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IO Clean up and use of Low level for F7 

- Move F7 to optional LL driver for IO and
- cleaned up and removed the remaining old gpio functions from other targets
This commit is contained in:
blckmn 2017-07-28 04:03:56 +10:00
parent da46ef68a9
commit e8c4ef83d9
26 changed files with 75 additions and 541 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);
}

49
src/main/drivers/io.c
View File

@ -156,7 +156,9 @@ bool IORead(IO_t io)
{
if (!io)
return false;
#if defined(USE_HAL_DRIVER)
#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));
@ -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