Set up GPIO infrastructure

2025-09-01 01:55:18 -07:00
parent 33fc098dfc
commit 0418e3d5c5
5 changed files with 202 additions and 18 deletions
--- a/SHAL/Include/Peripheral/GPIO/Reg/SHAL_GPIO_REG_F072xB.h
+++ b/SHAL/Include/Peripheral/GPIO/Reg/SHAL_GPIO_REG_F072xB.h
@@ -10,11 +10,15 @@

 #include "SHAL_CORE.h"

+#define AVAILABLE_PORTS 3
+#define PINS_PER_PORT 16
+
 #define AVAILABLE_GPIO \
    X(A0) X(A1) X(A2) X(A3) X(A4) X(A5) X(A6) X(A7) X(A8) X(A9) X(A10) X(A11) X(A12) X(A13) X(A14) X(A15) \
    X(B0) X(B1) X(B2) X(B3) X(B4) X(B5) X(B6) X(B7) X(B8) X(B9) X(B10) X(B11) X(B12) X(B13) X(B14) X(B15) \
    X(C0) X(C1) X(C2) X(C3) X(C4) X(C5) X(C6) X(C7) X(C8) X(C9) X(C10) X(C11) X(C12) X(C13) X(C14) X(C15)

+
 //Build enum map of available GPIO pins
 enum class GPIO_Key {
    #define X(key) key,
@@ -83,4 +87,126 @@ constexpr SHAL_Peripheral getGPIORegister(const GPIO_Key g){
    __builtin_unreachable();
 }

+constexpr SHAL_Peripheral_Register getGPIORCCEnable(const GPIO_Key g){
+    switch(g) {
+        case GPIO_Key::A0:
+        case GPIO_Key::A1:
+        case GPIO_Key::A2:
+        case GPIO_Key::A3:
+        case GPIO_Key::A4:
+        case GPIO_Key::A5:
+        case GPIO_Key::A6:
+        case GPIO_Key::A7:
+        case GPIO_Key::A8:
+        case GPIO_Key::A9:
+        case GPIO_Key::A10:
+        case GPIO_Key::A11:
+        case GPIO_Key::A12:
+        case GPIO_Key::A13:
+        case GPIO_Key::A14:
+        case GPIO_Key::A15:
+            return {&RCC->AHBENR, RCC_AHBENR_GPIOAEN_Pos};
+        case GPIO_Key::B0:
+        case GPIO_Key::B1:
+        case GPIO_Key::B2:
+        case GPIO_Key::B3:
+        case GPIO_Key::B4:
+        case GPIO_Key::B5:
+        case GPIO_Key::B6:
+        case GPIO_Key::B7:
+        case GPIO_Key::B8:
+        case GPIO_Key::B9:
+        case GPIO_Key::B10:
+        case GPIO_Key::B11:
+        case GPIO_Key::B12:
+        case GPIO_Key::B13:
+        case GPIO_Key::B14:
+        case GPIO_Key::B15:
+            return {&RCC->AHBENR, RCC_AHBENR_GPIOBEN_Pos};
+        case GPIO_Key::C0:
+        case GPIO_Key::C1:
+        case GPIO_Key::C2:
+        case GPIO_Key::C3:
+        case GPIO_Key::C4:
+        case GPIO_Key::C5:
+        case GPIO_Key::C6:
+        case GPIO_Key::C7:
+        case GPIO_Key::C8:
+        case GPIO_Key::C9:
+        case GPIO_Key::C10:
+        case GPIO_Key::C11:
+        case GPIO_Key::C12:
+        case GPIO_Key::C13:
+        case GPIO_Key::C14:
+        case GPIO_Key::C15:
+            return {&RCC->AHBENR, RCC_AHBENR_GPIOCEN_Pos};
+        case GPIO_Key::INVALID:
+        case GPIO_Key::NUM_GPIO:
+            assert(false);
+            return SHAL_Peripheral_Register(nullptr,0); //Unreachable
+    }
+    __builtin_unreachable();
+}
+
+constexpr unsigned int getGPIOPortNumber(const GPIO_Key g){
+    switch(g) {
+        case GPIO_Key::A0:
+        case GPIO_Key::A1:
+        case GPIO_Key::A2:
+        case GPIO_Key::A3:
+        case GPIO_Key::A4:
+        case GPIO_Key::A5:
+        case GPIO_Key::A6:
+        case GPIO_Key::A7:
+        case GPIO_Key::A8:
+        case GPIO_Key::A9:
+        case GPIO_Key::A10:
+        case GPIO_Key::A11:
+        case GPIO_Key::A12:
+        case GPIO_Key::A13:
+        case GPIO_Key::A14:
+        case GPIO_Key::A15:
+            return 0;
+        case GPIO_Key::B0:
+        case GPIO_Key::B1:
+        case GPIO_Key::B2:
+        case GPIO_Key::B3:
+        case GPIO_Key::B4:
+        case GPIO_Key::B5:
+        case GPIO_Key::B6:
+        case GPIO_Key::B7:
+        case GPIO_Key::B8:
+        case GPIO_Key::B9:
+        case GPIO_Key::B10:
+        case GPIO_Key::B11:
+        case GPIO_Key::B12:
+        case GPIO_Key::B13:
+        case GPIO_Key::B14:
+        case GPIO_Key::B15:
+            return 1;
+        case GPIO_Key::C0:
+        case GPIO_Key::C1:
+        case GPIO_Key::C2:
+        case GPIO_Key::C3:
+        case GPIO_Key::C4:
+        case GPIO_Key::C5:
+        case GPIO_Key::C6:
+        case GPIO_Key::C7:
+        case GPIO_Key::C8:
+        case GPIO_Key::C9:
+        case GPIO_Key::C10:
+        case GPIO_Key::C11:
+        case GPIO_Key::C12:
+        case GPIO_Key::C13:
+        case GPIO_Key::C14:
+        case GPIO_Key::C15:
+            return 2;
+        case GPIO_Key::INVALID:
+        case GPIO_Key::NUM_GPIO:
+            assert(false);
+            return 0;
+    }
+    __builtin_unreachable();
+}
+
 #endif //SHMINGO_HAL_SHAL_GPIO_REG_F072XB_H
--- a/SHAL/Include/Peripheral/GPIO/SHAL_GPIO.h
+++ b/SHAL/Include/Peripheral/GPIO/SHAL_GPIO.h
@@ -11,17 +11,28 @@
 #include "SHAL_GPIO_REG_F072xB.h"

