Fixed Pin class.

3 files changed, 96 insertions, 91 deletions

diff --git a/hal/pin.h b/hal/pin.h
new file mode 100644
index 0000000..e45c178
--- /dev/null
+++ b/hal/pin.h
@@ -0,0 +1,78 @@
+#ifndef PIN_H
+#define PIN_H
+
+#include "gpio.h"
+
+class Pin {
+	private:
+		GPIO_t& g;
+		int n;
+	
+	public:
+		Pin(GPIO_t& gpio, int pin) : g(gpio), n(pin) {}
+		
+		enum Mode {
+			Input,
+			Output,
+			AF,
+			Analog,
+		};
+		
+		enum Type {
+			PushPull,
+			OpenDrain,
+		};
+		
+		void set_mode(Mode m) {
+			g.MODER = (g.MODER & ~(3 << (n * 2))) | m << (n * 2);
+		}
+		
+		void set_type(Type t) {
+			if(t) {
+				g.OTYPER |= 1 << n;
+			} else {
+				g.OTYPER &= ~(1 << n);
+			}
+		}
+		
+		void set_af(int af) {
+			if(n > 8) {
+				g.AFRL = (g.AFRL & ~(0xf << (n * 4))) | af << (n * 4);
+			} else {
+				g.AFRH = (g.AFRL & ~(0xf << (n * 4 - 32))) | af << (n * 4 - 32);
+			}
+		}
+		
+		void on() {
+			g.BSRR = 1 << n;
+		}
+		
+		void off() {
+			g.BSRR = 1 << 16 << n;
+		}
+		
+		void toggle() {
+			if(g.ODR & (1 << n)) {
+				off();
+			} else {
+				on();
+			}
+		}
+};
+static Pin PB0(GPIOD, 0);
+static Pin PB1(GPIOD, 1);
+static Pin PB2(GPIOD, 2);
+static Pin PB3(GPIOD, 3);
+static Pin PB4(GPIOD, 4);
+static Pin PB5(GPIOD, 5);
+static Pin PB6(GPIOD, 6);
+static Pin PB7(GPIOD, 7);
+static Pin PB8(GPIOD, 8);
+static Pin PB9(GPIOD, 9);
+
+static Pin PD12(GPIOD, 12);
+static Pin PD13(GPIOD, 13);
+static Pin PD14(GPIOD, 14);
+static Pin PD15(GPIOD, 15);
+
+#endif
diff --git a/main.cpp b/main.cpp
index fa4d1a8..e34d90e 100644
--- a/main.cpp
+++ b/main.cpp
@@ -13,6 +13,8 @@
 #include "xbee.h"
 #include "gps.h"
 
+#include "pin.h"
+
 template<class T>
 inline void saturate(T& var, T absmax) {
 	if(var > absmax) {
@@ -80,24 +82,32 @@ uint32_t gps_stack[256];
 
 Thread gps_thread(gps_stack, sizeof(gps_stack), gps_thread_main);
 
+static Pin& led_green = PD12;
+static Pin& led_yellow = PD13;
+static Pin& led_red = PD14;
+static Pin& led_blue = PD15;
+
 int main() {
 	// Initialize system timer.
 	STK.LOAD = 168000000 / 8 / 1000; // 1000 Hz.
 	STK.CTRL = 0x03;
 	
-	RCC.enable(RCC.AFIO);
-	RCC.enable(RCC.IOPA);
-	RCC.enable(RCC.IOPB);
+	RCC.enable(RCC.GPIOA);
+	RCC.enable(RCC.GPIOB);
+	RCC.enable(RCC.GPIOD);
 	
-	GPIOA.CRL = 0x4400bbbb;
-	GPIOA.CRH = 0x444444b4;
+	led_green.set_mode(Pin::Output);
+	led_yellow.set_mode(Pin::Output);
+	led_red.set_mode(Pin::Output);
+	led_blue.set_mode(Pin::Output);
 	
-	GPIOB.CRL = 0xff444434;
-	GPIOB.CRH = 0x44444444;
-	GPIOB.ODR = 1 << 1;
 	
 	RCC.enable(RCC.DMA1);
 	RCC.enable(RCC.ADC1);
+	PB6.set_af(7);
+	PB7.set_af(7);
+	PB6.set_mode(Pin::Output);
+	PB7.set_mode(Pin::Output);
 	
 	// Give all hardware enough time to initialize.
 	Time::sleep(200);
diff --git a/pin.h b/pin.h
deleted file mode 100644
index cbace79..0000000
--- a/pin.h
+++ /dev/null
@@ -1,83 +0,0 @@
-#ifndef PIN_H
-#define PIN_H
-
-#include "gpio.h"
-
-class GPIO {
-	private:
-		GPIO_t& g;
-		int n;
-	
-	public:
-		GPIO(GPIO_t& gpio, int pin) : g(gpio), n(pin) {}
-		
-		void on() {
-			g.BSRR = 1 << n;
-		}
-		
-		void off() {
-			g.BSRR = 1 << 16 << n;
-		}
-		
-		void toggle() {
-			if(g.ODR & (1 << n)) {
-				off();
-			} else {
-				on();
-			}
-		}
-};
-
-template <class... Ts>
-class Pin : public Ts... {
-	public:
-		Pin(GPIO_t& gpio, int pin) : Ts(gpio, pin)... {}
-};
-/*
-template <int n>
-struct U {
-	struct RX;
-	struct TX;
-};
-
-typedef U<1> U1;
-typedef U<2> U2;
-typedef U<3> U3;
-
-template <class P, class F>
-class AF {
-	public:
-		AF(GPIO_t& gpio, int pin) {}
-};
-
-template <int AFn, class P, class F>
-class Remap : public AF<P, F> {
-	public:
-		Remap(GPIO_t& gpio, int pin) : AF<P, F>(gpio, pin) {}
-};
-
-class Kake {
-	public:
-		template <class U>
-		Kake(AF<U, class U::RX> rxpin, AF<U, class U::TX> txpin) {}
-		
-		template <class U>
-		Kake(const U&&, AF<U, class U::RX> rxpin, AF<U, class U::TX> txpin) {}
-};
-
-static Pin<GPIO, Remap<7, U1, U1::RX>> PB6(GPIOB, 6);
-static Pin<GPIO, Remap<7, U1, U1::TX>> PB7(GPIOB, 7);
-
-static Pin<GPIO, Remap<7, U2, U2::RX>, AF<U3, U3::RX>> PB8(GPIOB, 8);
-static Pin<GPIO, Remap<7, U2, U2::TX>, AF<U3, U3::TX>> PB9(GPIOB, 9);
-*/
-
-static Pin<GPIO> PD12(GPIOD, 12);
-static Pin<GPIO> PD13(GPIOD, 13);
-static Pin<GPIO> PD14(GPIOD, 14);
-static Pin<GPIO> PD15(GPIOD, 15);
-/*
-Kake f1(PB6, PB7);
-Kake f2(PB8, PB9);
-*/
-#endif