From 3f9f2018e20f4be23e7d62571ec0a3678d960108 Mon Sep 17 00:00:00 2001
From: Jean Cyr <jcyr@dillobits.com>
Date: Fri, 5 Jul 2013 20:51:29 -0400
Subject: Support binding DSM2 and DSMX satellite receivers

The px4io bind command allows you to put a DSM satellite receiver into
bind mode. Since this feature requires that
the dsm VCC line (red wire) be cut and routed through relay one, it is
not enabled by default in order not to
affect those not using a DSM satellite receiver or wising to use relay
one for other purposes.

NOTE: Binding DSM2 satellites in 11-bit mode is not supported due to
potential bug in some DSM2 receiver streams
when in 11-bit mode. Furthermore the px4io software folds 11 bit data
down to 10 bits so there is no resolution
advantage to to 11-bit mode.

To enable the feature the RC_RL1_DSM_VCC parameter must be set to a non
zero value from the console, or using
QGroundControl:

param set RC_RL1_DSM_VCC 1

From the console you can initiate DSM bind mode with:

uorb start
param set RC_RL1_DSM_VCC 1
px4io start
px4io bind dsm2

For binding a DSMX satellite to a DSMX transmitter you would instead
use:

px4io bind dsmx

Your receiver module should start a rapid flash and you can follow the
normal binding sequence of your
transmitter.

Note: The value of parameter RC_RL1_DSM_VCC defaults to 0, so none of
this will have any effect on an unmodified
DSM receiver connection. For this feature to work, the power wire (red)
must be cut and each side connected to a
terminal on relay1 of the px4io board.

This has been tested using Spektrum as well as Hobby King 'Orange' DSM
satellite receivers.

Both px4fmu and px4io images are updated.
---
 src/modules/px4iofirmware/controls.c  | 13 ++++++++---
 src/modules/px4iofirmware/dsm.c       | 43 +++++++++++++++++++++++++++++++++--
 src/modules/px4iofirmware/protocol.h  |  9 ++++++++
 src/modules/px4iofirmware/px4io.h     |  1 +
 src/modules/px4iofirmware/registers.c |  4 ++++
 5 files changed, 65 insertions(+), 5 deletions(-)

(limited to 'src/modules/px4iofirmware')

diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 3cf9ca149..9561c9b1e 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -95,9 +95,16 @@ controls_tick() {
 	 */
 
 	perf_begin(c_gather_dsm);
-	bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count);
-	if (dsm_updated)
+	uint16_t temp_count = r_raw_rc_count;
+	bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count);
+	if (dsm_updated) {
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
+		r_raw_rc_count = temp_count & 0x7fff;
+		if (temp_count & 0x8000)
+			r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11;
+		else
+			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
+	}
 	perf_end(c_gather_dsm);
 
 	perf_begin(c_gather_sbus);
@@ -138,7 +145,7 @@ controls_tick() {
 
 		/* map raw inputs to mapped inputs */
 		/* XXX mapping should be atomic relative to protocol */
-		for (unsigned i = 0; i < r_raw_rc_count; i++) {
+		for (unsigned i = 0; i < (r_raw_rc_count & 0x7fff); i++) {
 
 			/* map the input channel */
 			uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index ea35e5513..79e892503 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -40,6 +40,7 @@
  */
 
 #include <nuttx/config.h>
+#include <nuttx/arch.h>
 
 #include <fcntl.h>
 #include <unistd.h>
@@ -101,6 +102,41 @@ dsm_init(const char *device)
 	return dsm_fd;
 }
 
