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[gpio] Runtime GPIO with virtual interface #631

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33 changes: 24 additions & 9 deletions examples/stm32f3_discovery/blink/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,30 +15,45 @@

using namespace Board;

RtGpio north = Board::LedNorth();
RtGpio northEast = Board::LedNorthEast();
RtGpio east = Board::LedEast();
RtGpio southEast = Board::LedSouthEast();
RtGpio south = Board::LedSouth();
RtGpio southWest = Board::LedSouthWest();
RtGpio west = Board::LedWest();
RtGpio northWest = Board::LedNorthWest();

modm::Gpio &gnorth = north;

int
main()
{
Board::initialize();

Board::LedNorth::set();
using Config = modm::Gpio::Config;
gnorth.configure(Config::Output | Config::OpenDrain |
Config::PullUp | Config::SpeedLow |
Config::LogicInverted);
gnorth.set(true);

while (true)
{
Board::LedNorth::toggle();
north.toggle();
modm::delay(100ms);
Board::LedNorthEast::toggle();
northEast.toggle();
modm::delay(100ms);
Board::LedEast::toggle();
east.toggle();
modm::delay(100ms);
Board::LedSouthEast::toggle();
southEast.toggle();
modm::delay(100ms);
Board::LedSouth::toggle();
south.toggle();
modm::delay(100ms);
Board::LedSouthWest::toggle();
southWest.toggle();
modm::delay(100ms);
Board::LedWest::toggle();
west.toggle();
modm::delay(100ms);
Board::LedNorthWest::toggle();
northWest.toggle();
modm::delay(100ms);
}

Expand Down
41 changes: 37 additions & 4 deletions src/modm/architecture/interface/gpio.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,18 +10,19 @@
*/
// ----------------------------------------------------------------------------

#ifndef MODM_GPIO_HPP
#define MODM_GPIO_HPP
#pragma once

#include <stdint.h>
#include <modm/architecture/utils.hpp>
#include <modm/architecture/interface/register.hpp>

namespace modm
{

/// @ingroup modm_architecture_gpio
struct Gpio
class Gpio
{
public:
/**
* These constants refer to the *logical* state of the GPIO.
* The physical state is determined by the configuration and external connection.
Expand All @@ -40,6 +41,39 @@ struct Gpio
InOut = 2, //< GPIO is both Input and Output
Special = 3, //< GPIO is configured with a special purpose
};

// Delegate to the platform for the Config_t implementation
#include <modm/platform/gpio/config.hpp>

public:
virtual ~Gpio() {};

// Config methods
virtual void
configure(Config_t config) = 0;

// Input methods
virtual bool
read() const = 0;

// Output methods
virtual void
set(bool value) = 0;

virtual bool
isSet() const = 0;

virtual void
toggle()
{ set(not isSet()); }

inline void
set()
{ set(true); }

inline void
reset()
{ set(false); }
};

/**
Expand Down Expand Up @@ -187,4 +221,3 @@ class GpioPort

} // namespace modm

#endif // MODM_GPIO_HPP
93 changes: 93 additions & 0 deletions src/modm/platform/gpio/stm32/config.hpp.in
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@@ -0,0 +1,93 @@
/*
* Copyright (c) 2016-2018, Niklas Hauser
*
* This file is part of the modm project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
// ----------------------------------------------------------------------------

#pragma once

enum class
Config : uint32_t
{
/// @cond
_Mode = 0x8000'0000,
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@chris-durand chris-durand May 15, 2021 •
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Identifiers starting with _ + upper case letters are reserved in C++ for the standard library implementation.

_ModeMaskAf = 0x0000'000f,
_ModeShiftAf = 0,
_ModeMask = 0x0000'0030,
_ModeShift = 4,
_Alternate = 0x20 | _Mode,

_Input = 0x4000'0000,
_InputMask = 0x0000'0f00,
_InputShift = 8,

_Output = 0x2000'0000,
_OutputMask = 0x0000'f000,
_OutputShift = 12,

_Speed = 0x1000'0000,
_SpeedMask = 0x0003'0000,
_SpeedShift = 16,

_Logic = 0x0800'0000,
_LogicMask = 0x0010'0000,
_LogicShift = 20,
/// @endcond

Input = 0x00 | _Mode,
Output = 0x10 | _Mode,
%% if target["family"] in ["f1"]
Alternate = 0x20 | _Mode,
%% endif
Analog = 0x30 | _Mode,

%% if target["family"] in ["f1"]
Floating = 0x400 | _Input,
PullUp = 0x900 | _Input,
PullDown = 0x800 | _Input,
%% else
Floating = 0x000 | _Input,
PullUp = 0x100 | _Input,
PullDown = 0x200 | _Input,
%% endif

PushPull = 0x0000 | _Output,
%% if target["family"] in ["f1"]
OpenDrain = 0x4000 | _Output,
%% else
OpenDrain = 0x1000 | _Output,
%% endif

%% if target["family"] in ["f1"]
SpeedLow = 0x2'0000 | _Speed,
SpeedMedium = 0x1'0000 | _Speed,
SpeedHigh = 0x3'0000 | _Speed,
SpeedVeryHigh = 0x3'0000 | _Speed,
%% elif target["family"] in ["f0", "f3"]
SpeedLow = 0x0'0000 | _Speed,
SpeedMedium = 0x1'0000 | _Speed,
SpeedHigh = 0x3'0000 | _Speed,
SpeedVeryHigh = 0x3'0000 | _Speed,
%% else
SpeedLow = 0x0'0000 | _Speed,
SpeedMedium = 0x1'0000 | _Speed,
SpeedHigh = 0x2'0000 | _Speed,
SpeedVeryHigh = 0x3'0000 | _Speed,
%% endif

LogicNormal = 0x00'0000 | _Logic,
LogicInverted = 0x10'0000 | _Logic,
};
MODM_FLAGS32(Config);

%% if target["family"] not in ["f1"]
static constexpr Config_t
ConfigAlternate(uint8_t af)
{ return Config::_Mode | Config(0x20 | (af & 0xf)); }
%% endif

1 change: 1 addition & 0 deletions src/modm/platform/gpio/stm32/module.lb
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Expand Up @@ -300,6 +300,7 @@ def build(env):
if "f1" in driver["type"]:
env.template("connector_specialized.hpp.in", filters={"formatPeripheral": get_driver, "printSignalMap": print_remap_group_table})
env.template("base.hpp.in")
env.template("config.hpp.in")
env.template("unused.hpp.in")
if len(env["enable_ports"]):
env.template("enable.cpp.in")
Expand Down
25 changes: 24 additions & 1 deletion src/modm/platform/gpio/stm32/pin.hpp.in
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ using GpioInput{{ port ~ pin }} = Gpio{{ port ~ pin }};

/// IO class for Pin {{port ~ pin}}
/// @ingroup modm_platform_gpio
class Gpio{{ port ~ pin }} : public Gpio, public ::modm::GpioIO
class Gpio{{ port ~ pin }} : public Gpio
{
template<class... Gpios>
friend class GpioSet;
Expand All @@ -40,10 +40,14 @@ class Gpio{{ port ~ pin }} : public Gpio, public ::modm::GpioIO
friend class Adc1; friend class Adc2;
friend class Adc3; friend class Adc4;
public:
using Direction = ::modm::Gpio::Direction;
using Config = ::modm::Gpio::Config;
using Config_t = ::modm::Gpio::Config_t;
using Output = Gpio{{ port ~ pin }};
using Input = Gpio{{ port ~ pin }};
using IO = Gpio{{ port ~ pin }};
using Type = Gpio{{ port ~ pin }};
static constexpr Direction direction = Direction::InOut;
static constexpr bool isInverted = false;
static constexpr Port port = Port::{{port}}; ///< Port name
static constexpr uint8_t pin = {{pin}}; ///< Pin number
Expand Down Expand Up @@ -85,6 +89,24 @@ public:
};
%% endif

