#368 Modified the deck API to use a type for deck pins to avoid mixup…

… with pin definitions for the CPU. This change will catch errors at compile time.

src/deck/api/deck_analog.c

@@ -80,31 +80,30 @@ static uint16_t analogReadChannel(uint8_t channel)
   return ADC_GetConversionValue(ADC2);
 }
 
-uint16_t analogRead(uint32_t pin)
+uint16_t analogRead(const deckPin_t pin)
 {
-  assert_param((pin >= 1) && (pin <= 13));
-  assert_param(deckGPIOMapping[pin-1].adcCh > -1);
+  assert_param(deckGPIOMapping[pin.id].adcCh > -1);
 
   /* Now set the GPIO pin to analog mode. */
 
   /* Enable clock for the peripheral of the pin.*/
-  RCC_AHB1PeriphClockCmd(deckGPIOMapping[pin-1].periph, ENABLE);
+  RCC_AHB1PeriphClockCmd(deckGPIOMapping[pin.id].periph, ENABLE);
 
   /* Populate structure with RESET values. */
   GPIO_InitTypeDef GPIO_InitStructure;
   GPIO_StructInit(&GPIO_InitStructure);
 
   /* Initialise the GPIO pin to analog mode. */
-  GPIO_InitStructure.GPIO_Pin   = deckGPIOMapping[pin-1].pin;
+  GPIO_InitStructure.GPIO_Pin   = deckGPIOMapping[pin.id].pin;
   GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AN;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
   GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
 
   /* TODO: Any settling time before we can do ADC after init on the GPIO pin? */
-  GPIO_Init(deckGPIOMapping[pin-1].port, &GPIO_InitStructure);
+  GPIO_Init(deckGPIOMapping[pin.id].port, &GPIO_InitStructure);
 
   /* Read the appropriate ADC channel. */
-  return analogReadChannel((uint8_t)deckGPIOMapping[pin-1].adcCh);
+  return analogReadChannel((uint8_t)deckGPIOMapping[pin.id].adcCh);
 }
 
 void analogReference(uint8_t type)
@@ -143,12 +142,11 @@ void analogReadResolution(uint8_t bits)
   ADC_Init(ADC2, &ADC_InitStructure);
 }
 
-float analogReadVoltage(uint32_t pin)
+float analogReadVoltage(const deckPin_t pin)
 {
   float voltage;
 
   voltage = analogRead(pin) * VREF / adcRange;
 
   return voltage;
-
 }

src/deck/api/deck_constants.c

@@ -42,3 +42,18 @@ deckGPIOMapping_t deckGPIOMapping[13] = {
   {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_6,  .adcCh=ADC_Channel_6}, /* MISO */
   {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_7,  .adcCh=ADC_Channel_7}, /* MOSI */
 };
+
+// Pin definitions
+const deckPin_t DECK_GPIO_RX1 = {.id=0};
+const deckPin_t DECK_GPIO_TX1 = {.id=1};
+const deckPin_t DECK_GPIO_SDA = {.id=2};
+const deckPin_t DECK_GPIO_SCL = {.id=3};
+const deckPin_t DECK_GPIO_IO1 = {.id=4};
+const deckPin_t DECK_GPIO_IO2 = {.id=5};
+const deckPin_t DECK_GPIO_IO3 = {.id=6};
+const deckPin_t DECK_GPIO_IO4 = {.id=7};
+const deckPin_t DECK_GPIO_TX2 = {.id=8};
+const deckPin_t DECK_GPIO_RX2 = {.id=9};
+const deckPin_t DECK_GPIO_SCK = {.id=10};
+const deckPin_t DECK_GPIO_MISO = {.id=11};
+const deckPin_t DECK_GPIO_MOSI = {.id=12};

src/deck/api/deck_digital.c

@@ -28,42 +28,33 @@
 
 #include "stm32fxxx.h"
 
-void pinMode(uint32_t pin, uint32_t mode)
+void pinMode(const deckPin_t pin, const uint32_t mode)
 {
-  if (pin > 13) {
-    return;
-  }
-
-  RCC_AHB1PeriphClockCmd(deckGPIOMapping[pin-1].periph, ENABLE);
+  RCC_AHB1PeriphClockCmd(deckGPIOMapping[pin.id].periph, ENABLE);
 
   GPIO_InitTypeDef GPIO_InitStructure = {0};
 
-  GPIO_InitStructure.GPIO_Pin = deckGPIOMapping[pin-1].pin;
+  GPIO_InitStructure.GPIO_Pin = deckGPIOMapping[pin.id].pin;
   GPIO_InitStructure.GPIO_Mode = (mode == OUTPUT) ? GPIO_Mode_OUT:GPIO_Mode_IN;
   if (mode == OUTPUT) GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
   if (mode == INPUT_PULLUP) GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
   if (mode == INPUT_PULLDOWN) GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
-  GPIO_Init(deckGPIOMapping[pin-1].port, &GPIO_InitStructure);
+  GPIO_Init(deckGPIOMapping[pin.id].port, &GPIO_InitStructure);
 }
 
-void digitalWrite(uint32_t pin, uint32_t val)
+void digitalWrite(const deckPin_t pin, const uint32_t val)
 {
-  if (pin > 13) {
-    return;
+  BitAction action = Bit_RESET;
+  if (val) {
+    action = Bit_SET;
   }
 
-  if (val) val = Bit_SET;
-
-  GPIO_WriteBit(deckGPIOMapping[pin-1].port, deckGPIOMapping[pin-1].pin, val);
+  GPIO_WriteBit(deckGPIOMapping[pin.id].port, deckGPIOMapping[pin.id].pin, action);
 }
 
-int digitalRead(uint32_t pin)
+int digitalRead(const deckPin_t pin)
 {
-  if (pin > 13) {
-    return LOW;
-  }
-
-  int val = GPIO_ReadInputDataBit(deckGPIOMapping[pin-1].port, deckGPIOMapping[pin-1].pin);
+  int val = GPIO_ReadInputDataBit(deckGPIOMapping[pin.id].port, deckGPIOMapping[pin.id].pin);
   return (val==Bit_SET)?HIGH:LOW;
 }

src/deck/interface/deck_analog.h

@@ -28,14 +28,15 @@
 #define __DECK_ANALOG_H__
 
 #include <stdint.h>
+#include "deck_constants.h"
 
 /* Voltage reference types for the analogReference() function. */
 #define DEFAULT 0
 #define VREF    3.0
 
 void adcInit(void);
 
-uint16_t analogRead(uint32_t pin);
+uint16_t analogRead(const deckPin_t pin);
 
 void analogReference(uint8_t type);
 
@@ -46,6 +47,6 @@ void analogReadResolution(uint8_t bits);
  * @param[in] pin   deck pin to measure.
  * @return          voltage in volts
  */
-float analogReadVoltage(uint32_t pin);
+float analogReadVoltage(const deckPin_t pin);
 
 #endif

src/deck/interface/deck_constants.h

@@ -44,19 +44,25 @@
  * The Deck port GPIO pins, as named by the deck port / expansion port / expansion breakout documentation on bitcraze.io.
  * Sequenced according to the deckGPIOMapping struct, so that these can be used for lookup in the struct.
  */
-#define DECK_GPIO_RX1   1
-#define DECK_GPIO_TX1   2
-#define DECK_GPIO_SDA   3
-#define DECK_GPIO_SCL   4
-#define DECK_GPIO_IO1   5
-#define DECK_GPIO_IO2   6
-#define DECK_GPIO_IO3   7
-#define DECK_GPIO_IO4   8
-#define DECK_GPIO_TX2   9
-#define DECK_GPIO_RX2  10
-#define DECK_GPIO_SCK  11
-#define DECK_GPIO_MISO 12
-#define DECK_GPIO_MOSI 13
+
+// Type used to identify a pin in the deck API.
+// id is used as an index in the deckGPIOMapping array
+typedef struct {uint8_t id;} deckPin_t;
+
+extern const deckPin_t DECK_GPIO_RX1;
+extern const deckPin_t DECK_GPIO_TX1;
+extern const deckPin_t DECK_GPIO_SDA;
+extern const deckPin_t DECK_GPIO_SCL;
+extern const deckPin_t DECK_GPIO_IO1;
+extern const deckPin_t DECK_GPIO_IO2;
+extern const deckPin_t DECK_GPIO_IO3;
+extern const deckPin_t DECK_GPIO_IO4;
+extern const deckPin_t DECK_GPIO_TX2;
+extern const deckPin_t DECK_GPIO_RX2;
+extern const deckPin_t DECK_GPIO_SCK;
+extern const deckPin_t DECK_GPIO_MISO;
+extern const deckPin_t DECK_GPIO_MOSI;
+
 
 typedef const struct {
   uint32_t periph;

src/deck/interface/deck_digital.h

@@ -28,11 +28,12 @@
 #define __DECK_DIGITAL_H__
 
 #include <stdint.h>
+#include "deck_constants.h"
 
-void pinMode(uint32_t pin, uint32_t mode);
+void pinMode(const deckPin_t pin, const uint32_t mode);
 
-void digitalWrite(uint32_t pin, uint32_t val);
+void digitalWrite(const deckPin_t pin, const uint32_t val);
 
-int digitalRead(uint32_t pin);
+int digitalRead(const deckPin_t pin);
 
 #endif

src/drivers/interface/pmw3901.h

@@ -28,6 +28,7 @@
 #define PMW3901_H_
 
 #include <stdint.h>
+#include "deck.h"
 
 typedef struct motionBurst_s {
   union {
@@ -62,15 +63,15 @@ typedef struct motionBurst_s {
  *
  * @return  true if init successful else false.
  */
-bool pmw3901Init(uint32_t csPin);
+bool pmw3901Init(const deckPin_t csPin);
 
