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HAL_Linux: add GPIO driver for Raspberry Pi

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This commit is contained in:
Mikhail Avkhimenia 2014-09-18 17:35:22 +04:00 committed by Andrew Tridgell
parent 07ed93cea0
commit 2f0900b0a8
8 changed files with 464 additions and 251 deletions
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3
libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
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@ -15,7 +15,8 @@ namespace Linux {
class LinuxAnalogSource; class LinuxAnalogSource;
class LinuxAnalogIn; class LinuxAnalogIn;
class LinuxStorage; class LinuxStorage;
class LinuxGPIO; class LinuxGPIO_BBB;
class LinuxGPIO_RPI;
class LinuxDigitalSource; class LinuxDigitalSource;
class LinuxRCInput; class LinuxRCInput;
class LinuxRCInput_PRU; class LinuxRCInput_PRU;

123
libraries/AP_HAL_Linux/GPIO.cpp
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@ -1,130 +1,11 @@
#include <AP_HAL.h> #include <AP_HAL.h>
#include "GPIO.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "GPIO.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/mman.h>
#include <sys/stat.h>
using namespace Linux; using namespace Linux;
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
LinuxGPIO::LinuxGPIO()
{}
void LinuxGPIO::init()
{
#if LINUX_GPIO_NUM_BANKS == 4
int mem_fd;
// Enable all GPIO banks
// Without this, access to deactivated banks (i.e. those with no clock source set up) will (logically) fail with SIGBUS
// Idea taken from https://groups.google.com/forum/#!msg/beagleboard/OYFp4EXawiI/Mq6s3sg14HoJ
uint8_t bank_enable[3] = { 5, 65, 105 };
int export_fd = open("/sys/class/gpio/export", O_WRONLY);
if (export_fd == -1) {
hal.scheduler->panic("unable to open /sys/class/gpio/export");
}
for (uint8_t i=0; i<3; i++) {
dprintf(export_fd, "%u\n", (unsigned)bank_enable[i]);
}
close(export_fd);
/* open /dev/mem */
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
printf("can't open /dev/mem \n");
exit (-1);
}
/* mmap GPIO */
off_t offsets[LINUX_GPIO_NUM_BANKS] = { GPIO0_BASE, GPIO1_BASE, GPIO2_BASE, GPIO3_BASE };
for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS; i++) {
gpio_bank[i].base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, offsets[i]);
if ((char *)gpio_bank[i].base == MAP_FAILED) {
hal.scheduler->panic("unable to map GPIO bank");
}
gpio_bank[i].oe = gpio_bank[i].base + GPIO_OE;
gpio_bank[i].in = gpio_bank[i].base + GPIO_IN;
gpio_bank[i].out = gpio_bank[i].base + GPIO_OUT;
}
close(mem_fd);
#endif // LINUX_GPIO_NUM_BANKS
}
void LinuxGPIO::pinMode(uint8_t pin, uint8_t output)
{
uint8_t bank = pin/32;
uint8_t bankpin = pin & 0x1F;
if (bank >= LINUX_GPIO_NUM_BANKS) {
return;
}
if (output == HAL_GPIO_INPUT) {
*gpio_bank[bank].oe |= (1U<<bankpin);
} else {
*gpio_bank[bank].oe &= ~(1U<<bankpin);
}
}
int8_t LinuxGPIO::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t LinuxGPIO::read(uint8_t pin) {
uint8_t bank = pin/32;
