[ArDrone] GPIO rewritten to make paparazzi API more consistent

sw/airborne/arch/omap/mcu_periph/gpio_arch.h

@@ -34,16 +34,17 @@
 /**
  * Set a gpio output to high level.
  */
-static inline void gpio_set(uint32_t port, uint16_t pin) {
+extern void gpio_set(uint32_t port, uint16_t pin);
-
-}
 
 /**
  * Clear a gpio output to low level.
  */
-static inline void gpio_clear(uint32_t port, uint16_t pin) {
+extern void gpio_clear(uint32_t port, uint16_t pin);
 
-}
 
+/**
+ * Read a gpio value.
+ */
+uint16_t gpio_get(uint32_t gpioport, uint16_t gpios);
 
 #endif /* GPIO_ARCH_H */

sw/airborne/boards/ardrone/actuators_ardrone2_raw.c

@@ -30,7 +30,7 @@
 
 #include "subsystems/actuators.h"
 #include "actuators_ardrone2_raw.h"
-#include "gpio_ardrone.h"
+#include "mcu_periph/gpio.h"
 
 #include <stdio.h>   /* Standard input/output definitions */
 #include <string.h>  /* String function definitions */
@@ -52,6 +52,16 @@
  */
 int mot_fd; /**< File descriptor for the port */
 
+#define ARDRONE_GPIO_PORT	0		// Dummy for paparazzi compatibility
+
+#define ARDRONE_GPIO_PIN_MOTOR1			171
+#define ARDRONE_GPIO_PIN_MOTOR2			172
+#define ARDRONE_GPIO_PIN_MOTOR3			173
+#define ARDRONE_GPIO_PIN_MOTOR4			174
+
+#define ARDRONE_GPIO_PIN_IRQ_FLIPFLOP	175
+#define ARDRONE_GPIO_PIN_IRQ_INPUT		176
+
 void actuators_ardrone_init(void)
 {
   //open mot port
@@ -81,34 +91,34 @@ void actuators_ardrone_init(void)
   tcsetattr(mot_fd, TCSANOW, &options);
 
   //reset IRQ flipflop - on error 106 read 1, this code resets 106 to 0
-  gpio_set_input(176);
+  gpio_setup_input(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_IRQ_INPUT);
-  gpio_set(175,0);
+  gpio_clear(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_IRQ_FLIPFLOP);
-  gpio_set(175,1);
+  gpio_set(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_IRQ_FLIPFLOP);
 
   //all select lines inactive
-  gpio_set(171,1);
+  gpio_set(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR1);
-  gpio_set(172,1);
+  gpio_set(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR2);
-  gpio_set(173,1);
+  gpio_set(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR3);
-  gpio_set(174,1);
+  gpio_set(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR4);
 
   //configure motors
   uint8_t reply[256];
   for(int m=0;m<4;m++) {
-    gpio_set(171+m,-1);
+    gpio_clear(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR1 + m);
     actuators_ardrone_cmd(0xe0,reply,2);
     if(reply[0]!=0xe0 || reply[1]!=0x00)
     {
       printf("motor%d cmd=0x%02x reply=0x%02x\n",m+1,(int)reply[0],(int)reply[1]);
     }
     actuators_ardrone_cmd(m+1,reply,1);
-    gpio_set(171+m,1);
+    gpio_set(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR1 + m);
   }
 
   //all select lines active
-  gpio_set(171,0);
+  gpio_clear(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR1);
-  gpio_set(172,0);
+  gpio_clear(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR2);
-  gpio_set(173,0);
+  gpio_clear(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR3);
-  gpio_set(174,0);
+  gpio_clear(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_MOTOR4);
 
   //start multicast
   actuators_ardrone_cmd(0xa0,reply,1);
@@ -118,8 +128,8 @@ void actuators_ardrone_init(void)
   actuators_ardrone_cmd(0xa0,reply,1);
 
   //reset IRQ flipflop - on error 176 reads 1, this code resets 176 to 0
-  gpio_set(175,0);
+  gpio_clear(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_IRQ_FLIPFLOP);
-  gpio_set(175,1);
+  gpio_set(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_IRQ_FLIPFLOP);
 
   // Left Red, Right Green
   actuators_ardrone_set_leds(MOT_LEDRED,MOT_LEDGREEN, MOT_LEDGREEN, MOT_LEDRED);
@@ -136,7 +146,7 @@ void actuators_ardrone_motor_status(void);
 void actuators_ardrone_motor_status(void)
 {
   // If a motor IRQ lines is set
-  if (gpio_get(176) == 1)
+  if (gpio_get(ARDRONE_GPIO_PORT, ARDRONE_GPIO_PIN_IRQ_INPUT) == 1)
   {
     if (autopilot_motors_on)
     {
@@ -144,8 +154,8 @@ void actuators_ardrone_motor_status(void)
       autopilot_set_motors_on(FALSE);
 
