mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
244 lines
6.6 KiB
C++
244 lines
6.6 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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#include "GPIO.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include <AP_BoardConfig/AP_BoardConfig.h>
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using namespace ChibiOS;
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static struct gpio_entry {
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uint8_t pin_num;
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bool enabled;
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ioline_t pal_line;
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} _gpio_tab[] = {
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
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{0, PAL_LINE(GPIOB, 7U)},
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{1, PAL_LINE(GPIOB, 6U)},
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
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// pin numbers chosen to match px4 build
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{0, true, PAL_LINE(GPIOE, 12U)}, // LED
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{1, true, PAL_LINE(GPIOB, 0U)},
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{50, false, PAL_LINE(GPIOE, 14U)},
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{51, false, PAL_LINE(GPIOE, 13U)},
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{52, false, PAL_LINE(GPIOE, 11U)},
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{53, false, PAL_LINE(GPIOE, 9U)},
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{54, true, PAL_LINE(GPIOD, 13U)},
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{55, true, PAL_LINE(GPIOD, 14U)},
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4
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{0, true, PAL_LINE(GPIOB, 1U)}, // green
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{1, true, PAL_LINE(GPIOB, 3U)}, // blue
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{2, true, PAL_LINE(GPIOB, 11U)}, // red
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{3, true, PAL_LINE(GPIOC, 3U)}, // safety
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_MINDPXV2
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{0, true, PAL_LINE(GPIOA, 8U)}, // run LED
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#endif
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};
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#define NUM_PINS ARRAY_SIZE_SIMPLE(_gpio_tab)
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#define PIN_ENABLED(pin) ((pin)<NUM_PINS && _gpio_tab[pin].enabled)
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/*
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map a user pin number to a GPIO table entry
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*/
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static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num)
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{
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for (uint8_t i=0; i<ARRAY_SIZE_SIMPLE(_gpio_tab); i++) {
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if (pin_num == _gpio_tab[i].pin_num) {
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if (!_gpio_tab[i].enabled) {
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return NULL;
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}
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return &_gpio_tab[i];
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}
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}
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return NULL;
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}
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static void ext_interrupt_cb(EXTDriver *extp, expchannel_t channel);
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static AP_HAL::Proc ext_irq[22]; // ext int irq list
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static EXTConfig extcfg = {
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{
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL},
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{EXT_CH_MODE_DISABLED, NULL}
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}
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};
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static const uint32_t irq_port_list[] = {
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EXT_MODE_GPIOD, //Chan 0
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EXT_MODE_GPIOD, //Chan 1
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EXT_MODE_GPIOD, //Chan 2
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EXT_MODE_GPIOD, //Chan 3
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EXT_MODE_GPIOD, //Chan 4
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EXT_MODE_GPIOD, //Chan 5
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EXT_MODE_GPIOD, //Chan 6
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EXT_MODE_GPIOD, //Chan 7
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EXT_MODE_GPIOD, //Chan 8
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EXT_MODE_GPIOD, //Chan 9
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EXT_MODE_GPIOD, //Chan 10
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EXT_MODE_GPIOD, //Chan 11
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EXT_MODE_GPIOD, //Chan 12
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EXT_MODE_GPIOD, //Chan 13
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EXT_MODE_GPIOD, //Chan 14
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EXT_MODE_GPIOD //Chan 15
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};
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ChibiGPIO::ChibiGPIO()
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{}
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void ChibiGPIO::init()
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{
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extStart(&EXTD1, &extcfg);
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uint8_t pwm_count = AP_BoardConfig::get_pwm_count();
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for (uint8_t i=0; i<ARRAY_SIZE_SIMPLE(_gpio_tab); i++) {
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uint8_t pin_num = _gpio_tab[i].pin_num;
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if (pin_num >= 50 && pin_num <= 55) {
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// enable GPIOs based on BRD_PWM_COUNT
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if (pin_num < 50 + pwm_count) {
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_gpio_tab[i].enabled = false;
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} else {
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_gpio_tab[i].enabled = true;
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}
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}
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}
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}
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void ChibiGPIO::pinMode(uint8_t pin, uint8_t output)
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{
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struct gpio_entry *g = gpio_by_pin_num(pin);
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if (g) {
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palSetLineMode(g->pal_line, output);
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}
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}
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int8_t ChibiGPIO::analogPinToDigitalPin(uint8_t pin)
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{
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return -1;
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}
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uint8_t ChibiGPIO::read(uint8_t pin)
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{
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struct gpio_entry *g = gpio_by_pin_num(pin);
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if (g) {
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return palReadLine(g->pal_line);
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}
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return 0;
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}
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void ChibiGPIO::write(uint8_t pin, uint8_t value)
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{
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struct gpio_entry *g = gpio_by_pin_num(pin);
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if (g) {
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if (value == PAL_LOW) {
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palClearLine(g->pal_line);
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} else {
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palSetLine(g->pal_line);
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}
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}
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}
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void ChibiGPIO::toggle(uint8_t pin)
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{
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struct gpio_entry *g = gpio_by_pin_num(pin);
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if (g) {
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palToggleLine(g->pal_line);
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}
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}
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/* Alternative interface: */
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AP_HAL::DigitalSource* ChibiGPIO::channel(uint16_t n) {
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return new ChibiDigitalSource(0);
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}
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/* Interrupt interface: */
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bool ChibiGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode) {
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extStop(&EXTD1);
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switch(mode) {
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case HAL_GPIO_INTERRUPT_LOW:
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extcfg.channels[interrupt_num].mode = EXT_CH_MODE_LOW_LEVEL;
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break;
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case HAL_GPIO_INTERRUPT_FALLING:
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extcfg.channels[interrupt_num].mode = EXT_CH_MODE_FALLING_EDGE;
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break;
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case HAL_GPIO_INTERRUPT_RISING:
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extcfg.channels[interrupt_num].mode = EXT_CH_MODE_RISING_EDGE;
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break;
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case HAL_GPIO_INTERRUPT_BOTH:
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extcfg.channels[interrupt_num].mode = EXT_CH_MODE_BOTH_EDGES;
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break;
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default: return false;
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}
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extcfg.channels[interrupt_num].mode |= EXT_CH_MODE_AUTOSTART | irq_port_list[interrupt_num];
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ext_irq[interrupt_num] = p;
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extcfg.channels[interrupt_num].cb = ext_interrupt_cb;
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extStart(&EXTD1, &extcfg);
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return true;
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}
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bool ChibiGPIO::usb_connected(void)
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{
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return _usb_connected;
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}
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ChibiDigitalSource::ChibiDigitalSource(uint8_t v) :
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_v(v)
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{}
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void ChibiDigitalSource::mode(uint8_t output)
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{}
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uint8_t ChibiDigitalSource::read() {
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return _v;
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}
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void ChibiDigitalSource::write(uint8_t value) {
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_v = value;
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}
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void ChibiDigitalSource::toggle() {
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_v = !_v;
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}
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void ext_interrupt_cb(EXTDriver *extp, expchannel_t channel) {
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if (ext_irq[channel] != nullptr) {
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ext_irq[channel]();
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}
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}
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#endif //HAL_BOARD_ChibiOS
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