 enum class PinMode {
-    INPUT_MODE = 0b00,
-    OUTPUT_MODE = 0b01,
-    ALTERNATE_FUNCTION_MODE = 0b10,
-    ANALOG_MODE = 0b11
+    INPUT_MODE,
+    OUTPUT_MODE,
+    ALTERNATE_FUNCTION_MODE,
+    ANALOG_MODE,
+    INVALID
 };

-enum class PinValue {
-    HI = 1,
-    LOW = 0,
-};
+unsigned long getPinMode(PinMode mode){
+    switch(mode){
+        case PinMode::INPUT_MODE:
+            return 0b00;
+        case PinMode::OUTPUT_MODE:
+            return 0b01;
+        case PinMode::ALTERNATE_FUNCTION_MODE:
+            return 0b10;
+        case PinMode::ANALOG_MODE:
+            return 0b11;
+    }
+}

+
+//Abstraction of GPIO registers
 class GPIO{

 public:
@@ -36,10 +47,31 @@ private:

    friend class GPIOManager;

-    explicit GPIO(GPIO_Key key);
+    explicit GPIO(GPIO_Key key, PinMode pinMode);
    GPIO();

-    GPIO_Key GPIO_KEY;
+    GPIO_Key m_GPIO_KEY = GPIO_Key::INVALID;
+    PinMode m_pinMode = PinMode::INVALID;
+
+    GPIO_TypeDef* p_GPIORegister = nullptr;
+    unsigned long m_offset = 0;
+};
+
+
+#define initGPIO(GPIO_KEY, PIN_MODE) GPIOManager::get(GPIO_KEY, PIN_MODE)
+
+//Manages instances of GPIO objects
+class GPIOManager{
+
+public:
+
+    static GPIO& get(GPIO_Key, PinMode pinMode);
+    GPIOManager() = delete;
+
+private:
+
+inline static GPIO m_gpios[AVAILABLE_PORTS][PINS_PER_PORT] = {};
+
 };

 #endif //SHMINGO_HAL_SHAL_GPIO_H
--- a/SHAL/Include/Peripheral/Timer/SHAL_TIM.h
+++ b/SHAL/Include/Peripheral/Timer/SHAL_TIM.h
@@ -47,7 +47,8 @@ private:

 };

-#define getTimer(timer_key) TimerManager::get(timer_key);
+
+#define getTimer(timer_key) TimerManager::get(timer_key)

 //Manages all timers so user does not have to personally initialize
 class TimerManager{
--- a/SHAL/Include/SHAL.h
+++ b/SHAL/Include/SHAL.h
@@ -9,6 +9,6 @@
 #define SHAL_H

 #include "SHAL_TIM.h"
-
+#include "SHAL_GPIO.h"

 #endif
--- a/SHAL/Src/Peripheral/GPIO/SHAL_GPIO.cpp
+++ b/SHAL/Src/Peripheral/GPIO/SHAL_GPIO.cpp
@@ -4,22 +4,47 @@

 #include "SHAL_GPIO.h"

-GPIO::GPIO() {
-
+GPIO::GPIO(){
+    //Do not initialize anything
 }

-GPIO::GPIO(GPIO_Key key) {
+GPIO::GPIO(GPIO_Key key, PinMode pinMode) : m_GPIO_KEY(key),
+                                            p_GPIORegister(static_cast<GPIO_TypeDef*>(getGPIORegister(key).registers)),
+                                            m_offset(getGPIORegister(key).global_offset){

+    volatile unsigned long* gpioEnable = getGPIORCCEnable(key).reg;
+    unsigned long gpioOffset = getGPIORCCEnable(key).offset;
+
+    *gpioEnable |= (1 << gpioOffset);
+
+    p_GPIORegister->MODER |= (getPinMode(pinMode) << (2 * m_offset));
 }

 void GPIO::setLow() {
-    getGPIORegister(GPIO_KEY)->ODR &= ~(1 << getGPIOAPB(GPIO_KEY).offset);
+    p_GPIORegister->ODR &= ~(1 << m_offset);
 }

 void GPIO::setHigh() {
-    getGPIORegister(GPIO_KEY)->ODR |= (1 << getGPIOAPB(GPIO_KEY).offset);
+    p_GPIORegister->ODR |= (1 << m_offset);
+
 }

 void GPIO::toggle() {
-
+    p_GPIORegister->ODR ^= (1 << m_offset);
+}
+
+
+
+GPIO &GPIOManager::get(GPIO_Key key, PinMode pinMode) {
+
+    unsigned int gpioPort = getGPIOPortNumber(key);
+    unsigned long gpioPin = getGPIORegister(key).global_offset; //Use existing structs to get offset
+
+    GPIO curr = m_gpios[gpioPort][gpioPin];
+
+    if(curr.m_GPIO_KEY == GPIO_Key::INVALID || curr.m_pinMode != pinMode){
+        m_gpios[gpioPort][gpioPin] = GPIO(key,pinMode);
+    }
+
+    return m_gpios[gpioPort][gpioPin];
 }