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/****************************************************************************
*
* 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;
}
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