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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-12 10:46:43 +0100 |
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committer | David Sidrane <david_s5@nscdg.com> | 2015-04-07 06:07:30 -1000 |
commit | c93386a6aee5a79fd2b7d3aec379d188b73756ee (patch) | |
tree | 533ee1ad28e565418f6dfefab9c630aeb68954f6 | |
parent | 8edf8055287ddc49356df7aeccab50aa5c3eb972 (diff) | |
download | px4-firmware-c93386a6aee5a79fd2b7d3aec379d188b73756ee.tar.gz px4-firmware-c93386a6aee5a79fd2b7d3aec379d188b73756ee.tar.bz2 px4-firmware-c93386a6aee5a79fd2b7d3aec379d188b73756ee.zip |
FMUv1: Update driver API
-rw-r--r-- | src/drivers/boards/px4fmu-v1/px4fmu_init.c | 57 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu-v1/px4fmu_spi.c | 2 |
2 files changed, 16 insertions, 43 deletions
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c index 293021f8b..0e331a139 100644 --- a/src/drivers/boards/px4fmu-v1/px4fmu_init.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c @@ -53,7 +53,7 @@ #include <errno.h> #include <nuttx/arch.h> -#include <nuttx/spi.h> +#include <nuttx/spi/spi.h> #include <nuttx/i2c.h> #include <nuttx/mmcsd.h> #include <nuttx/analog/adc.h> @@ -77,33 +77,6 @@ /* Debug ********************************************************************/ -#ifdef CONFIG_CPP_HAVE_VARARGS -# ifdef CONFIG_DEBUG -# define message(...) lowsyslog(__VA_ARGS__) -# else -# define message(...) printf(__VA_ARGS__) -# endif -#else -# ifdef CONFIG_DEBUG -# define message lowsyslog -# else -# define message printf -# endif -#endif - -/* - * Ideally we'd be able to get these from up_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -__END_DECLS - /**************************************************************************** * Protected Functions ****************************************************************************/ @@ -127,8 +100,8 @@ __EXPORT void stm32_boardinitialize(void) /* configure SPI interfaces */ stm32_spiinitialize(); - /* configure LEDs (empty call to NuttX' ledinit) */ - up_ledinit(); + /* configure LEDs */ + board_led_initialize(); } /**************************************************************************** @@ -202,8 +175,8 @@ __EXPORT int nsh_archinitialize(void) spi1 = up_spiinitialize(1); if (!spi1) { - message("[boot] FAILED to initialize SPI port 1\r\n"); - up_ledon(LED_AMBER); + syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\r\n"); + board_led_on(LED_AMBER); return -ENODEV; } @@ -216,7 +189,7 @@ __EXPORT int nsh_archinitialize(void) SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); up_udelay(20); - message("[boot] Successfully initialized SPI port 1\r\n"); + syslog(LOG_INFO, "[boot] Successfully initialized SPI port 1\r\n"); /* * If SPI2 is enabled in the defconfig, we loose some ADC pins as chip selects. @@ -232,10 +205,10 @@ __EXPORT int nsh_archinitialize(void) SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false); SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false); - message("[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n"); + syslog(LOG_INFO, "[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n"); #else spi2 = NULL; - message("[boot] Enabling IN12/13 instead of SPI2\n"); + syslog(LOG_INFO, "[boot] Enabling IN12/13 instead of SPI2\n"); /* no SPI2, use pins for ADC */ stm32_configgpio(GPIO_ADC1_IN12); stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards @@ -243,27 +216,27 @@ __EXPORT int nsh_archinitialize(void) /* Get the SPI port for the microSD slot */ - message("[boot] Initializing SPI port 3\n"); + syslog(LOG_INFO, "[boot] Initializing SPI port 3\n"); spi3 = up_spiinitialize(3); if (!spi3) { - message("[boot] FAILED to initialize SPI port 3\n"); - up_ledon(LED_AMBER); + syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n"); + board_led_on(LED_AMBER); return -ENODEV; } - message("[boot] Successfully initialized SPI port 3\n"); + syslog(LOG_INFO, "[boot] Successfully initialized SPI port 3\n"); /* Now bind the SPI interface to the MMCSD driver */ result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3); if (result != OK) { - message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n"); - up_ledon(LED_AMBER); + syslog(LOG_ERR, "[boot] FAILED to bind SPI port 3 to the MMCSD driver\n"); + board_led_on(LED_AMBER); return -ENODEV; } - message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); + syslog(LOG_INFO, "[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); return OK; } diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_spi.c b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c index 16f94a9f2..fffaa3ec4 100644 --- a/src/drivers/boards/px4fmu-v1/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c @@ -47,7 +47,7 @@ #include <stdbool.h> #include <debug.h> -#include <nuttx/spi.h> +#include <nuttx/spi/spi.h> #include <arch/board/board.h> #include "up_arch.h" |