mirror of https://github.com/ArduPilot/ardupilot
142 lines
3.3 KiB
C++
142 lines
3.3 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Bayu Laksono
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*/
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#include "AP_HAL_ESP32.h"
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#include "GPIO.h"
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#include "hal/gpio_types.h"
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#include "driver/gpio.h"
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using namespace ESP32;
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static gpio_num_t gpio_by_pin_num(uint8_t pin)
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{
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if (pin < GPIO_NUM_MAX) {
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return (gpio_num_t)pin;
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}
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return GPIO_NUM_NC;
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}
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GPIO::GPIO()
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{}
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void GPIO::init()
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{}
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void GPIO::pinMode(uint8_t pin, uint8_t output)
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{
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gpio_num_t g = gpio_by_pin_num(pin);
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if (g != GPIO_NUM_NC) {
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gpio_config_t io_conf = {};
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io_conf.intr_type = GPIO_INTR_DISABLE;
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io_conf.mode = output ? GPIO_MODE_OUTPUT : GPIO_MODE_INPUT;
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io_conf.pin_bit_mask = 1ULL<<g;
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io_conf.pull_down_en = output ? GPIO_PULLDOWN_DISABLE : GPIO_PULLDOWN_ENABLE;
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io_conf.pull_up_en = GPIO_PULLUP_DISABLE;
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gpio_config(&io_conf);
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}
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}
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uint8_t GPIO::read(uint8_t pin)
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{
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gpio_num_t g = gpio_by_pin_num(pin);
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if (g != GPIO_NUM_NC) {
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return gpio_get_level(g);
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}
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return 0;
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}
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void GPIO::write(uint8_t pin, uint8_t value)
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{
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gpio_num_t g = gpio_by_pin_num(pin);
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if (g != GPIO_NUM_NC) {
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gpio_set_level(g, value);
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}
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}
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void GPIO::toggle(uint8_t pin)
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{
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gpio_num_t g = gpio_by_pin_num(pin);
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if (g != GPIO_NUM_NC) {
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if (gpio_get_level(g)) {
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gpio_set_level(g, 0);
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}
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else {
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gpio_set_level(g, 1);
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}
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}
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}
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/* Alternative interface: */
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AP_HAL::DigitalSource* GPIO::channel(uint16_t pin) {
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gpio_num_t g = gpio_by_pin_num(pin);
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if (g != GPIO_NUM_NC) {
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return NEW_NOTHROW DigitalSource(pin);
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}
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return nullptr;
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}
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bool GPIO::usb_connected(void)
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{
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return false;
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}
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DigitalSource::DigitalSource(uint8_t pin) :
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_pin(pin)
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{}
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void DigitalSource::mode(uint8_t output)
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{
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gpio_num_t g = gpio_by_pin_num(_pin);
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if (g != GPIO_NUM_NC) {
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gpio_config_t io_conf = {};
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io_conf.intr_type = GPIO_INTR_DISABLE;
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io_conf.mode = output ? GPIO_MODE_OUTPUT : GPIO_MODE_INPUT;
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io_conf.pin_bit_mask = 1ULL<<g;
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io_conf.pull_down_en = output ? GPIO_PULLDOWN_DISABLE : GPIO_PULLDOWN_ENABLE;
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io_conf.pull_up_en = GPIO_PULLUP_DISABLE;
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gpio_config(&io_conf);
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}
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}
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uint8_t DigitalSource::read() {
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gpio_num_t g = gpio_by_pin_num(_pin);
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if (g != GPIO_NUM_NC) {
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return gpio_get_level(g);
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}
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return 0;
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}
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void DigitalSource::write(uint8_t value) {
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gpio_num_t g = gpio_by_pin_num(_pin);
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if (g != GPIO_NUM_NC) {
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gpio_set_level(g, value);
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}
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}
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void DigitalSource::toggle() {
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gpio_num_t g = gpio_by_pin_num(_pin);
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if (g != GPIO_NUM_NC) {
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if (gpio_get_level(g)) {
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gpio_set_level(g, 0);
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}
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else {
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gpio_set_level(g, 1);
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}
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}
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}
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