mirror of https://github.com/ArduPilot/ardupilot
254 lines
6.6 KiB
C++
254 lines
6.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "GPIO.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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/* PX4 headers */
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#include <drivers/drv_led.h>
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#include <drivers/drv_tone_alarm.h>
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#include <drivers/drv_gpio.h>
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#include <modules/px4iofirmware/protocol.h>
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#include <arch/board/board.h>
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#include <board_config.h>
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#define LOW 0
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#define HIGH 1
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extern const AP_HAL::HAL& hal;
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using namespace PX4;
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PX4GPIO::PX4GPIO()
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{}
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void PX4GPIO::init()
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{
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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_led_fd = open(LED_DEVICE_PATH, O_RDWR);
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if (_led_fd == -1) {
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hal.scheduler->panic("Unable to open " LED_DEVICE_PATH);
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}
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if (ioctl(_led_fd, LED_OFF, LED_BLUE) != 0) {
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hal.console->printf("GPIO: Unable to setup GPIO LED BLUE\n");
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}
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if (ioctl(_led_fd, LED_OFF, LED_RED) != 0) {
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hal.console->printf("GPIO: Unable to setup GPIO LED RED\n");
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}
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#endif
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_tone_alarm_fd = open("/dev/tone_alarm", O_WRONLY);
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if (_tone_alarm_fd == -1) {
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hal.scheduler->panic("Unable to open /dev/tone_alarm");
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}
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_gpio_fmu_fd = open(PX4FMU_DEVICE_PATH, 0);
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if (_gpio_fmu_fd == -1) {
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hal.scheduler->panic("Unable to open GPIO");
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}
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_EXT_1) != 0) {
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hal.console->printf("GPIO: Unable to setup GPIO_1\n");
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}
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#endif
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// also try to setup for the relay pins on the IO board
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_gpio_io_fd = open(PX4IO_DEVICE_PATH, O_RDWR);
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if (_gpio_io_fd == -1) {
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hal.console->printf("GPIO: Unable to open px4io\n");
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}
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}
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void PX4GPIO::pinMode(uint8_t pin, uint8_t output)
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{
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switch (pin) {
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case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5):
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ioctl(_gpio_fmu_fd, output?GPIO_SET_OUTPUT:GPIO_SET_INPUT, 1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0)));
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break;
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}
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}
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int8_t PX4GPIO::analogPinToDigitalPin(uint8_t pin)
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{
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return -1;
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}
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uint8_t PX4GPIO::read(uint8_t pin) {
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uint32_t relays = 0;
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switch (pin) {
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#ifdef GPIO_EXT_1
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case PX4_GPIO_EXT_FMU_RELAY1_PIN:
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ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays);
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return (relays & GPIO_EXT_1)?HIGH:LOW;
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#endif
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#ifdef GPIO_EXT_2
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case PX4_GPIO_EXT_FMU_RELAY2_PIN:
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ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays);
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return (relays & GPIO_EXT_2)?HIGH:LOW;
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break;
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#endif
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#ifdef PX4IO_P_SETUP_RELAYS_POWER1
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case PX4_GPIO_EXT_IO_RELAY1_PIN:
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ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
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return (relays & PX4IO_P_SETUP_RELAYS_POWER1)?HIGH:LOW;
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#endif
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#ifdef PX4IO_P_SETUP_RELAYS_POWER2
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case PX4_GPIO_EXT_IO_RELAY2_PIN:
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ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
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return (relays & PX4IO_P_SETUP_RELAYS_POWER2)?HIGH:LOW;
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#endif
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#ifdef PX4IO_P_SETUP_RELAYS_ACC1
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case PX4_GPIO_EXT_IO_ACC1_PIN:
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ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
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return (relays & PX4IO_P_SETUP_RELAYS_ACC1)?HIGH:LOW;
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#endif
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#ifdef PX4IO_P_SETUP_RELAYS_ACC2
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case PX4_GPIO_EXT_IO_ACC2_PIN:
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ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
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return (relays & PX4IO_P_SETUP_RELAYS_ACC2)?HIGH:LOW;
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#endif
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case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5): {
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uint32_t v = 0;
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ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&v);
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return (v & (1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0))))?HIGH:LOW;
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}
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}
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return LOW;
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}
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void PX4GPIO::write(uint8_t pin, uint8_t value)
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{
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switch (pin) {
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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case HAL_GPIO_A_LED_PIN: // Arming LED
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if (value == LOW) {
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ioctl(_led_fd, LED_OFF, LED_RED);
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} else {
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ioctl(_led_fd, LED_ON, LED_RED);
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}
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break;
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case HAL_GPIO_B_LED_PIN: // not used yet
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break;
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case HAL_GPIO_C_LED_PIN: // GPS LED
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if (value == LOW) {
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ioctl(_led_fd, LED_OFF, LED_BLUE);
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} else {
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ioctl(_led_fd, LED_ON, LED_BLUE);
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}
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break;
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#endif
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case PX4_GPIO_PIEZO_PIN: // Piezo beeper
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if (value == LOW) { // this is inverted
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ioctl(_tone_alarm_fd, TONE_SET_ALARM, 3); // Alarm on !!
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//::write(_tone_alarm_fd, &user_tune, sizeof(user_tune));
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} else {
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ioctl(_tone_alarm_fd, TONE_SET_ALARM, 0); // Alarm off !!
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}
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break;
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#ifdef GPIO_EXT_1
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case PX4_GPIO_EXT_FMU_RELAY1_PIN:
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_1);
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break;
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#endif
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#ifdef GPIO_EXT_2
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case PX4_GPIO_EXT_FMU_RELAY2_PIN:
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_2);
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break;
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#endif
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#ifdef PX4IO_P_SETUP_RELAYS_POWER1
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case PX4_GPIO_EXT_IO_RELAY1_PIN:
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ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_POWER1);
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break;
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#endif
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#ifdef PX4IO_P_SETUP_RELAYS_POWER2
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case PX4_GPIO_EXT_IO_RELAY2_PIN:
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ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_POWER2);
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break;
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#endif
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#ifdef PX4IO_P_SETUP_RELAYS_ACC1
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case PX4_GPIO_EXT_IO_ACC1_PIN:
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ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_ACC1);
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break;
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#endif
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#ifdef PX4IO_P_SETUP_RELAYS_ACC2
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case PX4_GPIO_EXT_IO_ACC2_PIN:
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ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_ACC2);
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break;
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#endif
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case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5):
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, 1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0)));
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break;
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}
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}
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void PX4GPIO::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* PX4GPIO::channel(uint16_t n) {
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return new PX4DigitalSource(0);
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}
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/* Interrupt interface: */
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bool PX4GPIO::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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/*
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return true when USB connected
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*/
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bool PX4GPIO::usb_connected(void)
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{
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return stm32_gpioread(GPIO_OTGFS_VBUS);
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}
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PX4DigitalSource::PX4DigitalSource(uint8_t v) :
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_v(v)
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{}
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void PX4DigitalSource::mode(uint8_t output)
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{}
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uint8_t PX4DigitalSource::read() {
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return _v;
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}
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void PX4DigitalSource::write(uint8_t value) {
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_v = value;
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}
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void PX4DigitalSource::toggle() {
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_v = !_v;
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}
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#endif // CONFIG_HAL_BOARD
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