[ArDrone] Add protection to lowlevel driver that can short-circuit th…

…e board.
LingxiaoJIA · Aug 31, 2013 · 0a8d097 · 0a8d097
1 parent 1fac821
commit 0a8d097
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/sw/airborne/boards/ardrone/actuators_ardrone2_raw.c b/sw/airborne/boards/ardrone/actuators_ardrone2_raw.c
@@ -52,7 +52,7 @@
  */
 int mot_fd; /**< File descriptor for the port */
 
-#define ARDRONE_GPIO_PORT	0		// Dummy for paparazzi compatibility
+#define ARDRONE_GPIO_PORT				0x32524
 
 #define ARDRONE_GPIO_PIN_MOTOR1			171
 #define ARDRONE_GPIO_PIN_MOTOR2			172

diff --git a/sw/airborne/boards/ardrone/gpio_ardrone.c b/sw/airborne/boards/ardrone/gpio_ardrone.c
@@ -53,6 +53,7 @@ struct gpio_direction {
 
 void gpio_set(uint32_t port, uint16_t pin)
 {
+  if (port != 0x32524) return;	// protect ardrone board from unauthorized use
   struct gpio_data data;
   // Open the device if not open
   if (gpiofp == 0)
@@ -67,6 +68,7 @@ void gpio_set(uint32_t port, uint16_t pin)
 
 void gpio_clear(uint32_t port, uint16_t pin)
 {
+  if (port != 0x32524) return;	// protect ardrone board from unauthorized use
   struct gpio_data data;
   // Open the device if not open
   if (gpiofp == 0)
@@ -81,6 +83,7 @@ void gpio_clear(uint32_t port, uint16_t pin)
 
 void gpio_setup_input(uint32_t port, uint16_t pin)
 {
+  if (port != 0x32524) return;	// protect ardrone board from unauthorized use
   struct gpio_direction dir;
   // Open the device if not open
   if (gpiofp == 0)
@@ -95,6 +98,7 @@ void gpio_setup_input(uint32_t port, uint16_t pin)
 
 void gpio_setup_output(uint32_t port, uint16_t pin)
 {
+  if (port != 0x32524) return;	// protect ardrone board from unauthorized use
   struct gpio_direction dir;
   // Open the device if not open
   if (gpiofp == 0)
@@ -108,8 +112,9 @@ void gpio_setup_output(uint32_t port, uint16_t pin)
 
 
 
-uint16_t gpio_get(uint32_t gpioport, uint16_t pin)
+uint16_t gpio_get(uint32_t port, uint16_t pin)
 {
+  if (port != 0x32524) return 0;	// protect ardrone board from unauthorized use
   struct gpio_data data;
   // Open the device if not open
   if (gpiofp == 0)