ardupilot/libraries/AP_HAL_Linux/GPIO_RPI.h

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#pragma once
#include <stdint.h>
#include "AP_HAL_Linux.h"
#define LOW 0
#define HIGH 1
// Raspberry Pi GPIO memory
#define BCM2708_PERI_BASE 0x20000000
#define BCM2709_PERI_BASE 0x3F000000
#define GPIO_BASE(address) (address + 0x200000)
#define PWM_BASE(address) (address + 0x20C000) /* PWM controller */
#define CLOCK_BASE(address) (address + 0x101000)
#define PWM_CTL 0
#define PWM_RNG1 4
#define PWM_DAT1 5
#define PWMCLK_CNTL 40
#define PWMCLK_DIV 41
#define PAGE_SIZE (4*1024)
#define BLOCK_SIZE (4*1024)
// GPIO setup. Always use INP_GPIO(x) before OUT_GPIO(x) or SET_GPIO_ALT(x,y)
#define GPIO_MODE_IN(g) *(gpio+((g)/10)) &= ~(7<<(((g)%10)*3))
#define GPIO_MODE_OUT(g) *(gpio+((g)/10)) |= (1<<(((g)%10)*3))
#define GPIO_MODE_ALT(g,a) *(gpio+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))
#define GPIO_SET_HIGH *(gpio+7) // sets bits which are 1
#define GPIO_SET_LOW *(gpio+10) // clears bits which are 1
#define GPIO_GET(g) (*(gpio+13)&(1<<g)) // 0 if LOW, (1<<g) if HIGH
// Raspberry Pi GPIO mapping
#define RPI_GPIO_2 2 // Pin 3 SDA
#define RPI_GPIO_3 3 // Pin 5 SCL
#define RPI_GPIO_4 4 // Pin 7 BH_PCA9685_OE
#define RPI_GPIO_5 5 // Pin 29 BH_PWM_INPUT_0
#define RPI_GPIO_6 6 // Pin 31 BH_PWM_INPUT_1
#define RPI_GPIO_7 7 // Pin 26 CE1 MPU9250_CS
#define RPI_GPIO_8 8 // Pin 24 CE0 UBLOX_CS
#define RPI_GPIO_9 9 // Pin 21 MISO
#define RPI_GPIO_10 10 // Pin 19 MOSI
#define RPI_GPIO_11 11 // Pin 23 SCLK
#define RPI_GPIO_12 12 // Pin 32 BH_PWM_INPUT_2
#define RPI_GPIO_13 13 // Pin 33 BH_PWM_INPUT_3
#define RPI_GPIO_14 14 // Pin 8 TxD
#define RPI_GPIO_15 15 // Pin 10 RxD
#define RPI_GPIO_16 16 // Pin 36
#define RPI_GPIO_17 17 // Pin 11 UART_PORT_5
#define RPI_GPIO_18 18 // Pin 12 UART_PORT_4
#define RPI_GPIO_19 19 // Pin 35 BH_PWM_INPUT_4
#define RPI_GPIO_20 20 // Pin 38 BH_PWM_INPUT_5
#define RPI_GPIO_21 21 // Pin 40 BH_PWM_INPUT_6
#define RPI_GPIO_22 22 // Pin 15 UBLOX_PPS
#define RPI_GPIO_23 23 // Pin 16 MPU9250_DRDY BH_MPU6050_INTA
#define RPI_GPIO_24 24 // Pin 18 SPI_PORT_6
#define RPI_GPIO_25 25 // Pin 22 SPI_PORT_5
#define RPI_GPIO_26 26 // Pin 37 BH_PWM_INPUT_7
#define RPI_GPIO_27 27 // Pin 13
#define RPI_GPIO_28 28 // Pin 3
#define RPI_GPIO_29 29 // Pin 4
#define RPI_GPIO_30 30 // Pin 5
#define RPI_GPIO_31 31 // Pin 6
class Linux::GPIO_RPI : public AP_HAL::GPIO {
private:
int mem_fd;
void *gpio_map;
void *pwm_map;
void *clk_map;
volatile uint32_t *gpio;
volatile uint32_t *pwm;
volatile uint32_t *clk;
void setPWM0Period(uint32_t time_us);
void setPWM0Duty(uint8_t percent);
public:
GPIO_RPI();
void init();
void pinMode(uint8_t pin, uint8_t output);
void pinMode(uint8_t pin, uint8_t output, uint8_t alt);
int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
void setPWMPeriod(uint8_t pin, uint32_t time_us);
void setPWMDuty(uint8_t pin, uint8_t percent);
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n);
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode);
/* return true if USB cable is connected */
bool usb_connected(void);
};