flight/pios/stm32f10x/pios_gpio.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_GPIO GPIO Functions
   6  * @brief STM32 Hardware GPIO handling code
   7  * @{
   8  *
   9  * @file       pios_gpio.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
  11  * @brief      GPIO functions, init, toggle, on & off.
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #include "pios.h"
  32
  33 #ifdef PIOS_INCLUDE_GPIO
  34
  35 #include <pios_gpio_priv.h>
  36
  37 /**
  38  * Initialises all the GPIO's
  39  */
  40 int32_t PIOS_GPIO_Init(uint32_t *gpios_dev_id, const struct pios_gpio_cfg *cfg)
  41 {
  42     PIOS_Assert(cfg);
  43     *gpios_dev_id = (uint32_t)cfg;
  44
  45     for (uint8_t i = 0; i < cfg->num_gpios; i++) {
  46         const struct pios_gpio *gpio = &(cfg->gpios[i]);
  47
  48         /* Enable the peripheral clock for the GPIO */
  49         switch ((uint32_t)gpio->pin.gpio) {
  50         case (uint32_t)GPIOA:
  51             RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
  52             break;
  53         case (uint32_t)GPIOB:
  54             RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
  55             break;
  56         case (uint32_t)GPIOC:
  57             RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
  58             break;
  59         default:
  60             PIOS_Assert(0);
  61             break;
  62         }
  63
  64         if (gpio->remap) {
  65             GPIO_PinRemapConfig(gpio->remap, ENABLE);
  66         }
  67
  68         GPIO_Init(gpio->pin.gpio, &gpio->pin.init);
  69
  70         PIOS_GPIO_Off(*gpios_dev_id, i);
  71     }
  72
  73     return 0;
  74 }
  75
  76 /**
  77  * Turn on GPIO
  78  * \param[in] GPIO GPIO id
  79  */
  80 void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id)
  81 {
  82     const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
  83
  84     PIOS_Assert(gpio_cfg);
  85
  86     if (gpio_id >= gpio_cfg->num_gpios) {
  87         /* GPIO index out of range */
  88         return;
  89     }
  90
  91     const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
  92
  93     if (gpio->active_low) {
  94         GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
  95     } else {
  96         GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
  97     }
  98 }
  99
 100 /**
 101  * Turn off GPIO
 102  * \param[in] GPIO GPIO id
 103  */
 104 void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id)
 105 {
 106     const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
 107
 108     PIOS_Assert(gpio_cfg);
 109
 110     if (gpio_id >= gpio_cfg->num_gpios) {
 111         /* GPIO index out of range */
 112         return;
 113     }
 114
 115     const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
 116
 117     if (gpio->active_low) {
 118         GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
 119     } else {
 120         GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
 121     }
 122 }
 123
 124 /**
 125  * Toggle GPIO on/off
 126  * \param[in] GPIO GPIO id
 127  */
 128 void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id)
 129 {
 130     const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
 131
 132     PIOS_Assert(gpio_cfg);
 133
 134     if (gpio_id >= gpio_cfg->num_gpios) {
 135         /* GPIO index out of range */
 136         return;
 137     }
 138
 139     const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
 140
 141     if (GPIO_ReadOutputDataBit(gpio->pin.gpio, gpio->pin.init.GPIO_Pin) == Bit_SET) {
 142         if (gpio->active_low) {
 143             PIOS_GPIO_On(gpios_dev_id, gpio_id);
 144         } else {
 145             PIOS_GPIO_Off(gpios_dev_id, gpio_id);
 146         }
 147     } else {
 148         if (gpio->active_low) {
 149             PIOS_GPIO_Off(gpios_dev_id, gpio_id);
 150         } else {
 151             PIOS_GPIO_On(gpios_dev_id, gpio_id);
 152         }
 153     }
 154 }
 155
 156 #endif /* PIOS_INCLUDE_GPIO */
 157
 158 /**
 159  * @}
 160  * @}
 161  */