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284 lines
7.5 KiB
284 lines
7.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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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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/* PX4 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 <modules/px4iofirmware/protocol.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 PX4; |
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PX4GPIO::PX4GPIO() |
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{} |
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void PX4GPIO::init() |
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{ |
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 |
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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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#endif |
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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 CONFIG_ARCH_BOARD_PX4FMU_V1 |
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if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_EXT_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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// also try to setup for the relay pins on the IO board |
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_gpio_io_fd = open(PX4IO_DEVICE_PATH, O_RDWR); |
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if (_gpio_io_fd == -1) { |
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hal.console->printf("GPIO: Unable to open px4io\n"); |
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} |
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} |
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void PX4GPIO::pinMode(uint8_t pin, uint8_t output) |
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{ |
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switch (pin) { |
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case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5): |
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uint32_t pinmask = 1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0)); |
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if (output) { |
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uint8_t old_value = read(pin); |
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if (old_value) { |
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ioctl(_gpio_fmu_fd, GPIO_SET_OUTPUT_HIGH, pinmask); |
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} else { |
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ioctl(_gpio_fmu_fd, GPIO_SET_OUTPUT_LOW, pinmask); |
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} |
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} else { |
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ioctl(_gpio_fmu_fd, GPIO_SET_INPUT, pinmask); |
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} |
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break; |
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} |
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} |
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int8_t PX4GPIO::analogPinToDigitalPin(uint8_t pin) |
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{ |
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switch (pin) { |
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case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5): |
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// the only pins that can be mapped are the FMU servo rail pins */ |
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return pin; |
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} |
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return -1; |
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} |
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uint8_t PX4GPIO::read(uint8_t pin) { |
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switch (pin) { |
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#ifdef GPIO_EXT_1 |
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case PX4_GPIO_EXT_FMU_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_EXT_1)?HIGH:LOW; |
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} |
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#endif |
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#ifdef GPIO_EXT_2 |
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case PX4_GPIO_EXT_FMU_RELAY2_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_EXT_2)?HIGH:LOW; |
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} |
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#endif |
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#ifdef PX4IO_P_SETUP_RELAYS_POWER1 |
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case PX4_GPIO_EXT_IO_RELAY1_PIN: { |
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uint32_t relays = 0; |
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ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays); |
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return (relays & PX4IO_P_SETUP_RELAYS_POWER1)?HIGH:LOW; |
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} |
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#endif |
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#ifdef PX4IO_P_SETUP_RELAYS_POWER2 |
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case PX4_GPIO_EXT_IO_RELAY2_PIN: { |
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uint32_t relays = 0; |
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ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays); |
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return (relays & PX4IO_P_SETUP_RELAYS_POWER2)?HIGH:LOW; |
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} |
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#endif |
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#ifdef PX4IO_P_SETUP_RELAYS_ACC1 |
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case PX4_GPIO_EXT_IO_ACC1_PIN: { |
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uint32_t relays = 0; |
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ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays); |
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return (relays & PX4IO_P_SETUP_RELAYS_ACC1)?HIGH:LOW; |
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} |
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#endif |
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#ifdef PX4IO_P_SETUP_RELAYS_ACC2 |
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case PX4_GPIO_EXT_IO_ACC2_PIN: { |
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uint32_t relays = 0; |
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ioctl(_gpio_io_fd, GPIO_GET, (unsigned long)&relays); |
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return (relays & PX4IO_P_SETUP_RELAYS_ACC2)?HIGH:LOW; |
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} |
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#endif |
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case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5): { |
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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 & (1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0))))?HIGH:LOW; |
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} |
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} |
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return LOW; |
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} |
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void PX4GPIO::write(uint8_t pin, uint8_t value) |
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{ |
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switch (pin) { |
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 |
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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_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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case HAL_GPIO_B_LED_PIN: // not used yet |
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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_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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#endif |
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case PX4_GPIO_PIEZO_PIN: // Piezo beeper |
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if (value == LOW) { // this is inverted |
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ioctl(_tone_alarm_fd, TONE_SET_ALARM, 3); // Alarm on !! |
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//::write(_tone_alarm_fd, &user_tune, sizeof(user_tune)); |
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} else { |
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ioctl(_tone_alarm_fd, TONE_SET_ALARM, 0); // Alarm off !! |
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} |
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break; |
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#ifdef GPIO_EXT_1 |
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case PX4_GPIO_EXT_FMU_RELAY1_PIN: |
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_1); |
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break; |
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#endif |
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#ifdef GPIO_EXT_2 |
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case PX4_GPIO_EXT_FMU_RELAY2_PIN: |
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_2); |
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break; |
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#endif |
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#ifdef PX4IO_P_SETUP_RELAYS_POWER1 |
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case PX4_GPIO_EXT_IO_RELAY1_PIN: |
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ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_POWER1); |
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break; |
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#endif |
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#ifdef PX4IO_P_SETUP_RELAYS_POWER2 |
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case PX4_GPIO_EXT_IO_RELAY2_PIN: |
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ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_POWER2); |
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break; |
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#endif |
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#ifdef PX4IO_P_SETUP_RELAYS_ACC1 |
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case PX4_GPIO_EXT_IO_ACC1_PIN: |
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ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_ACC1); |
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break; |
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#endif |
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#ifdef PX4IO_P_SETUP_RELAYS_ACC2 |
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case PX4_GPIO_EXT_IO_ACC2_PIN: |
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ioctl(_gpio_io_fd, value==LOW?GPIO_CLEAR:GPIO_SET, PX4IO_P_SETUP_RELAYS_ACC2); |
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break; |
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#endif |
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case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5): |
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ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, 1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0))); |
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break; |
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} |
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} |
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void PX4GPIO::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* PX4GPIO::channel(uint16_t n) { |
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return new PX4DigitalSource(0); |
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} |
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/* Interrupt interface: */ |
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bool PX4GPIO::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 PX4GPIO::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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PX4DigitalSource::PX4DigitalSource(uint8_t v) : |
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_v(v) |
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{} |
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void PX4DigitalSource::mode(uint8_t output) |
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{} |
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uint8_t PX4DigitalSource::read() { |
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return _v; |
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} |
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void PX4DigitalSource::write(uint8_t value) { |
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_v = value; |
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} |
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void PX4DigitalSource::toggle() { |
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_v = !_v; |
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} |
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#endif // CONFIG_HAL_BOARD
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