flight/pios/stm32f4xx/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) 2012.
  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_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
  52             break;
  53         case (uint32_t)GPIOB:
  54             RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
  55             break;
  56         case (uint32_t)GPIOC:
  57             RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
  58             break;
  59         case (uint32_t)GPIOD:
  60             RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
  61             break;
  62         case (uint32_t)GPIOE:
  63             RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
  64             break;
  65         case (uint32_t)GPIOF:
  66             RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);
  67             break;
  68         case (uint32_t)GPIOG:
  69             RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG, ENABLE);
  70             break;
  71         case (uint32_t)GPIOH:
  72             RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH, ENABLE);
  73             break;
  74         case (uint32_t)GPIOI:
  75             RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOI, ENABLE);
  76             break;
  77         default:
  78             PIOS_Assert(0);
  79             break;
  80         }
  81
  82         if (gpio->remap) {
  83             GPIO_PinAFConfig(gpio->pin.gpio, gpio->pin.init.GPIO_Pin, gpio->remap);
  84         }
  85
  86         GPIO_Init(gpio->pin.gpio, &gpio->pin.init);
  87
  88         PIOS_GPIO_Off(*gpios_dev_id, i);
  89     }
  90
  91     return 0;
  92 }
  93
  94 /**
  95  * Turn on GPIO
  96  * \param[in] GPIO GPIO id
  97  */
  98 void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id)
  99 {
 100     const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
 101
 102     PIOS_Assert(gpio_cfg);
 103
 104     if (gpio_id >= gpio_cfg->num_gpios) {
 105         /* GPIO index out of range */
 106         return;
 107     }
 108
 109     const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
 110
 111     if (gpio->active_low) {
 112         GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
 113     } else {
 114         GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
 115     }
 116 }
 117
 118 /**
 119  * Turn off GPIO
 120  * \param[in] GPIO GPIO id
 121  */
 122 void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id)
 123 {
 124     const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
 125
 126     PIOS_Assert(gpio_cfg);
 127
 128     if (gpio_id >= gpio_cfg->num_gpios) {
 129         /* GPIO index out of range */
 130         return;
 131     }
 132
 133     const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
 134
 135     if (gpio->active_low) {
 136         GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
 137     } else {
 138         GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
 139     }
 140 }
 141
 142 /**
 143  * Toggle GPIO on/off
 144  * \param[in] GPIO GPIO id
 145  */
 146 void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id)
 147 {
 148     const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
 149
 150     PIOS_Assert(gpio_cfg);
 151
 152     if (gpio_id >= gpio_cfg->num_gpios) {
 153         /* GPIO index out of range */
 154         return;
 155     }
 156
 157     const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
 158
 159     if (GPIO_ReadOutputDataBit(gpio->pin.gpio, gpio->pin.init.GPIO_Pin) == Bit_SET) {
 160         if (gpio->active_low) {
 161             PIOS_GPIO_On(gpios_dev_id, gpio_id);
 162         } else {
 163             PIOS_GPIO_Off(gpios_dev_id, gpio_id);
 164         }
 165     } else {
 166         if (gpio->active_low) {
 167             PIOS_GPIO_Off(gpios_dev_id, gpio_id);
 168         } else {
 169             PIOS_GPIO_On(gpios_dev_id, gpio_id);
 170         }
 171     }
 172 }
 173
 174 #endif /* PIOS_INCLUDE_GPIO */
 175
 176 /**
 177  * @}
 178  * @}
 179  */