Moved last libs, drivers and headers, cleaned up IO build

1 files changed, 148 insertions, 0 deletions

diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
new file mode 100644
index 000000000..92d184326
--- /dev/null
+++ b/src/drivers/drv_gpio.h
@@ -0,0 +1,148 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_gpio.h
+ *
+ * Generic GPIO ioctl interface.
+ */
+
+#ifndef _DRV_GPIO_H
+#define _DRV_GPIO_H
+
+#include <sys/ioctl.h>
+
+#ifdef CONFIG_ARCH_BOARD_PX4FMU
+/*
+ * PX4FMU GPIO numbers.
+ *
+ * For shared pins, alternate function 1 selects the non-GPIO mode 
+ * (USART2, CAN2, etc.)
+ */
+# define GPIO_EXT_1		(1<<0)		/**< high-power GPIO 1 */
+# define GPIO_EXT_2		(1<<1)		/**< high-power GPIO 1 */
+# define GPIO_MULTI_1		(1<<2)		/**< USART2 CTS */
+# define GPIO_MULTI_2		(1<<3)		/**< USART2 RTS */
+# define GPIO_MULTI_3		(1<<4)		/**< USART2 TX */
+# define GPIO_MULTI_4		(1<<5)		/**< USART2 RX */
+# define GPIO_CAN_TX		(1<<6)		/**< CAN2 TX */
+# define GPIO_CAN_RX		(1<<7)		/**< CAN2 RX */
+
+/**
+ * Default GPIO device - other devices may also support this protocol if
+ * they also export GPIO-like things.  This is always the GPIOs on the
+ * main board.
+ */
+# define GPIO_DEVICE_PATH	"/dev/px4fmu"
+
+#endif
+
+#ifdef CONFIG_ARCH_BOARD_PX4IO
+/*
+ * PX4IO GPIO numbers.
+ *
+ * XXX note that these are here for reference/future use; currently
+ * there is no good way to wire these up without a common STM32 GPIO
+ * driver, which isn't implemented yet.
+ */
+/* outputs */
+# define GPIO_ACC1_POWER	(1<<0)		/**< accessory power 1 */
+# define GPIO_ACC2_POWER	(1<<1)		/**< accessory power 2 */
+# define GPIO_SERVO_POWER	(1<<2)		/**< servo power */
+# define GPIO_RELAY1		(1<<3)		/**< relay 1 */
+# define GPIO_RELAY2		(1<<4)		/**< relay 2 */
+# define GPIO_LED_BLUE		(1<<5)		/**< blue LED */
+# define GPIO_LED_AMBER		(1<<6)		/**< amber/red LED */
+# define GPIO_LED_SAFETY	(1<<7)		/**< safety LED */
+
+/* inputs */
+# define GPIO_ACC_OVERCURRENT	(1<<8)		/**< accessory 1/2 overcurrent detect */
+# define GPIO_SERVO_OVERCURRENT	(1<<9)		/**< servo overcurrent detect */
+# define GPIO_SAFETY_BUTTON	(1<<10)		/**< safety button pressed */
+
+/**
+ * Default GPIO device - other devices may also support this protocol if
+ * they also export GPIO-like things.  This is always the GPIOs on the
+ * main board.
+ */
+# define GPIO_DEVICE_PATH	"/dev/px4io"
+
+#endif
+
+#ifndef GPIO_DEVICE_PATH
+#  error No GPIO support for this board.
+#endif
+
+/*
+ * IOCTL definitions.
+ *
+ * For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
+ * by the operation, with the LSB being the lowest-numbered GPIO.
+ *
+ * Note that there may be board-specific relationships between GPIOs;
+ * applications using GPIOs should be aware of this.
+ */
+#define _GPIOCBASE	0x2700
+#define GPIOC(_x)	_IOC(_GPIOCBASE, _x)
+
+/** reset all board GPIOs to their default state */
+#define GPIO_RESET	GPIOC(0)
+
+/** configure the board GPIOs in (arg) as outputs */
+#define GPIO_SET_OUTPUT	GPIOC(1)
+
+/** configure the board GPIOs in (arg) as inputs */
+#define GPIO_SET_INPUT	GPIOC(2)
+
+/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
+#define GPIO_SET_ALT_1	GPIOC(3)
+
+/** configure the board GPIO (arg) for the second alternate function (if supported) */
+#define GPIO_SET_ALT_2	GPIOC(4)
+
+/** configure the board GPIO (arg) for the third alternate function (if supported) */
+#define GPIO_SET_ALT_3	GPIOC(5)
+
+/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
+#define GPIO_SET_ALT_4	GPIOC(6)
+
+/** set the GPIOs in (arg) */
+#define GPIO_SET	GPIOC(10)
+
+/** clear the GPIOs in (arg) */
+#define GPIO_CLEAR	GPIOC(11)
+
+/** read all the GPIOs and return their values in *(uint32_t *)arg */
+#define GPIO_GET	GPIOC(12)
+
+#endif /* _DRV_GPIO_H */
\ No newline at end of file