Moves pios_led functionality to pios_gpio and makes pios_led a thin layer over pios_gpio. Supports configuring multiple sets of GPIOs.

flight/pios/common/pios_led.c

@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_LED LED Functions
+ * @brief STM32 Hardware LED handling code
+ * @{
+ *
+ * @file       pios_led.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      LED functions, init, toggle, on & off.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pios.h"
+
+#ifdef PIOS_INCLUDE_LED
+
+#include <pios_gpio_priv.h>
+#include <pios_gpio.h>
+
+static uint32_t pios_led_gpios_id;
+
+/**
+ * Initialises all the LED's
+ */
+int32_t PIOS_LED_Init(const struct pios_gpio_cfg *cfg)
+{
+    PIOS_Assert(cfg);
+    return PIOS_GPIO_Init(&pios_led_gpios_id, cfg);
+}
+
+/**
+ * Turn on LED
+ * \param[in] LED LED id
+ */
+void PIOS_LED_On(uint32_t led_id)
+{
+    PIOS_GPIO_On(pios_led_gpios_id, led_id);
+}
+
+/**
+ * Turn off LED
+ * \param[in] LED LED id
+ */
+void PIOS_LED_Off(uint32_t led_id)
+{
+    PIOS_GPIO_Off(pios_led_gpios_id, led_id);
+}
+
+/**
+ * Toggle LED on/off
+ * \param[in] LED LED id
+ */
+void PIOS_LED_Toggle(uint32_t led_id)
+{
+    PIOS_GPIO_Toggle(pios_led_gpios_id, led_id);
+}
+
+#endif /* PIOS_INCLUDE_LED */
+
+/**
+ * @}
+ * @}
+ */

flight/pios/inc/pios_gpio.h

@@ -32,11 +32,9 @@
 #define PIOS_GPIO_H
 
 /* Public Functions */
-extern void PIOS_GPIO_Init(void);
+extern void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id);
-extern void PIOS_GPIO_Enable(uint8_t Pin);
+extern void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id);
-extern void PIOS_GPIO_On(uint8_t Pin);
+extern void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id);
-extern void PIOS_GPIO_Off(uint8_t Pin);
-extern void PIOS_GPIO_Toggle(uint8_t Pin);
 
 #endif /* PIOS_GPIO_H */
 

flight/pios/inc/pios_led_priv.h

@@ -31,21 +31,9 @@
 #ifndef PIOS_LED_PRIV_H
 #define PIOS_LED_PRIV_H
 
-#include <pios.h>
+#include <pios_gpio_priv.h>
-#include <pios_stm32.h>
 
-struct pios_led {
+extern int32_t PIOS_LED_Init(const struct pios_gpio_cfg *cfg);
-    struct stm32_gpio pin;
-    uint32_t remap;
-    bool active_high;
-};
-
-struct pios_led_cfg {
-    const struct pios_led *leds;
-    uint8_t num_leds;
-};
-
-extern int32_t PIOS_LED_Init(const struct pios_led_cfg *cfg);
 
 #endif /* PIOS_LED_PRIV_H */
 

flight/pios/pios.h

@@ -81,6 +81,8 @@
 #include "semphr.h"
 #endif
 
+#include <stdbool.h>
+
 #include <pios_architecture.h>
 
 #ifdef PIOS_INCLUDE_TASK_MONITOR

flight/pios/stm32f10x/pios_gpio.c

@@ -2,12 +2,12 @@
  ******************************************************************************
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @defgroup   PIOS_GPIO GPIO Functions
+ * @addtogroup PIOS_GPIO GPIO Functions
- * @brief GPIO hardware code for STM32
+ * @brief STM32 Hardware GPIO handling code
  * @{
  *
  * @file       pios_gpio.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
  * @brief      GPIO functions, init, toggle, on & off.
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -32,65 +32,125 @@
 
 #ifdef PIOS_INCLUDE_GPIO
 
-/* Private Function Prototypes */
+#include <pios_gpio_priv.h>
-
-/* Local Variables */
-static GPIO_TypeDef *GPIO_PORT[PIOS_GPIO_NUM] = PIOS_GPIO_PORTS;
-static const uint32_t GPIO_PIN[PIOS_GPIO_NUM] = PIOS_GPIO_PINS;
-static const uint32_t GPIO_CLK[PIOS_GPIO_NUM] = PIOS_GPIO_CLKS;
 
 /**
  * Initialises all the GPIO's
  */
-void PIOS_GPIO_Init(void)
+int32_t PIOS_GPIO_Init(uint32_t *gpios_dev_id, const struct pios_gpio_cfg *cfg)
 {
-    /* Do nothing */
+    PIOS_Assert(cfg);
+    *gpios_dev_id = (uint32_t)cfg;
+
+    for (uint8_t i = 0; i < cfg->num_gpios; i++) {
+        const struct pios_gpio *gpio = &(cfg->gpios[i]);
+
+        /* Enable the peripheral clock for the GPIO */
+        switch ((uint32_t)gpio->pin.gpio) {
+        case (uint32_t)GPIOA:
+            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
+            break;
+        case (uint32_t)GPIOB:
+            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+            break;
+        case (uint32_t)GPIOC:
+            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+            break;
+        default:
+            PIOS_Assert(0);
+            break;
+        }
+
+        if (gpio->remap) {
+            GPIO_PinRemapConfig(gpio->remap, ENABLE);
+        }
+
+        GPIO_Init(gpio->pin.gpio, &gpio->pin.init);
+
+        PIOS_GPIO_Off(*gpios_dev_id, i);
+    }
+
+    return 0;
 }
 
 /**
- * Enable a GPIO Pin
+ * Turn on GPIO
- * \param[in] Pin Pin Number
+ * \param[in] GPIO GPIO id
  */
-void PIOS_GPIO_Enable(uint8_t Pin)
+void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id)
 {
-    // RCC_APB2PeriphClockCmd(GPIO_CLK[Pin], ENABLE);
+    const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
 
-    GPIO_InitTypeDef GPIO_InitStructure;
+    PIOS_Assert(gpio_cfg);
 
-    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_Out_PP;
+    if (gpio_id >= gpio_cfg->num_gpios) {
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+        /* GPIO index out of range */
-    GPIO_InitStructure.GPIO_Pin   = GPIO_PIN[Pin];
+        return;
-    GPIO_Init(GPIO_PORT[Pin], &GPIO_InitStructure);
+    }
 
-    /* GPIO's Off */
+    const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
-    GPIO_PORT[Pin]->BSRR = GPIO_PIN[Pin];
+
+    if (gpio->active_low) {
+        GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
+    } else {
+        GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
+    }
 }
 
 /**
- * Turn on Pin
+ * Turn off GPIO
- * \param[in] Pin Pin Number
+ * \param[in] GPIO GPIO id
  */
-void PIOS_GPIO_On(uint8_t Pin)
+void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id)
 {
-    GPIO_PORT[Pin]->BRR = GPIO_PIN[Pin];
+    const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
+
+    PIOS_Assert(gpio_cfg);
+
+    if (gpio_id >= gpio_cfg->num_gpios) {
+        /* GPIO index out of range */
+        return;
+    }
+
+    const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
+
+    if (gpio->active_low) {
+        GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
+    } else {
+        GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
+    }
 }
 
 /**
- * Turn off Pin
+ * Toggle GPIO on/off
- * \param[in] Pin Pin Number
+ * \param[in] GPIO GPIO id
  */
-void PIOS_GPIO_Off(uint8_t Pin)
+void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id)
 {
-    GPIO_PORT[Pin]->BSRR = GPIO_PIN[Pin];
+    const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
-}
 
-/**
+    PIOS_Assert(gpio_cfg);
- * Toggle Pin on/off
+
- * \param[in] Pin Pin Number
+    if (gpio_id >= gpio_cfg->num_gpios) {
- */
+        /* GPIO index out of range */
-void PIOS_GPIO_Toggle(uint8_t Pin)
+        return;
-{
+    }
-    GPIO_PORT[Pin]->ODR ^= GPIO_PIN[Pin];
+
+    const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
+
+    if (GPIO_ReadOutputDataBit(gpio->pin.gpio, gpio->pin.init.GPIO_Pin) == Bit_SET) {
+        if (gpio->active_low) {
+            PIOS_GPIO_On(gpios_dev_id, gpio_id);
+        } else {
+            PIOS_GPIO_Off(gpios_dev_id, gpio_id);
+        }
+    } else {
+        if (gpio->active_low) {
+            PIOS_GPIO_Off(gpios_dev_id, gpio_id);
+        } else {
+            PIOS_GPIO_On(gpios_dev_id, gpio_id);
+        }
+    }
 }
 
