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Merge pull request #3645 from blckmn/ll_driver 

IO Clean up and use of Low level for F7
This commit is contained in:
Martin Budden 2017-07-28 03:56:18 +01:00 committed by GitHub
parent bc5d420d25 c1af6cf96b
commit 4e845576af
26 changed files with 76 additions and 542 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
make/mcu/STM32F1.mk
View File

@ -59,7 +59,6 @@ MCU_COMMON_SRC = \
drivers/adc_stm32f10x.c \
drivers/bus_i2c_stm32f10x.c \
drivers/dma.c \
drivers/gpio_stm32f10x.c \
drivers/inverter.c \
drivers/light_ws2811strip_stdperiph.c \
drivers/serial_uart_init.c \

1
make/mcu/STM32F3.mk
View File

@ -70,7 +70,6 @@ MCU_COMMON_SRC = \
drivers/adc_stm32f30x.c \
drivers/bus_i2c_stm32f30x.c \
drivers/dma.c \
drivers/gpio_stm32f30x.c \
drivers/light_ws2811strip_stdperiph.c \
drivers/pwm_output_dshot.c \
drivers/serial_uart_init.c \

1
make/mcu/STM32F4.mk
View File

@ -114,7 +114,6 @@ MCU_COMMON_SRC = \
drivers/adc_stm32f4xx.c \
drivers/bus_i2c_stm32f10x.c \
drivers/dma_stm32f4xx.c \
drivers/gpio_stm32f4xx.c \
drivers/inverter.c \
drivers/light_ws2811strip_stdperiph.c \
drivers/pwm_output_dshot.c \

2
make/mcu/STM32F7.mk
View File

@ -62,7 +62,6 @@ EXCLUDES = stm32f7xx_hal_can.c \
stm32f7xx_ll_dma2d.c \
stm32f7xx_ll_exti.c \
stm32f7xx_ll_fmc.c \
stm32f7xx_ll_gpio.c \
stm32f7xx_ll_i2c.c \
stm32f7xx_ll_lptim.c \
stm32f7xx_ll_pwr.c \
@ -149,7 +148,6 @@ MCU_COMMON_SRC = \
drivers/adc_stm32f7xx.c \
drivers/bus_i2c_hal.c \
drivers/dma_stm32f7xx.c \
drivers/gpio_stm32f7xx.c \
drivers/light_ws2811strip_hal.c \
drivers/bus_spi_hal.c \
drivers/bus_spi_ll.c \

1
src/main/drivers/accgyro/accgyro_mpu6050.c
View File

@ -28,7 +28,6 @@
#include "drivers/bus_i2c.h"
#include "drivers/exti.h"
#include "drivers/gpio.h"
#include "drivers/gyro_sync.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"

1
src/main/drivers/accgyro/accgyro_mpu6500.c
View File

@ -25,7 +25,6 @@
#include "common/maths.h"
#include "drivers/exti.h"
#include "drivers/gpio.h"
#include "drivers/gyro_sync.h"
#include "drivers/sensor.h"
#include "drivers/time.h"

1
src/main/drivers/accgyro/accgyro_spi_icm20689.c
View File

@ -26,7 +26,6 @@
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/gpio.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/sensor.h"

1
src/main/drivers/adc_stm32f30x.c
View File

@ -22,7 +22,6 @@
#include "platform.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/gpio.h"
#include "drivers/io.h"
#include "drivers/sensor.h"
#include "drivers/time.h"

1
src/main/drivers/barometer/barometer_bmp085.c
View File

@ -28,7 +28,6 @@
#include "drivers/bus_i2c.h"
#include "drivers/bus_i2c_busdev.h"
#include "drivers/exti.h"
#include "drivers/gpio.h"
#include "drivers/io.h"
#include "drivers/nvic.h"
#include "drivers/time.h"

1
src/main/drivers/compass/compass_ak8975.c
View File

@ -29,7 +29,6 @@
#include "common/utils.h"
#include "drivers/bus_i2c.h"
#include "drivers/gpio.h"
#include "drivers/sensor.h"
#include "drivers/time.h"

141
src/main/drivers/gpio.h
View File

@ -1,141 +0,0 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "platform.h"
#ifdef STM32F1
typedef enum
{
Mode_AIN = 0x0,
Mode_IN_FLOATING = 0x04,
Mode_IPD = 0x28,
Mode_IPU = 0x48,
Mode_Out_OD = 0x14,
Mode_Out_PP = 0x10,
Mode_AF_OD = 0x1C,
Mode_AF_PP = 0x18
} GPIO_Mode;
#endif
#ifdef STM32F3
typedef enum
{
Mode_AIN = (GPIO_PuPd_NOPULL << 2) | GPIO_Mode_AN,
Mode_IN_FLOATING = (GPIO_PuPd_NOPULL << 2) | GPIO_Mode_IN,
Mode_IPD = (GPIO_PuPd_DOWN << 2) | GPIO_Mode_IN,
Mode_IPU = (GPIO_PuPd_UP << 2) | GPIO_Mode_IN,
Mode_Out_OD = (GPIO_OType_OD << 4) | GPIO_Mode_OUT,
Mode_Out_PP = (GPIO_OType_PP << 4) | GPIO_Mode_OUT,
Mode_AF_OD = (GPIO_OType_OD << 4) | GPIO_Mode_AF,
Mode_AF_PP = (GPIO_OType_PP << 4) | GPIO_Mode_AF,
Mode_AF_PP_PD = (GPIO_OType_PP << 4) | (GPIO_PuPd_DOWN << 2) | GPIO_Mode_AF,
Mode_AF_PP_PU = (GPIO_OType_PP << 4) | (GPIO_PuPd_UP << 2) | GPIO_Mode_AF
} GPIO_Mode;
#endif
#ifdef STM32F4
typedef enum
{
Mode_AIN = (GPIO_PuPd_NOPULL << 2) | GPIO_Mode_AN,
Mode_IN_FLOATING = (GPIO_PuPd_NOPULL << 2) | GPIO_Mode_IN,
Mode_IPD = (GPIO_PuPd_DOWN << 2) | GPIO_Mode_IN,
Mode_IPU = (GPIO_PuPd_UP << 2) | GPIO_Mode_IN,
Mode_Out_OD = (GPIO_OType_OD << 4) | GPIO_Mode_OUT,
Mode_Out_PP = (GPIO_OType_PP << 4) | GPIO_Mode_OUT,
Mode_AF_OD = (GPIO_OType_OD << 4) | GPIO_Mode_AF,
Mode_AF_PP = (GPIO_OType_PP << 4) | GPIO_Mode_AF,
Mode_AF_PP_PD = (GPIO_OType_PP << 4) | (GPIO_PuPd_DOWN << 2) | GPIO_Mode_AF,
Mode_AF_PP_PU = (GPIO_OType_PP << 4) | (GPIO_PuPd_UP << 2) | GPIO_Mode_AF
} GPIO_Mode;
#endif
#ifdef STM32F7
typedef enum
{
Mode_AIN = (GPIO_NOPULL << 5) | GPIO_MODE_ANALOG,
Mode_IN_FLOATING = (GPIO_NOPULL << 5) | GPIO_MODE_INPUT,
Mode_IPD = (GPIO_PULLDOWN << 5) | GPIO_MODE_INPUT,
Mode_IPU = (GPIO_PULLUP << 5) | GPIO_MODE_INPUT,
Mode_Out_OD = GPIO_MODE_OUTPUT_OD,
Mode_Out_PP = GPIO_MODE_OUTPUT_PP,
Mode_AF_OD = GPIO_MODE_AF_OD,
Mode_AF_PP = GPIO_MODE_AF_PP,
Mode_AF_PP_PD = (GPIO_PULLDOWN << 5) | GPIO_MODE_AF_PP,
Mode_AF_PP_PU = (GPIO_PULLUP << 5) | GPIO_MODE_AF_PP
} GPIO_Mode;
#endif
typedef enum
{
Speed_10MHz = 1,
Speed_2MHz,
Speed_50MHz
} GPIO_Speed;
typedef enum
{
Pin_0 = 0x0001,
Pin_1 = 0x0002,
Pin_2 = 0x0004,
Pin_3 = 0x0008,
Pin_4 = 0x0010,
Pin_5 = 0x0020,
Pin_6 = 0x0040,
Pin_7 = 0x0080,
Pin_8 = 0x0100,
Pin_9 = 0x0200,
Pin_10 = 0x0400,
Pin_11 = 0x0800,
Pin_12 = 0x1000,
Pin_13 = 0x2000,
Pin_14 = 0x4000,
Pin_15 = 0x8000,
Pin_All = 0xFFFF
} GPIO_Pin;
typedef struct
{
uint16_t pin;
GPIO_Mode mode;
GPIO_Speed speed;
} gpio_config_t;
#ifndef UNIT_TEST
#if defined(USE_HAL_DRIVER)
static inline void digitalHi(GPIO_TypeDef *p, uint16_t i) { HAL_GPIO_WritePin(p,i,GPIO_PIN_SET); }
static inline void digitalLo(GPIO_TypeDef *p, uint16_t i) { HAL_GPIO_WritePin(p,i,GPIO_PIN_RESET); }
static inline void digitalToggle(GPIO_TypeDef *p, uint16_t i) { HAL_GPIO_TogglePin(p,i); }
static inline uint16_t digitalIn(GPIO_TypeDef *p, uint16_t i) { return HAL_GPIO_ReadPin(p,i); }
#else
#if defined(STM32F4)
static inline void digitalHi(GPIO_TypeDef *p, uint16_t i) { p->BSRRL = i; }
static inline void digitalLo(GPIO_TypeDef *p, uint16_t i) { p->BSRRH = i; }
#else
static inline void digitalHi(GPIO_TypeDef *p, uint16_t i) { p->BSRR = i; }
static inline void digitalLo(GPIO_TypeDef *p, uint16_t i) { p->BRR = i; }
#endif
static inline void digitalToggle(GPIO_TypeDef *p, uint16_t i) { p->ODR ^= i; }
static inline uint16_t digitalIn(GPIO_TypeDef *p, uint16_t i) { return p->IDR & i; }
#endif
#endif
void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config);
void gpioExtiLineConfig(uint8_t portsrc, uint8_t pinsrc);
void gpioPinRemapConfig(uint32_t remap, bool enable);

102
src/main/drivers/gpio_stm32f10x.c
View File

@ -1,102 +0,0 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "drivers/gpio.h"
void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config)
{
uint32_t pinpos;
for (pinpos = 0; pinpos < 16; pinpos++) {
// are we doing this pin?
if (config->pin & (0x1 << pinpos)) {
// reference CRL or CRH, depending whether pin number is 0..7 or 8..15
__IO uint32_t *cr = &gpio->CRL + (pinpos / 8);
// mask out extra bits from pinmode, leaving just CNF+MODE
uint32_t currentmode = config->mode & 0x0F;
// offset to CNF and MODE portions of CRx register
uint32_t shift = (pinpos % 8) * 4;
// Read out current CRx value
uint32_t tmp = *cr;
// if we're in output mode, add speed too.
if (config->mode & 0x10)
currentmode |= config->speed;
// Mask out 4 bits
tmp &= ~(0xF << shift);
// apply current pinmode
tmp |= currentmode << shift;
*cr = tmp;
// Special handling for IPD/IPU
if (config->mode == Mode_IPD) {
gpio->ODR &= ~(1U << pinpos);
} else if (config->mode == Mode_IPU) {
gpio->ODR |= (1U << pinpos);
}
}
}
}
void gpioExtiLineConfig(uint8_t portsrc, uint8_t pinsrc)
{
uint32_t tmp = 0x00;
tmp = ((uint32_t)0x0F) << (0x04 * (pinsrc & (uint8_t)0x03));
AFIO->EXTICR[pinsrc >> 0x02] &= ~tmp;
AFIO->EXTICR[pinsrc >> 0x02] |= (((uint32_t)portsrc) << (0x04 * (pinsrc & (uint8_t)0x03)));
}
#define LSB_MASK ((uint16_t)0xFFFF)
#define DBGAFR_POSITION_MASK ((uint32_t)0x000F0000)
#define DBGAFR_SWJCFG_MASK ((uint32_t)0xF0FFFFFF)
#define DBGAFR_LOCATION_MASK ((uint32_t)0x00200000)
#define DBGAFR_NUMBITS_MASK ((uint32_t)0x00100000)
void gpioPinRemapConfig(uint32_t remap, bool enable)
{
uint32_t tmp = 0x00, tmp1 = 0x00, tmpreg = 0x00, tmpmask = 0x00;
if ((remap & 0x80000000) == 0x80000000)
tmpreg = AFIO->MAPR2;
else
tmpreg = AFIO->MAPR;
tmpmask = (remap & DBGAFR_POSITION_MASK) >> 0x10;
tmp = remap & LSB_MASK;
if ((remap & (DBGAFR_LOCATION_MASK | DBGAFR_NUMBITS_MASK)) == (DBGAFR_LOCATION_MASK | DBGAFR_NUMBITS_MASK)) {
tmpreg &= DBGAFR_SWJCFG_MASK;
AFIO->MAPR &= DBGAFR_SWJCFG_MASK;
} else if ((remap & DBGAFR_NUMBITS_MASK) == DBGAFR_NUMBITS_MASK) {
tmp1 = ((uint32_t)0x03) << tmpmask;
tmpreg &= ~tmp1;
tmpreg |= ~DBGAFR_SWJCFG_MASK;
} else {
tmpreg &= ~(tmp << ((remap >> 0x15) * 0x10));
tmpreg |= ~DBGAFR_SWJCFG_MASK;
}
if (enable)
tmpreg |= (tmp << ((remap >> 0x15) * 0x10));
if ((remap & 0x80000000) == 0x80000000)
AFIO->MAPR2 = tmpreg;
else
AFIO->MAPR = tmpreg;
}

74
src/main/drivers/gpio_stm32f30x.c
View File

@ -1,74 +0,0 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "drivers/gpio.h"
#define MODE_OFFSET 0
#define PUPD_OFFSET 2
#define OUTPUT_OFFSET 4
#define MODE_MASK ((1|2) << MODE_OFFSET)
#define PUPD_MASK ((1|2) << PUPD_OFFSET)
#define OUTPUT_MASK ((1|2) << OUTPUT_OFFSET)
//#define GPIO_Speed_10MHz GPIO_Speed_Level_1 Fast Speed:10MHz
//#define GPIO_Speed_2MHz GPIO_Speed_Level_2 Medium Speed:2MHz
//#define GPIO_Speed_50MHz GPIO_Speed_Level_3 High Speed:50MHz
void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config)
{
GPIO_InitTypeDef GPIO_InitStructure;
uint32_t pinIndex;
for (pinIndex = 0; pinIndex < 16; pinIndex++) {
// are we doing this pin?
uint32_t pinMask = (0x1 << pinIndex);
if (config->pin & pinMask) {
GPIO_InitStructure.GPIO_Pin = pinMask;
GPIO_InitStructure.GPIO_Mode = (config->mode & MODE_MASK) >> MODE_OFFSET;
GPIOSpeed_TypeDef speed = GPIO_Speed_10MHz;
switch (config->speed) {
case Speed_10MHz:
speed = GPIO_Speed_Level_1;
break;
case Speed_2MHz:
speed = GPIO_Speed_Level_2;
break;
case Speed_50MHz:
speed = GPIO_Speed_Level_3;
break;
}
GPIO_InitStructure.GPIO_Speed = speed;
GPIO_InitStructure.GPIO_OType = (config->mode & OUTPUT_MASK) >> OUTPUT_OFFSET;
GPIO_InitStructure.GPIO_PuPd = (config->mode & PUPD_MASK) >> PUPD_OFFSET;
GPIO_Init(gpio, &GPIO_InitStructure);
}
}
}
void gpioExtiLineConfig(uint8_t portsrc, uint8_t pinsrc)
{
SYSCFG_EXTILineConfig(portsrc, pinsrc);
}

76
src/main/drivers/gpio_stm32f4xx.c
View File

@ -1,76 +0,0 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "build/build_config.h"
#include "drivers/gpio.h"
#define MODE_OFFSET 0
#define PUPD_OFFSET 2
#define OUTPUT_OFFSET 4
#define MODE_MASK ((1|2))
#define PUPD_MASK ((1|2))
#define OUTPUT_MASK ((1|2))
//#define GPIO_Speed_10MHz GPIO_Speed_Level_1 Fast Speed:10MHz
//#define GPIO_Speed_2MHz GPIO_Speed_Level_2 Medium Speed:2MHz
//#define GPIO_Speed_50MHz GPIO_Speed_Level_3 High Speed:50MHz
void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config)
{
GPIO_InitTypeDef GPIO_InitStructure;
uint32_t pinIndex;
for (pinIndex = 0; pinIndex < 16; pinIndex++) {
// are we doing this pin?
uint32_t pinMask = (0x1 << pinIndex);
if (config->pin & pinMask) {
GPIO_InitStructure.GPIO_Pin = pinMask;
GPIO_InitStructure.GPIO_Mode = (config->mode >> MODE_OFFSET) & MODE_MASK;
GPIOSpeed_TypeDef speed = GPIO_Medium_Speed;
switch (config->speed) {
case Speed_10MHz:
speed = GPIO_Medium_Speed;
break;
case Speed_2MHz:
speed = GPIO_Low_Speed;
break;
case Speed_50MHz:
speed = GPIO_Fast_Speed;
break;
}
GPIO_InitStructure.GPIO_Speed = speed;
GPIO_InitStructure.GPIO_OType = (config->mode >> OUTPUT_OFFSET) & OUTPUT_MASK;
GPIO_InitStructure.GPIO_PuPd = (config->mode >> PUPD_OFFSET) & PUPD_MASK;
GPIO_Init(gpio, &GPIO_InitStructure);
}
}
}
void gpioExtiLineConfig(uint8_t portsrc, uint8_t pinsrc)
{
SYSCFG_EXTILineConfig(portsrc, pinsrc);
}

69
src/main/drivers/gpio_stm32f7xx.c
View File

@ -1,69 +0,0 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "drivers/gpio.h"
#define MODE_OFFSET 0
#define PUPD_OFFSET 5
#define MODE_MASK ((1|2|16))
#define PUPD_MASK ((1|2))
void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config)
{
GPIO_InitTypeDef GPIO_InitStructure;
uint32_t pinIndex;
for (pinIndex = 0; pinIndex < 16; pinIndex++) {
// are we doing this pin?
uint32_t pinMask = (0x1 << pinIndex);
if (config->pin & pinMask) {
GPIO_InitStructure.Pin = pinMask;
GPIO_InitStructure.Mode = (config->mode >> MODE_OFFSET) & MODE_MASK;
uint32_t speed = GPIO_SPEED_FREQ_MEDIUM;
switch (config->speed) {
case Speed_10MHz:
speed = GPIO_SPEED_FREQ_MEDIUM;
break;
case Speed_2MHz:
speed = GPIO_SPEED_FREQ_LOW;
break;
case Speed_50MHz:
speed = GPIO_SPEED_FREQ_HIGH;
break;
}
GPIO_InitStructure.Speed = speed;
GPIO_InitStructure.Pull = (config->mode >> PUPD_OFFSET) & PUPD_MASK;
HAL_GPIO_Init(gpio, &GPIO_InitStructure);
}
}
}
void gpioExtiLineConfig(uint8_t portsrc, uint8_t pinsrc)
{
(void)portsrc;
(void)pinsrc;
//SYSCFG_EXTILineConfig(portsrc, pinsrc);
}

53
src/main/drivers/io.c
View File

@ -156,10 +156,12 @@ bool IORead(IO_t io)
{
if (!io)
return false;
#if defined(USE_HAL_DRIVER)
return !! HAL_GPIO_ReadPin(IO_GPIO(io),IO_Pin(io));
#if defined(USE_LOWLEVEL_DRIVER)
return (LL_GPIO_ReadInputPort(IO_GPIO(io)) & IO_Pin(io));
#elif defined(USE_HAL_DRIVER)
return HAL_GPIO_ReadPin(IO_GPIO(io), IO_Pin(io));
#else
return !! (IO_GPIO(io)->IDR & IO_Pin(io));
return (IO_GPIO(io)->IDR & IO_Pin(io));
#endif
}
@ -167,7 +169,9 @@ void IOWrite(IO_t io, bool hi)
{
if (!io)
return;
#if defined(USE_HAL_DRIVER)
#if defined(USE_LOWLEVEL_DRIVER)
LL_GPIO_SetOutputPin(IO_GPIO(io), IO_Pin(io) << (hi ? 0 : 16));
#elif defined(USE_HAL_DRIVER)
if (hi) {
HAL_GPIO_WritePin(IO_GPIO(io),IO_Pin(io),GPIO_PIN_SET);
}
@ -190,7 +194,9 @@ void IOHi(IO_t io)
{
if (!io)
return;
#if defined(USE_HAL_DRIVER)
#if defined(USE_LOWLEVEL_DRIVER)
LL_GPIO_SetOutputPin(IO_GPIO(io), IO_Pin(io));
#elif defined(USE_HAL_DRIVER)
HAL_GPIO_WritePin(IO_GPIO(io),IO_Pin(io),GPIO_PIN_SET);
#elif defined(STM32F4)
IO_GPIO(io)->BSRRL = IO_Pin(io);
@ -203,7 +209,9 @@ void IOLo(IO_t io)
{
if (!io)
return;
#if defined(USE_HAL_DRIVER)
#if defined(USE_LOWLEVEL_DRIVER)
LL_GPIO_ResetOutputPin(IO_GPIO(io), IO_Pin(io));
#elif defined(USE_HAL_DRIVER)
HAL_GPIO_WritePin(IO_GPIO(io),IO_Pin(io),GPIO_PIN_RESET);
#elif defined(STM32F4)
IO_GPIO(io)->BSRRH = IO_Pin(io);
@ -216,11 +224,16 @@ void IOToggle(IO_t io)
{
if (!io)
return;
uint32_t mask = IO_Pin(io);
// Read pin state from ODR but write to BSRR because it only changes the pins
// high in the mask value rather than all pins. XORing ODR directly risks
// setting other pins incorrectly because it change all pins' state.
#if defined(USE_HAL_DRIVER)
#if defined(USE_LOWLEVEL_DRIVER)
if (LL_GPIO_ReadOutputPort(IO_GPIO(io)) & mask)
mask <<= 16; // bit is set, shift mask to reset half
LL_GPIO_SetOutputPin(IO_GPIO(io), mask);
#elif defined(USE_HAL_DRIVER)
(void)mask;
HAL_GPIO_TogglePin(IO_GPIO(io),IO_Pin(io));
#elif defined(STM32F4)
@ -284,18 +297,7 @@ void IOConfigGPIO(IO_t io, ioConfig_t cfg)
void IOConfigGPIO(IO_t io, ioConfig_t cfg)
{
if (!io)
return;
rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
RCC_ClockCmd(rcc, ENABLE);
GPIO_InitTypeDef init = {
.Pin = IO_Pin(io),
.Mode = (cfg >> 0) & 0x13,
.Speed = (cfg >> 2) & 0x03,
.Pull = (cfg >> 5) & 0x03,
};
HAL_GPIO_Init(IO_GPIO(io), &init);
IOConfigGPIOAF(io, cfg, 0);
}
void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af)
@ -305,6 +307,17 @@ void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af)
rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
RCC_ClockCmd(rcc, ENABLE);
#if defined(USE_LOWLEVEL_DRIVER)
LL_GPIO_InitTypeDef init = {
.Pin = IO_Pin(io),
.Mode = (cfg >> 0) & 0x13,
.Speed = (cfg >> 2) & 0x03,
.Pull = (cfg >> 5) & 0x03,
.Alternate = af
};
LL_GPIO_Init(IO_GPIO(io), &init);
#else
GPIO_InitTypeDef init = {
.Pin = IO_Pin(io),
.Mode = (cfg >> 0) & 0x13,
@ -313,7 +326,9 @@ void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af)
.Alternate = af
};
HAL_GPIO_Init(IO_GPIO(io), &init);
#endif
}
#elif defined(STM32F3) || defined(STM32F4)
void IOConfigGPIO(IO_t io, ioConfig_t cfg)

1
src/main/drivers/rx_spi.c
View File

@ -30,7 +30,6 @@
#include "drivers/bus_spi.h"
#include "bus_spi_soft.h"
#include "drivers/gpio.h"
#include "drivers/io.h"
#include "io_impl.h"
#include "rcc.h"

1
src/main/drivers/serial_uart.c
View File

@ -33,7 +33,6 @@
#include "common/utils.h"
#include "drivers/dma.h"
#include "drivers/gpio.h"
#include "drivers/inverter.h"
#include "drivers/nvic.h"
#include "drivers/rcc.h"

1
src/main/drivers/serial_uart_init.c
View File

@ -34,7 +34,6 @@
#include "build/build_config.h"
#include "common/utils.h"
#include "drivers/gpio.h"
#include "drivers/inverter.h"
#include "drivers/rcc.h"

1
src/main/drivers/system.c
View File

@ -20,7 +20,6 @@
#include "platform.h"
#include "drivers/gpio.h"
#include "light_led.h"
#include "sound_beeper.h"
#include "drivers/nvic.h"

