text: /****************************************************************************
   *
   *   Copyright (c) 2016 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.
   *
   ****************************************************************************/
  
  #include "SyncObj.hpp"
  #include <stdint.h>
  
  #define GPIO_BLOCK_SIZE (4096)
  #define GPIO_PHYS_ADDR  (0x3F200000)
  
  #define GPIO_GPFSEL0_OFFSET    (0x0)
  #define GPIO_GPLEV0_OFFSET     (0x34)
  #define GPIO_GPSET0_OFFSET     (0x1C)
  #define GPIO_GPCLR0_OFFSET     (0x28)
  
  
  #define GPIO_CNF_SHIFT  6
  #define GPIO_CNF_MASK   (3 << GPIO_CNF_SHIFT)
  #define GPIO_CNF_INPUT  (0 << GPIO_CNF_SHIFT)
  #define GPIO_CNF_OUTPUT (1 << GPIO_CNF_SHIFT)
  #define GPIO_CNF_AF0    (4 << GPIO_CNF_SHIFT)
  #define GPIO_CNF_AF1    (5 << GPIO_CNF_SHIFT)
  #define GPIO_CNF_AF2    (6 << GPIO_CNF_SHIFT)
  #define GPIO_CNF_AF3    (7 << GPIO_CNF_SHIFT)
  #define GPIO_CNF_AF4    (3 << GPIO_CNF_SHIFT)
  #define GPIO_CNF_AF5    (2 << GPIO_CNF_SHIFT)
  
  #define GPIO_PIN_SHIFT  0
  #define GPIO_PIN_MASK   (63 << GPIO_PIN_SHIFT)
  #define GPIO_PIN0       (0 << GPIO_PIN_SHIFT)
  #define GPIO_PIN1       (1 << GPIO_PIN_SHIFT)
  #define GPIO_PIN2       (2 << GPIO_PIN_SHIFT)
  #define GPIO_PIN3       (3 << GPIO_PIN_SHIFT)
  #define GPIO_PIN4       (4 << GPIO_PIN_SHIFT)
  #define GPIO_PIN5       (5 << GPIO_PIN_SHIFT)
  #define GPIO_PIN6       (6 << GPIO_PIN_SHIFT)
  #define GPIO_PIN7       (7 << GPIO_PIN_SHIFT)
  #define GPIO_PIN8       (8 << GPIO_PIN_SHIFT)
  #define GPIO_PIN9       (9 << GPIO_PIN_SHIFT)
  #define GPIO_PIN10      (10 << GPIO_PIN_SHIFT)
  #define GPIO_PIN11      (11 << GPIO_PIN_SHIFT)
  #define GPIO_PIN12      (12 << GPIO_PIN_SHIFT)
  #define GPIO_PIN13      (13 << GPIO_PIN_SHIFT)
  #define GPIO_PIN14      (14 << GPIO_PIN_SHIFT)
  #define GPIO_PIN15      (15 << GPIO_PIN_SHIFT)
  #define GPIO_PIN16      (16 << GPIO_PIN_SHIFT)
  #define GPIO_PIN17      (17 << GPIO_PIN_SHIFT)
  #define GPIO_PIN18      (18 << GPIO_PIN_SHIFT)
  #define GPIO_PIN19      (19 << GPIO_PIN_SHIFT)
  #define GPIO_PIN20      (20 << GPIO_PIN_SHIFT)
  #define GPIO_PIN21      (21 << GPIO_PIN_SHIFT)
  #define GPIO_PIN22      (22 << GPIO_PIN_SHIFT)
  #define GPIO_PIN23      (23 << GPIO_PIN_SHIFT)
  #define GPIO_PIN24      (24 << GPIO_PIN_SHIFT)
  #define GPIO_PIN25      (25 << GPIO_PIN_SHIFT)
  #define GPIO_PIN26      (26 << GPIO_PIN_SHIFT)
  #define GPIO_PIN27      (27 << GPIO_PIN_SHIFT)
  #define GPIO_PIN28      (28 << GPIO_PIN_SHIFT)
  #define GPIO_PIN29      (29 << GPIO_PIN_SHIFT)
  #define GPIO_PIN30      (30 << GPIO_PIN_SHIFT)
  #define GPIO_PIN31      (31 << GPIO_PIN_SHIFT)
  #define GPIO_PIN32      (32 << GPIO_PIN_SHIFT)
  #define GPIO_PIN33      (33 << GPIO_PIN_SHIFT)
  #define GPIO_PIN34      (34 << GPIO_PIN_SHIFT)
  #define GPIO_PIN35      (35 << GPIO_PIN_SHIFT)
  #define GPIO_PIN36      (36 << GPIO_PIN_SHIFT)
  #define GPIO_PIN37      (37 << GPIO_PIN_SHIFT)
  #define GPIO_PIN38      (38 << GPIO_PIN_SHIFT)
  #define GPIO_PIN39      (39 << GPIO_PIN_SHIFT)
  #define GPIO_PIN40      (40 << GPIO_PIN_SHIFT)
  #define GPIO_PIN41      (41 << GPIO_PIN_SHIFT)
  #define GPIO_PIN42      (42 << GPIO_PIN_SHIFT)
  #define GPIO_PIN43      (43 << GPIO_PIN_SHIFT)
  #define GPIO_PIN44      (44 << GPIO_PIN_SHIFT)
  #define GPIO_PIN45      (45 << GPIO_PIN_SHIFT)
  #define GPIO_PIN46      (46 << GPIO_PIN_SHIFT)
  #define GPIO_PIN47      (47 << GPIO_PIN_SHIFT)
  #define GPIO_PIN48      (48 << GPIO_PIN_SHIFT)
  #define GPIO_PIN49      (49 << GPIO_PIN_SHIFT)
  #define GPIO_PIN50      (50 << GPIO_PIN_SHIFT)
  #define GPIO_PIN51      (51 << GPIO_PIN_SHIFT)
  #define GPIO_PIN52      (52 << GPIO_PIN_SHIFT)
  #define GPIO_PIN53      (53 << GPIO_PIN_SHIFT)
  #define GPIO_PIN54      (54 << GPIO_PIN_SHIFT)
  
  using namespace DriverFramework;
  
  namespace navio_gpio
  {
  
  class Gpio
  {
  public:
  	Gpio()
  	{ }
  	~Gpio()
  	{ }
  
  	int start();
  	int stop();
  
  	int configgpio(uint32_t pinset);
  	int unconfiggpio(uint32_t pinset);
  	bool gpioread(uint32_t pinset);
  	void gpiowrite(uint32_t pinset, bool value);
  
  	bool isMapped() { return _gpio_map != nullptr; }
  
  private:
  	void atomic_modify(uintptr_t addr,
  			   unsigned int shift,
  			   unsigned int mask,
  			   unsigned int value);
  
  	void *_gpio_map;
  
  	SyncObj m_lock;
  };
  
  } // namespace navio_gpio
  