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

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Note that there's a small CLI interface change.
This commit is contained in:
Beat Küng 2020-07-09 13:18:50 +02:00 committed by Daniel Agar
parent 88fe047556
commit 704a82aaa6
1 changed files with 137 additions and 26 deletions
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163
src/systemcmds/gpio/gpio.cpp
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@ -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);
if (strlen(port_string) != 1) {
usage("port not a single character");
} 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;
}
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
Set the output value on device /dev/gpin1 to high
$ gpio write /dev/gpin1 1
)DESCR_STR");
PRINT_MODULE_DESCRIPTION("This command is used to read and write GPIOs.");
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);
}