From 49d3035ee5f5a4df89ba963e8765a1d90b266f4b Mon Sep 17 00:00:00 2001
From: Mikhail Avkhimenia <mikhail.avkhimenia@emlid.com>
Date: Wed, 5 Nov 2014 16:56:12 +0300
Subject: [PATCH] HAL_Linux: fix types, remove printfs in GPIO_RPI
---
libraries/AP_HAL_Linux/GPIO_RPI.cpp | 44 ++++++++++++++---------------
libraries/AP_HAL_Linux/GPIO_RPI.h | 3 +-
2 files changed, 23 insertions(+), 24 deletions(-)
diff --git a/libraries/AP_HAL_Linux/GPIO_RPI.cpp b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
index 3b3ff4287..6c89e6a51 100644
--- a/libraries/AP_HAL_Linux/GPIO_RPI.cpp
+++ b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
@@ -22,29 +22,27 @@ LinuxGPIO_RPI::LinuxGPIO_RPI()
void LinuxGPIO_RPI::init()
{
// open /dev/mem
- if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
- printf("can't open /dev/mem \n");
- exit(-1);
- }
-
- // mmap GPIO
- gpio_map = mmap(
- NULL, // Any adddress in our space will do
- BLOCK_SIZE, // Map length
- PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
- MAP_SHARED, // Shared with other processes
- mem_fd, // File to map
- GPIO_BASE // Offset to GPIO peripheral
- );
-
- close(mem_fd); // No need to keep mem_fd open after mmap
-
- if (gpio_map == MAP_FAILED) {
- printf("mmap error %d\n", (int)gpio_map); // errno also set!
- exit(-1);
- }
-
- gpio = (volatile unsigned *)gpio_map; // Always use volatile pointer!
+ if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
+ hal.scheduler->panic("Can't open /dev/mem");
+ }
+
+ // mmap GPIO
+ gpio_map = mmap(
+ NULL, // Any adddress in our space will do
+ BLOCK_SIZE, // Map length
+ PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
+ MAP_SHARED, // Shared with other processes
+ mem_fd, // File to map
+ GPIO_BASE // Offset to GPIO peripheral
+ );
+
+ close(mem_fd); // No need to keep mem_fd open after mmap
+
+ if (gpio_map == MAP_FAILED) {
+ hal.scheduler->panic("Can't open /dev/mem");
+ }
+
+ gpio = (volatile uint32_t *)gpio_map; // Always use volatile pointer!
}
void LinuxGPIO_RPI::pinMode(uint8_t pin, uint8_t output)
diff --git a/libraries/AP_HAL_Linux/GPIO_RPI.h b/libraries/AP_HAL_Linux/GPIO_RPI.h
index b8724400f..064093669 100644
--- a/libraries/AP_HAL_Linux/GPIO_RPI.h
+++ b/libraries/AP_HAL_Linux/GPIO_RPI.h
@@ -2,6 +2,7 @@
#ifndef __AP_HAL_LINUX_GPIO_RPI_H__
#define __AP_HAL_LINUX_GPIO_RPI_H__
+#include <stdint.h>
#include <AP_HAL_Linux.h>
#define LOW 0
@@ -48,7 +49,7 @@ class Linux::LinuxGPIO_RPI : public AP_HAL::GPIO {
private:
int mem_fd;
void *gpio_map;
- volatile unsigned *gpio;
+ volatile uint32_t *gpio;
public:
LinuxGPIO_RPI();
--
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