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AP_HAL: add toggle to GPIO

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This commit is contained in:
Randy Mackay 2013-08-08 22:14:06 +09:00 committed by Andrew Tridgell
parent b1278fa006
commit ac36a09747
9 changed files with 311 additions and 191 deletions
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4
libraries/AP_HAL/GPIO.h
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@ -17,7 +17,8 @@ class AP_HAL::DigitalSource {
public: public:
virtual void mode(uint8_t output) = 0; virtual void mode(uint8_t output) = 0;
virtual uint8_t read() = 0; virtual uint8_t read() = 0;
virtual void write(uint8_t value) = 0; virtual void write(uint8_t value) = 0;
virtual void toggle() = 0;
}; };
class AP_HAL::GPIO { class AP_HAL::GPIO {
@ -27,6 +28,7 @@ public:
virtual void pinMode(uint8_t pin, uint8_t output) = 0; virtual void pinMode(uint8_t pin, uint8_t output) = 0;
virtual uint8_t read(uint8_t pin) = 0; virtual uint8_t read(uint8_t pin) = 0;
virtual void write(uint8_t pin, uint8_t value) = 0; virtual void write(uint8_t pin, uint8_t value) = 0;
virtual void toggle(uint8_t pin) = 0;
virtual int8_t analogPinToDigitalPin(uint8_t pin) = 0; virtual int8_t analogPinToDigitalPin(uint8_t pin) = 0;
/* Alternative interface: */ /* Alternative interface: */

31
libraries/AP_HAL_AVR/GPIO.cpp
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@ -97,6 +97,23 @@ void AVRGPIO::write(uint8_t pin, uint8_t value) {
SREG = oldSREG; SREG = oldSREG;
} }
void AVRGPIO::toggle(uint8_t pin) {
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
volatile uint8_t *out;
if (port == NOT_A_PIN) return;
out = portOutputRegister(port);
uint8_t oldSREG = SREG;
cli();
*out ^= bit;
SREG = oldSREG;
}
/* Implement GPIO Interrupt 6, used for MPU6000 data ready on APM2. */ /* Implement GPIO Interrupt 6, used for MPU6000 data ready on APM2. */
bool AVRGPIO::attach_interrupt( bool AVRGPIO::attach_interrupt(
uint8_t interrupt_num, AP_HAL::Proc proc, uint8_t mode) { uint8_t interrupt_num, AP_HAL::Proc proc, uint8_t mode) {
@ -171,5 +188,19 @@ void AVRDigitalSource::write(uint8_t value) {
SREG = oldSREG; SREG = oldSREG;
} }
void AVRDigitalSource::toggle() {
const uint8_t bit = _bit;
const uint8_t port = _port;
volatile uint8_t* out;
out = portOutputRegister(port);
uint8_t oldSREG = SREG;
cli();
*out ^= bit;
SREG = oldSREG;
}
#endif #endif

16
libraries/AP_HAL_AVR/GPIO.h
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@ -5,12 +5,27 @@
#include <AP_HAL.h> #include <AP_HAL.h>
#include "AP_HAL_AVR_Namespace.h" #include "AP_HAL_AVR_Namespace.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define HAL_GPIO_A_LED_PIN 37
# define HAL_GPIO_B_LED_PIN 36
# define HAL_GPIO_C_LED_PIN 35
# define HAL_GPIO_LED_ON HIGH
# define HAL_GPIO_LED_OFF LOW
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#endif
class AP_HAL_AVR::AVRDigitalSource : public AP_HAL::DigitalSource { class AP_HAL_AVR::AVRDigitalSource : public AP_HAL::DigitalSource {
public: public:
AVRDigitalSource(uint8_t bit, uint8_t port) : _bit(bit), _port(port) {} AVRDigitalSource(uint8_t bit, uint8_t port) : _bit(bit), _port(port) {}
void mode(uint8_t output); void mode(uint8_t output);
uint8_t read(); uint8_t read();
void write(uint8_t value); void write(uint8_t value);
void toggle();
private: private:
const uint8_t _bit; const uint8_t _bit;
@ -25,6 +40,7 @@ public:
int8_t analogPinToDigitalPin(uint8_t pin); int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin); uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value); void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
AP_HAL::DigitalSource* channel(uint16_t); AP_HAL::DigitalSource* channel(uint16_t);
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc proc, bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc proc,
uint8_t mode); uint8_t mode);

