mirror of https://github.com/ArduPilot/ardupilot
202 lines
4.6 KiB
C++
202 lines
4.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include "GPIO.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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/* VRBRAIN headers */
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#include <drivers/drv_led.h>
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#include <drivers/drv_tone_alarm.h>
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#include <drivers/drv_gpio.h>
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#include <arch/board/board.h>
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#include <board_config.h>
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#define LOW 0
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#define HIGH 1
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extern const AP_HAL::HAL& hal;
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using namespace VRBRAIN;
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VRBRAINGPIO::VRBRAINGPIO()
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{}
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void VRBRAINGPIO::init()
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{
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_led_fd = open(LED0_DEVICE_PATH, O_RDWR);
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if (_led_fd == -1) {
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AP_HAL::panic("Unable to open " LED0_DEVICE_PATH);
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}
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if (ioctl(_led_fd, LED_OFF, LED_BLUE) != 0) {
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hal.console->printf("GPIO: Unable to setup GPIO LED BLUE\n");
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}
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if (ioctl(_led_fd, LED_OFF, LED_RED) != 0) {
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hal.console->printf("GPIO: Unable to setup GPIO LED RED\n");
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}
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if (ioctl(_led_fd, LED_OFF, LED_GREEN) != 0) {
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hal.console->printf("GPIO: Unable to setup GPIO LED GREEN\n");
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}
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_tone_alarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
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if (_tone_alarm_fd == -1) {
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AP_HAL::panic("Unable to open " TONEALARM0_DEVICE_PATH);
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}
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_gpio_fmu_fd = open(PX4FMU_DEVICE_PATH, 0);
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if (_gpio_fmu_fd == -1) {
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AP_HAL::panic("Unable to open GPIO");
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}
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#ifdef GPIO_SERVO_1
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if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_SERVO_1) != 0) {
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hal.console->printf("GPIO: Unable to setup GPIO_1\n");
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}
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#endif
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#ifdef GPIO_SERVO_2
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if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_SERVO_2) != 0) {
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hal.console->printf("GPIO: Unable to setup GPIO_2\n");
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}
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#endif
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#ifdef GPIO_SERVO_3
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if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_SERVO_3) != 0) {
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hal.console->printf("GPIO: Unable to setup GPIO_3\n");
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}
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#endif
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}
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void VRBRAINGPIO::pinMode(uint8_t pin, uint8_t output)
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{
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switch (pin) {
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}
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}
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int8_t VRBRAINGPIO::analogPinToDigitalPin(uint8_t pin)
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{
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return -1;
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}
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uint8_t VRBRAINGPIO::read(uint8_t pin) {
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switch (pin) {
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#ifdef GPIO_SERVO_3
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case EXTERNAL_RELAY1_PIN: {
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uint32_t relays = 0;
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ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays);
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return (relays & GPIO_SERVO_3)?HIGH:LOW;
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}
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#endif
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}
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return LOW;
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}
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void VRBRAINGPIO::write(uint8_t pin, uint8_t value)
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{
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switch (pin) {
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case HAL_GPIO_A_LED_PIN: // Arming LED
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if (value == LOW) {
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ioctl(_led_fd, LED_OFF, LED_GREEN);
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} else {
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ioctl(_led_fd, LED_ON, LED_GREEN);
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}
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break;
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case HAL_GPIO_B_LED_PIN: // not used yet
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if (value == LOW) {
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ioctl(_led_fd, LED_OFF, LED_BLUE);
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} else {
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ioctl(_led_fd, LED_ON, LED_BLUE);
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}
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break;
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case HAL_GPIO_C_LED_PIN: // GPS LED
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if (value == LOW) {
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ioctl(_led_fd, LED_OFF, LED_RED);
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} else {
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ioctl(_led_fd, LED_ON, LED_RED);
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}
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break;
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#ifdef GPIO_SERVO_1
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case EXTERNAL_LED_GPS:
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_SERVO_1);
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break;
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#endif
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#ifdef GPIO_SERVO_2
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case EXTERNAL_LED_ARMED:
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_SERVO_2);
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break;
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#endif
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#ifdef GPIO_SERVO_3
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case EXTERNAL_RELAY1_PIN:
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_SERVO_3);
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break;
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#endif
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}
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}
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void VRBRAINGPIO::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* VRBRAINGPIO::channel(uint16_t n) {
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return new VRBRAINDigitalSource(0);
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}
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/* Interrupt interface: */
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bool VRBRAINGPIO::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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/*
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return true when USB connected
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*/
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bool VRBRAINGPIO::usb_connected(void)
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{
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/*
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we use a combination of voltage on the USB connector and the
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open of the /dev/ttyACM0 character device. This copes with
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systems where the VBUS may go high even with no USB connected
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(such as AUAV-X2)
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*/
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return stm32_gpioread(GPIO_OTGFS_VBUS) && _usb_connected;
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}
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VRBRAINDigitalSource::VRBRAINDigitalSource(uint8_t v) :
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_v(v)
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{}
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void VRBRAINDigitalSource::mode(uint8_t output)
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{}
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uint8_t VRBRAINDigitalSource::read() {
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return _v;
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}
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void VRBRAINDigitalSource::write(uint8_t value) {
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_v = value;
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}
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void VRBRAINDigitalSource::toggle() {
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_v = !_v;
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}
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#endif // CONFIG_HAL_BOARD
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