/**
* @brief Clears the selected data port bits.
* @param GPIOx: where x can be (A, B or C) to select the GPIO peripheral.
* @param GPIO_Pin: specifies the port bits to be written.
* This parameter can be any combination of GPIO_Pin_x where x can be (0..7).
* @note This functions uses GPIOx_CLR register to allow atomic read/modify
* accesses. In this way, there is no risk of an IRQ occurring between
* the read and the modify access.
* @retval None
*/
void GPIO_ResetBits(GPIO_TypeDef* GPIOx, uint32_t GPIO_Pin)
{
/* Check the parameters */
assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
assert_param(IS_GPIO_PIN(GPIO_Pin));
GPIOx->BRR = GPIO_Pin;
}
void GPIO_Init(GPIO_TypeDef* GPIOx, uint8_t GPIO_Pin, GPIO_Mode_TypeDef GPIO_Mode)
{
/*----------------------*/
/* Check the parameters */
/*----------------------*/
assert_param(IS_GPIO_MODE(GPIO_Mode));
assert_param(IS_GPIO_PIN(GPIO_Pin));
/* Reset corresponding bit to GPIO_Pin in CR2 register */
GPIOx->CR2 &= (uint8_t)(~(GPIO_Pin));
/*-----------------------------*/
/* Input/Output mode selection */
/*-----------------------------*/
if ((((uint8_t)(GPIO_Mode)) & (uint8_t)0x80) != (uint8_t)0x00) /* Output mode */
{
if ((((uint8_t)(GPIO_Mode)) & (uint8_t)0x10) != (uint8_t)0x00) /* High level */
{
GPIOx->ODR |= GPIO_Pin;
} else /* Low level */
{
GPIOx->ODR &= (uint8_t)(~(GPIO_Pin));
}
/* Set Output mode */
GPIOx->DDR |= GPIO_Pin;
} else /* Input mode */
{
/* Set Input mode */
GPIOx->DDR &= (uint8_t)(~(GPIO_Pin));
}
/*------------------------------------------------------------------------*/
/* Pull-Up/Float (Input) or Push-Pull/Open-Drain (Output) modes selection */
/*------------------------------------------------------------------------*/
if ((((uint8_t)(GPIO_Mode)) & (uint8_t)0x40) != (uint8_t)0x00) /* Pull-Up or Push-Pull */
{
GPIOx->CR1 |= GPIO_Pin;
} else /* Float or Open-Drain */
{
GPIOx->CR1 &= (uint8_t)(~(GPIO_Pin));
}
/*-----------------------------------------------------*/
/* Interrupt (Input) or Slope (Output) modes selection */
/*-----------------------------------------------------*/
if ((((uint8_t)(GPIO_Mode)) & (uint8_t)0x20) != (uint8_t)0x00) /* Interrupt or Slow slope */
{
GPIOx->CR2 |= GPIO_Pin;
} else /* No external interrupt or No slope control */
{
GPIOx->CR2 &= (uint8_t)(~(GPIO_Pin));
}
}
/**
* @brief Initializes the GPIOx peripheral according to the specified
* parameters in the GPIO_InitStruct.
* @param GPIOx: where x can be (A, B or C) to select the GPIO peripheral.
* @param GPIO_InitStruct: pointer to a GPIO_InitTypeDef structure that
* contains the configuration information for the specified GPIO
* peripheral.
* GPIO_Pin: selects the pin to be configured: GPIO_Pin_0 -> GPIO_Pin_7
* GPIO_Mode: selects the mode of the pin:
* - GPIO Analog Mode: GPIO_Mode_AN
* - GPIO Output Mode PP: GPIO_Mode_OUT_PP
* - GPIO Input Mode NOPULL: GPIO_Mode_IN
* - GPIO Output Mode OD: GPIO_Mode_OUT_OD
* - GPIO Input Mode PuPd: GPIO_Mode_IN_PUD
* - GPIO Alternate function Mode PP: GPIO_Mode_AF_PP
* - GPIO Alternate function Mode SPI SCLK PP: GPIO_Mode_AF_PP_SPI
* - GPIO Alternate function Mode OD: GPIO_Mode_AF_OD
* @retval None
*/
void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct)
{
uint32_t currentmode = 0x00, currentpin = 0x00, pinpos = 0x00, pos = 0x00;
uint32_t tmpreg = 0x00, pinmask = 0x00;
/* Check the parameters */
assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
assert_param(IS_GPIO_MODE(GPIO_InitStruct->GPIO_Mode));
assert_param(IS_GPIO_PIN(GPIO_InitStruct->GPIO_Pin));
/*---------------------------- GPIO Mode Configuration -----------------------*/
currentmode = ((uint32_t)GPIO_InitStruct->GPIO_Mode) & ((uint32_t)0x0F);
/*---------------------------- GPIO CRL Configuration ------------------------*/
/* Configure the four low port pins */
if (((uint32_t)GPIO_InitStruct->GPIO_Pin & ((uint32_t)0x0F)) != 0x00)
{
tmpreg = GPIOx->CRL;
for (pinpos = 0x00; pinpos < 0x04; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_InitStruct->GPIO_Pin) & pos;
if (currentpin == pos)
{
pos = pinpos << 2;
/* Clear the corresponding low control register bits */
pinmask = ((uint32_t)0x0F) << pos;
tmpreg &= ~pinmask;
/* Write the mode configuration in the corresponding bits */
tmpreg |= (currentmode << pos);
}
}
GPIOx->CRL = tmpreg;
}
/*---------------------------- GPIO CRH Configuration ------------------------*/
/* Configure the four high port pins */
if (GPIO_InitStruct->GPIO_Pin > 0x0F)
{
tmpreg = GPIOx->CRH;
for (pinpos = 0x00; pinpos < 0x04; pinpos++)
{
pos = (((uint32_t)0x01) << (pinpos + 0x04));
/* Get the port pins position */
currentpin = ((GPIO_InitStruct->GPIO_Pin) & pos);
if (currentpin == pos)
{
pos = pinpos << 2;
/* Clear the corresponding high control register bits */
pinmask = ((uint32_t)0x0F) << pos;
tmpreg &= ~pinmask;
/* Write the mode configuration in the corresponding bits */
tmpreg |= (currentmode << pos);
}
}
GPIOx->CRH = tmpreg;
}
}
/**
* @brief Configures the external pull-up on GPIOx pins.
* @param GPIOx : Select the GPIO peripheral number (x = A to I).
* @param GPIO_Pin : Specifies the pin number
* This parameter can be one of the following values:
* @arg GPIO_Pin_0: Pin 0
* @arg GPIO_Pin_1: Pin 1
* @arg GPIO_Pin_2: Pin 2
* @arg GPIO_Pin_3: Pin 3
* @arg GPIO_Pin_4: Pin 4
* @arg GPIO_Pin_5: Pin 5
* @arg GPIO_Pin_6: Pin 6
* @arg GPIO_Pin_7: Pin 7
* @param NewState : The new state of the pull up pin.
* Can be ENABLE or DISABLE
* @retval None
*/
void GPIO_ExternalPullUpConfig(GPIO_TypeDef* GPIOx, uint8_t GPIO_Pin, FunctionalState NewState)
{
/* Check the parameters */
assert_param(IS_GPIO_PIN(GPIO_Pin));
assert_param(IS_FUNCTIONAL_STATE(NewState));
if (NewState != DISABLE) { /* External Pull-Up Set*/
GPIOx->CR1 |= GPIO_Pin;
} else { /* External Pull-Up Reset*/
GPIOx->CR1 &= (uint8_t)(~(GPIO_Pin));
}
}
uint8_t GPIO_ReadInputDataBit(uint32_t GPIO_Pin)
{
int reg_val;
/* Check the parameters */
assert_param(IS_GPIO_PIN(GPIO_Pin));
reg_val = NST_RD_GPIO_REG(EXT_PORTA);
reg_val &= GPIO_Pin;
return (reg_val?1:0);
}
uint32_t GPIO_ReadInputData(void)
{
int reg_val;
/* Check the parameters */
assert_param(IS_GPIO_PIN(GPIO_Pin));
reg_val = NST_RD_GPIO_REG(EXT_PORTA);
reg_val &= GPIO_Pin_All;
return reg_val;
}
void GPIO_ResetBits(uint32_t GPIO_Pin)
{
int reg_val;
/* Check the parameters */
assert_param(IS_GPIO_PIN(GPIO_Pin));
reg_val = NST_RD_GPIO_REG(SWPORTA_DR);
reg_val &= ~GPIO_Pin;
NST_WR_GPIO_REG(SWPORTA_DR, reg_val);
}
/**
* @brief Sets or clears the selected data port bit.