+void
+dsm_bind(uint16_t cmd, int pulses)
+{
+	const uint32_t usart1RxAsOutp = GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10;
+
+	if (dsm_fd < 0)
+		return;
+
+	switch (cmd) {
+	case dsm_bind_power_down:
+		// power down DSM satellite
+		POWER_RELAY1(0);
+		break;
+	case dsm_bind_power_up:
+		POWER_RELAY1(1);
+		dsm_guess_format(true);
+		break;
+	case dsm_bind_set_rx_out:
+		stm32_configgpio(usart1RxAsOutp); 
+		break;
+	case dsm_bind_send_pulses:
+		for (int i = 0; i < pulses; i++) {
+			stm32_gpiowrite(usart1RxAsOutp, false);
+			up_udelay(50);
+			stm32_gpiowrite(usart1RxAsOutp, true);
+			up_udelay(50);
+		}
+		break;
+	case dsm_bind_reinit_uart:
+		// Restore USART rx pin
+		stm32_configgpio(GPIO_USART1_RX);
+		break;
+	}
+}
+
 bool
 dsm_input(uint16_t *values, uint16_t *num_values)
 {
@@ -218,7 +254,7 @@ dsm_guess_format(bool reset)
 
 	/*
 	 * Iterate the set of sensible sniffed channel sets and see whether
-	 * decoding in 10 or 11-bit mode has yielded anything we recognise.
+	 * decoding in 10 or 11-bit mode has yielded anything we recognize.
 	 *
 	 * XXX Note that due to what seem to be bugs in the DSM2 high-resolution
 	 *     stream, we may want to sniff for longer in some cases when we think we
@@ -303,7 +339,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
 	for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
 
 		uint8_t *dp = &frame[2 + (2 * i)];
-		uint16_t raw = (dp[0] << 8) | dp[1];
+		uint16_t raw = ((uint16_t)dp[0] << 8) | dp[1];
 		unsigned channel, value;
 
 		if (!dsm_decode_channel(raw, channel_shift, &channel, &value))
@@ -349,6 +385,9 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
 		values[channel] = value;
 	}
 
+	if (channel_shift == 11)
+		*num_values |= 0x8000;
+
 	/*
 	 * XXX Note that we may be in failsafe here; we need to work out how to detect that.
 	 */
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 674f9dddd..6ee5c2834 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -105,6 +105,7 @@
 #define PX4IO_P_STATUS_FLAGS_ARM_SYNC		(1 << 9) /* the arming state between IO and FMU is in sync */
 #define PX4IO_P_STATUS_FLAGS_INIT_OK		(1 << 10) /* initialisation of the IO completed without error */
 #define PX4IO_P_STATUS_FLAGS_FAILSAFE		(1 << 11) /* failsafe is active */
+#define PX4IO_P_STATUS_FLAGS_RC_DSM11		(1 << 12) /* DSM input is 11 bit data */
 
 #define PX4IO_P_STATUS_ALARMS			3	 /* alarm flags - alarms latch, write 1 to a bit to clear it */
 #define PX4IO_P_STATUS_ALARMS_VBATT_LOW		(1 << 0) /* VBatt is very close to regulator dropout */
@@ -157,6 +158,14 @@
 #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 */
 #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 */
+	dsm_bind_power_down = 0,
+	dsm_bind_power_up,
+	dsm_bind_set_rx_out,
+	dsm_bind_send_pulses,
+	dsm_bind_reinit_uart
+};
 #define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
 
 /* autopilot control values, -10000..10000 */
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 272cdb7bf..83feeb9b6 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -184,6 +184,7 @@ extern void	controls_init(void);
 extern void	controls_tick(void);
 extern int	dsm_init(const char *device);
 extern bool	dsm_input(uint16_t *values, uint16_t *num_values);
+extern void     dsm_bind(uint16_t cmd, int pulses);
 extern int	sbus_init(const char *device);
 extern bool	sbus_input(uint16_t *values, uint16_t *num_values);
 
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index df7d6dcd3..805eb7ecc 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -360,6 +360,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
 			break;
 
+		case PX4IO_P_SETUP_DSM:
+			dsm_bind(value & 0x0f, (value >> 4) & 7);
+			break;
+
 		default:
 			return -1;
 		}
-- 
cgit v1.2.3