uint8_t bankpin = pin & 0x1F;
if (bank >= LINUX_GPIO_NUM_BANKS) {
return 0;
}
return *gpio_bank[bank].in & (1U<<bankpin) ? HIGH : LOW;
}
void LinuxGPIO::write(uint8_t pin, uint8_t value)
{
uint8_t bank = pin/32;
uint8_t bankpin = pin & 0x1F;
if (bank >= LINUX_GPIO_NUM_BANKS) {
return;
}
if (value == LOW) {
*gpio_bank[bank].out &= ~(1U<<bankpin);
} else {
*gpio_bank[bank].out |= 1U<<bankpin;
}
}
void LinuxGPIO::toggle(uint8_t pin)
{
write(pin, !read(pin));
}
/* Alternative interface: */
AP_HAL::DigitalSource* LinuxGPIO::channel(uint16_t n) {
return new LinuxDigitalSource(n);
}
/* Interrupt interface: */
bool LinuxGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
{
return true;
}
bool LinuxGPIO::usb_connected(void)
{
return false;
}
LinuxDigitalSource::LinuxDigitalSource(uint8_t v) : LinuxDigitalSource::LinuxDigitalSource(uint8_t v) :
_v(v) _v(v)
@ -152,4 +33,4 @@ void LinuxDigitalSource::toggle()
write(!read()); write(!read());
} }
#endif // CONFIG_HAL_BOARD #endif

133
libraries/AP_HAL_Linux/GPIO.h
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@ -1,139 +1,15 @@
#ifndef __AP_HAL_LINUX_GPIO_H__ #ifndef __AP_HAL_LINUX_GPIO_H__
#define __AP_HAL_LINUX_GPIO_H__ #define __AP_HAL_LINUX_GPIO_H__
#include <AP_HAL_Linux.h> #include <AP_HAL_Linux.h>
#define SYSFS_GPIO_DIR "/sys/class/gpio" #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#define GPIO0_BASE 0x44E07000
#define GPIO1_BASE 0x4804C000
#define GPIO2_BASE 0x481AC000
#define GPIO3_BASE 0x481AE000
#define GPIO_SIZE 0x00000FFF
// OE: 0 is output, 1 is input
#define GPIO_OE 0x14d
#define GPIO_IN 0x14e
#define GPIO_OUT 0x14f
#define LED_AMBER 117
#define LED_BLUE 48
#define LED_SAFETY 61
#define SAFETY_SWITCH 116
#define LOW 0
#define HIGH 1
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
#define LINUX_GPIO_NUM_BANKS 4 #include "GPIO_BBB.h"
#else #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
// disable GPIO #include "GPIO_RPI.h"
#define LINUX_GPIO_NUM_BANKS 0
#endif #endif
// BeagleBone Black GPIO mappings
#define BBB_USR0 53
#define BBB_USR1 54
#define BBB_USR2 55
#define BBB_USR3 56
#define BBB_P8_3 38
#define BBB_P8_4 39
#define BBB_P8_5 34
#define BBB_P8_6 35
#define BBB_P8_7 66
#define BBB_P8_8 67
#define BBB_P8_9 69
#define BBB_P8_10 68
#define BBB_P8_11 45
#define BBB_P8_12 44
#define BBB_P8_13 23
#define BBB_P8_14 26
#define BBB_P8_15 47
#define BBB_P8_16 46
#define BBB_P8_17 27
#define BBB_P8_18 65
#define BBB_P8_19 22
#define BBB_P8_20 63
#define BBB_P8_21 62
#define BBB_P8_22 37
#define BBB_P8_23 36
#define BBB_P8_24 33
#define BBB_P8_25 32
#define BBB_P8_26 61
#define BBB_P8_27 86
#define BBB_P8_28 88
#define BBB_P8_29 87
#define BBB_P8_30 89
#define BBB_P8_31 10
#define BBB_P8_32 11
#define BBB_P8_33 9
#define BBB_P8_34 81
#define BBB_P8_35 8
#define BBB_P8_36 80
#define BBB_P8_37 78
#define BBB_P8_38 79
#define BBB_P8_39 76
#define BBB_P8_40 77
#define BBB_P8_41 74
#define BBB_P8_42 75
#define BBB_P8_43 72
#define BBB_P8_44 73
#define BBB_P8_45 70
