You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
148 lines
5.1 KiB
148 lines
5.1 KiB
/**************************************************************************** |
|
* |
|
* 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 drv_gpio.h |
|
* |
|
* Generic GPIO ioctl interface. |
|
*/ |
|
|
|
#ifndef _DRV_GPIO_H |
|
#define _DRV_GPIO_H |
|
|
|
#include <sys/ioctl.h> |
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU |
|
/* |
|
* 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 GPIO_DEVICE_PATH "/dev/px4fmu" |
|
|
|
#endif |
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4IO |
|
/* |
|
* PX4IO GPIO numbers. |
|
* |
|
* XXX note that these are here for reference/future use; currently |
|
* there is no good way to wire these up without a common STM32 GPIO |
|
* driver, which isn't implemented yet. |
|
*/ |
|
/* outputs */ |
|
# define GPIO_ACC1_POWER (1<<0) /**< accessory power 1 */ |
|
# define GPIO_ACC2_POWER (1<<1) /**< accessory power 2 */ |
|
# define GPIO_SERVO_POWER (1<<2) /**< servo power */ |
|
# define GPIO_RELAY1 (1<<3) /**< relay 1 */ |
|
# define GPIO_RELAY2 (1<<4) /**< relay 2 */ |
|
# define GPIO_LED_BLUE (1<<5) /**< blue LED */ |
|
# define GPIO_LED_AMBER (1<<6) /**< amber/red LED */ |
|
# define GPIO_LED_SAFETY (1<<7) /**< safety LED */ |
|
|
|
/* inputs */ |
|
# define GPIO_ACC_OVERCURRENT (1<<8) /**< accessory 1/2 overcurrent detect */ |
|
# define GPIO_SERVO_OVERCURRENT (1<<9) /**< servo overcurrent detect */ |
|
# define GPIO_SAFETY_BUTTON (1<<10) /**< safety button pressed */ |
|
|
|
/** |
|
* 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 GPIO_DEVICE_PATH "/dev/px4io" |
|
|
|
#endif |
|
|
|
#ifndef GPIO_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 */ |