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AP_HAL: add toggle to GPIO

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This commit is contained in:
Randy Mackay 2013-08-08 22:14:06 +09:00 committed by Andrew Tridgell
parent b1278fa006
commit ac36a09747
9 changed files with 311 additions and 191 deletions
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4
libraries/AP_HAL/GPIO.h
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@ -17,7 +17,8 @@ class AP_HAL::DigitalSource {
public:
virtual void mode(uint8_t output) = 0;
virtual uint8_t read() = 0;
virtual void write(uint8_t value) = 0;
virtual void write(uint8_t value) = 0;
virtual void toggle() = 0;
};
class AP_HAL::GPIO {
@ -27,6 +28,7 @@ public:
virtual void pinMode(uint8_t pin, uint8_t output) = 0;
virtual uint8_t read(uint8_t pin) = 0;
virtual void write(uint8_t pin, uint8_t value) = 0;
virtual void toggle(uint8_t pin) = 0;
virtual int8_t analogPinToDigitalPin(uint8_t pin) = 0;
/* Alternative interface: */

31
libraries/AP_HAL_AVR/GPIO.cpp
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@ -97,6 +97,23 @@ void AVRGPIO::write(uint8_t pin, uint8_t value) {
SREG = oldSREG;
}
void AVRGPIO::toggle(uint8_t pin) {
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
volatile uint8_t *out;
if (port == NOT_A_PIN) return;
out = portOutputRegister(port);
uint8_t oldSREG = SREG;
cli();
*out ^= bit;
SREG = oldSREG;
}
/* Implement GPIO Interrupt 6, used for MPU6000 data ready on APM2. */
bool AVRGPIO::attach_interrupt(
uint8_t interrupt_num, AP_HAL::Proc proc, uint8_t mode) {
@ -171,5 +188,19 @@ void AVRDigitalSource::write(uint8_t value) {
SREG = oldSREG;
}
void AVRDigitalSource::toggle() {
const uint8_t bit = _bit;
const uint8_t port = _port;
volatile uint8_t* out;
out = portOutputRegister(port);
uint8_t oldSREG = SREG;
cli();
*out ^= bit;
SREG = oldSREG;
}
#endif

16
libraries/AP_HAL_AVR/GPIO.h
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@ -5,12 +5,27 @@
#include <AP_HAL.h>
#include "AP_HAL_AVR_Namespace.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define HAL_GPIO_A_LED_PIN 37
# define HAL_GPIO_B_LED_PIN 36
# define HAL_GPIO_C_LED_PIN 35
# define HAL_GPIO_LED_ON HIGH
# define HAL_GPIO_LED_OFF LOW
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#endif
class AP_HAL_AVR::AVRDigitalSource : public AP_HAL::DigitalSource {
public:
AVRDigitalSource(uint8_t bit, uint8_t port) : _bit(bit), _port(port) {}
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
const uint8_t _bit;
@ -25,6 +40,7 @@ public:
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);
AP_HAL::DigitalSource* channel(uint16_t);
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc proc,
uint8_t mode);

114
libraries/AP_HAL_Empty/GPIO.cpp
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@ -1,54 +1,60 @@
#include "GPIO.h"
using namespace Empty;
EmptyGPIO::EmptyGPIO()
{}
void EmptyGPIO::init()
{}
void EmptyGPIO::pinMode(uint8_t pin, uint8_t output)
{}
int8_t EmptyGPIO::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t EmptyGPIO::read(uint8_t pin) {
return 0;
}
void EmptyGPIO::write(uint8_t pin, uint8_t value)
{}
/* Alternative interface: */
AP_HAL::DigitalSource* EmptyGPIO::channel(uint16_t n) {
return new EmptyDigitalSource(0);
}
/* Interrupt interface: */
bool EmptyGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode) {
return true;
}
EmptyDigitalSource::EmptyDigitalSource(uint8_t v) :
_v(v)
{}
void EmptyDigitalSource::mode(uint8_t output)
{}
uint8_t EmptyDigitalSource::read() {
return _v;
}
void EmptyDigitalSource::write(uint8_t value) {
_v = value;
}
#include "GPIO.h"
using namespace Empty;
EmptyGPIO::EmptyGPIO()
{}
void EmptyGPIO::init()
{}
void EmptyGPIO::pinMode(uint8_t pin, uint8_t output)
{}
int8_t EmptyGPIO::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t EmptyGPIO::read(uint8_t pin) {
return 0;
}
void EmptyGPIO::write(uint8_t pin, uint8_t value)
{}
void EmptyGPIO::toggle(uint8_t pin)
{}
/* Alternative interface: */
AP_HAL::DigitalSource* EmptyGPIO::channel(uint16_t n) {
return new EmptyDigitalSource(0);
}
/* Interrupt interface: */
bool EmptyGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode) {
return true;
}
EmptyDigitalSource::EmptyDigitalSource(uint8_t v) :
_v(v)
{}
void EmptyDigitalSource::mode(uint8_t output)
{}
uint8_t EmptyDigitalSource::read() {
return _v;
}
void EmptyDigitalSource::write(uint8_t value) {
_v = value;
}
void EmptyDigitalSource::toggle() {
_v = !_v;
}

72
libraries/AP_HAL_Empty/GPIO.h
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@ -1,35 +1,37 @@
#ifndef __AP_HAL_EMPTY_GPIO_H__
#define __AP_HAL_EMPTY_GPIO_H__
#include <AP_HAL_Empty.h>
class Empty::EmptyGPIO : public AP_HAL::GPIO {
public:
EmptyGPIO();
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);
/* 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);
};
class Empty::EmptyDigitalSource : public AP_HAL::DigitalSource {
public:
EmptyDigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
private:
uint8_t _v;
};
#endif // __AP_HAL_EMPTY_GPIO_H__
#ifndef __AP_HAL_EMPTY_GPIO_H__
#define __AP_HAL_EMPTY_GPIO_H__
#include <AP_HAL_Empty.h>
class Empty::EmptyGPIO : public AP_HAL::GPIO {
public:
EmptyGPIO();
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);
};
class Empty::EmptyDigitalSource : public AP_HAL::DigitalSource {
public:
EmptyDigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
uint8_t _v;
};
#endif // __AP_HAL_EMPTY_GPIO_H__

39
libraries/AP_HAL_PX4/GPIO.cpp
View File

@ -120,7 +120,7 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
switch (pin) {
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
case A_LED_PIN: // Arming LED
case HAL_GPIO_A_LED_PIN: // Arming LED
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_RED);
} else {
@ -128,10 +128,10 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
}
break;
case B_LED_PIN: // not used yet
case HAL_GPIO_B_LED_PIN: // not used yet
break;
case C_LED_PIN: // GPS LED
case HAL_GPIO_C_LED_PIN: // GPS LED
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_BLUE);
} else {
@ -187,6 +187,35 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
}
}
void PX4GPIO::toggle(uint8_t pin)
{
switch (pin) {
case HAL_GPIO_A_LED_PIN: // Arming LED
ioctl(_led_fd, LED_OFF, LED_RED);
ioctl(_led_fd, LED_ON, LED_RED);
break;
case HAL_GPIO_B_LED_PIN: // not used yet
break;
case HAL_GPIO_C_LED_PIN: // GPS LED
ioctl(_led_fd, LED_OFF, LED_BLUE);
ioctl(_led_fd, LED_ON, LED_BLUE);
break;
case PX4_GPIO_PIEZO_PIN: // Piezo beeper
ioctl(_tone_alarm_fd, TONE_SET_ALARM, 3); // Alarm on !!
ioctl(_tone_alarm_fd, TONE_SET_ALARM, 0); // Alarm off !!
break;
case PX4_GPIO_EXT_RELAY_PIN: // Ext Relay
ioctl(_gpio_fd, GPIO_CLEAR, GPIO_EXT_1);
ioctl(_gpio_fd, GPIO_SET, GPIO_EXT_1);
break;
}
}
/* Alternative interface: */
AP_HAL::DigitalSource* PX4GPIO::channel(uint16_t n) {
return new PX4DigitalSource(0);
@ -214,4 +243,8 @@ void PX4DigitalSource::write(uint8_t value) {
_v = value;
}
void PX4DigitalSource::toggle() {
_v = !_v;
}
#endif // CONFIG_HAL_BOARD

