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[ardrone] use gpio API instead of system call

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This commit is contained in:
Gautier Hattenberger
2014-07-08 13:57:02 +02:00
parent eca8dafa1d
commit 3bc524b27a
1 changed files with 11 additions and 4 deletions
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sw/airborne/boards/ardrone/navdata.c
+11 -4
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@@ -41,10 +41,14 @@
#include "navdata.h"
#include "subsystems/ins.h"
#include "subsystems/abi.h"
#include "mcu_periph/gpio.h"
#define NAVDATA_PACKET_SIZE 60
#define NAVDATA_START_BYTE 0x3a
#define ARDRONE_GPIO_PORT 0x32524
#define ARDRONE_GPIO_PIN_NAVDATA 177
static inline bool_t acquire_baro_calibration(void);
static void navdata_cropbuffer(int cropsize);
@@ -209,6 +213,10 @@ bool_t navdata_init()
nav_port.isInitialized = TRUE;
nav_port.last_packet_number = 0;
// set navboard gpio control
gpio_setup_output(ARDRONE_GPIO_PORT, ARDRONE_GPIO_PIN_NAVDATA);
gpio_set(ARDRONE_GPIO_PORT,ARDRONE_GPIO_PIN_NAVDATA);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "ARDRONE_NAVDATA", send_navdata);
#endif
@@ -282,7 +290,6 @@ static void mag_freeze_check(void) {
// from daren.g.lee paparazzi-l 20140530
static int16_t LastMagValue = 0;
static int MagFreezeCounter = 0;
// int SysRet;
// printf("lm: %d, mx: %d, mfc: %d\n", LastMagValue, navdata.mx, MagFreezeCounter);
@@ -299,12 +306,12 @@ static void mag_freeze_check(void) {
navdata_write(&cmd, 1);
// do the navboard reset via GPIOs
system("gpio 177 -d lo 0 &"); // GPIO used to reset PIC
system("gpio 177 -d lo 1 &");
gpio_clear(ARDRONE_GPIO_PORT, ARDRONE_GPIO_PIN_NAVDATA);
gpio_set(ARDRONE_GPIO_PORT, ARDRONE_GPIO_PIN_NAVDATA);
// wait 20ms to retrieve data
usleep(20000);
// restart acquisition
cmd = 0x01;
navdata_write(&cmd, 1);