diff options
Diffstat (limited to 'nuttx/configs/px4io/src/drv_gpio.c')
| -rw-r--r-- | nuttx/configs/px4io/src/drv_gpio.c | 110 |
1 files changed, 110 insertions, 0 deletions
diff --git a/nuttx/configs/px4io/src/drv_gpio.c b/nuttx/configs/px4io/src/drv_gpio.c new file mode 100644 index 000000000..e53660a3c --- /dev/null +++ b/nuttx/configs/px4io/src/drv_gpio.c @@ -0,0 +1,110 @@ +/**************************************************************************** + * + * 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 GPIO driver for PX4IO. + */ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdbool.h> + +#include <errno.h> + +#include <arch/board/board.h> +#include <arch/board/drv_gpio.h> + +#include "px4io_internal.h" +#include "stm32_gpio.h" + +static int gpio_ioctl(struct file *filep, int cmd, unsigned long arg); + +static const struct file_operations gpio_fops = { + .ioctl = gpio_ioctl +}; + +/* + * Order of initialisers in this array must match the order of + * GPIO_ definitions in drv_gpio.h + */ +static const uint32_t gpios[] = { + /* settable */ + GPIO_ACC1_PWR_EN, + GPIO_ACC2_PWR_EN, + GPIO_SERVO_PWR_EN, + GPIO_RELAY1_EN, + GPIO_RELAY2_EN, + GPIO_LED1, + GPIO_LED2, + GPIO_LED3, + + /* readonly */ + GPIO_ACC_OC_DETECT, + GPIO_SERVO_OC_DETECT, + GPIO_BTN_SAFETY +}; + +int +gpio_drv_init(void) +{ + int i; + + /* initialise GPIOs */ + for (i = 0; i < GPIO_MAX; i++) + if (gpios[i]) + stm32_configgpio(gpios[i]); + + /* register the device */ + return register_driver("/dev/gpio", &gpio_fops, 0666, NULL); +} + +static int +gpio_ioctl(struct file *filep, int cmd, unsigned long arg) +{ + /* attempt to set a GPIO? */ + if ((cmd >= GPIO_SET(0)) && (cmd <= GPIO_SET(GPIO_MAX_SETTABLE))) { + uint32_t gpio = gpios[cmd - GPIO_SET(0)]; + + if (gpio != 0) { + stm32_gpiowrite(gpio, arg ? true : false); + return 0; + } + } else if ((cmd >= GPIO_GET(0)) && (cmd <= GPIO_GET(GPIO_MAX))) { + uint32_t gpio = gpios[cmd - GPIO_GET(0)]; + + if (gpio != 0) + return stm32_gpioread(gpio) ? 1 : 0; + } + return -ENOTTY; +}
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