*
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/**
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******************************************************************************
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* File Name : gpio.c
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* Description : This file provides code for the configuration
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* of all used GPIO pins.
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******************************************************************************
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* This notice applies to any and all portions of this file
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* that are not between comment pairs USER CODE BEGIN and
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* USER CODE END. Other portions of this file, whether
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* inserted by the user or by software development tools
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* are owned by their respective copyright owners.
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*
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* Copyright (c) 2018 STMicroelectronics International N.V.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted, provided that the following conditions are met:
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*
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* 1. Redistribution of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of other
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* contributors to this software may be used to endorse or promote products
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* derived from this software without specific written permission.
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* 4. This software, including modifications and/or derivative works of this
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* software, must execute solely and exclusively on microcontroller or
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* microprocessor devices manufactured by or for STMicroelectronics.
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* 5. Redistribution and use of this software other than as permitted under
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* this license is void and will automatically terminate your rights under
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* this license.
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*
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* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
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* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
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* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
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* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "gpio.h"
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/* USER CODE BEGIN 0 */
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#include <stdbool.h>
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#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 1 \
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|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 2
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#include "prev_board_ver/gpio_V3_2.c"
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#elif HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 3 \
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|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 4
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#include "prev_board_ver/gpio_V3_4.c"
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#else
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/* USER CODE END 0 */
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/*----------------------------------------------------------------------------*/
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/* Configure GPIO */
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/*----------------------------------------------------------------------------*/
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/** Configure pins as
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* Analog
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* Input
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* Output
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* EVENT_OUT
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* EXTI
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*/
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void MX_GPIO_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStruct;
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOH_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOD_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOC, M0_nCS_Pin|M1_nCS_Pin, GPIO_PIN_SET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(EN_GATE_GPIO_Port, EN_GATE_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pins : PCPin PCPin */
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GPIO_InitStruct.Pin = M0_nCS_Pin|M1_nCS_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/*Configure GPIO pins : PCPin PCPin PCPin */
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GPIO_InitStruct.Pin = M1_ENC_Z_Pin|GPIO_5_Pin|M0_ENC_Z_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/*Configure GPIO pins : PBPin PBPin */
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GPIO_InitStruct.Pin = GPIO_6_Pin|GPIO_8_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/*Configure GPIO pin : PtPin */
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GPIO_InitStruct.Pin = EN_GATE_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pin : PtPin */
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GPIO_InitStruct.Pin = GPIO_7_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIO_7_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pin : PtPin */
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GPIO_InitStruct.Pin = nFAULT_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
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}
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/* USER CODE BEGIN 2 */
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#endif // End GPIO Include
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// @brief Returns the IRQ number associated with a certain pin.
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// Note that all GPIOs with the same pin number map to the same IRQn,
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// no matter which port they belong to.
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IRQn_Type get_irq_number(uint16_t pin) {
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uint16_t pin_number = 0;
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pin >>= 1;
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while (pin) {
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pin >>= 1;
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pin_number++;
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}
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switch (pin_number) {
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case 0: return EXTI0_IRQn;
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case 1: return EXTI1_IRQn;
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case 2: return EXTI2_IRQn;
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case 3: return EXTI3_IRQn;
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case 4: return EXTI4_IRQn;
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case 5:
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case 6:
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case 7:
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case 8:
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case 9: return EXTI9_5_IRQn;
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case 10:
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case 11:
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case 12:
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case 13:
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case 14:
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case 15: return EXTI15_10_IRQn;
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default: return 0; // impossible
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}
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}
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// @brief Puts the GPIO's 1 and 2 into UART mode.
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// This will disable any interrupt subscribers of these GPIOs.
