diff options
Diffstat (limited to 'nuttx/configs/px4fmu/src/drv_gpio.c')
| -rw-r--r-- | nuttx/configs/px4fmu/src/drv_gpio.c | 195 |
1 files changed, 195 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/src/drv_gpio.c b/nuttx/configs/px4fmu/src/drv_gpio.c new file mode 100644 index 000000000..be95420dd --- /dev/null +++ b/nuttx/configs/px4fmu/src/drv_gpio.c @@ -0,0 +1,195 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/* + * GPIO driver for PX4FMU. + * + */ + +#include <nuttx/config.h> + +#include <stdint.h> +#include <stdbool.h> +#include <debug.h> +#include <errno.h> + +#include <nuttx/spi.h> +#include <arch/board/board.h> + +#include "up_arch.h" +#include "chip.h" +#include "stm32_internal.h" +#include "px4fmu-internal.h" + +#include <arch/board/drv_gpio.h> + +static int px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg); + +static const struct file_operations px4fmu_gpio_fops = { + .ioctl = px4fmu_gpio_ioctl, +}; + +static struct { + uint32_t input; + uint32_t output; + uint32_t alt; +} gpio_tab[] = { + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, + {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1}, + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1}, + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, + {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, + {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, +}; + +#define NGPIO (sizeof(gpio_tab) / sizeof(gpio_tab[0])) + + +static void +px4fmu_gpio_reset(void) +{ + /* + * Setup default GPIO config - all pins as GPIOs, GPIO driver chip + * to input mode. + */ + for (unsigned i = 0; i < NGPIO; i++) + stm32_configgpio(gpio_tab[i].input); + + stm32_gpiowrite(GPIO_GPIO_DIR, 0); + stm32_configgpio(GPIO_GPIO_DIR); +} + +static void +px4fmu_gpio_set_function(uint32_t gpios, int function) +{ + /* + * GPIOs 0 and 1 must have the same direction as they are buffered + * by a shared 2-port driver. Any attempt to set either sets both. + */ + if (gpios & 3) { + gpios |= 3; + + /* flip the buffer to output mode if required */ + if (GPIO_SET_OUTPUT == function) + stm32_gpiowrite(GPIO_GPIO_DIR, 1); + } + + /* configure selected GPIOs as required */ + for (unsigned i = 0; i < NGPIO; i++) { + if (gpios & (1<<i)) { + switch (function) { + case GPIO_SET_INPUT: + stm32_configgpio(gpio_tab[i].input); + break; + case GPIO_SET_OUTPUT: + stm32_configgpio(gpio_tab[i].output); + break; + case GPIO_SET_ALT_1: + if (gpio_tab[i].alt != 0) + stm32_configgpio(gpio_tab[i].alt); + break; + } + } + } + + /* flip buffer to input mode if required */ + if ((GPIO_SET_INPUT == function) && (gpios & 3)) + stm32_gpiowrite(GPIO_GPIO_DIR, 0); +} + +static void +px4fmu_gpio_write(uint32_t gpios, int function) +{ + int value = (function == GPIO_SET) ? 1 : 0; + + for (unsigned i = 0; i < NGPIO; i++) + if (gpios & (1<<i)) + stm32_gpiowrite(gpio_tab[i].output, value); +} + +static uint32_t +px4fmu_gpio_read(void) +{ + uint32_t bits = 0; + + for (unsigned i = 0; i < NGPIO; i++) + if (stm32_gpioread(gpio_tab[i].input)) + bits |= (1 << i); + + return bits; +} + +void +px4fmu_gpio_init(void) +{ + /* reset all GPIOs to default state */ + px4fmu_gpio_reset(); + + /* register the driver */ + register_driver(GPIO_DEVICE_PATH, &px4fmu_gpio_fops, 0666, NULL); +} + +static int +px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg) +{ + int result = OK; + + switch (cmd) { + + case GPIO_RESET: + px4fmu_gpio_reset(); + break; + + case GPIO_SET_OUTPUT: + case GPIO_SET_INPUT: + case GPIO_SET_ALT_1: + px4fmu_gpio_set_function(arg, cmd); + break; + + case GPIO_SET: + case GPIO_CLEAR: + px4fmu_gpio_write(arg, cmd); + break; + + case GPIO_GET: + *(uint32_t *)arg = px4fmu_gpio_read(); + break; + + default: + result = -ENOTTY; + } + return result; +} + |