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docs/en/msg_docs/GpioConfig.md
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@@ -1,8 +1,44 @@
---
pageClass: is-wide-page
---
# GpioConfig (UORB message)
GPIO configuration
GPIO configuration.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg)
**TOPICS:** gpio_config
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | -------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | Device id |
| mask | `uint32` | | | Pin mask |
| state | `uint32` | | | Initial pin output state |
| config | `uint32` | | |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------- | -------- | ----- | ----------- |
| <a href="#INPUT "></a> INPUT | `uint32` | 0 | 0x0000 |
| <a href="#OUTPUT "></a> OUTPUT | `uint32` | 1 | 0x0001 |
| <a href="#PULLUP "></a> PULLUP | `uint32` | 16 | 0x0010 |
| <a href="#PULLDOWN "></a> PULLDOWN | `uint32` | 32 | 0x0020 |
| <a href="#OPENDRAIN "></a> OPENDRAIN | `uint32` | 256 | 0x0100 |
| <a href="#INPUT_FLOATING "></a> INPUT_FLOATING | `uint32` | 0 | 0x0000 |
| <a href="#INPUT_PULLUP "></a> INPUT_PULLUP | `uint32` | 16 | 0x0010 |
| <a href="#INPUT_PULLDOWN "></a> INPUT_PULLDOWN | `uint32` | 32 | 0x0020 |
| <a href="#OUTPUT_PUSHPULL "></a> OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 |
| <a href="#OUTPUT_OPENDRAIN "></a> OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 |
| <a href="#OUTPUT_OPENDRAIN_PULLUP "></a> OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg)
::: details Click here to see original file
```c
# GPIO configuration
@@ -33,5 +69,6 @@ uint32 OUTPUT_OPENDRAIN = 256 # 0x0100
uint32 OUTPUT_OPENDRAIN_PULLUP = 272 # 0x0110
uint32 config
```
:::