 #endif /* PIOS_INCLUDE_GPIO */

flight/pios/stm32f10x/pios_led.c

@@ -1,159 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_LED LED Functions
- * @brief STM32 Hardware LED handling code
- * @{
- *
- * @file       pios_led.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      LED functions, init, toggle, on & off.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "pios.h"
-
-#ifdef PIOS_INCLUDE_LED
-
-#include <pios_led_priv.h>
-
-static const struct pios_led_cfg *led_cfg;
-
-/**
- * Initialises all the LED's
- */
-int32_t PIOS_LED_Init(const struct pios_led_cfg *cfg)
-{
-    PIOS_Assert(cfg);
-
-    /* Store away the config in a global used by API functions */
-    led_cfg = cfg;
-
-    for (uint8_t i = 0; i < cfg->num_leds; i++) {
-        const struct pios_led *led = &(cfg->leds[i]);
-
-        /* Enable the peripheral clock for the GPIO */
-        switch ((uint32_t)led->pin.gpio) {
-        case (uint32_t)GPIOA:
-            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
-            break;
-        case (uint32_t)GPIOB:
-            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
-            break;
-        case (uint32_t)GPIOC:
-            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
-            break;
-        default:
-            PIOS_Assert(0);
-            break;
-        }
-
-        if (led->remap) {
-            GPIO_PinRemapConfig(led->remap, ENABLE);
-        }
-
-        GPIO_Init(led->pin.gpio, &led->pin.init);
-
-        PIOS_LED_Off(i);
-    }
-
-    return 0;
-}
-
-/**
- * Turn on LED
- * \param[in] LED LED id
- */
-void PIOS_LED_On(uint32_t led_id)
-{
-    PIOS_Assert(led_cfg);
-
-    if (led_id >= led_cfg->num_leds) {
-        /* LED index out of range */
-        return;
-    }
-
-    const struct pios_led *led = &(led_cfg->leds[led_id]);
-
-    if (led->active_high) {
-        GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
-    } else {
-        GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
-    }
-}
-
-/**
- * Turn off LED
- * \param[in] LED LED id
- */
-void PIOS_LED_Off(uint32_t led_id)
-{
-    PIOS_Assert(led_cfg);
-
-    if (led_id >= led_cfg->num_leds) {
-        /* LED index out of range */
-        return;
-    }
-
-    const struct pios_led *led = &(led_cfg->leds[led_id]);
-
-    if (led->active_high) {
-        GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
-    } else {
-        GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
-    }
-}
-
-/**
- * Toggle LED on/off
- * \param[in] LED LED id
- */
-void PIOS_LED_Toggle(uint32_t led_id)
-{
-    PIOS_Assert(led_cfg);
-
-    if (led_id >= led_cfg->num_leds) {
-        /* LED index out of range */
-        return;
-    }
-
-    const struct pios_led *led = &(led_cfg->leds[led_id]);
-
-    if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
-        if (led->active_high) {
-            PIOS_LED_Off(led_id);
-        } else {
-            PIOS_LED_On(led_id);
-        }
-    } else {
-        if (led->active_high) {
-            PIOS_LED_On(led_id);
-        } else {
-            PIOS_LED_Off(led_id);
-        }
-    }
-}
-
-#endif /* PIOS_INCLUDE_LED */
-
-/**
- * @}
- * @}
- */

flight/pios/stm32f4xx/pios_gpio.c

@@ -2,8 +2,8 @@
  ******************************************************************************
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @defgroup   PIOS_GPIO GPIO Functions
+ * @addtogroup PIOS_GPIO GPIO Functions
- * @brief GPIO hardware code for STM32F4xx
+ * @brief STM32 Hardware GPIO handling code
  * @{
  *
  * @file       pios_gpio.c
@@ -32,64 +32,143 @@
 
 #ifdef PIOS_INCLUDE_GPIO
 
-/* Private Function Prototypes */
+#include <pios_gpio_priv.h>
-
-/* Local Variables */
-static GPIO_TypeDef *GPIO_PORT[PIOS_GPIO_NUM] = PIOS_GPIO_PORTS;
-static const uint32_t GPIO_PIN[PIOS_GPIO_NUM] = PIOS_GPIO_PINS;
 
 /**
  * Initialises all the GPIO's
  */
-void PIOS_GPIO_Init(void)
+int32_t PIOS_GPIO_Init(uint32_t *gpios_dev_id, const struct pios_gpio_cfg *cfg)
 {
-    /* Do nothing */
+    PIOS_Assert(cfg);
+    *gpios_dev_id = (uint32_t)cfg;
+
+    for (uint8_t i = 0; i < cfg->num_gpios; i++) {
+        const struct pios_gpio *gpio = &(cfg->gpios[i]);
+
+        /* Enable the peripheral clock for the GPIO */
+        switch ((uint32_t)gpio->pin.gpio) {
+        case (uint32_t)GPIOA:
+            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+            break;
+        case (uint32_t)GPIOB:
+            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
+            break;
+        case (uint32_t)GPIOC:
+            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
+            break;
+        case (uint32_t)GPIOD:
+            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
+            break;
+        case (uint32_t)GPIOE:
+            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
+            break;
+        case (uint32_t)GPIOF:
+            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);
+            break;
+        case (uint32_t)GPIOG:
+            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG, ENABLE);
+            break;
+        case (uint32_t)GPIOH:
+            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH, ENABLE);
+            break;
+        case (uint32_t)GPIOI:
+            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOI, ENABLE);
+            break;
+        default:
+            PIOS_Assert(0);
+            break;
+        }
+
+        if (gpio->remap) {
+            GPIO_PinAFConfig(gpio->pin.gpio, gpio->pin.init.GPIO_Pin, gpio->remap);
+        }
+
+        GPIO_Init(gpio->pin.gpio, &gpio->pin.init);
+
+        PIOS_GPIO_Off(*gpios_dev_id, i);
+    }
+
+    return 0;
 }
 
 /**
- * Enable a GPIO Pin
+ * Turn on GPIO
- * \param[in] Pin Pin Number
+ * \param[in] GPIO GPIO id
  */
-void PIOS_GPIO_Enable(uint8_t Pin)
+void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
 
-    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_OUT;
+    PIOS_Assert(gpio_cfg);
-    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
-    GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
-    GPIO_InitStructure.GPIO_Pin   = GPIO_PIN[Pin];
-    GPIO_Init(GPIO_PORT[Pin], &GPIO_InitStructure);
 
-    /* GPIO's Off */
+    if (gpio_id >= gpio_cfg->num_gpios) {
-    PIOS_GPIO_Off(Pin);
+        /* GPIO index out of range */
+        return;
+    }
+
+    const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
+
+    if (gpio->active_low) {
+        GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
+    } else {
+        GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
+    }
 }
 
 /**
- * Turn on Pin
+ * Turn off GPIO
- * \param[in] Pin Pin Number
+ * \param[in] GPIO GPIO id
  */
-void PIOS_GPIO_On(uint8_t Pin)
+void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id)
 {
-    GPIO_ResetBits(GPIO_PORT[Pin], GPIO_PIN[Pin]);
+    const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
+
+    PIOS_Assert(gpio_cfg);
+
+    if (gpio_id >= gpio_cfg->num_gpios) {
+        /* GPIO index out of range */
+        return;
+    }
+
+    const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
+
+    if (gpio->active_low) {
+        GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
+    } else {
+        GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
+    }
 }
 
 /**
- * Turn off Pin
+ * Toggle GPIO on/off
- * \param[in] Pin Pin Number
+ * \param[in] GPIO GPIO id
  */
-void PIOS_GPIO_Off(uint8_t Pin)
+void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id)
 {
-    GPIO_SetBits(GPIO_PORT[Pin], GPIO_PIN[Pin]);
+    const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
-}
 
-/**
+    PIOS_Assert(gpio_cfg);
- * Toggle Pin on/off
+
- * \param[in] Pin Pin Number
+    if (gpio_id >= gpio_cfg->num_gpios) {
- */
+        /* GPIO index out of range */
-void PIOS_GPIO_Toggle(uint8_t Pin)
+        return;
-{
+    }
-    GPIO_ToggleBits(GPIO_PORT[Pin], GPIO_PIN[Pin]);
+
+    const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
+
+    if (GPIO_ReadOutputDataBit(gpio->pin.gpio, gpio->pin.init.GPIO_Pin) == Bit_SET) {
+        if (gpio->active_low) {
+            PIOS_GPIO_On(gpios_dev_id, gpio_id);
+        } else {
+            PIOS_GPIO_Off(gpios_dev_id, gpio_id);
+        }
+    } else {
+        if (gpio->active_low) {
+            PIOS_GPIO_Off(gpios_dev_id, gpio_id);
+        } else {
+            PIOS_GPIO_On(gpios_dev_id, gpio_id);
+        }
+    }
 }
 