12
libraries/AP_HAL_PX4/GPIO.h
View File

@ -13,6 +13,14 @@
#define PX4_GPIO_EXT_IO_ACC1_PIN 115
#define PX4_GPIO_EXT_IO_ACC2_PIN 116
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#endif
class PX4::PX4GPIO : public AP_HAL::GPIO {
public:
PX4GPIO();
@ -21,6 +29,7 @@ public:
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);
@ -40,7 +49,8 @@ public:
PX4DigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void write(uint8_t value);
void toggle();
private:
uint8_t _v;
};

133
libraries/AP_HAL_SMACCM/GPIO.cpp
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@ -1,62 +1,71 @@
#include "GPIO.h"
using namespace SMACCM;
SMACCMGPIO::SMACCMGPIO()
{
}
void SMACCMGPIO::init()
{
}
void SMACCMGPIO::pinMode(uint8_t pin, uint8_t output)
{
}
int8_t SMACCMGPIO::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t SMACCMGPIO::read(uint8_t pin)
{
return 0;
}
void SMACCMGPIO::write(uint8_t pin, uint8_t value)
{
}
/* Alternative interface: */
AP_HAL::DigitalSource* SMACCMGPIO::channel(uint16_t n)
{
return NULL;
}
/* Interrupt interface: */
bool SMACCMGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode)
{
return true;
}
SMACCMDigitalSource::SMACCMDigitalSource(uint8_t v) :
_v(v)
{
}
void SMACCMDigitalSource::mode(uint8_t output)
{
}
uint8_t SMACCMDigitalSource::read()
{
return _v;
}
void SMACCMDigitalSource::write(uint8_t value)
{
_v = value;
}
#include "GPIO.h"
using namespace SMACCM;
SMACCMGPIO::SMACCMGPIO()
{
}
void SMACCMGPIO::init()
{
}
void SMACCMGPIO::pinMode(uint8_t pin, uint8_t output)
{
}
int8_t SMACCMGPIO::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t SMACCMGPIO::read(uint8_t pin)
{
return 0;
}
void SMACCMGPIO::write(uint8_t pin, uint8_t value)
{
}
void SMACCMGPIO::toggle(uint8_t pin)
{
}
/* Alternative interface: */
AP_HAL::DigitalSource* SMACCMGPIO::channel(uint16_t n)
{
return NULL;
}
/* Interrupt interface: */
bool SMACCMGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode)
{
return true;
}
SMACCMDigitalSource::SMACCMDigitalSource(uint8_t v) :
_v(v)
{
}
void SMACCMDigitalSource::mode(uint8_t output)
{
}
uint8_t SMACCMDigitalSource::read()
{
return _v;
}
void SMACCMDigitalSource::write(uint8_t value)
{
_v = value;
}
void SMACCMDigitalSource::toggle()
{
_v = !_v;
}

81
libraries/AP_HAL_SMACCM/GPIO.h
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@ -1,35 +1,46 @@
#ifndef __AP_HAL_SMACCM_GPIO_H__
#define __AP_HAL_SMACCM_GPIO_H__
#include <AP_HAL_SMACCM.h>
class SMACCM::SMACCMGPIO : public AP_HAL::GPIO {
public:
SMACCMGPIO();
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);
/* 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);
};
class SMACCM::SMACCMDigitalSource : public AP_HAL::DigitalSource {
public:
SMACCMDigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
private:
uint8_t _v;
};
#endif // __AP_HAL_SMACCM_GPIO_H__
#ifndef __AP_HAL_SMACCM_GPIO_H__
#define __AP_HAL_SMACCM_GPIO_H__
#include <AP_HAL_SMACCM.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
// XXX these are just copied, may not make sense
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#endif
class SMACCM::SMACCMGPIO : public AP_HAL::GPIO {
public:
SMACCMGPIO();
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);
};
class SMACCM::SMACCMDigitalSource : public AP_HAL::DigitalSource {
public:
SMACCMDigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
uint8_t _v;
};
#endif // __AP_HAL_SMACCM_GPIO_H__