mirror of https://github.com/ArduPilot/ardupilot
130 lines
3.7 KiB
C++
130 lines
3.7 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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#include "GPIO.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <errno.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <sys/mman.h>
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#include <sys/stat.h>
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#define LOW 0
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#define HIGH 1
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using namespace Linux;
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GPIO_BBB::GPIO_BBB()
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{}
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void GPIO_BBB::init()
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{
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#if LINUX_GPIO_NUM_BANKS == 4
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int mem_fd;
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/* open /dev/mem */
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if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC|O_CLOEXEC)) < 0) {
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printf("can't open /dev/mem \n");
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exit (-1);
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}
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/*
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Enable all GPIO clocks
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Without this, access to deactivated banks (i.e. those with no clock source set up) will (logically) fail with SIGBUS
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*/
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volatile unsigned *cm_per = (volatile unsigned *)mmap(0, CM_PER_BASE_SIZE, PROT_READ|PROT_WRITE,
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MAP_SHARED, mem_fd, CM_PER_BASE);
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if ((char *)cm_per == MAP_FAILED) {
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AP_HAL::panic("unable to map CM_PER registers");
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}
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off_t cm_offsets[LINUX_GPIO_NUM_BANKS-1] = { CM_PER_GPIO1_CLKCTRL, CM_PER_GPIO2_CLKCTRL, CM_PER_GPIO3_CLKCTRL };
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for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS-1; i++) {
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unsigned reg_value = *(cm_per + cm_offsets[i]);
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*(cm_per + cm_offsets[i]) = (reg_value & ~0b11) | 0b10;
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}
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munmap((void *)cm_per, CM_PER_BASE_SIZE);
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/* mmap GPIO */
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off_t offsets[LINUX_GPIO_NUM_BANKS] = { GPIO0_BASE, GPIO1_BASE, GPIO2_BASE, GPIO3_BASE };
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for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS; i++) {
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gpio_bank[i].base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, offsets[i]);
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if ((char *)gpio_bank[i].base == MAP_FAILED) {
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AP_HAL::panic("unable to map GPIO bank");
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}
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gpio_bank[i].oe = gpio_bank[i].base + GPIO_OE;
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gpio_bank[i].in = gpio_bank[i].base + GPIO_IN;
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gpio_bank[i].out = gpio_bank[i].base + GPIO_OUT;
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}
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close(mem_fd);
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#endif // LINUX_GPIO_NUM_BANKS
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}
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void GPIO_BBB::pinMode(uint8_t pin, uint8_t output)
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{
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uint8_t bank = pin/32;
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uint8_t bankpin = pin & 0x1F;
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if (bank >= LINUX_GPIO_NUM_BANKS) {
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return;
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}
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if (output == HAL_GPIO_INPUT) {
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*gpio_bank[bank].oe |= (1U<<bankpin);
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} else {
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*gpio_bank[bank].oe &= ~(1U<<bankpin);
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}
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}
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uint8_t GPIO_BBB::read(uint8_t pin) {
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uint8_t bank = pin/32;
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uint8_t bankpin = pin & 0x1F;
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if (bank >= LINUX_GPIO_NUM_BANKS) {
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return 0;
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}
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return *gpio_bank[bank].in & (1U<<bankpin) ? HIGH : LOW;
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}
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void GPIO_BBB::write(uint8_t pin, uint8_t value)
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{
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uint8_t bank = pin/32;
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uint8_t bankpin = pin & 0x1F;
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if (bank >= LINUX_GPIO_NUM_BANKS) {
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return;
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}
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if (value == LOW) {
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*gpio_bank[bank].out &= ~(1U<<bankpin);
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} else {
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*gpio_bank[bank].out |= 1U<<bankpin;
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}
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}
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void GPIO_BBB::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* GPIO_BBB::channel(uint16_t n) {
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return new DigitalSource(n);
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}
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bool GPIO_BBB::usb_connected(void)
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{
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return false;
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF ||
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// CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD ||
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// CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI ||
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// CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE ||
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// CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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