* @param GPIOx : Select the GPIO peripheral number (x = A to I).
* @param GPIO_Pin: Specifies the port bit to be written.
* This parameter can be one of the following values:
* @arg GPIO_Pin_0: Pin 0
* @arg GPIO_Pin_1: Pin 1
* @arg GPIO_Pin_2: Pin 2
* @arg GPIO_Pin_3: Pin 3
* @arg GPIO_Pin_4: Pin 4
* @arg GPIO_Pin_5: Pin 5
* @arg GPIO_Pin_6: Pin 6
* @arg GPIO_Pin_7: Pin 7
* @param GPIO_BitVal: specifies the desired status to be written.
* This parameter can be SET or RESET
* @retval None
*/
void GPIO_WriteBit(GPIO_TypeDef* GPIOx, GPIO_Pin_TypeDef GPIO_Pin, BitAction GPIO_BitVal)
{
/* Check the parameters */
assert_param(IS_GPIO_PIN(GPIO_Pin));
assert_param(IS_STATE_VALUE(GPIO_BitVal));
if (GPIO_BitVal != RESET) {
GPIOx->ODR |= GPIO_Pin;
} else {
GPIOx->ODR &= (uint8_t)(~GPIO_Pin);
}
}
static u8 GetGpioPortNumber(GPIO_TypeDef* gpio_port)
{
u8 i = 0;
//参数检查
assert_param(IS_GPIO_PIN(gpio_port));
for(i = 0; i < 6; i ++)
{
if(gpio_port == GPIO_PORT[i])
{
return i;
}
}
return 0; //不会执行到这里
}
void POLOLU_MOTOR_Init(MOTOR_InitTypeDef *motor)
{
assert_param(IS_GPIO_PIN(motor->PinIn1));
assert_param(IS_GPIO_PIN(motor->PinIn2));
if (motor->htimIn1 != NULL)
{
HAL_TIM_Base_Start(motor->htimIn1);
}
if (motor->htimIn2 != NULL)
{
HAL_TIM_Base_Start(motor->htimIn2);
}
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = motor->PinIn1 ;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(motor->GPIOxIn1, &GPIO_InitStruct);
GPIO_InitStruct.Pin = motor->PinIn2;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(motor->GPIOxIn2, &GPIO_InitStruct);
}
/**
* @brief Initializes the GPIOx peripheral according to the specified
* parameters in the GPIO_InitStruct.
��ʼ��GPIOx ����ͨ������GPIOx(����mode\speed\PuPd\otype)
* @param GPIOx: where x can be (A, B, C, D, E or H) to select the GPIO peripheral.
���� GPIOx(A, B, C, D, E or H)
* @param GPIO_InitStruct: pointer to a GPIO_InitTypeDef structure that
* contains the configuration information for the specified GPIO
* peripheral.
