2 * This file is part of Cleanflight and Betaflight.
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)
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.
15 * You should have received a copy of the GNU General Public License
16 * along with this software.
18 * If not, see <http://www.gnu.org/licenses/>.
30 #include "drivers/io_types.h"
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
36 // expand pinid to to ioTag_t
37 #define IO_TAG(pinid) DEFIO_TAG(pinid)
39 #if defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
41 //speed is packed inside modebits 5 and 2,
42 #define IO_CONFIG(mode, speed, pupd) ((mode) | ((speed) << 2) | ((pupd) << 5))
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)
57 #elif defined(STM32F4)
59 #define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
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)
76 #define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
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)
92 #elif defined(UNIT_TEST) || defined(SIMULATOR_BUILD)
94 #define IOCFG_OUT_PP 0
95 #define IOCFG_OUT_OD 0
100 #define IOCFG_IN_FLOATING 0
103 # warning "Unknown TARGET"
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)
114 // declare available IO pins. Available pins are specified per target
117 bool IORead(IO_t io
);
118 void IOWrite(IO_t io
, bool value
);
121 void IOToggle(IO_t io
);
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
);
129 void IOConfigGPIO(IO_t io
, ioConfig_t cfg
);
131 void IOConfigGPIOAF(IO_t io
, ioConfig_t cfg
, uint8_t af
);
134 void IOInitGlobal(void);
136 typedef void (*IOTraverseFuncPtr_t
)(IO_t io
);
138 void IOTraversePins(IOTraverseFuncPtr_t func
);
140 GPIO_TypeDef
* IO_GPIO(IO_t io
);
141 uint16_t IO_Pin(IO_t io
);