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[ardrone2] GPIO hack removed

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This commit is contained in:
fvantienen
2013-08-30 20:28:50 +02:00
parent 32ee3bbe3a
commit a7fb3bf7cd
3 changed files with 66 additions and 118 deletions
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sw/airborne/boards/ardrone/actuators_ardrone2_raw.c
+5 -6
View File
@@ -81,7 +81,7 @@ 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(176,-1);
gpio_set_input(176);
gpio_set(175,0);
gpio_set(175,1);
@@ -105,10 +105,10 @@ void actuators_ardrone_init(void)
}
//all select lines active
gpio_set(171,-1);
gpio_set(172,-1);
gpio_set(173,-1);
gpio_set(174,-1);
gpio_set(171,0);
gpio_set(172,0);
gpio_set(173,0);
gpio_set(174,0);
//start multicast
actuators_ardrone_cmd(0xa0,reply,1);
@@ -118,7 +118,6 @@ 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(176,-1);
gpio_set(175,0);
gpio_set(175,1);
sw/airborne/boards/ardrone/gpio_ardrone.c
+59 -110
View File
@@ -22,121 +22,70 @@
* ardrone GPIO driver
*/
#include <stdio.h>
#include <stdlib.h>
#include "gpio_ardrone.h"
//val=0 -> set gpio output lo
//val=1 -> set gpio output hi
//val=-1 -> set gpio as input (output hi-Z)
int gpio_set(int nr,int val)
{
char cmdline[200];
if(val<0) sprintf(cmdline,"/usr/sbin/gpio %d -d i",nr);
else if(val>0) sprintf(cmdline,"/usr/sbin/gpio %d -d ho 1",nr);
else sprintf(cmdline,"/usr/sbin/gpio %d -d ho 0",nr);
return system(cmdline);
}
// Option 1:
//#define WE_HAVE_NO_CLUE_YET
// Option 2:
#define WE_MUST_TO_USE_THE_TERRIBLE_HACK
// Option 3:
//#define WE_KNOW_HOW_ARDRONE_IOCTL_WORKS_ON_DEV_GPIO
#ifdef WE_HAVE_NO_CLUE_YET
int gpio_get(int nr)
{
return 0;
}
#endif
#ifdef WE_MUST_TO_USE_THE_TERRIBLE_HACK
FILE* ardrone_system_pipe = 0;
int gpio_get(int nr)
{
if (ardrone_system_pipe == 0)
{
char cmdline[200];
sprintf(cmdline,"/usr/sbin/gpio %d -r",nr);
ardrone_system_pipe = popen(cmdline,"r");
if (!ardrone_system_pipe)
{
return -1;
}
}
else
{
// TODO: we now call this with a large delay expecting that all data is present
// if (!feof(pipe)) // Still busy
char buff[128];
char* ret = fgets(buff, 128, ardrone_system_pipe);
ret = fgets(buff, 128, ardrone_system_pipe);
pclose(ardrone_system_pipe);
ardrone_system_pipe = 0;
if (ret == NULL)
{
return -2;
}
int pin = ret[25] - '0';
printf("GPIO_GET: %d '%d' \n", nr, pin);
return pin;
}
return -3;
}
#endif
#ifdef WE_KNOW_HOW_ARDRONE_IOCTL_WORKS_ON_DEV_GPIO
#include <fcntl.h> /* File control definitions */
#include <errno.h> /* Error number definitions */
#include <sys/ioctl.h>
#include "gpio_ardrone.h"
#define GPIO_IOCTL_COUNT 0
#define GPIO_IOCTL_GET 2
#define GPIO_MAGIC 'p'
#define GPIO_DIRECTION _IOW(GPIO_MAGIC, 0, struct gpio_direction)
#define GPIO_READ _IOWR(GPIO_MAGIC, 1, struct gpio_data)
#define GPIO_WRITE _IOW(GPIO_MAGIC, 2, struct gpio_data)
int gpiofp = 0;
int gpio_get(int nr)
{
if (gpiofp == 0)
{
gpiofp = open("/dev/gpio",O_RDWR);
printf("GPIO open %d\n", gpiofp);
// printf("%s", errno() );
}
else
{
int gpio = nr;
int ret = ioctl(gpiofp, GPIO_IOCTL_GET, &gpio);
printf("GPIO_ %d = %d %d \n",nr,gpio, ret);
}
// We don't know yet
return 0;
struct gpio_data {
int pin;
int value;
};
enum gpio_mode {
GPIO_INPUT = 0, //!< Pin configured for input
GPIO_OUTPUT_LOW, //!< Pin configured for output with low level
GPIO_OUTPUT_HIGH, //!< Pin configured for output with high level
};
struct gpio_direction {
int pin;
enum gpio_mode mode;
};
//val=0 -> set gpio output lo
//val=1 -> set gpio output hi
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);
// Read the GPIO value
data.pin = nr;
data.value = val;
ioctl(gpiofp, GPIO_WRITE, &data);
}
#endif
void gpio_set_input(int nr)
{
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 = nr;
dir.mode = GPIO_INPUT;
ioctl(gpiofp, GPIO_DIRECTION, &dir);
}
int gpio_get(int nr)
{
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 = nr;
ioctl(gpiofp, GPIO_READ, &data);
return data.value;
}
sw/airborne/boards/ardrone/gpio_ardrone.h
+2 -2
View File
@@ -27,8 +27,8 @@
//val=0 -> set gpio output lo
//val=1 -> set gpio output hi
//val=-1 -> set gpio as input (output hi-Z)
int gpio_set(int nr,int val);
void gpio_set(int nr,int val);
void gpio_set_input(int nr);
int gpio_get(int nr);
#endif /* GPIO_ARDRONE_H */