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AP_HAL_Linux: use GPIO_Sysfs for Navio

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/boot/config.txt: dtoverlay=navio-rgb should be disabled for this thing
to work, though.
This commit is contained in:
Georgii Staroselskii 2017-11-02 16:45:18 +03:00 committed by Lucas De Marchi
parent 4e02637f23
commit 56534b34c5
6 changed files with 53 additions and 8 deletions
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5
libraries/AP_HAL_Linux/GPIO.h
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@ -23,12 +23,13 @@ private:
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
#include "GPIO_BBB.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
#include "GPIO_RPI.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#include "GPIO_Navio.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
#include "GPIO_Navio2.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE

24
libraries/AP_HAL_Linux/GPIO_Navio.cpp Normal file
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@ -0,0 +1,24 @@
#include <AP_Common/AP_Common.h>
#include "GPIO_Navio.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
const unsigned Linux::GPIO_Sysfs::pin_table[] = {
[NAVIO_GPIO_A] = 21,
[NAVIO_GPIO_B] = 26,
[NAVIO_GPIO_C] = 20,
[NAVIO_GPIO_IO17] = 17,
[NAVIO_GPIO_IO18] = 18,
[NAVIO_GPIO_IO24] = 24,
[NAVIO_GPIO_IO25] = 25,
[NAVIO_GPIO_PCA_OE] = 27,
[NAVIO_GPIO_PPM_IN] = 4,
};
const uint8_t Linux::GPIO_Sysfs::n_pins = _NAVIO_GPIO_MAX;
static_assert(ARRAY_SIZE(Linux::GPIO_Sysfs::pin_table) == _NAVIO_GPIO_MAX,
"GPIO pin_table must have the same size of entries in enum gpio_minnow");
#endif

16
libraries/AP_HAL_Linux/GPIO_Navio.h Normal file
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@ -0,0 +1,16 @@
#pragma once
#include "GPIO_Sysfs.h"
enum gpio_navio {
NAVIO_GPIO_A,
NAVIO_GPIO_B,
NAVIO_GPIO_C,
NAVIO_GPIO_IO17,
NAVIO_GPIO_IO18,
NAVIO_GPIO_IO24,
NAVIO_GPIO_IO25,
NAVIO_GPIO_PCA_OE,
NAVIO_GPIO_PPM_IN,
_NAVIO_GPIO_MAX,
};

3
libraries/AP_HAL_Linux/GPIO_RPI.cpp
View File

@ -1,7 +1,6 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI

10
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -110,13 +110,13 @@ static GPIO_BBB gpioDriver;
/*
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static GPIO_RPI gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static GPIO_Sysfs gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \
@ -173,9 +173,11 @@ static RCOutput_AioPRU rcoutDriver;
/*
use the PCA9685 based RCOutput driver on Navio and Erle-Brain 2
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, RPI_GPIO_27);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, NAVIO_GPIO_PCA_OE);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATENARY_ADDRESS), false, 0, RPI_GPIO_4);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK

3
libraries/AP_HAL_Linux/RCInput_RPI.cpp
View File

@ -38,6 +38,9 @@
#define RCIN_RPI_MAX_COUNTER 1300
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
#define PPM_INPUT_RPI RPI_GPIO_5
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define PPM_INPUT_RPI NAVIO_GPIO_PPM_IN
#define PAGE_SIZE (4*1024)
#else
#define PPM_INPUT_RPI RPI_GPIO_4
#endif