mirror of https://github.com/ArduPilot/ardupilot
120 lines
2.3 KiB
C++
120 lines
2.3 KiB
C++
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#include "GPIO.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
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using namespace HALSITL;
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extern const AP_HAL::HAL& hal;
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#define SITL_WOW_ALTITUDE 0.01
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void GPIO::init()
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{}
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void GPIO::pinMode(uint8_t pin, uint8_t output)
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{
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if (pin > 7) {
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return;
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}
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if (output) {
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pin_mode_is_write |= (1U<<pin);
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} else {
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pin_mode_is_write &= ~(1U<<pin);
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}
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}
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uint8_t GPIO::read(uint8_t pin)
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{
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if (!_sitlState->_sitl) {
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return 0;
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}
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if (!valid_pin(pin)) {
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return 0;
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}
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// weight on wheels pin support
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if (pin == _sitlState->_sitl->wow_pin.get()) {
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return _sitlState->_sitl->state.altitude < SITL_WOW_ALTITUDE ? 1 : 0;
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}
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uint16_t mask = static_cast<uint16_t>(_sitlState->_sitl->pin_mask.get());
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return static_cast<uint16_t>((mask & (1U << pin)) ? 1 : 0);
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}
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void GPIO::write(uint8_t pin, uint8_t value)
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{
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if (!_sitlState->_sitl) {
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return;
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}
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if (!valid_pin(pin)) {
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return;
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}
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if (pin < 8) {
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if (!(pin_mode_is_write & (1U<<pin))) {
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// ignore setting of pull-up resistors
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return;
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}
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}
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uint16_t mask = static_cast<uint16_t>(_sitlState->_sitl->pin_mask.get());
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uint16_t new_mask = mask;
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if (pin == _sitlState->_sitl->wow_pin.get()) {
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return;
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}
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if (value) {
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new_mask |= (1U << pin);
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} else {
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new_mask &= ~(1U << pin);
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}
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if (mask != new_mask) {
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_sitlState->_sitl->pin_mask.set_and_notify(new_mask);
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}
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}
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void GPIO::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::channel(uint16_t n) {
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if (n < 16) { // (ie. sizeof(pin_mask)*8)
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return new DigitalSource(static_cast<uint8_t>(n));
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} else {
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return nullptr;
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}
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}
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bool GPIO::usb_connected(void)
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{
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return false;
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}
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DigitalSource::DigitalSource(uint8_t pin) :
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_pin(pin)
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{}
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void DigitalSource::mode(uint8_t output)
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{}
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uint8_t DigitalSource::read()
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{
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return hal.gpio->read(_pin);
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}
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void DigitalSource::write(uint8_t value)
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{
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value = static_cast<uint8_t>(value ? 1 : 0);
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return hal.gpio->write(_pin, value);
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}
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void DigitalSource::toggle()
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{
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return hal.gpio->write(_pin, !hal.gpio->read(_pin));
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}
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#endif
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