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AP_HAL_Linux: use GPIO_Sysfs for Navio 2

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This commit is contained in:
Georgii Staroselskii 2017-11-02 16:44:55 +03:00 committed by Lucas De Marchi
parent c5141ad87e
commit 8fcd30c611
6 changed files with 66 additions and 4 deletions
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3
libraries/AP_HAL_Linux/GPIO.h
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@ -24,13 +24,14 @@ private:
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
#include "GPIO_BBB.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
#include "GPIO_RPI.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
#include "GPIO_Navio2.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#include "GPIO_Minnow.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP

34
libraries/AP_HAL_Linux/GPIO_Navio2.cpp Normal file
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@ -0,0 +1,34 @@
#include <AP_Common/AP_Common.h>
#include "GPIO_Navio2.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
const unsigned Linux::GPIO_Sysfs::pin_table[] = {
[NAVIO2_GPIO_PWM1] = 500,
[NAVIO2_GPIO_PWM2] = 501,
[NAVIO2_GPIO_PWM3] = 502,
[NAVIO2_GPIO_PWM4] = 503,
[NAVIO2_GPIO_PWM5] = 504,
[NAVIO2_GPIO_PWM6] = 505,
[NAVIO2_GPIO_PWM7] = 506,
[NAVIO2_GPIO_PWM8] = 507,
[NAVIO2_GPIO_PWM9] = 508,
[NAVIO2_GPIO_PWM10] = 509,
[NAVIO2_GPIO_PWM11] = 510,
[NAVIO2_GPIO_PWM12] = 511,
[NAVIO2_GPIO_PWM13] = 512,
[NAVIO2_GPIO_PWM14] = 513,
[NAVIO2_GPIO_IO17] = 17,
[NAVIO2_GPIO_IO18] = 18,
[NAVIO2_GPIO_RED] = 4,
[NAVIO2_GPIO_GREEN] = 27,
[NAVIO2_GPIO_BLUE] = 6,
};
const uint8_t Linux::GPIO_Sysfs::n_pins = _NAVIO2_GPIO_MAX;
static_assert(ARRAY_SIZE(Linux::GPIO_Sysfs::pin_table) == _NAVIO2_GPIO_MAX,
"GPIO pin_table must have the same size of entries in enum gpio_minnow");
#endif

26
libraries/AP_HAL_Linux/GPIO_Navio2.h Normal file
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@ -0,0 +1,26 @@
#pragma once
#include "GPIO_Sysfs.h"
enum gpio_navio2 {
NAVIO2_GPIO_PWM1,
NAVIO2_GPIO_PWM2,
NAVIO2_GPIO_PWM3,
NAVIO2_GPIO_PWM4,
NAVIO2_GPIO_PWM5,
NAVIO2_GPIO_PWM6,
NAVIO2_GPIO_PWM7,
NAVIO2_GPIO_PWM8,
NAVIO2_GPIO_PWM9,
NAVIO2_GPIO_PWM10,
NAVIO2_GPIO_PWM11,
NAVIO2_GPIO_PWM12,
NAVIO2_GPIO_PWM13,
NAVIO2_GPIO_PWM14,
NAVIO2_GPIO_IO17,
NAVIO2_GPIO_IO18,
NAVIO2_GPIO_RED,
NAVIO2_GPIO_GREEN,
NAVIO2_GPIO_BLUE,
_NAVIO2_GPIO_MAX,
};

1
libraries/AP_HAL_Linux/GPIO_RPI.cpp
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@ -4,7 +4,6 @@
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI

3
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -111,13 +111,14 @@ static GPIO_BBB gpioDriver;
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static GPIO_RPI gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static GPIO_Sysfs gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \

3
libraries/AP_Notify/AP_Notify.cpp
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@ -31,6 +31,7 @@
#include "DiscreteRGBLed.h"
#include "DiscoLED.h"
#include <stdio.h>
#include <AP_HAL_Linux/GPIO.h>
AP_Notify *AP_Notify::_instance;
@ -159,7 +160,7 @@ void AP_Notify::add_backends(void)
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
ADD_BACKEND(new DiscreteRGBLed(4, 27, 6, false));
ADD_BACKEND(new DiscreteRGBLed(NAVIO2_GPIO_RED, NAVIO2_GPIO_GREEN, NAVIO2_GPIO_BLUE, false));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));