diff options
Diffstat (limited to 'vex/digital.cpp')
| -rw-r--r-- | vex/digital.cpp | 37 |
1 files changed, 37 insertions, 0 deletions
diff --git a/vex/digital.cpp b/vex/digital.cpp new file mode 100644 index 0000000..f05edc3 --- /dev/null +++ b/vex/digital.cpp @@ -0,0 +1,37 @@ +#include "digital.hpp" + +#include <ch.h> +#include <hal.h> + +// a lookup table for pads and ports +static const int portPad[12][2] = { + {GPIOE_BASE, 9}, // digital pin 1 + {GPIOE_BASE, 11}, // 2 + {GPIOC_BASE, 6}, // ... + {GPIOC_BASE, 7}, + {GPIOE_BASE, 13}, + {GPIOE_BASE, 14}, + {GPIOE_BASE, 8}, + {GPIOE_BASE, 10}, + {GPIOE_BASE, 12}, + {GPIOE_BASE, 7}, + {GPIOD_BASE, 0}, + {GPIOD_BASE, 1}, +}; + +namespace digital { + void setMode(int pin, int output) { + const auto& pp = portPad[pin - 1]; + palSetPadMode(reinterpret_cast<GPIO_TypeDef*>(pp[0]), pp[1], + output ? PAL_MODE_OUTPUT_PUSHPULL : PAL_MODE_INPUT_PULLUP); + } + + void set(int pin, int val) { + const auto& pp = portPad[pin - 1]; + if (val) + palSetPad(reinterpret_cast<GPIO_TypeDef*>(pp[0]), pp[1]); + else + palClearPad(reinterpret_cast<GPIO_TypeDef*>(pp[0]), pp[1]); + } +} + |