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HAL_Chibios: align GPIO pins with px4 build

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This commit is contained in:
Andrew Tridgell 2018-01-06 21:22:05 +11:00
parent 60b1eab06d
commit 21f40da510
1 changed files with 63 additions and 28 deletions
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91
libraries/AP_HAL_ChibiOS/GPIO.cpp
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@ -17,23 +17,46 @@
#include "GPIO.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <AP_BoardConfig/AP_BoardConfig.h>
using namespace ChibiOS;
static uint32_t _gpio_tab[] = {
static struct gpio_entry {
uint8_t pin_num;
bool enabled;
ioline_t pal_line;
} _gpio_tab[] = {
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
PAL_LINE(GPIOB, 7U),
PAL_LINE(GPIOB, 6U)
{0, PAL_LINE(GPIOB, 7U)},
{1, PAL_LINE(GPIOB, 6U)},
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
LINE_LED1,
PAL_LINE(GPIOB, 0U)
// pin numbers chosen to match px4 build
{0, true, LINE_LED1},
{1, true, PAL_LINE(GPIOB, 0U)},
{50, false, PAL_LINE(GPIOE, 14U)},
{51, false, PAL_LINE(GPIOE, 13U)},
{52, false, PAL_LINE(GPIOE, 11U)},
{53, false, PAL_LINE(GPIOE, 9U)},
{54, true, PAL_LINE(GPIOD, 13U)},
{55, true, PAL_LINE(GPIOD, 14U)},
#endif
};
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
static const uint8_t num_leds = 3;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
static const uint8_t num_leds = 1;
#endif
#define NUM_PINS ARRAY_SIZE(_gpio_tab)
#define PIN_ENABLED(pin) ((pin)<NUM_PINS && _gpio_tab[pin].enabled)
/*
map a user pin number to a GPIO table entry
*/
static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num)
{
for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
if (pin_num == _gpio_tab[i].pin_num) {
return &_gpio_tab[i];
}
}
return NULL;
}
static void ext_interrupt_cb(EXTDriver *extp, expchannel_t channel);
@ -90,16 +113,27 @@ ChibiGPIO::ChibiGPIO()
void ChibiGPIO::init()
{
//palClearLine(_gpio_tab[0]);
extStart(&EXTD1, &extcfg);
uint8_t pwm_count = AP_BoardConfig::get_pwm_count();
for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
uint8_t pin_num = _gpio_tab[i].pin_num;
if (pin_num >= 50 && pin_num <= 55) {
// enable GPIOs based on BRD_PWM_COUNT
if (pin_num < 50 + pwm_count) {
_gpio_tab[i].enabled = false;
} else {
_gpio_tab[i].enabled = true;
}
}
}
}
void ChibiGPIO::pinMode(uint8_t pin, uint8_t output)
{
if(pin >= num_leds) {
return;
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
palSetLineMode(g->pal_line, output);
}
palSetLineMode(_gpio_tab[pin], output);
}
int8_t ChibiGPIO::analogPinToDigitalPin(uint8_t pin)
@ -108,31 +142,32 @@ int8_t ChibiGPIO::analogPinToDigitalPin(uint8_t pin)
}
uint8_t ChibiGPIO::read(uint8_t pin) {
if(pin >= num_leds) {
return 0;
uint8_t ChibiGPIO::read(uint8_t pin)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
return palReadLine(g->pal_line);
}
return palReadLine(_gpio_tab[pin]);
}
void ChibiGPIO::write(uint8_t pin, uint8_t value)
{
if(pin >= num_leds) {
return;
}
if (value == PAL_LOW) {
palClearLine(_gpio_tab[pin]);
} else {
palSetLine(_gpio_tab[pin]);
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
if (value == PAL_LOW) {
palClearLine(g->pal_line);
} else {
palSetLine(g->pal_line);
}
}
}
void ChibiGPIO::toggle(uint8_t pin)
{
if(pin >= num_leds) {
return;
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
palToggleLine(g->pal_line);
}
palToggleLine(_gpio_tab[pin]);
}
/* Alternative interface: */