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FMU gpio operations now conditional on BOARD_FMU_GPIO_TAB in board_config

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return -EINVAL on any GPIO ioctl operation when there are
       no GPIO pins defined in the board config. I.E.
       BOARD_FMU_GPIO_TAB is not defined.

       BOARD_FMU_GPIO_TAB is now optional and if it is defined
       then the logical BOARD_HAS_FMU_GPIO is defined and
       will enable the px4fmu driver to perform the physical GPIO
       operations.
This commit is contained in:
David Sidrane
2017-01-18 09:33:17 -10:00
committed by Lorenz Meier
parent 216ec6513a
commit 33486d5047
2 changed files with 69 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/boards/common/board_common.h
+17
View File
@@ -132,6 +132,23 @@
# define BOARD_EEPROM_WP_CTRL(on_true)
#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 PX4PIO processor.
* We then publish the logical BOARD_USES_PX4PIO
*/
#if defined(PX4IO_SERIAL_DEVICE)
# define BOARD_USES_PX4PIO 1
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
src/drivers/px4fmu/fmu.cpp
+52 -36
View File
@@ -268,15 +268,16 @@ private:
uint32_t alt;
};
#if defined(BOARD_HAS_FMU_GPIO)
static const GPIOConfig _gpio_tab[];
static const unsigned _ngpio;
void gpio_reset(void);
#endif
void sensor_reset(int ms);
void peripheral_reset(int ms);
void gpio_set_function(uint32_t gpios, int function);
void gpio_write(uint32_t gpios, int function);
uint32_t gpio_read(void);
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);
@@ -296,9 +297,11 @@ private:
void flash_safety_button(void);
};
#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 = {};
@@ -2434,9 +2437,13 @@ PX4FMU::peripheral_reset(int ms)
board_peripheral_reset(ms);
}
void
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.
@@ -2450,23 +2457,28 @@ PX4FMU::gpio_reset(void)
}
}
#if defined(GPIO_GPIO_DIR)
# 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
# endif
return OK;
#endif // !defined(BOARD_HAS_FMU_GPIO)
}
void
int
PX4FMU::gpio_set_function(uint32_t gpios, int function)
{
#if defined(BOARD_GPIO_SHARED_BUFFERED_BITS) && defined(GPIO_GPIO_DIR)
#if !defined(BOARD_HAS_FMU_GPIO)
return -EINVAL;
#else
# if defined(BOARD_GPIO_SHARED_BUFFERED_BITS) && defined(GPIO_GPIO_DIR)
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
*/
if (gpios & BOARD_GPIO_SHARED_BUFFERED_BITS) {
if ((gpios & BOARD_GPIO_SHARED_BUFFERED_BITS)) {
gpios |= BOARD_GPIO_SHARED_BUFFERED_BITS;
/* flip the buffer to output mode if required */
@@ -2477,7 +2489,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
}
}
#endif
# endif
/* configure selected GPIOs as required */
for (unsigned i = 0; i < _ngpio; i++) {
@@ -2521,40 +2533,56 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
}
}
#if defined(BOARD_GPIO_SHARED_BUFFERED_BITS) && defined(GPIO_GPIO_DIR)
# if defined(BOARD_GPIO_SHARED_BUFFERED_BITS) && defined(GPIO_GPIO_DIR)
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & BOARD_GPIO_SHARED_BUFFERED_BITS)) {
px4_arch_gpiowrite(GPIO_GPIO_DIR, 0);
}
#endif
# endif
return OK;
#endif // !defined(BOARD_HAS_FMU_GPIO)
}
void
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++)
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
}
uint32_t
PX4FMU::gpio_read(void)
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++)
for (unsigned i = 0; i < _ngpio; i++) {
if (_gpio_tab[i].input != 0 && px4_arch_gpioread(_gpio_tab[i].input)) {
bits |= (1 << i);
}
}
return bits;
*value = bits;
return OK;
#endif
}
int
@@ -2696,7 +2724,7 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
switch (cmd) {
case GPIO_RESET:
gpio_reset();
ret = gpio_reset();
break;
case GPIO_SENSOR_RAIL_RESET:
@@ -2712,11 +2740,7 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
case GPIO_SET_OUTPUT_HIGH:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
#ifdef CONFIG_ARCH_BOARD_AEROFC_V1
ret = -EINVAL;
#else
gpio_set_function(arg, cmd);
#endif
ret = gpio_set_function(arg, cmd);
break;
case GPIO_SET_ALT_2:
@@ -2727,19 +2751,11 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
case GPIO_SET:
case GPIO_CLEAR:
#ifdef CONFIG_ARCH_BOARD_AEROFC_V1
ret = -EINVAL;
#else
gpio_write(arg, cmd);
#endif
ret = gpio_write(arg, cmd);
break;
case GPIO_GET:
#ifdef CONFIG_ARCH_BOARD_AEROFC_V1
ret = -EINVAL;
#else
*(uint32_t *)arg = gpio_read();
#endif
ret = gpio_read((uint32_t *)arg);
break;
default: