General cleanup of /dev/px4io and /dev/px4fmu

- Use distinct common symbols for px4io and px4fmu device files, and use
instead of hardcoded filenames
- Use common symbols defining px4io bits consistently between px4fmu and
px4io builds.

src/drivers/ardrone_interface/ardrone_motor_control.c

@@ -109,7 +109,7 @@ int ar_multiplexing_init()
 {
 	int		fd;
 	
-	fd = open(GPIO_DEVICE_PATH, 0);
+	fd = open(PX4FMU_DEVICE_PATH, 0);
 
 	if (fd < 0) {
 		warn("GPIO: open fail");

src/drivers/drv_gpio.h

@@ -63,43 +63,12 @@
  * they also export GPIO-like things.  This is always the GPIOs on the
  * main board.
  */
-# define GPIO_DEVICE_PATH	"/dev/px4fmu"
+# define PX4FMU_DEVICE_PATH	"/dev/px4fmu"
+# define PX4IO_DEVICE_PATH	"/dev/px4io"
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
-/*
- * PX4IO GPIO numbers.
- *
- * XXX note that these are here for reference/future use; currently
- * there is no good way to wire these up without a common STM32 GPIO
- * driver, which isn't implemented yet.
- */
-/* outputs */
-# define GPIO_ACC1_POWER	(1<<0)		/**< accessory power 1 */
-# define GPIO_ACC2_POWER	(1<<1)		/**< accessory power 2 */
-# define GPIO_SERVO_POWER	(1<<2)		/**< servo power */
-# define GPIO_RELAY1		(1<<3)		/**< relay 1 */
-# define GPIO_RELAY2		(1<<4)		/**< relay 2 */
-# define GPIO_LED_BLUE		(1<<5)		/**< blue LED */
-# define GPIO_LED_AMBER		(1<<6)		/**< amber/red LED */
-# define GPIO_LED_SAFETY	(1<<7)		/**< safety LED */
-
-/* inputs */
-# define GPIO_ACC_OVERCURRENT	(1<<8)		/**< accessory 1/2 overcurrent detect */
-# define GPIO_SERVO_OVERCURRENT	(1<<9)		/**< servo overcurrent detect */
-# define GPIO_SAFETY_BUTTON	(1<<10)		/**< safety button pressed */
-
-/**
- * Default GPIO device - other devices may also support this protocol if
- * they also export GPIO-like things.  This is always the GPIOs on the
- * main board.
- */
-# define GPIO_DEVICE_PATH	"/dev/px4io"
-
-#endif
-
-#ifndef GPIO_DEVICE_PATH
+#ifndef PX4IO_DEVICE_PATH
 #  error No GPIO support for this board.
 #endif
 

src/drivers/px4fmu/fmu.cpp

@@ -166,7 +166,7 @@ PX4FMU	*g_fmu;
 } // namespace
 
 PX4FMU::PX4FMU() :
-	CDev("fmuservo", "/dev/px4fmu"),
+	CDev("fmuservo", PX4FMU_DEVICE_PATH),
 	_mode(MODE_NONE),
 	_pwm_default_rate(50),
 	_pwm_alt_rate(50),

src/drivers/px4io/px4io.cpp

@@ -329,7 +329,7 @@ PX4IO	*g_dev;
 }
 
 PX4IO::PX4IO() :
-	I2C("px4io", GPIO_DEVICE_PATH, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000),
+	I2C("px4io", PX4IO_DEVICE_PATH, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000),
 	_max_actuators(0),
 	_max_controls(0),
 	_max_rc_input(0),
@@ -1507,7 +1507,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
 		uint32_t bits = (1 << _max_relays) - 1;
 		/* don't touch relay1 if it's controlling RX vcc */
 		if (_dsm_vcc_ctl)
-			bits &= ~1;
+			bits &= ~PX4IO_RELAY1;
 		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0);
 		break;
 	}
@@ -1515,7 +1515,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
 	case GPIO_SET:
 		arg &= ((1 << _max_relays) - 1);
 		/* don't touch relay1 if it's controlling RX vcc */
-		if (_dsm_vcc_ctl & (arg & 1))
+		if (_dsm_vcc_ctl & (arg & PX4IO_RELAY1))
 			ret = -EINVAL;
 		else
 			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
@@ -1524,7 +1524,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
 	case GPIO_CLEAR:
 		arg &= ((1 << _max_relays) - 1);
 		/* don't touch relay1 if it's controlling RX vcc */
-		if (_dsm_vcc_ctl & (arg & 1))
+		if (_dsm_vcc_ctl & (arg & PX4IO_RELAY1))
 			ret = -EINVAL;
 		else
 			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
@@ -1731,7 +1731,7 @@ test(void)
 	int		direction = 1;
 	int		ret;
 
