1 files changed, 46 insertions, 0 deletions
diff --git a/controller/fw/src/gpio_helpers.c b/controller/fw/src/gpio_helpers.c
new file mode 100644
index 0000000..07b9a33
--- /dev/null
+++ b/controller/fw/src/gpio_helpers.c
@@ -0,0 +1,46 @@
+
+#include "gpio_helpers.h"
+
+void gpio_pin_mode(GPIO_TypeDef *gpio, int pin, int mode) {
+    gpio->MODER &= ~(3 << (2*pin));
+    gpio->MODER |= mode << (2*pin);
+}
+
+void gpio_pin_setup(GPIO_TypeDef *gpio, int pin, int mode, int speed, int pullups, int afsel) {
+    int gpio_idx = ((uint32_t)gpio>>10) & 0xf;
+    RCC->AHB1ENR |= 1<<gpio_idx;
+    
+    gpio->MODER &= ~(3 << (2*pin));
+    gpio->MODER |= mode << (2*pin);
+    gpio->OSPEEDR &= ~(3 << (2*pin));
+    gpio->OSPEEDR |= speed << (2*pin);
+    gpio->PUPDR &= ~(3 << (2*pin));
+    gpio->PUPDR |= pullups << (2*pin);
+    gpio->AFR[pin>>3] &= ~(0xf << (4*(pin&7)));
+    gpio->AFR[pin>>3] |= afsel << (4*(pin&7));
+    gpio->BSRR = 1<<pin<<16;
+}
+
+void gpio_pin_output(GPIO_TypeDef *gpio, int pin, int speed) {
+    gpio_pin_setup(gpio, pin, 1, speed, 0, 0);
+}
+
+void gpio_pin_tristate(GPIO_TypeDef *gpio, int pin, int tristate) {
+    if (tristate)
+        gpio->MODER &= ~(3 << (2*pin));
+    else
+        gpio->MODER |= 1 << (2*pin);
+}
+
+void gpio_pin_input(GPIO_TypeDef *gpio, int pin, int pullups) {
+    gpio_pin_setup(gpio, pin, 0, 0, pullups, 0);
+}
+
+void gpio_pin_af(GPIO_TypeDef *gpio, int pin, int speed, int pullups, int afsel) {
+    gpio_pin_setup(gpio, pin, 2, speed, pullups, afsel);
+}
+
+void gpio_pin_analog(GPIO_TypeDef *gpio, int pin) {
+    gpio_pin_setup(gpio, pin, 3, 0, 0, 0);
+}
+