libraries/AP_HAL_ChibiOS/GPIO.h - master - Sangak/ardupilot

libraries/AP_HAL_ChibiOS/GPIO.h
133 строки4 KB
Thomas Watson
AP_HAL_ChibiOS: disable GPIO interrupt callbacks in bootloader build
29 июл 2025, 03:09
29 июл 2025, 03:09d0b7387
/*
 * This file is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 * Code by Andrew Tridgell and Siddharth Bharat Purohit
 */
#pragma once

#include "AP_HAL_ChibiOS.h"

/*
  pin types for alternative configuration
 */
enum class PERIPH_TYPE : uint8_t {
    UART_RX,
    UART_TX,
    I2C_SDA,
    I2C_SCL,
    OTHER,
    GPIO,
};

class ChibiOS::GPIO : public AP_HAL::GPIO {
public:
    GPIO();
    void    init() override;
    void    pinMode(uint8_t pin, uint8_t output) override;
    uint8_t read(uint8_t pin) override;
    void    write(uint8_t pin, uint8_t value) override;
    void    toggle(uint8_t pin) override;

    /* Alternative interface: */
    AP_HAL::DigitalSource* channel(uint16_t n) override;

    // only override and implement if necessary ChibiOS declarations are available
#if PAL_USE_CALLBACKS == TRUE
    /* Interrupt interface - fast, for RCOutput and SPI radios */
    bool    attach_interrupt(uint8_t interrupt_num,
                             AP_HAL::Proc p,
                             INTERRUPT_TRIGGER_TYPE mode) override;

    /* Interrupt interface - for AP_HAL::GPIO */
    bool    attach_interrupt(uint8_t pin,
                             irq_handler_fn_t fn,
                             INTERRUPT_TRIGGER_TYPE mode) override;
#endif // PAL_USE_CALLBACKS == TRUE

    /* return true if USB cable is connected */
    bool    usb_connected(void) override;

    void set_usb_connected() { _usb_connected = true; }

    /* attach interrupt via ioline_t */
    bool _attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode);

    /*
      block waiting for a pin to change. A timeout of 0 means wait
      forever. Return true on pin change, false on timeout
     */
    bool wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) override;

#ifndef IOMCU_FW
    // timer tick
    void timer_tick(void) override;

    // Check for ISR floods
    bool arming_checks(size_t buflen, char *buffer) const override;
#endif

    // check if a pin number is valid
    bool valid_pin(uint8_t pin) const override;

    // return servo channel associated with GPIO pin.  Returns true on success and fills in servo_ch argument
    // servo_ch uses zero-based indexing
    bool pin_to_servo_channel(uint8_t pin, uint8_t& servo_ch) const override;

    /*
      resolve an ioline to take account of alternative configurations
     */
    static ioline_t resolve_alt_config(ioline_t base, PERIPH_TYPE ptype, uint8_t instance);

#if defined(STM32F7) || defined(STM32H7) || defined(STM32F4) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4) || defined(STM32L4PLUS)
    // allow for save and restore of pin settings
    bool    get_mode(uint8_t pin, uint32_t &mode) override;
    void    set_mode(uint8_t pin, uint32_t mode) override;
#endif
    
private:
    bool _usb_connected;
    bool _ext_started;

    bool _attach_interruptI(ioline_t line, palcallback_t cb, void *p, uint8_t mode);
    bool _attach_interrupt(ioline_t line, palcallback_t cb, void *p, uint8_t mode);
#ifdef HAL_PIN_ALT_CONFIG
    void setup_alt_config(void);
    static uint8_t alt_config;
#endif
};

class ChibiOS::DigitalSource : public AP_HAL::DigitalSource {
public:
    DigitalSource(ioline_t line);
    void    mode(uint8_t output) override;
    uint8_t read() override;
    void    write(uint8_t value) override;
    void    toggle() override;
private:
    ioline_t line;
};

#if HAL_WITH_IO_MCU
class ChibiOS::IOMCU_DigitalSource : public AP_HAL::DigitalSource {
public:
    IOMCU_DigitalSource(uint8_t _pin);
    void    write(uint8_t value) override;
    void    toggle() override;
    // IOMCU GPIO is write only
    void    mode(uint8_t output) override {};
    uint8_t    read() override { return 0; }
private:
    uint8_t pin;
};
#endif