1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
|
/****************************************************************************
*
* Copyright (c) 2012, 2013 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 <sys/ioctl.h>
#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 */
/**
* Default GPIO device - other devices may also support this protocol if
* they also export GPIO-like things. This is always the GPIOs on the
* main board.
*/
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
# define PX4IO_DEVICE_PATH "/dev/px4io"
#endif
#ifndef PX4IO_DEVICE_PATH
# error No GPIO support for this board.
#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)
#endif /* _DRV_GPIO_H */
|
