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AP_IOMCU: support digital write

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This commit is contained in:
Iampete1 2021-09-20 14:44:12 +01:00 committed by Andrew Tridgell
parent 12d5fbbc86
commit ba58cb86db
2 changed files with 85 additions and 1 deletions
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69
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -34,7 +34,8 @@ enum ioevents {
IOEVENT_SET_HEATER_TARGET,
IOEVENT_SET_DEFAULT_RATE,
IOEVENT_SET_SAFETY_MASK,
IOEVENT_MIXING
IOEVENT_MIXING,
IOEVENT_GPIO,
};
// max number of consecutve protocol failures we accept before raising
@ -218,6 +219,16 @@ void AP_IOMCU::thread_main(void)
}
mask &= ~EVENT_MASK(IOEVENT_SET_SAFETY_MASK);
if (is_chibios_backend) {
if (mask & EVENT_MASK(IOEVENT_GPIO)) {
if (!write_registers(PAGE_GPIO, 0, sizeof(GPIO)/sizeof(uint16_t), (const uint16_t*)&GPIO)) {
event_failed(mask);
continue;
}
}
mask &= ~EVENT_MASK(IOEVENT_GPIO);
}
// check for regular timed events
uint32_t now = AP_HAL::millis();
if (now - last_rc_read_ms > 20) {
@ -1052,6 +1063,62 @@ void AP_IOMCU::check_iomcu_reset(void)
last_rc_protocols = 0;
}
// Check if pin number is valid for GPIO
bool AP_IOMCU::valid_GPIO_pin(uint8_t pin) const
{
return convert_pin_number(pin);
}
// convert external pin numbers 101 to 108 to internal 0 to 7
bool AP_IOMCU::convert_pin_number(uint8_t& pin) const
{
if (pin < 101) {
return false;
}
pin -= 101;
if (pin > 7) {
return false;
}
return true;
}
// set GPIO mask of channels setup for output
void AP_IOMCU::set_GPIO_mask(uint8_t mask)
{
if (mask == GPIO.channel_mask) {
return;
}
GPIO.channel_mask = mask;
trigger_event(IOEVENT_GPIO);
}
// write to a output pin
void AP_IOMCU::write_GPIO(uint8_t pin, bool value)
{
if (!convert_pin_number(pin)) {
return;
}
if (value == ((GPIO.output_mask & (1U << pin)) != 0)) {
return;
}
if (value) {
GPIO.output_mask |= (1U << pin);
} else {
GPIO.output_mask &= ~(1U << pin);
}
trigger_event(IOEVENT_GPIO);
}
// toggle a output pin
void AP_IOMCU::toggle_GPIO(uint8_t pin)
{
if (!convert_pin_number(pin)) {
return;
}
GPIO.output_mask ^= (1U << pin);
trigger_event(IOEVENT_GPIO);
}
namespace AP {
AP_IOMCU *iomcu(void) {

17
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -105,6 +105,21 @@ public:
bool setup_mixing(RCMapper *rcmap, int8_t override_chan,
float mixing_gain, uint16_t manual_rc_mask);
// Check if pin number is valid for GPIO
bool valid_GPIO_pin(uint8_t pin) const;
// convert external pin numbers 101 to 108 to internal 0 to 7
bool convert_pin_number(uint8_t& pin) const;
// set GPIO mask of channels setup for output
void set_GPIO_mask(uint8_t mask);
// write to a output pin
void write_GPIO(uint8_t pin, bool value);
// toggle a output pin
void toggle_GPIO(uint8_t pin);
// channel group masks
const uint8_t ch_masks[3] = { 0x03,0x0C,0xF0 };
@ -202,6 +217,8 @@ private:
bool brushed_enabled;
} rate;
struct page_GPIO GPIO;
// IMU heater duty cycle
uint8_t heater_duty_cycle;