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(AT32F4)
  75
  76 #define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
  77
  78 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_MODE_OUTPUT , GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL , GPIO_PULL_NONE )  // TODO
  79 #define IOCFG_OUT_PP_UP      IO_CONFIG(GPIO_MODE_OUTPUT , GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL , GPIO_PULL_UP )
  80 #define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_MODE_OUTPUT , GPIO_DRIVE_STRENGTH_STRONGER , GPIO_OUTPUT_PUSH_PULL, GPIO_PULL_NONE)
  81 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_MODE_OUTPUT , GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_OPEN_DRAIN , GPIO_PULL_NONE)
  82 #define IOCFG_AF_PP          IO_CONFIG(GPIO_MODE_MUX    , GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL , GPIO_PULL_NONE)
  83 #define IOCFG_AF_PP_PD       IO_CONFIG(GPIO_MODE_MUX    , GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL , GPIO_PULL_DOWN)
  84 #define IOCFG_AF_PP_UP       IO_CONFIG(GPIO_MODE_MUX    , GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_PUSH_PULL , GPIO_PULL_UP)
  85 #define IOCFG_AF_OD          IO_CONFIG(GPIO_MODE_MUX    , GPIO_DRIVE_STRENGTH_MODERATE, GPIO_OUTPUT_OPEN_DRAIN , GPIO_PULL_NONE)
  86 #define IOCFG_IPD            IO_CONFIG(GPIO_MODE_INPUT  , GPIO_DRIVE_STRENGTH_MODERATE, 0,             GPIO_PULL_DOWN)
  87 #define IOCFG_IPU            IO_CONFIG(GPIO_MODE_INPUT  , GPIO_DRIVE_STRENGTH_MODERATE, 0,             GPIO_PULL_UP)
  88 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_MODE_INPUT  , GPIO_DRIVE_STRENGTH_MODERATE, 0,             GPIO_PULL_NONE)
  89 #define IOCFG_IPU_25         IO_CONFIG(GPIO_MODE_INPUT  , GPIO_DRIVE_STRENGTH_MODERATE , 0, GPIO_PULL_UP)
  90
  91
  92 #elif defined(UNIT_TEST) || defined(SIMULATOR_BUILD)
  93
  94 #define IOCFG_OUT_PP         0
  95 #define IOCFG_OUT_OD         0
  96 #define IOCFG_AF_PP          0
  97 #define IOCFG_AF_OD          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 #if defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
 107 // Expose these for EXTIConfig
 108 #define IO_CONFIG_GET_MODE(cfg) (((cfg) >> 0) & 0x03)
 109 #define IO_CONFIG_GET_SPEED(cfg) (((cfg) >> 2) & 0x03)
 110 #define IO_CONFIG_GET_OTYPE(cfg) (((cfg) >> 4) & 0x01)
 111 #define IO_CONFIG_GET_PULL(cfg) (((cfg) >> 5) & 0x03)
 112 #endif
 113
 114 // declare available IO pins. Available pins are specified per target
 115 #include "io_def.h"
 116
 117 bool IORead(IO_t io);
 118 void IOWrite(IO_t io, bool value);
 119 void IOHi(IO_t io);
 120 void IOLo(IO_t io);
 121 void IOToggle(IO_t io);
 122
 123 void IOInit(IO_t io, resourceOwner_e owner, uint8_t index);
 124 void IORelease(IO_t io);  // unimplemented
 125 resourceOwner_e IOGetOwner(IO_t io);
 126 bool IOIsFreeOrPreinit(IO_t io);
 127 IO_t IOGetByTag(ioTag_t tag);
 128
 129 void IOConfigGPIO(IO_t io, ioConfig_t cfg);
 130 #ifdef USE_TIMER_AF
 131 void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af);
 132 #endif
 133
 134 void IOInitGlobal(void);
 135
 136 typedef void (*IOTraverseFuncPtr_t)(IO_t io);
 137
 138 void IOTraversePins(IOTraverseFuncPtr_t func);
 139
 140 GPIO_TypeDef* IO_GPIO(IO_t io);
 141 uint16_t IO_Pin(IO_t io);