 #endif /* PIOS_INCLUDE_GPIO */

flight/pios/stm32f4xx/pios_led.c

@@ -1,177 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_LED LED Functions
- * @brief STM32 Hardware LED handling code
- * @{
- *
- * @file       pios_led.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      LED functions, init, toggle, on & off.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "pios.h"
-
-#ifdef PIOS_INCLUDE_LED
-
-#include <pios_led_priv.h>
-
-static const struct pios_led_cfg *led_cfg;
-
-/**
- * Initialises all the LED's
- */
-int32_t PIOS_LED_Init(const struct pios_led_cfg *cfg)
-{
-    PIOS_Assert(cfg);
-
-    /* Store away the config in a global used by API functions */
-    led_cfg = cfg;
-
-    for (uint8_t i = 0; i < cfg->num_leds; i++) {
-        const struct pios_led *led = &(cfg->leds[i]);
-
-        /* Enable the peripheral clock for the GPIO */
-        switch ((uint32_t)led->pin.gpio) {
-        case (uint32_t)GPIOA:
-            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
-            break;
-        case (uint32_t)GPIOB:
-            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
-            break;
-        case (uint32_t)GPIOC:
-            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
-            break;
-        case (uint32_t)GPIOD:
-            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
-            break;
-        case (uint32_t)GPIOE:
-            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
-            break;
-        case (uint32_t)GPIOF:
-            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);
-            break;
-        case (uint32_t)GPIOG:
-            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG, ENABLE);
-            break;
-        case (uint32_t)GPIOH:
-            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH, ENABLE);
-            break;
-        case (uint32_t)GPIOI:
-            RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOI, ENABLE);
-            break;
-        default:
-            PIOS_Assert(0);
-            break;
-        }
-
-        if (led->remap) {
-            GPIO_PinAFConfig(led->pin.gpio, led->pin.init.GPIO_Pin, led->remap);
-        }
-
-        GPIO_Init(led->pin.gpio, &led->pin.init);
-
-        PIOS_LED_Off(i);
-    }
-
-    return 0;
-}
-
-/**
- * Turn on LED
- * \param[in] LED LED id
- */
-void PIOS_LED_On(uint32_t led_id)
-{
-    PIOS_Assert(led_cfg);
-
-    if (led_id >= led_cfg->num_leds) {
-        /* LED index out of range */
-        return;
-    }
-
-    const struct pios_led *led = &(led_cfg->leds[led_id]);
-
-    if (led->active_high) {
-        GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
-    } else {
-        GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
-    }
-}
-
-/**
- * Turn off LED
- * \param[in] LED LED id
- */
-void PIOS_LED_Off(uint32_t led_id)
-{
-    PIOS_Assert(led_cfg);
-
-    if (led_id >= led_cfg->num_leds) {
-        /* LED index out of range */
-        return;
-    }
-
-    const struct pios_led *led = &(led_cfg->leds[led_id]);
-
-    if (led->active_high) {
-        GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
-    } else {
-        GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
-    }
-}
-
-/**
- * Toggle LED on/off
- * \param[in] LED LED id
- */
-void PIOS_LED_Toggle(uint32_t led_id)
-{
-    PIOS_Assert(led_cfg);
-
-    if (led_id >= led_cfg->num_leds) {
-        /* LED index out of range */
-        return;
-    }
-
-    const struct pios_led *led = &(led_cfg->leds[led_id]);
-
-    if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
-        if (led->active_high) {
-            PIOS_LED_Off(led_id);
-        } else {
-            PIOS_LED_On(led_id);
-        }
-    } else {
-        if (led->active_high) {
-            PIOS_LED_On(led_id);
-        } else {
-            PIOS_LED_Off(led_id);
-        }
-    }
-}
-
-#endif /* PIOS_INCLUDE_LED */
-
-/**
- * @}
- * @}
- */

flight/targets/boards/coptercontrol/board_hw_defs.c

@@ -31,7 +31,7 @@
 #if defined(PIOS_INCLUDE_LED)
 
 #include <pios_led_priv.h>
-static const struct pios_led pios_leds_cc[] = {
+static const struct pios_gpio pios_leds_cc[] = {
     [PIOS_LED_HEARTBEAT] = {
         .pin                =             {
             .gpio = GPIOA,
@@ -41,15 +41,16 @@ static const struct pios_led pios_leds_cc[] = {
                 .GPIO_Speed = GPIO_Speed_50MHz,
             },
         },
+        .active_low         = true
     },
 };
 
-static const struct pios_led_cfg pios_led_cfg_cc = {
+static const struct pios_gpio_cfg pios_led_cfg_cc = {
-    .leds     = pios_leds_cc,
+    .gpios     = pios_leds_cc,
-    .num_leds = NELEMENTS(pios_leds_cc),
+    .num_gpios = NELEMENTS(pios_leds_cc),
 };
 
-static const struct pios_led pios_leds_cc3d[] = {
+static const struct pios_gpio pios_leds_cc3d[] = {
     [PIOS_LED_HEARTBEAT] = {
         .pin                =             {
             .gpio = GPIOB,
@@ -60,15 +61,16 @@ static const struct pios_led pios_leds_cc3d[] = {
             },
         },
         .remap              = GPIO_Remap_SWJ_JTAGDisable,
+        .active_low         = true
     },
 };
 
