mirror of https://github.com/ArduPilot/ardupilot
131 lines
4.1 KiB
C++
131 lines
4.1 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include "AP_HAL_ChibiOS.h"
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/*
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pin types for alternative configuration
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*/
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enum class PERIPH_TYPE : uint8_t {
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UART_RX,
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UART_TX,
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I2C_SDA,
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I2C_SCL,
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OTHER,
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GPIO,
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};
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class ChibiOS::GPIO : public AP_HAL::GPIO {
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public:
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GPIO();
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void init() override;
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void pinMode(uint8_t pin, uint8_t output) override;
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uint8_t read(uint8_t pin) override;
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void write(uint8_t pin, uint8_t value) override;
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void toggle(uint8_t pin) override;
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/* Alternative interface: */
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AP_HAL::DigitalSource* channel(uint16_t n) override;
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/* Interrupt interface - fast, for RCOutput and SPI radios */
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bool attach_interrupt(uint8_t interrupt_num,
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AP_HAL::Proc p,
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INTERRUPT_TRIGGER_TYPE mode) override;
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/* Interrupt interface - for AP_HAL::GPIO */
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bool attach_interrupt(uint8_t pin,
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irq_handler_fn_t fn,
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INTERRUPT_TRIGGER_TYPE mode) override;
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/* return true if USB cable is connected */
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bool usb_connected(void) override;
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void set_usb_connected() { _usb_connected = true; }
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/* attach interrupt via ioline_t */
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bool _attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode);
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/*
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block waiting for a pin to change. A timeout of 0 means wait
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forever. Return true on pin change, false on timeout
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*/
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bool wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) override;
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#ifndef IOMCU_FW
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// timer tick
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void timer_tick(void) override;
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// Check for ISR floods
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bool arming_checks(size_t buflen, char *buffer) const override;
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#endif
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// check if a pin number is valid
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bool valid_pin(uint8_t pin) const override;
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// return servo channel associated with GPIO pin. Returns true on success and fills in servo_ch argument
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// servo_ch uses zero-based indexing
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bool pin_to_servo_channel(uint8_t pin, uint8_t& servo_ch) const override;
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/*
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resolve an ioline to take account of alternative configurations
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*/
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static ioline_t resolve_alt_config(ioline_t base, PERIPH_TYPE ptype, uint8_t instance);
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#if defined(STM32F7) || defined(STM32H7) || defined(STM32F4) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4) || defined(STM32L4PLUS)
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// allow for save and restore of pin settings
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bool get_mode(uint8_t pin, uint32_t &mode) override;
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void set_mode(uint8_t pin, uint32_t mode) override;
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#endif
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private:
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bool _usb_connected;
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bool _ext_started;
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bool _attach_interruptI(ioline_t line, palcallback_t cb, void *p, uint8_t mode);
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bool _attach_interrupt(ioline_t line, palcallback_t cb, void *p, uint8_t mode);
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#ifdef HAL_PIN_ALT_CONFIG
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void setup_alt_config(void);
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static uint8_t alt_config;
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#endif
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};
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class ChibiOS::DigitalSource : public AP_HAL::DigitalSource {
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public:
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DigitalSource(ioline_t line);
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void mode(uint8_t output) override;
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uint8_t read() override;
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void write(uint8_t value) override;
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void toggle() override;
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private:
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ioline_t line;
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};
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#if HAL_WITH_IO_MCU
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class ChibiOS::IOMCU_DigitalSource : public AP_HAL::DigitalSource {
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public:
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IOMCU_DigitalSource(uint8_t _pin);
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void write(uint8_t value) override;
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void toggle() override;
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// IOMCU GPIO is write only
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void mode(uint8_t output) override {};
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uint8_t read() override { return 0; }
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private:
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uint8_t pin;
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};
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#endif
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