gpio: extend support for /dev/gp* GPIO's

Note that there's a small CLI interface change.

src/systemcmds/gpio/gpio.cpp

@@ -42,43 +42,152 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/px4_config.h>
 
+#include <nuttx/ioexpander/gpio.h>
+#include <fcntl.h>
+
 static void usage(const char *reason);
+static int handle_board_ports(bool is_read, int argc, char *argv[]);
+static int handle_device_ports(bool is_read, int argc, char *argv[]);
 
 extern "C" __EXPORT int gpio_main(int argc, char *argv[])
 {
-	if (argc < 4) {
+	if (argc < 3) {
 		usage("not enough arguments");
 		return -1;
 	}
 
 	const char *command = argv[1];
 	bool is_read = false;
-	uint32_t mask = 0;
 
 	if (strcmp(command, "read") == 0) {
 		is_read = true;
-		mask |= GPIO_INPUT;
 
 	} else if (strcmp(command, "write") == 0) {
-		if (argc < 5) {
+		if (argc < 4) {
 			usage("not enough arguments");
 			return -1;
 		}
 
-		mask |= GPIO_OUTPUT;
-
 	} else {
 		usage("command not read or write");
 		return -1;
 	}
 
-	const char *port_string = argv[2];
+	if (argv[2][0] == '/') {
+		return handle_device_ports(is_read, argc, argv);
+
+	} else {
+		return handle_board_ports(is_read, argc, argv);
+	}
+}
+
+int handle_device_ports(bool is_read, int argc, char *argv[])
+{
+#ifdef CONFIG_DEV_GPIO
+	const char *device = argv[2];
+	int fd = open(device, O_RDWR);
+
+	if (fd < 0) {
+		usage("Opening the device failed");
+		return -1;
+	}
+
+	char *end;
+
+	if (is_read) {
+		gpio_pintype_e pin_type = GPIO_INPUT_PIN;
+
+		if (argc >= 4) {
+			const char *extra = argv[3];
+
+			if (strcasecmp(extra, "PULLUP") == 0) {
+				pin_type = GPIO_INPUT_PIN_PULLUP;
+
+			} else if (strcasecmp(extra, "PULLDOWN") == 0) {
+				pin_type = GPIO_INPUT_PIN_PULLDOWN;
+
+			} else {
+				usage("extra read argument not PULLUP or PULLDOWN");
+				goto exit_failure;
+			}
+		}
+
+		int ret = ioctl(fd, GPIOC_SETPINTYPE, pin_type);
+
+		if (ret != 0) {
+			PX4_ERR("ioctl GPIOC_SETPINTYPE failed: %i", ret);
+			goto exit_failure;
+		}
+
+		bool value;
+		ret = ioctl(fd, GPIOC_READ, (long)&value);
+
+		if (ret != 0) {
+			PX4_ERR("ioctl GPIOC_READ failed: %i", ret);
+			goto exit_failure;
+		}
+
+		printf("%d OK\n", (int)value);
+
+	} else {
+		gpio_pintype_e pin_type = GPIO_OUTPUT_PIN;
+
+		int32_t value = strtol(argv[3], &end, 10);
+
+		if (errno != 0 || *end != '\0' || (value != 0 && value != 1)) {
+			usage("value not 0 or 1");
+			goto exit_failure;
+		}
+
+		if (argc >= 5) {
+			const char *extra = argv[4];
+
+			if (strcasecmp(extra, "PUSHPULL") == 0) {
+				pin_type = GPIO_OUTPUT_PIN;
+
+			} else if (strcasecmp(extra, "OPENDRAIN") == 0) {
+				pin_type = GPIO_OUTPUT_PIN_OPENDRAIN;
+
+			} else {
+				usage("extra write argument not PUSHPULL or OPENDRAIN");
+				goto exit_failure;
+			}
+		}
+
+		int ret = ioctl(fd, GPIOC_SETPINTYPE, pin_type);
+
+		if (ret != 0) {
+			PX4_ERR("ioctl GPIOC_SETPINTYPE failed: %i", ret);
+			goto exit_failure;
+		}
+
+		ret = ioctl(fd, GPIOC_WRITE, value);
+
+		if (ret != 0) {
+			PX4_ERR("ioctl GPIOC_WRITE failed: %i", ret);
+			goto exit_failure;
+		}
 
-	if (strlen(port_string) != 1) {
-		usage("port not a single character");
+		printf("OK\n");
 	}
 
+	close(fd);
+	return 0;
+
+exit_failure:
+	close(fd);
+	return -1;
+#else
+	usage("not supported");
+	return -1;
+#endif
+}
+
+int handle_board_ports(bool is_read, int argc, char *argv[])
+{
+	const char *port_string = argv[2];
 	char port = port_string[0];
+	uint32_t mask = is_read ? GPIO_INPUT : GPIO_OUTPUT;
 
 	if ('A' <= port && port <= 'K') {
 		mask |= ((port - 'A') << GPIO_PORT_SHIFT) & GPIO_PORT_MASK;
@@ -92,7 +201,7 @@ extern "C" __EXPORT int gpio_main(int argc, char *argv[])
 	}
 
 	char *end;
-	int32_t pin = strtol(argv[3], &end, 10);
+	int32_t pin = strtol(argv[2] + 1, &end, 10);
 
 	if (errno == 0 && *end == '\0' && 0 <= pin && pin <= 15) {
 		mask |= (pin << GPIO_PIN_SHIFT) & GPIO_PIN_MASK;;
@@ -102,6 +211,8 @@ extern "C" __EXPORT int gpio_main(int argc, char *argv[])
 		return -1;
 	}
 
