AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <hal.h>

#include <stm32_gpio.h>

/**

 * @brief   Type of STM32 GPIO port setup.

 */

typedef struct {

  uint32_t              moder;

  uint32_t              otyper;

  uint32_t              ospeedr;

  uint32_t              pupdr;

  uint32_t              odr;

  uint32_t              afrl;

  uint32_t              afrh;

} gpio_setup_t;

/**

 * @brief   Type of STM32 GPIO initialization data.

 */

typedef struct {

#if STM32_HAS_GPIOA || defined(__DOXYGEN__)

  gpio_setup_t          PAData;

#endif

#if STM32_HAS_GPIOB || defined(__DOXYGEN__)

  gpio_setup_t          PBData;

#endif

#if STM32_HAS_GPIOC || defined(__DOXYGEN__)

  gpio_setup_t          PCData;

#endif

#if STM32_HAS_GPIOD || defined(__DOXYGEN__)

  gpio_setup_t          PDData;

#endif

#if STM32_HAS_GPIOE || defined(__DOXYGEN__)

  gpio_setup_t          PEData;

#endif

#if STM32_HAS_GPIOF || defined(__DOXYGEN__)

  gpio_setup_t          PFData;

#endif

#if STM32_HAS_GPIOG || defined(__DOXYGEN__)

  gpio_setup_t          PGData;

#endif

#if STM32_HAS_GPIOH || defined(__DOXYGEN__)

  gpio_setup_t          PHData;

#endif

#if STM32_HAS_GPIOI || defined(__DOXYGEN__)

  gpio_setup_t          PIData;

#endif

#if STM32_HAS_GPIOJ || defined(__DOXYGEN__)

  gpio_setup_t          PJData;

#endif

#if STM32_HAS_GPIOK || defined(__DOXYGEN__)

  gpio_setup_t          PKData;

#endif

} gpio_config_t;

/**

 * @brief   STM32 GPIO static initialization data.

 */

static const gpio_config_t gpio_default_config = {

#if STM32_HAS_GPIOA

  {VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,

   VAL_GPIOA_ODR,   VAL_GPIOA_AFRL,   VAL_GPIOA_AFRH},

#endif

#if STM32_HAS_GPIOB

  {VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,

   VAL_GPIOB_ODR,   VAL_GPIOB_AFRL,   VAL_GPIOB_AFRH},

#endif

#if STM32_HAS_GPIOC

  {VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,

   VAL_GPIOC_ODR,   VAL_GPIOC_AFRL,   VAL_GPIOC_AFRH},

#endif

#if STM32_HAS_GPIOD

  {VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,

   VAL_GPIOD_ODR,   VAL_GPIOD_AFRL,   VAL_GPIOD_AFRH},

#endif

#if STM32_HAS_GPIOE

  {VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,

   VAL_GPIOE_ODR,   VAL_GPIOE_AFRL,   VAL_GPIOE_AFRH},

#endif

#if STM32_HAS_GPIOF

  {VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,

   VAL_GPIOF_ODR,   VAL_GPIOF_AFRL,   VAL_GPIOF_AFRH},

#endif

#if STM32_HAS_GPIOG

  {VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,

   VAL_GPIOG_ODR,   VAL_GPIOG_AFRL,   VAL_GPIOG_AFRH},

#endif

#if STM32_HAS_GPIOH

  {VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,

   VAL_GPIOH_ODR,   VAL_GPIOH_AFRL,   VAL_GPIOH_AFRH},

#endif

#if STM32_HAS_GPIOI

  {VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,

   VAL_GPIOI_ODR,   VAL_GPIOI_AFRL,   VAL_GPIOI_AFRH},

#endif

#if STM32_HAS_GPIOJ

  {VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR,

   VAL_GPIOJ_ODR,   VAL_GPIOJ_AFRL,   VAL_GPIOJ_AFRH},

#endif

#if STM32_HAS_GPIOK

  {VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR,

   VAL_GPIOK_ODR,   VAL_GPIOK_AFRL,   VAL_GPIOK_AFRH}

#endif

};

/**

 * @brief   GPIO initialization.

 *

 * @param[in]   gpiop   GPIO register block. 

 * @param[in]   config  GPIO configuration.

 */

static void gpio_init(stm32_gpio_t *gpiop, const gpio_setup_t *config) {

  gpiop->OTYPER  = config->otyper;

  gpiop->OSPEEDR = config->ospeedr;

  gpiop->PUPDR   = config->pupdr;

  gpiop->ODR     = config->odr;

  gpiop->AFRL    = config->afrl;

  gpiop->AFRH    = config->afrh;

  gpiop->MODER   = config->moder;

}

/**

 * @brief   GPIO initilization for all ports.

 */

static void stm32_gpio_init(void) {

  /* Enabling GPIO-related clocks, the mask comes from the

     registry header file.*/

  rccResetAHB1(STM32_GPIO_EN_MASK);

  rccEnableAHB1(STM32_GPIO_EN_MASK, true);

  /* Initializing all the defined GPIO ports.*/

#if STM32_HAS_GPIOA

  gpio_init(GPIOA, &gpio_default_config.PAData);

#endif

#if STM32_HAS_GPIOB

  gpio_init(GPIOB, &gpio_default_config.PBData);

#endif

#if STM32_HAS_GPIOC

  gpio_init(GPIOC, &gpio_default_config.PCData);

#endif

#if STM32_HAS_GPIOD

  gpio_init(GPIOD, &gpio_default_config.PDData);

#endif

#if STM32_HAS_GPIOE

  gpio_init(GPIOE, &gpio_default_config.PEData);

#endif

#if STM32_HAS_GPIOF

  gpio_init(GPIOF, &gpio_default_config.PFData);

#endif

#if STM32_HAS_GPIOG

  gpio_init(GPIOG, &gpio_default_config.PGData);

#endif

#if STM32_HAS_GPIOH

  gpio_init(GPIOH, &gpio_default_config.PHData);

#endif

#if STM32_HAS_GPIOI

  gpio_init(GPIOI, &gpio_default_config.PIData);

#endif

#if STM32_HAS_GPIOJ

  gpio_init(GPIOJ, &gpio_default_config.PJData);

#endif

#if STM32_HAS_GPIOK

  gpio_init(GPIOK, &gpio_default_config.PKData);

#endif

}

/**

 * @brief   Early initialization code.

 * @details This initialization must be performed just after stack setup

 *          and before any other initialization.

 */

void __early_init(void) {

  stm32_gpio_init();

  stm32_clock_init();

}

/**

 * @brief   Board-specific initialization code.

 * @todo    Add your board-specific code, if any.

 */

void boardInit(void) {

}