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void SetGPIO12toUART() {
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GPIO_InitTypeDef GPIO_InitStruct;
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// make sure nothing is hogging the GPIO's
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GPIO_unsubscribe(GPIO_1_GPIO_Port, GPIO_1_Pin);
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GPIO_unsubscribe(GPIO_2_GPIO_Port, GPIO_2_Pin);
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GPIO_InitStruct.Pin = GPIO_1_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_PULLDOWN;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
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HAL_GPIO_Init(GPIO_1_GPIO_Port, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = GPIO_2_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
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HAL_GPIO_Init(GPIO_2_GPIO_Port, &GPIO_InitStruct);
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}
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// Expected subscriptions: 2x step signal + 2x encoder index signal
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#define MAX_SUBSCRIPTIONS 10
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struct subscription_t {
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GPIO_TypeDef* GPIO_port;
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uint16_t GPIO_pin;
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void (*callback)(void*);
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void* ctx;
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} subscriptions[MAX_SUBSCRIPTIONS] = { 0 };
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size_t n_subscriptions = 0;
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// Sets up the specified GPIO to trigger the specified callback
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// on a rising edge of the GPIO.
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// @param pull_up_down: one of GPIO_NOPULL, GPIO_PULLUP or GPIO_PULLDOWN
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bool GPIO_subscribe(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin,
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uint32_t pull_up_down, void (*callback)(void*), void* ctx) {
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// Register handler (or reuse existing registration)
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// TODO: make thread safe
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struct subscription_t* subscription = NULL;
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for (size_t i = 0; i < n_subscriptions; ++i) {
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if (subscriptions[i].GPIO_port == GPIO_port &&
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subscriptions[i].GPIO_pin == GPIO_pin)
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subscription = &subscriptions[i];
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}
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if (!subscription) {
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if (n_subscriptions >= MAX_SUBSCRIPTIONS)
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return false;
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subscription = &subscriptions[n_subscriptions++];
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}
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*subscription = (struct subscription_t){
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.GPIO_port = GPIO_port,
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.GPIO_pin = GPIO_pin,
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.callback = callback,
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.ctx = ctx
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};
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// Set up GPIO
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GPIO_InitTypeDef GPIO_InitStruct;
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GPIO_InitStruct.Pin = GPIO_pin;
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GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
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GPIO_InitStruct.Pull = pull_up_down;
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HAL_GPIO_Init(GPIO_port, &GPIO_InitStruct);
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// Clear any previous triggers
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__HAL_GPIO_EXTI_CLEAR_IT(GPIO_pin);
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// Enable interrupt
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HAL_NVIC_SetPriority(get_irq_number(GPIO_pin), 0, 0);
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HAL_NVIC_EnableIRQ(get_irq_number(GPIO_pin));
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return true;
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}
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void GPIO_unsubscribe(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin) {
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bool is_pin_in_use = false;
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for (size_t i = 0; i < n_subscriptions; ++i) {
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if (subscriptions[i].GPIO_port == GPIO_port &&
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subscriptions[i].GPIO_pin == GPIO_pin) {
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subscriptions[i].callback = NULL;
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subscriptions[i].ctx = NULL;
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} else if (subscriptions[i].GPIO_pin == GPIO_pin) {
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is_pin_in_use = true;
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}
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}
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if (!is_pin_in_use)
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HAL_NVIC_DisableIRQ(get_irq_number(GPIO_pin));
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}
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// @brief Configures the specified GPIO as an analog input.
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// This disables any subscriptions that were active for this pin.
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void GPIO_set_to_analog(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin) {
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GPIO_InitTypeDef GPIO_InitStruct;
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GPIO_unsubscribe(GPIO_port, GPIO_pin);
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GPIO_InitStruct.Pin = GPIO_pin;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIO_port, &GPIO_InitStruct);
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}
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//Dispatch processing of external interrupts based on source
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_pin) {
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for (size_t i = 0; i < n_subscriptions; ++i) {
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if (subscriptions[i].GPIO_pin == GPIO_pin) // TODO: check for port
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if (subscriptions[i].callback)
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subscriptions[i].callback(subscriptions[i].ctx);
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}
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}
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/* USER CODE END 2 */
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/**
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* @}
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*/
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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