+	PX4_DEBUG("port=%c, pin=%i", port, pin);
+
 	bool matches_default_config = false;
 #if defined(PX4_GPIO_INIT_LIST)
 	const uint32_t default_gpios[] = PX4_GPIO_INIT_LIST;
@@ -126,8 +237,8 @@ extern "C" __EXPORT int gpio_main(int argc, char *argv[])
 	}
 
 	if (is_read) {
-		if (argc >= 5) {
-			const char *extra = argv[4];
+		if (argc >= 4) {
+			const char *extra = argv[3];
 
 			if (strcasecmp(extra, "PULLUP") == 0) {
 				mask |= GPIO_PULLUP;
@@ -135,7 +246,7 @@ extern "C" __EXPORT int gpio_main(int argc, char *argv[])
 			} else if (strcasecmp(extra, "PULLDOWN") == 0) {
 				mask |= GPIO_PULLDOWN;
 
-			} else if (argc == 5 && !force_apply) {
+			} else if (argc == 4 && !force_apply) {
 				usage("extra read argument not PULLUP or PULLDOWN");
 				return -1;
 			}
@@ -146,15 +257,15 @@ extern "C" __EXPORT int gpio_main(int argc, char *argv[])
 		printf("%d OK\n", value);
 
 	} else {
-		int32_t value = strtol(argv[4], &end, 10);
+		int32_t value = strtol(argv[3], &end, 10);
 
 		if (errno != 0 || *end != '\0' || (value != 0 && value != 1)) {
 			usage("value not 0 or 1");
 			return -1;
 		}
 
-		if (argc >= 6) {
-			const char *extra = argv[5];
+		if (argc >= 5) {
+			const char *extra = argv[4];
 
 			if (strcasecmp(extra, "PUSHPULL") == 0) {
 				mask |= GPIO_PUSHPULL;
@@ -162,7 +273,7 @@ extern "C" __EXPORT int gpio_main(int argc, char *argv[])
 			} else if (strcasecmp(extra, "OPENDRAIN") == 0) {
 				mask |= GPIO_OPENDRAIN;
 
-			} else if (argc == 6 && !force_apply) {
+			} else if (argc == 5 && !force_apply) {
 				usage("extra write argument not PUSHPULL or OPENDRAIN");
 				return -1;
 			}
@@ -189,32 +300,32 @@ void usage(const char *reason)
 ### Description
 This command is used to read and write GPIOs
 
-gpio read <PORT> <PIN> [PULLDOWN|PULLUP] [--force]
-gpio write <PORT> <PIN> <VALUE> [PUSHPULL|OPENDRAIN] [--force]
+gpio read <PORT><PIN>/<DEVICE> [PULLDOWN|PULLUP] [--force]
+gpio write <PORT><PIN>/<DEVICE> <VALUE> [PUSHPULL|OPENDRAIN] [--force]
 
 ### Examples
 Read the value on port H pin 4 configured as pullup, and it is high
-$ gpio_test read H 4 PU
+$ gpio read H4 PULLUP
 1 OK
 
 Set the output value on Port E pin 7 to high
-$ gpio_test write E 7 1 --force
-OK
+$ gpio write E7 1 --force
 
-)DESCR_STR");
+Set the output value on device /dev/gpin1 to high
+$ gpio write /dev/gpin1 1
 
-	PRINT_MODULE_DESCRIPTION("This command is used to read and write GPIOs.");
+)DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME_SIMPLE("gpio", "command");
 
 	PRINT_MODULE_USAGE_COMMAND("read");
-	PRINT_MODULE_USAGE_ARG("<PORT> <PIN>", "GPIO port and pin", false);
+	PRINT_MODULE_USAGE_ARG("<PORT><PIN>/<DEVICE>", "GPIO port and pin or device", false);
 	PRINT_MODULE_USAGE_ARG("PULLDOWN|PULLUP", "Pulldown/Pullup", true);
 	PRINT_MODULE_USAGE_ARG("--force", "Force (ignore board gpio list)", true);
 
 	PRINT_MODULE_USAGE_COMMAND("write");
 	PRINT_MODULE_USAGE_ARG("<PORT> <PIN>", "GPIO port and pin", false);
 	PRINT_MODULE_USAGE_ARG("<VALUE>", "Value to write", false);
-	PRINT_MODULE_USAGE_ARG("PULLDOWN|PULLUP", "Pulldown/Pullup", true);
+	PRINT_MODULE_USAGE_ARG("PUSHPULL|OPENDRAIN", "Pushpull/Opendrain", true);
 	PRINT_MODULE_USAGE_ARG("--force", "Force (ignore board gpio list)", true);
 }