mirror of https://github.com/ArduPilot/ardupilot
100 lines
3.6 KiB
C++
100 lines
3.6 KiB
C++
#pragma once
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#include <stdint.h>
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#include "AP_HAL_Linux.h"
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#define LOW 0
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#define HIGH 1
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// Raspberry Pi GPIO memory
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#define BCM2708_PERI_BASE 0x20000000
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#define BCM2709_PERI_BASE 0x3F000000
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#define GPIO_BASE(address) (address + 0x200000)
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#define PWM_BASE(address) (address + 0x20C000) /* PWM controller */
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#define CLOCK_BASE(address) (address + 0x101000)
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#define PWM_CTL 0
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#define PWM_RNG1 4
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#define PWM_DAT1 5
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#define PWMCLK_CNTL 40
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#define PWMCLK_DIV 41
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#define PAGE_SIZE (4*1024)
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#define BLOCK_SIZE (4*1024)
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// GPIO setup. Always use INP_GPIO(x) before OUT_GPIO(x) or SET_GPIO_ALT(x,y)
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#define GPIO_MODE_IN(g) *(gpio+((g)/10)) &= ~(7<<(((g)%10)*3))
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#define GPIO_MODE_OUT(g) *(gpio+((g)/10)) |= (1<<(((g)%10)*3))
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#define GPIO_MODE_ALT(g,a) *(gpio+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))
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#define GPIO_SET_HIGH *(gpio+7) // sets bits which are 1
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#define GPIO_SET_LOW *(gpio+10) // clears bits which are 1
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#define GPIO_GET(g) (*(gpio+13)&(1<<g)) // 0 if LOW, (1<<g) if HIGH
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// Raspberry Pi GPIO mapping
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#define RPI_GPIO_2 2 // Pin 3 SDA
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#define RPI_GPIO_3 3 // Pin 5 SCL
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#define RPI_GPIO_4 4 // Pin 7 BH_PCA9685_OE
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#define RPI_GPIO_5 5 // Pin 29 BH_PWM_INPUT_0
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#define RPI_GPIO_6 6 // Pin 31 BH_PWM_INPUT_1
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#define RPI_GPIO_7 7 // Pin 26 CE1 MPU9250_CS
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#define RPI_GPIO_8 8 // Pin 24 CE0 UBLOX_CS
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#define RPI_GPIO_9 9 // Pin 21 MISO
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#define RPI_GPIO_10 10 // Pin 19 MOSI
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#define RPI_GPIO_11 11 // Pin 23 SCLK
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#define RPI_GPIO_12 12 // Pin 32 BH_PWM_INPUT_2
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#define RPI_GPIO_13 13 // Pin 33 BH_PWM_INPUT_3
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#define RPI_GPIO_14 14 // Pin 8 TxD
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#define RPI_GPIO_15 15 // Pin 10 RxD
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#define RPI_GPIO_16 16 // Pin 36
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#define RPI_GPIO_17 17 // Pin 11 UART_PORT_5
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#define RPI_GPIO_18 18 // Pin 12 UART_PORT_4
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#define RPI_GPIO_19 19 // Pin 35 BH_PWM_INPUT_4
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#define RPI_GPIO_20 20 // Pin 38 BH_PWM_INPUT_5
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#define RPI_GPIO_21 21 // Pin 40 BH_PWM_INPUT_6
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#define RPI_GPIO_22 22 // Pin 15 UBLOX_PPS
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#define RPI_GPIO_23 23 // Pin 16 MPU9250_DRDY BH_MPU6050_INTA
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#define RPI_GPIO_24 24 // Pin 18 SPI_PORT_6
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#define RPI_GPIO_25 25 // Pin 22 SPI_PORT_5
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#define RPI_GPIO_26 26 // Pin 37 BH_PWM_INPUT_7
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#define RPI_GPIO_27 27 // Pin 13
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#define RPI_GPIO_28 28 // Pin 3
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#define RPI_GPIO_29 29 // Pin 4
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#define RPI_GPIO_30 30 // Pin 5
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#define RPI_GPIO_31 31 // Pin 6
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class Linux::GPIO_RPI : public AP_HAL::GPIO {
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private:
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int mem_fd;
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void *gpio_map;
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void *pwm_map;
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void *clk_map;
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volatile uint32_t *gpio;
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volatile uint32_t *pwm;
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volatile uint32_t *clk;
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void setPWM0Period(uint32_t time_us);
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void setPWM0Duty(uint8_t percent);
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public:
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GPIO_RPI();
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void init();
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void pinMode(uint8_t pin, uint8_t output);
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void pinMode(uint8_t pin, uint8_t output, uint8_t alt);
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int8_t analogPinToDigitalPin(uint8_t pin);
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uint8_t read(uint8_t pin);
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void write(uint8_t pin, uint8_t value);
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void toggle(uint8_t pin);
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void setPWMPeriod(uint8_t pin, uint32_t time_us);
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void setPWMDuty(uint8_t pin, uint8_t percent);
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/* Alternative interface: */
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AP_HAL::DigitalSource* channel(uint16_t n);
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/* Interrupt interface: */
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bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
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uint8_t mode);
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/* return true if USB cable is connected */
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bool usb_connected(void);
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};
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