mirror of https://github.com/ArduPilot/ardupilot
150 lines
3.3 KiB
C++
150 lines
3.3 KiB
C++
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#ifndef __AP_HAL_LINUX_GPIO_H__
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#define __AP_HAL_LINUX_GPIO_H__
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#include <AP_HAL_Linux.h>
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#define SYSFS_GPIO_DIR "/sys/class/gpio"
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#define GPIO0_BASE 0x44E07000
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#define GPIO1_BASE 0x4804C000
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#define GPIO2_BASE 0x481AC000
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#define GPIO3_BASE 0x481AE000
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#define GPIO_SIZE 0x00000FFF
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// OE: 0 is output, 1 is input
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#define GPIO_OE 0x14d
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#define GPIO_IN 0x14e
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#define GPIO_OUT 0x14f
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#define LED_AMBER 117
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#define LED_BLUE 48
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#define LED_SAFETY 61
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#define SAFETY_SWITCH 116
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#define LOW 0
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#define HIGH 1
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
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#define LINUX_GPIO_NUM_BANKS 4
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#else
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// disable GPIO
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#define LINUX_GPIO_NUM_BANKS 0
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#endif
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// BeagleBone Black GPIO mappings
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#define BBB_USR0 53
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#define BBB_USR1 54
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#define BBB_USR2 55
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#define BBB_USR3 56
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#define BBB_P8_3 38
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#define BBB_P8_4 39
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#define BBB_P8_5 34
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#define BBB_P8_6 35
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#define BBB_P8_7 66
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#define BBB_P8_8 67
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#define BBB_P8_9 69
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#define BBB_P8_10 68
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#define BBB_P8_11 45
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#define BBB_P8_12 44
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#define BBB_P8_13 23
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#define BBB_P8_14 26
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#define BBB_P8_15 47
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#define BBB_P8_16 46
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#define BBB_P8_17 27
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#define BBB_P8_18 65
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#define BBB_P8_19 22
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#define BBB_P8_20 63
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#define BBB_P8_21 62
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#define BBB_P8_22 37
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#define BBB_P8_23 36
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#define BBB_P8_24 33
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#define BBB_P8_25 32
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#define BBB_P8_26 61
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#define BBB_P8_27 86
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#define BBB_P8_28 88
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#define BBB_P8_29 87
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#define BBB_P8_30 89
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#define BBB_P8_31 10
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#define BBB_P8_32 11
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#define BBB_P8_33 9
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#define BBB_P8_34 81
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#define BBB_P8_35 8
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#define BBB_P8_36 80
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#define BBB_P8_37 78
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#define BBB_P8_38 79
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#define BBB_P8_39 76
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#define BBB_P8_40 77
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#define BBB_P8_41 74
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#define BBB_P8_42 75
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#define BBB_P8_43 72
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#define BBB_P8_44 73
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#define BBB_P8_45 70
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#define BBB_P8_46 71
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#define BBB_P9_11 30
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#define BBB_P9_12 60
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#define BBB_P9_13 31
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#define BBB_P9_14 50
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#define BBB_P9_15 48
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#define BBB_P9_16 51
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#define BBB_P9_17 5
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#define BBB_P9_18 4
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#define BBB_P9_19 13
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#define BBB_P9_20 12
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#define BBB_P9_21 3
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#define BBB_P9_22 2
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#define BBB_P9_23 49
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#define BBB_P9_24 15
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#define BBB_P9_25 117
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#define BBB_P9_26 14
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#define BBB_P9_27 115
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#define BBB_P9_28 113
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#define BBB_P9_29 111
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#define BBB_P9_30 112
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#define BBB_P9_31 110
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#define BBB_P9_41 20
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#define BBB_P9_42 7
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class Linux::LinuxGPIO : public AP_HAL::GPIO {
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private:
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struct GPIO {
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volatile uint32_t *base;
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volatile uint32_t *oe;
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volatile uint32_t *in;
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volatile uint32_t *out;
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} gpio_bank[LINUX_GPIO_NUM_BANKS];
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public:
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LinuxGPIO();
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void init();
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void pinMode(uint8_t pin, uint8_t output);
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int8_t analogPinToDigitalPin(uint8_t pin);
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uint8_t read(uint8_t pin);
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void write(uint8_t pin, uint8_t value);
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void toggle(uint8_t pin);
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/* Alternative interface: */
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AP_HAL::DigitalSource* channel(uint16_t n);
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/* Interrupt interface: */
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bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
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uint8_t mode);
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/* return true if USB cable is connected */
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bool usb_connected(void);
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};
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class Linux::LinuxDigitalSource : public AP_HAL::DigitalSource {
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public:
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LinuxDigitalSource(uint8_t v);
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void mode(uint8_t output);
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uint8_t read();
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void write(uint8_t value);
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void toggle();
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private:
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uint8_t _v;
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};
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#endif // __AP_HAL_LINUX_GPIO_H__
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