ardupilot/libraries/AP_HAL_ChibiOS/GPIO.cpp

369 lines
9.2 KiB
C++

/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#include "GPIO.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "hwdef/common/stm32_util.h"
using namespace ChibiOS;
// GPIO pin table from hwdef.dat
static struct gpio_entry {
uint8_t pin_num;
bool enabled;
uint8_t pwm_num;
ioline_t pal_line;
AP_HAL::GPIO::irq_handler_fn_t fn; // callback for GPIO interface
bool is_input;
uint8_t mode;
thread_reference_t thd_wait;
} _gpio_tab[] = HAL_GPIO_PINS;
#define NUM_PINS ARRAY_SIZE(_gpio_tab)
#define PIN_ENABLED(pin) ((pin)<NUM_PINS && _gpio_tab[pin].enabled)
/*
map a user pin number to a GPIO table entry
*/
static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num, bool check_enabled=true)
{
for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
if (pin_num == _gpio_tab[i].pin_num) {
if (check_enabled && !_gpio_tab[i].enabled) {
return NULL;
}
return &_gpio_tab[i];
}
}
return NULL;
}
static void pal_interrupt_cb(void *arg);
static void pal_interrupt_cb_functor(void *arg);
GPIO::GPIO()
{}
void GPIO::init()
{
// auto-disable pins being used for PWM output based on BRD_PWM_COUNT parameter
uint8_t pwm_count = AP_BoardConfig::get_pwm_count();
for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
struct gpio_entry *g = &_gpio_tab[i];
if (g->pwm_num != 0) {
g->enabled = g->pwm_num > pwm_count;
}
}
#ifdef HAL_PIN_ALT_CONFIG
setup_alt_config();
#endif
}
#ifdef HAL_PIN_ALT_CONFIG
/*
alternative config table, selected using BRD_ALT_CONFIG
*/
static const struct alt_config {
uint8_t alternate;
uint16_t mode;
ioline_t line;
} alternate_config[] HAL_PIN_ALT_CONFIG;
/*
change pin configuration based on ALT() lines in hwdef.dat
*/
void GPIO::setup_alt_config(void)
{
AP_BoardConfig *bc = AP::boardConfig();
if (!bc) {
return;
}
const uint8_t alt = bc->get_alt_config();
if (alt == 0) {
// use defaults
return;
}
for (uint8_t i=0; i<ARRAY_SIZE(alternate_config); i++) {
if (alt == alternate_config[i].alternate) {
const iomode_t mode = alternate_config[i].mode & ~PAL_STM32_HIGH;
const uint8_t odr = (alternate_config[i].mode & PAL_STM32_HIGH)?1:0;
palSetLineMode(alternate_config[i].line, mode);
palWriteLine(alternate_config[i].line, odr);
}
}
}
#endif // HAL_PIN_ALT_CONFIG
void GPIO::pinMode(uint8_t pin, uint8_t output)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
if (!output && g->is_input &&
(g->mode == PAL_MODE_INPUT_PULLUP ||
g->mode == PAL_MODE_INPUT_PULLDOWN)) {
// already set
return;
}
g->mode = output?PAL_MODE_OUTPUT_PUSHPULL:PAL_MODE_INPUT;
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F4)
if (g->mode == PAL_MODE_OUTPUT_PUSHPULL) {
// retain OPENDRAIN if already set
iomode_t old_mode = palReadLineMode(g->pal_line);
if ((old_mode & PAL_MODE_OUTPUT_OPENDRAIN) == PAL_MODE_OUTPUT_OPENDRAIN) {
g->mode = PAL_MODE_OUTPUT_OPENDRAIN;
}
}
#endif
palSetLineMode(g->pal_line, g->mode);
g->is_input = !output;
}
}
uint8_t GPIO::read(uint8_t pin)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
return palReadLine(g->pal_line);
}
return 0;
}
void GPIO::write(uint8_t pin, uint8_t value)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
if (g->is_input) {
// control pullup/pulldown
g->mode = value==1?PAL_MODE_INPUT_PULLUP:PAL_MODE_INPUT_PULLDOWN;
palSetLineMode(g->pal_line, g->mode);
} else if (value == PAL_LOW) {
palClearLine(g->pal_line);
} else {
palSetLine(g->pal_line);
}
}
}
void GPIO::toggle(uint8_t pin)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
palToggleLine(g->pal_line);
}
}
/* Alternative interface: */
