zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

HAL_Linux: make GPIO code compact and readable 

add hal instance to generate scheduler
change gpio/export write method
add gpio struct to LinuxDigitalSource class
change individual gpio banks to one gpio_bank array
mission-4.1.18
bugobliterator 11 years ago committed by Andrew Tridgell
parent
fb7ca9bb3c
commit
1f1af0b0ea
2 changed files with 68 additions and 199 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 255
      libraries/AP_HAL_Linux/GPIO.cpp
  2. 12
      libraries/AP_HAL_Linux/GPIO.h

255
libraries/AP_HAL_Linux/GPIO.cpp
Unescape View File

@ -15,15 +15,7 @@
using namespace Linux; using namespace Linux;
struct GPIO{ static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
volatile unsigned *base;
volatile unsigned *oe;
volatile unsigned *in;
volatile unsigned *out;
}gpio0,gpio1,gpio2,gpio3;
LinuxGPIO::LinuxGPIO() LinuxGPIO::LinuxGPIO()
{} {}
@ -33,9 +25,17 @@ void LinuxGPIO::init()
// Enable all GPIO banks // Enable all GPIO banks
// Without this, access to deactivated banks (i.e. those with no clock source set up) will (logically) fail with SIGBUS // 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 // Idea taken from https://groups.google.com/forum/#!msg/beagleboard/OYFp4EXawiI/Mq6s3sg14HoJ
system("echo 5 > /sys/class/gpio/export");
system("echo 65 > /sys/class/gpio/export"); uint8_t bank_enable[3] = { 5, 65, 105 };
system("echo 105 > /sys/class/gpio/export"); 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 */ /* open /dev/mem */
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) { if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
@ -44,78 +44,34 @@ void LinuxGPIO::init()
} }
/* mmap GPIO */ /* mmap GPIO */
gpio0.base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, GPIO0_BASE); off_t offsets[LINUX_GPIO_NUM_BANKS] = { GPIO0_BASE, GPIO1_BASE, GPIO2_BASE, GPIO3_BASE };
if ((char *)gpio0.base == MAP_FAILED) { for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS; i++) {
printf("mmap error %d\n", (int)gpio0.base); gpio_bank[i].base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, offsets[i]);
exit (-1); if ((char *)gpio_bank[i].base == MAP_FAILED) {
} hal.scheduler->panic("unable to map GPIO bank");
gpio1.base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, GPIO1_BASE); }
if ((char *)gpio1.base == MAP_FAILED) { gpio_bank[i].oe = gpio_bank[i].base + GPIO_OE;
printf("mmap error %d\n", (int)gpio1.base); gpio_bank[i].in = gpio_bank[i].base + GPIO_IN;
exit (-1); gpio_bank[i].out = gpio_bank[i].base + GPIO_OUT;
}
gpio2.base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, GPIO2_BASE);
if ((char *)gpio2.base == MAP_FAILED) {
printf("mmap error %d\n", (int)gpio2.base);
exit (-1);
}
gpio3.base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, GPIO3_BASE);
if ((char *)gpio3.base == MAP_FAILED) {
printf("mmap error %d\n", (int)gpio3.base);
exit (-1);
} }
gpio0.oe = gpio0.base + GPIO_OE;
gpio0.in = gpio0.base + GPIO_IN;
gpio0.out = gpio0.base + GPIO_OUT;
