*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,234 @@
+
+#include "stm32_gpio.hpp"
+
+#define N_EXTI 16
+
+struct subscription_t {
+    GPIO_TypeDef* port = nullptr;
+    void (*callback)(void*) = nullptr;
+    void* ctx = nullptr;
+} subscriptions[N_EXTI];
+
+const Stm32Gpio Stm32Gpio::none{nullptr, 0};
+
+/**
+ * @brief Returns the IRQ number associated with a certain pin.
+ * Note that all GPIOs with the same pin number map to the same IRQn,
+ * no matter which port they belong to.
+ */
+static inline IRQn_Type get_irq_number(uint16_t pin_number) {
+    switch (pin_number) {
+        case 0: return EXTI0_IRQn;
+        case 1: return EXTI1_IRQn;
+        case 2: return EXTI2_IRQn;
+        case 3: return EXTI3_IRQn;
+        case 4: return EXTI4_IRQn;
+        case 5:
+        case 6:
+        case 7:
+        case 8:
+        case 9: return EXTI9_5_IRQn;
+        case 10:
+        case 11:
+        case 12:
+        case 13:
+        case 14:
+        case 15: return EXTI15_10_IRQn;
+        default: return (IRQn_Type)0; // impossible
+    }
+}
+
+#define GPIO_MODE             0x00000003U
+#define GPIO_OUTPUT_TYPE      0x00000010U
+
+
+bool Stm32Gpio::config(uint32_t mode, uint32_t pull, uint32_t speed) {
+    if (port_ == GPIOA) {
+        __HAL_RCC_GPIOA_CLK_ENABLE();
+    } else if (port_ == GPIOB) {
+        __HAL_RCC_GPIOB_CLK_ENABLE();
+    } else if (port_ == GPIOC) {
+        __HAL_RCC_GPIOC_CLK_ENABLE();
+    } else if (port_ == GPIOD) {
+        __HAL_RCC_GPIOD_CLK_ENABLE();
+    } else if (port_ == GPIOE) {
+        __HAL_RCC_GPIOE_CLK_ENABLE();
+    } else if (port_ == GPIOF) {
+        __HAL_RCC_GPIOF_CLK_ENABLE();
+    } else if (port_ == GPIOG) {
+        __HAL_RCC_GPIOG_CLK_ENABLE();
+    } else if (port_ == GPIOH) {
+        __HAL_RCC_GPIOH_CLK_ENABLE();
+    } else {
+        return false;
+    }
+
+    size_t position = get_pin_number();
+
+    // The following code is mostly taken from HAL_GPIO_Init
+
+    /* Configure IO Direction mode (Input, Output, Alternate or Analog) */
+    uint32_t temp = port_->MODER;
+    temp &= ~(GPIO_MODER_MODER0 << (position * 2U));
+    temp |= ((mode & GPIO_MODE) << (position * 2U));
+    port_->MODER = temp;
+
+    /* In case of Output or Alternate function mode selection */
+    if((mode == GPIO_MODE_OUTPUT_PP) || (mode == GPIO_MODE_AF_PP) ||
+       (mode == GPIO_MODE_OUTPUT_OD) || (mode == GPIO_MODE_AF_OD))
+    {
+        /* Check the Speed parameter */
+        assert_param(IS_GPIO_SPEED(speed));
+        /* Configure the IO Speed */
+        temp = port_->OSPEEDR; 
+        temp &= ~(GPIO_OSPEEDER_OSPEEDR0 << (position * 2U));
+        temp |= (speed << (position * 2U));
+        port_->OSPEEDR = temp;
+
+        /* Configure the IO Output Type */
+        temp = port_->OTYPER;
+        temp &= ~(GPIO_OTYPER_OT_0 << position) ;
+        temp |= (((mode & GPIO_OUTPUT_TYPE) >> 4U) << position);
+        port_->OTYPER = temp;
+    }
+
+    /* Activate the Pull-up or Pull down resistor for the current IO */
+    temp = port_->PUPDR;
+    temp &= ~(GPIO_PUPDR_PUPDR0 << (position * 2U));
+    temp |= ((pull) << (position * 2U));
+    port_->PUPDR = temp;
+
+    return true;
+}
+
+bool Stm32Gpio::subscribe(bool rising_edge, bool falling_edge, void (*callback)(void*), void* ctx) {
+    uint32_t pin_number = get_pin_number();
+    if (pin_number >= N_EXTI) {
