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AP_HAL: define pixracer LED pins

This commit is contained in:
iseries1 2017-01-26 14:34:39 +09:00 committed by Randy Mackay
parent 315f7c6a9a
commit e6a643f805
1 changed files with 14 additions and 4 deletions
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18
libraries/AP_HAL_PX4/GPIO.cpp
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@ -29,7 +29,7 @@ PX4GPIO::PX4GPIO()
void PX4GPIO::init() void PX4GPIO::init()
{ {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
_led_fd = open(LED0_DEVICE_PATH, O_RDWR); _led_fd = open(LED0_DEVICE_PATH, O_RDWR);
if (_led_fd == -1) { if (_led_fd == -1) {
AP_HAL::panic("Unable to open " LED0_DEVICE_PATH); AP_HAL::panic("Unable to open " LED0_DEVICE_PATH);
@ -38,8 +38,13 @@ void PX4GPIO::init()
hal.console->printf("GPIO: Unable to setup GPIO LED BLUE\n"); hal.console->printf("GPIO: Unable to setup GPIO LED BLUE\n");
} }
if (ioctl(_led_fd, LED_OFF, LED_RED) != 0) { if (ioctl(_led_fd, LED_OFF, LED_RED) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED RED\n"); hal.console->printf("GPIO: Unable to setup GPIO LED RED\n");
} }
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
if (ioctl(_led_fd, LED_OFF, LED_GREEN) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED GREEN\n");
}
#endif
#endif #endif
_tone_alarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY); _tone_alarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
if (_tone_alarm_fd == -1) { if (_tone_alarm_fd == -1) {
@ -174,7 +179,7 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
{ {
switch (pin) { switch (pin) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
case HAL_GPIO_A_LED_PIN: // Arming LED case HAL_GPIO_A_LED_PIN: // Arming LED
if (value == LOW) { if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_RED); ioctl(_led_fd, LED_OFF, LED_RED);
@ -183,7 +188,12 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
} }
break; break;
case HAL_GPIO_B_LED_PIN: // not used yet case HAL_GPIO_B_LED_PIN: // Green LED
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_GREEN);
} else {
ioctl(_led_fd, LED_ON, LED_GREEN);
}
break; break;
case HAL_GPIO_C_LED_PIN: // GPS LED case HAL_GPIO_C_LED_PIN: // GPS LED