gpio1.oe = gpio1.base + GPIO_OE;
gpio1.in = gpio1.base + GPIO_IN;
gpio1.out = gpio1.base + GPIO_OUT;
gpio2.oe = gpio2.base + GPIO_OE;
gpio2.in = gpio2.base + GPIO_IN;
gpio2.out = gpio2.base + GPIO_OUT;
gpio3.oe = gpio3.base + GPIO_OE;
gpio3.in = gpio3.base + GPIO_IN;
gpio3.out = gpio3.base + GPIO_OUT;
close(mem_fd); close(mem_fd);
} }
void LinuxGPIO::pinMode(uint8_t pin, uint8_t output) void LinuxGPIO::pinMode(uint8_t pin, uint8_t output)
{ {
if(output == GPIO_INPUT){ uint8_t bank = pin/32;
if(pin/32 < 1){ uint8_t bankpin = pin & 0x1F;
*gpio0.oe = *gpio0.oe | (1<<pin); if (bank >= LINUX_GPIO_NUM_BANKS) {
} hal.scheduler->panic("invalid pin number");
else if(pin/32 < 2){ return;
*gpio1.oe = *gpio1.oe | (1<<(pin-32));
}
else if(pin/32 < 3){
*gpio2.oe = *gpio2.oe | (1<<(pin-64));
}
else if(pin/32 < 4){
*gpio3.oe = *gpio3.oe | (1<<(pin-96));
}
} }
else{ if (output == GPIO_INPUT) {
if(pin/32 < 1){ *gpio_bank[bank].oe |= (1U<<bankpin);
*gpio0.oe = *gpio0.oe & (~(1<<pin)); } else {
} *gpio_bank[bank].oe &= ~(1U<<bankpin);
else if(pin/32 < 2){
*gpio1.oe = *gpio1.oe & (~(1<<(pin-32)));
}
else if(pin/32 < 3){
*gpio2.oe = *gpio2.oe & (~(1<<(pin-64)));
}
else if(pin/32 < 4){
*gpio3.oe = *gpio3.oe & (~(1<<(pin-96)));
}
} }
} }
int8_t LinuxGPIO::analogPinToDigitalPin(uint8_t pin) int8_t LinuxGPIO::analogPinToDigitalPin(uint8_t pin)
{ {
return -1; return -1;
@ -123,54 +79,29 @@ int8_t LinuxGPIO::analogPinToDigitalPin(uint8_t pin)
uint8_t LinuxGPIO::read(uint8_t pin) { uint8_t LinuxGPIO::read(uint8_t pin) {
uint8_t value;
if(pin/32 < 1){ uint8_t bank = pin/32;
value = (bool)(*gpio0.in & (1<<pin)); uint8_t bankpin = pin & 0x1F;
} if (bank >= LINUX_GPIO_NUM_BANKS) {
else if(pin/32 < 2){ hal.scheduler->panic("invalid pin number");
value = (bool)(*gpio1.in & (1<<(pin-32))); return 0;
}
else if(pin/32 < 3){
value = (bool)(*gpio2.in & (1<<(pin-64)));
}
else if(pin/32 < 4){
value = (bool)(*gpio3.in & (1<<(pin-96)));
} }
return *gpio_bank[bank].in & (1U<<bankpin) ? HIGH : LOW;
return value;
} }
void LinuxGPIO::write(uint8_t pin, uint8_t value) void LinuxGPIO::write(uint8_t pin, uint8_t value)
{ {
if(value == HIGH){ uint8_t bank = pin/32;
if(pin/32 < 1){ uint8_t bankpin = pin & 0x1F;
*gpio0.out = *gpio0.out | (1<<pin); if (bank >= LINUX_GPIO_NUM_BANKS) {
} hal.scheduler->panic("invalid pin number");
else if(pin/32 < 2){ return;
*gpio1.out = *gpio1.out | (1<<(pin-32));
}
else if(pin/32 < 3){
*gpio2.out = *gpio2.out | (1<<(pin-64));
}
else if(pin/32 < 4){
*gpio3.out = *gpio3.out | (1<<(pin-96));
}
} }
else{ if (value == LOW) {
if(pin/32 < 1){ *gpio_bank[bank].out &= ~(1U<<bankpin);
*gpio0.out = *gpio0.out & (~(1<<pin)); } else {
} *gpio_bank[bank].out |= 1U<<bankpin;
else if(pin/32 < 2){
*gpio1.out = *gpio1.out & (~(1<<(pin-32)));
}
else if(pin/32 < 3){
*gpio2.out = *gpio2.out & (~(1<<(pin-64)));
}
else if(pin/32 < 4){
*gpio3.out = *gpio3.out & (~(1<<(pin-96)));
}
} }
} }
@ -185,8 +116,8 @@ AP_HAL::DigitalSource* LinuxGPIO::channel(uint16_t n) {
} }
/* Interrupt interface: */ /* Interrupt interface: */
