From b74d049e89acf24fdd86d2873fb30ed3f93ddcf6 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Wed, 18 Jan 2017 10:38:26 -1000
Subject: [PATCH] AUAVX21 **corrected** and moved GPIO defines to
 auav-x21/board_config.h

---
 src/drivers/boards/auav-x21/board_config.h | 17 ++++++++++++
 src/drivers/drv_gpio.h                     | 32 ++--------------------
 2 files changed, 19 insertions(+), 30 deletions(-)

diff --git a/src/drivers/boards/auav-x21/board_config.h b/src/drivers/boards/auav-x21/board_config.h
index b261426d4e..ccb5811c85 100644
--- a/src/drivers/boards/auav-x21/board_config.h
+++ b/src/drivers/boards/auav-x21/board_config.h
@@ -232,6 +232,23 @@
 		{GPIO_VDD_BRICK_VALID,   0,                       0}, \
 		{GPIO_VDD_5V_PERIPH_OC,  0,                       0}, }
 
+/*
+ * GPIO numbers.
+ *
+ * There are no alternate functions on this board.
+ */
+
+#define GPIO_SERVO_1          (1<<0)  /**< servo 1 output */
+#define GPIO_SERVO_2          (1<<1)  /**< servo 2 output */
+#define GPIO_SERVO_3          (1<<2)  /**< servo 3 output */
+#define GPIO_SERVO_4          (1<<3)  /**< servo 4 output */
+#define GPIO_SERVO_5          (1<<4)  /**< servo 5 output */
+#define GPIO_SERVO_6          (1<<5)  /**< servo 6 output */
+
+#define GPIO_3V3_SENSORS_EN   (1<<6)  /**< PE3 - VDD_3V3_SENSORS_EN */
+#define GPIO_BRICK_VALID      (1<<7)  /**< PB5 - !VDD_BRICK_VALID */
+#define GPIO_5V_PERIPH_OC     (1<<8) /**< PE10 - !VDD_5V_PERIPH_OC */
+
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index dc0f695203..56cb9d0579 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -50,34 +50,6 @@
 #define PX4FMU_DEVICE_PATH	"/dev/px4fmu"
 #define PX4IO_DEVICE_PATH	"/dev/px4io"
 
-#ifdef CONFIG_ARCH_BOARD_AUAV_X21
-/*
- * PX4FMUv2 GPIO numbers.
- *
- * There are no alternate functions on this board.
- */
-# define GPIO_SERVO_1		(1<<0)		/**< servo 1 output */
-# define GPIO_SERVO_2		(1<<1)		/**< servo 2 output */
-# define GPIO_SERVO_3		(1<<2)		/**< servo 3 output */
-# define GPIO_SERVO_4		(1<<3)		/**< servo 4 output */
-# define GPIO_SERVO_5		(1<<4)		/**< servo 5 output */
-# define GPIO_SERVO_6		(1<<5)		/**< servo 6 output */
-
-# define GPIO_5V_PERIPH_EN	(1<<6)		/**< PA8 - !VDD_5V_PERIPH_EN */
-# define GPIO_3V3_SENSORS_EN	(1<<7)		/**< PE3 - VDD_3V3_SENSORS_EN */
-# define GPIO_BRICK_VALID	(1<<8)		/**< PB5 - !VDD_BRICK_VALID */
-# define GPIO_SERVO_VALID	(1<<9)		/**< PB7 - !VDD_SERVO_VALID */
-# define GPIO_5V_HIPOWER_OC	(1<<10)		/**< PE10 - !VDD_5V_HIPOWER_OC */
-# define GPIO_5V_PERIPH_OC	(1<<11)		/**< PE10 - !VDD_5V_PERIPH_OC */
-
-/**
- * Device paths for things that support the GPIO ioctl protocol.
- */
-# define PX4FMU_DEVICE_PATH	"/dev/px4fmu"
-# define PX4IO_DEVICE_PATH	"/dev/px4io"
-
-#endif
-
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 /*
  * PX4FMU GPIO numbers.
@@ -310,9 +282,9 @@
 /* no GPIO driver on the SITL configuration */
 #endif
 
-#if	!defined(CONFIG_ARCH_BOARD_AEROCORE)             && \
+#if	!defined(BOARD_HAS_FMU_GPIO)                     && \
+	!defined(CONFIG_ARCH_BOARD_AEROCORE)             && \
 	!defined(CONFIG_ARCH_BOARD_AEROFC_V1)            && \
-	!defined(CONFIG_ARCH_BOARD_AUAV_X21)             && \
 	!defined(CONFIG_ARCH_BOARD_CRAZYFLIE)            && \
 	!defined(CONFIG_ARCH_BOARD_MINDPX_V2)            && \
 	!defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \