mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-17 05:20:34 +08:00
Mark Charlebois
f3b5076d70
Changed "linux" target to "posix". Most of the changes are shared with QuRT and with OSX. The Linux specific parts are in for i2c which uses <linux/i2c.h> and <linux/i2c-dev.h>. There is also a check for __PX4_LINUX in mavlink for a tty ioctl that is not supported. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
174 lines
5.8 KiB
C
174 lines
5.8 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file drv_gpio.h
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*
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* Generic GPIO ioctl interface.
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*/
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#ifndef _DRV_GPIO_H
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#define _DRV_GPIO_H
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#include <sys/ioctl.h>
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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/*
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* PX4FMU GPIO numbers.
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*
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* For shared pins, alternate function 1 selects the non-GPIO mode
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* (USART2, CAN2, etc.)
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*/
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# define GPIO_EXT_1 (1<<0) /**< high-power GPIO 1 */
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# define GPIO_EXT_2 (1<<1) /**< high-power GPIO 1 */
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# define GPIO_MULTI_1 (1<<2) /**< USART2 CTS */
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# define GPIO_MULTI_2 (1<<3) /**< USART2 RTS */
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# define GPIO_MULTI_3 (1<<4) /**< USART2 TX */
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# define GPIO_MULTI_4 (1<<5) /**< USART2 RX */
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# define GPIO_CAN_TX (1<<6) /**< CAN2 TX */
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# define GPIO_CAN_RX (1<<7) /**< CAN2 RX */
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/**
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* Device paths for things that support the GPIO ioctl protocol.
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*/
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# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
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# define PX4IO_DEVICE_PATH "/dev/px4io"
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#endif
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
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/*
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* PX4FMUv2 GPIO numbers.
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*
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* There are no alternate functions on this board.
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*/
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# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
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# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
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# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
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# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
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# define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
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# define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
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# define GPIO_5V_PERIPH_EN (1<<6) /**< PA8 - !VDD_5V_PERIPH_EN */
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# define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */
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# define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */
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# define GPIO_SERVO_VALID (1<<9) /**< PB7 - !VDD_SERVO_VALID */
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# define GPIO_5V_HIPOWER_OC (1<<10) /**< PE10 - !VDD_5V_HIPOWER_OC */
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# define GPIO_5V_PERIPH_OC (1<<11) /**< PE10 - !VDD_5V_PERIPH_OC */
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/**
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* Device paths for things that support the GPIO ioctl protocol.
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*/
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# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
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# define PX4IO_DEVICE_PATH "/dev/px4io"
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#endif
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#ifdef CONFIG_ARCH_BOARD_AEROCORE
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/*
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* AeroCore GPIO numbers and configuration.
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*
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*/
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# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
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#endif
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#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
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/* no GPIO driver on the PX4IOv1 board */
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#endif
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#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
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/* no GPIO driver on the PX4IOv2 board */
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#endif
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#ifdef CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY
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/* no GPIO driver on the PX4_STM32F4DISCOVERY board */
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#endif
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#ifdef CONFIG_ARCH_BOARD_POSIXTEST
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/* no GPIO driver on the POSIXTEST board */
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#endif
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#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2) && \
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!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
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!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
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!defined(CONFIG_ARCH_BOARD_POSIXTEST)
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# error No CONFIG_ARCH_BOARD_xxxx set
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#endif
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/*
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* IOCTL definitions.
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*
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* For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
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* by the operation, with the LSB being the lowest-numbered GPIO.
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*
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* Note that there may be board-specific relationships between GPIOs;
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* applications using GPIOs should be aware of this.
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*/
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#define _GPIOCBASE 0x2700
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#define GPIOC(_x) _IOC(_GPIOCBASE, _x)
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/** reset all board GPIOs to their default state */
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#define GPIO_RESET GPIOC(0)
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/** configure the board GPIOs in (arg) as outputs */
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#define GPIO_SET_OUTPUT GPIOC(1)
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/** configure the board GPIOs in (arg) as inputs */
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#define GPIO_SET_INPUT GPIOC(2)
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/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
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#define GPIO_SET_ALT_1 GPIOC(3)
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/** configure the board GPIO (arg) for the second alternate function (if supported) */
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#define GPIO_SET_ALT_2 GPIOC(4)
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/** configure the board GPIO (arg) for the third alternate function (if supported) */
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#define GPIO_SET_ALT_3 GPIOC(5)
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/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
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#define GPIO_SET_ALT_4 GPIOC(6)
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/** set the GPIOs in (arg) */
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#define GPIO_SET GPIOC(10)
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/** clear the GPIOs in (arg) */
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#define GPIO_CLEAR GPIOC(11)
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/** read all the GPIOs and return their values in *(uint32_t *)arg */
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#define GPIO_GET GPIOC(12)
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#define GPIO_SENSOR_RAIL_RESET GPIOC(13)
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#define GPIO_PERIPHERAL_RAIL_RESET GPIOC(14)
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#endif /* _DRV_GPIO_H */
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