panda/board/drivers/gpio.h at 584fc3eb349bcebabef95ebd8f1bc87b783ca518 · aubsw/panda · GitHub

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#include "drivers/gpio_declarations.h"
#include "critical_declarations.h"
#include "drivers/registers.h"

void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
  ENTER_CRITICAL();
  uint32_t tmp = GPIO->MODER;
  tmp &= ~(3U << (pin * 2U));
  tmp |= (mode << (pin * 2U));
  register_set(&(GPIO->MODER), tmp, 0xFFFFFFFFU);
  EXIT_CRITICAL();
}

void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
  ENTER_CRITICAL();
  if (enabled) {
    register_set_bits(&(GPIO->ODR), (1UL << pin));
  } else {
    register_clear_bits(&(GPIO->ODR), (1UL << pin));
  }
  set_gpio_mode(GPIO, pin, MODE_OUTPUT);
  EXIT_CRITICAL();
}

void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
  ENTER_CRITICAL();
  if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
    register_set_bits(&(GPIO->OTYPER), (1UL << pin));
  } else {
    register_clear_bits(&(GPIO->OTYPER), (1U << pin));
  }
  EXIT_CRITICAL();
}

void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
  ENTER_CRITICAL();
  uint32_t tmp = GPIO->AFR[pin >> 3U];
  tmp &= ~(0xFU << ((pin & 7U) * 4U));
  tmp |= mode << ((pin & 7U) * 4U);
  register_set(&(GPIO->AFR[pin >> 3]), tmp, 0xFFFFFFFFU);
  set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
  EXIT_CRITICAL();
}

void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
  ENTER_CRITICAL();
  uint32_t tmp = GPIO->PUPDR;
  tmp &= ~(3U << (pin * 2U));
  tmp |= (mode << (pin * 2U));
  register_set(&(GPIO->PUPDR), tmp, 0xFFFFFFFFU);
  EXIT_CRITICAL();
}

int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin) {
  return (GPIO->IDR & (1UL << pin)) == (1UL << pin);
}

// cppcheck-suppress[misra-c2012-9.3,misra-c2012-8.7]
void gpio_set_all_output(gpio_t *pins, uint8_t num_pins, bool enabled) {
  for (uint8_t i = 0; i < num_pins; i++) {
    set_gpio_output(pins[i].bank, pins[i].pin, enabled);
  }
}

// cppcheck-suppress[misra-c2012-9.3,misra-c2012-8.7]
void gpio_set_bitmask(gpio_t *pins, uint8_t num_pins, uint32_t bitmask) {
  for (uint8_t i = 0; i < num_pins; i++) {
    set_gpio_output(pins[i].bank, pins[i].pin, (bitmask >> i) & 1U);
  }
}

// Detection with internal pullup
#define PULL_EFFECTIVE_DELAY 4096
bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
  set_gpio_mode(GPIO, pin, MODE_INPUT);
  set_gpio_pullup(GPIO, pin, mode);
  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
  bool ret = get_gpio_input(GPIO, pin);
  set_gpio_pullup(GPIO, pin, PULL_NONE);
  return ret;
}