mirror of https://github.com/ArduPilot/ardupilot
136 lines
3.2 KiB
C++
136 lines
3.2 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>
|
|
|
|
#define MAX_SIZE_LINE 50
|
|
|
|
using namespace Linux;
|
|
|
|
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
|
|
LinuxGPIO_RPI::LinuxGPIO_RPI()
|
|
{}
|
|
|
|
int LinuxGPIO_RPI::getRaspberryPiVersion() const
|
|
{
|
|
char buffer[MAX_SIZE_LINE];
|
|
const char* hardware_description_entry = "Hardware";
|
|
const char* v1 = "BCM2708";
|
|
const char* v2 = "BCM2709";
|
|
char* flag;
|
|
FILE* fd;
|
|
|
|
fd = fopen("/proc/cpuinfo", "r");
|
|
|
|
while (fgets(buffer, MAX_SIZE_LINE, fd) != NULL) {
|
|
flag = strstr(buffer, hardware_description_entry);
|
|
|
|
if (flag != NULL) {
|
|
if (strstr(buffer, v2) != NULL) {
|
|
printf("Raspberry Pi 2 with BCM2709!\n");
|
|
fclose(fd);
|
|
return 2;
|
|
} else if (strstr(buffer, v1) != NULL) {
|
|
printf("Raspberry Pi 1 with BCM2708!\n");
|
|
fclose(fd);
|
|
return 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
/* defaults to 1 */
|
|
fprintf(stderr, "Could not detect RPi version, defaulting to 1\n");
|
|
fclose(fd);
|
|
return 1;
|
|
}
|
|
|
|
void LinuxGPIO_RPI::init()
|
|
{
|
|
uint32_t address = getRaspberryPiVersion() == 1? GPIO_BASE(BCM2708_PERI_BASE): GPIO_BASE(BCM2709_PERI_BASE);
|
|
// 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
|
|
address // 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
|