From 49d3035ee5f5a4df89ba963e8765a1d90b266f4b Mon Sep 17 00:00:00 2001
From: Mikhail Avkhimenia <mikhail.avkhimenia@emlid.com>
Date: Wed, 5 Nov 2014 16:56:12 +0300
Subject: [PATCH] HAL_Linux: fix types, remove printfs in GPIO_RPI

---
 libraries/AP_HAL_Linux/GPIO_RPI.cpp | 36 ++++++++++++++---------------
 libraries/AP_HAL_Linux/GPIO_RPI.h   |  3 ++-
 2 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/libraries/AP_HAL_Linux/GPIO_RPI.cpp b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
index 3b3ff4287f..6c89e6a513 100644
--- a/libraries/AP_HAL_Linux/GPIO_RPI.cpp
+++ b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
@@ -22,29 +22,27 @@ LinuxGPIO_RPI::LinuxGPIO_RPI()
 void LinuxGPIO_RPI::init()
 {
     // open /dev/mem
-   if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
-      printf("can't open /dev/mem \n");
-      exit(-1);
-   }
+    if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
+        hal.scheduler->panic("Can't open /dev/mem");
+    }
 
-   // mmap GPIO
-   gpio_map = mmap(
-      NULL,                 // Any adddress in our space will do
-      BLOCK_SIZE,           // Map length
-      PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
-      MAP_SHARED,           // Shared with other processes
-      mem_fd,               // File to map
-      GPIO_BASE             // Offset to GPIO peripheral
-   );
+    // mmap GPIO
+    gpio_map = mmap(
+        NULL,                 // Any adddress in our space will do
+        BLOCK_SIZE,           // Map length
+        PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
+        MAP_SHARED,           // Shared with other processes
+        mem_fd,               // File to map
+        GPIO_BASE             // Offset to GPIO peripheral
+    );
 
-   close(mem_fd); // No need to keep mem_fd open after mmap
+    close(mem_fd); // No need to keep mem_fd open after mmap
 
-   if (gpio_map == MAP_FAILED) {
-      printf("mmap error %d\n", (int)gpio_map); // errno also set!
-      exit(-1);
-   }
+    if (gpio_map == MAP_FAILED) {
+        hal.scheduler->panic("Can't open /dev/mem");
+    }
 
-   gpio = (volatile unsigned *)gpio_map; // Always use volatile pointer!
+    gpio = (volatile uint32_t *)gpio_map; // Always use volatile pointer!
 }
 
 void LinuxGPIO_RPI::pinMode(uint8_t pin, uint8_t output)
diff --git a/libraries/AP_HAL_Linux/GPIO_RPI.h b/libraries/AP_HAL_Linux/GPIO_RPI.h
index b8724400fc..0640936699 100644
--- a/libraries/AP_HAL_Linux/GPIO_RPI.h
+++ b/libraries/AP_HAL_Linux/GPIO_RPI.h
@@ -2,6 +2,7 @@
 #ifndef __AP_HAL_LINUX_GPIO_RPI_H__
 #define __AP_HAL_LINUX_GPIO_RPI_H__
 
+#include <stdint.h>
 #include <AP_HAL_Linux.h>
 
 #define LOW                 0
@@ -48,7 +49,7 @@ class Linux::LinuxGPIO_RPI : public AP_HAL::GPIO {
 private:
     int  mem_fd;
     void *gpio_map;
-    volatile unsigned *gpio;
+    volatile uint32_t *gpio;
 
 public:
     LinuxGPIO_RPI();