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46 lines
1.0 KiB
46 lines
1.0 KiB
#pragma once |
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#include <stdint.h> |
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#include "AP_HAL_Linux.h" |
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#define LOW 0 |
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#define HIGH 1 |
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#define PAGE_SIZE (4*1024) |
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#define BLOCK_SIZE (4*1024) |
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/** |
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* @brief Check for valid Raspberry Pi pin range |
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* |
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* @tparam pin |
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* @return uint8_t |
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*/ |
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template <uint8_t pin> constexpr uint8_t RPI_GPIO_() |
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{ |
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static_assert(pin > 1 && pin < 32, "Invalid pin value."); |
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return pin; |
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} |
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namespace Linux { |
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class GPIO_RPI : public AP_HAL::GPIO { |
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public: |
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GPIO_RPI(); |
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void init() override; |
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void pinMode(uint8_t pin, uint8_t output) override; |
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void pinMode(uint8_t pin, uint8_t output, uint8_t alt) override; |
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uint8_t read(uint8_t pin) override; |
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void write(uint8_t pin, uint8_t value) override; |
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void toggle(uint8_t pin) override; |
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/* Alternative interface: */ |
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AP_HAL::DigitalSource* channel(uint16_t n) override; |
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/* return true if USB cable is connected */ |
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bool usb_connected(void) override; |
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private: |
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volatile uint32_t *_gpio; |
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}; |
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}
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