forked from Archive/PX4-Autopilot
systemcmds/gpio: Add nsh command to manipulate/read GPIO
* Add basic GPIO test app for R/W on pins from nuttx shell * Add gpio command to fmu-v3 and fmu-v4 * Sanitize gpio commands by pin configs, --force to override
This commit is contained in:
Julian Kent
GitHub
parent
b5e23f544e
commit
dd9c82eb20
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@ -97,6 +97,7 @@ px4_add_board(
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#dmesg
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dumpfile
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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led_control
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@ -91,6 +91,7 @@ px4_add_board(
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#dmesg
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dumpfile
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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led_control
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@ -95,6 +95,7 @@ px4_add_board(
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dmesg
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dumpfile
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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led_control
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@ -93,6 +93,7 @@ px4_add_board(
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dmesg
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dumpfile
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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led_control
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@ -0,0 +1,41 @@
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############################################################################
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#
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# Copyright (c) 2020 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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px4_add_module(
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MODULE systemcmds__gpio
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MAIN gpio
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COMPILE_FLAGS
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-Wno-array-bounds
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SRCS
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gpio.cpp
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DEPENDS
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)
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@ -0,0 +1,190 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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 gpio_test.cpp
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* @author Julian Kent <julian@auterion.com>
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*
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* GPIO read and write tool
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*/
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/px4_config.h>
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__BEGIN_DECLS
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__EXPORT int gpio_main(int argc, char *argv[]);
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__END_DECLS
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static void
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usage(const char *reason)
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{
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printf("FAIL\n");
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if (reason != nullptr) {
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PX4_WARN("%s", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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This command is used to read and write GPIOs
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gpio read <PORT> <PIN> [PULLDOWN|PULLUP] [--force]
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gpio write <PORT> <PIN> <VALUE> [PUSHPULL|OPENDRAIN] [--force]
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### Examples
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Read the value on port H pin 4 configured as pullup, and it is high
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$ gpio_test read H 4 PU
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1 OK
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Set the output value on Port E pin 7 to high
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$ gpio_test write E 7 1 --force
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OK
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)DESCR_STR");
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}
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int
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gpio_main(int argc, char *argv[])
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{
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if (argc < 4) {
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usage("not enough arguments");
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return -1;
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}
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const char* command = argv[1];
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bool is_read = false;
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uint32_t mask = 0;
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if (strcmp(command, "read") == 0) {
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is_read = true;
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mask |= GPIO_INPUT;
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} else if (strcmp(command, "write") == 0) {
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if (argc < 5) {
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usage("not enough arguments");
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return -1;
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}
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mask |= GPIO_OUTPUT;
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} else {
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usage("command not read or write");
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return -1;
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}
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const char* port_string = argv[2];
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if (strlen(port_string) != 1) {
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usage("port not a single character");
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}
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char port = port_string[0];
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if ('A' <= port && port <= 'K') {
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mask |= ((port - 'A') << GPIO_PORT_SHIFT) & GPIO_PORT_MASK;
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} else if ('a' <= port && port <= 'k') {
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mask |= ((port - 'a') << GPIO_PORT_SHIFT) & GPIO_PORT_MASK;
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} else {
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usage("invalid port");
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return -1;
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}
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char *end;
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int32_t pin = strtol(argv[3], &end, 10);
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if (errno == 0 && *end == '\0' && 0 <= pin && pin <= 15) {
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mask |= (pin << GPIO_PIN_SHIFT) & GPIO_PIN_MASK;;
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} else {
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usage("invalid pin");
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return -1;
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}
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bool matches_default_config = false;
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#ifdef PX4_GPIO_INIT_LIST
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const uint32_t default_gpios[] = PX4_GPIO_INIT_LIST;
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// check that GPIO matches initialization list for port/pin and input/output
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for (uint32_t i = 0; i < arraySize(default_gpios); i++) {
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if ((((default_gpios[i] & GPIO_INPUT) == (mask & GPIO_INPUT)) ||
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((default_gpios[i] & GPIO_OUTPUT) == (mask & GPIO_OUTPUT)))
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&& ((default_gpios[i] & GPIO_PORT_MASK) == (mask & GPIO_PORT_MASK))
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&& ((default_gpios[i] & GPIO_PIN_MASK) == (mask & GPIO_PIN_MASK))
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) {
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matches_default_config = true;
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}
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}
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#endif
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bool force_apply = strcasecmp(argv[argc-1], "--force") == 0;
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if (!matches_default_config && !force_apply) {
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usage ("does not match board initialization list, and --force not specified");
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return -1;
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}
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if (is_read) {
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if (argc >= 5) {
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const char* extra = argv[4];
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if (strcasecmp(extra, "PULLUP") == 0) {
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mask |= GPIO_PULLUP;
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} else if (strcasecmp(extra, "PULLDOWN") == 0) {
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mask |= GPIO_PULLDOWN;
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} else if (argc == 5 && !force_apply) {
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usage ("extra read argument not PULLUP or PULLDOWN");
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return -1;
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}
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}
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px4_arch_configgpio(mask);
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int value = px4_arch_gpioread(mask);
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printf("%d OK\n", value);
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} else {
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int32_t value = strtol(argv[4], &end, 10);
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if (errno != 0 || *end != '\0' || (value != 0 && value != 1)) {
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usage("value not 0 or 1");
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return -1;
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}
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if (argc >= 6) {
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const char* extra = argv[5];
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if (strcasecmp(extra, "PUSHPULL") == 0) {
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mask |= GPIO_PUSHPULL;
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} else if (strcasecmp(extra, "OPENDRAIN") == 0) {
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mask |= GPIO_OPENDRAIN;
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} else if (argc == 6 && !force_apply) {
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usage("extra write argument not PUSHPULL or OPENDRAIN");
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return -1;
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}
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}
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px4_arch_configgpio(mask);
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px4_arch_gpiowrite(mask, value);
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printf("OK\n");
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}
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return 0;
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}
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