mirror of
https://bitbucket.org/librepilot/librepilot.git
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162 lines
4.3 KiB
C
162 lines
4.3 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_GPIO GPIO Functions
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* @brief STM32 Hardware GPIO handling code
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* @{
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*
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* @file pios_gpio.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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* @brief GPIO functions, init, toggle, on & off.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_GPIO
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#include <pios_gpio_priv.h>
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/**
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* Initialises all the GPIO's
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*/
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int32_t PIOS_GPIO_Init(uint32_t *gpios_dev_id, const struct pios_gpio_cfg *cfg)
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{
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PIOS_Assert(cfg);
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*gpios_dev_id = (uint32_t)cfg;
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for (uint8_t i = 0; i < cfg->num_gpios; i++) {
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const struct pios_gpio *gpio = &(cfg->gpios[i]);
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/* Enable the peripheral clock for the GPIO */
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switch ((uint32_t)gpio->pin.gpio) {
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case (uint32_t)GPIOA:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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break;
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case (uint32_t)GPIOB:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
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break;
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case (uint32_t)GPIOC:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
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break;
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default:
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PIOS_Assert(0);
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break;
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}
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if (gpio->remap) {
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GPIO_PinRemapConfig(gpio->remap, ENABLE);
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}
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GPIO_Init(gpio->pin.gpio, &gpio->pin.init);
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PIOS_GPIO_Off(*gpios_dev_id, i);
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}
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return 0;
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}
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/**
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* Turn on GPIO
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* \param[in] GPIO GPIO id
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*/
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void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id)
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{
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const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
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PIOS_Assert(gpio_cfg);
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if (gpio_id >= gpio_cfg->num_gpios) {
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/* GPIO index out of range */
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return;
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}
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const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
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if (gpio->active_low) {
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GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
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} else {
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GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
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}
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}
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/**
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* Turn off GPIO
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* \param[in] GPIO GPIO id
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*/
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void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id)
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{
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const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
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PIOS_Assert(gpio_cfg);
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if (gpio_id >= gpio_cfg->num_gpios) {
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/* GPIO index out of range */
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return;
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}
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const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
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if (gpio->active_low) {
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GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
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} else {
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GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
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}
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}
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/**
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* Toggle GPIO on/off
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* \param[in] GPIO GPIO id
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*/
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void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id)
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{
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const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
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PIOS_Assert(gpio_cfg);
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if (gpio_id >= gpio_cfg->num_gpios) {
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/* GPIO index out of range */
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return;
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}
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const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
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if (GPIO_ReadOutputDataBit(gpio->pin.gpio, gpio->pin.init.GPIO_Pin) == Bit_SET) {
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if (gpio->active_low) {
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PIOS_GPIO_On(gpios_dev_id, gpio_id);
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} else {
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PIOS_GPIO_Off(gpios_dev_id, gpio_id);
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}
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} else {
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if (gpio->active_low) {
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PIOS_GPIO_Off(gpios_dev_id, gpio_id);
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} else {
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PIOS_GPIO_On(gpios_dev_id, gpio_id);
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}
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}
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}
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#endif /* PIOS_INCLUDE_GPIO */
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/**
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* @}
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* @}
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*/
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