From dab652faf68931a2b1fa07609d63518237c9c8b7 Mon Sep 17 00:00:00 2001
From: Jean Cyr <jcyr@dillobits.com>
Date: Sun, 7 Jul 2013 19:04:30 -0400
Subject: Prevent RELAY1 control via IOCTL if DSM bind feature is enabled

---
 src/drivers/px4io/px4io.cpp          | 59 +++++++++++++++++++++++++++---------
 src/modules/px4iofirmware/controls.c |  2 +-
 src/modules/px4iofirmware/dsm.c      |  2 +-
 3 files changed, 47 insertions(+), 16 deletions(-)

(limited to 'src/modules/px4iofirmware')

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 54b9d50e4..ad0112b9b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -89,8 +89,6 @@
 #define PX4IO_SET_DEBUG			_IOC(0xff00, 0)
 #define PX4IO_INAIR_RESTART_ENABLE	_IOC(0xff00, 1)
 
-static int dsm_vcc_ctl;
-
 class PX4IO : public device::I2C
 {
 public:
@@ -131,6 +129,16 @@ public:
 	*/
 	void			print_status();
 
+	inline void		set_dsm_vcc_ctl(bool enable)
+	{
+		_dsm_vcc_ctl = enable;
+	};
+
+	inline bool		get_dsm_vcc_ctl()
+	{
+		return _dsm_vcc_ctl;
+	};
+
 private:
 	// XXX
 	unsigned		_max_actuators;
@@ -174,6 +182,12 @@ private:
 	float			_battery_mamphour_total;
 	uint64_t		_battery_last_timestamp;
 
+	/**
+	 * Relay1 is dedicated to controlling DSM receiver power
+	 */
+
+	bool			_dsm_vcc_ctl;
+
 	/**
 	 * Trampoline to the worker task
 	 */
@@ -315,7 +329,7 @@ PX4IO	*g_dev;
 }
 
 PX4IO::PX4IO() :
-	I2C("px4io", "/dev/px4io", PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000),
+	I2C("px4io", GPIO_DEVICE_PATH, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000),
 	_max_actuators(0),
 	_max_controls(0),
 	_max_rc_input(0),
@@ -340,7 +354,8 @@ PX4IO::PX4IO() :
 	_battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
 	_battery_amp_bias(0),
 	_battery_mamphour_total(0),
-	_battery_last_timestamp(0)
+	_battery_last_timestamp(0),
+	_dsm_vcc_ctl(false)
 {
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
@@ -1487,18 +1502,31 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		break;
 	}
 
-	case GPIO_RESET:
-		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0);
+	case GPIO_RESET: {
+		uint32_t bits = (1 << _max_relays) - 1;
+		/* don't touch relay1 if it's controlling RX vcc */
+		if (_dsm_vcc_ctl)
+			bits &= ~1;
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0);
 		break;
+	}
 
 	case GPIO_SET:
 		arg &= ((1 << _max_relays) - 1);
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
+		/* don't touch relay1 if it's controlling RX vcc */
+		if (_dsm_vcc_ctl & (arg & 1))
+			ret = -EINVAL;
+		else
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
 		break;
 
 	case GPIO_CLEAR:
 		arg &= ((1 << _max_relays) - 1);
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
+		/* don't touch relay1 if it's controlling RX vcc */
+		if (_dsm_vcc_ctl & (arg & 1))
+			ret = -EINVAL;
+		else
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
 		break;
 
 	case GPIO_GET:
@@ -1635,9 +1663,12 @@ start(int argc, char *argv[])
 		errx(1, "driver init failed");
 	}
 
+	int dsm_vcc_ctl;
+
 	if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) {
 		if (dsm_vcc_ctl) {
-			int fd = open("/dev/px4io", O_WRONLY);
+			g_dev->set_dsm_vcc_ctl(true);
+			int fd = open(GPIO_DEVICE_PATH, O_WRONLY);
 			if (fd < 0)
 				errx(1, "failed to open device");
 			ioctl(fd, DSM_BIND_POWER_UP, 0);
@@ -1655,7 +1686,7 @@ bind(int argc, char *argv[])
 	if (g_dev == nullptr)
 		errx(1, "px4io must be started first");
 
