/**************************************************************************** * * 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 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 /* * 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 */ /** * Device paths for things that support the GPIO ioctl protocol. */ # define PX4FMU_DEVICE_PATH "/dev/px4fmu" # define PX4IO_DEVICE_PATH "/dev/px4io" #endif #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 /* * PX4FMUv2 GPIO numbers. * * There are no alternate functions on this board. */ # define GPIO_SERVO_1 (1<<0) /**< servo 1 output */ # define GPIO_SERVO_2 (1<<1) /**< servo 2 output */ # define GPIO_SERVO_3 (1<<2) /**< servo 3 output */ # define GPIO_SERVO_4 (1<<3) /**< servo 4 output */ # define GPIO_SERVO_5 (1<<4) /**< servo 5 output */ # define GPIO_SERVO_6 (1<<5) /**< servo 6 output */ # define GPIO_5V_PERIPH_EN (1<<6) /**< PA8 - !VDD_5V_PERIPH_EN */ # define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */ # define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */ # define GPIO_SERVO_VALID (1<<9) /**< PB7 - !VDD_SERVO_VALID */ # define GPIO_5V_HIPOWER_OC (1<<10) /**< PE10 - !VDD_5V_HIPOWER_OC */ # define GPIO_5V_PERIPH_OC (1<<11) /**< PE10 - !VDD_5V_PERIPH_OC */ /** * Device paths for things that support the GPIO ioctl protocol. */ # define PX4FMU_DEVICE_PATH "/dev/px4fmu" # define PX4IO_DEVICE_PATH "/dev/px4io" #endif #ifdef CONFIG_ARCH_BOARD_AEROCORE /* * AeroCore GPIO numbers and configuration. * */ # define PX4FMU_DEVICE_PATH "/dev/px4fmu" #endif #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 /* no GPIO driver on the PX4IOv1 board */ #endif #ifdef CONFIG_ARCH_BOARD_PX4IO_V2 /* no GPIO driver on the PX4IOv2 board */ #endif #ifdef CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY /* no GPIO driver on the PX4_STM32F4DISCOVERY board */ #endif #if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2) && \ !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \ !defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) # error No CONFIG_ARCH_BOARD_xxxx set #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) #define GPIO_SENSOR_RAIL_RESET GPIOC(13) #define GPIO_PERIPHERAL_RAIL_RESET GPIOC(14) #endif /* _DRV_GPIO_H */