       // Toggle Flipflop reset so motors can be re-enabled
-	  gpio_set(175,0);
+	  gpio_clear(ARDRONE_GPIO_PORT, ARDRONE_GPIO_PIN_IRQ_FLIPFLOP);
-      gpio_set(175,1);
+      gpio_set(ARDRONE_GPIO_PORT, ARDRONE_GPIO_PIN_IRQ_FLIPFLOP);
     }
   }
 }

sw/airborne/boards/ardrone/gpio_ardrone.c

@@ -25,7 +25,8 @@
 #include <fcntl.h>   /* File control definitions */
 #include <errno.h>   /* Error number definitions */
 #include <sys/ioctl.h>
-#include "gpio_ardrone.h"
+
+#include "mcu_periph/gpio.h"
 
 #define GPIO_MAGIC 'p'
 #define GPIO_DIRECTION _IOW(GPIO_MAGIC, 0, struct gpio_direction)
@@ -49,22 +50,36 @@ struct gpio_direction {
     enum gpio_mode mode;
 };
 
-//val=0 -> set gpio output lo
+
-//val=1 -> set gpio output hi
+void gpio_set(uint32_t port, uint16_t pin)
-void gpio_set(int nr, int val)
 {
   struct gpio_data data;
   // Open the device if not open
   if (gpiofp == 0)
-    gpiofp = open("/dev/gpio",O_RDWR);
+	gpiofp = open("/dev/gpio",O_RDWR);
 
   // Read the GPIO value
-  data.pin = nr;
+  data.pin = pin;
-  data.value = val;
+  data.value = 1;
   ioctl(gpiofp, GPIO_WRITE, &data);
 }
 
-void gpio_set_input(int nr)
+
+void gpio_clear(uint32_t port, uint16_t pin)
+{
+  struct gpio_data data;
+  // Open the device if not open
+  if (gpiofp == 0)
+	gpiofp = open("/dev/gpio",O_RDWR);
+
+  // Read the GPIO value
+  data.pin = pin;
+  data.value = 0;
+  ioctl(gpiofp, GPIO_WRITE, &data);
+}
+
+
+void gpio_setup_input(uint32_t port, uint16_t pin)
 {
   struct gpio_direction dir;
   // Open the device if not open
@@ -72,12 +87,28 @@ void gpio_set_input(int nr)
     gpiofp = open("/dev/gpio",O_RDWR);
 
   // Read the GPIO value
-  dir.pin = nr;
+  dir.pin = pin;
   dir.mode = GPIO_INPUT;
   ioctl(gpiofp, GPIO_DIRECTION, &dir);
 }
 
-int gpio_get(int nr)
+
+void gpio_setup_output(uint32_t port, uint16_t pin)
+{
+  struct gpio_direction dir;
+  // Open the device if not open
+  if (gpiofp == 0)
+    gpiofp = open("/dev/gpio",O_RDWR);
+
+  // Read the GPIO value
+  dir.pin = pin;
+  dir.mode = GPIO_OUTPUT_HIGH;
+  ioctl(gpiofp, GPIO_DIRECTION, &dir);
+}
+
+
+
+uint16_t gpio_get(uint32_t gpioport, uint16_t pin)
 {
   struct gpio_data data;
   // Open the device if not open
@@ -85,7 +116,7 @@ int gpio_get(int nr)
     gpiofp = open("/dev/gpio",O_RDWR);
 
   // Read the GPIO value
-  data.pin = nr;
+  data.pin = pin;
   ioctl(gpiofp, GPIO_READ, &data);
   return data.value;
 }

sw/airborne/boards/ardrone/gpio_ardrone.h

@@ -1,34 +0,0 @@
-/*
- * Copyright (C) 2011 Hugo Perquin - http://blog.perquin.com
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
- * MA 02110-1301 USA.
- */
-
-/**
- * @file boards/ardrone/gpio_ardrone.h
- * ardrone GPIO driver
- */
-
-#ifndef GPIO_ARDRONE_H
-#define GPIO_ARDRONE_H
-
-//val=0 -> set gpio output lo
-//val=1 -> set gpio output hi
-void gpio_set(int nr,int val);
-void gpio_set_input(int nr);
-int gpio_get(int nr);
-
-#endif /* GPIO_ARDRONE_H */