mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 09:58:28 -04:00
2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
134 lines
3.5 KiB
C++
134 lines
3.5 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#include "GPIO.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 <errno.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <sys/mman.h>
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#include <sys/stat.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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LinuxGPIO_BBB::LinuxGPIO_BBB()
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{}
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void LinuxGPIO_BBB::init()
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{
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#if LINUX_GPIO_NUM_BANKS == 4
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int mem_fd;
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// Enable all GPIO banks
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// Without this, access to deactivated banks (i.e. those with no clock source set up) will (logically) fail with SIGBUS
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// Idea taken from https://groups.google.com/forum/#!msg/beagleboard/OYFp4EXawiI/Mq6s3sg14HoJ
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uint8_t bank_enable[3] = { 5, 65, 105 };
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int export_fd = open("/sys/class/gpio/export", O_WRONLY);
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if (export_fd == -1) {
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hal.scheduler->panic("unable to open /sys/class/gpio/export");
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}
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for (uint8_t i=0; i<3; i++) {
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dprintf(export_fd, "%u\n", (unsigned)bank_enable[i]);
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}
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close(export_fd);
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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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printf("can't open /dev/mem \n");
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exit (-1);
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}
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/* mmap GPIO */
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off_t offsets[LINUX_GPIO_NUM_BANKS] = { GPIO0_BASE, GPIO1_BASE, GPIO2_BASE, GPIO3_BASE };
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for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS; i++) {
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gpio_bank[i].base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, offsets[i]);
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if ((char *)gpio_bank[i].base == MAP_FAILED) {
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hal.scheduler->panic("unable to map GPIO bank");
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}
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gpio_bank[i].oe = gpio_bank[i].base + GPIO_OE;
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gpio_bank[i].in = gpio_bank[i].base + GPIO_IN;
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gpio_bank[i].out = gpio_bank[i].base + GPIO_OUT;
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}
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close(mem_fd);
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#endif // LINUX_GPIO_NUM_BANKS
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}
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void LinuxGPIO_BBB::pinMode(uint8_t pin, uint8_t output)
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{
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uint8_t bank = pin/32;
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uint8_t bankpin = pin & 0x1F;
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if (bank >= LINUX_GPIO_NUM_BANKS) {
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return;
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}
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if (output == HAL_GPIO_INPUT) {
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*gpio_bank[bank].oe |= (1U<<bankpin);
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} else {
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*gpio_bank[bank].oe &= ~(1U<<bankpin);
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}
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}
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int8_t LinuxGPIO_BBB::analogPinToDigitalPin(uint8_t pin)
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{
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return -1;
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}
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uint8_t LinuxGPIO_BBB::read(uint8_t pin) {
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uint8_t bank = pin/32;
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uint8_t bankpin = pin & 0x1F;
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if (bank >= LINUX_GPIO_NUM_BANKS) {
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return 0;
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}
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return *gpio_bank[bank].in & (1U<<bankpin) ? HIGH : LOW;
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}
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void LinuxGPIO_BBB::write(uint8_t pin, uint8_t value)
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{
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uint8_t bank = pin/32;
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uint8_t bankpin = pin & 0x1F;
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if (bank >= LINUX_GPIO_NUM_BANKS) {
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return;
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}
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if (value == LOW) {
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*gpio_bank[bank].out &= ~(1U<<bankpin);
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} else {
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*gpio_bank[bank].out |= 1U<<bankpin;
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}
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}
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void LinuxGPIO_BBB::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* LinuxGPIO_BBB::channel(uint16_t n) {
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return new LinuxDigitalSource(n);
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}
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/* Interrupt interface: */
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bool LinuxGPIO_BBB::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 LinuxGPIO_BBB::usb_connected(void)
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{
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return false;
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF ||
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// CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD ||
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// CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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