mirror of https://github.com/ArduPilot/ardupilot
83 lines
1.9 KiB
C++
83 lines
1.9 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
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#include "GPIO.h"
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#include "GPIO_RPI.h"
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#include "GPIO_RPI_BCM.h"
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#include "GPIO_RPI_RP1.h"
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#include "Util_RPI.h"
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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GPIO_RPI::GPIO_RPI()
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{
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}
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void GPIO_RPI::init()
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{
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const LINUX_BOARD_TYPE rpi_version = UtilRPI::from(hal.util)->detect_linux_board_type();
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switch (rpi_version) {
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case LINUX_BOARD_TYPE::RPI_ZERO_1:
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case LINUX_BOARD_TYPE::RPI_2_3_ZERO2:
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case LINUX_BOARD_TYPE::RPI_4:
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gpioDriver = NEW_NOTHROW GPIO_RPI_BCM();
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gpioDriver->init();
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break;
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case LINUX_BOARD_TYPE::RPI_5:
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gpioDriver = NEW_NOTHROW GPIO_RPI_RP1();
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gpioDriver->init();
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break;
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default:
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AP_HAL::panic("Unknown rpi_version, cannot locate peripheral base address");
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return;
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}
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}
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void GPIO_RPI::pinMode(uint8_t pin, uint8_t output)
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{
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gpioDriver->pinMode(pin, output);
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}
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void GPIO_RPI::pinMode(uint8_t pin, uint8_t output, uint8_t alt)
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{
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gpioDriver->pinMode(pin, output, alt);
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}
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uint8_t GPIO_RPI::read(uint8_t pin)
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{
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return gpioDriver->read(pin);
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}
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void GPIO_RPI::write(uint8_t pin, uint8_t value)
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{
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gpioDriver->write(pin, value);
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}
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void GPIO_RPI::toggle(uint8_t pin)
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{
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gpioDriver->toggle(pin);
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}
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/* Alternative interface: */
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AP_HAL::DigitalSource* GPIO_RPI::channel(uint16_t n)
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{
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return NEW_NOTHROW DigitalSource(n);
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}
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bool GPIO_RPI::usb_connected(void)
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{
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return false;
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}
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#endif
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