You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
66 lines
1.9 KiB
66 lines
1.9 KiB
#pragma once |
|
|
|
#include <stdint.h> |
|
#include "AP_HAL_Linux.h" |
|
|
|
#define LOW 0 |
|
#define HIGH 1 |
|
|
|
#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 |
|
|
|
namespace Linux { |
|
|
|
class GPIO_RPI : public AP_HAL::GPIO { |
|
public: |
|
GPIO_RPI(); |
|
void init() override; |
|
void pinMode(uint8_t pin, uint8_t output) override; |
|
void pinMode(uint8_t pin, uint8_t output, uint8_t alt) override; |
|
uint8_t read(uint8_t pin) override; |
|
void write(uint8_t pin, uint8_t value) override; |
|
void toggle(uint8_t pin) override; |
|
|
|
/* Alternative interface: */ |
|
AP_HAL::DigitalSource* channel(uint16_t n) override; |
|
|
|
/* return true if USB cable is connected */ |
|
bool usb_connected(void) override; |
|
|
|
private: |
|
volatile uint32_t *_gpio; |
|
}; |
|
|
|
}
|
|
|