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PX4: support PX4IO relay pins 

this allows the pins to be used in the relay code
This commit is contained in:
Andrew Tridgell 2013-08-28 22:37:47 +10:00
parent 2ba9ce60e3
commit 0527bae8cb
2 changed files with 92 additions and 18 deletions
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98
libraries/AP_HAL_PX4/GPIO.cpp
View File

@ -15,6 +15,7 @@
#include <drivers/drv_led.h>
#include <drivers/drv_tone_alarm.h>
#include <drivers/drv_gpio.h>
#include <modules/px4iofirmware/protocol.h>
#define LOW 1
#define HIGH 0
@ -46,15 +47,20 @@ void PX4GPIO::init()
}
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
_gpio_fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (_gpio_fd == -1) {
_gpio_fmu_fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (_gpio_fmu_fd == -1) {
hal.scheduler->panic("Unable to open GPIO");
}
if (ioctl(_gpio_fd, GPIO_CLEAR, GPIO_EXT_1) != 0) {
if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_EXT_1) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO_1\n");
}
#endif
// also try to setup for the relay pins on the IO board
_gpio_io_fd = open(PX4IO_DEVICE_PATH, O_RDWR);
if (_gpio_io_fd == -1) {
hal.console->printf("GPIO: Unable to open px4io\n");
}
}
void PX4GPIO::pinMode(uint8_t pin, uint8_t output)
@ -67,14 +73,50 @@ int8_t PX4GPIO::analogPinToDigitalPin(uint8_t pin)
uint8_t PX4GPIO::read(uint8_t pin) {
return 0;
uint32_t relays = 0;
switch (pin) {
#ifdef GPIO_EXT_1
case PX4_GPIO_EXT_FMU_RELAY1_PIN:
ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays);
return (relays & GPIO_EXT_1)?HIGH:LOW;
#endif
#ifdef GPIO_EXT_2
case PX4_GPIO_EXT_FMU_RELAY2_PIN:
ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays);
return (relays & GPIO_EXT_2)?HIGH:LOW;
break;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_POWER1
case PX4_GPIO_EXT_IO_RELAY1_PIN:
ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
return (relays & PX4IO_P_SETUP_RELAYS_POWER1)?HIGH:LOW;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_POWER2
case PX4_GPIO_EXT_IO_RELAY2_PIN:
ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
return (relays & PX4IO_P_SETUP_RELAYS_POWER2)?HIGH:LOW;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_ACC1
case PX4_GPIO_EXT_IO_ACC1_PIN:
ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
return (relays & PX4IO_P_SETUP_RELAYS_ACC1)?HIGH:LOW;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_ACC2
case PX4_GPIO_EXT_IO_ACC2_PIN:
ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
return (relays & PX4IO_P_SETUP_RELAYS_ACC2)?HIGH:LOW;
#endif
}
}
void PX4GPIO::write(uint8_t pin, uint8_t value)
{
//char *user_tune = "MBL4O6C";
switch (pin) {
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
@ -107,15 +149,41 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
}
break;
case PX4_GPIO_EXT_RELAY_PIN: // Ext Relay
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
if (value == LOW) {
ioctl(_gpio_fd, GPIO_CLEAR, GPIO_EXT_1);
} else {
ioctl(_gpio_fd, GPIO_SET, GPIO_EXT_1);
}
#endif
#ifdef GPIO_EXT_1
case PX4_GPIO_EXT_FMU_RELAY1_PIN:
ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_1);
break;
#endif
#ifdef GPIO_EXT_2
case PX4_GPIO_EXT_FMU_RELAY2_PIN:
ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_2);
break;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_POWER1
case PX4_GPIO_EXT_IO_RELAY1_PIN:
ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_POWER1);
break;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_POWER2
case PX4_GPIO_EXT_IO_RELAY2_PIN:
ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_POWER2);
break;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_ACC1
case PX4_GPIO_EXT_IO_ACC1_PIN:
ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_ACC1);
break;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_ACC2
case PX4_GPIO_EXT_IO_ACC2_PIN:
ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_ACC2);
break;
#endif
}
}

12
libraries/AP_HAL_PX4/GPIO.h
View File

@ -6,7 +6,12 @@
#include <AP_HAL_PX4.h>
#define PX4_GPIO_PIEZO_PIN 110
#define PX4_GPIO_EXT_RELAY_PIN 111
#define PX4_GPIO_EXT_FMU_RELAY1_PIN 111
#define PX4_GPIO_EXT_FMU_RELAY2_PIN 112
#define PX4_GPIO_EXT_IO_RELAY1_PIN 113
#define PX4_GPIO_EXT_IO_RELAY2_PIN 114
#define PX4_GPIO_EXT_IO_ACC1_PIN 115
#define PX4_GPIO_EXT_IO_ACC2_PIN 116
class PX4::PX4GPIO : public AP_HAL::GPIO {
public:
@ -26,7 +31,8 @@ public:
private:
int _led_fd;
int _tone_alarm_fd;
int _gpio_fd;
int _gpio_fmu_fd;
int _gpio_io_fd;
};
class PX4::PX4DigitalSource : public AP_HAL::DigitalSource {
@ -39,4 +45,4 @@ private:
uint8_t _v;
};
#endif // __AP_HAL_EMPTY_GPIO_H__
#endif // __AP_HAL_PX4_GPIO_H__