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