* GPIO_Pin: selects the pin to be configured: GPIO_Pin_0 -> GPIO_Pin_15
* GPIO_Mode: selects the mode of the pin:
* - Input mode: GPIO_Mode_IN
* - Output mode: GPIO_Mode_OUT
* - Alternate Function mode: GPIO_Mode_AF
* - Analog mode: GPIO_Mode_AN
* GPIO_Speed: selects the speed of the pin if configured in Output:
* - Very Low: GPIO_Speed_400KHz
* - Low: GPIO_Speed_2MHz
* - Medium: GPIO_Speed_10MHz
* - High: GPIO_Speed_40MHz
* GPIO_OType: selects the Output type (if the selected mode is output):
* - Push-pull: GPIO_OType_PP
* - Open Drain: GPIO_OType_OD
* GPIO_PuPd: configures the Pull-up/Pull-down resistor on the pin:
* - pull-up: GPIO_PuPd_UP
* - pull-down: GPIO_PuPd_DOWN
* - Neither pull-up nor Pull-down: GPIO_PuPd_NOPULL
����Ϊ1��GPIO_TypeDef* GPIOx������GPIOx)�������������ļĴ�����
2��GPIO_InitTypeDef* GPIO_InitStruct ������д�û���Ҫ�����͡��ٶȡ����ģʽ�����������ȣ�
* @retval None
*/
void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct)
{
uint32_t pinpos = 0x00, pos = 0x00 , currentpin = 0x00;
/* Check the parameters */
assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
assert_param(IS_GPIO_PIN(GPIO_InitStruct->GPIO_Pin));
assert_param(IS_GPIO_MODE(GPIO_InitStruct->GPIO_Mode));
assert_param(IS_GPIO_PUPD(GPIO_InitStruct->GPIO_PuPd));
/* -------------------------Configure the port pins---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_InitStruct->GPIO_Pin) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));/*һ��pinռ2λ����˱����ƶ�pinpos * 2,�����*/
GPIOx->MODER |= (((uint32_t)GPIO_InitStruct->GPIO_Mode) << (pinpos * 2));/*һ��pinռ2λ����˱����ƶ�pinpos * 2,�ٸ�ֵ*/
if ((GPIO_InitStruct->GPIO_Mode == GPIO_Mode_OUT) || (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_AF))
{ /*��ѡ�����ģʽ����AFģʽ,�����ٶȡ�������͡�*/
/* Check Speed mode parameters */
assert_param(IS_GPIO_SPEED(GPIO_InitStruct->GPIO_Speed));
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));/*һ��pinռ2λ����˱����ƶ�pinpos * 2,�����*/
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_InitStruct->GPIO_Speed) << (pinpos * 2));/*һ��pinռ2λ����˱����ƶ�pinpos * 2,�ٸ�ֵ*/
/*Check Output mode parameters */
assert_param(IS_GPIO_OTYPE(GPIO_InitStruct->GPIO_OType));
/* Output mode configuration */
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos)) ;/*һ��pinռ1λ����˱����ƶ�pinpos ,�����*/
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_InitStruct->GPIO_OType) << ((uint16_t)pinpos));/*һ��pinռ1λ����˱����ƶ�pinpos ,�ٸ�ֵ*/
}
/*������*/
/* Pull-up Pull down resistor configuration */
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));/*һ��pinռ2λ����˱����ƶ�pinpos * 2,�����*/
GPIOx->PUPDR |= (((uint32_t)GPIO_InitStruct->GPIO_PuPd) << (pinpos * 2));/*һ��pinռ2λ����˱����ƶ�pinpos*2 ,�ٸ�ֵ*/
}
}
}
/**
* @brief Sets or clears the selected data port bit.
* @param GPIOx Select the GPIO peripheral number (x = A to D).
* @param GPIO_Pin: Specifies the port bit to be written.
* This parameter can be one of the following values:
* @arg GPIO_Pin_0: Pin 0
* @arg GPIO_Pin_1: Pin 1
* @arg GPIO_Pin_2: Pin 2
* @arg GPIO_Pin_3: Pin 3
* @arg GPIO_Pin_4: Pin 4
* @arg GPIO_Pin_5: Pin 5
* @arg GPIO_Pin_6: Pin 6
* @arg GPIO_Pin_7: Pin 7
* @param GPIO_BitVal: specifies the desired status to be written.
