mirror of https://github.com/ArduPilot/ardupilot
125 lines
2.9 KiB
C++
125 lines
2.9 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include "GPIO.h"
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#include "FlymapleWirish.h"
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using namespace AP_HAL_FLYMAPLE_NS;
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// Glue into libmaple
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void libmaple_pinMode(uint8_t pin, uint8_t output)
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{
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WiringPinMode mode = output ? OUTPUT : INPUT;
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pinMode(pin, mode);
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}
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uint8_t libmaple_digitalRead(uint8_t pin)
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{
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return digitalRead(pin);
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}
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void libmaple_digitalWrite(uint8_t pin, uint8_t value)
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{
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digitalWrite(pin, value);
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}
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FLYMAPLEGPIO::FLYMAPLEGPIO()
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{}
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void FLYMAPLEGPIO::init()
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{}
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void FLYMAPLEGPIO::pinMode(uint8_t pin, uint8_t output)
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{
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return libmaple_pinMode(pin, output);
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}
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int8_t FLYMAPLEGPIO::analogPinToDigitalPin(uint8_t pin)
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{
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return pin;
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}
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uint8_t FLYMAPLEGPIO::read(uint8_t pin)
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{
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return libmaple_digitalRead(pin);
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}
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void FLYMAPLEGPIO::write(uint8_t pin, uint8_t value)
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{
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libmaple_digitalWrite(pin, value);
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}
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void FLYMAPLEGPIO::toggle(uint8_t pin)
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{
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libmaple_digitalWrite(pin, !libmaple_digitalRead(pin));
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}
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/* Alternative interface: */
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AP_HAL::DigitalSource* FLYMAPLEGPIO::channel(uint16_t n) {
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return new FLYMAPLEDigitalSource(n);
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}
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/* Interrupt interface: */
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bool FLYMAPLEGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
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{
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// Flymaple can only handle RISING, FALLING and CHANGE
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ExtIntTriggerMode flymaple_interrupt_mode;
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if (mode == HAL_GPIO_INTERRUPT_FALLING)
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flymaple_interrupt_mode = FALLING;
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else if (mode == HAL_GPIO_INTERRUPT_RISING)
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flymaple_interrupt_mode = RISING;
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else
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return false;
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// REVISIT: Assumes pin and interrupt number are the same. Are they?
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attachInterrupt(interrupt_num, p, flymaple_interrupt_mode);
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return true;
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}
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bool FLYMAPLEGPIO::usb_connected(void)
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{
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return SerialUSB.isConnected();
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}
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FLYMAPLEDigitalSource::FLYMAPLEDigitalSource(uint8_t v) :
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_v(v)
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{
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SerialUSB.println(_v);
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}
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void FLYMAPLEDigitalSource::mode(uint8_t output)
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{
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libmaple_pinMode(_v, output);
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}
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uint8_t FLYMAPLEDigitalSource::read() {
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return libmaple_digitalRead(_v);
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}
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void FLYMAPLEDigitalSource::write(uint8_t value) {
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libmaple_digitalWrite(_v, value);
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}
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void FLYMAPLEDigitalSource::toggle() {
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libmaple_digitalWrite(_v, !libmaple_digitalRead(_v));
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}
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#endif
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