mirror of https://github.com/ArduPilot/ardupilot
101 lines
2.1 KiB
C++
101 lines
2.1 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) {
|
|
printf("can't open /dev/mem \n");
|
|
exit(-1);
|
|
}
|
|
|
|
// 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) {
|
|
printf("mmap error %d\n", (int)gpio_map); // errno also set!
|
|
exit(-1);
|
|
}
|
|
|
|
gpio = (volatile unsigned *)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)
|
|
{
|
|
return GPIO_GET(pin);
|
|
}
|
|
|
|
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
|