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HAL_Linux: fix types, remove printfs in GPIO_RPI

This commit is contained in:
Mikhail Avkhimenia 2014-11-05 16:56:12 +03:00 committed by Andrew Tridgell
parent 6f993fe64a
commit 49d3035ee5
2 changed files with 19 additions and 20 deletions
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36
libraries/AP_HAL_Linux/GPIO_RPI.cpp
View File

@ -22,29 +22,27 @@ LinuxGPIO_RPI::LinuxGPIO_RPI()
void LinuxGPIO_RPI::init() void LinuxGPIO_RPI::init()
{ {
// open /dev/mem // open /dev/mem
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) { if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
printf("can't open /dev/mem \n"); hal.scheduler->panic("Can't open /dev/mem");
exit(-1); }
}
// mmap GPIO // mmap GPIO
gpio_map = mmap( gpio_map = mmap(
NULL, // Any adddress in our space will do NULL, // Any adddress in our space will do
BLOCK_SIZE, // Map length BLOCK_SIZE, // Map length
PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
MAP_SHARED, // Shared with other processes MAP_SHARED, // Shared with other processes
mem_fd, // File to map mem_fd, // File to map
GPIO_BASE // Offset to GPIO peripheral 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) { if (gpio_map == MAP_FAILED) {
printf("mmap error %d\n", (int)gpio_map); // errno also set! hal.scheduler->panic("Can't open /dev/mem");
exit(-1); }
}
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) void LinuxGPIO_RPI::pinMode(uint8_t pin, uint8_t output)

3
libraries/AP_HAL_Linux/GPIO_RPI.h
View File

@ -2,6 +2,7 @@
#ifndef __AP_HAL_LINUX_GPIO_RPI_H__ #ifndef __AP_HAL_LINUX_GPIO_RPI_H__
#define __AP_HAL_LINUX_GPIO_RPI_H__ #define __AP_HAL_LINUX_GPIO_RPI_H__
#include <stdint.h>
#include <AP_HAL_Linux.h> #include <AP_HAL_Linux.h>
#define LOW 0 #define LOW 0
@ -48,7 +49,7 @@ class Linux::LinuxGPIO_RPI : public AP_HAL::GPIO {
private: private:
int mem_fd; int mem_fd;
void *gpio_map; void *gpio_map;
volatile unsigned *gpio; volatile uint32_t *gpio;
public: public:
LinuxGPIO_RPI(); LinuxGPIO_RPI();