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LibrePilot/flight/pios/stm32f4xx/pios_gpio.c

180 lines
5.0 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_GPIO GPIO Functions
* @brief STM32 Hardware GPIO handling code
* @{
*
* @file pios_gpio.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief GPIO functions, init, toggle, on & off.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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 3 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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_GPIO
#include <pios_gpio_priv.h>
/**
* Initialises all the GPIO's
*/
int32_t PIOS_GPIO_Init(uint32_t *gpios_dev_id, const struct pios_gpio_cfg *cfg)
{
PIOS_Assert(cfg);
*gpios_dev_id = (uint32_t)cfg;
for (uint8_t i = 0; i < cfg->num_gpios; i++) {
const struct pios_gpio *gpio = &(cfg->gpios[i]);
/* Enable the peripheral clock for the GPIO */
switch ((uint32_t)gpio->pin.gpio) {
case (uint32_t)GPIOA:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
break;
case (uint32_t)GPIOB:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
break;
case (uint32_t)GPIOC:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
break;
case (uint32_t)GPIOD:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
break;
case (uint32_t)GPIOE:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
break;
case (uint32_t)GPIOF:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);
break;
case (uint32_t)GPIOG:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG, ENABLE);
break;
case (uint32_t)GPIOH:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH, ENABLE);
break;
case (uint32_t)GPIOI:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOI, ENABLE);
break;
default:
PIOS_Assert(0);
break;
}
if (gpio->remap) {
GPIO_PinAFConfig(gpio->pin.gpio, gpio->pin.init.GPIO_Pin, gpio->remap);
}
GPIO_Init(gpio->pin.gpio, &gpio->pin.init);
PIOS_GPIO_Off(*gpios_dev_id, i);
}
return 0;
}
/**
* Turn on GPIO
* \param[in] GPIO GPIO id
*/
void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id)
{
const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
PIOS_Assert(gpio_cfg);
if (gpio_id >= gpio_cfg->num_gpios) {
/* GPIO index out of range */
return;
}
const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
if (gpio->active_low) {
GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
} else {
GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
}
}
/**
* Turn off GPIO
* \param[in] GPIO GPIO id
*/
void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id)
{
const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
PIOS_Assert(gpio_cfg);
if (gpio_id >= gpio_cfg->num_gpios) {
/* GPIO index out of range */
return;
}
const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
if (gpio->active_low) {
GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
} else {
GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
}
}
/**
* Toggle GPIO on/off
* \param[in] GPIO GPIO id
*/
void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id)
{
const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
PIOS_Assert(gpio_cfg);
if (gpio_id >= gpio_cfg->num_gpios) {
/* GPIO index out of range */
return;
}
const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
if (GPIO_ReadOutputDataBit(gpio->pin.gpio, gpio->pin.init.GPIO_Pin) == Bit_SET) {
if (gpio->active_low) {
PIOS_GPIO_On(gpios_dev_id, gpio_id);
} else {
PIOS_GPIO_Off(gpios_dev_id, gpio_id);
}
} else {
if (gpio->active_low) {
PIOS_GPIO_Off(gpios_dev_id, gpio_id);
} else {
PIOS_GPIO_On(gpios_dev_id, gpio_id);
}
}
}
#endif /* PIOS_INCLUDE_GPIO */
/**
* @}
* @}
*/