lucalizaranzu/Shmingo-HAL
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Major refactor for entire system - wrong branch but get over it

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This commit is contained in:
Ea-r-th
2025-09-10 01:20:50 -07:00
parent 316edd32d8
commit 2f8ba8d9ee
8 changed files with 106 additions and 111 deletions
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58
SHAL/Src/Peripheral/GPIO/SHAL_GPIO.cpp
View File

@@ -11,20 +11,12 @@ GPIO::GPIO() : m_GPIO_KEY(GPIO_Key::INVALID){
//Do not initialize anything
}
GPIO::GPIO(GPIO_Key key, PinMode pinMode) : m_GPIO_KEY(key) {
SHAL_GPIO_Peripheral gpioPeripheral = getGPIORegister(key);
auto gpioRegister = gpioPeripheral.reg;
unsigned long registerOffset = gpioPeripheral.global_offset;
GPIO::GPIO(GPIO_Key key) : m_GPIO_KEY(key) {
volatile unsigned long* gpioEnable = getGPIORCCEnable(key).reg;
unsigned long gpioOffset = getGPIORCCEnable(key).offset;
*gpioEnable |= (1 << gpioOffset); //Set enable flag
gpioRegister->MODER &= ~(0x03 << (2 * registerOffset)); //Clear any previous mode
gpioRegister->MODER |= (static_cast<uint8_t>(pinMode) << (2 * registerOffset)); //Set mode based on pinmode bit structure
}
void GPIO::setLow() {
@@ -42,6 +34,8 @@ void GPIO::toggle() volatile {
gpioPeripheral.reg->ODR ^= (1 << gpioPeripheral.global_offset);
}
void GPIO::setPinType(PinType type) volatile {
SHAL_GPIO_Peripheral gpioPeripheral = getGPIORegister(m_GPIO_KEY);
gpioPeripheral.reg->OTYPER &= ~(1 << gpioPeripheral.global_offset);
@@ -68,41 +62,30 @@ void GPIO::setAlternateFunction(GPIO_Alternate_Function AF) volatile {
gpioPeripheral.reg->AFR[afrIndex] |= (static_cast<int>(AF) << (gpioPeripheral.global_offset * 4));
}
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
if (m_gpios[gpioPort][gpioPin].m_GPIO_KEY == GPIO_Key::INVALID){
m_gpios[gpioPort][gpioPin] = GPIO(key,pinMode);
}
return m_gpios[gpioPort][gpioPin];
void GPIO::setPinMode(PinMode mode) volatile {
SHAL_GPIO_Peripheral gpioPeripheral = getGPIORegister(m_GPIO_KEY);
gpioPeripheral.reg->MODER &= ~(0x03 << (2 * gpioPeripheral.global_offset)); //Clear any previous mode
gpioPeripheral.reg->MODER |= (static_cast<uint8_t>(mode) << (2 * gpioPeripheral.global_offset)); //Set mode based on pinmode bit structure
}
void GPIOManager::getInterruptGPIO(GPIO_Key key, TriggerMode triggerMode, EXTICallback callback) {
void GPIO::useAsExternalInterrupt(TriggerMode mode, EXTICallback callback) {
uint32_t gpioPort = getGPIOPortNumber(key);
uint32_t gpioPin = getGPIORegister(key).global_offset; //Use existing structs to get offset
uint32_t gpioPin = getGPIORegister(m_GPIO_KEY).global_offset; //Use existing structs to get offset
if (m_gpios[gpioPort][gpioPin].m_GPIO_KEY == GPIO_Key::INVALID){
m_gpios[gpioPort][gpioPin] = GPIO(key,PinMode::INPUT_MODE); //Hardcode input mode for interrupt
}
setPinMode(PinMode::INPUT_MODE); //Explicitly set mode to input
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGCOMPEN; //Enable EXT, TODO check if this is different across STM32 models
NVIC_EnableIRQ(getGPIOEXTICR(key).IRQN); //Enable IRQN for pin
NVIC_EnableIRQ(getGPIOEXTICR(m_GPIO_KEY).IRQN); //Enable IRQN for pin
EXTI->IMR |= (1 << gpioPin); //Enable correct EXTI line
SHAL_EXTIO_Register EXTILineEnable = getGPIOEXTICR(key);
SHAL_EXTIO_Register EXTILineEnable = getGPIOEXTICR(m_GPIO_KEY);
*EXTILineEnable.EXT_ICR |= EXTILineEnable.mask; //Set bits to enable correct port on correct line TODO Find way to clear bits before
uint32_t rising_mask = 0x00;
uint32_t falling_mask = 0x00;
//Set rising and falling edge triggers based on pin offset (enabled EXTI line)
switch(triggerMode){
switch(mode){
case TriggerMode::RISING_EDGE:
rising_mask = 1 << gpioPin;
break;
@@ -119,7 +102,20 @@ void GPIOManager::getInterruptGPIO(GPIO_Key key, TriggerMode triggerMode, EXTICa
EXTI->FTSR |= falling_mask;
//Set callback
registerEXTICallback(key,callback);
registerEXTICallback(m_GPIO_KEY,callback);
__enable_irq(); //Enable IRQ just in case
}
GPIO& GPIOManager::get(GPIO_Key key) {
unsigned int gpioPort = getGPIOPortNumber(key);
unsigned long gpioPin = getGPIORegister(key).global_offset; //Use existing structs to get offset
if (m_gpios[gpioPort][gpioPin].m_GPIO_KEY == GPIO_Key::INVALID){
m_gpios[gpioPort][gpioPin] = GPIO(key);
}
return m_gpios[gpioPort][gpioPin];
}

21
SHAL/Src/Peripheral/UART/SHAL_UART.cpp
View File

@@ -17,24 +17,11 @@ UART::UART(const UART_Pair pair) : m_UARTPair(pair){
GPIO_Key Tx_Key = uart_pair.TxKey; //Tx pin
GPIO_Key Rx_Key = uart_pair.RxKey; //Rx pin
uint8_t Tx_Pin = getGPIORegister(Tx_Key).global_offset;
uint8_t Rx_Pin = getGPIORegister(Rx_Key).global_offset;
GET_GPIO(Tx_Key).setPinMode(PinMode::ALTERNATE_FUNCTION_MODE);
GET_GPIO(Rx_Key).setPinMode(PinMode::ALTERNATE_FUNCTION_MODE);
initGPIO(Tx_Key,PinMode::ALTERNATE_FUNCTION_MODE); //Initialize Tx GPIO with alternate function (initializes GPIO port as well)
initGPIO(Rx_Key,PinMode::ALTERNATE_FUNCTION_MODE); //Initialize Rx GPIO with alternate function
//Determine which AFR register (high or low) to write depending on pin
uint8_t TxAFR = Tx_Pin < 8 ? 0 : 1; //Use AFR[0] if pin < 8, AFR[1] if pin >= 8
uint8_t RxAFR = Rx_Pin < 8 ? 0 : 1;
/*Apply Alternate Function masks to the AFR registers for each GPIO to enable alternate functions
* The AFR register for GPIO_Typedef* is actually two registers - a low reg and high reg.
* The low reg handles pins 0-7, and the high reg handles 8-15.
* Each pin gets 4 bits in the register for AFR0 - AFR7. Hence 8 * 4 = 32 bits.
* Each AFR is a different function, look at the DATASHEET (not reference manual) to find these alternate function mappings
*/
getGPIORegister(Tx_Key).reg->AFR[TxAFR] |= getAFMask(uart_pair.TxMask) << (4 * (Tx_Pin % 8));
getGPIORegister(Rx_Key).reg->AFR[RxAFR] |= getAFMask(uart_pair.RxMask) << (4 * (Rx_Pin % 8));
GET_GPIO(Tx_Key).setAlternateFunction(uart_pair.TxAlternateFunctionMask);
GET_GPIO(Rx_Key).setAlternateFunction(uart_pair.RxAlternateFunctionMask);
SHAL_UART_ENABLE_REG pairUARTEnable = getUARTEnableReg(pair); //Register and mask to enable the UART channel

11
SHAL/Src/main.cpp
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@@ -7,11 +7,12 @@ volatile GPIO* greenLED = nullptr;
volatile UART* uart2;
void c3Interrupt(){
greenLED->toggle();
PIN(A5).toggle();
uart2->sendString("test");
}
void tim2Handler(){
blueLED->toggle();
PIN(A4).toggle();
}
int main() {
@@ -20,12 +21,12 @@ int main() {
uart2->begin(115200);
useGPIOAsInterrupt(GPIO_Key::C3,TriggerMode::RISING_EDGE, c3Interrupt);
PIN(C3).useAsExternalInterrupt(TriggerMode::RISING_EDGE,c3Interrupt);
Timer timer2 = getTimer(Timer_Key::S_TIM2);
blueLED = &initGPIO(GPIO_Key::A4, PinMode::OUTPUT_MODE);
greenLED = &initGPIO(GPIO_Key::A5, PinMode::OUTPUT_MODE);
PIN(A4).setPinMode(PinMode::OUTPUT_MODE);
PIN(A5).setPinMode(PinMode::OUTPUT_MODE);
timer2.setPrescaler(8000 - 1);
timer2.setARR(1500 - 1);