mirror of https://github.com/ArduPilot/ardupilot
127 lines
3.3 KiB
C++
127 lines
3.3 KiB
C++
#include <stdio.h>
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#include <unistd.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL_Linux/AP_HAL_Linux.h>
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#include <AP_Menu/AP_Menu.h>
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void setup();
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void loop();
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int parse_gpio_pin_number(uint8_t argc, const Menu::arg *argv);
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#define MENU_FUNC(func) FUNCTOR_BIND(&commands, &MenuCommands::func, int8_t, uint8_t, const Menu::arg *)
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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int parse_gpio_pin_number(uint8_t argc, const Menu::arg *argv) {
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if (argc != 2) {
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fprintf(stderr, "Input and output commands take only one argument, which is the GPIO pin number\n");
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return -1;
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}
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long int pin = argv[1].i;
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if (pin <= 0) {
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fprintf(stderr, "Invalid pin number: %ld\n", pin);
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return -1;
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}
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return pin;
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}
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static int8_t test_gpio_input(uint8_t argc, const Menu::arg *argv, bool use_channel) {
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AP_HAL::DigitalSource *ch = nullptr;
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int pin = parse_gpio_pin_number(argc, argv);
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if (pin <= 0) return -1;
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if (use_channel) {
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ch = hal.gpio->channel(pin);
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ch->mode(HAL_GPIO_INPUT);
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} else {
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hal.gpio->pinMode(pin, HAL_GPIO_INPUT);
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}
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hal.console->printf("Ok, I'll start reading pin number %d and printing the value read on intervals of 1 second.", pin);
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while (1) {
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hal.console->printf("%u ", use_channel ? ch->read() : hal.gpio->read(pin));
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sleep(1);
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}
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return 0;
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}
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static int8_t test_gpio_output(uint8_t argc, const Menu::arg *argv, bool use_channel) {
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AP_HAL::DigitalSource *ch = nullptr;
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int pin = parse_gpio_pin_number(argc, argv);
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if (pin <= 0) return -1;
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if (use_channel) {
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ch = hal.gpio->channel(pin);
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ch->mode(HAL_GPIO_OUTPUT);
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} else {
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hal.gpio->pinMode(pin, HAL_GPIO_OUTPUT);
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}
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hal.console->printf("Now I'll start toggling the signal on the pin number %d on intervals of 1 second."
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" It's recommended to verify that the signal is reaching it (e.g. by using a LED)\n", pin);
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uint8_t signal = 0;
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while (1) {
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signal ^= 1;
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if (use_channel) {
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ch->write(signal);
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} else {
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hal.gpio->write(pin, signal);
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}
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sleep(1);
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}
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return 0;
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}
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class MenuCommands {
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public:
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int8_t gpio_input(uint8_t argc, const Menu::arg *argv) {
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return ::test_gpio_input(argc, argv, false);
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}
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int8_t gpio_output(uint8_t argc, const Menu::arg *argv) {
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return ::test_gpio_output(argc, argv, false);
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}
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int8_t gpio_input_channel(uint8_t argc, const Menu::arg *argv) {
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hal.console->printf("GPIO Input using digital source\n");
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return test_gpio_input(argc, argv, true);
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}
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int8_t gpio_output_channel(uint8_t argc, const Menu::arg *argv) {
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hal.console->printf("GPIO Output using digital source\n");
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return test_gpio_output(argc, argv, true);
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}
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};
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MenuCommands commands;
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const struct Menu::command test_menu_commands[] = {
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{"input", MENU_FUNC(gpio_input)},
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{"output", MENU_FUNC(gpio_output)},
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{"input_ch", MENU_FUNC(gpio_input_channel)},
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{"output_ch", MENU_FUNC(gpio_output_channel)}
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};
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MENU(main_menu, "GPIOTest: Please select one of the operations followed by the GPIO pin number", test_menu_commands);
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void setup(void)
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{
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Menu::set_port(hal.console);
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while (1) {
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main_menu.run();
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}
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}
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void loop(void)
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{
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}
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AP_HAL_MAIN();
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