114
libraries/AP_HAL_Empty/GPIO.cpp
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@ -1,54 +1,60 @@
#include "GPIO.h" #include "GPIO.h"
using namespace Empty; using namespace Empty;
EmptyGPIO::EmptyGPIO() EmptyGPIO::EmptyGPIO()
{} {}
void EmptyGPIO::init() void EmptyGPIO::init()
{} {}
void EmptyGPIO::pinMode(uint8_t pin, uint8_t output) void EmptyGPIO::pinMode(uint8_t pin, uint8_t output)
{} {}
int8_t EmptyGPIO::analogPinToDigitalPin(uint8_t pin) int8_t EmptyGPIO::analogPinToDigitalPin(uint8_t pin)
{ {
return -1; return -1;
} }
uint8_t EmptyGPIO::read(uint8_t pin) { uint8_t EmptyGPIO::read(uint8_t pin) {
return 0; return 0;
} }
void EmptyGPIO::write(uint8_t pin, uint8_t value) void EmptyGPIO::write(uint8_t pin, uint8_t value)
{} {}
/* Alternative interface: */ void EmptyGPIO::toggle(uint8_t pin)
AP_HAL::DigitalSource* EmptyGPIO::channel(uint16_t n) { {}
return new EmptyDigitalSource(0);
} /* Alternative interface: */
AP_HAL::DigitalSource* EmptyGPIO::channel(uint16_t n) {
/* Interrupt interface: */ return new EmptyDigitalSource(0);
bool EmptyGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, }
uint8_t mode) {
return true; /* Interrupt interface: */
} bool EmptyGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode) {
return true;
EmptyDigitalSource::EmptyDigitalSource(uint8_t v) : }
_v(v)
{}
EmptyDigitalSource::EmptyDigitalSource(uint8_t v) :
void EmptyDigitalSource::mode(uint8_t output) _v(v)
{} {}
uint8_t EmptyDigitalSource::read() { void EmptyDigitalSource::mode(uint8_t output)
return _v; {}
}
uint8_t EmptyDigitalSource::read() {
void EmptyDigitalSource::write(uint8_t value) { return _v;
_v = value; }
}
void EmptyDigitalSource::write(uint8_t value) {
_v = value;
}
void EmptyDigitalSource::toggle() {
_v = !_v;
}

72
libraries/AP_HAL_Empty/GPIO.h
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@ -1,35 +1,37 @@
#ifndef __AP_HAL_EMPTY_GPIO_H__ #ifndef __AP_HAL_EMPTY_GPIO_H__
#define __AP_HAL_EMPTY_GPIO_H__ #define __AP_HAL_EMPTY_GPIO_H__
#include <AP_HAL_Empty.h> #include <AP_HAL_Empty.h>
class Empty::EmptyGPIO : public AP_HAL::GPIO { class Empty::EmptyGPIO : public AP_HAL::GPIO {
public: public:
EmptyGPIO(); EmptyGPIO();
void init(); void init();
void pinMode(uint8_t pin, uint8_t output); void pinMode(uint8_t pin, uint8_t output);
int8_t analogPinToDigitalPin(uint8_t pin); int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin); uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value); void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n); /* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n);
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, /* Interrupt interface: */
uint8_t mode); bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode);
};
};
class Empty::EmptyDigitalSource : public AP_HAL::DigitalSource {
public: class Empty::EmptyDigitalSource : public AP_HAL::DigitalSource {
EmptyDigitalSource(uint8_t v); public:
void mode(uint8_t output); EmptyDigitalSource(uint8_t v);
uint8_t read(); void mode(uint8_t output);
void write(uint8_t value); uint8_t read();
private: void write(uint8_t value);
uint8_t _v; void toggle();
}; private:
uint8_t _v;
#endif // __AP_HAL_EMPTY_GPIO_H__ };
#endif // __AP_HAL_EMPTY_GPIO_H__

