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AP_HAL_Linux: Use template to generate raspberry pins

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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2020-03-09 19:43:10 -03:00 committed by Lucas De Marchi
parent 5a4b648cf5
commit e65cc35fb0
3 changed files with 19 additions and 39 deletions
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42
libraries/AP_HAL_Linux/GPIO_RPI.h
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@ -9,37 +9,17 @@
#define PAGE_SIZE (4*1024)
#define BLOCK_SIZE (4*1024)
// Raspberry Pi GPIO mapping
#define RPI_GPIO_2 2 // Pin 3
#define RPI_GPIO_3 3 // Pin 5
#define RPI_GPIO_4 4 // Pin 7
#define RPI_GPIO_5 5 // Pin 29
#define RPI_GPIO_6 6 // Pin 31
#define RPI_GPIO_7 7 // Pin 26
#define RPI_GPIO_8 8 // Pin 24
#define RPI_GPIO_9 9 // Pin 21
#define RPI_GPIO_10 10 // Pin 19
#define RPI_GPIO_11 11 // Pin 23
#define RPI_GPIO_12 12 // Pin 32
#define RPI_GPIO_13 13 // Pin 33
#define RPI_GPIO_14 14 // Pin 8
#define RPI_GPIO_15 15 // Pin 10
#define RPI_GPIO_16 16 // Pin 36
#define RPI_GPIO_17 17 // Pin 11
#define RPI_GPIO_18 18 // Pin 12
#define RPI_GPIO_19 19 // Pin 35
#define RPI_GPIO_20 20 // Pin 38
#define RPI_GPIO_21 21 // Pin 40
#define RPI_GPIO_22 22 // Pin 15
#define RPI_GPIO_23 23 // Pin 16
#define RPI_GPIO_24 24 // Pin 18
#define RPI_GPIO_25 25 // Pin 22
#define RPI_GPIO_26 26 // Pin 37
#define RPI_GPIO_27 27 // Pin 13
#define RPI_GPIO_28 28 // Pin 3
#define RPI_GPIO_29 29 // Pin 4
#define RPI_GPIO_30 30 // Pin 5
#define RPI_GPIO_31 31 // Pin 6
/**
* @brief Check for valid Raspberry Pi pin range
*
* @tparam pin
* @return uint8_t
*/
template <uint8_t pin> constexpr uint8_t RPI_GPIO_()
{
static_assert(pin > 1 && pin < 32, "Invalid pin value.");
return pin;
}
namespace Linux {

8
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -179,15 +179,15 @@ static RCOutput_AioPRU rcoutDriver;
*/
#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);
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);
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
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINARY_ADDRESS), false, 0, RPI_GPIO_27);
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINARY_ADDRESS), false, 0, RPI_GPIO_<27>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), false, 0, RPI_GPIO_27);
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), false, 0, RPI_GPIO_<27>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
static RCOutput_ZYNQ rcoutDriver;

8
libraries/AP_HAL_Linux/RCInput_RPI.cpp
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@ -44,9 +44,9 @@
// Each gpio stands for a rcinput channel,
// the first one in RcChnGpioTbl is channel 1 in receiver
static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
RPI_GPIO_5, RPI_GPIO_6, RPI_GPIO_12,
RPI_GPIO_13, RPI_GPIO_19, RPI_GPIO_20,
RPI_GPIO_21, RPI_GPIO_26
RPI_GPIO_<5>(), RPI_GPIO_<6>(), RPI_GPIO_<12>(),
RPI_GPIO_<13>(), RPI_GPIO_<19>(), RPI_GPIO_<20>(),
RPI_GPIO_<21>(), RPI_GPIO_<26>()
};
#else
#define RCIN_RPI_SIG_HIGH 1
@ -56,7 +56,7 @@ static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
#define PAGE_SIZE (4*1024)
NAVIO_GPIO_PPM_IN
#else
RPI_GPIO_4
RPI_GPIO_<4>()
#endif
};
#endif // CONFIG_HAL_BOARD_SUBTYPE