#define BBB_P8_46 71
#define BBB_P9_11 30
#define BBB_P9_12 60
#define BBB_P9_13 31
#define BBB_P9_14 50
#define BBB_P9_15 48
#define BBB_P9_16 51
#define BBB_P9_17 5
#define BBB_P9_18 4
#define BBB_P9_19 13
#define BBB_P9_20 12
#define BBB_P9_21 3
#define BBB_P9_22 2
#define BBB_P9_23 49
#define BBB_P9_24 15
#define BBB_P9_25 117
#define BBB_P9_26 14
#define BBB_P9_27 115
#define BBB_P9_28 113
#define BBB_P9_29 111
#define BBB_P9_30 112
#define BBB_P9_31 110
#define BBB_P9_41 20
#define BBB_P9_42 7
class Linux::LinuxGPIO : public AP_HAL::GPIO {
private:
struct GPIO {
volatile uint32_t *base;
volatile uint32_t *oe;
volatile uint32_t *in;
volatile uint32_t *out;
} gpio_bank[LINUX_GPIO_NUM_BANKS];
public:
LinuxGPIO();
void init();
void pinMode(uint8_t pin, uint8_t output);
int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n);
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode);
/* return true if USB cable is connected */
bool usb_connected(void);
};
class Linux::LinuxDigitalSource : public AP_HAL::DigitalSource { class Linux::LinuxDigitalSource : public AP_HAL::DigitalSource {
public: public:
LinuxDigitalSource(uint8_t v); LinuxDigitalSource(uint8_t v);
@ -146,4 +22,5 @@ private:
}; };
#endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#endif // __AP_HAL_LINUX_GPIO_H__ #endif // __AP_HAL_LINUX_GPIO_H__

131
libraries/AP_HAL_Linux/GPIO_BBB.cpp Normal file
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@ -0,0 +1,131 @@
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
#include "GPIO.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/mman.h>
#include <sys/stat.h>
using namespace Linux;
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
LinuxGPIO_BBB::LinuxGPIO_BBB()
{}
void LinuxGPIO_BBB::init()
{
#if LINUX_GPIO_NUM_BANKS == 4
int mem_fd;
// Enable all GPIO banks
// Without this, access to deactivated banks (i.e. those with no clock source set up) will (logically) fail with SIGBUS
// Idea taken from https://groups.google.com/forum/#!msg/beagleboard/OYFp4EXawiI/Mq6s3sg14HoJ
uint8_t bank_enable[3] = { 5, 65, 105 };
int export_fd = open("/sys/class/gpio/export", O_WRONLY);
if (export_fd == -1) {
hal.scheduler->panic("unable to open /sys/class/gpio/export");
}
for (uint8_t i=0; i<3; i++) {
dprintf(export_fd, "%u\n", (unsigned)bank_enable[i]);
}
close(export_fd);
/* open /dev/mem */
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
printf("can't open /dev/mem \n");
exit (-1);
}
/* mmap GPIO */
off_t offsets[LINUX_GPIO_NUM_BANKS] = { GPIO0_BASE, GPIO1_BASE, GPIO2_BASE, GPIO3_BASE };
for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS; i++) {
gpio_bank[i].base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, offsets[i]);
if ((char *)gpio_bank[i].base == MAP_FAILED) {
hal.scheduler->panic("unable to map GPIO bank");
}
gpio_bank[i].oe = gpio_bank[i].base + GPIO_OE;
gpio_bank[i].in = gpio_bank[i].base + GPIO_IN;
gpio_bank[i].out = gpio_bank[i].base + GPIO_OUT;
}
close(mem_fd);
#endif // LINUX_GPIO_NUM_BANKS
