mirror of https://github.com/ArduPilot/ardupilot
153 lines
3.4 KiB
C++
153 lines
3.4 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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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_BOARD_DRIVER;
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LinuxGPIO::LinuxGPIO()
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{}
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void LinuxGPIO::init()
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{
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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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}
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void LinuxGPIO::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::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::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::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::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::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::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::usb_connected(void)
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{
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return false;
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}
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LinuxDigitalSource::LinuxDigitalSource(uint8_t v) :
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_v(v)
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{
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}
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void LinuxDigitalSource::mode(uint8_t output)
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{
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hal.gpio->pinMode(_v, output);
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}
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uint8_t LinuxDigitalSource::read()
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{
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return hal.gpio->read(_v);
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}
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void LinuxDigitalSource::write(uint8_t value)
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{
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return hal.gpio->write(_v,value);
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}
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void LinuxDigitalSource::toggle()
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{
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write(!read());
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}
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#endif // CONFIG_HAL_BOARD
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