AP_HAL::DigitalSource* GPIO::channel(uint16_t pin)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (!g) {
return nullptr;
}
return new DigitalSource(g->pal_line);
}
extern const AP_HAL::HAL& hal;
/*
Attach an interrupt handler to a GPIO pin number. The pin number
must be one specified with a GPIO() marker in hwdef.dat
*/
bool GPIO::attach_interrupt(uint8_t pin,
irq_handler_fn_t fn,
INTERRUPT_TRIGGER_TYPE mode)
{
struct gpio_entry *g = gpio_by_pin_num(pin, false);
if (!g) {
return false;
}
if (!_attach_interrupt(g->pal_line,
palcallback_t(fn?pal_interrupt_cb_functor:nullptr),
g,
mode)) {
return false;
}
g->fn = fn;
return true;
}
/*
Attach an interrupt handler to ioline_t
*/
bool GPIO::_attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode)
{
return _attach_interrupt(line, palcallback_t(p?pal_interrupt_cb:nullptr), (void*)p, mode);
}
bool GPIO::attach_interrupt(uint8_t pin,
AP_HAL::Proc proc,
INTERRUPT_TRIGGER_TYPE mode) {
struct gpio_entry *g = gpio_by_pin_num(pin, false);
if (!g) {
return false;
}
return _attach_interrupt(g->pal_line, proc, mode);
}
bool GPIO::_attach_interruptI(ioline_t line, palcallback_t cb, void *p, uint8_t mode)
{
uint32_t chmode = 0;
switch(mode) {
case INTERRUPT_FALLING:
chmode = PAL_EVENT_MODE_FALLING_EDGE;
break;
case INTERRUPT_RISING:
chmode = PAL_EVENT_MODE_RISING_EDGE;
break;
case INTERRUPT_BOTH:
chmode = PAL_EVENT_MODE_BOTH_EDGES;
break;
default:
if (p) {
return false;
}
break;
}
palevent_t *pep = pal_lld_get_line_event(line);
if (pep->cb && p != nullptr) {
// the pad is already being used for a callback
return false;
}
if (!p) {
chmode = PAL_EVENT_MODE_DISABLED;
}
palDisableLineEventI(line);
palSetLineCallbackI(line, cb, p);
palEnableLineEventI(line, chmode);
return true;
}
bool GPIO::_attach_interrupt(ioline_t line, palcallback_t cb, void *p, uint8_t mode)
{
osalSysLock();
bool ret = _attach_interruptI(line, cb, p, mode);
osalSysUnlock();
return ret;
}
bool GPIO::usb_connected(void)
{
return _usb_connected;
}
DigitalSource::DigitalSource(ioline_t _line) :
line(_line)
{}
void DigitalSource::mode(uint8_t output)
{
palSetLineMode(line, output);
}
uint8_t DigitalSource::read()
{
return palReadLine(line);
}
void DigitalSource::write(uint8_t value)
{
palWriteLine(line, value);
}
void DigitalSource::toggle()
{
palToggleLine(line);
}
static void pal_interrupt_cb(void *arg)
{
if (arg != nullptr) {
((AP_HAL::Proc)arg)();
}
}
static void pal_interrupt_cb_functor(void *arg)
{
const uint32_t now = AP_HAL::micros();
struct gpio_entry *g = (gpio_entry *)arg;
if (g == nullptr) {
// what?
return;
}
if (!(g->fn)) {
return;
}
(g->fn)(g->pin_num, palReadLine(g->pal_line), now);
}
/*
handle interrupt from pin change for wait_pin()
*/
static void pal_interrupt_wait(void *arg)
{
osalSysLockFromISR();
struct gpio_entry *g = (gpio_entry *)arg;
if (g == nullptr || g->thd_wait == nullptr) {
osalSysUnlockFromISR();
return;
}
osalThreadResumeI(&g->thd_wait, MSG_OK);
osalSysUnlockFromISR();
}
/*
block waiting for a pin to change. A timeout of 0 means wait
forever. Return true on pin change, false on timeout
*/
bool GPIO::wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (!g) {
return false;
}
osalSysLock();
if (g->thd_wait) {
// only allow single waiter
osalSysUnlock();
return false;
}
if (!_attach_interruptI(g->pal_line,
palcallback_t(pal_interrupt_wait),
g,
mode)) {
osalSysUnlock();
return false;
}
msg_t msg = osalThreadSuspendTimeoutS(&g->thd_wait, TIME_US2I(timeout_us));
_attach_interruptI(g->pal_line,
palcallback_t(nullptr),
nullptr,
mode);
osalSysUnlock();
return msg == MSG_OK;
}