39
libraries/AP_HAL_PX4/GPIO.cpp
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@ -120,7 +120,7 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
switch (pin) { switch (pin) {
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 #ifdef CONFIG_ARCH_BOARD_PX4IO_V1
case A_LED_PIN: // Arming LED case HAL_GPIO_A_LED_PIN: // Arming LED
if (value == LOW) { if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_RED); ioctl(_led_fd, LED_OFF, LED_RED);
} else { } else {
@ -128,10 +128,10 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
} }
break; break;
case B_LED_PIN: // not used yet case HAL_GPIO_B_LED_PIN: // not used yet
break; break;
case C_LED_PIN: // GPS LED case HAL_GPIO_C_LED_PIN: // GPS LED
if (value == LOW) { if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_BLUE); ioctl(_led_fd, LED_OFF, LED_BLUE);
} else { } else {
@ -187,6 +187,35 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
} }
} }
void PX4GPIO::toggle(uint8_t pin)
{
switch (pin) {
case HAL_GPIO_A_LED_PIN: // Arming LED
ioctl(_led_fd, LED_OFF, LED_RED);
ioctl(_led_fd, LED_ON, LED_RED);
break;
case HAL_GPIO_B_LED_PIN: // not used yet
break;
case HAL_GPIO_C_LED_PIN: // GPS LED
ioctl(_led_fd, LED_OFF, LED_BLUE);
ioctl(_led_fd, LED_ON, LED_BLUE);
break;
case PX4_GPIO_PIEZO_PIN: // Piezo beeper
ioctl(_tone_alarm_fd, TONE_SET_ALARM, 3); // Alarm on !!
ioctl(_tone_alarm_fd, TONE_SET_ALARM, 0); // Alarm off !!
break;
case PX4_GPIO_EXT_RELAY_PIN: // Ext Relay
ioctl(_gpio_fd, GPIO_CLEAR, GPIO_EXT_1);
ioctl(_gpio_fd, GPIO_SET, GPIO_EXT_1);
break;
}
}
/* Alternative interface: */ /* Alternative interface: */
AP_HAL::DigitalSource* PX4GPIO::channel(uint16_t n) { AP_HAL::DigitalSource* PX4GPIO::channel(uint16_t n) {
return new PX4DigitalSource(0); return new PX4DigitalSource(0);
@ -214,4 +243,8 @@ void PX4DigitalSource::write(uint8_t value) {
_v = value; _v = value;
} }
void PX4DigitalSource::toggle() {
_v = !_v;
}
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD

12
libraries/AP_HAL_PX4/GPIO.h
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@ -13,6 +13,14 @@
#define PX4_GPIO_EXT_IO_ACC1_PIN 115 #define PX4_GPIO_EXT_IO_ACC1_PIN 115
#define PX4_GPIO_EXT_IO_ACC2_PIN 116 #define PX4_GPIO_EXT_IO_ACC2_PIN 116
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#endif
class PX4::PX4GPIO : public AP_HAL::GPIO { class PX4::PX4GPIO : public AP_HAL::GPIO {
public: public:
PX4GPIO(); PX4GPIO();
@ -21,6 +29,7 @@ public:
int8_t analogPinToDigitalPin(uint8_t pin); int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin); uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value); void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
/* Alternative interface: */ /* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n); AP_HAL::DigitalSource* channel(uint16_t n);
@ -40,7 +49,8 @@ public:
PX4DigitalSource(uint8_t v); PX4DigitalSource(uint8_t v);
void mode(uint8_t output); void mode(uint8_t output);
uint8_t read(); uint8_t read();
void write(uint8_t value); void write(uint8_t value);
void toggle();
private: private:
uint8_t _v; uint8_t _v;
}; };