-	if (dsm_vcc_ctl == 0)
+	if (!g_dev->get_dsm_vcc_ctl())
 		errx(1, "DSM bind feature not enabled");
 
 	if (argc < 3)
@@ -1668,7 +1699,7 @@ bind(int argc, char *argv[])
 	else 
 		errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
 
-	fd = open("/dev/px4io", O_WRONLY);
+	fd = open(GPIO_DEVICE_PATH, O_WRONLY);
 
 	if (fd < 0)
 		errx(1, "failed to open device");
@@ -1694,8 +1725,8 @@ bind(int argc, char *argv[])
 				ioctl(fd, DSM_BIND_POWER_UP, 0);
 				close(fd);
 				close(console);
-	                        exit(0);
-                        }
+	            exit(0);
+            }
 		}
 	}
 }
@@ -1709,7 +1740,7 @@ test(void)
 	int		direction = 1;
 	int		ret;
 
-	fd = open("/dev/px4io", O_WRONLY);
+	fd = open(GPIO_DEVICE_PATH, O_WRONLY);
 
 	if (fd < 0)
 		err(1, "failed to open device");
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 9561c9b1e..43d96fb06 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -145,7 +145,7 @@ controls_tick() {
 
 		/* map raw inputs to mapped inputs */
 		/* XXX mapping should be atomic relative to protocol */
-		for (unsigned i = 0; i < (r_raw_rc_count & 0x7fff); i++) {
+		for (unsigned i = 0; i < r_raw_rc_count; i++) {
 
 			/* map the input channel */
 			uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index 79e892503..ab6e3fec4 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -339,7 +339,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
 	for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
 
 		uint8_t *dp = &frame[2 + (2 * i)];
-		uint16_t raw = ((uint16_t)dp[0] << 8) | dp[1];
+		uint16_t raw = (dp[0] << 8) | dp[1];
 		unsigned channel, value;
 
 		if (!dsm_decode_channel(raw, channel_shift, &channel, &value))
-- 
cgit v1.2.3


From 897b541b12d5782af51ce0a78658cc153bd13544 Mon Sep 17 00:00:00 2001
From: Jean Cyr <jcyr@dillobits.com>
Date: Tue, 9 Jul 2013 20:37:00 -0400
Subject: 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.
---
 .../ardrone_interface/ardrone_motor_control.c      |  2 +-
 src/drivers/drv_gpio.h                             | 37 ++--------------------
 src/drivers/px4fmu/fmu.cpp                         |  2 +-
 src/drivers/px4io/px4io.cpp                        | 10 +++---
 src/modules/gpio_led/gpio_led.c                    | 13 +++-----
 src/modules/px4iofirmware/protocol.h               |  7 ++++
 src/modules/px4iofirmware/registers.c              |  8 ++---
 src/systemcmds/tests/test_gpio.c                   |  2 +-
 8 files changed, 26 insertions(+), 55 deletions(-)

(limited to 'src/modules/px4iofirmware')

diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c
index ecd31a073..be8968a4e 100644
--- a/src/drivers/ardrone_interface/ardrone_motor_control.c
+++ b/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");
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index 7e3998fca..510983d4b 100644
--- a/src/drivers/drv_gpio.h
+++ b/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
 
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 5147ac500..a98b527b1 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/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),
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 1adefdea5..08aef7069 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/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");
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index 8b4c0cb30..1aef739c7 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/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);
 		}
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 6ee5c2834..88d8cc87c 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/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 */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 805eb7ecc..a922362b6 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/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:
diff --git a/src/systemcmds/tests/test_gpio.c b/src/systemcmds/tests/test_gpio.c
index ab536d956..62a873270 100644
--- a/src/systemcmds/tests/test_gpio.c
+++ b/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");
-- 
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