-	fd = open(GPIO_DEVICE_PATH, O_WRONLY);
+	fd = open(PX4IO_DEVICE_PATH, O_WRONLY);
 
 	if (fd < 0)
 		err(1, "failed to open device");

src/modules/gpio_led/gpio_led.c

@@ -53,11 +53,7 @@
 #include <uORB/topics/vehicle_status.h>
 #include <poll.h>
 #include <drivers/drv_gpio.h>
-
-#define PX4IO_RELAY1	(1<<0)
-#define PX4IO_RELAY2	(1<<1)
-#define PX4IO_ACC1		(1<<2)
-#define PX4IO_ACC2		(1<<3)
+#include <modules/px4iofirmware/protocol.h>
 
 struct gpio_led_s {
 	struct work_s work;
@@ -186,10 +182,9 @@ void gpio_led_start(FAR void *arg)
 	char *gpio_dev;
 
 	if (priv->use_io) {
-		gpio_dev = "/dev/px4io";
-
+		gpio_dev = PX4IO_DEVICE_PATH;
 	} else {
-		gpio_dev = "/dev/px4fmu";
+		gpio_dev = PX4FMU_DEVICE_PATH;
 	}
 
 	/* open GPIO device */
@@ -203,6 +198,7 @@ void gpio_led_start(FAR void *arg)
 	}
 
 	/* configure GPIO pin */
+	/* px4fmu only, px4io doesn't support GPIO_SET_OUTPUT and will ignore */
 	ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
 
 	/* subscribe to vehicle status topic */
@@ -263,7 +259,6 @@ void gpio_led_cycle(FAR void *arg)
 
 		if (led_state_new) {
 			ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
-
 		} else {
 			ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
 		}

src/modules/px4iofirmware/protocol.h

@@ -157,6 +157,13 @@
 #define PX4IO_P_SETUP_PWM_DEFAULTRATE		3	/* 'low' PWM frame output rate in Hz */
 #define PX4IO_P_SETUP_PWM_ALTRATE		4	/* 'high' PWM frame output rate in Hz */
 #define PX4IO_P_SETUP_RELAYS			5	/* bitmask of relay/switch outputs, 0 = off, 1 = on */
+
+/* px4io relay bit definitions */
+#define PX4IO_RELAY1	(1<<0)
+#define PX4IO_RELAY2	(1<<1)
+#define PX4IO_ACC1		(1<<2)
+#define PX4IO_ACC2		(1<<3)
+
 #define PX4IO_P_SETUP_VBATT_SCALE		6	/* battery voltage correction factor (float) */
 #define PX4IO_P_SETUP_DSM				7	/* DSM bind state */
 enum {                                      /* DSM bind states */

src/modules/px4iofirmware/registers.c

@@ -349,10 +349,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 		case PX4IO_P_SETUP_RELAYS:
 			value &= PX4IO_P_SETUP_RELAYS_VALID;
 			r_setup_relays = value;
-			POWER_RELAY1(value & (1 << 0) ? 1 : 0);
-			POWER_RELAY2(value & (1 << 1) ? 1 : 0);
-			POWER_ACC1(value & (1 << 2) ? 1 : 0);
-			POWER_ACC2(value & (1 << 3) ? 1 : 0);
+			POWER_RELAY1(value & PX4IO_RELAY1 ? 1 : 0);
+			POWER_RELAY2(value & PX4IO_RELAY2 ? 1 : 0);
+			POWER_ACC1(value & PX4IO_ACC1 ? 1 : 0);
+			POWER_ACC2(value & PX4IO_ACC2 ? 1 : 0);
 			break;
 
 		case PX4IO_P_SETUP_SET_DEBUG:

src/systemcmds/tests/test_gpio.c

@@ -92,7 +92,7 @@ int test_gpio(int argc, char *argv[])
 	int		fd;
 	int		ret = 0;
 
-	fd = open(GPIO_DEVICE_PATH, 0);
+	fd = open(PX4IO_DEVICE_PATH, 0);
 
 	if (fd < 0) {
 		printf("GPIO: open fail\n");