}
void LinuxGPIO_BBB::pinMode(uint8_t pin, uint8_t output)
{
uint8_t bank = pin/32;
uint8_t bankpin = pin & 0x1F;
if (bank >= LINUX_GPIO_NUM_BANKS) {
return;
}
if (output == HAL_GPIO_INPUT) {
*gpio_bank[bank].oe |= (1U<<bankpin);
} else {
*gpio_bank[bank].oe &= ~(1U<<bankpin);
}
}
int8_t LinuxGPIO_BBB::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t LinuxGPIO_BBB::read(uint8_t pin) {
uint8_t bank = pin/32;
uint8_t bankpin = pin & 0x1F;
if (bank >= LINUX_GPIO_NUM_BANKS) {
return 0;
}
return *gpio_bank[bank].in & (1U<<bankpin) ? HIGH : LOW;
}
void LinuxGPIO_BBB::write(uint8_t pin, uint8_t value)
{
uint8_t bank = pin/32;
uint8_t bankpin = pin & 0x1F;
if (bank >= LINUX_GPIO_NUM_BANKS) {
return;
}
if (value == LOW) {
*gpio_bank[bank].out &= ~(1U<<bankpin);
} else {
*gpio_bank[bank].out |= 1U<<bankpin;
}
}
void LinuxGPIO_BBB::toggle(uint8_t pin)
{
write(pin, !read(pin));
}
/* Alternative interface: */
AP_HAL::DigitalSource* LinuxGPIO_BBB::channel(uint16_t n) {
return new LinuxDigitalSource(n);
}
/* Interrupt interface: */
bool LinuxGPIO_BBB::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
{
return true;
}
bool LinuxGPIO_BBB::usb_connected(void)
{
return false;
}
#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF ||
// CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE

137
libraries/AP_HAL_Linux/GPIO_BBB.h Normal file
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@ -0,0 +1,137 @@
#ifndef __AP_HAL_LINUX_GPIO_BBB_H__
#define __AP_HAL_LINUX_GPIO_BBB_H__
#include <AP_HAL_Linux.h>
#define SYSFS_GPIO_DIR "/sys/class/gpio"
#define GPIO0_BASE 0x44E07000
#define GPIO1_BASE 0x4804C000
#define GPIO2_BASE 0x481AC000
#define GPIO3_BASE 0x481AE000
#define GPIO_SIZE 0x00000FFF
// OE: 0 is output, 1 is input
#define GPIO_OE 0x14d
#define GPIO_IN 0x14e
#define GPIO_OUT 0x14f
#define LED_AMBER 117
#define LED_BLUE 48
#define LED_SAFETY 61
#define SAFETY_SWITCH 116
#define LOW 0
#define HIGH 1
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
#define LINUX_GPIO_NUM_BANKS 4
#else
// disable GPIO
#define LINUX_GPIO_NUM_BANKS 0
#endif
// BeagleBone Black GPIO mappings
#define BBB_USR0 53
#define BBB_USR1 54
#define BBB_USR2 55
#define BBB_USR3 56
#define BBB_P8_3 38
#define BBB_P8_4 39
#define BBB_P8_5 34
#define BBB_P8_6 35
#define BBB_P8_7 66
#define BBB_P8_8 67
#define BBB_P8_9 69
#define BBB_P8_10 68
#define BBB_P8_11 45
#define BBB_P8_12 44
#define BBB_P8_13 23
#define BBB_P8_14 26
#define BBB_P8_15 47
#define BBB_P8_16 46
#define BBB_P8_17 27
#define BBB_P8_18 65
#define BBB_P8_19 22
#define BBB_P8_20 63
#define BBB_P8_21 62
#define BBB_P8_22 37
#define BBB_P8_23 36
#define BBB_P8_24 33
#define BBB_P8_25 32
#define BBB_P8_26 61
#define BBB_P8_27 86
#define BBB_P8_28 88
#define BBB_P8_29 87
#define BBB_P8_30 89
#define BBB_P8_31 10
#define BBB_P8_32 11
#define BBB_P8_33 9
#define BBB_P8_34 81
#define BBB_P8_35 8
#define BBB_P8_36 80
#define BBB_P8_37 78
#define BBB_P8_38 79
#define BBB_P8_39 76
#define BBB_P8_40 77