-static const struct pios_led_cfg pios_led_cfg_cc3d = {
+static const struct pios_gpio_cfg pios_led_cfg_cc3d = {
-    .leds     = pios_leds_cc3d,
+    .gpios     = pios_leds_cc3d,
-    .num_leds = NELEMENTS(pios_leds_cc3d),
+    .num_gpios = NELEMENTS(pios_leds_cc3d),
 };
 
-const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
+const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
 {
     switch (board_revision) {
     case BOARD_REVISION_CC:         return &pios_led_cfg_cc;

flight/targets/boards/coptercontrol/bootloader/pios_board.c

@@ -59,13 +59,10 @@ void PIOS_Board_Init(void)
     /* Delay system */
     PIOS_DELAY_Init();
 
-    /* Initialize the PiOS library */
-    PIOS_GPIO_Init();
-
     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 
 #if defined(PIOS_INCLUDE_LED)
-    const struct pios_led_cfg *led_cfg   = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
+    const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
     PIOS_Assert(led_cfg);
     PIOS_LED_Init(led_cfg);
 #endif /* PIOS_INCLUDE_LED */

flight/targets/boards/coptercontrol/firmware/pios_board.c

@@ -145,7 +145,7 @@ void PIOS_Board_Init(void)
     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 
 #if defined(PIOS_INCLUDE_LED)
-    const struct pios_led_cfg *led_cfg   = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
+    const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
     PIOS_Assert(led_cfg);
     PIOS_LED_Init(led_cfg);
 #endif /* PIOS_INCLUDE_LED */
@@ -865,8 +865,6 @@ void PIOS_Board_Init(void)
         PIOS_Assert(0);
     }
 
-    PIOS_GPIO_Init();
-
     /* Make sure we have at least one telemetry link configured or else fail initialization */
     PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
 }

flight/targets/boards/oplinkmini/board_hw_defs.c

@@ -27,7 +27,7 @@
 #if defined(PIOS_INCLUDE_LED)
 
 #include <pios_led_priv.h>
-static const struct pios_led pios_leds[] = {
+static const struct pios_gpio pios_leds[] = {
     [PIOS_LED_USB] =  {
         .pin                =        {
             .gpio = GPIOA,
@@ -37,6 +37,7 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_Speed = GPIO_Speed_50MHz,
             },
         },
+        .active_low         = true
     },
     [PIOS_LED_LINK] = {
         .pin                =        {
@@ -47,6 +48,7 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_Speed = GPIO_Speed_50MHz,
             },
         },
+        .active_low         = true
     },
     [PIOS_LED_RX] =   {
         .pin                =        {
@@ -57,6 +59,7 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_Speed = GPIO_Speed_50MHz,
             },
         },
+        .active_low         = true
     },
     [PIOS_LED_TX] =   {
         .pin                =        {
@@ -67,6 +70,7 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_Speed = GPIO_Speed_50MHz,
             },
         },
+        .active_low         = true
     },
 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM
     [PIOS_LED_D1] =   {
@@ -112,12 +116,12 @@ static const struct pios_led pios_leds[] = {
 #endif /* ifdef PIOS_RFM22B_DEBUG_ON_TELEM */
 };
 
-static const struct pios_led_cfg pios_led_cfg = {
+static const struct pios_gpio_cfg pios_led_cfg = {
-    .leds     = pios_leds,
+    .gpios     = pios_leds,
-    .num_leds = NELEMENTS(pios_leds),
+    .num_gpios = NELEMENTS(pios_leds),
 };
 
-const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
+const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
 {
     return &pios_led_cfg;
 }

flight/targets/boards/oplinkmini/bootloader/pios_board.c

@@ -59,9 +59,6 @@ void PIOS_Board_Init(void)
     /* Delay system */
     PIOS_DELAY_Init();
 
-    /* Initialize the PiOS library */
-    PIOS_GPIO_Init();
-
 #if defined(PIOS_INCLUDE_LED)
     PIOS_LED_Init(&pios_led_cfg);
 #endif /* PIOS_INCLUDE_LED */

flight/targets/boards/oplinkmini/firmware/pios_board.c

@@ -485,7 +485,6 @@ void PIOS_Board_Init(void)
 #ifdef PIOS_INCLUDE_ADC
     PIOS_ADC_Init();
 #endif
-    PIOS_GPIO_Init();
 }
 
 static void PIOS_Board_PPM_callback(const int16_t *channels)

flight/targets/boards/osd/board_hw_defs.c

@@ -30,7 +30,7 @@
 #if defined(PIOS_INCLUDE_LED)
 
