mayhem-firmware/firmware/common/gpio.hpp

/*
 * Copyright (C) 2014 Jared Boone, ShareBrained Technology, Inc.
 *
 * This file is part of PortaPack.
 *
 * 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 2, 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; see the file COPYING.  If not, write to
 * the Free Software Foundation, Inc., 51 Franklin Street,
 * Boston, MA 02110-1301, USA.
 */

#ifndef __GPIO_H__
#define __GPIO_H__

#include <array>
#include <cstddef>
#include <cstdint>

#include "ch.h"
#include "hal.h"
#include "pal.h"

struct PinConfig {
    const uint32_t mode;
    const uint32_t pd;
    const uint32_t pu;
    const uint32_t fast;
    const uint32_t input;
    const uint32_t ifilt;

    constexpr operator uint16_t() const {
        return (((~ifilt) & 1) << 7) | ((input & 1) << 6) | ((fast & 1) << 5) | (((~pu) & 1) << 4) | ((pd & 1) << 3) | ((mode & 7) << 0);
    }
    /*
        constexpr operator uint32_t() {
                return scu::sfs::mode::value(mode)
                        << scu::sfs::epd::value(pd)
                        << scu::sfs::epun::value(~pu)
                        << scu::sfs::ehs::value(fast)
                        << scu::sfs::ezi::value(input)
                        << scu::sfs::zif::value(~ifilt)
                        ;
        }
*/
    static constexpr PinConfig reset() {
        return {.mode = 0, .pd = 0, .pu = 1, .fast = 0, .input = 0, .ifilt = 1};
    }

    static constexpr PinConfig floating(
        const uint32_t mode) {
        return {
            .mode = mode,
            .pd = 0,
            .pu = 0,
            .fast = 0,
            .input = 0,
            .ifilt = 1};
    }

    static constexpr PinConfig floating_input(
        const uint32_t mode) {
        return {
            .mode = mode,
            .pd = 0,
            .pu = 0,
            .fast = 0,
            .input = 1,
            .ifilt = 1};
    }

    static constexpr PinConfig floating_input_with_pull(
        const uint32_t pull_direction,
        const uint32_t mode) {
        return {
            .mode = mode,
            .pd = (pull_direction == 0) ? 1U : 0U,
            .pu = (pull_direction == 1) ? 1U : 0U,
            .fast = 0,
            .input = 1,
            .ifilt = 1};
    }

    static constexpr PinConfig gpio_led(const uint32_t mode) {
        return {.mode = mode, .pd = 0, .pu = 0, .fast = 0, .input = 0, .ifilt = 1};
    }

    static constexpr PinConfig gpio_inout_with_pull(
        const uint32_t mode,
        const uint32_t pull_direction) {
        return {
            .mode = mode,
            .pd = (pull_direction == 0) ? 1U : 0U,
            .pu = (pull_direction == 1) ? 1U : 0U,
            .fast = 0,
            .input = 1,
            .ifilt = 1};
    }

    static constexpr PinConfig gpio_inout_with_pullup(const uint32_t mode) {
        return gpio_inout_with_pull(mode, 1);
    }

    static constexpr PinConfig gpio_inout_with_pulldown(const uint32_t mode) {
        return gpio_inout_with_pull(mode, 0);
    }

    static constexpr PinConfig gpio_out_with_pull(
        const uint32_t mode,
        const uint32_t pull_direction) {
        return {
            .mode = mode,
            .pd = (pull_direction == 0) ? 1U : 0U,
            .pu = (pull_direction == 1) ? 1U : 0U,
            .fast = 0,
            .input = 0,
            .ifilt = 1};
    }

    static constexpr PinConfig gpio_out_with_pulldown(const uint32_t mode) {
        return gpio_out_with_pull(mode, 0);
    }

    static constexpr PinConfig gpio_out_with_pullup(const uint32_t mode) {
        return gpio_out_with_pull(mode, 1);
    }

    static constexpr PinConfig sgpio_in_fast(const uint32_t mode) {
        return {.mode = mode, .pd = 0, .pu = 0, .fast = 0, .input = 1, .ifilt = 0};
    }

    static constexpr PinConfig sgpio_out_fast_with_pull(
        const uint32_t mode,
        const uint32_t pull_direction) {
        return {
            .mode = mode,
            .pd = (pull_direction == 0) ? 1U : 0U,
            .pu = (pull_direction == 1) ? 1U : 0U,
            .fast = 1,
            .input = 0,
            .ifilt = 1};
    }

    static constexpr PinConfig sgpio_out_fast_with_pullup(const uint32_t mode) {
        return sgpio_out_fast_with_pull(mode, 1);
    }

    static constexpr PinConfig sgpio_inout_fast(const uint32_t mode) {
        return {.mode = mode, .pd = 0, .pu = 0, .fast = 1, .input = 1, .ifilt = 0};
    }

    static constexpr PinConfig i2c(const uint32_t mode) {
        return {.mode = mode, .pd = 0, .pu = 0, .fast = 0, .input = 1, .ifilt = 1};
    }

    static constexpr PinConfig spifi_sck(const uint32_t mode) {
        return {.mode = mode, .pd = 0, .pu = 0, .fast = 1, .input = 1, .ifilt = 0};
    }

    static constexpr PinConfig spifi_inout(const uint32_t mode) {
        return {.mode = mode, .pd = 0, .pu = 0, .fast = 1, .input = 1, .ifilt = 0};
    }

    static constexpr PinConfig spifi_cs(const uint32_t mode) {
        return {.mode = mode, .pd = 0, .pu = 0, .fast = 1, .input = 1, .ifilt = 0};
    }
};

struct Pin {
    // Pin() = delete;
    // Pin(const Pin&) = delete;
    // Pin(Pin&&) = delete;

    constexpr Pin(
        const uint8_t port,
        const uint8_t pad)
        : _pin_port{port},
          _pin_pad{pad} {
    }

    void mode(const uint_fast16_t mode) const {
        LPC_SCU->SFSP[_pin_port][_pin_pad] =
            (LPC_SCU->SFSP[_pin_port][_pin_pad] & 0xfffffff8) | mode;
    }

    void configure(const PinConfig config) const {
        LPC_SCU->SFSP[_pin_port][_pin_pad] = config;
    }

    uint8_t _pin_port;
    uint8_t _pin_pad;
};

struct GPIO {
    // GPIO() = delete;
    // GPIO(const GPIO& gpio) = delete;
    // GPIO(GPIO&&) = delete;

    constexpr GPIO(
        const Pin& pin,
        const ioportid_t gpio_port,
        const iopadid_t gpio_pad,
        const uint16_t gpio_mode)
        : _pin{pin},
          _gpio_port{gpio_port},
          _gpio_pad{gpio_pad},
          _gpio_mode{gpio_mode} {
    }
    /*
        constexpr GPIO(
                const GPIO& gpio
        ) : _pin { gpio._pin },
                _gpio_port { gpio._gpio_port },
                _gpio_pad { gpio._gpio_pad },
                _gpio_mode { gpio._gpio_mode }
        {
        }
*/
    constexpr ioportid_t port() const {
        return _gpio_port;
    }

    constexpr iopadid_t pad() const {
        return _gpio_pad;
    }

    constexpr Pin pin() const {
        return _pin;
    }

    void configure() const {
        _pin.mode(_gpio_mode);
    }

    uint_fast16_t mode() const {
        return _gpio_mode;
    }

    void set() const {
        palSetPad(_gpio_port, _gpio_pad);
    }

    void clear() const {
        palClearPad(_gpio_port, _gpio_pad);
    }

    void toggle() const {
        palTogglePad(_gpio_port, _gpio_pad);
    }

    void output() const {
        palSetPadMode(_gpio_port, _gpio_pad, PAL_MODE_OUTPUT_PUSHPULL);
    }

    void input() const {
        palSetPadMode(_gpio_port, _gpio_pad, PAL_MODE_INPUT);
    }

    void write(const bool value) const {
        palWritePad(_gpio_port, _gpio_pad, value);
    }

    bool read() const {
        return palReadPad(_gpio_port, _gpio_pad);
    }

    bool operator!=(const GPIO& other) const {
        return (port() != other.port()) || (pad() != other.pad());
    }

    const Pin _pin;
    const ioportid_t _gpio_port;
    const iopadid_t _gpio_pad;
    const uint16_t _gpio_mode;
};

constexpr uint32_t boot_bit(const GPIO& pin, bool state) {
    return (state ? 1UL : 0UL) << pin.pad();
}

inline void setup_pin(const scu_setup_t& pin_setup) {
    LPC_SCU->SFSP[pin_setup.port][pin_setup.pin] = pin_setup.config;
}

template <size_t N>
inline void setup_gpios(const std::array<gpio_setup_t, N>& pins_setup) {
    for (size_t i = 0; i < N; i++) {
        LPC_GPIO->PIN[i] |= pins_setup[i].data;
        LPC_GPIO->DIR[i] |= pins_setup[i].dir;
    }
}

template <size_t N>
inline void setup_pins(const std::array<scu_setup_t, N>& pins_setup) {
    for (const auto& pin_setup : pins_setup) {
        setup_pin(pin_setup);
    }
}

#ifdef PRALINE
namespace gpio_control {

struct PinMap {
    uint8_t scu_port;
    uint8_t scu_pin;
    uint8_t gpio_port;
    uint8_t gpio_pad;
};

constexpr PinMap map_p1_ctrl0{2, 10, 0, 14};  // SCU: 2, 10 | GPIO: 0, 14
constexpr PinMap map_p1_ctrl1{6, 8, 5, 16};
constexpr PinMap map_p1_ctrl2{6, 9, 3, 5};
constexpr PinMap map_p2_ctrl0{8, 3, 7, 3};
constexpr PinMap map_p2_ctrl1{8, 4, 7, 4};
constexpr PinMap map_trigger_out{2, 6, 5, 6};
constexpr PinMap map_trigger_in{13, 12, 6, 26};

constexpr PinMap map_rf5072_mix_en{9, 0, 4, 12};

constexpr PinMap map_aa_en{1, 14, 1, 7};  // Anti-Aliasing filter

// P1 Multiplexer control pins
constexpr Pin pin_p1_ctrl0{map_p1_ctrl0.scu_port, map_p1_ctrl0.scu_pin};                                         // SCU: P2_10
constexpr GPIO p1_ctrl0{pin_p1_ctrl0, map_p1_ctrl0.gpio_port, map_p1_ctrl0.gpio_pad, PAL_MODE_OUTPUT_PUSHPULL};  // GPIO[0]14

constexpr Pin pin_p1_ctrl1{map_p1_ctrl1.scu_port, map_p1_ctrl1.scu_pin};                                         // SCU: P6_8
constexpr GPIO p1_ctrl1{pin_p1_ctrl1, map_p1_ctrl1.gpio_port, map_p1_ctrl1.gpio_pad, PAL_MODE_OUTPUT_PUSHPULL};  // GPIO[5]16

constexpr Pin pin_p1_ctrl2{map_p1_ctrl2.scu_port, map_p1_ctrl2.scu_pin};                                         // SCU: P6_9
constexpr GPIO p1_ctrl2{pin_p1_ctrl2, map_p1_ctrl2.gpio_port, map_p1_ctrl2.gpio_pad, PAL_MODE_OUTPUT_PUSHPULL};  // GPIO[3]5

// P2 Multiplexer control pins
constexpr Pin pin_p2_ctrl0{map_p2_ctrl0.scu_port, map_p2_ctrl0.scu_pin};                                         // SCU: PE_3
constexpr GPIO p2_ctrl0{pin_p2_ctrl0, map_p2_ctrl0.gpio_port, map_p2_ctrl0.gpio_pad, PAL_MODE_OUTPUT_PUSHPULL};  // GPIO[7]3

constexpr Pin pin_p2_ctrl1{map_p2_ctrl1.scu_port, map_p2_ctrl1.scu_pin};                                         // SCU: PE_4
constexpr GPIO p2_ctrl1{pin_p2_ctrl1, map_p2_ctrl1.gpio_port, map_p2_ctrl1.gpio_pad, PAL_MODE_OUTPUT_PUSHPULL};  // GPIO[7]4

// Trigger pins
constexpr Pin trigger_out_pin{map_trigger_out.scu_port, map_trigger_out.scu_pin};                                            // SCU: P2_6
constexpr GPIO trigger_out{trigger_out_pin, map_trigger_out.gpio_port, map_trigger_out.gpio_pad, PAL_MODE_OUTPUT_PUSHPULL};  // GPIO[5]6

constexpr Pin trigger_in_pin{map_trigger_in.scu_port, map_trigger_in.scu_pin};                                 // SCU: PD_12
constexpr GPIO trigger_in{trigger_in_pin, map_trigger_in.gpio_port, map_trigger_in.gpio_pad, PAL_MODE_INPUT};  // GPIO[6]26

// RF507x
constexpr Pin pin_rf5072_mix_en{map_rf5072_mix_en.scu_port, map_rf5072_mix_en.scu_pin};
constexpr GPIO rf5072_mix_en{pin_rf5072_mix_en, map_rf5072_mix_en.gpio_port, map_rf5072_mix_en.gpio_pad, 0};

// Anti-Aliasing filter
constexpr Pin pin_aa_en{map_aa_en.scu_port, map_aa_en.scu_pin};
constexpr GPIO aa_en{pin_aa_en, map_aa_en.gpio_port, map_aa_en.gpio_pad, 0};

}  // namespace gpio_control
#endif

namespace power_control {

void vaa_power_on(void);
void vaa_power_off(void);

#ifdef PRALINE
void aux_power_on(void);
void aux_power_off(void);
#endif

void core_power_on(void);
void core_power_off(void);

static const motocon_pwm_resources_t motocon_pwm_resources = {
    .base = {.clk = &LPC_CGU->BASE_APB1_CLK, .stat = &LPC_CCU1->BASE_STAT, .stat_mask = (1 << 1)},
    .branch = {.cfg = &LPC_CCU1->CLK_APB1_MOTOCON_PWM_CFG, .stat = &LPC_CCU1->CLK_APB1_MOTOCON_PWM_STAT},
    .reset = {.output_index = 38},
};

static const scu_setup_t pin_setup_vaa_enablex_pwm = {5, 0, scu_config_normal_drive_t{.mode = 1, .epd = 0, .epun = 1, .ehs = 0, .ezi = 0, .zif = 0}};
static const scu_setup_t pin_setup_vaa_enablex_gpio_og = {5, 0, scu_config_normal_drive_t{.mode = 0, .epd = 0, .epun = 1, .ehs = 0, .ezi = 0, .zif = 0}};
static const scu_setup_t pin_setup_vaa_enablex_gpio_r9 = {6, 10, scu_config_normal_drive_t{.mode = 0, .epd = 0, .epun = 1, .ehs = 0, .ezi = 0, .zif = 0}};

}  // namespace power_control

#endif /*__GPIO_H__*/