mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
103 lines
2.7 KiB
C++
103 lines
2.7 KiB
C++
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#include <avr/interrupt.h>
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#include "pins_arduino_mega.h"
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#include "GPIO.h"
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using namespace AP_HAL_AVR;
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ArduinoGPIO* ArduinoDigitalSource::parent;
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// Get the bit location within the hardware port of the given virtual pin.
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// This comes from the pins_*.c file for the active board configuration.
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#define analogInPinToBit(P) (P)
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// Get the bit location within the hardware port of the given virtual pin.
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// This comes from the pins_*.c file for the active board configuration.
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//
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// These perform slightly better as macros compared to inline functions
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//
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#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )
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#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
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#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
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#define analogInPinToBit(P) (P)
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#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) )
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#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) )
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#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) )
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void ArduinoGPIO::pinMode(uint8_t pin, uint8_t mode) {
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uint8_t bit = digitalPinToBitMask(pin);
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uint8_t port = digitalPinToPort(pin);
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volatile uint8_t *reg;
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if (port == NOT_A_PIN) return;
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// JWS: can I let the optimizer do this?
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reg = portModeRegister(port);
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if (mode == GPIO_INPUT) {
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uint8_t oldSREG = SREG;
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cli();
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*reg &= ~bit;
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SREG = oldSREG;
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} else {
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uint8_t oldSREG = SREG;
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cli();
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*reg |= bit;
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SREG = oldSREG;
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}
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}
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uint8_t ArduinoGPIO::read(uint8_t pin) {
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uint8_t bit = digitalPinToBitMask(pin);
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uint8_t port = digitalPinToPort(pin);
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if (port == NOT_A_PIN) return 0;
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if (*portInputRegister(port) & bit) return 1;
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return 0;
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}
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void ArduinoGPIO::write(uint8_t pin, uint8_t value) {
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uint8_t bit = digitalPinToBitMask(pin);
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uint8_t port = digitalPinToPort(pin);
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volatile uint8_t *out;
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if (port == NOT_A_PIN) return;
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out = portOutputRegister(port);
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uint8_t oldSREG = SREG;
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cli();
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if (value == 0) {
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*out &= ~bit;
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} else {
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*out |= bit;
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}
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SREG = oldSREG;
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}
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AP_HAL::DigitalSource* ArduinoGPIO::channel(int n) {
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if (ArduinoDigitalSource::parent == NULL) {
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ArduinoDigitalSource::parent = this;
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}
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return new ArduinoDigitalSource(n);
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}
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void ArduinoDigitalSource::mode(uint8_t output) {
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parent->pinMode(_pin, output);
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}
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uint8_t ArduinoDigitalSource::read() {
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return parent->read(_pin);
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}
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void ArduinoDigitalSource::write(uint8_t value) {
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parent->write(_pin, value);
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}
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