mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
122 lines
2.9 KiB
C++
122 lines
2.9 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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#include <errno.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/mman.h>
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#include <sys/stat.h>
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#include <unistd.h>
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#include "GPIO.h"
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#include "Util_RPI.h"
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using namespace Linux;
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static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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GPIO_RPI::GPIO_RPI()
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{}
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void GPIO_RPI::init()
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{
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int rpi_version = UtilRPI::from(hal.util)->get_rpi_version();
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uint32_t gpio_address = rpi_version == 1 ? GPIO_BASE(BCM2708_PERI_BASE) : GPIO_BASE(BCM2709_PERI_BASE);
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// open /dev/mem
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if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
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AP_HAL::panic("Can't open /dev/mem");
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}
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// mmap GPIO
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gpio_map = mmap(
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NULL, // Any adddress in our space will do
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BLOCK_SIZE, // Map length
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PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
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MAP_SHARED, // Shared with other processes
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mem_fd, // File to map
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gpio_address // Offset to GPIO peripheral
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);
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close(mem_fd); // No need to keep mem_fd open after mmap
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if (gpio_map == MAP_FAILED) {
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AP_HAL::panic("Can't open /dev/mem");
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}
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gpio = (volatile uint32_t *)gpio_map; // Always use volatile pointer!
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}
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void GPIO_RPI::pinMode(uint8_t pin, uint8_t output)
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{
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if (output == HAL_GPIO_INPUT) {
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GPIO_MODE_IN(pin);
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} else {
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GPIO_MODE_IN(pin);
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GPIO_MODE_OUT(pin);
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}
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}
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void GPIO_RPI::pinMode(uint8_t pin, uint8_t output, uint8_t alt)
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{
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if (output == HAL_GPIO_INPUT) {
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GPIO_MODE_IN(pin);
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} else if (output == HAL_GPIO_ALT) {
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GPIO_MODE_IN(pin);
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GPIO_MODE_ALT(pin, alt);
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} else {
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GPIO_MODE_IN(pin);
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GPIO_MODE_OUT(pin);
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}
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}
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int8_t GPIO_RPI::analogPinToDigitalPin(uint8_t pin)
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{
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return -1;
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}
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uint8_t GPIO_RPI::read(uint8_t pin)
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{
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uint32_t value = GPIO_GET(pin);
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return value ? 1: 0;
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}
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void GPIO_RPI::write(uint8_t pin, uint8_t value)
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{
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if (value == LOW) {
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GPIO_SET_LOW = 1 << pin;
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} else {
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GPIO_SET_HIGH = 1 << pin;
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}
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}
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void GPIO_RPI::toggle(uint8_t pin)
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{
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write(pin, !read(pin));
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}
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/* Alternative interface: */
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AP_HAL::DigitalSource* GPIO_RPI::channel(uint16_t n) {
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return new DigitalSource(n);
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}
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/* Interrupt interface: */
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bool GPIO_RPI::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
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{
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return true;
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}
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bool GPIO_RPI::usb_connected(void)
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{
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return false;
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}
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#endif
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