inline static void configure(Config_t config)
{
if (config & Config::_Input)
configure(InputType( (config & Config::_InputMask).value >> uint8_t(Config::_InputShift) ));
if (config & Config::_Output)
configure(OutputType( (config & Config::_OutputMask).value >> uint8_t(Config::_OutputShift) ),
(config & Config::_Speed) ? OutputSpeed( (config & Config::_SpeedMask).value >>
uint8_t(Config::_SpeedShift) ) :
OutputSpeed::MHz50); else
if (config & Config::_Speed)
configure(OutputSpeed( (config & Config::_SpeedMask).value >> uint8_t(Config::_SpeedShift) ));

if (config & Config::Input) setInput(); else
if (config & Config::Output) setOutput(); else
if (config & Config::Analog) setAnalogInput(); else
if (config & Config::_Alternate) setAlternateFunction(config.value);
}

public:
// GpioOutput
// start documentation inherited
Expand All @@ -99,6 +121,7 @@ public:
}
inline static bool isSet() { return ({{reg}}->ODR & mask); }
// stop documentation inherited
inline static void configure(OutputSpeed speed) { PinSet::configure(speed); }
inline static void configure(OutputType type, OutputSpeed speed = OutputSpeed::MHz50) { PinSet::configure(type, speed); }
inline static void setOutput(OutputType type, OutputSpeed speed = OutputSpeed::MHz50) { PinSet::setOutput(type, speed); }
// GpioInput
Expand Down
22 changes: 22 additions & 0 deletions src/modm/platform/gpio/stm32/pin_f1.hpp.in
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Expand Up @@ -43,10 +43,14 @@ struct Gpio{{ port ~ pin }} : public Gpio, ::modm::GpioIO
using PinSet = GpioSet<Gpio{{ port ~ pin }}>;
friend class Adc1; friend class Adc2; friend class Adc3;
public:
using Direction = ::modm::Gpio::Direction;
using Config = ::modm::Gpio::Config;
using Config_t = ::modm::Gpio::Config_t;
using Output = Gpio{{ port ~ pin }};
using Input = Gpio{{ port ~ pin }};
using IO = Gpio{{ port ~ pin }};
using Type = Gpio{{ port ~ pin }};
static constexpr Direction direction = Direction::InOut;
static constexpr bool isInverted = false;
static constexpr Port port = Port::{{port}}; ///< Port name
static constexpr uint8_t pin = {{pin}}; ///< Pin Number
Expand All @@ -67,6 +71,23 @@ public:
inline static void setAnalogInput() { PinSet::setAnalogInput(); }
/// @endcond

inline static void configure(Config_t config)
{
if (config & Config::_Input)
configure(InputType( (config & Config::_InputMask).value >> uint8_t(Config::_InputShift) ));
if (config & Config::_Output)
configure(OutputType( (config & Config::_OutputMask).value >> uint8_t(Config::_OutputShift) ),
(config & Config::_Speed) ? OutputSpeed( (config & Config::_SpeedMask).value >>
uint8_t(Config::_SpeedShift) ) :
OutputSpeed::MHz50); else
if (config & Config::_Speed)
configure(OutputSpeed( (config & Config::_SpeedMask).value >> uint8_t(Config::_SpeedShift) ));

if (config & Config::Input) setInput(); else
if (config & Config::Output) setOutput(); else
if (config & Config::Analog) setAnalogInput();
}

public:
// GpioOutput
// start documentation inherited
Expand All @@ -81,6 +102,7 @@ public:
}
inline static bool isSet() { return ({{reg}}->ODR & mask); }
// stop documentation inherited
inline static void configure(OutputSpeed speed) { PinSet::configure(speed); }
inline static void configure(OutputType type, OutputSpeed speed = OutputSpeed::MHz50) { PinSet::configure(type, speed); }
inline static void setOutput(OutputType type, OutputSpeed speed = OutputSpeed::MHz50) { PinSet::setOutput(type, speed); }
// GpioInput
Expand Down
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