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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.
*
****************************************************************************/
/**
* @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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