feat(gpio): gpio flexible config

Src/boards/rl/mini_v3/board/board.cmake

@@ -18,6 +18,7 @@ set(BOARD_FLASH_ORIGIN_HEX 0x08000000)
 set(BOARD_FLASH_SIZE_KB 512)
 set(BOOTLOADER_RESERVED_KB 64)
 list(APPEND APPLICATION_SOURCES
+    ${CMAKE_CURRENT_LIST_DIR}/gpio.cpp
     ${CMAKE_CURRENT_LIST_DIR}/pwm.cpp
     ${CMAKE_CURRENT_LIST_DIR}/rcpwm_channels.cpp
 )

Src/boards/rl/mini_v3/board/gpio.cpp

@@ -0,0 +1,25 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ */
+
+#include <array>
+#include <span>
+#include "gpio_mapping.hpp"
+#include "peripheral/gpio/gpio_stm32.hpp"
+
+namespace HAL {
+namespace {
+const std::array<GpioPinInfo, 2> kGpios = {{
+        {.port = CAN1_TERMINATOR_GPIO_Port, .pin = CAN1_TERMINATOR_Pin},
+        {.port = CAN2_TERMINATOR_GPIO_Port, .pin = CAN2_TERMINATOR_Pin},
+    }
+};
+static_assert(BoardGpio::CAN1_TERMINATOR == 0);
+static_assert(BoardGpio::CAN2_TERMINATOR == 1);
+static_assert(BoardGpio::CAN2_TERMINATOR + 1 == kGpios.size());
+}
+
+const std::span<const GpioPinInfo> gpios{kGpios};
+
+}  // namespace HAL

Src/boards/rl/mini_v3/board/gpio_mapping.hpp

@@ -0,0 +1,13 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ */
+
+#pragma once
+#include "peripheral/gpio/gpio.hpp"
+
+namespace BoardGpio {
+static constexpr HAL::GpioPin INVALID = HAL::GPIO_INVALID_PIN;
+static constexpr HAL::GpioPin CAN1_TERMINATOR = 0;
+static constexpr HAL::GpioPin CAN2_TERMINATOR = 1;
+}  // namespace BoardGpio

Src/modules/application/application.cpp

@@ -19,6 +19,10 @@
 #include "module.hpp"
 #include "main.h"
 
+#if defined(CAN1_TERMINATOR_Pin) && defined(CAN2_TERMINATOR_Pin)
+#include "gpio_mapping.hpp"
+#endif
+
 #ifndef LIBPARAMS_HAS_REDUNDANT_STORAGE
 #define LIBPARAMS_HAS_REDUNDANT_STORAGE 1
 #endif
@@ -85,8 +89,8 @@ static int8_t init_board_periphery() {
     auto teminator_param = paramsGetIntegerValue(IntParamsIndexes::PARAM_SYSTEM_CAN_TEMINATOR);
 
     std::bitset<2> terminator_mask(teminator_param);
-    HAL::GPIO::set(HAL::GPIO::Pin::CAN1_TERMINATOR, terminator_mask[0]);
-    HAL::GPIO::set(HAL::GPIO::Pin::CAN2_TERMINATOR, terminator_mask[1]);
+    HAL::GPIO::set(BoardGpio::CAN1_TERMINATOR, terminator_mask[0]);
+    HAL::GPIO::set(BoardGpio::CAN2_TERMINATOR, terminator_mask[1]);
 #endif
     return 0;
 }

Src/peripheral/gpio/CMakeLists.txt

@@ -11,11 +11,10 @@ if(NOT APP_PLATFORM)
   message(SEND_ERROR "APP_PLATFORM is not specified or unsupported! Options: stm32f103, stm32g0b1, stm32h753xx, ubuntu.")
 endif()
 
-if(APP_PLATFORM STREQUAL "stm32f103")
-elseif(APP_PLATFORM STREQUAL "stm32g0b1")
-    list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/gpio_stm32g0.cpp)
-elseif(APP_PLATFORM STREQUAL "stm32h753xx")
-    list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/gpio_stm32h7.cpp)
+if(APP_PLATFORM STREQUAL "stm32f103" OR
+   APP_PLATFORM STREQUAL "stm32g0b1" OR
+   APP_PLATFORM STREQUAL "stm32h753xx")
+    list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/gpio_stm32.cpp)
 elseif(APP_PLATFORM STREQUAL "ubuntu")
     list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/gpio_ubuntu.cpp)
 else()

Src/peripheral/gpio/gpio.hpp

@@ -12,42 +12,17 @@
 
 namespace HAL {
 
+using GpioPin = uint8_t;
+inline constexpr GpioPin GPIO_INVALID_PIN = UINT8_MAX;
+
 class GPIO {
 public:
-    enum class Pin {
-        /**
-        * @brief Any node must have an internal RGB LED
-        */
-        INTERNAL_LED_RED,
-        INTERNAL_LED_GREEN,
-        INTERNAL_LED_BLUE,
-
-        /**
-        * @brief A node may have an auxilliary external RGB LED
-        */
-        EXT_RGB_LED_RED,
-        EXT_RGB_LED_GREEN,
-        EXT_RGB_LED_BLUE,
-
-        /**
-        * @brief CAN terminator 120 ohm resistor
-        * v2: doesn't exist yet
-        * v3: PA15
-        */
-        CAN1_TERMINATOR,
-
-        /**
-        * @brief CAN terminator 120 ohm resistor
-        * v2: doesn't exist yet
-        * v3: PB15
-        */
-        CAN2_TERMINATOR,
-
-        GPIO_AMOUNT,
-    };
-
-    static void set(const Pin gpio_pin, bool state);
-    static bool get(const Pin gpio_pin);
+    static uint8_t pin_count();
+    static void set(GpioPin gpio_pin, bool state);
+    static bool get(GpioPin gpio_pin);
+
+private:
+    static bool is_valid_pin(GpioPin gpio_pin);
 };
 
 }  // namespace HAL

Src/peripheral/gpio/gpio_stm32.cpp

@@ -0,0 +1,42 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ */
+
+#include "peripheral/gpio/gpio_stm32.hpp"
+#include <array>
+
+namespace HAL {
+
+namespace {
+const std::array<GpioPinInfo, 0> kNoGpios{};
+}
+
+extern const std::span<const GpioPinInfo> gpios __attribute__((weak)) = kNoGpios;
+
+bool GPIO::is_valid_pin(GpioPin gpio_pin) {
+    return gpio_pin < pin_count();
+}
+
+uint8_t GPIO::pin_count() {
+    return static_cast<uint8_t>(gpios.size());
+}
+
+void GPIO::set(GpioPin gpio_pin, bool state) {
+    if (!is_valid_pin(gpio_pin)) {
+        return;
+    }
+
+    const auto pin_state = state ? GPIO_PIN_SET : GPIO_PIN_RESET;
+    HAL_GPIO_WritePin(gpios[gpio_pin].port, gpios[gpio_pin].pin, pin_state);
+}
+
+bool GPIO::get(GpioPin gpio_pin) {
+    if (!is_valid_pin(gpio_pin)) {
+        return false;
+    }
+
+    return HAL_GPIO_ReadPin(gpios[gpio_pin].port, gpios[gpio_pin].pin) == GPIO_PIN_SET;
+}
+
+}  // namespace HAL

Src/peripheral/gpio/gpio_stm32.hpp

@@ -0,0 +1,24 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ */
+
+#ifndef SRC_PERIPHERAL_GPIO_STM32_HPP_
+#define SRC_PERIPHERAL_GPIO_STM32_HPP_
+
+#include <span>
+#include "main.h"
+#include "peripheral/gpio/gpio.hpp"
+
+namespace HAL {
+
+struct GpioPinInfo {
+    GPIO_TypeDef* port;
+    uint16_t pin;
+};
+
+extern const std::span<const GpioPinInfo> gpios;
+
+}  // namespace HAL
+
+#endif  // SRC_PERIPHERAL_GPIO_STM32_HPP_

Src/peripheral/gpio/gpio_ubuntu.cpp

@@ -5,20 +5,35 @@
  * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
  */
 
-#include "peripheral/gpio/gpio.hpp"
-#include <vector>
-#include "main.h"
+#include "peripheral/gpio/gpio_ubuntu.hpp"
+#include <array>
 
 namespace HAL {
 
-static std::vector<bool> gpio((int)GPIO::Pin::GPIO_AMOUNT, false);
+namespace {
+std::array<bool, 0> kNoGpios{};
+}
+
+[[gnu::weak]] std::span<bool> gpios{kNoGpios};
+
+bool GPIO::is_valid_pin(GpioPin gpio_pin) {
+    return gpio_pin < pin_count();
+}
+
+uint8_t GPIO::pin_count() {
+    return static_cast<uint8_t>(gpios.size());
+}
+
+void GPIO::set(GpioPin gpio_pin, bool state) {
+    if (!is_valid_pin(gpio_pin)) {
+        return;
+    }
 
-void GPIO::set(Pin gpio_pin, bool state) {
-    gpio[(int)gpio_pin] = state;
+    gpios[gpio_pin] = state;
 }
 
-bool GPIO::get(Pin gpio_pin) {
-    return gpio[(int)gpio_pin];
+bool GPIO::get(GpioPin gpio_pin) {
+    return is_valid_pin(gpio_pin) ? gpios[gpio_pin] : false;
 }
 
 }  // namespace HAL