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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 14:33:25 -05:00
parent ace1acca3c
commit f3cd5b19c8
12 changed files with 231 additions and 860 deletions
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src/modules/commander/commander_helper.cpp
+13 -16
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@@ -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)