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px4_fmuv5: Implement BOARD_*_LOCKOUT_STATE in protected/kernel builds 

In memory protected builds these perform nuttx boardctl ioctl calls to kerenel

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2020-10-06 15:37:45 +03:00 committed by Beat Küng
parent 356328056a
commit 0cf3079401
1 changed files with 23 additions and 0 deletions
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23
boards/px4/fmu-v5/src/board_config.h
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@ -49,6 +49,11 @@
#include <stm32_gpio.h>
#if !defined(CONFIG_BUILD_FLAT)
#include <sys/boardctl.h>
#include <px4_platform/board_ctrl.h>
#endif
/****************************************************************************************************
* Definitions
****************************************************************************************************/
@ -211,8 +216,26 @@
#define GPIO_nARMED_INIT /* PI0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
#define GPIO_nARMED /* PI0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)
/* For protected build, define the LOCKOUT_STATE macros as function calls */
#ifdef CONFIG_BUILD_FLAT
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
#else
static inline void board_indicate_external_lockout_state(bool enable)
{
platformioclockoutstate_t state = {enable};
boardctl(PLATFORMIOCINDICATELOCKOUT, (uintptr_t)&state);
}
static inline bool board_get_external_lockout_state(void)
{
platformioclockoutstate_t state = {false};
boardctl(PLATFORMIOCGETLOCKOUT, (uintptr_t)&state);
return state.enabled;
}
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) board_indicate_external_lockout_state(enabled)
#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() board_get_external_lockout_state()
#endif
/* PWM
*/