mirror of
https://github.com/ArduPilot/ardupilot.git
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de3f499561
This add support for the PocketBeagle 2 GPIO. On the PocketBeagle 2 to handle GPIO there is SET/GET registers, what make the /dev/mem access safe.
121 lines
2.6 KiB
C++
121 lines
2.6 KiB
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#if HAL_LINUX_GPIO_PB2_ENABLED
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//GPIO Addressess
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#define GPIO0_BASE 0x600000
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#define GPIO1_BASE 0x601000
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#define GPIO_SIZE 0xffff
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//Registers
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//Bank0 and 1
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#define GPIO_DIR01 0X4
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#define GPIO_SET_DATA01 0x6
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#define GPIO_OUT_DATA01 0x5
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#define GPIO_CLR_DATA01 0x7
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#define GPIO_IN_DATA01 0x8
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//Bank2 and 3
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#define GPIO_DIR23 0xE
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#define GPIO_SET_DATA23 0x10
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#define GPIO_OUT_DATA23 0xF
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#define GPIO_CLR_DATA23 0x11
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#define GPIO_IN_DATA23 0x12
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//Bank 4 and 5
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#define GPIO_DIR45 0x18
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#define GPIO_SET_DATA45 0x1A
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#define GPIO_OUT_DATA45 0x19
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#define GPIO_CLR_DATA45 0x1B
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#define GPIO_IN_DATA45 0x1C
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#define LINUX_GPIO_NUM_BANKS 6
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#define LED_AMBER 45
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#define LED_BLUE 46
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#define LED_SAFETY 91
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// PocketBeagle 2 GPIO mappings
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#define PB2_USR0 3
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#define PB2_USR1 4
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#define PB2_USR2 5
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#define PB2_USR3 6
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#define PB2_P1_2 10
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#define PB2_P1_3 51
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#define PB2_P1_4 12
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#define PB2_P1_6 13
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#define PB2_P1_8 14
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#define PB2_P1_10 30
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#define PB2_P1_12 8
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#define PB2_P1_20 50
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#define PB2_P1_26 44
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#define PB2_P1_28 43
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#define PB2_P1_29 62
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#define PB2_P1_30 21
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#define PB2_P1_31 29
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#define PB2_P1_32 20
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#define PB2_P1_33 29
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#define PB2_P1_34 2
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#define PB2_P1_35 88
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#define PB2_P1_36 28
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#define PB2_P2_1 86
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#define PB2_P2_2 45
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#define PB2_P2_3 9
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#define PB2_P2_4 46
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#define PB2_P2_5 24
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#define PB2_P2_6 47
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#define PB2_P2_7 25
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#define PB2_P2_8 48
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#define PB2_P2_9 22
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#define PB2_P2_10 91
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#define PB2_P2_11 23
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#define PB2_P2_17 64
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#define PB2_P2_18 53
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#define PB2_P2_19 0
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#define PB2_P2_20 49
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#define PB2_P2_22 63
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#define PB2_P2_24 51
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#define PB2_P2_25 19
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#define PB2_P2_27 18
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#define PB2_P2_28 61
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#define PB2_P2_29 17
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#define PB2_P2_30 58
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#define PB2_P2_31 15
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#define PB2_P2_32 57
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#define PB2_P2_33 52
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#define PB2_P2_34 60
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#define PB2_P2_35 54
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#define PB2_P2_36 16
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namespace Linux {
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class GPIO_PB2 : public AP_HAL::GPIO {
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private:
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struct GPIO {
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volatile uint32_t *gpio_base;
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volatile uint32_t *gpio_set;
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volatile uint32_t *gpio_clear;
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volatile uint32_t *gpio_out;
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volatile uint32_t *gpio_direction;
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volatile uint32_t *gpio_in;
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} gpio_bank[LINUX_GPIO_NUM_BANKS];
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public:
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GPIO_PB2();
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void init() override;
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void pinMode(uint8_t pin, uint8_t output) 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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};
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}
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#endif // HAL_LINUX_GPIO_PB2_ENABLED
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