src/main/drivers/io.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include <stdbool.h>
  21 #include <stdint.h>
  22
  23 #include <platform.h>
  24
  25 #include "resource.h"
  26
  27 #include "drivers/io_types.h"
  28
  29 // preprocessor is used to convert pinid to requested C data value
  30 // compile-time error is generated if requested pin is not available (not set in TARGET_IO_PORTx)
  31 // ioTag_t and IO_t is supported, but ioTag_t is preferred
  32
  33 // expand pinid to to ioTag_t
  34 #define IO_TAG(pinid) DEFIO_TAG(pinid)
  35
  36 #if defined(STM32F7) || defined(STM32H7)
  37
  38 //speed is packed inside modebits 5 and 2,
  39 #define IO_CONFIG(mode, speed, pupd) ((mode) | ((speed) << 2) | ((pupd) << 5))
  40
  41 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_MODE_OUTPUT_PP, GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  42 #define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_MODE_OUTPUT_PP, GPIO_SPEED_FREQ_HIGH, GPIO_NOPULL)
  43 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_MODE_OUTPUT_OD, GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  44 #define IOCFG_AF_PP_FAST     IO_CONFIG(GPIO_MODE_AF_PP,     GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLDOWN)
  45 #define IOCFG_AF_PP          IO_CONFIG(GPIO_MODE_AF_PP,     GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  46 #define IOCFG_AF_PP_PD       IO_CONFIG(GPIO_MODE_AF_PP,     GPIO_SPEED_FREQ_LOW,  GPIO_PULLDOWN)
  47 #define IOCFG_AF_PP_UP       IO_CONFIG(GPIO_MODE_AF_PP,     GPIO_SPEED_FREQ_LOW,  GPIO_PULLUP)
  48 #define IOCFG_AF_OD          IO_CONFIG(GPIO_MODE_AF_OD,     GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  49 #define IOCFG_AF_OD_UP       IO_CONFIG(GPIO_MODE_AF_OD,     GPIO_SPEED_FREQ_LOW,  GPIO_PULLUP)
  50 #define IOCFG_IPD            IO_CONFIG(GPIO_MODE_INPUT,     GPIO_SPEED_FREQ_LOW,  GPIO_PULLDOWN)
  51 #define IOCFG_IPU            IO_CONFIG(GPIO_MODE_INPUT,      GPIO_SPEED_FREQ_LOW,  GPIO_PULLUP)
  52 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_MODE_INPUT,     GPIO_SPEED_FREQ_LOW,  GPIO_NOPULL)
  53 #define IOCFG_IPU_25         IO_CONFIG(GPIO_MODE_INPUT,     GPIO_SPEED_FREQ_HIGH, GPIO_PULLUP)
  54
  55 #elif defined(STM32F4)
  56
  57 #define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
  58
  59 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL)  // TODO
  60 #define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
  61 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
  62 #define IOCFG_AF_PP_FAST     IO_CONFIG(GPIO_Mode_AF,  GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_DOWN)
  63 #define IOCFG_AF_PP          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_NOPULL)
  64 #define IOCFG_AF_PP_PD       IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_DOWN)
  65 #define IOCFG_AF_PP_UP       IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_UP)
  66 #define IOCFG_AF_OD          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
  67 #define IOCFG_AF_OD_UP       IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_OD, GPIO_PuPd_UP)
  68 #define IOCFG_IPD            IO_CONFIG(GPIO_Mode_IN,  0, 0,             GPIO_PuPd_DOWN)
  69 #define IOCFG_IPU            IO_CONFIG(GPIO_Mode_IN,  0, 0,             GPIO_PuPd_UP)
  70 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_Mode_IN,  0, 0,             GPIO_PuPd_NOPULL)
  71 #define IOCFG_IPU_25         IO_CONFIG(GPIO_Mode_IN,  GPIO_Speed_25MHz, 0, GPIO_PuPd_UP)
  72
  73 #elif defined(AT32F43x)
  74
  75 #define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
  76
  77 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_MODE_OUTPUT, GPIO_DRIVE_STRENGTH_STRONGER, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_NONE)  // TODO
  78 #define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_MODE_OUTPUT, GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_NONE)
  79 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_MODE_OUTPUT, GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_OPEN_DRAIN, GPIO_PULL_NONE)
  80 #define IOCFG_AF_PP_FAST     IO_CONFIG(GPIO_MODE_MUX,  GPIO_DRIVE_STRENGTH_STRONGER, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_DOWN)
  81 #define IOCFG_AF_PP          IO_CONFIG(GPIO_MODE_MUX,  GPIO_DRIVE_STRENGTH_STRONGER, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_NONE)
  82 #define IOCFG_AF_PP_PD       IO_CONFIG(GPIO_MODE_MUX,  GPIO_DRIVE_STRENGTH_STRONGER, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_DOWN)
  83 #define IOCFG_AF_PP_UP       IO_CONFIG(GPIO_MODE_MUX,  GPIO_DRIVE_STRENGTH_STRONGER, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_UP)
  84 #define IOCFG_AF_OD          IO_CONFIG(GPIO_MODE_MUX,  GPIO_DRIVE_STRENGTH_STRONGER, GPIO_OUTPUT_OPEN_DRAIN, GPIO_PULL_NONE)
  85 #define IOCFG_AF_OD_UP       IO_CONFIG(GPIO_MODE_MUX,  GPIO_DRIVE_STRENGTH_STRONGER, GPIO_OUTPUT_OPEN_DRAIN, GPIO_PULL_UP)
  86 #define IOCFG_IPD            IO_CONFIG(GPIO_MODE_INPUT,  GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_DOWN)
  87 #define IOCFG_IPU            IO_CONFIG(GPIO_MODE_INPUT,  GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_UP)
  88 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_MODE_INPUT,  GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_NONE)
  89 #define IOCFG_IPU_25         IO_CONFIG(GPIO_MODE_INPUT,  GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_UP)
  90
  91 #elif defined(UNIT_TEST) || defined(SITL_BUILD)
  92
  93 # define IOCFG_OUT_PP         0
  94 # define IOCFG_OUT_OD         0
  95 # define IOCFG_AF_PP          0
  96 # define IOCFG_AF_OD          0
  97 # define IOCFG_AF_OD_UP       0
  98 # define IOCFG_IPD            0
  99 # define IOCFG_IPU            0
 100 # define IOCFG_IN_FLOATING    0
 101
 102 #else
 103 # warning "Unknown TARGET"
 104 #endif
 105
 106 // declare available IO pins. Available pins are specified per target
 107 #include "io_def.h"
 108
 109 bool IORead(IO_t io);
 110 void IOWrite(IO_t io, bool value);
 111 void IOHi(IO_t io);
 112 void IOLo(IO_t io);
 113 void IOToggle(IO_t io);
 114
 115 void IOInit(IO_t io, resourceOwner_e owner, resourceType_e resource, uint8_t index);
 116 void IORelease(IO_t io);  // unimplemented
 117 resourceOwner_e IOGetOwner(IO_t io);
 118 resourceType_e IOGetResources(IO_t io);
 119 IO_t IOGetByTag(ioTag_t tag);
 120
 121 void IOConfigGPIO(IO_t io, ioConfig_t cfg);
 122 void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af);
 123
 124 void IOInitGlobal(void);