mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-07 14:42:08 +08:00
Vehicle Researcher
876256a268
9881e6118 Panda for Mazda (#165) 9a15d2f5b fix version newline a8ed7d219 add subaru outback/legacy to subaru safety (#259) bdeb1c953 mazda is #12 14ea4d2e0 merge safety gm in a single file bf1ef875e Add GM passive safety mode (#266) c131fffae fix canflash for pedal (#267) 3397b1527 only allow bootloader entry on debug builds d68356b92 Honda Nidec: fwd stock AEB (#257) 6f532c6d5 Black panda Jenkins (#256) d68508c79 Gpio race condition fix (#263) d69d05fc0 Fixed pedal not initializing (#262) 36067e01c Honda safety: fixed incorrect brake decoding. Due to the specific limit of 255, this change does not affect the safety behavior git-subtree-dir: panda git-subtree-split: 9881e61184ad0417e9e080767f09585a9c777621
66 lines
1.6 KiB
C
66 lines
1.6 KiB
C
#define MODE_INPUT 0
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#define MODE_OUTPUT 1
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#define MODE_ALTERNATE 2
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#define MODE_ANALOG 3
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#define PULL_NONE 0
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#define PULL_UP 1
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#define PULL_DOWN 2
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#define OUTPUT_TYPE_PUSH_PULL 0U
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#define OUTPUT_TYPE_OPEN_DRAIN 1U
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void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
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ENTER_CRITICAL();
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uint32_t tmp = GPIO->MODER;
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tmp &= ~(3U << (pin * 2U));
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tmp |= (mode << (pin * 2U));
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GPIO->MODER = tmp;
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EXIT_CRITICAL();
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}
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void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
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ENTER_CRITICAL();
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if (enabled) {
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GPIO->ODR |= (1U << pin);
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} else {
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GPIO->ODR &= ~(1U << pin);
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}
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set_gpio_mode(GPIO, pin, MODE_OUTPUT);
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EXIT_CRITICAL();
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}
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void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
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ENTER_CRITICAL();
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if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
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GPIO->OTYPER |= (1U << pin);
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} else {
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GPIO->OTYPER &= ~(1U << pin);
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}
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EXIT_CRITICAL();
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}
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void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
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ENTER_CRITICAL();
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uint32_t tmp = GPIO->AFR[pin >> 3U];
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tmp &= ~(0xFU << ((pin & 7U) * 4U));
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tmp |= mode << ((pin & 7U) * 4U);
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GPIO->AFR[pin >> 3] = tmp;
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set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
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EXIT_CRITICAL();
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}
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void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
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ENTER_CRITICAL();
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uint32_t tmp = GPIO->PUPDR;
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tmp &= ~(3U << (pin * 2U));
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tmp |= (mode << (pin * 2U));
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GPIO->PUPDR = tmp;
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EXIT_CRITICAL();
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}
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int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
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return (GPIO->IDR & (1U << pin)) == (1U << pin);
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}
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