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Code Issues Wiki Activity

Move STM (and clone) specific IO initialisation to platform (#14123)

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* Move stm (and clone) specific io initialisation to platform

* Removed unused includes and implemented get by tag for SITL

* Update sitl.c

Corrected return value

* Update io_impl.c

Corrected licence file
This commit is contained in:
Jay Blackman 2025-01-06 04:51:45 +11:00 • committed by GitHub
parent 926c21ce7d
commit d82cd5a28a
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
6 changed files with 87 additions and 45 deletions
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44
src/main/drivers/io.c
View file

@ -129,14 +129,6 @@ bool IOIsFreeOrPreinit(IO_t io)
return false;
}
#if DEFIO_PORT_USED_COUNT > 0
static const uint16_t ioDefUsedMask[DEFIO_PORT_USED_COUNT] = { DEFIO_PORT_USED_LIST };
static const uint8_t ioDefUsedOffset[DEFIO_PORT_USED_COUNT] = { DEFIO_PORT_OFFSET_LIST };
#else
// Avoid -Wpedantic warning
static const uint16_t ioDefUsedMask[1] = {0};
static const uint8_t ioDefUsedOffset[1] = {0};
#endif
#if DEFIO_IO_USED_COUNT
ioRec_t ioRecs[DEFIO_IO_USED_COUNT];
#else
@ -144,42 +136,6 @@ ioRec_t ioRecs[DEFIO_IO_USED_COUNT];
ioRec_t ioRecs[1];
#endif
// initialize all ioRec_t structures from ROM
// currently only bitmask is used, this may change in future
void IOInitGlobal(void)
{
ioRec_t *ioRec = ioRecs;
for (unsigned port = 0; port < ARRAYLEN(ioDefUsedMask); port++) {
for (unsigned pin = 0; pin < sizeof(ioDefUsedMask[0]) * 8; pin++) {
if (ioDefUsedMask[port] & (1 << pin)) {
ioRec->gpio = (GPIO_TypeDef *)(GPIOA_BASE + (port << 10)); // ports are 0x400 apart
ioRec->pin = 1 << pin;
ioRec++;
}
}
}
}
IO_t IOGetByTag(ioTag_t tag)
{
const int portIdx = DEFIO_TAG_GPIOID(tag);
const int pinIdx = DEFIO_TAG_PIN(tag);
if (portIdx < 0 || portIdx >= DEFIO_PORT_USED_COUNT) {
return NULL;
}
// check if pin exists
if (!(ioDefUsedMask[portIdx] & (1 << pinIdx))) {
return NULL;
}
// count bits before this pin on single port
int offset = popcount(((1 << pinIdx) - 1) & ioDefUsedMask[portIdx]);
// and add port offset
offset += ioDefUsedOffset[portIdx];
return ioRecs + offset;
}
void IOTraversePins(IOTraverseFuncPtr_t fnPtr)
{
for (int i = 0; i < DEFIO_IO_USED_COUNT; i++) {

1
src/platform/APM32/mk/APM32F4.mk
View file

@ -147,6 +147,7 @@ endif
MCU_COMMON_SRC = \
common/stm32/system.c \
common/stm32/io_impl.c \
APM32/startup/system_apm32f4xx.c \
drivers/inverter.c \
drivers/dshot_bitbang_decode.c \

1
src/platform/AT32/mk/AT32F4.mk
View file

@ -82,6 +82,7 @@ DEVICE_FLAGS += -DUSE_ATBSP_DRIVER -DAT32F43x -DHSE_VALUE=$(HSE_VALUE) -DAT32
MCU_COMMON_SRC = \
common/stm32/system.c \
common/stm32/io_impl.c \
AT32/startup/at32f435_437_clock.c \
AT32/startup/system_at32f435_437.c \
AT32/adc_at32f43x.c \

11
src/platform/SIMULATOR/sitl.c
View file

@ -757,3 +757,14 @@ void IOLo(IO_t io)
{
UNUSED(io);
}
void IOInitGlobal(void)
{
// NOOP
}
IO_t IOGetByTag(ioTag_t tag)
{
UNUSED(tag);
return NULL;
}

5
src/platform/STM32/mk/STM32_COMMON.mk
View file

@ -4,9 +4,12 @@ INCLUDE_DIRS += $(PLATFORM_DIR)/common/stm32
MCU_COMMON_SRC += \
common/stm32/bus_spi_pinconfig.c \
common/stm32/bus_spi_hw.c \
common/stm32/io_impl.c
SIZE_OPTIMISED_SRC += \
common/stm32/bus_spi_pinconfig.c
SPEED_OPTIMISED_SRC += \
common/stm32/bus_spi_hw.c
common/stm32/bus_spi_hw.c \
common/stm32/io_impl.c

70
src/platform/common/stm32/io_impl.c Normal file
View file

@ -0,0 +1,70 @@
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software 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.
*
* Betaflight 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include "platform.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#if DEFIO_PORT_USED_COUNT > 0
static const uint16_t ioDefUsedMask[DEFIO_PORT_USED_COUNT] = { DEFIO_PORT_USED_LIST };
static const uint8_t ioDefUsedOffset[DEFIO_PORT_USED_COUNT] = { DEFIO_PORT_OFFSET_LIST };
#else
// Avoid -Wpedantic warning
static const uint16_t ioDefUsedMask[1] = {0};
static const uint8_t ioDefUsedOffset[1] = {0};
#endif
// initialize all ioRec_t structures from ROM
// currently only bitmask is used, this may change in future
void IOInitGlobal(void)
{
ioRec_t *ioRec = ioRecs;
for (unsigned port = 0; port < ARRAYLEN(ioDefUsedMask); port++) {
for (unsigned pin = 0; pin < sizeof(ioDefUsedMask[0]) * 8; pin++) {
if (ioDefUsedMask[port] & (1 << pin)) {
ioRec->gpio = (GPIO_TypeDef *)(GPIOA_BASE + (port << 10)); // ports are 0x400 apart
ioRec->pin = 1 << pin;
ioRec++;
}
}
}
}
IO_t IOGetByTag(ioTag_t tag)
{
const int portIdx = DEFIO_TAG_GPIOID(tag);
const int pinIdx = DEFIO_TAG_PIN(tag);
if (portIdx < 0 || portIdx >= DEFIO_PORT_USED_COUNT) {
return NULL;
}
// check if pin exists
if (!(ioDefUsedMask[portIdx] & (1 << pinIdx))) {
return NULL;
}
// count bits before this pin on single port
int offset = popcount(((1 << pinIdx) - 1) & ioDefUsedMask[portIdx]);
// and add port offset
offset += ioDefUsedOffset[portIdx];
return ioRecs + offset;
}