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94 lines
2.6 KiB
94 lines
2.6 KiB
#define MODE_INPUT 0
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#define MODE_OUTPUT 1
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#define MODE_ALTERNATE 2
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#define MODE_ANALOG 3
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#define PULL_NONE 0
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#define PULL_UP 1
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#define PULL_DOWN 2
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#define OUTPUT_TYPE_PUSH_PULL 0U
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#define OUTPUT_TYPE_OPEN_DRAIN 1U
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void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
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ENTER_CRITICAL();
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uint32_t tmp = GPIO->MODER;
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tmp &= ~(3U << (pin * 2U));
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tmp |= (mode << (pin * 2U));
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register_set(&(GPIO->MODER), tmp, 0xFFFFFFFFU);
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EXIT_CRITICAL();
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}
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void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
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ENTER_CRITICAL();
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if (enabled) {
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register_set_bits(&(GPIO->ODR), (1UL << pin));
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} else {
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register_clear_bits(&(GPIO->ODR), (1UL << pin));
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}
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set_gpio_mode(GPIO, pin, MODE_OUTPUT);
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EXIT_CRITICAL();
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}
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void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
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ENTER_CRITICAL();
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if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
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register_set_bits(&(GPIO->OTYPER), (1UL << pin));
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} else {
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register_clear_bits(&(GPIO->OTYPER), (1U << pin));
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}
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EXIT_CRITICAL();
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}
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void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
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ENTER_CRITICAL();
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uint32_t tmp = GPIO->AFR[pin >> 3U];
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tmp &= ~(0xFU << ((pin & 7U) * 4U));
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tmp |= mode << ((pin & 7U) * 4U);
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register_set(&(GPIO->AFR[pin >> 3]), tmp, 0xFFFFFFFFU);
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set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
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EXIT_CRITICAL();
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}
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void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
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ENTER_CRITICAL();
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uint32_t tmp = GPIO->PUPDR;
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tmp &= ~(3U << (pin * 2U));
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tmp |= (mode << (pin * 2U));
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register_set(&(GPIO->PUPDR), tmp, 0xFFFFFFFFU);
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EXIT_CRITICAL();
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}
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int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin) {
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return (GPIO->IDR & (1UL << pin)) == (1UL << pin);
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}
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#ifdef PANDA_JUNGLE
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typedef struct {
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GPIO_TypeDef * const bank;
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uint8_t pin;
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} gpio_t;
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void gpio_set_all_output(gpio_t *pins, uint8_t num_pins, bool enabled) {
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for (uint8_t i = 0; i < num_pins; i++) {
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set_gpio_output(pins[i].bank, pins[i].pin, enabled);
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}
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}
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void gpio_set_bitmask(gpio_t *pins, uint8_t num_pins, uint32_t bitmask) {
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for (uint8_t i = 0; i < num_pins; i++) {
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set_gpio_output(pins[i].bank, pins[i].pin, (bitmask >> i) & 1U);
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}
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}
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#endif
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// Detection with internal pullup
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#define PULL_EFFECTIVE_DELAY 4096
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bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
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set_gpio_mode(GPIO, pin, MODE_INPUT);
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set_gpio_pullup(GPIO, pin, mode);
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for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
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bool ret = get_gpio_input(GPIO, pin);
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set_gpio_pullup(GPIO, pin, PULL_NONE);
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return ret;
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}
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