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76 lines
3.9 KiB
Markdown
76 lines
3.9 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# GpioConfig (повідомлення UORB)
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GPIO configuration.
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**TOPICS:** gpio_config
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| device_id | `uint32` | | | Device id |
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| mask | `uint32` | | | Pin mask |
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| state | `uint32` | | | Initial pin output state |
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| config | `uint32` | | | |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------------------------------------------- | -------- | -------- | ------ |
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| <a id="#INPUT"></a> INPUT | `uint32` | 0 | 0x0000 |
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| <a id="#OUTPUT"></a> OUTPUT | `uint32` | 1 | 0x0001 |
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| <a id="#PULLUP"></a> PULLUP | `uint32` | 16 | 0x0010 |
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| <a id="#PULLDOWN"></a> PULLDOWN | `uint32` | 32 | 0x0020 |
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| <a id="#OPENDRAIN"></a> OPENDRAIN | `uint32` | 256 | 0x0100 |
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| <a id="#INPUT_FLOATING"></a> INPUT_FLOATING | `uint32` | 0 | 0x0000 |
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| <a id="#INPUT_PULLUP"></a> INPUT_PULLUP | `uint32` | 16 | 0x0010 |
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| <a id="#INPUT_PULLDOWN"></a> INPUT_PULLDOWN | `uint32` | 32 | 0x0020 |
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| <a id="#OUTPUT_PUSHPULL"></a> OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 |
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| <a id="#OUTPUT_OPENDRAIN"></a> OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 |
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| <a id="#OUTPUT_OPENDRAIN_PULLUP"></a> OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg)
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:::details
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Click here to see original file
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```c
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# GPIO configuration
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uint64 timestamp # time since system start (microseconds)
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uint32 device_id # Device id
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uint32 mask # Pin mask
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uint32 state # Initial pin output state
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# Configuration Mask
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# Bit 0-3: Direction: 0=Input, 1=Output
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# Bit 4-7: Input Config: 0=Floating, 1=PullUp, 2=PullDown
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# Bit 8-12: Output Config: 0=PushPull, 1=OpenDrain
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# Bit 13-31: Reserved
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uint32 INPUT = 0 # 0x0000
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uint32 OUTPUT = 1 # 0x0001
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uint32 PULLUP = 16 # 0x0010
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uint32 PULLDOWN = 32 # 0x0020
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uint32 OPENDRAIN = 256 # 0x0100
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uint32 INPUT_FLOATING = 0 # 0x0000
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uint32 INPUT_PULLUP = 16 # 0x0010
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uint32 INPUT_PULLDOWN = 32 # 0x0020
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uint32 OUTPUT_PUSHPULL = 0 # 0x0000
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uint32 OUTPUT_OPENDRAIN = 256 # 0x0100
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uint32 OUTPUT_OPENDRAIN_PULLUP = 272 # 0x0110
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uint32 config
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```
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:::
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