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199 lines
4.5 KiB
199 lines
4.5 KiB
#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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#include "GPIO.h" |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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/* VRBRAIN headers */ |
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#include <drivers/drv_led.h> |
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#include <drivers/drv_tone_alarm.h> |
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#include <drivers/drv_gpio.h> |
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#include <arch/board/board.h> |
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#include <board_config.h> |
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#define LOW 0 |
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#define HIGH 1 |
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extern const AP_HAL::HAL& hal; |
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using namespace VRBRAIN; |
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VRBRAINGPIO::VRBRAINGPIO() |
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{} |
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void VRBRAINGPIO::init() |
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{ |
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_led_fd = open(LED0_DEVICE_PATH, O_RDWR); |
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if (_led_fd == -1) { |
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AP_HAL::panic("Unable to open " LED0_DEVICE_PATH); |
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} |
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if (ioctl(_led_fd, LED_OFF, LED_BLUE) != 0) { |
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hal.console->printf("GPIO: Unable to setup GPIO LED BLUE\n"); |
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} |
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if (ioctl(_led_fd, LED_OFF, LED_RED) != 0) { |
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hal.console->printf("GPIO: Unable to setup GPIO LED RED\n"); |
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} |
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if (ioctl(_led_fd, LED_OFF, LED_GREEN) != 0) { |
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hal.console->printf("GPIO: Unable to setup GPIO LED GREEN\n"); |
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} |
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_tone_alarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY); |
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if (_tone_alarm_fd == -1) { |
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AP_HAL::panic("Unable to open " TONEALARM0_DEVICE_PATH); |
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} |
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_gpio_fmu_fd = open(PX4FMU_DEVICE_PATH, 0); |
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if (_gpio_fmu_fd == -1) { |
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AP_HAL::panic("Unable to open GPIO"); |
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} |
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#ifdef GPIO_SERVO_1 |
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if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_SERVO_1) != 0) { |
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hal.console->printf("GPIO: Unable to setup GPIO_1\n"); |
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} |
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#endif |
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#ifdef GPIO_SERVO_2 |
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if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_SERVO_2) != 0) { |
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hal.console->printf("GPIO: Unable to setup GPIO_2\n"); |
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} |
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#endif |
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#ifdef GPIO_SERVO_3 |
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if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_SERVO_3) != 0) { |
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hal.console->printf("GPIO: Unable to setup GPIO_3\n"); |
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} |
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#endif |
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} |
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void VRBRAINGPIO::pinMode(uint8_t pin, uint8_t output) |
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{ |
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switch (pin) { |
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} |
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} |
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int8_t VRBRAINGPIO::analogPinToDigitalPin(uint8_t pin) |
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{ |
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return -1; |
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} |
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uint8_t VRBRAINGPIO::read(uint8_t pin) { |
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switch (pin) { |
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#ifdef GPIO_SERVO_3 |
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case EXTERNAL_RELAY1_PIN: { |
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uint32_t relays = 0; |
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ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays); |
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return (relays & GPIO_SERVO_3)?HIGH:LOW; |
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} |
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#endif |
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} |
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return LOW; |
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} |
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void VRBRAINGPIO::write(uint8_t pin, uint8_t value) |
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{ |
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switch (pin) { |
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case HAL_GPIO_A_LED_PIN: // Arming LED |
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if (value == LOW) { |
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ioctl(_led_fd, LED_OFF, LED_GREEN); |
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} else { |
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ioctl(_led_fd, LED_ON, LED_GREEN); |
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} |
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break; |
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case HAL_GPIO_B_LED_PIN: // not used yet |
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if (value == LOW) { |
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ioctl(_led_fd, LED_OFF, LED_BLUE); |
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} else { |
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ioctl(_led_fd, LED_ON, LED_BLUE); |
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} |
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break; |
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case HAL_GPIO_C_LED_PIN: // GPS LED |
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if (value == LOW) { |
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ioctl(_led_fd, LED_OFF, LED_RED); |
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} else { |
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ioctl(_led_fd, LED_ON, LED_RED); |
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} |
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break; |
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#ifdef GPIO_SERVO_1 |
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case EXTERNAL_LED_GPS: |
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_SERVO_1); |
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break; |
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#endif |
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#ifdef GPIO_SERVO_2 |
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case EXTERNAL_LED_ARMED: |
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_SERVO_2); |
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break; |
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#endif |
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#ifdef GPIO_SERVO_3 |
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case EXTERNAL_RELAY1_PIN: |
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_SERVO_3); |
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break; |
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#endif |
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} |
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} |
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void VRBRAINGPIO::toggle(uint8_t pin) |
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{ |
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write(pin, !read(pin)); |
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} |
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/* Alternative interface: */ |
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AP_HAL::DigitalSource* VRBRAINGPIO::channel(uint16_t n) { |
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return new VRBRAINDigitalSource(0); |
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} |
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/* Interrupt interface: */ |
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bool VRBRAINGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode) |
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{ |
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return true; |
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} |
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/* |
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return true when USB connected |
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*/ |
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bool VRBRAINGPIO::usb_connected(void) |
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{ |
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/* |
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we use a combination of voltage on the USB connector and the |
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open of the /dev/ttyACM0 character device. This copes with |
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systems where the VBUS may go high even with no USB connected |
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(such as AUAV-X2) |
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*/ |
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return stm32_gpioread(GPIO_OTGFS_VBUS) && _usb_connected; |
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} |
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VRBRAINDigitalSource::VRBRAINDigitalSource(uint8_t v) : |
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_v(v) |
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{} |
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void VRBRAINDigitalSource::mode(uint8_t output) |
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{} |
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uint8_t VRBRAINDigitalSource::read() { |
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return _v; |
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} |
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void VRBRAINDigitalSource::write(uint8_t value) { |
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_v = value; |
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} |
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void VRBRAINDigitalSource::toggle() { |
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_v = !_v; |
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} |
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#endif // CONFIG_HAL_BOARD
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