bool LinuxGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, bool LinuxGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
uint8_t mode) { {
return true; return true;
} }
@ -198,98 +129,26 @@ bool LinuxGPIO::usb_connected(void)
LinuxDigitalSource::LinuxDigitalSource(uint8_t v) : LinuxDigitalSource::LinuxDigitalSource(uint8_t v) :
_v(v) _v(v)
{ {
} }
void LinuxDigitalSource::mode(uint8_t output) void LinuxDigitalSource::mode(uint8_t output)
{ {
uint8_t pin = _v; hal.gpio->pinMode(_v, output);
if(output == GPIO_INPUT){
if(pin/32 < 1){
*gpio0.oe = *gpio0.oe | (1<<pin);
}
else if(pin/32 < 2){
*gpio1.oe = *gpio1.oe | (1<<(pin-32));
}
else if(pin/32 < 3){
*gpio2.oe = *gpio2.oe | (1<<(pin-64));
}
else if(pin/32 < 4){
*gpio3.oe = *gpio3.oe | (1<<(pin-96));
}
}
else{
if(pin/32 < 1){
*gpio0.oe = *gpio0.oe & (~(1<<pin));
}
else if(pin/32 < 2){
*gpio1.oe = *gpio1.oe & (~(1<<(pin-32)));
}
else if(pin/32 < 3){
*gpio2.oe = *gpio2.oe & (~(1<<(pin-64)));
}
else if(pin/32 < 4){
*gpio3.oe = *gpio3.oe & (~(1<<(pin-96)));
}
}
} }
uint8_t LinuxDigitalSource::read() { uint8_t LinuxDigitalSource::read()
uint8_t value, pin = _v; {
return hal.gpio->read(_v);
if(pin/32 < 1){
value = (bool)(*gpio0.in & (1<<pin));
}
else if(pin/32 < 2){
value = (bool)(*gpio1.in & (1<<(pin-32)));
}
else if(pin/32 < 3){
value = (bool)(*gpio2.in & (1<<(pin-64)));
}
else if(pin/32 < 4){
value = (bool)(*gpio3.in & (1<<(pin-96)));
}
return value;
} }
void LinuxDigitalSource::write(uint8_t value) { void LinuxDigitalSource::write(uint8_t value)
{
uint8_t pin = _v; return hal.gpio->write(_v,value);
if(value == HIGH){
if(pin/32 < 1){
*gpio0.out = *gpio0.out | (1<<pin);
}
else if(pin/32 < 2){
*gpio1.out = *gpio1.out | (1<<(pin-32));
}
else if(pin/32 < 3){
*gpio2.out = *gpio2.out | (1<<(pin-64));
}
else if(pin/32 < 4){
*gpio3.out = *gpio3.out | (1<<(pin-96));
}
}
else{
if(pin/32 < 1){
*gpio0.out = *gpio0.out & (~(1<<pin));
}
else if(pin/32 < 2){
*gpio1.out = *gpio1.out & (~(1<<(pin-32)));
}
else if(pin/32 < 3){
*gpio2.out = *gpio2.out & (~(1<<(pin-64)));
}
else if(pin/32 < 4){
*gpio3.out = *gpio3.out & (~(1<<(pin-96)));
}
}
} }
void LinuxDigitalSource::toggle() { void LinuxDigitalSource::toggle()
{
write(!read()); write(!read());
} }

12
libraries/AP_HAL_Linux/GPIO.h
Unescape View File

@ -25,6 +25,8 @@
#define LOW 0 #define LOW 0
#define HIGH 1 #define HIGH 1
#define LINUX_GPIO_NUM_BANKS 4
// BeagleBone Black GPIO mappings // BeagleBone Black GPIO mappings
#define BBB_USR0 53 #define BBB_USR0 53
#define BBB_USR1 54 #define BBB_USR1 54
@ -98,8 +100,15 @@
#define BBB_P9_41 20 #define BBB_P9_41 20
#define BBB_P9_42 7 #define BBB_P9_42 7
class Linux::LinuxGPIO : public AP_HAL::GPIO { 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: public:
LinuxGPIO(); LinuxGPIO();
void init(); void init();
@ -129,6 +138,7 @@ public:
void toggle(); void toggle();
private: private:
uint8_t _v; uint8_t _v;
}; };
#endif // __AP_HAL_LINUX_GPIO_H__ #endif // __AP_HAL_LINUX_GPIO_H__

Write Preview
Loading…
Cancel
Save