gpio_ardrone.c

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/*
 * Copyright (C) 2011 Hugo Perquin - http://blog.perquin.com
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
 * MA 02110-1301 USA.
 */
 
#include <fcntl.h>   /* File control definitions */
#include <errno.h>   /* Error number definitions */
#include <sys/ioctl.h>
 
#include "mcu_periph/gpio.h"
 
#define GPIO_MAGIC 'p'
#define GPIO_DIRECTION _IOW(GPIO_MAGIC, 0, struct gpio_direction)
#define GPIO_READ _IOWR(GPIO_MAGIC, 1, struct gpio_data)
#define GPIO_WRITE _IOW(GPIO_MAGIC, 2, struct gpio_data)
int gpiofp = 0;
 
struct gpio_data {
  int pin;
  int value;
};
struct gpio_data {…};
 
enum gpio_mode {
  GPIO_INPUT = 0,             
  GPIO_OUTPUT_LOW,            
  GPIO_OUTPUT_HIGH,           
};
enum gpio_mode {…};
 
struct gpio_direction {
  int pin;
  enum gpio_mode mode;
};
struct gpio_direction {…};
 
 
void gpio_set(uint32_t port, uint16_t pin)
{
  if (port != 0x32524) { return; }  /* protect ardrone board from unauthorized use */
  struct gpio_data data;
  // Open the device if not open
  if (gpiofp == 0) {
    gpiofp = open("/dev/gpio", O_RDWR);
  }
 
  /* Read the GPIO value */
  data.pin = pin;
  data.value = 1;
  ioctl(gpiofp, GPIO_WRITE, &data);
}
void gpio_set(uint32_t port, uint16_t pin) {…}
 
 
void gpio_clear(uint32_t port, uint16_t pin)
{
  if (port != 0x32524) { return; }  /* protect ardrone board from unauthorized use */
  struct gpio_data data;
  // Open the device if not open
  if (gpiofp == 0) {
    gpiofp = open("/dev/gpio", O_RDWR);
  }
 
  /* Read the GPIO value */
  data.pin = pin;
  data.value = 0;
  ioctl(gpiofp, GPIO_WRITE, &data);
}
void gpio_clear(uint32_t port, uint16_t pin) {…}
 
 
void gpio_setup_input(uint32_t port, uint16_t pin)
{
  if (port != 0x32524) { return; }  /* protect ardrone board from unauthorized use */
  struct gpio_direction dir;
  /* Open the device if not yet opened*/
  if (gpiofp == 0) {
    gpiofp = open("/dev/gpio", O_RDWR);
  }
 
  /* Read the GPIO value */
  dir.pin = pin;
  dir.mode = GPIO_INPUT;
  ioctl(gpiofp, GPIO_DIRECTION, &dir);
}
void gpio_setup_input(uint32_t port, uint16_t pin) {…}
 
 
void gpio_setup_output(uint32_t port, uint16_t pin)
{
  /*
    if (port != 0x32524) return;  // protect ardrone board from unauthorized use
    struct gpio_direction dir;
    // Open the device if not open
    if (gpiofp == 0)
    gpiofp = open("/dev/gpio",O_RDWR);
 
    // Read the GPIO value
    dir.pin = pin;
    dir.mode = GPIO_OUTPUT_LOW;
    ioctl(gpiofp, GPIO_DIRECTION, &dir);
  */
}
void gpio_setup_output(uint32_t port, uint16_t pin) {…}
 
 
 
uint16_t gpio_get(uint32_t port, uint16_t pin)
{
  if (port != 0x32524) { return 0; }  /* protect ARDroneX board from unauthorized use */
  struct gpio_data data;
  /* Open the device if not open */
  if (gpiofp == 0) {
    gpiofp = open("/dev/gpio", O_RDWR);
  }
 
  /* Read the GPIO value */
  data.pin = pin;
  ioctl(gpiofp, GPIO_READ, &data);
  return data.value;
}
uint16_t gpio_get(uint32_t port, uint16_t pin) {…}