flight/pios/stm32f0x/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         if (gpio->remap) {
  49             GPIO_PinAFConfig(gpio->pin.gpio, gpio->pin.init.GPIO_Pin, gpio->remap);
  50         }
  51
  52         GPIO_Init(gpio->pin.gpio, (GPIO_InitTypeDef *)&gpio->pin.init);
  53
  54         PIOS_GPIO_Off(*gpios_dev_id, i);
  55     }
  56
  57     return 0;
  58 }
  59
  60 /**
  61  * Turn on GPIO
  62  * \param[in] GPIO GPIO id
  63  */
  64 void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id)
  65 {
  66     const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
  67
  68     PIOS_Assert(gpio_cfg);
  69
  70     if (gpio_id >= gpio_cfg->num_gpios) {
  71         /* GPIO index out of range */
  72         return;
  73     }
  74
  75     const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
  76
  77     if (gpio->active_low) {
  78         gpio->pin.gpio->BRR = gpio->pin.init.GPIO_Pin;
  79     } else {
  80         gpio->pin.gpio->BSRR = gpio->pin.init.GPIO_Pin;
  81     }
  82 }
  83
  84 /**
  85  * Turn off GPIO
  86  * \param[in] GPIO GPIO id
  87  */
  88 void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id)
  89 {
  90     const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
  91
  92     PIOS_Assert(gpio_cfg);
  93
  94     if (gpio_id >= gpio_cfg->num_gpios) {
  95         /* GPIO index out of range */
  96         return;
  97     }
  98
  99     const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
 100
 101     if (gpio->active_low) {
 102         gpio->pin.gpio->BSRR = gpio->pin.init.GPIO_Pin;
 103     } else {
 104         gpio->pin.gpio->BRR = gpio->pin.init.GPIO_Pin;
 105     }
 106 }
 107
 108 /**
 109  * Toggle GPIO on/off
 110  * \param[in] GPIO GPIO id
 111  */
 112 void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id)
 113 {
 114     const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
 115
 116     PIOS_Assert(gpio_cfg);
 117
 118     if (gpio_id >= gpio_cfg->num_gpios) {
 119         /* GPIO index out of range */
 120         return;
 121     }
 122
 123     const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
 124
 125     if (((gpio->pin.gpio->ODR & gpio->pin.init.GPIO_Pin) != 0) ^ gpio->active_low) {
 126         PIOS_GPIO_Off(gpios_dev_id, gpio_id);
 127     } else {
 128         PIOS_GPIO_On(gpios_dev_id, gpio_id);
 129     }
 130 }
 131
 132 #endif /* PIOS_INCLUDE_GPIO */
 133
 134 /**
 135  * @}
 136  * @}
 137  */