mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
490841a814
By opening with O_CLOEXEC we make sure we don't leak the file descriptor when we are exec'ing or calling out subprograms. Right now we currently don't do it so there's no harm, but it's good practice in Linux to have it.
141 lines
3.6 KiB
C++
141 lines
3.6 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_URUS || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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#include <errno.h>
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#include <fcntl.h>
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#include <poll.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 <sys/mman.h>
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#include <sys/stat.h>
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#include <unistd.h>
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#include "GPIO.h"
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#include "Util_RPI.h"
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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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// 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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using namespace Linux;
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static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
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GPIO_RPI::GPIO_RPI()
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{
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}
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void GPIO_RPI::init()
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{
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int rpi_version = UtilRPI::from(hal.util)->get_rpi_version();
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uint32_t gpio_address = rpi_version == 1 ? GPIO_BASE(BCM2708_PERI_BASE) : GPIO_BASE(BCM2709_PERI_BASE);
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int mem_fd = open("/dev/mem", O_RDWR|O_SYNC|O_CLOEXEC);
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if (mem_fd < 0) {
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AP_HAL::panic("Can't open /dev/mem");
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}
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// mmap GPIO
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void *gpio_map = mmap(
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nullptr, // Any adddress in our space will do
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BLOCK_SIZE, // Map length
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PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
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MAP_SHARED, // Shared with other processes
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mem_fd, // File to map
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gpio_address // Offset to GPIO peripheral
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);
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close(mem_fd); // No need to keep mem_fd open after mmap
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if (gpio_map == MAP_FAILED) {
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AP_HAL::panic("Can't open /dev/mem");
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}
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_gpio = (volatile uint32_t *)gpio_map;
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}
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void GPIO_RPI::pinMode(uint8_t pin, uint8_t output)
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{
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if (output == HAL_GPIO_INPUT) {
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GPIO_MODE_IN(pin);
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} else {
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GPIO_MODE_IN(pin);
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GPIO_MODE_OUT(pin);
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}
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}
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void GPIO_RPI::pinMode(uint8_t pin, uint8_t output, uint8_t alt)
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{
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if (output == HAL_GPIO_INPUT) {
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GPIO_MODE_IN(pin);
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} else if (output == HAL_GPIO_ALT) {
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GPIO_MODE_IN(pin);
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GPIO_MODE_ALT(pin, alt);
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} else {
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GPIO_MODE_IN(pin);
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GPIO_MODE_OUT(pin);
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}
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}
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int8_t GPIO_RPI::analogPinToDigitalPin(uint8_t pin)
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{
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return -1;
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}
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uint8_t GPIO_RPI::read(uint8_t pin)
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{
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uint32_t value = GPIO_GET(pin);
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return value ? 1: 0;
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}
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void GPIO_RPI::write(uint8_t pin, uint8_t value)
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{
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if (value == LOW) {
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GPIO_SET_LOW = 1 << pin;
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} else {
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GPIO_SET_HIGH = 1 << pin;
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}
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}
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void GPIO_RPI::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_RPI::channel(uint16_t n)
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{
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return new DigitalSource(n);
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}
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/* Interrupt interface: */
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bool GPIO_RPI::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
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{
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return true;
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}
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bool GPIO_RPI::usb_connected(void)
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{
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return false;
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}
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#endif
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