mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 09:22:18 +00:00
223 lines
7.3 KiB
C
223 lines
7.3 KiB
C
/****************************************************************************
|
|
*
|
|
* 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_V1
|
|
/*
|
|
* 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 */
|
|
|
|
/**
|
|
* Device paths for things that support the GPIO ioctl protocol.
|
|
*/
|
|
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
|
|
# define PX4IO_DEVICE_PATH "/dev/px4io"
|
|
|
|
#endif
|
|
|
|
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_MINDPX_V2)
|
|
/*
|
|
* PX4FMUv2 GPIO numbers.
|
|
*
|
|
* There are no alternate functions on this board.
|
|
*/
|
|
# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
|
|
# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
|
|
# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
|
|
# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
|
|
# define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
|
|
# define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
|
|
|
|
# define GPIO_5V_PERIPH_EN (1<<6) /**< PA8 - !VDD_5V_PERIPH_EN */
|
|
# define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */
|
|
# define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */
|
|
# define GPIO_SERVO_VALID (1<<9) /**< PB7 - !VDD_SERVO_VALID */
|
|
# define GPIO_5V_HIPOWER_OC (1<<10) /**< PE10 - !VDD_5V_HIPOWER_OC */
|
|
# define GPIO_5V_PERIPH_OC (1<<11) /**< PE10 - !VDD_5V_PERIPH_OC */
|
|
|
|
/**
|
|
* Device paths for things that support the GPIO ioctl protocol.
|
|
*/
|
|
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
|
|
# define PX4IO_DEVICE_PATH "/dev/px4io"
|
|
|
|
#endif
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
|
|
/*
|
|
* PX4FMUv3 GPIO numbers.
|
|
*
|
|
* There are no alternate functions on this board.
|
|
*/
|
|
# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
|
|
# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
|
|
# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
|
|
# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
|
|
# define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
|
|
# define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
|
|
|
|
# define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */
|
|
# define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */
|
|
|
|
/**
|
|
* Device paths for things that support the GPIO ioctl protocol.
|
|
*/
|
|
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
|
|
|
|
#endif
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_TAP_V1
|
|
/*
|
|
* PX4FMUv3 GPIO numbers.
|
|
*
|
|
* There are no alternate functions on this board.
|
|
*/
|
|
# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
|
|
# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
|
|
# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
|
|
# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
|
|
|
|
/**
|
|
* Device paths for things that support the GPIO ioctl protocol.
|
|
*/
|
|
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
|
|
|
|
#endif
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_AEROCORE
|
|
/*
|
|
* AeroCore GPIO numbers and configuration.
|
|
*
|
|
*/
|
|
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
|
|
#endif
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
|
|
/* no GPIO driver on the PX4IOv1 board */
|
|
#endif
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
|
|
/* no GPIO driver on the PX4IOv2 board */
|
|
#endif
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY
|
|
/* no GPIO driver on the PX4_STM32F4DISCOVERY board */
|
|
#endif
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_SITL
|
|
/* no GPIO driver on the SITL configuration */
|
|
#endif
|
|
|
|
#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2) && \
|
|
!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
|
|
!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
|
|
!defined(CONFIG_ARCH_BOARD_MINDPX_V2) && \
|
|
!defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && !defined(CONFIG_ARCH_BOARD_SITL) && \
|
|
!defined(CONFIG_ARCH_BOARD_TAP_V1)
|
|
# error No CONFIG_ARCH_BOARD_xxxx set
|
|
#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)
|
|
|
|
#define GPIO_SENSOR_RAIL_RESET GPIOC(13)
|
|
|
|
#define GPIO_PERIPHERAL_RAIL_RESET GPIOC(14)
|
|
|
|
/** configure the board GPIOs in (arg) as outputs, initially low */
|
|
#define GPIO_SET_OUTPUT_LOW GPIOC(15)
|
|
|
|
/** configure the board GPIOs in (arg) as outputs, initially high */
|
|
#define GPIO_SET_OUTPUT_HIGH GPIOC(16)
|
|
|
|
#endif /* _DRV_GPIO_H */
|