GPIO_RPI.cpp File Reference

#include <AP_HAL/AP_HAL.h>
#include <errno.h>
#include <fcntl.h>
#include <poll.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <unistd.h>
#include "GPIO.h"
#include "Util_RPI.h"

Include dependency graph for GPIO_RPI.cpp:

Go to the source code of this file.

Macros
#define	BCM2708_PERI_BASE   0x20000000
#define	BCM2709_PERI_BASE   0x3F000000
#define	GPIO_BASE(address)   (address + 0x200000)
#define	GPIO_MODE_IN(g)   *(_gpio+((g)/10)) &= ~(7<<(((g)%10)*3))
#define	GPIO_MODE_OUT(g)   *(_gpio+((g)/10)) |= (1<<(((g)%10)*3))
#define	GPIO_MODE_ALT(g, a)   *(_gpio+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))
#define	GPIO_SET_HIGH   *(_gpio+7)
#define	GPIO_SET_LOW   *(_gpio+10)
#define	GPIO_GET(g)   (*(_gpio+13)&(1<<g))

Variables
static const AP_HAL::HAL &	hal = AP_HAL::get_HAL()

Macro Definition Documentation

BCM2708_PERI_BASE

#define BCM2708_PERI_BASE   0x20000000

Definition at line 22 of file GPIO_RPI.cpp.

Referenced by Linux::GPIO_RPI::init().

BCM2709_PERI_BASE

#define BCM2709_PERI_BASE   0x3F000000

Definition at line 23 of file GPIO_RPI.cpp.

Referenced by Linux::GPIO_RPI::init().

GPIO_BASE

#define GPIO_BASE

(

address

)

(address + 0x200000)

Definition at line 24 of file GPIO_RPI.cpp.

Referenced by Linux::GPIO_RPI::init().

GPIO_GET

#define GPIO_GET

(

g

)

(*(_gpio+13)&(1<<g))

Definition at line 32 of file GPIO_RPI.cpp.

Referenced by VRBRAIN::VRBRAINGPIO::read(), PX4::PX4GPIO::read(), and Linux::GPIO_RPI::read().

GPIO_MODE_ALT

#define GPIO_MODE_ALT	(		g,
			a
	)		*(_gpio+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))

Definition at line 29 of file GPIO_RPI.cpp.

Referenced by Linux::GPIO_RPI::pinMode().

GPIO_MODE_IN

#define GPIO_MODE_IN

(

g

)

*(_gpio+((g)/10)) &= ~(7<<(((g)%10)*3))

Definition at line 27 of file GPIO_RPI.cpp.

Referenced by Linux::GPIO_RPI::pinMode().

GPIO_MODE_OUT

#define GPIO_MODE_OUT

(

g

)

*(_gpio+((g)/10)) |= (1<<(((g)%10)*3))

Definition at line 28 of file GPIO_RPI.cpp.

Referenced by Linux::GPIO_RPI::pinMode().

GPIO_SET_HIGH

#define GPIO_SET_HIGH   *(_gpio+7)

Definition at line 30 of file GPIO_RPI.cpp.

Referenced by Linux::GPIO_RPI::write().

GPIO_SET_LOW

#define GPIO_SET_LOW   *(_gpio+10)

Definition at line 31 of file GPIO_RPI.cpp.

Referenced by Linux::GPIO_RPI::write().

Variable Documentation

hal

const AP_HAL::HAL& hal = AP_HAL::get_HAL()

static

Definition at line 36 of file GPIO_RPI.cpp.