27
src/main/drivers/system_stm32f10x.c
View File

@ -20,7 +20,6 @@
#include "platform.h"
#include "drivers/gpio.h"
#include "drivers/nvic.h"
#include "drivers/system.h"
@ -48,13 +47,14 @@ void enableGPIOPowerUsageAndNoiseReductions(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC, ENABLE);
gpio_config_t gpio;
GPIO_InitTypeDef GPIO_InitStructure = {
.GPIO_Mode = GPIO_Mode_AIN,
.GPIO_Pin = GPIO_Pin_All
};
gpio.mode = Mode_AIN;
gpio.pin = Pin_All;
gpioInit(GPIOA, &gpio);
gpioInit(GPIOB, &gpio);
gpioInit(GPIOC, &gpio);
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_Init(GPIOC, &GPIO_InitStructure);
}
bool isMPUSoftReset(void)
@ -91,13 +91,14 @@ void systemInit(void)
// Set USART1 TX (PA9) to output and high state to prevent a rs232 break condition on reset.
// See issue https://github.com/cleanflight/cleanflight/issues/1433
gpio_config_t gpio;
GPIO_InitTypeDef GPIO_InitStructure = {
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz
};
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpio.pin = Pin_9;
digitalHi(GPIOA, gpio.pin);
gpioInit(GPIOA, &gpio);
GPIOA->BSRR = GPIO_InitStructure.GPIO_Pin;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// Turn off JTAG port 'cause we're using the GPIO for leds
#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24)

25
src/main/drivers/system_stm32f30x.c
View File

@ -20,7 +20,6 @@
#include "platform.h"
#include "drivers/gpio.h"
#include "drivers/nvic.h"
#include "drivers/system.h"
@ -56,19 +55,21 @@ void enableGPIOPowerUsageAndNoiseReductions(void)
ENABLE
);
gpio_config_t gpio;
GPIO_InitTypeDef GPIO_InitStructure = {
.GPIO_Mode = GPIO_Mode_AN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL
};
gpio.mode = Mode_AIN;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All & ~(GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15); // Leave JTAG pins alone
GPIO_Init(GPIOA, &GPIO_InitStructure);
gpio.pin = Pin_All & ~(Pin_13 | Pin_14 | Pin_15); // Leave JTAG pins alone
gpioInit(GPIOA, &gpio);
gpio.pin = Pin_All;
gpioInit(GPIOB, &gpio);
gpioInit(GPIOC, &gpio);
gpioInit(GPIOD, &gpio);
gpioInit(GPIOE, &gpio);
gpioInit(GPIOF, &gpio);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_Init(GPIOF, &GPIO_InitStructure);
}
bool isMPUSoftReset(void)

3
src/main/platform.h
View File

@ -25,6 +25,9 @@
#include "stm32f7xx.h"
#include "stm32f7xx_hal.h"
#include "stm32f7xx_ll_spi.h"
#include "stm32f7xx_ll_gpio.h"
// Chip Unique ID on F7
#if defined(STM32F722xx)
#define U_ID_0 (*(uint32_t*)0x1ff07a10)

1
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -23,7 +23,6 @@
#include "drivers/serial.h"
#include "drivers/bus_i2c.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/timer.h"

31
src/main/target/RACEBASE/hardware_revision.c
View File

@ -27,7 +27,6 @@
#include "drivers/bus_spi.h"
#include "drivers/sensor.h"
#include "drivers/io.h"
#include "drivers/gpio.h"
#include "drivers/exti.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
@ -39,29 +38,23 @@ uint8_t hardwareRevision = 1;
void detectHardwareRevision(void)
{
gpio_config_t gpio;
GPIO_InitTypeDef GPIO_InitStructure = {
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_Speed = GPIO_Speed_2MHz
};
// GYRO CS as output
gpio.pin = GPIO_Pin_5;
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpioInit(GPIOB, &gpio);
GPIO_SetBits(GPIOB, GPIO_Pin_5);
GPIO_InitStructure.GPIO_Pin = (GPIO_Pin_5 | GPIO_Pin_12);
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_SetBits(GPIOB, GPIO_InitStructure.GPIO_Pin);
gpio.pin = GPIO_Pin_7;
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpioInit(GPIOA, &gpio);
GPIO_SetBits(GPIOA, GPIO_Pin_7);
gpio.pin = GPIO_Pin_12;
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpioInit(GPIOB, &gpio);
GPIO_SetBits(GPIOB, GPIO_Pin_12);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_SetBits(GPIOA, GPIO_InitStructure.GPIO_Pin);
}
void updateHardwareRevision(void)
{

1
src/main/target/stm32f7xx_hal_conf.h
View File

@ -370,7 +370,6 @@
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32f7xx_hal_spi.h"
#include "stm32f7xx_ll_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED