From f38b1bf160c93c4a306f34be307e425c2ccc8fc3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 17 Aug 2015 12:01:13 +1000
Subject: [PATCH] px4fmu: allow for GPIO_SET_OUTPUT with initial value

this is needed to prevent inadvertent camera trigger when setting up a
port
---
 src/drivers/px4fmu/fmu.cpp | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index d74765f6a1..bff4d5e9c4 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -2502,7 +2502,9 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
 		gpios |= 3;
 
 		/* flip the buffer to output mode if required */
-		if (GPIO_SET_OUTPUT == function) {
+		if (GPIO_SET_OUTPUT == function ||
+		    GPIO_SET_OUTPUT_LOW == function ||
+		    GPIO_SET_OUTPUT_HIGH == function) {
 			stm32_gpiowrite(GPIO_GPIO_DIR, 1);
 		}
 	}
@@ -2521,6 +2523,14 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
 				stm32_configgpio(_gpio_tab[i].output);
 				break;
 
+			case GPIO_SET_OUTPUT_LOW:
+				stm32_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_SET)) | GPIO_OUTPUT_CLEAR);
+				break;
+
+			case GPIO_SET_OUTPUT_HIGH:
+				stm32_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_CLEAR)) | GPIO_OUTPUT_SET);
+				break;
+
 			case GPIO_SET_ALT_1:
 				if (_gpio_tab[i].alt != 0) {
 					stm32_configgpio(_gpio_tab[i].alt);
@@ -2716,6 +2726,8 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
 		break;
 
 	case GPIO_SET_OUTPUT:
+	case GPIO_SET_OUTPUT_LOW:
+	case GPIO_SET_OUTPUT_HIGH:
 	case GPIO_SET_INPUT:
 	case GPIO_SET_ALT_1:
 		gpio_set_function(arg, cmd);