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ardupilot/libraries/AP_HAL_PX4/GPIO.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "GPIO.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <GCS_MAVLink/GCS.h>
/* PX4 headers */
#include <drivers/drv_led.h>
#include <drivers/drv_tone_alarm.h>
#include <drivers/drv_gpio.h>
#include <modules/px4iofirmware/protocol.h>
#include <arch/board/board.h>
#include <board_config.h>
#define LOW 0
#define HIGH 1
extern const AP_HAL::HAL& hal;
using namespace PX4;
PX4GPIO::PX4GPIO()
{}
void PX4GPIO::init()
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
_led_fd = open(LED0_DEVICE_PATH, O_RDWR);
if (_led_fd == -1) {
AP_HAL::panic("Unable to open " LED0_DEVICE_PATH);
}
if (ioctl(_led_fd, LED_OFF, LED_BLUE) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED BLUE\n");
}
if (ioctl(_led_fd, LED_OFF, LED_RED) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED RED\n");
}
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
if (ioctl(_led_fd, LED_OFF, LED_GREEN) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED GREEN\n");
}
#endif
#endif
#if !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
_gpio_fmu_fd = open(PX4FMU_DEVICE_PATH, 0);
if (_gpio_fmu_fd == -1) {
AP_HAL::panic("Unable to open GPIO");
}
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_EXT_1) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO_1\n");
}
#endif
#ifdef PX4IO_DEVICE_PATH
// also try to setup for the relay pins on the IO board
_gpio_io_fd = open(PX4IO_DEVICE_PATH, O_RDWR);
if (_gpio_io_fd == -1) {
hal.console->printf("GPIO: Unable to open px4io\n");
}
#endif
}
void PX4GPIO::pinMode(uint8_t pin, uint8_t output)
{
switch (pin) {
case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5):
uint32_t pinmask = 1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0));
if (output) {
uint8_t old_value = read(pin);
if (old_value) {
ioctl(_gpio_fmu_fd, GPIO_SET_OUTPUT_HIGH, pinmask);
} else {
ioctl(_gpio_fmu_fd, GPIO_SET_OUTPUT_LOW, pinmask);
}
} else {
ioctl(_gpio_fmu_fd, GPIO_SET_INPUT, pinmask);
}
break;
}
}
uint8_t PX4GPIO::read(uint8_t pin) {
switch (pin) {
#ifdef GPIO_EXT_1
case PX4_GPIO_EXT_FMU_RELAY1_PIN: {
uint32_t relays = 0;
ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays);
return (relays & GPIO_EXT_1)?HIGH:LOW;
}
#endif
#ifdef GPIO_EXT_2
case PX4_GPIO_EXT_FMU_RELAY2_PIN: {
uint32_t relays = 0;
ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays);
return (relays & GPIO_EXT_2)?HIGH:LOW;
}
#endif
#ifdef PX4IO_P_SETUP_RELAYS_POWER1
case PX4_GPIO_EXT_IO_RELAY1_PIN: {
uint32_t relays = 0;
if (_gpio_io_fd == -1) {
return LOW;
}
ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
return (relays & PX4IO_P_SETUP_RELAYS_POWER1)?HIGH:LOW;
}
#endif
#ifdef PX4IO_P_SETUP_RELAYS_POWER2
case PX4_GPIO_EXT_IO_RELAY2_PIN: {
uint32_t relays = 0;
if (_gpio_io_fd == -1) {
return LOW;
}
ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
return (relays & PX4IO_P_SETUP_RELAYS_POWER2)?HIGH:LOW;
}
#endif
#ifdef PX4IO_P_SETUP_RELAYS_ACC1
case PX4_GPIO_EXT_IO_ACC1_PIN: {
uint32_t relays = 0;
if (_gpio_io_fd == -1) {
return LOW;
}
ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
return (relays & PX4IO_P_SETUP_RELAYS_ACC1)?HIGH:LOW;
}
#endif
#ifdef PX4IO_P_SETUP_RELAYS_ACC2
case PX4_GPIO_EXT_IO_ACC2_PIN: {
uint32_t relays = 0;
if (_gpio_io_fd == -1) {
return LOW;
}
ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays);
return (relays & PX4IO_P_SETUP_RELAYS_ACC2)?HIGH:LOW;
}
#endif
case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5): {
uint32_t relays = 0;
ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays);
return (relays & (1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0))))?HIGH:LOW;
}
}
return LOW;
}
void PX4GPIO::write(uint8_t pin, uint8_t value)
{
switch (pin) {
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
case HAL_GPIO_A_LED_PIN: // Arming LED
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_RED);
} else {
ioctl(_led_fd, LED_ON, LED_RED);
}
break;
case HAL_GPIO_B_LED_PIN: // Green LED
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_GREEN);
} else {
ioctl(_led_fd, LED_ON, LED_GREEN);
}
break;
case HAL_GPIO_C_LED_PIN: // GPS LED
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_BLUE);
} else {
ioctl(_led_fd, LED_ON, LED_BLUE);
}
break;
#endif
#ifdef GPIO_EXT_1
case PX4_GPIO_EXT_FMU_RELAY1_PIN:
ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_1);
break;
#endif
#ifdef GPIO_EXT_2
case PX4_GPIO_EXT_FMU_RELAY2_PIN:
ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_2);
break;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_POWER1
case PX4_GPIO_EXT_IO_RELAY1_PIN:
if (_gpio_io_fd != -1) {
ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_POWER1);
}
break;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_POWER2
case PX4_GPIO_EXT_IO_RELAY2_PIN:
if (_gpio_io_fd != -1) {
ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_POWER2);
}
break;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_ACC1
case PX4_GPIO_EXT_IO_ACC1_PIN:
if (_gpio_io_fd != -1) {
ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_ACC1);
}
break;
#endif
#ifdef PX4IO_P_SETUP_RELAYS_ACC2
case PX4_GPIO_EXT_IO_ACC2_PIN:
if (_gpio_io_fd != -1) {
ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_ACC2);
}
break;
#endif
case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5):
ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, 1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0)));
break;
}
}
void PX4GPIO::toggle(uint8_t pin)
{
write(pin, !read(pin));
}
/* Alternative interface: */
AP_HAL::DigitalSource* PX4GPIO::channel(uint16_t n) {
return new PX4DigitalSource(0);
}
/* Interrupt interface: */
AP_HAL::GPIO::irq_handler_fn_t PX4GPIO::pin_handlers[6] = {};
int PX4GPIO::irq_handler_gpio0(int irq, void *context)
{
irq_handler(0);
return 0;
}
int PX4GPIO::irq_handler_gpio1(int irq, void *context)
{
irq_handler(1);
return 0;
}
int PX4GPIO::irq_handler_gpio2(int irq, void *context)
{
irq_handler(2);
return 0;
}
int PX4GPIO::irq_handler_gpio3(int irq, void *context)
{
irq_handler(3);
return 0;
}
int PX4GPIO::irq_handler_gpio4(int irq, void *context)
{
irq_handler(4);
return 0;
}
int PX4GPIO::irq_handler_gpio5(int irq, void *context)
{
irq_handler(5);
return 0;
}
void PX4GPIO::irq_handler(uint8_t handler)
{
const uint32_t now = AP_HAL::micros();
AP_HAL::GPIO::irq_handler_fn_t &fn = pin_handlers[handler];
if (!fn) {
return;
}
const uint8_t pin = handler + 50;
const bool pin_state = hal.gpio->read(pin);
fn(pin, pin_state, now);
}
uint32_t PX4GPIO::pin_to_gpio(uint8_t pin)
{
#ifdef GPIO_GPIO0_INPUT
switch (pin) {
case 50:
return GPIO_GPIO0_INPUT;
case 51:
return GPIO_GPIO1_INPUT;
case 52:
return GPIO_GPIO2_INPUT;
case 53:
return GPIO_GPIO3_INPUT;
case 54:
return GPIO_GPIO4_INPUT;
case 55:
return GPIO_GPIO5_INPUT;
default:
return 0;
}
#endif // GPIO_GPIO5_INPUT
return 0;
}
bool PX4GPIO::attach_interrupt(uint8_t pin,
irq_handler_fn_t fn,
INTERRUPT_TRIGGER_TYPE mode)
{
const uint32_t gpio = pin_to_gpio(pin);
if (gpio == 0) {
// failed to map from pin to GPIO INPUT
return false;
}
if (pin < 50) {
return false;
}
const uint8_t handler_offset = pin - 50;
if (handler_offset > ARRAY_SIZE(pin_handlers)) {
return false;
}
// bounce attempt if there is already a handler:
if (fn && pin_handlers[handler_offset]) {
return false;
}
// attach a distinct interrupt handler for each different GPIO
int (*handler)(int irq, void *context) = nullptr;
switch (gpio) {
#ifdef GPIO_GPIO0_INPUT
case GPIO_GPIO0_INPUT:
handler = irq_handler_gpio0;
break;
case GPIO_GPIO1_INPUT:
handler = irq_handler_gpio1;
break;
case GPIO_GPIO2_INPUT:
handler = irq_handler_gpio2;
break;
case GPIO_GPIO3_INPUT:
handler = irq_handler_gpio3;
break;
case GPIO_GPIO4_INPUT:
handler = irq_handler_gpio4;
break;
case GPIO_GPIO5_INPUT:
handler = irq_handler_gpio5;
break;
#endif // GPIO_GPIO5_INPUT
default:
break;
}
if (handler == nullptr) {
gcs().send_text(MAV_SEVERITY_WARNING, "No handler for %u", gpio);
return false;
}
if (fn) {
stm32_gpiosetevent(gpio,
(mode == INTERRUPT_RISING)||(mode==INTERRUPT_BOTH),
(mode == INTERRUPT_FALLING)||(mode==INTERRUPT_BOTH),
false, // event
handler);
} else {
// removing existing handler
stm32_gpiosetevent(gpio,
false, // rising
false, // falling
false, // event
nullptr);
}
pin_handlers[handler_offset] = fn;
return true;
}
/*
return true when USB connected
*/
bool PX4GPIO::usb_connected(void)
{
/*
we use a combination of voltage on the USB connector and the
open of the /dev/ttyACM0 character device. This copes with
systems where the VBUS may go high even with no USB connected
(such as AUAV-X2)
*/
return stm32_gpioread(GPIO_OTGFS_VBUS) && _usb_connected;
}
PX4DigitalSource::PX4DigitalSource(uint8_t v) :
_v(v)
{}
void PX4DigitalSource::mode(uint8_t output)
{}
uint8_t PX4DigitalSource::read() {
return _v;
}
void PX4DigitalSource::write(uint8_t value) {
_v = value;
}
void PX4DigitalSource::toggle() {
_v = !_v;
}
#endif // CONFIG_HAL_BOARD