+        return false; // invalid pin number
+    }
+
+    struct subscription_t& subscription = subscriptions[pin_number];
+
+    GPIO_TypeDef* no_port = nullptr;
+    if (!__atomic_compare_exchange_n(&subscription.port, &no_port, port_, false, __ATOMIC_SEQ_CST, __ATOMIC_SEQ_CST)) {
+        return false; // already in use
+    }
+
+    // The following code is mostly taken from HAL_GPIO_Init
+    __HAL_RCC_SYSCFG_CLK_ENABLE();
+
+    uint32_t temp = SYSCFG->EXTICR[pin_number >> 2U];
+    temp &= ~(0x0FU << (4U * (pin_number & 0x03U)));
+    temp |= ((uint32_t)(GPIO_GET_INDEX(port_)) << (4U * (pin_number & 0x03U)));
+    SYSCFG->EXTICR[pin_number >> 2U] = temp;
+
+
+    if (rising_edge) {
+        EXTI->RTSR |= (uint32_t)pin_mask_;
+    } else {
+        EXTI->RTSR &= ~((uint32_t)pin_mask_);
+    }
+
+    if (falling_edge) {
+        EXTI->FTSR |= (uint32_t)pin_mask_;
+    } else {
+        EXTI->FTSR &= ~((uint32_t)pin_mask_);
+    }
+
+    EXTI->EMR &= ~((uint32_t)pin_mask_);
+    EXTI->IMR |= (uint32_t)pin_mask_;
+
+    // Clear any previous triggers
+    __HAL_GPIO_EXTI_CLEAR_IT(pin_mask_);
+    
+    subscription.ctx = ctx;
+    subscription.callback = callback;
+    return true;
+}
+
+void Stm32Gpio::unsubscribe() {
+    uint32_t pin_number = get_pin_number();
+    if (pin_number >= N_EXTI) {
+        return; // invalid pin number
+    }
+
+    struct subscription_t& subscription = subscriptions[pin_number];
+
+    if (subscription.port != port_) {
+        return; // the subscription was not for this GPIO
+    }
+
+    EXTI->IMR |= (uint32_t)pin_mask_;
+    __HAL_GPIO_EXTI_CLEAR_IT(pin_mask_);
+
+    // At this point no more interrupts will be triggered for this GPIO
+
+    subscription.callback = nullptr;
+    subscription.ctx = nullptr;
+    subscription.port = nullptr; // after this line, the subscription can be reused (possibly by another thread)
+}
+
+void maybe_handle(uint16_t exti_number) {
+    if(__HAL_GPIO_EXTI_GET_IT(1 << exti_number) == RESET) {
+        return; // This interrupt source did not trigger the interrupt line
+    }
+
+    __HAL_GPIO_EXTI_CLEAR_IT(1 << exti_number);
+    
+    if (exti_number >= N_EXTI) {
+        return;
+    }
+
+    subscription_t& subscription = subscriptions[exti_number];
+    if (subscription.callback) {
+        (*subscription.callback)(subscription.ctx);
+    }
+}
+
+extern "C" {
+
+/** @brief Entrypoint for the EXTI line 0 interrupt. */
+void EXTI0_IRQHandler(void) {
+    maybe_handle(0);
+}
+
+/** @brief Entrypoint for the EXTI line 1 interrupt. */
+void EXTI1_IRQHandler(void) {
+    maybe_handle(1);
+}
+
+/** @brief Entrypoint for the EXTI line 2 interrupt. */
+void EXTI2_IRQHandler(void) {
+    maybe_handle(2);
+}
+
+/** @brief Entrypoint for the EXTI line 3 interrupt. */
+void EXTI3_IRQHandler(void) {
+    maybe_handle(3);
+}
+
+/** @brief Entrypoint for the EXTI line 4 interrupt. */
+void EXTI4_IRQHandler(void) {
+    maybe_handle(4);
+}
+
+/** @brief Entrypoint for the EXTI lines 5-9 interrupt. */
+void EXTI9_5_IRQHandler(void) {
+    maybe_handle(5);
+    maybe_handle(6);
+    maybe_handle(7);
+    maybe_handle(8);
+    maybe_handle(9);
+}
+
+/** @brief This function handles EXTI lines 10-15 interrupt. */
+void EXTI15_10_IRQHandler(void) {
+    maybe_handle(10);
+    maybe_handle(11);
+    maybe_handle(12);
+    maybe_handle(13);
+    maybe_handle(14);
+    maybe_handle(15);
+}
+
+}