPIO::Direction dir)
{
char path[PIN_DIRECTION_BUFFER_MAX];
int fd;
int ret;
snprintf(path, PIN_DIRECTION_BUFFER_MAX, "/sys/class/gpio/gpio%d/direction", _pin);
fd = open(path, O_WRONLY);
if (fd == -1) {
int err = errno;
PX4_ERR("dir %u: open: %s (%d)", _pin, strerror(err), err);
return -1;
}
if (dir == Direction::IN) {
ret = write(fd, "in", 2);
} else {
ret = write(fd, "out", 3);
}
if (ret == -1) {
int err = errno;
PX4_ERR("dir %u: write: %s (%d)", _pin, strerror(err), err);
goto cleanup;
}
ret = 0;
cleanup:
close(fd);
return ret;
}
int LinuxGPIO::readValue()
{
char buf[2];
int ret;
ret = ::read(_fd, buf, sizeof(buf));
if (ret == -1) {
int err = errno;
PX4_ERR("readValue %u: read: %s (%d)", _pin, strerror(err), err);
return ret;
}
ret = strtol(buf, nullptr, 10);
return ret;
}
int LinuxGPIO::writeValue(LinuxGPIO::Value value)
{
char buf[2];
int ret;
if (value != Value::LOW && value != Value::HIGH) {
return -EINVAL;
}
int buflen = snprintf(buf, sizeof(buf), "%u", (unsigned int)value);
ret = ::write(_fd, buf, buflen);
if (ret == -1) {
int err = errno;
PX4_ERR("writeValue %u: write: %s (%d)", _pin, strerror(err), err);
return ret;
}
return 0;
}
src/lib/drivers/linux_gpio/linux_gpio.h
-71
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@@ -1,71 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017 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 linux_gpio.h
*
* Linux sysfs GPIO Interface
*
* This interface allows manipulation of sysfs GPIOs on Linux
*
* @author Nicolae Rosia <nicolae.rosia@gmail.com>
*/
#pragma once
class LinuxGPIO
{
public:
LinuxGPIO(unsigned int pin);
~LinuxGPIO();
enum class Direction {
IN = 0,
OUT = 1,
};
enum class Value {
LOW = 0,
HIGH = 1,
};
int exportPin();
int unexportPin();
int setDirection(LinuxGPIO::Direction dir);
int readValue();
int writeValue(LinuxGPIO::Value value);
private:
int _pin;
int _fd;
};
src/modules/commander/commander_helper.cpp
+13 -16
View File
@@ -63,9 +63,6 @@
#include <drivers/drv_tone_alarm.h>
#include "commander_helper.h"
#include "DevMgr.hpp"
using namespace DriverFramework;
#define VEHICLE_TYPE_FIXED_WING 1
#define VEHICLE_TYPE_QUADROTOR 2
@@ -131,8 +128,8 @@ static hrt_abstime tune_end = 0; // end time of currently played tune, 0 for rep
static int tune_current = TONE_STOP_TUNE; // currently playing tune, can be interrupted after tune_end
static unsigned int tune_durations[TONE_NUMBER_OF_TUNES] {};
static DevHandle h_leds;
static DevHandle h_buzzer;
static int fd_leds{-1};
static led_control_s led_control {};
static orb_advert_t led_control_pub = nullptr;
static tune_control_s tune_control {};
@@ -296,25 +293,25 @@ int led_init()
led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, led_control_s::ORB_QUEUE_LENGTH);
/* first open normal LEDs */
DevMgr::getHandle(LED0_DEVICE_PATH, h_leds);
fd_leds = px4_open(LED0_DEVICE_PATH, O_RDWR);
if (!h_leds.isValid()) {
PX4_WARN("LED: getHandle fail\n");
if (fd_leds < 0) {
PX4_ERR("LED: open %s failed", LED0_DEVICE_PATH);
return PX4_ERROR;
}
/* the green LED is only available on FMUv5 */
(void)h_leds.ioctl(LED_ON, LED_GREEN);
px4_ioctl(fd_leds, LED_ON, LED_GREEN);
/* the blue LED is only available on AeroCore but not FMUv2 */
(void)h_leds.ioctl(LED_ON, LED_BLUE);
px4_ioctl(fd_leds, LED_ON, LED_BLUE);
/* switch blue off */
led_off(LED_BLUE);
/* we consider the amber led mandatory */
if (h_leds.ioctl(LED_ON, LED_AMBER)) {
PX4_WARN("Amber LED: ioctl fail\n");
if (px4_ioctl(fd_leds, LED_ON, LED_AMBER)) {
PX4_WARN("Amber LED: ioctl fail");
return PX4_ERROR;
}
@@ -327,22 +324,22 @@ int led_init()
void led_deinit()
{
orb_unadvertise(led_control_pub);
DevMgr::releaseHandle(h_leds);
px4_close(fd_leds);
}
int led_toggle(int led)
{
return h_leds.ioctl(LED_TOGGLE, led);
return px4_ioctl(fd_leds, LED_TOGGLE, led);
}
int led_on(int led)
{
return h_leds.ioctl(LED_ON, led);
return px4_ioctl(fd_leds, LED_ON, led);
}
int led_off(int led)
{
return h_leds.ioctl(LED_OFF, led);
return px4_ioctl(fd_leds, LED_OFF, led);
}
void rgbled_set_color_and_mode(uint8_t color, uint8_t mode, uint8_t blinks, uint8_t prio)