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102 lines
3.7 KiB
102 lines
3.7 KiB
#ifndef __AP_HAL_LINUX_GPIO_RPI_H__ |
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#define __AP_HAL_LINUX_GPIO_RPI_H__ |
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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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// Raspberry Pi GPIO memory |
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#define BCM2708_PERI_BASE 0x20000000 |
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#define BCM2709_PERI_BASE 0x3F000000 |
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#define GPIO_BASE(address) (address + 0x200000) |
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#define PWM_BASE(address) (address + 0x20C000) /* PWM controller */ |
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#define CLOCK_BASE(address) (address + 0x101000) |
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#define PWM_CTL 0 |
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#define PWM_RNG1 4 |
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#define PWM_DAT1 5 |
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#define PWMCLK_CNTL 40 |
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#define PWMCLK_DIV 41 |
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#define PAGE_SIZE (4*1024) |
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#define BLOCK_SIZE (4*1024) |
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// GPIO setup. Always use INP_GPIO(x) before OUT_GPIO(x) or SET_GPIO_ALT(x,y) |
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#define GPIO_MODE_IN(g) *(gpio+((g)/10)) &= ~(7<<(((g)%10)*3)) |
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#define GPIO_MODE_OUT(g) *(gpio+((g)/10)) |= (1<<(((g)%10)*3)) |
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#define GPIO_MODE_ALT(g,a) *(gpio+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3)) |
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#define GPIO_SET_HIGH *(gpio+7) // sets bits which are 1 |
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#define GPIO_SET_LOW *(gpio+10) // clears bits which are 1 |
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#define GPIO_GET(g) (*(gpio+13)&(1<<g)) // 0 if LOW, (1<<g) if HIGH |
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// Raspberry Pi GPIO mapping |
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#define RPI_GPIO_2 2 // Pin 3 SDA |
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#define RPI_GPIO_3 3 // Pin 5 SCL |
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#define RPI_GPIO_4 4 // Pin 7 BH_PCA9685_OE |
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#define RPI_GPIO_5 5 // Pin 29 BH_PWM_INPUT_0 |
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#define RPI_GPIO_6 6 // Pin 31 BH_PWM_INPUT_1 |
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#define RPI_GPIO_7 7 // Pin 26 CE1 MPU9250_CS |
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#define RPI_GPIO_8 8 // Pin 24 CE0 UBLOX_CS |
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#define RPI_GPIO_9 9 // Pin 21 MISO |
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#define RPI_GPIO_10 10 // Pin 19 MOSI |
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#define RPI_GPIO_11 11 // Pin 23 SCLK |
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#define RPI_GPIO_12 12 // Pin 32 BH_PWM_INPUT_2 |
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#define RPI_GPIO_13 13 // Pin 33 BH_PWM_INPUT_3 |
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#define RPI_GPIO_14 14 // Pin 8 TxD |
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#define RPI_GPIO_15 15 // Pin 10 RxD |
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#define RPI_GPIO_16 16 // Pin 36 |
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#define RPI_GPIO_17 17 // Pin 11 UART_PORT_5 |
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#define RPI_GPIO_18 18 // Pin 12 UART_PORT_4 |
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#define RPI_GPIO_19 19 // Pin 35 BH_PWM_INPUT_4 |
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#define RPI_GPIO_20 20 // Pin 38 BH_PWM_INPUT_5 |
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#define RPI_GPIO_21 21 // Pin 40 BH_PWM_INPUT_6 |
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#define RPI_GPIO_22 22 // Pin 15 UBLOX_PPS |
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#define RPI_GPIO_23 23 // Pin 16 MPU9250_DRDY BH_MPU6050_INTA |
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#define RPI_GPIO_24 24 // Pin 18 SPI_PORT_6 |
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#define RPI_GPIO_25 25 // Pin 22 SPI_PORT_5 |
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#define RPI_GPIO_26 26 // Pin 37 BH_PWM_INPUT_7 |
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#define RPI_GPIO_27 27 // Pin 13 |
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#define RPI_GPIO_28 28 // Pin 3 |
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#define RPI_GPIO_29 29 // Pin 4 |
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#define RPI_GPIO_30 30 // Pin 5 |
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#define RPI_GPIO_31 31 // Pin 6 |
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class Linux::GPIO_RPI : public AP_HAL::GPIO { |
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private: |
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int mem_fd; |
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void *gpio_map; |
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void *pwm_map; |
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void *clk_map; |
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volatile uint32_t *gpio; |
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volatile uint32_t *pwm; |
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volatile uint32_t *clk; |
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void setPWM0Period(uint32_t time_us); |
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void setPWM0Duty(uint8_t percent); |
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public: |
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GPIO_RPI(); |
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void init(); |
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void pinMode(uint8_t pin, uint8_t output); |
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void pinMode(uint8_t pin, uint8_t output, uint8_t alt); |
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int8_t analogPinToDigitalPin(uint8_t pin); |
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uint8_t read(uint8_t pin); |
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void write(uint8_t pin, uint8_t value); |
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void toggle(uint8_t pin); |
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void setPWMPeriod(uint8_t pin, uint32_t time_us); |
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void setPWMDuty(uint8_t pin, uint8_t percent); |
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/* Alternative interface: */ |
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AP_HAL::DigitalSource* channel(uint16_t n); |
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/* Interrupt interface: */ |
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bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, |
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uint8_t mode); |
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/* return true if USB cable is connected */ |
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bool usb_connected(void); |
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}; |
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#endif // __AP_HAL_LINUX_GPIO_RPI_H__
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