 #include <pios_led_priv.h>
-static const struct pios_led pios_leds[] = {
+static const struct pios_gpio pios_leds[] = {
     [PIOS_LED_HEARTBEAT] = {
         .pin                =             {
             .gpio = GPIOB,
@@ -42,6 +42,7 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
         },
+        .active_low         = true
     },
     [PIOS_LED_ALARM] =     {
         .pin                =             {
@@ -54,15 +55,16 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
         },
+        .active_low         = true
     },
 };
 
-static const struct pios_led_cfg pios_led_cfg = {
+static const struct pios_gpio_cfg pios_led_cfg = {
-    .leds     = pios_leds,
+    .gpios     = pios_leds,
-    .num_leds = NELEMENTS(pios_leds),
+    .num_gpios = NELEMENTS(pios_leds),
 };
 
-const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
+const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
 {
     return &pios_led_cfg;
 }

flight/targets/boards/osd/bootloader/inc/pios_config.h

@@ -35,6 +35,7 @@
 #define PIOS_INCLUDE_USB_HID
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_IAP
+#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_COM_MSG
 #define PIOS_INCLUDE_BL_HELPER

flight/targets/boards/osd/firmware/inc/pios_config.h

@@ -61,7 +61,7 @@
 #define PIOS_INCLUDE_ADC
 #define PIOS_INCLUDE_I2C
 #define PIOS_INCLUDE_SPI
-/* #define PIOS_INCLUDE_GPIO */
+#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
 #define PIOS_INCLUDE_WDG
 

flight/targets/boards/revolution/board_hw_defs.c

@@ -28,7 +28,7 @@
 #if defined(PIOS_INCLUDE_LED)
 
 #include <pios_led_priv.h>
-static const struct pios_led pios_leds[] = {
+static const struct pios_gpio pios_leds[] = {
     [PIOS_LED_HEARTBEAT] = {
         .pin                =             {
             .gpio = GPIOB,
@@ -40,6 +40,7 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
         },
+        .active_low         = true
     },
     [PIOS_LED_ALARM] =     {
         .pin                =             {
@@ -52,6 +53,7 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
         },
+        .active_low         = true
     },
 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM
     [PIOS_LED_D1] =        {
@@ -105,12 +107,12 @@ static const struct pios_led pios_leds[] = {
 #endif /* ifdef PIOS_RFM22B_DEBUG_ON_TELEM */
 };
 
-static const struct pios_led_cfg pios_led_cfg = {
+static const struct pios_gpio_cfg pios_led_cfg = {
-    .leds     = pios_leds,
+    .gpios     = pios_leds,
-    .num_leds = NELEMENTS(pios_leds),
+    .num_gpios = NELEMENTS(pios_leds),
 };
 
-static const struct pios_led pios_leds_v2[] = {
+static const struct pios_gpio pios_leds_v2[] = {
     [PIOS_LED_HEARTBEAT] = {
         .pin                =             {
             .gpio = GPIOB,
@@ -122,6 +124,7 @@ static const struct pios_led pios_leds_v2[] = {
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
         },
+        .active_low         = true
     },
     [PIOS_LED_ALARM] =     {
         .pin                =             {
@@ -134,6 +137,7 @@ static const struct pios_led pios_leds_v2[] = {
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
         },
+        .active_low         = true
     },
 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM
     [PIOS_LED_D1] =        {
@@ -187,12 +191,12 @@ static const struct pios_led pios_leds_v2[] = {
 #endif /* ifdef PIOS_RFM22B_DEBUG_ON_TELEM */
 };
 
-static const struct pios_led_cfg pios_led_v2_cfg = {
+static const struct pios_gpio_cfg pios_led_v2_cfg = {
-    .leds     = pios_leds_v2,
+    .gpios     = pios_leds_v2,
-    .num_leds = NELEMENTS(pios_leds_v2),
+    .num_gpios = NELEMENTS(pios_leds_v2),
 };
 
-const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
+const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
 {
     switch (board_revision) {
     case 2:

flight/targets/boards/revolution/bootloader/inc/pios_config.h

@@ -35,6 +35,7 @@
 #define PIOS_INCLUDE_USB_HID
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_IAP
+#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_COM_MSG
 #define PIOS_INCLUDE_BL_HELPER

flight/targets/boards/revolution/bootloader/pios_board.c

@@ -51,7 +51,7 @@ void PIOS_Board_Init()
     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 
 #if defined(PIOS_INCLUDE_LED)
-    const struct pios_led_cfg *led_cfg   = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
+    const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
     PIOS_Assert(led_cfg);
     PIOS_LED_Init(led_cfg);
 #endif /* PIOS_INCLUDE_LED */

