RT-Thread Nano如何适配pin设备API，并在RT-Thread Nano使用软件包

Rice加饭

发布于 2022-05-10 18:17:18

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发布于 2022-05-10 18:17:18

文章被收录于专栏：Rice嵌入式

本文介绍了如何在 RT-Thread Studio 上使用 RT-Thread Nano，并基于BearPI-IOT STM32L431RCT6的基础工程进行讲解如何使用PIN设备接口及相关软件包使用。

BearPI-IOT board

为什么需要设备接口

RT-Thread 分为标准版本和 Nano 版本，其特点如下：
- RT-Thread 标准版：拥有设备驱动框架，软件包等组件，软件包都是基于设备驱动接口来实现。
- RT-Thread Nano：仅仅只是一个 RTOS 内核。没有任何组件。
Nano 是无法直接使用 RT-Thread 丰富软件包功能。
Nano 是一个面向低资源的 MCU 等芯片，不可能增加如同标准版的设备驱动框架。
Nano 需要一套统一设备驱动 API ，屏蔽不同芯片的 HAL 层的区别。方便移植工程到不同的平台。
Nano 需要一套设备驱动 API ，可以方便使用丰富软件包组件。

准备工作

使用 RT-Thread Studio 建立一个 STM32L431RCT6 的 RT-Thread Nano 基础工程。
基础工程创建可参考：在 RT-Thread Studio 上使用 RT-Thread Nano

PIN 设备接口

在 RT-Thread 标准版中，PIN设备设备提供了一套设备管理接口来访问 GPIO，用户程序可以直接使用该 API 操作 GPIO 的功能，设备管理接口如下：

「函数」	「描述」
rt_pin_get()	获取引脚编号
rt_pin_mode()	设置引脚模式
rt_pin_write()	设置引脚电平
rt_pin_read()	读取引脚电平
rt_pin_attach_irq()	绑定引脚中断回调函数
rt_pin_irq_enable()	使能引脚中断
rt_pin_detach_irq()	脱离引脚中断回调函数

RT-Thread 丰富软件包都是基于这套 API 进行开发适配，所以 Nano 也需要一套这样子的 API。在 PIN 设备接口，可以完全沿用标准版的这套API。

适配 PIN 设备接口

复制 RT-Thread 完整版工程中的 pin.h 文件（路径：rt-thread\components\drivers\include\drivers\pin.h）到我们准备好的 STM32L431RCT6 的 RT-Thread Nano 基础工程中。
由于 RT-Thread Nano 没有驱动框架，所以我们要把 pin.h 中有关完整版的内容去掉。整理完之后的 pin.h 文件如下：

/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2021-08-21     RiceChen     the first version
 */

#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

我们需要适配如上7个 PIN 设备 API ，参考实例：

drv_gpio.c：

/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author            Notes
 * 2021-08-21     RiceChen     the first version
 */

#include <board.h>
#include "pin.h"
#include "drv_gpio.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_IRQn},
    {GPIO_PIN_1, EXTI1_IRQn},
    {GPIO_PIN_2, EXTI2_IRQn},
    {GPIO_PIN_3, EXTI3_IRQn},
    {GPIO_PIN_4, EXTI4_IRQn},
    {GPIO_PIN_5, EXTI9_5_IRQn},
    {GPIO_PIN_6, EXTI9_5_IRQn},
    {GPIO_PIN_7, EXTI9_5_IRQn},
    {GPIO_PIN_8, EXTI9_5_IRQn},
    {GPIO_PIN_9, EXTI9_5_IRQn},
    {GPIO_PIN_10, EXTI15_10_IRQn},
    {GPIO_PIN_11, EXTI15_10_IRQn},
    {GPIO_PIN_12, EXTI15_10_IRQn},
    {GPIO_PIN_13, EXTI15_10_IRQn},
    {GPIO_PIN_14, EXTI15_10_IRQn},
    {GPIO_PIN_15, EXTI15_10_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_Callback(uint16_t GPIO_Pin)
{
    pin_irq_hdr(bit2bitno(GPIO_Pin));
}

void EXTI0_IRQHandler(void)
{
    rt_interrupt_enter();
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
    rt_interrupt_leave();
}

void EXTI1_IRQHandler(void)
{
    rt_interrupt_enter();
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_1);
    rt_interrupt_leave();
}

void EXTI2_IRQHandler(void)
{
    rt_interrupt_enter();
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
    rt_interrupt_leave();
}

void EXTI3_IRQHandler(void)
{
    rt_interrupt_enter();
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_3);
    rt_interrupt_leave();
}

void EXTI4_IRQHandler(void)
{
    rt_interrupt_enter();
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
    rt_interrupt_leave();
}

void EXTI9_5_IRQHandler(void)
{
    rt_interrupt_enter();
    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);
    rt_interrupt_leave();
}

void EXTI15_10_IRQHandler(void)
{
    rt_interrupt_enter();
    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;
}

#endif /* RT_USING_PIN */

drv_gpio.h：

/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author            Notes
 * 2021-08-21     RiceChen          the first version
 */

#ifndef __DRV_GPIO_H__
#define __DRV_GPIO_H__

#include <drv_common.h>
#include <board.h>
#include "pin.h"

#ifdef __cplusplus
extern "C" {
#endif

#define __STM32_PORT(port)  GPIO##port##_BASE

#define GET_PIN(PORTx,PIN) (rt_base_t)((16 * ( ((rt_base_t)__STM32_PORT(PORTx) - (rt_base_t)GPIOA_BASE)/(0x0400UL) )) + PIN)

struct pin_irq_map
{
    rt_uint16_t pinbit;
    IRQn_Type irqno;
};

#ifdef __cplusplus
}
#endif

#endif /* __DRV_GPIO_H__ */

编写 PIN 设备使用示例

 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2021-08-21     RT-Thread    first version
 */

#include <rtthread.h>

#define DBG_TAG "main"
#define DBG_LVL DBG_LOG
#include <rtdbg.h>

#include "drv_gpio.h"
#define LED0_PIN    GET_PIN(C, 13)

int main(void)
{
    LOG_D("Hello RT-Thread!");
    rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);

    for(;;)
    {
        rt_pin_write(LED0_PIN, PIN_HIGH);
        rt_thread_mdelay(500);
        rt_pin_write(LED0_PIN, PIN_LOW);
        rt_thread_mdelay(500);
    }

    return RT_EOK;
}

实例代码运行现象：板载的 LED 进行周期性闪烁。

PIN 设备相关软件包使用

我们使用LedBlink软件包来验证PIN设备接口。
首先克隆 LedBlink 软件包到 STM32L431RCT6 的 RT-Thread Nano 工程。LedBlink 软件包链接：https://github.com/aeo123/LedBlink.git
使用 LedBlink 软件包实例：

#include <rtthread.h>

#define DBG_TAG "main"
#define DBG_LVL DBG_LOG
#include <rtdbg.h>

#include "drv_gpio.h"
#include "ledblink.h"
#define LED0_PIN    GET_PIN(C, 13)

int main(void)
{
    int count = 1;

    LOG_D("Hello RT-Thread!");
    led_add_device(LED0_PIN);

    while (count++)
    {
        led_on(1);
        rt_thread_mdelay(500);
        led_off(1);
        rt_thread_mdelay(500);
    }

    return RT_EOK;
}