diff options
Diffstat (limited to 'apps/px4io/px4io.h')
| -rw-r--r-- | apps/px4io/px4io.h | 40 |
1 files changed, 23 insertions, 17 deletions
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index d90f7e36b..4889036b6 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -32,10 +32,18 @@ ****************************************************************************/ /** - * @file General defines and structures for the PX4IO module firmware. + * @file px4io.h + * + * General defines and structures for the PX4IO module firmware. */ -#include <arch/board/drv_gpio.h> +#include <nuttx/config.h> + +#include <stdbool.h> +#include <stdint.h> + +#include <drivers/boards/px4io/px4io_internal.h> + #include "protocol.h" /* @@ -102,21 +110,19 @@ extern volatile int timers[TIMER_NUM_TIMERS]; /* * GPIO handling. */ -extern int gpio_fd; - -#define POWER_SERVO(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_POWER), (_s)) -#define POWER_ACC1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC1), (_s)) -#define POWER_ACC2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC2), (_s)) -#define POWER_RELAY1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY1, (_s)) -#define POWER_RELAY2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY2, (_s)) - -#define LED_AMBER(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_AMBER), !(_s)) -#define LED_BLUE(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_BLUE), !(_s)) -#define LED_SAFETY(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_SAFETY), !(_s)) - -#define OVERCURRENT_ACC ioctl(gpio_fd, GPIO_GET(GPIO_ACC_OVERCURRENT), 0) -#define OVERCURRENT_SERVO ioctl(gpio_fd, GPIO_GET(GPIO_SERVO_OVERCURRENT), 0) -#define BUTTON_SAFETY ioctl(gpio_fd, GPIO_GET(GPIO_SAFETY_BUTTON), 0) +#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) +#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) +#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) + +#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) +#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_SERVO_ACC1_EN, (_s)) +#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_SERVO_ACC2_EN, (_s)) +#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) +#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) + +#define OVERCURRENT_ACC stm32_gpioread(GPIO_ACC_OC_DETECT) +#define OVERCURRENT_SERVO stm32_gpioread(GPIO_SERVO_OC_DETECT +#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) /* * Mixer |