ardupilot/libraries/AP_HAL_Linux/GPIO_RPI.cpp

100 lines
2.2 KiB
C++

#include <AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#include "GPIO.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/mman.h>
#include <sys/stat.h>
using namespace Linux;
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
LinuxGPIO_RPI::LinuxGPIO_RPI()
{}
void LinuxGPIO_RPI::init()
{
// open /dev/mem
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
hal.scheduler->panic("Can't open /dev/mem");
}
// mmap GPIO
gpio_map = mmap(
NULL, // Any adddress in our space will do
BLOCK_SIZE, // Map length
PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
MAP_SHARED, // Shared with other processes
mem_fd, // File to map
GPIO_BASE // Offset to GPIO peripheral
);
close(mem_fd); // No need to keep mem_fd open after mmap
if (gpio_map == MAP_FAILED) {
hal.scheduler->panic("Can't open /dev/mem");
}
gpio = (volatile uint32_t *)gpio_map; // Always use volatile pointer!
}
void LinuxGPIO_RPI::pinMode(uint8_t pin, uint8_t output)
{
if (output == HAL_GPIO_INPUT) {
GPIO_MODE_IN(pin);
} else {
GPIO_MODE_IN(pin);
GPIO_MODE_OUT(pin);
}
}
int8_t LinuxGPIO_RPI::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t LinuxGPIO_RPI::read(uint8_t pin)
{
uint32_t value = GPIO_GET(pin);
return value ? 1: 0;
}
void LinuxGPIO_RPI::write(uint8_t pin, uint8_t value)
{
if (value == LOW) {
GPIO_SET_LOW = 1 << pin;
} else {
GPIO_SET_HIGH = 1 << pin;
}
}
void LinuxGPIO_RPI::toggle(uint8_t pin)
{
write(pin, !read(pin));
}
/* Alternative interface: */
AP_HAL::DigitalSource* LinuxGPIO_RPI::channel(uint16_t n) {
return new LinuxDigitalSource(n);
}
/* Interrupt interface: */
bool LinuxGPIO_RPI::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
{
return true;
}
bool LinuxGPIO_RPI::usb_connected(void)
{
return false;
}
#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO