GPIO Low-Level API

Peripheral GPIO Low-Level API. More...

Detailed Description

Peripheral GPIO Low-Level API.

Warning

This API is not stable yet and intended for internal use only as of now.

Design Goals

This API aims to provide low-level access to GPIOs with as little abstraction and overhead in place as possible for the hot code paths, while providing a relatively high-level and feature complete API for the configuration of GPIO pins. The former is to enable sophisticated use cases such at bit-banging parallel protocols, bit-banging at high data rates, bit-banging with strict timing requirements, or any combination of these. The latter is to expose as much of the features the (arguably) most important peripheral of the MCU as possible.

It is possible to implement the high level pin-based GPIO API of RIOT, GPIO, on top of this API. It is expected that for many use cases the high level API will still remain the API of choice, since it is more concise an easier to use.

Note that this API is likely to be faster moving than the high level GPIO API, as it intents to match the hardware features more closely. Hence, new support for new MCUs are more likely to result in API changes here. This is another reason why only users interested in the low level access to GPIOs should be using the this low level API, while the high level API will cater all the LED blinking and button sensing use cases with a more convenient and more very stable interface.

Thread Safety

All functions provided by this API have to be implemented in a thread-safe manner, except for gpio_ll_prepare_write and gpio_ll_prepare_write_all_outputs. If the read-modify-write operations gpio_ll_set, gpio_ll_clear, and gpio_ll_toggle can be done atomically in hardware with predictable timing, this must be used in the implementation. Otherwise IRQs have to be disabled during read-modify-write sequences. Calls to gpio_ll_write are inherently thread-safe and lock-less, but sharing pins on the same port between threads is still requires a lock between the calls to gpio_ll_prepare_write and gpio_ll_write in the general case.

Under no circumstances two threads may call gpio_ll_init on the same port / pin combination concurrently.

Modules
	IRQ Support in Peripheral GPIO Low-Level API
	IRQ Support in Peripheral GPIO Low-Level API.

Files
file	gpio_ll_arch.h
	CPU specific part of the Peripheral GPIO Low-Level API.
file	gpio_ll_arch.h
	CPU specific part of the Peripheral GPIO Low-Level API.
file	gpio_ll_arch.h
	CPU specific part of the Peripheral GPIO Low-Level API.
file	gpio_ll_arch.h
	GPIO Low-level API implementation for the GD32V GPIO peripheral.
file	gpio_ll_arch.h
	CPU specific part of the Peripheral GPIO Low-Level API.
file	gpio_ll_arch.h
	CPU specific part of the Peripheral GPIO Low-Level API.
file	gpio_ll_arch.h
	CPU specific part of the Peripheral GPIO Low-Level API.
file	gpio_ll_arch.h
	CPU specific part of the Peripheral GPIO Low-Level API.
file	gpio_ll.h
	Peripheral GPIO Low-Level API.

Data Structures
union	gpio_conf_esp32
	GPIO pin configuration for ESP32/ESP32Cx/ESP32Sx MCUs. More...
union	gpio_conf_gd32v
	GPIO pin configuration for GD32V MCUs. More...
union	gpio_conf_nrf5x
	GPIO pin configuration for nRF5x MCUs. More...
union	gpio_conf_sam0
	GPIO pin configuration for SAM0 MCUs. More...
union	gpio_conf_stm32
	GPIO pin configuration for STM32 MCUs. More...
union	gpio_conf_minimal
	Public members of gpio_conf_t More...

Macros
#define	GPIO_PORT_UNDEF   UINTPTR_MAX
	Magic "undefined GPIO port" value.
#define	GPIO_PORT_NUMBERING_ALPHABETIC   implementation_specific
	Indicates whether GPIO ports are enumerated alphabetically (1) or numerically (0).
#define	GPIO_PORT_0   implementation_specific
	Get the gpio_port_t value of the port labeled 0.
#define	GPIO_PULL_NUMOF
	The number of distinct supported pull resistor strengths.
#define	GPIO_DRIVE_NUMOF
	The number of distinct supported drive strengths.
#define	GPIO_SLEW_NUMOF
	The number of distinct supported slew rates.

Typedefs
typedef uintptr_t	gpio_port_t
	GPIO port type.

Enumerations
enum	gpio_state_t {   GPIO_OUTPUT_PUSH_PULL , GPIO_OUTPUT_OPEN_DRAIN , GPIO_OUTPUT_OPEN_SOURCE , GPIO_INPUT ,   GPIO_USED_BY_PERIPHERAL , GPIO_DISCONNECT }
	Enumeration of GPIO states (direction) More...
enum	gpio_pull_t { GPIO_FLOATING , GPIO_PULL_UP , GPIO_PULL_DOWN , GPIO_PULL_KEEP }
	Enumeration of pull resistor configurations. More...
enum	gpio_pull_strength_t { GPIO_PULL_WEAKEST , GPIO_PULL_WEAK , GPIO_PULL_STRONG , GPIO_PULL_STRONGEST }
	Enumeration of pull resistor values. More...
enum	gpio_drive_strength_t { GPIO_DRIVE_WEAKEST , GPIO_DRIVE_WEAK , GPIO_DRIVE_STRONG , GPIO_DRIVE_STRONGEST }
	Enumeration of drive strength options. More...
enum	gpio_slew_t { GPIO_SLEW_SLOWEST , GPIO_SLEW_SLOW , GPIO_SLEW_FAST , GPIO_SLEW_FASTEST }
	Enumeration of slew rate settings. More...

Functions
gpio_port_t	gpio_port (uword_t num)
	Get the gpio_port_t value of the port number num.
uword_t	gpio_port_num (gpio_port_t port)
	Get the number of the GPIO port port refers to.
static bool	is_gpio_port_num_valid (uint_fast8_t num)
	Check if the given number is a valid argument for gpio_port.
int	gpio_ll_init (gpio_port_t port, uint8_t pin, gpio_conf_t conf)
	Initialize the given GPIO pin as specified.
gpio_conf_t	gpio_ll_query_conf (gpio_port_t port, uint8_t pin)
	Retrieve the current configuration of a GPIO pin.
void	gpio_ll_print_conf_common (const gpio_conf_t conf)
	INTERNAL, use gpio_ll_print_conf instead.
void	gpio_ll_print_conf (const gpio_conf_t conf)
	Utility function to print a given GPIO configuration to stdio.
static uword_t	gpio_ll_read (gpio_port_t port)
	Get the current input value of all GPIO pins of the given port as bitmask.
static uword_t	gpio_ll_read_output (gpio_port_t port)
	Get the current output value of all GPIO pins of the given port as bitmask.
static void	gpio_ll_set (gpio_port_t port, uword_t mask)
	Perform an reg |= mask operation on the I/O register of the port.
static void	gpio_ll_clear (gpio_port_t port, uword_t mask)
	Perform an reg &= ~mask operation on the I/O register of the port.
static void	gpio_ll_toggle (gpio_port_t port, uword_t mask)
	Perform an reg ^= mask operation on the I/O register of the port.
static uword_t	gpio_ll_prepare_write_all_outputs (gpio_port_t port, uword_t value)
	Same as gpio_ll_prepare_write(port, UWORD_MAX, value), but faster.
static uword_t	gpio_ll_prepare_write (gpio_port_t port, uword_t mask, uword_t value)
	Helper to use gpio_ll_write side-effect free.
static uword_t	gpio_ll_prepare_switch_dir (uword_t mask)
	Prepare bitmask for use with gpio_ll_switch_dir_output and gpio_ll_switch_dir_input.
static void	gpio_ll_switch_dir_output (gpio_port_t port, uword_t pins)
	Turn GPIO pins specified by pins (obtained from gpio_ll_prepare_switch_dir) to outputs.
static void	gpio_ll_switch_dir_input (gpio_port_t port, uword_t pins)
	Turn GPIO pins specified by pins (obtained from gpio_ll_prepare_switch_dir) to inputs.
static void	gpio_ll_write (gpio_port_t port, uword_t state)
	Perform a masked write operation on the I/O register of the port.
static gpio_port_t	gpio_get_port (gpio_t pin)
	Extract the gpio_port_t from a gpio_t
static uint8_t	gpio_get_pin_num (gpio_t pin)
	Extract the pin number from a gpio_t
static gpio_port_t	gpio_port_pack_addr (void *addr)
	Pack a pointer into a gpio_port_t.
static void *	gpio_port_unpack_addr (gpio_port_t port)
	Extract a data pointer that was packed by gpio_port_pack_addr.

Variables
typedef	gpio_conf_t
	GPIO pin configuration.

Commonly used GPIO LL configuration presets
Warning These are not available in C++ C++ requires initializers to be provided in declaration order and contain explicit initialization for each and every field. However, the actual layout and the number of members of gpio_conf_t depends on the implementation, so that implementations can expose advanced features such as pull strength, driver strength, skew rate, mux settings, etc. The API mandates that those extra fields will have a sane default value when implicitly initialized with 0, as done here in C. This doesn't work in C++, unless multiplying the maintenance burden by the number of implementations by having each implementation provide this by hand. This is not acceptable.
static const gpio_conf_t	gpio_ll_in
	A standard configuration for a generic floating input pin.
static const gpio_conf_t	gpio_ll_in_pd
	A standard configuration for a generic input pin with pull down resistor.
static const gpio_conf_t	gpio_ll_in_pu
	A standard configuration for a generic input pin with pull up resistor.
static const gpio_conf_t	gpio_ll_in_pk
	A standard configuration for a generic input pin with pull resistor to keep signal at bus level.
static const gpio_conf_t	gpio_ll_out
	A standard configuration for a generic push-pull output pin.
static const gpio_conf_t	gpio_ll_od
	A standard configuration for a generic floating open drain output.
static const gpio_conf_t	gpio_ll_od_pu
	A standard configuration for a generic open drain output with pull up.

GPIO port aliases for alphabetic enumeration
#define	GPIO_PORT_A   GPIO_PORT_0
	Alias of ref GPIO_PORT_0
#define	GPIO_PORT_B   GPIO_PORT_1
	Alias of ref GPIO_PORT_1
#define	GPIO_PORT_C   GPIO_PORT_2
	Alias of ref GPIO_PORT_2
#define	GPIO_PORT_D   GPIO_PORT_3
	Alias of ref GPIO_PORT_3
#define	GPIO_PORT_E   GPIO_PORT_4
	Alias of ref GPIO_PORT_4
#define	GPIO_PORT_F   GPIO_PORT_5
	Alias of ref GPIO_PORT_5
#define	GPIO_PORT_G   GPIO_PORT_6
	Alias of ref GPIO_PORT_6
#define	GPIO_PORT_H   GPIO_PORT_7
	Alias of ref GPIO_PORT_7
#define	GPIO_PORT_I   GPIO_PORT_8
	Alias of ref GPIO_PORT_8
#define	GPIO_PORT_J   GPIO_PORT_9
	Alias of ref GPIO_PORT_9
#define	GPIO_PORT_K   GPIO_PORT_10
	Alias of ref GPIO_PORT_10
#define	GPIO_PORT_L   GPIO_PORT_11
	Alias of ref GPIO_PORT_11
#define	GPIO_PORT_M   GPIO_PORT_12
	Alias of ref GPIO_PORT_12
#define	GPIO_PORT_N   GPIO_PORT_13
	Alias of ref GPIO_PORT_13
#define	GPIO_PORT_O   GPIO_PORT_14
	Alias of ref GPIO_PORT_14
#define	GPIO_PORT_P   GPIO_PORT_15
	Alias of ref GPIO_PORT_15

Macro Definition Documentation

GPIO_DRIVE_NUMOF

#define GPIO_DRIVE_NUMOF

Value:

                             (1U + (GPIO_DRIVE_WEAKEST != GPIO_DRIVE_WEAK) \
                             + (GPIO_DRIVE_WEAK != GPIO_DRIVE_STRONG) \
                             + (GPIO_DRIVE_STRONG != GPIO_DRIVE_STRONGEST))

The number of distinct supported drive strengths.

This equals the number of drive strengths actually supported and can be less than four, if one or more enumeration values in gpio_drive_strength_t have the same numeric value. Note that some pins might have more options than others.

Definition at line 315 of file gpio_ll.h.

GPIO_PORT_0

#define GPIO_PORT_0   implementation_specific

Get the gpio_port_t value of the port labeled 0.

Note

For MCUs that use letters instead of numbers, this will be an alias for GPIO_PORT_A

Some MCUs will not start with Port 0 / Port A, but rather with Port 1 (e.g. MSP430) or Port B (e.g. ATmega328P). It will be undefined when unavailable

There will also be GPIO_PORT_1, GPIO_PORT_2, etc. when there are corresponding GPIO ports in hardware.

Definition at line 122 of file gpio_ll.h.

GPIO_PORT_A

#define GPIO_PORT_A   GPIO_PORT_0

Alias of ref GPIO_PORT_0

Definition at line 914 of file gpio_ll.h.

GPIO_PORT_B

#define GPIO_PORT_B   GPIO_PORT_1

Alias of ref GPIO_PORT_1

Definition at line 920 of file gpio_ll.h.

GPIO_PORT_C

#define GPIO_PORT_C   GPIO_PORT_2

Alias of ref GPIO_PORT_2

Definition at line 926 of file gpio_ll.h.

GPIO_PORT_D

#define GPIO_PORT_D   GPIO_PORT_3

Alias of ref GPIO_PORT_3

Definition at line 932 of file gpio_ll.h.

GPIO_PORT_E

#define GPIO_PORT_E   GPIO_PORT_4

Alias of ref GPIO_PORT_4

Definition at line 938 of file gpio_ll.h.

GPIO_PORT_F

#define GPIO_PORT_F   GPIO_PORT_5

Alias of ref GPIO_PORT_5

Definition at line 944 of file gpio_ll.h.

GPIO_PORT_G

#define GPIO_PORT_G   GPIO_PORT_6

Alias of ref GPIO_PORT_6

Definition at line 950 of file gpio_ll.h.

GPIO_PORT_H

#define GPIO_PORT_H   GPIO_PORT_7

Alias of ref GPIO_PORT_7

Definition at line 956 of file gpio_ll.h.

GPIO_PORT_I

#define GPIO_PORT_I   GPIO_PORT_8

Alias of ref GPIO_PORT_8

Definition at line 962 of file gpio_ll.h.

GPIO_PORT_J

#define GPIO_PORT_J   GPIO_PORT_9

Alias of ref GPIO_PORT_9

Definition at line 968 of file gpio_ll.h.

GPIO_PORT_K

#define GPIO_PORT_K   GPIO_PORT_10

Alias of ref GPIO_PORT_10

Definition at line 974 of file gpio_ll.h.

GPIO_PORT_L

#define GPIO_PORT_L   GPIO_PORT_11

Alias of ref GPIO_PORT_11

Definition at line 980 of file gpio_ll.h.

GPIO_PORT_M

#define GPIO_PORT_M   GPIO_PORT_12

Alias of ref GPIO_PORT_12

Definition at line 986 of file gpio_ll.h.

GPIO_PORT_N

#define GPIO_PORT_N   GPIO_PORT_13

Alias of ref GPIO_PORT_13

Definition at line 992 of file gpio_ll.h.

GPIO_PORT_NUMBERING_ALPHABETIC

#define GPIO_PORT_NUMBERING_ALPHABETIC   implementation_specific

Indicates whether GPIO ports are enumerated alphabetically (1) or numerically (0).

Note

You can use both GPIO_PORT_A and GPIO_PORT_0 to refer to the first GPIO port in RIOT, regardless of the naming scheme used by the MCU the app is compiled for. This macro is useful e.g. for pretty-printing.

Definition at line 106 of file gpio_ll.h.

GPIO_PORT_O

#define GPIO_PORT_O   GPIO_PORT_14

Alias of ref GPIO_PORT_14

Definition at line 998 of file gpio_ll.h.

GPIO_PORT_P

#define GPIO_PORT_P   GPIO_PORT_15

Alias of ref GPIO_PORT_15

Definition at line 1004 of file gpio_ll.h.

GPIO_PORT_UNDEF

#define GPIO_PORT_UNDEF   UINTPTR_MAX

Magic "undefined GPIO port" value.

Definition at line 93 of file gpio_ll.h.

GPIO_PULL_NUMOF

#define GPIO_PULL_NUMOF

Value:

                            (1U + (GPIO_PULL_WEAKEST != GPIO_PULL_WEAK) \
                            + (GPIO_PULL_WEAK != GPIO_PULL_STRONG) \
                            + (GPIO_PULL_STRONG != GPIO_PULL_STRONGEST))

The number of distinct supported pull resistor strengths.

This equals the number of pull resistor strengths actually supported and can be less than four, if one or more enumeration values in gpio_pull_strength_t have the same numeric value. Note that: a) some pins might have more options than others and b) it could be possible that there are e.g. two pull up resistors to pick from, but only one pull down resistor.

Definition at line 286 of file gpio_ll.h.

GPIO_SLEW_NUMOF

#define GPIO_SLEW_NUMOF

Value:

                            (1U + (GPIO_SLEW_SLOWEST != GPIO_SLEW_SLOW) \
                            + (GPIO_SLEW_SLOW != GPIO_SLEW_FAST) \
                            + (GPIO_SLEW_FAST != GPIO_SLEW_FASTEST))

The number of distinct supported slew rates.

This equals the number of slew rates actually supported and can be less than four, if one or more enumeration values in gpio_drive_strength_t have the same numeric value. Note that some pins might have more options than others.

Definition at line 350 of file gpio_ll.h.

Typedef Documentation

gpio_port_t

typedef uintptr_t gpio_port_t

GPIO port type.

Definition at line 87 of file gpio_ll.h.

Enumeration Type Documentation

gpio_drive_strength_t

enum gpio_drive_strength_t

Enumeration of drive strength options.

Note

Depending on the implementation, some (or even all!) constants can have the same numeric value if less than four drive strength options to pick from. For obvious reasons, only neighboring values are allowed to have the same numeric value.

Enumerator
GPIO_DRIVE_WEAKEST	Use the weakest drive strength.
GPIO_DRIVE_WEAK	Use a weak drive strength.
GPIO_DRIVE_STRONG	Use a strong drive strength.
GPIO_DRIVE_STRONGEST	Use the strongest drive strength.

Definition at line 299 of file gpio_ll.h.

gpio_pull_strength_t

enum gpio_pull_strength_t

Enumeration of pull resistor values.

Note

Depending on the implementation, some (or even all!) constants can have the same numeric value if less than four pull resistors per direction are provided. For obvious reasons, only neighboring values are allowed to have the same numeric value.

Enumerator
GPIO_PULL_WEAKEST	Use the weakest (highest Ohm value) resistor.
GPIO_PULL_WEAK	Use a weak pull resistor.
GPIO_PULL_STRONG	Use a strong pull resistor.
GPIO_PULL_STRONGEST	Use the strongest pull resistor.

Definition at line 268 of file gpio_ll.h.

gpio_pull_t

enum gpio_pull_t

Enumeration of pull resistor configurations.

Enumerator
GPIO_FLOATING	No pull ups nor pull downs enabled.
GPIO_PULL_UP	Pull up resistor enabled.
GPIO_PULL_DOWN	Pull down resistor enabled.
GPIO_PULL_KEEP	Keep the signal at current logic level with pull up/down resistors.

Definition at line 250 of file gpio_ll.h.

gpio_slew_t

enum gpio_slew_t

Enumeration of slew rate settings.

Reducing the slew rate can be useful to limit the high frequency noise emitted by a GPIO pin. On the other hand, a high frequency signal cannot be generated if the slew rate is too slow.

Warning

The numeric values are implementation defined and multiple constants can have the same numeric value, if an implementation supports fewer slew rates. An implementation only supporting a single slew rate can have all constants set to a value of zero.

Enumerator
GPIO_SLEW_SLOWEST	let the output voltage level rise/fall as slow as possible
GPIO_SLEW_SLOW	let the output voltage level rise/fall slowly
GPIO_SLEW_FAST	let the output voltage level rise/fall fast
GPIO_SLEW_FASTEST	let the output voltage level rise/fall as fast as possible

Definition at line 332 of file gpio_ll.h.

gpio_state_t

enum gpio_state_t

Enumeration of GPIO states (direction)

Enumerator
GPIO_OUTPUT_PUSH_PULL	Use pin as output in push-pull configuration. Note This is supported and implemented on all MCUs. Logical Value Electrical Behavior 0 Low 1 High
GPIO_OUTPUT_OPEN_DRAIN	Use pin as output in open collector configuration. Note The feature periph_gpio_ll_open_drain is used to indicate support for this GPIO mode. However, it may not be available on all pins. Logical Value Electrical Behavior 0 Low 1 High Impedance (Disconnected)
GPIO_OUTPUT_OPEN_SOURCE	Use pin as output in open emitter configuration. Note The feature periph_gpio_ll_open_source is used to indicate support for this GPIO mode. However, it may not be available on all pins. Logical Value Electrical Behavior 0 High Impedance (Disconnected) 1 High
GPIO_INPUT	Use pin as input. Note This is supported and implemented on all MCUs.
GPIO_USED_BY_PERIPHERAL	The GPIO pin is used by a peripheral. Note that calling gpio_ll_init with this state is implementation defined behavior, as implementation specific additional details (such as which peripheral to connect the pin to) are needed. An implementation may choose to not support this at all. However, it is strongly encouraged that gpio_ll_query_conf uses this state to indicate a GPIO pin is currently used by a peripheral (e.g. as ADC input, I2C data/clock pin, etc.).
GPIO_DISCONNECT	Disconnect pin from all peripherals. Note This may be an alias for GPIO_INPUT when the MCU does not support support disconnecting GPIO pins from the GPIO peripheral. The feature periph_gpio_ll_disconnect indicates that disconnecting pins from all peripherals (including the GPIO peripheral) is supported. The implementation should aim to reduce power consumption of the pin when this state is entered, if this is feasible. For pins where it is possible and sensible, this should electrically disconnect them (high impedance). Warning If a given pin will not only be disconnected from peripherals but also enter an high impedance state is implementation defined and may differ from pin to pin. Note Pull resistors can still be requested in this mode. This can be useful e.g. for keeping an UART TXD pin from emitting noise while the UART peripheral is powered off. But not every implementation will support this. Once all GPIOs of a GPIO port are disconnected, the implementation is allowed to power off the whole GPIO port again to conserve power.

Definition at line 158 of file gpio_ll.h.

Function Documentation

gpio_ll_clear()

static void gpio_ll_clear ( gpio_port_t  port, uword_t  mask  )

inlinestatic

Perform an reg &= ~mask operation on the I/O register of the port.

Note

The behavior regarding pins not configured as GPIO_OUTPUT_PUSH_PULL or as GPIO_OUTPUT_OPEN_DRAIN is implementation defined.

Warning

Portable code must set the bits in mask that do not correspond to pins configured as output to zero.

On hardware that supports implementing this as a single write instruction, this must be implemented as such. Otherwise this read-modify-write will disable IRQs to still behave atomically.

Parameters

[in]	port	port to modify
[in]	mask	bitmask containing the pins to clear

gpio_ll_init()

int gpio_ll_init	(	gpio_port_t	port,
		uint8_t	pin,
		gpio_conf_t	conf
	)

Initialize the given GPIO pin as specified.

Parameters

[in]	port	port the pin to initialize belongs to
[in]	pin	number of the pin to initialize
[in]	conf	configuration to apply

Return values

0	success
-ENOTSUP	GPIO state or pull resistor configuration not supported

Warning

If the configuration of the Schmitt trigger, the drive strength, or the pull resistor strength are not supported, the closest supported value will be chosen instead and 0 is returned.

Note that hardware GPIO peripherals may have shared building blocks. Those SHOULD be handed out by the implementation in first-come-first-served fashion. (E.g. if there is only one pull up resistor per port that can be connected to any pin of that port, typically the first pin on the port configured as pull up will succeed and subsequent configuration as pull ups for other pins on that port will get an -ENOTSUP.) For that reason, an application might need to optimize the order in which it configures GPIO pins to get the most suitable overall configuration supported by the hardware.

Note

An application having strict requirements can use gpio_ll_query_conf afterwards to verify that the used configuration is indeed within spec. It is often sensible to omit these checks if DEVELHELP is disabled. An application can rely on that the configuration of pin pin at port port will not be changed as side-effect of operations performed on other pins. That is, once gpio_ll_init returns the configuration details are settled and may only change due to subsequent calls to gpio_ll_init with the same values for port and pin.

Precondition

No concurrent context is calling this function for the same combination of port and pin - concurrent initialization of different pins on the same port is supported. The underlying implementation might perform locking where needed.

gpio_ll_prepare_switch_dir()

static uword_t gpio_ll_prepare_switch_dir ( uword_t  mask )

inlinestatic

Prepare bitmask for use with gpio_ll_switch_dir_output and gpio_ll_switch_dir_input.

Parameters

[in]

mask

bitmask specifying the pins to switch the direction of

Returns

Value to use in gpio_ll_switch_dir_output or gpio_ll_switch_dir_input

Definition at line 743 of file gpio_ll.h.

gpio_ll_prepare_write()

static uword_t gpio_ll_prepare_write ( gpio_port_t  port, uword_t  mask, uword_t  value  )

inlinestatic

Helper to use gpio_ll_write side-effect free.

Parameters

[in]	port	port that should be written to
[in]	mask	bitmask of the pins to write to
[in]	value	value to write to port

Returns

Value to call gpio_ll_write with

The caller needs to make sure that no concurrent changes (this includes configuration changes, writing, clearing, setting or toggling GPIO pins) are performed.

See gpio_ll_write on how to use this function

Definition at line 727 of file gpio_ll.h.

gpio_ll_prepare_write_all_outputs()

static uword_t gpio_ll_prepare_write_all_outputs ( gpio_port_t  port, uword_t  value  )

inlinestatic

Same as gpio_ll_prepare_write(port, UWORD_MAX, value), but faster.

Parameters

[in]	port	port that should be written to
[in]	value	value to write to port

Returns

Value to call gpio_ll_write with

On most platforms this function will just pass value through unmodified, becoming a no-op (and costing neither CPU cycles, nor RAM, nor ROM). Hence, this function will only cost you if your platform really requires preparation of any sorts.

Note

If all pins on port are known to be configured as output, calls to this functions can be omitted.

The caller needs to make sure that no concurrent changes (this includes configuration changes, writing, clearing, setting or toggling GPIO pins) are performed.

This function can be used to prevent side-effects on non-output pins of a port when writing to it, e.g. when the output buffer is multiplexed with the pull configuration for input pins (such as on ATmega MCUs).

Definition at line 705 of file gpio_ll.h.

gpio_ll_print_conf()

void gpio_ll_print_conf

(

const gpio_conf_t

conf

)

Utility function to print a given GPIO configuration to stdio.

Parameters

[in]

conf

Configuration to print

gpio_ll_print_conf_common()

void gpio_ll_print_conf_common

(

const gpio_conf_t

conf

)

INTERNAL, use gpio_ll_print_conf instead.

This function prints the public API part of gpio_conf_t to stdio. The intention is that implementations that extend gpio_conf_t to contain more members overwrite gpio_ll_print_conf and call this function to print the common members

gpio_ll_query_conf()

gpio_conf_t gpio_ll_query_conf	(	gpio_port_t	port,
		uint8_t	pin
	)

Retrieve the current configuration of a GPIO pin.

Parameters

[in]	port	GPIO port the pin to query is located at
[in]	pin	Number of the pin to query within port

Returns

The current config of the given GPIO here

Precondition

port and pin refer to an existing GPIO pin and dest can be written to. Expect blowing assertions otherwise.

Note

gpio_conf_minimal::initial_value should be set to the current value of the pin, so that no shadow log of the initial value is needed to consult.

gpio_ll_read()

static uword_t gpio_ll_read ( gpio_port_t  port )

inlinestatic

Get the current input value of all GPIO pins of the given port as bitmask.

Parameters

[in]

port

port to read

Returns

The current value of the input register of the given GPIO port

Note

The value of unconfigured pins and pins configured as GPIO_DISCONNECT or GPIO_OUTPUT_PUSH_PULL is implementation defined.

Unless technically impossible, this must be implemented as a single read instruction.

gpio_ll_read_output()

static uword_t gpio_ll_read_output ( gpio_port_t  port )

inlinestatic

Get the current output value of all GPIO pins of the given port as bitmask.

Parameters

[in]

port

port to read

Returns

The current value of the output register of the given GPIO port

Note

The value of unconfigured pins and pins configured as GPIO_INPUT or GPIO_OUTPUT_PUSH_PULL is implementation defined.

Unless technically impossible, this must be implemented as a single read instruction.

gpio_ll_set()

static void gpio_ll_set ( gpio_port_t  port, uword_t  mask  )

inlinestatic

Perform an reg |= mask operation on the I/O register of the port.

Note

The behavior regarding pins not configured as GPIO_OUTPUT_PUSH_PULL or as GPIO_OUTPUT_OPEN_DRAIN is implementation defined.

Warning

Portable code must set the bits in mask that do not correspond to pins configured as output to zero.

On hardware that supports implementing this as a single write instruction, this must be implemented as such. Otherwise this read-modify-write will disable IRQs to still behave atomically.

Parameters

[in]	port	port to modify
[in]	mask	bitmask containing the pins to set

gpio_ll_switch_dir_input()

static void gpio_ll_switch_dir_input ( gpio_port_t  port, uword_t  pins  )

inlinestatic

Turn GPIO pins specified by pins (obtained from gpio_ll_prepare_switch_dir) to inputs.

Parameters

[in]	port	GPIO port to modify
[in]	pins	Output of gpio_ll_prepare_switch_dir

Precondition

The feature gpio_ll_switch_dir is available

Each affected GPIO pin is either configured as input or as push-pull output.

Warning

The state of the output register may be intermixed with the input configuration. Specifically, on AVR the output register enables/disables the internal pull up, on SAM0 MCUs the output register controls the pull resistor direction (if the pull resistor is enabled). Hence, the bits in the output register of the pins switched to input should be restored just after this call.

gpio_ll_switch_dir_output()

static void gpio_ll_switch_dir_output ( gpio_port_t  port, uword_t  pins  )

inlinestatic

Turn GPIO pins specified by pins (obtained from gpio_ll_prepare_switch_dir) to outputs.

Parameters

[in]	port	GPIO port to modify
[in]	pins	Output of gpio_ll_prepare_switch_dir

Precondition

The feature gpio_ll_switch_dir is available

Each affected GPIO pin is either configured as input or as push-pull output.

gpio_ll_toggle()

static void gpio_ll_toggle ( gpio_port_t  port, uword_t  mask  )

inlinestatic

Perform an reg ^= mask operation on the I/O register of the port.

Note

The behavior regarding pins not configured as GPIO_OUTPUT_PUSH_PULL or as GPIO_OUTPUT_OPEN_DRAIN is implementation defined.

Warning

Portable code must set the bits in mask that do not correspond to pins configured as output to zero.

On hardware that supports implementing this as a single write instruction, this must be implemented as such. Otherwise this read-modify-write will disable IRQs to still behave atomically.

Parameters

[in]	port	port to modify
[in]	mask	bitmask containing the pins to toggle

gpio_ll_write()

static void gpio_ll_write ( gpio_port_t  port, uword_t  state  )

inlinestatic

Perform a masked write operation on the I/O register of the port.

Some platforms multiplex the "write" I/O register with additional functions e.g. for input pin configuration. To prevent unintentional side effects prepare a value using gpio_ll_prepare_write that will set the bits of non-output pins as needed to not have side effects on the state the GPIO port had when calling gpio_ll_prepare_write .

Parameters

[in]	port	port to modify
[in]	state	Opaque value produced by gpio_ll_prepare_write

Usage:

// emit a square wave from two pins with a phase shift of pi between the
// waves, e.g.:
// pin1: _⎍_⎍_⎍_⎍_⎍_⎍_⎍_⎍_⎍
// pin2: ⎍_⎍_⎍_⎍_⎍_⎍_⎍_⎍_⎍_
void square_wave(gpio_port_t port, uint8_t pin1, uint8_t pin2)
{
    uword_t mask = (1U << pin1) | (1U << pin2);
    uword_t state1 = gpio_ll_prepare_write(port, mask, 1U << pin1);
    uword_t state2 = gpio_ll_prepare_write(port, mask, 1U << pin2);
    while (1) {
        gpio_ll_write(port, state1);
        gpio_ll_write(port, state2);
    }
}

Note

If the configuration of the used port changes between the calls of gpio_ll_prepare_write and gpio_ll_write the write will still have undesired side effects on the configuration of input pins if the platform multiplexes the write register with configuration for input pins. It is expected that the user of the API either exclusively uses a GPIO port or synchronizes with other users to update the prepared value on configuration changes.

Unless technically impossible, this must be implemented as a single write instruction.

gpio_port()

gpio_port_t gpio_port

(

uword_t

num

)

Get the gpio_port_t value of the port number num.

Parameters

[in]

num

The number of the port to get

Precondition

num is a valid GPIO port number. An implementation may follow the "garbage in, garbage out" philosophy.

Note

If the MCU uses an alphabetic naming scheme, number 0 refers to port A.

Warning

This may involve accessing a lookup table, prefer e.g. using GPIO_PORT_0 over gpio_port(0) if the port number is known at compile time.

gpio_port_num()

uword_t gpio_port_num

(

gpio_port_t

port

)

Get the number of the GPIO port port refers to.

Parameters

[in]

port

The port to get the number of

Precondition

port is a valid GPIO port. An implementation may follow the "garbage in, garbage out" philosophy.

Warning

This may involve iterating over a lookup table, prefer using e.g. 0 instead of gpio_port_num(GPIO_PORT_0) if the port number is known at compile time.

In other words n == gpio_port_num(gpio_port(n)) for every n that is a valid port number.

gpio_port_pack_addr()

static gpio_port_t gpio_port_pack_addr ( void *  addr )

inlinestatic

Pack a pointer into a gpio_port_t.

Precondition

The address in addr is not NULL and points to a regular memory region (e.g. anywhere in .data, .rodata, .bss or an address returned by malloc() and friends)

Returns

A value that is distinguishable from any valid port reference and from which addr can be reconstructed by calling gpio_port_unpack_addr

gpio_port_unpack_addr()

static void * gpio_port_unpack_addr ( gpio_port_t  port )

inlinestatic

Extract a data pointer that was packed by gpio_port_pack_addr.

Returns

The exact address previously packed by gpio_port_pack_addr

Return values

NULL	port is a valid GPIO port

The motivation is that a high level API can multiplex peripheral GPIOs and GPIOs provided by port extenders. That high level API could pack pointers to the device descriptors of port extenders into a gpio_port_t and use this function to check if the port is a peripheral port (the return value is NULL), or retrieve the device descriptor.

is_gpio_port_num_valid()

static bool is_gpio_port_num_valid ( uint_fast8_t  num )

inlinestatic

Check if the given number is a valid argument for gpio_port.

Parameters

[in]

num

port number to check

Return values

true	the MCU used has a GPIO port with that number
false	the MCU used has NO GPIO port with that number

Variable Documentation

gpio_conf_t

typedef gpio_conf_t

GPIO pin configuration.

Warning

The layout of this structure is implementation dependent and additional implementation specific fields might be present. For this reason, this structure must be initialized using designated initializers or zeroing out the whole contents using `memset() before initializing the individual fields.

See gpio_conf_minimal for the minimal structure fields to expect.

Definition at line 416 of file gpio_ll.h.

gpio_ll_in

const gpio_conf_t gpio_ll_in

static

Initial value:

= {
    .state              = GPIO_INPUT,
    .pull               = GPIO_FLOATING,
}

A standard configuration for a generic floating input pin.

Definition at line 442 of file gpio_ll.h.

gpio_ll_in_pd

const gpio_conf_t gpio_ll_in_pd

static

Initial value:

= {
    .state              = GPIO_INPUT,
    .pull               = GPIO_PULL_DOWN,
}

A standard configuration for a generic input pin with pull down resistor.

Definition at line 451 of file gpio_ll.h.

gpio_ll_in_pk

const gpio_conf_t gpio_ll_in_pk

static

Initial value:

= {
    .state              = GPIO_INPUT,
    .pull               = GPIO_PULL_KEEP,
}

A standard configuration for a generic input pin with pull resistor to keep signal at bus level.

This means, when the input reaches a 0, a pull down resistor is applied. If input reaches 1, a pull up is applied instead.

Note

This is a rather uncommon feature. MCUs that support this are RP2040.

Definition at line 475 of file gpio_ll.h.

gpio_ll_in_pu

const gpio_conf_t gpio_ll_in_pu

static

Initial value:

= {
    .state              = GPIO_INPUT,
    .pull               = GPIO_PULL_UP,
}

A standard configuration for a generic input pin with pull up resistor.

Definition at line 460 of file gpio_ll.h.

gpio_ll_od

const gpio_conf_t gpio_ll_od

static

Initial value:

= {
    .state              = GPIO_OUTPUT_OPEN_DRAIN,
    .pull               = GPIO_FLOATING,
    .initial_value      = true,
}

A standard configuration for a generic floating open drain output.

Note

The pin will have an initial value of 1 (which in absence of an external pull up resistor will be high impedance).

Definition at line 496 of file gpio_ll.h.

gpio_ll_od_pu

const gpio_conf_t gpio_ll_od_pu

static

Initial value:

= {
    .state              = GPIO_OUTPUT_OPEN_DRAIN,
    .pull               = GPIO_PULL_UP,
    .initial_value      = true,
}

A standard configuration for a generic open drain output with pull up.

Note

The pin will have an initial value of 1 (so that the pull up will pill the line high).

Definition at line 509 of file gpio_ll.h.

gpio_ll_out

const gpio_conf_t gpio_ll_out

static

Initial value:

= {
    .state              = GPIO_OUTPUT_PUSH_PULL,
    .initial_value      = false,
}

A standard configuration for a generic push-pull output pin.

Note

The pin will have an initial value of 0.

Definition at line 485 of file gpio_ll.h.