mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 10:23:34 +08:00
replace navio_gpio with linux_gpio
Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
This commit is contained in:
Nicolae Rosia
committed by
Lorenz Meier
Lorenz Meier
parent
3d77102653
commit
4af7036a8a
@@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__linux_gpio
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STACK_MAIN 1200
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COMPILE_FLAGS
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SRCS
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linux_gpio.cpp
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DEPENDS
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platforms__common
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)
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#add_subdirectory(test)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,253 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 - 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <drivers/linux_gpio/linux_gpio.h>
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#include <px4_posix.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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#define PIN_INDEX_BUFFER_MAX (16)
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#define PIN_DIRECTION_BUFFER_MAX (30 + PIN_INDEX_BUFFER_MAX)
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#define PIN_VALUE_BUFFER_MAX (26 + PIN_INDEX_BUFFER_MAX)
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LinuxGPIO::LinuxGPIO(unsigned int pin)
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: _pin(pin)
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{
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}
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int LinuxGPIO::exportPin()
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{
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return LinuxGPIO::_exportPin(_pin);
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}
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int LinuxGPIO::unexportPin()
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{
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return LinuxGPIO::_unexportPin(_pin);
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}
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int LinuxGPIO::setDirection(LinuxGPIO::Direction dir)
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{
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return LinuxGPIO::_setDirection(_pin, (int)dir);
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}
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int LinuxGPIO::readValue()
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{
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return LinuxGPIO::_readValue(_pin);
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}
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int LinuxGPIO::writeValue(LinuxGPIO::Value value)
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{
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return LinuxGPIO::_writeValue(_pin, (unsigned int)value);
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}
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int LinuxGPIO::_exportPin(unsigned int pin)
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{
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char pinIndex[PIN_INDEX_BUFFER_MAX];
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int fd;
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int ret;
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int bytes_to_write;
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fd = open("/sys/class/gpio/export", O_WRONLY);
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if (fd == -1) {
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int err = errno;
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PX4_ERR("export failed: open: %s (%d)", strerror(err), err);
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return -1;
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}
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bytes_to_write = snprintf(pinIndex, PIN_INDEX_BUFFER_MAX, "%u", pin);
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ret = write(fd, pinIndex, bytes_to_write);
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if (ret == -1) {
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int err = errno;
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PX4_ERR("export failed: write: %s (%d)", strerror(err), err);
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goto cleanup;
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} else if (ret != bytes_to_write) {
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PX4_ERR("failed to write: incomplete %d != %d", ret, bytes_to_write);
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goto cleanup;
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}
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ret = 0;
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cleanup:
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close(fd);
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return ret;
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}
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int LinuxGPIO::_unexportPin(unsigned int pin)
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{
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char pinIndex[PIN_INDEX_BUFFER_MAX];
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int fd;
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int ret;
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int bytes_to_write;
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fd = open("/sys/class/gpio/unexport", O_WRONLY);
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if (fd == -1) {
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int err = errno;
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PX4_ERR("unexport %u: open: %s (%d)", pin, strerror(err), err);
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return -1;
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}
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bytes_to_write = snprintf(pinIndex, PIN_INDEX_BUFFER_MAX, "%u", pin);
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ret = write(fd, pinIndex, bytes_to_write);
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if (ret == -1) {
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int err = errno;
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PX4_ERR("unexport %u: write: %s (%d)", pin, strerror(err), err);
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goto cleanup;
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} else if (ret != bytes_to_write) {
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PX4_ERR("unexport %u: write incomplete %d != %d", pin, ret, bytes_to_write);
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goto cleanup;
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}
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ret = 0;
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cleanup:
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close(fd);
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return ret;
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}
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int LinuxGPIO::_setDirection(unsigned int pin, int dir)
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{
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char path[PIN_DIRECTION_BUFFER_MAX];
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int fd;
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int ret;
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snprintf(path, PIN_DIRECTION_BUFFER_MAX, "/sys/class/gpio/gpio%d/direction", pin);
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fd = open(path, O_WRONLY);
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if (fd == -1) {
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int err = errno;
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PX4_ERR("dir %u: open: %s (%d)", pin, strerror(err), err);
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return -1;
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}
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if (dir == 0) {
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ret = write(fd, "in", 2);
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} else {
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ret = write(fd, "out", 3);
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}
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if (ret == -1) {
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int err = errno;
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PX4_ERR("dir %u: write: %s (%d)", pin, strerror(err), err);
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goto cleanup;
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}
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ret = 0;
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cleanup:
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close(fd);
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return ret;
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}
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int LinuxGPIO::_readValue(int pin)
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{
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char path[PIN_VALUE_BUFFER_MAX];
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char buf[2];
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int fd;
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int ret;
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snprintf(path, PIN_VALUE_BUFFER_MAX, "/sys/class/gpio/gpio%d/value", pin);
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fd = open(path, O_RDONLY);
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if (fd == -1) {
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int err = errno;
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PX4_ERR("read %u: open: %s (%d)", pin, strerror(err), err);
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return -1;
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}
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ret = read(fd, buf, sizeof(buf));
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if (ret == -1) {
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int err = errno;
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PX4_ERR("read %u: write: %s (%d)", pin, strerror(err), err);
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goto cleanup;
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}
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ret = 0;
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ret = strtol(buf, NULL, 10);
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cleanup:
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close(fd);
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return ret;
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}
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int LinuxGPIO::_writeValue(int pin, unsigned int value)
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{
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char path[PIN_VALUE_BUFFER_MAX];
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char buf[2];
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int fd;
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int ret;
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if (value != (unsigned int)Value::LOW && value != (unsigned int)Value::HIGH) {
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return -EINVAL;
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}
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snprintf(path, PIN_VALUE_BUFFER_MAX, "/sys/class/gpio/gpio%d/value", pin);
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fd = open(path, O_WRONLY);
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if (fd == -1) {
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int err = errno;
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PX4_ERR("set %u: open: %s (%d)", pin, strerror(err), err);
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return -1;
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}
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int buflen = snprintf(buf, sizeof(buf), "%u", value);
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ret = write(fd, buf, buflen);
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if (ret == -1) {
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int err = errno;
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PX4_ERR("set %u: write: %s (%d)", pin, strerror(err), err);
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goto cleanup;
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}
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ret = 0;
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cleanup:
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close(fd);
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return ret;
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}
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@@ -0,0 +1,75 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
|
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* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file linux_gpio.h
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*
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* Linux sysfs GPIO Interface
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*
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* This interface allows manipulation of sysfs GPIOs on Linux
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*
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* @author Nicolae Rosia <nicolae.rosia@gmail.com>
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*/
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class LinuxGPIO
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{
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public:
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LinuxGPIO(unsigned int pin);
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~LinuxGPIO() = default;
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enum class Direction {
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IN = 0,
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OUT = 1,
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};
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enum class Value {
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LOW = 0,
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HIGH = 1,
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};
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int exportPin();
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int unexportPin();
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int setDirection(LinuxGPIO::Direction dir);
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int readValue();
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int writeValue(LinuxGPIO::Value value);
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private:
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static int _exportPin(unsigned int pin);
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static int _unexportPin(unsigned int pin);
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static int _setDirection(unsigned int pin, int dir);
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static int _readValue(int pin);
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static int _writeValue(int pin, unsigned int value);
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int _pin;
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};
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