flight/targets/boards/revolution/firmware/inc/pios_config.h

@@ -61,7 +61,7 @@
 #define PIOS_INCLUDE_ADC
 #define PIOS_INCLUDE_I2C
 #define PIOS_INCLUDE_SPI
-/* #define PIOS_INCLUDE_GPIO */
+#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
 #define PIOS_INCLUDE_WDG
 

flight/targets/boards/revolution/firmware/pios_board.c

@@ -346,7 +346,7 @@ void PIOS_Board_Init(void)
     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 
 #if defined(PIOS_INCLUDE_LED)
-    const struct pios_led_cfg *led_cfg   = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
+    const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
     PIOS_Assert(led_cfg);
     PIOS_LED_Init(led_cfg);
 #endif /* PIOS_INCLUDE_LED */

flight/targets/boards/revoproto/board_hw_defs.c

@@ -28,7 +28,7 @@
 #if defined(PIOS_INCLUDE_LED)
 
 #include <pios_led_priv.h>
-static const struct pios_led pios_leds[] = {
+static const struct pios_gpio pios_leds[] = {
     [PIOS_LED_HEARTBEAT] = {
         .pin                =             {
             .gpio = GPIOE,
@@ -40,6 +40,7 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
         },
+        .active_low         = true
     },
     [PIOS_LED_ALARM] =     {
         .pin                =             {
@@ -52,15 +53,16 @@ static const struct pios_led pios_leds[] = {
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
         },
+        .active_low         = true
     },
 };
 
-static const struct pios_led_cfg pios_led_cfg = {
+static const struct pios_gpio_cfg pios_led_cfg = {
-    .leds     = pios_leds,
+    .gpios     = pios_leds,
-    .num_leds = NELEMENTS(pios_leds),
+    .num_gpios = NELEMENTS(pios_leds),
 };
 
-const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
+const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
 {
     return &pios_led_cfg;
 }

flight/targets/boards/revoproto/bootloader/inc/pios_config.h

@@ -35,6 +35,7 @@
 #define PIOS_INCLUDE_USB_HID
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_IAP
+#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_COM_MSG
 #define PIOS_INCLUDE_BL_HELPER

flight/targets/boards/revoproto/firmware/inc/pios_config.h

@@ -61,7 +61,7 @@
 #define PIOS_INCLUDE_ADC
 #define PIOS_INCLUDE_I2C
 #define PIOS_INCLUDE_SPI
-/* #define PIOS_INCLUDE_GPIO */
+#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
 #define PIOS_INCLUDE_WDG
 

flight/targets/common/bootloader_updater/Makefile

@@ -39,6 +39,7 @@ HWDEFSINC	= ../../boards/$(BOARD_NAME)
 # Use file-extension c for "c-only"-files
 SRC += $(OPSYSTEM)/main.c
 SRC += $(OPSYSTEM)/pios_board.c
+SRC += $(PIOSCOMMON)/pios_led.c
 ## PIOS Hardware
 ifeq ($(MCU),cortex-m3)
     include $(PIOS)/stm32f10x/library.mk

flight/targets/common/bootloader_updater/inc/pios_config.h

@@ -35,6 +35,7 @@
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_BL_HELPER
 #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 

flight/targets/common/bootloader_updater/pios_board.c

@@ -41,13 +41,8 @@ void PIOS_Board_Init(void)
 
     /* LEDs */
 #if defined(PIOS_INCLUDE_LED)
-    const struct pios_led_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
+    const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
     PIOS_Assert(led_cfg);
     PIOS_LED_Init(led_cfg);
 #endif /* PIOS_INCLUDE_LED */
-
-    /* Initialize the PiOS library */
-#if defined(PIOS_INCLUDE_GPIO)
-    PIOS_GPIO_Init();
-#endif /* PIOS_INCLUDE_GPIO */
 }

make/apps-defs.mk

@@ -86,6 +86,7 @@ SRC += $(PIOSCOMMON)/pios_rfm22b.c
 SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
 SRC += $(PIOSCOMMON)/pios_sbus.c
 SRC += $(PIOSCOMMON)/pios_sdcard.c
+SRC += $(PIOSCOMMON)/pios_led.c
 
 ## PIOS USB related files
 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c

make/boot-defs.mk

@@ -55,6 +55,7 @@ SRC += $(PIOSCOMMON)/pios_com_msg.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
 SRC += $(PIOSCOMMON)/pios_usb_util.c
+SRC += $(PIOSCOMMON)/pios_led.c
 
 ## Misc library functions
 SRC += $(FLIGHTLIB)/op_dfu.c