src/main/drivers/io.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdbool.h>
  24 #include <stdint.h>
  25
  26 #include "platform.h"
  27
  28 #include "resource.h"
  29
  30 #include "drivers/io_types.h"
  31
  32 // preprocessor is used to convert pinid to requested C data value
  33 // compile-time error is generated if requested pin is not available (not set in TARGET_IO_PORTx)
  34 // ioTag_t and IO_t is supported, but ioTag_t is preferred
  35
  36 // expand pinid to to ioTag_t
  37 #define IO_TAG(pinid) DEFIO_TAG(pinid)
  38
  39 #if defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
  40
  41 //speed is packed inside modebits 5 and 2,
  42 #define IO_CONFIG(mode, speed, pupd) ((mode) | ((speed) << 2) | ((pupd) << 5))
  43
  44 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_MODE_OUTPUT_PP, GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  45 #define IOCFG_OUT_PP_UP      IO_CONFIG(GPIO_MODE_OUTPUT_PP, GPIO_SPEED_FREQ_LOW,  GPIO_PULLUP)
  46 #define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_MODE_OUTPUT_PP, GPIO_SPEED_FREQ_HIGH, GPIO_NOPULL)
  47 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_MODE_OUTPUT_OD, GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  48 #define IOCFG_AF_PP          IO_CONFIG(GPIO_MODE_AF_PP,     GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  49 #define IOCFG_AF_PP_PD       IO_CONFIG(GPIO_MODE_AF_PP,     GPIO_SPEED_FREQ_LOW,  GPIO_PULLDOWN)
  50 #define IOCFG_AF_PP_UP       IO_CONFIG(GPIO_MODE_AF_PP,     GPIO_SPEED_FREQ_LOW,  GPIO_PULLUP)
  51 #define IOCFG_AF_OD          IO_CONFIG(GPIO_MODE_AF_OD,     GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  52 #define IOCFG_IPD            IO_CONFIG(GPIO_MODE_INPUT,     GPIO_SPEED_FREQ_LOW,  GPIO_PULLDOWN)
  53 #define IOCFG_IPU            IO_CONFIG(GPIO_MODE_INPUT,     GPIO_SPEED_FREQ_LOW,  GPIO_PULLUP)
  54 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_MODE_INPUT,     GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  55 #define IOCFG_IPU_25         IO_CONFIG(GPIO_MODE_INPUT,     GPIO_SPEED_FREQ_HIGH, GPIO_PULLUP)
  56
  57 #elif defined(STM32F4)
  58
  59 #define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
  60
  61 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL)  // TODO
  62 #define IOCFG_OUT_PP_UP      IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_PP, GPIO_PuPd_UP)
  63 #define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
  64 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
  65 #define IOCFG_AF_PP          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_NOPULL)
  66 #define IOCFG_AF_PP_PD       IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_DOWN)
  67 #define IOCFG_AF_PP_UP       IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_UP)
  68 #define IOCFG_AF_OD          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
  69 #define IOCFG_IPD            IO_CONFIG(GPIO_Mode_IN,  0, 0,             GPIO_PuPd_DOWN)
  70 #define IOCFG_IPU            IO_CONFIG(GPIO_Mode_IN,  0, 0,             GPIO_PuPd_UP)
  71 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_Mode_IN,  0, 0,             GPIO_PuPd_NOPULL)
  72 #define IOCFG_IPU_25         IO_CONFIG(GPIO_Mode_IN,  GPIO_Speed_25MHz, 0, GPIO_PuPd_UP)
  73
  74 #elif defined(UNIT_TEST) || defined(SIMULATOR_BUILD)
  75
  76 # define IOCFG_OUT_PP         0
  77 # define IOCFG_OUT_OD         0
  78 # define IOCFG_AF_PP          0
  79 # define IOCFG_AF_OD          0
  80 # define IOCFG_IPD            0
  81 # define IOCFG_IPU            0
  82 # define IOCFG_IN_FLOATING    0
  83
  84 #else
  85 # warning "Unknown TARGET"
  86 #endif
  87
  88 #if defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
  89 // Expose these for EXTIConfig
  90 #define IO_CONFIG_GET_MODE(cfg) (((cfg) >> 0) & 0x03)
  91 #define IO_CONFIG_GET_SPEED(cfg) (((cfg) >> 2) & 0x03)
  92 #define IO_CONFIG_GET_OTYPE(cfg) (((cfg) >> 4) & 0x01)
  93 #define IO_CONFIG_GET_PULL(cfg) (((cfg) >> 5) & 0x03)
  94 #endif
  95
  96 // declare available IO pins. Available pins are specified per target
  97 #include "io_def.h"
  98
  99 bool IORead(IO_t io);
 100 void IOWrite(IO_t io, bool value);
 101 void IOHi(IO_t io);
 102 void IOLo(IO_t io);
 103 void IOToggle(IO_t io);
 104
 105 void IOInit(IO_t io, resourceOwner_e owner, uint8_t index);
 106 void IORelease(IO_t io);  // unimplemented
 107 resourceOwner_e IOGetOwner(IO_t io);
 108 bool IOIsFreeOrPreinit(IO_t io);
 109 IO_t IOGetByTag(ioTag_t tag);
 110
 111 void IOConfigGPIO(IO_t io, ioConfig_t cfg);
 112 #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 113 void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af);
 114 #endif
 115
 116 void IOInitGlobal(void);
 117
 118 typedef void (*IOTraverseFuncPtr_t)(IO_t io);
 119
 120 void IOTraversePins(IOTraverseFuncPtr_t func);
 121
 122 GPIO_TypeDef* IO_GPIO(IO_t io);
 123 uint16_t IO_Pin(IO_t io);