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Fixes Tiva GPIO and build (#604)
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The TivaGPIO implementation was missing a volatile qualification
on the input read function.

- Refactors the three similar GPIO classes to remove duplicate code.
- Adds necessary volatile qualification using the standard TivaWare syntax.

Misc:
- Fixes a build problem when using tivaware in bare.armv7m target.
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@balazsracz
balazsracz authored Jan 29, 2022
1 parent da9188f commit 7b793c8
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Showing 2 changed files with 52 additions and 101 deletions.
7 changes: 6 additions & 1 deletion src/freertos_drivers/sources
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,12 @@ CXXSRCS += c++_operators.cxx
endif

ifeq ($(TARGET),bare.armv7m)
SUBDIRS += cc32xxsdk ti_grlib stm32cubel431xx stm32cubel432xx
SUBDIRS += cc32xxsdk ti_grlib stm32cubel431xx stm32cubel432xx

ifdef BUILDTIVAWARE
SUBDIRS += tivadriverlib tivausblib
endif

endif

ifeq ($(TARGET),bare.armv6m)
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146 changes: 46 additions & 100 deletions src/freertos_drivers/ti/TivaGPIO.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -125,8 +125,7 @@ public:
}

private:
template <class Defs, bool SAFE_VALUE> friend struct GpioOutputPin;
template <class Defs, uint32_t GPIO_PULL> friend struct GpioInputPin;
template <class Defs> friend struct GpioShared;
/// Static instance variable that can be used for libraries expectiong a
/// generic Gpio pointer. This instance variable will be initialized by the
/// linker and (assuming the application developer initialized the hardware
Expand All @@ -151,31 +150,14 @@ private:
template <unsigned GPIO_BASE, unsigned GPIO_PIN>
const TivaGpio<GPIO_BASE, GPIO_PIN> TivaGpio<GPIO_BASE, GPIO_PIN>::instance_;

/// Defines a GPIO output pin. Writes to this structure will change the output
/// level of the pin. Reads will return the pin's current level.
///
/// The pin is set to output at initialization time, with the level defined by
/// `SAFE_VALUE'.
///
/// Do not use this class directly. Use @ref GPIO_PIN instead.
template <class Defs, bool SAFE_VALUE> struct GpioOutputPin : public Defs
{
/// Shared class that defines static functions used by both GpioInputPin,
/// GpioOutputPin and GpioHwPin.
template<class Defs> struct GpioShared : public Defs {
public:
using Defs::GPIO_PERIPH;
using Defs::GPIO_BASE;
using Defs::GPIO_PIN;
/// Initializes the hardware pin.
static void hw_init()
{
MAP_SysCtlPeripheralEnable(GPIO_PERIPH);
MAP_GPIOPinTypeGPIOOutput(GPIO_BASE, GPIO_PIN);
set(SAFE_VALUE);
}
/// Sets the hardware pin to a safe value.
static void hw_set_to_safe()
{
hw_init();
}

/// Used to unlock special consideration pins such as JTAG or NMI pins.
static void unlock()
{
Expand All @@ -193,32 +175,64 @@ public:
HWREG(GPIO_BASE + GPIO_O_CR) &= ~GPIO_PIN;
HWREG(GPIO_BASE + GPIO_O_LOCK) = 0;
}

/// Sets the output pin to a specified value; @param value if true, output
/// is set to HIGH otherwise LOW.
static void set(bool value)
{
uint8_t *ptr = reinterpret_cast<uint8_t *>(
GPIO_BASE + (((unsigned)GPIO_PIN) << 2));
*ptr = value ? 0xff : 0;
HWREGB(ptr_address()) = value ? 0xff : 0;
}
/// @return current value of an input pin, if true HIGH, of false LOW.
static bool get()
{
const uint8_t *ptr = reinterpret_cast<const uint8_t *>(
GPIO_BASE + (((unsigned)GPIO_PIN) << 2));
return *ptr;
return HWREGB(ptr_address()) != 0;
}
/// Changes the value of an output pin.
static void toggle()
{
set(!get());
}

/// @return the IO address of the port that controls the specific pin.
static constexpr uint32_t ptr_address()
{
return GPIO_BASE + (((unsigned)GPIO_PIN) << 2);
}

/// @return static Gpio ovject instance that controls this output pin.
static constexpr const Gpio *instance()
{
return &TivaGpio<GPIO_BASE, GPIO_PIN>::instance_;
}
};

/// Defines a GPIO output pin. Writes to this structure will change the output
/// level of the pin. Reads will return the pin's current level.
///
/// The pin is set to output at initialization time, with the level defined by
/// `SAFE_VALUE'.
///
/// Do not use this class directly. Use @ref GPIO_PIN instead.
template <class Defs, bool SAFE_VALUE>
struct GpioOutputPin : public GpioShared<Defs>
{
public:
using Defs::GPIO_PERIPH;
using Defs::GPIO_BASE;
using Defs::GPIO_PIN;
using GpioShared<Defs>::set;
/// Initializes the hardware pin.
static void hw_init()
{
MAP_SysCtlPeripheralEnable(GPIO_PERIPH);
MAP_GPIOPinTypeGPIOOutput(GPIO_BASE, GPIO_PIN);
set(SAFE_VALUE);
}
/// Sets the hardware pin to a safe value.
static void hw_set_to_safe()
{
hw_init();
}

/// @return true if this pin is an output pin.
static bool is_output()
Expand Down Expand Up @@ -320,7 +334,8 @@ public:
typedef BaseClass<NAME##Defs> NAME##_Pin

/// Common class for GPIO input pins.
template <class Defs, uint32_t GPIO_PULL> struct GpioInputPin : public Defs
template <class Defs, uint32_t GPIO_PULL>
struct GpioInputPin : public GpioShared<Defs>
{
public:
using Defs::GPIO_PERIPH;
Expand All @@ -338,40 +353,11 @@ public:
{
hw_init();
}
/// Used to unlock special consideration pins such as JTAG or NMI pins.
static void unlock()
{
MAP_SysCtlPeripheralEnable(GPIO_PERIPH);
MAP_SysCtlDelay(26);
HWREG(GPIO_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_BASE + GPIO_O_CR) |= GPIO_PIN;
HWREG(GPIO_BASE + GPIO_O_LOCK) = 0;
}
/// Used to lock special consideration pins such as JTAG or NMI pins.
static void lock()
{
MAP_SysCtlPeripheralEnable(GPIO_PERIPH);
HWREG(GPIO_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_BASE + GPIO_O_CR) &= ~GPIO_PIN;
HWREG(GPIO_BASE + GPIO_O_LOCK) = 0;
}
/// @return true if the pin is currently seeing a high value on the input..
static bool get()
{
const uint8_t *ptr = reinterpret_cast<const uint8_t *>(
GPIO_BASE + (((unsigned)GPIO_PIN) << 2));
return *ptr;
}
/// @return true if the pin is set to an output.
static bool is_output()
{
return false;
}
/// @return the static Gpio instance controlling this pin.
static constexpr const Gpio *instance()
{
return &TivaGpio<GPIO_BASE, GPIO_PIN>::instance_;
}
};

/// GPIO Input pin with weak pull up.
Expand Down Expand Up @@ -455,7 +441,7 @@ template <class Defs> struct GpioUSBAPin : public Defs
/// functions.
///
/// Do not use this class directly. Use @ref GPIO_HWPIN instead.
template <class Defs> struct GpioHwPin : public Defs
template <class Defs> struct GpioHwPin : public GpioShared<Defs>
{
using Defs::GPIO_PERIPH;
using Defs::GPIO_BASE;
Expand All @@ -480,25 +466,6 @@ template <class Defs> struct GpioHwPin : public Defs
hw_init();
}

/// Used to unlock special consideration pins such as JTAG or NMI pins.
static void unlock()
{
MAP_SysCtlPeripheralEnable(GPIO_PERIPH);
MAP_SysCtlDelay(26);
HWREG(GPIO_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_BASE + GPIO_O_CR) |= GPIO_PIN;
HWREG(GPIO_BASE + GPIO_O_LOCK) = 0;
}

/// Used to lock special consideration pins such as JTAG or NMI pins.
static void lock()
{
MAP_SysCtlPeripheralEnable(GPIO_PERIPH);
HWREG(GPIO_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_BASE + GPIO_O_CR) &= ~GPIO_PIN;
HWREG(GPIO_BASE + GPIO_O_LOCK) = 0;
}

/** Switches the GPIO pin to the hardware peripheral. */
static void set_hw()
{
Expand Down Expand Up @@ -526,27 +493,6 @@ template <class Defs> struct GpioHwPin : public Defs
MAP_GPIOPadConfigSet(
GPIO_BASE, GPIO_PIN, GPIO_STRENGTH_2MA, drive_type);
}

/// Change the output state to a specified value.
/// @param value if true, output will be set to HIGH, else LOW.
static void set(bool value)
{
volatile uint8_t *ptr = reinterpret_cast<volatile uint8_t *>(
GPIO_BASE + (((unsigned)GPIO_PIN) << 2));
*ptr = value ? 0xff : 0;
}
/// @return vurrent value of the pin, true for HIGH and false for LOW.
static bool get()
{
const volatile uint8_t *ptr = reinterpret_cast<const volatile uint8_t *>(
GPIO_BASE + (((unsigned)GPIO_PIN) << 2));
return *ptr;
}
/// Change the current value of the output pin.
static void toggle()
{
set(!get());
}
};

/// Helper macro for defining GPIO pins with a specific hardware config on the
Expand Down

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