#define BBB_P8_41 74
#define BBB_P8_42 75
#define BBB_P8_43 72
#define BBB_P8_44 73
#define BBB_P8_45 70
#define BBB_P8_46 71
#define BBB_P9_11 30
#define BBB_P9_12 60
#define BBB_P9_13 31
#define BBB_P9_14 50
#define BBB_P9_15 48
#define BBB_P9_16 51
#define BBB_P9_17 5
#define BBB_P9_18 4
#define BBB_P9_19 13
#define BBB_P9_20 12
#define BBB_P9_21 3
#define BBB_P9_22 2
#define BBB_P9_23 49
#define BBB_P9_24 15
#define BBB_P9_25 117
#define BBB_P9_26 14
#define BBB_P9_27 115
#define BBB_P9_28 113
#define BBB_P9_29 111
#define BBB_P9_30 112
#define BBB_P9_31 110
#define BBB_P9_41 20
#define BBB_P9_42 7
class Linux::LinuxGPIO_BBB : public AP_HAL::GPIO {
private:
struct GPIO {
volatile uint32_t *base;
volatile uint32_t *oe;
volatile uint32_t *in;
volatile uint32_t *out;
} gpio_bank[LINUX_GPIO_NUM_BANKS];
public:
LinuxGPIO_BBB();
void init();
void pinMode(uint8_t pin, uint8_t output);
int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n);
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode);
/* return true if USB cable is connected */
bool usb_connected(void);
};
#endif // __AP_HAL_LINUX_GPIO_BBB_H__

100
libraries/AP_HAL_Linux/GPIO_RPI.cpp Normal file
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@ -0,0 +1,100 @@
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#include "GPIO.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/mman.h>
#include <sys/stat.h>
using namespace Linux;
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
LinuxGPIO_RPI::LinuxGPIO_RPI()
{}
void LinuxGPIO_RPI::init()
{
// open /dev/mem
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
printf("can't open /dev/mem \n");
exit(-1);
}
// mmap GPIO
gpio_map = mmap(
NULL, // Any adddress in our space will do
BLOCK_SIZE, // Map length
PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
MAP_SHARED, // Shared with other processes
mem_fd, // File to map
GPIO_BASE // Offset to GPIO peripheral
);
close(mem_fd); // No need to keep mem_fd open after mmap
if (gpio_map == MAP_FAILED) {
printf("mmap error %d\n", (int)gpio_map); // errno also set!
exit(-1);
}
gpio = (volatile unsigned *)gpio_map; // Always use volatile pointer!
}
void LinuxGPIO_RPI::pinMode(uint8_t pin, uint8_t output)
{
if (output == HAL_GPIO_INPUT) {
GPIO_MODE_IN(pin);
} else {
GPIO_MODE_IN(pin);
GPIO_MODE_OUT(pin);
}
}
int8_t LinuxGPIO_RPI::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t LinuxGPIO_RPI::read(uint8_t pin)
{
return GPIO_GET(pin);
}
void LinuxGPIO_RPI::write(uint8_t pin, uint8_t value)
{
if (value == LOW) {
GPIO_SET_LOW = 1 << pin;
} else {
GPIO_SET_HIGH = 1 << pin;
}
}
void LinuxGPIO_RPI::toggle(uint8_t pin)
{
write(pin, !read(pin));
}
/* Alternative interface: */
AP_HAL::DigitalSource* LinuxGPIO_RPI::channel(uint16_t n) {
return new LinuxDigitalSource(n);
}
/* Interrupt interface: */
bool LinuxGPIO_RPI::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
{
return true;
}
bool LinuxGPIO_RPI::usb_connected(void)
{
return false;
}
#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO

73
libraries/AP_HAL_Linux/GPIO_RPI.h Normal file
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@ -0,0 +1,73 @@
#ifndef __AP_HAL_LINUX_GPIO_RPI_H__
#define __AP_HAL_LINUX_GPIO_RPI_H__
#include <AP_HAL_Linux.h>
#define LOW 0
#define HIGH 1
// Raspberry Pi GPIO memory
#define BCM2708_PERI_BASE 0x20000000
#define GPIO_BASE (BCM2708_PERI_BASE + 0x200000)
#define PAGE_SIZE (4*1024)
#define BLOCK_SIZE (4*1024)
// GPIO setup. Always use INP_GPIO(x) before OUT_GPIO(x) or SET_GPIO_ALT(x,y)
#define GPIO_MODE_IN(g) *(gpio+((g)/10)) &= ~(7<<(((g)%10)*3))
#define GPIO_MODE_OUT(g) *(gpio+((g)/10)) |= (1<<(((g)%10)*3))
#define GPIO_MODE_ALT(g,a) *(gpio+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))
#define GPIO_SET_HIGH *(gpio+7) // sets bits which are 1
#define GPIO_SET_LOW *(gpio+10) // clears bits which are 1
#define GPIO_GET(g) (*(gpio+13)&(1<<g)) // 0 if LOW, (1<<g) if HIGH
// Raspberry Pi GPIO mapping
#define RPI_GPIO_2 2 // Pin 3 SDA
#define RPI_GPIO_3 3 // Pin 5 SCL
#define RPI_GPIO_4 4 // Pin 7 NAVIO_PPM_INPUT
#define RPI_GPIO_7 7 // Pin 26 CE1 NAVIO_MPU9250_CS
#define RPI_GPIO_8 8 // Pin 24 CE0 NAVIO_UBLOX_CS
#define RPI_GPIO_9 9 // Pin 21 MISO
#define RPI_GPIO_10 10 // Pin 19 MOSI
#define RPI_GPIO_11 11 // Pin 23 SCLK
#define RPI_GPIO_14 14 // Pin 8 TxD
#define RPI_GPIO_15 15 // Pin 10 RxD
#define RPI_GPIO_17 17 // Pin 11 NAVIO_UART_PORT_5
#define RPI_GPIO_18 18 // Pin 12 NAVIO_UART_PORT_4
#define RPI_GPIO_22 22 // Pin 15 NAVIO_UBLOX_PPS
#define RPI_GPIO_23 23 // Pin 16 NAVIO_MPU9250_DRDY
#define RPI_GPIO_24 24 // Pin 18 NAVIO_SPI_PORT_6
#define RPI_GPIO_25 25 // Pin 22 NAVIO_SPI_PORT_5
#define RPI_GPIO_27 27 // Pin 13 NAVIO_PCA9685_OE
#define RPI_GPIO_28 28 // Pin 3
#define RPI_GPIO_29 29 // Pin 4
#define RPI_GPIO_30 30 // Pin 5
#define RPI_GPIO_31 31 // Pin 6
class Linux::LinuxGPIO_RPI : public AP_HAL::GPIO {
private:
int mem_fd;
void *gpio_map;
volatile unsigned *gpio;
public:
LinuxGPIO_RPI();
void init();
void pinMode(uint8_t pin, uint8_t output);
int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n);
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode);
/* return true if USB cable is connected */
bool usb_connected(void);
};
#endif // __AP_HAL_LINUX_GPIO_RPI_H__

15
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -24,7 +24,20 @@ static LinuxI2CDriver i2cDriver(&i2cSemaphore, "/dev/i2c-1");
static LinuxSPIDeviceManager spiDeviceManager; static LinuxSPIDeviceManager spiDeviceManager;
static LinuxAnalogIn analogIn; static LinuxAnalogIn analogIn;
static LinuxStorage storageDriver; static LinuxStorage storageDriver;
static LinuxGPIO gpioDriver;
/*
use the BBB gpio driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
static LinuxGPIO_BBB gpioDriver;
/*
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static LinuxGPIO_RPI gpioDriver;
#else
static Empty::EmptyGPIO gpioDriver;
#endif
/* /*
use the PRU based RCInput driver on ERLE and PXF use the PRU based RCInput driver on ERLE and PXF