AP_HAL_Linux: Use template to generate raspberry pins

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

libraries/AP_HAL_Linux/GPIO_RPI.h

@@ -9,37 +9,17 @@
 #define PAGE_SIZE           (4*1024)
 #define BLOCK_SIZE          (4*1024)
 
-// Raspberry Pi GPIO mapping
-#define RPI_GPIO_2    2    // Pin 3
-#define RPI_GPIO_3    3    // Pin 5
-#define RPI_GPIO_4    4    // Pin 7
-#define RPI_GPIO_5    5    // Pin 29
-#define RPI_GPIO_6    6    // Pin 31
-#define RPI_GPIO_7    7    // Pin 26
-#define RPI_GPIO_8    8    // Pin 24
-#define RPI_GPIO_9    9    // Pin 21
-#define RPI_GPIO_10   10   // Pin 19
-#define RPI_GPIO_11   11   // Pin 23
-#define RPI_GPIO_12   12   // Pin 32
-#define RPI_GPIO_13   13   // Pin 33
-#define RPI_GPIO_14   14   // Pin 8
-#define RPI_GPIO_15   15   // Pin 10
-#define RPI_GPIO_16   16   // Pin 36
-#define RPI_GPIO_17   17   // Pin 11
-#define RPI_GPIO_18   18   // Pin 12
-#define RPI_GPIO_19   19   // Pin 35
-#define RPI_GPIO_20   20   // Pin 38
-#define RPI_GPIO_21   21   // Pin 40
-#define RPI_GPIO_22   22   // Pin 15
-#define RPI_GPIO_23   23   // Pin 16
-#define RPI_GPIO_24   24   // Pin 18
-#define RPI_GPIO_25   25   // Pin 22
-#define RPI_GPIO_26   26   // Pin 37
-#define RPI_GPIO_27   27   // Pin 13
-#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
+/**
+ * @brief Check for valid Raspberry Pi pin range
+ *
+ * @tparam pin
+ * @return uint8_t
+ */
+template <uint8_t pin> constexpr uint8_t RPI_GPIO_()
+{
+    static_assert(pin > 1 && pin < 32, "Invalid pin value.");
+    return pin;
+}
 
 namespace Linux {
 

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -179,15 +179,15 @@ static RCOutput_AioPRU rcoutDriver;
  */
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2  || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
-static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, RPI_GPIO_27);
+static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, RPI_GPIO_<27>());
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, NAVIO_GPIO_PCA_OE);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
-static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATENARY_ADDRESS), false, 0, RPI_GPIO_4);
+static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATENARY_ADDRESS), false, 0, RPI_GPIO_<4>());
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
-static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINARY_ADDRESS), false, 0, RPI_GPIO_27);
+static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINARY_ADDRESS), false, 0, RPI_GPIO_<27>());
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
-static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), false, 0, RPI_GPIO_27);
+static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), false, 0, RPI_GPIO_<27>());
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
 static RCOutput_ZYNQ rcoutDriver;

libraries/AP_HAL_Linux/RCInput_RPI.cpp

@@ -44,9 +44,9 @@
 // Each gpio stands for a rcinput channel,
 // the first one in RcChnGpioTbl is channel 1 in receiver
 static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
-    RPI_GPIO_5,  RPI_GPIO_6,  RPI_GPIO_12,
-    RPI_GPIO_13, RPI_GPIO_19, RPI_GPIO_20,
-    RPI_GPIO_21, RPI_GPIO_26
+    RPI_GPIO_<5>(),  RPI_GPIO_<6>(),  RPI_GPIO_<12>(),
+    RPI_GPIO_<13>(), RPI_GPIO_<19>(), RPI_GPIO_<20>(),
+    RPI_GPIO_<21>(), RPI_GPIO_<26>()
 };
 #else
 #define RCIN_RPI_SIG_HIGH        1
@@ -56,7 +56,7 @@ static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
 #define PAGE_SIZE           (4*1024)
     NAVIO_GPIO_PPM_IN
 #else
-    RPI_GPIO_4
+    RPI_GPIO_<4>()
 #endif
 };
 #endif // CONFIG_HAL_BOARD_SUBTYPE