* This parameter can be SET or RESET
* @retval None
*/
void GPIO_WriteBit(GPIO_TypeDef* GPIOx, GPIO_Pin_TypeDef GPIO_Pin, BitAction GPIO_BitVal)
{
/* Check the parameters */
assert_param(IS_GPIO_PIN(GPIO_Pin));
assert_param(IS_STATE_VALUE(GPIO_BitVal));
if (GPIO_BitVal != RESET)
{
SetBit(GPIOx->ODR, GPIO_Pin);
}
else
{
ClrBit(GPIOx->ODR, GPIO_Pin);
}
}
void GPIO_EXTILineConfig(uint32_t GPIO_Pin, FunctionalState Cmd)
{
int reg_val;
/* Check the parameters */
assert_param(IS_GPIO_PIN(GPIO_Pin));
//Mask or unmask interrupt
reg_val = NST_RD_GPIO_REG(G_INT_MASK);
if(Cmd){
reg_val &= ~(GPIO_Pin);
} else {
reg_val |= GPIO_Pin;
}
NST_WR_GPIO_REG(G_INT_MASK, reg_val);
}
void GPIO_Init(GPIO_InitTypeDef* GPIO_InitStruct)
{
int pin_reg = 0,mode_reg;
/* Check the parameters */
assert_param(IS_GPIO_MODE(GPIO_InitStruct->GPIO_Mode));
assert_param(IS_GPIO_PIN(GPIO_InitStruct->GPIO_Pin));
/* set ADDR_GPIO_PIN_MUX_CTRL Register*/
pin_reg = NST_RD_PWM_REG(ADDR_GPIO_PIN_MUX_CTRL);
pin_reg |= GPIO_InitStruct->GPIO_Pin;
/* set SWPORTA_DDR Register*/
mode_reg = NST_RD_GPIO_REG(SWPORTA_DDR);
if(GPIO_InitStruct->GPIO_Mode){
mode_reg |= GPIO_InitStruct->GPIO_Pin;
} else {
mode_reg &= ~GPIO_InitStruct->GPIO_Pin;
}
NST_WR_PWM_REG(ADDR_GPIO_PIN_MUX_CTRL, pin_reg);
NST_WR_GPIO_REG(SWPORTA_DDR, mode_reg);
}
void POLOLU_DRIVER_Init(DRIVER_InitTypeDef *driver)
{
assert_param(IS_GPIO_PIN(driver->ModePin));
}
void LCD_Init(
uint8_t fourBitMode, GPIO_TypeDef* gpio,
uint16_t rs, uint16_t rw, uint16_t enable,
uint16_t d0, uint16_t d1, uint16_t d2, uint16_t d3,
uint16_t d4, uint16_t d5, uint16_t d6, uint16_t d7)
{
uint32_t periph;
assert_param(IS_GPIO_ALL_PERIPH(gpio));
assert_param(IS_GPIO_PIN(rs));
assert_param(IS_GPIO_PIN(rw));
assert_param(IS_GPIO_PIN(enable));
assert_param(IS_GPIO_PIN(d0));
assert_param(IS_GPIO_PIN(d1));
assert_param(IS_GPIO_PIN(d2));
assert_param(IS_GPIO_PIN(d3));
if(!fourBitMode) {
assert_param(IS_GPIO_PIN(d4));
assert_param(IS_GPIO_PIN(d5));
assert_param(IS_GPIO_PIN(d6));
assert_param(IS_GPIO_PIN(d7));
}
Lcd_Conf.gpio = gpio;
Lcd_Conf.rs = rs;
Lcd_Conf.rw = rw;
Lcd_Conf.enable = enable;
Lcd_Conf.data[0] = d0;
Lcd_Conf.data[1] = d1;
Lcd_Conf.data[2] = d2;
Lcd_Conf.data[3] = d3;
Lcd_Conf.data[4] = d4;
Lcd_Conf.data[5] = d5;
Lcd_Conf.data[6] = d6;
Lcd_Conf.data[7] = d7;
if (gpio == GPIOA)
periph = RCC_AHB1Periph_GPIOA;
else if (gpio == GPIOB)
periph = RCC_AHB1Periph_GPIOB;
else if (gpio == GPIOC)
periph = RCC_AHB1Periph_GPIOC;
else if (gpio == GPIOD)
periph = RCC_AHB1Periph_GPIOD;
else if (gpio == GPIOE)
periph = RCC_AHB1Periph_GPIOE;
else
return;
RCC_AHB1PeriphClockCmd(periph, ENABLE);
set_output(1);
if(fourBitMode)
Lcd_Conf.dispFunc = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS;
else
Lcd_Conf.dispFunc = LCD_8BITMODE | LCD_1LINE | LCD_5x8DOTS;
}