133
libraries/AP_HAL_SMACCM/GPIO.cpp
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@ -1,62 +1,71 @@
#include "GPIO.h" #include "GPIO.h"
using namespace SMACCM; using namespace SMACCM;
SMACCMGPIO::SMACCMGPIO() SMACCMGPIO::SMACCMGPIO()
{ {
} }
void SMACCMGPIO::init() void SMACCMGPIO::init()
{ {
} }
void SMACCMGPIO::pinMode(uint8_t pin, uint8_t output) void SMACCMGPIO::pinMode(uint8_t pin, uint8_t output)
{ {
} }
int8_t SMACCMGPIO::analogPinToDigitalPin(uint8_t pin) int8_t SMACCMGPIO::analogPinToDigitalPin(uint8_t pin)
{ {
return -1; return -1;
} }
uint8_t SMACCMGPIO::read(uint8_t pin) uint8_t SMACCMGPIO::read(uint8_t pin)
{ {
return 0; return 0;
} }
void SMACCMGPIO::write(uint8_t pin, uint8_t value) void SMACCMGPIO::write(uint8_t pin, uint8_t value)
{ {
} }
/* Alternative interface: */ void SMACCMGPIO::toggle(uint8_t pin)
AP_HAL::DigitalSource* SMACCMGPIO::channel(uint16_t n) {
{ }
return NULL;
} /* Alternative interface: */
AP_HAL::DigitalSource* SMACCMGPIO::channel(uint16_t n)
/* Interrupt interface: */ {
bool SMACCMGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, return NULL;
uint8_t mode) }
{
return true; /* Interrupt interface: */
} bool SMACCMGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode)
SMACCMDigitalSource::SMACCMDigitalSource(uint8_t v) : {
_v(v) return true;
{ }
}
SMACCMDigitalSource::SMACCMDigitalSource(uint8_t v) :
void SMACCMDigitalSource::mode(uint8_t output) _v(v)
{ {
} }
uint8_t SMACCMDigitalSource::read() void SMACCMDigitalSource::mode(uint8_t output)
{ {
return _v; }
}
uint8_t SMACCMDigitalSource::read()
void SMACCMDigitalSource::write(uint8_t value) {
{ return _v;
_v = value; }
}
void SMACCMDigitalSource::write(uint8_t value)
{
_v = value;
}
void SMACCMDigitalSource::toggle()
{
_v = !_v;
}

81
libraries/AP_HAL_SMACCM/GPIO.h
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@ -1,35 +1,46 @@
#ifndef __AP_HAL_SMACCM_GPIO_H__ #ifndef __AP_HAL_SMACCM_GPIO_H__
#define __AP_HAL_SMACCM_GPIO_H__ #define __AP_HAL_SMACCM_GPIO_H__
#include <AP_HAL_SMACCM.h> #include <AP_HAL_SMACCM.h>
class SMACCM::SMACCMGPIO : public AP_HAL::GPIO { #if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
public: // XXX these are just copied, may not make sense
SMACCMGPIO(); # define HAL_GPIO_A_LED_PIN 27
void init(); # define HAL_GPIO_B_LED_PIN 26
void pinMode(uint8_t pin, uint8_t output); # define HAL_GPIO_C_LED_PIN 25
int8_t analogPinToDigitalPin(uint8_t pin); # define HAL_GPIO_LED_ON LOW
uint8_t read(uint8_t pin); # define HAL_GPIO_LED_OFF HIGH
void write(uint8_t pin, uint8_t value); #endif
/* Alternative interface: */ class SMACCM::SMACCMGPIO : public AP_HAL::GPIO {
AP_HAL::DigitalSource* channel(uint16_t n); public:
SMACCMGPIO();
/* Interrupt interface: */ void init();
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, void pinMode(uint8_t pin, uint8_t output);
uint8_t mode); 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);
class SMACCM::SMACCMDigitalSource : public AP_HAL::DigitalSource {
public: /* Alternative interface: */
SMACCMDigitalSource(uint8_t v); AP_HAL::DigitalSource* channel(uint16_t n);
void mode(uint8_t output);
uint8_t read(); /* Interrupt interface: */
void write(uint8_t value); bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
private: uint8_t mode);
uint8_t _v;
}; };
#endif // __AP_HAL_SMACCM_GPIO_H__ class SMACCM::SMACCMDigitalSource : public AP_HAL::DigitalSource {
public:
SMACCMDigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
uint8_t _v;
};
#endif // __AP_HAL_SMACCM_GPIO_H__