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【STM32C0评测】Rt-thread nano 添加PIN驱动

[复制链接]
andey 发布时间：2025-4-27 18:58

Rt-thread nano 版本里只包含了RTOS内核的及shell的代码，是无法直接使用Rt-thread 的其他功能组件的，以下是Rt-thread nano 的框图及说明。

rt_thread_nano.png

在Nano 中虽然不能直接使用标准版的驱动，不过我们把标准版中冗余的部分裁剪掉也是可以在nano 中来使用的，PIN驱动对外提供的接口如下。 pin.png

我们将标准版中的驱动框架部分代码去除，只保留pin驱动相关代码。

#ifndef PIN_H__
#define PIN_H__

#include <rtthread.h>

#ifdef __cplusplus
extern "C" {
#endif

#define PIN_LOW                 0x00
#define PIN_HIGH                0x01

#define PIN_MODE_OUTPUT         0x00
#define PIN_MODE_INPUT          0x01
#define PIN_MODE_INPUT_PULLUP   0x02
#define PIN_MODE_INPUT_PULLDOWN 0x03
#define PIN_MODE_OUTPUT_OD      0x04

#define PIN_IRQ_MODE_RISING             0x00
#define PIN_IRQ_MODE_FALLING            0x01
#define PIN_IRQ_MODE_RISING_FALLING     0x02
#define PIN_IRQ_MODE_HIGH_LEVEL         0x03
#define PIN_IRQ_MODE_LOW_LEVEL          0x04

#define PIN_IRQ_DISABLE                 0x00
#define PIN_IRQ_ENABLE                  0x01

#define PIN_IRQ_PIN_NONE                -1

struct rt_device_pin_mode
{
    rt_uint16_t pin;
    rt_uint16_t mode;
};
struct rt_device_pin_status
{
    rt_uint16_t pin;
    rt_uint16_t status;
};
struct rt_pin_irq_hdr
{
    rt_int16_t        pin;
    rt_uint16_t       mode;
    void (*hdr)(void *args);
    void             *args;
};

void rt_pin_mode(rt_base_t pin, rt_base_t mode);
void rt_pin_write(rt_base_t pin, rt_base_t value);
int  rt_pin_read(rt_base_t pin);
rt_err_t rt_pin_attach_irq(rt_int32_t pin, rt_uint32_t mode,
                             void (*hdr)(void *args), void  *args);
rt_err_t rt_pin_detach_irq(rt_int32_t pin);
rt_err_t rt_pin_irq_enable(rt_base_t pin, rt_uint32_t enabled);
/* Get pin number by name,such as PA.0,P0.12 */
rt_base_t rt_pin_get(const char *name);

#ifdef __cplusplus
}
#endif

#endif

针对上述pin 驱动依赖的平台实现相关代码，标准版本中已经实现了，我们把其他其他芯片以来的去除只保留STM32C0芯片的代码，对应代码如下。

#include "main.h"
#include "pin.h"
#include "drv_gpio.h"
#include <rthw.h>

#ifdef RT_USING_PIN

#define PIN_NUM(port, no) (((((port) & 0xFu) << 4) | ((no) & 0xFu)))
#define PIN_PORT(pin) ((uint8_t)(((pin) >> 4) & 0xFu))
#define PIN_NO(pin) ((uint8_t)((pin) & 0xFu))

#define PIN_STPORT(pin) ((GPIO_TypeDef *)(GPIOA_BASE + (0x400u * PIN_PORT(pin))))

#define PIN_STPIN(pin) ((uint16_t)(1u << PIN_NO(pin)))

#define __STM32_PORT_MAX 8u

#define PIN_STPORT_MAX __STM32_PORT_MAX

static const struct pin_irq_map pin_irq_map[] =
{
    {GPIO_PIN_0, EXTI0_1_IRQn},
    {GPIO_PIN_1, EXTI0_1_IRQn},
    {GPIO_PIN_2, EXTI2_3_IRQn},
    {GPIO_PIN_3, EXTI2_3_IRQn},
    {GPIO_PIN_4, EXTI4_15_IRQn},
    {GPIO_PIN_5, EXTI4_15_IRQn},
    {GPIO_PIN_6, EXTI4_15_IRQn},
    {GPIO_PIN_7, EXTI4_15_IRQn},
    {GPIO_PIN_8, EXTI4_15_IRQn},
    {GPIO_PIN_9, EXTI4_15_IRQn},
    {GPIO_PIN_10, EXTI4_15_IRQn},
    {GPIO_PIN_11, EXTI4_15_IRQn},
    {GPIO_PIN_12, EXTI4_15_IRQn},
    {GPIO_PIN_13, EXTI4_15_IRQn},
    {GPIO_PIN_14, EXTI4_15_IRQn},
    {GPIO_PIN_15, EXTI4_15_IRQn},
};

static struct rt_pin_irq_hdr pin_irq_hdr_tab[] =
{
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
    {-1, 0, RT_NULL, RT_NULL},
};
static uint32_t pin_irq_enable_mask = 0;

#define ITEM_NUM(items) sizeof(items) / sizeof(items[0])

rt_base_t stm32_pin_get(const char *name)
{
    rt_base_t pin = 0;
    int hw_port_num, hw_pin_num = 0;
    int i, name_len;

    name_len = rt_strlen(name);

    if ((name_len < 4) || (name_len >= 6))
    {
        return -RT_EINVAL;
    }
    if ((name[0] != 'P') || (name[2] != '.'))
    {
        return -RT_EINVAL;
    }

    if ((name[1] >= 'A') && (name[1] <= 'Z'))
    {
        hw_port_num = (int)(name[1] - 'A');
    }
    else
    {
        return -RT_EINVAL;
    }

    for (i = 3; i < name_len; i++)
    {
        hw_pin_num *= 10;
        hw_pin_num += name[i] - '0';
    }

    pin = PIN_NUM(hw_port_num, hw_pin_num);

    return pin;
}

void rt_pin_write(rt_base_t pin, rt_base_t value)
{
    GPIO_TypeDef *gpio_port;
    uint16_t gpio_pin;

    if (PIN_PORT(pin) < PIN_STPORT_MAX)
    {
        gpio_port = PIN_STPORT(pin);
        gpio_pin = PIN_STPIN(pin);

        HAL_GPIO_WritePin(gpio_port, gpio_pin, (GPIO_PinState)value);
    }
}

int rt_pin_read(rt_base_t pin)
{
    GPIO_TypeDef *gpio_port;
    uint16_t gpio_pin;
    int value = PIN_LOW;

    if (PIN_PORT(pin) < PIN_STPORT_MAX)
    {
        gpio_port = PIN_STPORT(pin);
        gpio_pin = PIN_STPIN(pin);
        value = HAL_GPIO_ReadPin(gpio_port, gpio_pin);
    }

    return value;
}

void rt_pin_mode(rt_base_t pin, rt_base_t mode)
{
    GPIO_InitTypeDef GPIO_InitStruct;

    if (PIN_PORT(pin) >= PIN_STPORT_MAX)
    {
        return;
    }

    /* Configure GPIO_InitStructure */
    GPIO_InitStruct.Pin = PIN_STPIN(pin);
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;

    if (mode == PIN_MODE_OUTPUT)
    {
        /* output setting */
        GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
    }
    else if (mode == PIN_MODE_INPUT)
    {
        /* input setting: not pull. */
        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
    }
    else if (mode == PIN_MODE_INPUT_PULLUP)
    {
        /* input setting: pull up. */
        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
        GPIO_InitStruct.Pull = GPIO_PULLUP;
    }
    else if (mode == PIN_MODE_INPUT_PULLDOWN)
    {
        /* input setting: pull down. */
        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
    }
    else if (mode == PIN_MODE_OUTPUT_OD)
    {
        /* output setting: od. */
        GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
    }

    HAL_GPIO_Init(PIN_STPORT(pin), &GPIO_InitStruct);
}

rt_inline rt_int32_t bit2bitno(rt_uint32_t bit)
{
    int i;
    for (i = 0; i < 32; i++)
    {
        if ((0x01 << i) == bit)
        {
            return i;
        }
    }
    return -1;
}

rt_inline const struct pin_irq_map *get_pin_irq_map(uint32_t pinbit)
{
    rt_int32_t mapindex = bit2bitno(pinbit);
    if (mapindex < 0 || mapindex >= ITEM_NUM(pin_irq_map))
    {
        return RT_NULL;
    }
    return &pin_irq_map[mapindex];
};

rt_err_t rt_pin_attach_irq(rt_int32_t pin, rt_uint32_t mode, void (*hdr)(void *args), void *args)
{
    rt_base_t level;
    rt_int32_t irqindex = -1;

    if (PIN_PORT(pin) >= PIN_STPORT_MAX)
    {
        return -RT_ENOSYS;
    }

    irqindex = bit2bitno(PIN_STPIN(pin));
    if (irqindex < 0 || irqindex >= ITEM_NUM(pin_irq_map))
    {
        return RT_ENOSYS;
    }

    level = rt_hw_interrupt_disable();
    if (pin_irq_hdr_tab[irqindex].pin == pin &&
        pin_irq_hdr_tab[irqindex].hdr == hdr &&
        pin_irq_hdr_tab[irqindex].mode == mode &&
        pin_irq_hdr_tab[irqindex].args == args)
    {
        rt_hw_interrupt_enable(level);
        return RT_EOK;
    }
    if (pin_irq_hdr_tab[irqindex].pin != -1)
    {
        rt_hw_interrupt_enable(level);
        return RT_EBUSY;
    }
    pin_irq_hdr_tab[irqindex].pin = pin;
    pin_irq_hdr_tab[irqindex].hdr = hdr;
    pin_irq_hdr_tab[irqindex].mode = mode;
    pin_irq_hdr_tab[irqindex].args = args;
    rt_hw_interrupt_enable(level);

    return RT_EOK;
}

rt_err_t rt_pin_detach_irq(rt_int32_t pin)
{
    rt_base_t level;
    rt_int32_t irqindex = -1;

    if (PIN_PORT(pin) >= PIN_STPORT_MAX)
    {
        return -RT_ENOSYS;
    }

    irqindex = bit2bitno(PIN_STPIN(pin));
    if (irqindex < 0 || irqindex >= ITEM_NUM(pin_irq_map))
    {
        return RT_ENOSYS;
    }

    level = rt_hw_interrupt_disable();
    if (pin_irq_hdr_tab[irqindex].pin == -1)
    {
        rt_hw_interrupt_enable(level);
        return RT_EOK;
    }
    pin_irq_hdr_tab[irqindex].pin = -1;
    pin_irq_hdr_tab[irqindex].hdr = RT_NULL;
    pin_irq_hdr_tab[irqindex].mode = 0;
    pin_irq_hdr_tab[irqindex].args = RT_NULL;
    rt_hw_interrupt_enable(level);

    return RT_EOK;
}

rt_err_t rt_pin_irq_enable(rt_base_t pin, rt_uint32_t enabled)
{
    const struct pin_irq_map *irqmap;
    rt_base_t level;
    rt_int32_t irqindex = -1;
    GPIO_InitTypeDef GPIO_InitStruct;

    if (PIN_PORT(pin) >= PIN_STPORT_MAX)
    {
        return -RT_ENOSYS;
    }

    if (enabled == PIN_IRQ_ENABLE)
    {
        irqindex = bit2bitno(PIN_STPIN(pin));
        if (irqindex < 0 || irqindex >= ITEM_NUM(pin_irq_map))
        {
            return RT_ENOSYS;
        }

        level = rt_hw_interrupt_disable();

        if (pin_irq_hdr_tab[irqindex].pin == -1)
        {
            rt_hw_interrupt_enable(level);
            return RT_ENOSYS;
        }

        irqmap = &pin_irq_map[irqindex];

        /* Configure GPIO_InitStructure */
        GPIO_InitStruct.Pin = PIN_STPIN(pin);
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
        switch (pin_irq_hdr_tab[irqindex].mode)
        {
        case PIN_IRQ_MODE_RISING:
            GPIO_InitStruct.Pull = GPIO_PULLDOWN;
            GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
            break;
        case PIN_IRQ_MODE_FALLING:
            GPIO_InitStruct.Pull = GPIO_PULLUP;
            GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
            break;
        case PIN_IRQ_MODE_RISING_FALLING:
            GPIO_InitStruct.Pull = GPIO_NOPULL;
            GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
            break;
        }
        HAL_GPIO_Init(PIN_STPORT(pin), &GPIO_InitStruct);

        HAL_NVIC_SetPriority(irqmap->irqno, 5, 0);
        HAL_NVIC_EnableIRQ(irqmap->irqno);
        pin_irq_enable_mask |= irqmap->pinbit;

        rt_hw_interrupt_enable(level);
    }
    else if (enabled == PIN_IRQ_DISABLE)
    {
        irqmap = get_pin_irq_map(PIN_STPIN(pin));
        if (irqmap == RT_NULL)
        {
            return RT_ENOSYS;
        }

        level = rt_hw_interrupt_disable();

        HAL_GPIO_DeInit(PIN_STPORT(pin), PIN_STPIN(pin));

        pin_irq_enable_mask &= ~irqmap->pinbit;
        if ((irqmap->pinbit >= GPIO_PIN_5) && (irqmap->pinbit <= GPIO_PIN_9))
        {
            if (!(pin_irq_enable_mask & (GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8 | GPIO_PIN_9)))
            {
                HAL_NVIC_DisableIRQ(irqmap->irqno);
            }
        }
        else if ((irqmap->pinbit >= GPIO_PIN_10) && (irqmap->pinbit <= GPIO_PIN_15))
        {
            if (!(pin_irq_enable_mask & (GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15)))
            {
                HAL_NVIC_DisableIRQ(irqmap->irqno);
            }
        }
        else
        {
            HAL_NVIC_DisableIRQ(irqmap->irqno);
        }
        rt_hw_interrupt_enable(level);
    }
    else
    {
        return -RT_ENOSYS;
    }

    return RT_EOK;
}

rt_inline void pin_irq_hdr(int irqno)
{
    if (pin_irq_hdr_tab[irqno].hdr)
    {
        pin_irq_hdr_tab[irqno].hdr(pin_irq_hdr_tab[irqno].args);
    }
}

void HAL_GPIO_EXTI_Rising_Callback(uint16_t GPIO_Pin)
{
    pin_irq_hdr(bit2bitno(GPIO_Pin));
}

void HAL_GPIO_EXTI_Falling_Callback(uint16_t GPIO_Pin)
{
    pin_irq_hdr(bit2bitno(GPIO_Pin));
}

void EXTI0_1_IRQHandler(void)
{
    rt_interrupt_enter();
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_1);  
    rt_interrupt_leave();
}

void EXTI2_3_IRQHandler(void)
{
    rt_interrupt_enter();
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_3);
    rt_interrupt_leave();
}

void EXTI4_15_IRQHandler(void)
{
    rt_interrupt_enter();
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_5);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_6);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_7);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_8);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_9);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_10);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_11);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_12);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_13);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_14);
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_15);
    rt_interrupt_leave();
}

int rt_hw_pin_init(void)
{
#if defined(__HAL_RCC_GPIOA_CLK_ENABLE)
    __HAL_RCC_GPIOA_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOB_CLK_ENABLE)
    __HAL_RCC_GPIOB_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOC_CLK_ENABLE)
    __HAL_RCC_GPIOC_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOE_CLK_ENABLE)
    __HAL_RCC_GPIOE_CLK_ENABLE();
#endif

    return RT_EOK;
}

INIT_BOARD_EXPORT(rt_hw_pin_init);

#endif /* RT_USING_PIN */

将上述代码加入工程编译，就可以使用标准版本的PIN驱动接口操作GPIO了。

pin_iar.png

适配好PIN驱动代码后，本地添加如下的测试代码，来验证PIN驱动功能。

#define LED_BLUE_PIN    GET_PIN(C, 9)
#define LED_GREEN_PIN   GET_PIN(A, 5)
#define USER_BTN        GET_PIN(C, 13)


void but_callback(void  * arg)
{
    if(rt_pin_read(USER_BTN))
      rt_kprintf("button push up.\n");
    else
      rt_kprintf("button push down.\n");
}


int main(void)
{
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  rt_pin_mode(LED_BLUE_PIN, PIN_MODE_OUTPUT);
  rt_pin_mode(LED_GREEN_PIN, PIN_MODE_OUTPUT);

  rt_pin_attach_irq(USER_BTN,PIN_IRQ_MODE_RISING_FALLING,but_callback,NULL);
  rt_pin_irq_enable(USER_BTN,PIN_IRQ_ENABLE);
  rt_pin_mode(USER_BTN, PIN_MODE_INPUT_PULLUP);

  while (1)
  {
        rt_pin_write(LED_BLUE_PIN, PIN_HIGH);
        rt_thread_mdelay(500);
        rt_pin_write(LED_BLUE_PIN, PIN_LOW);
        rt_thread_mdelay(500);
  }
  /* USER CODE END 3 */
}

按照原理图的引脚，上述代码配置PC13 为输入引脚，配置为双边沿中断触发方式。 pc13.png

运行后按键按下抬起 中断程序按照预期的进行了响应。 pinisr.png

配置PC9为输出功能来控制板子的LED点亮熄灭，运行后LED按照0.5s的周期闪烁,说明 PIN 驱动GPIO输出功能正常。

赞 收藏 评论0 发布时间：2025-4-27 18:58

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