 /**
  * Read the current accumulated motion.
  *
  * @param csPin   Chip Select pin as defined in deck pinout driver.
  * @param motion  A filled in motionBurst_t structure with the latest motion information
  */
-void pmw3901ReadMotion(uint32_t csPin, motionBurst_t * motion);
+void pmw3901ReadMotion(const deckPin_t csPin, motionBurst_t * motion);
 
 
 #endif /* PMW3901_H_ */

src/drivers/src/maxsonar.c

@@ -99,7 +99,7 @@ static uint32_t maxSonarGetAccuracyMB1040(uint32_t distance)
  *
  * @return The distance measurement in millimeters.
  */
-static uint32_t maxSonarReadDistanceMB1040AN(uint8_t pin, uint32_t *accuracy)
+static uint32_t maxSonarReadDistanceMB1040AN(const deckPin_t pin, uint32_t *accuracy)
 {
   /*
    * analogRead() returns a 12-bit (0-4095) value scaled to the range between GND (0V) and VREF.

src/drivers/src/pmw3901.c

@@ -39,7 +39,7 @@
 
 static bool isInit = false;
 
-static void registerWrite(uint32_t csPin, uint8_t reg, uint8_t value)
+static void registerWrite(const deckPin_t csPin, uint8_t reg, uint8_t value)
 {
   // Set MSB to 1 for write
   reg |= 0x80u;
@@ -60,7 +60,7 @@ static void registerWrite(uint32_t csPin, uint8_t reg, uint8_t value)
   sleepus(200);
 }
 
-static uint8_t registerRead(uint32_t csPin, uint8_t reg)
+static uint8_t registerRead(const deckPin_t csPin, uint8_t reg)
 {
   uint8_t data = 0;
   uint8_t dummy = 0;
@@ -86,7 +86,7 @@ static uint8_t registerRead(uint32_t csPin, uint8_t reg)
   return data;
 }
 
-static void InitRegisters(uint32_t csPin)
+static void InitRegisters(const deckPin_t csPin)
 {
   registerWrite(csPin, 0x7F, 0x00);
   registerWrite(csPin, 0x61, 0xAD);
@@ -170,7 +170,7 @@ static void InitRegisters(uint32_t csPin)
   registerWrite(csPin, 0x54, 0x00);
 }
 
-bool pmw3901Init(uint32_t csPin)
+bool pmw3901Init(const deckPin_t csPin)
 {
   if (isInit) {
     return true;
@@ -217,7 +217,7 @@ bool pmw3901Init(uint32_t csPin)
   return isInit;
 }
 
-void pmw3901ReadMotion(uint32_t csPin, motionBurst_t * motion)
+void pmw3901ReadMotion(const deckPin_t csPin, motionBurst_t * motion)
 {
   uint8_t address = 0x16;
 

src/hal/interface/pm.h

@@ -1,6 +1,6 @@
 /**
- *    ||          ____  _ __                           
- * +------+      / __ )(_) /_______________ _____  ___ 
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
  * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
  * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
  *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
@@ -29,6 +29,7 @@
 
 #include "adc.h"
 #include "syslink.h"
+#include "deck.h"
 
 #ifndef CRITICAL_LOW_VOLTAGE
   #define PM_BAT_CRITICAL_LOW_VOLTAGE   3.0f
@@ -141,7 +142,7 @@ bool pmIsDischarging(void);
 /**
  * Enable or disable external battery voltage measuring.
  */
-void pmEnableExtBatteryVoltMeasuring(uint8_t pin, float multiplier);
+void pmEnableExtBatteryVoltMeasuring(const deckPin_t pin, float multiplier);
 
 /**
  * Measure an external voltage.
@@ -151,7 +152,7 @@ float pmMeasureExtBatteryVoltage(void);
 /**
  * Enable or disable external battery current measuring.
  */
-void pmEnableExtBatteryCurrMeasuring(uint8_t pin, float ampPerVolt);
+void pmEnableExtBatteryCurrMeasuring(const deckPin_t pin, float ampPerVolt);
 
 /**
  * Measure an external current.

src/hal/src/pm_stm32f4.c

@@ -61,18 +61,20 @@ typedef struct _PmSyslinkInfo
 #endif
 }  __attribute__((packed)) PmSyslinkInfo;
 
-static float    batteryVoltage;
-static uint16_t batteryVoltageMV;
-static float    batteryVoltageMin = 6.0;
-static float    batteryVoltageMax = 0.0;
-
-static float    extBatteryVoltage;
-static uint16_t extBatteryVoltageMV;
-static uint8_t  extBatVoltDeckPin;
-static float    extBatVoltMultiplier;
-static float    extBatteryCurrent;
-static uint8_t  extBatCurrDeckPin;
-static float    extBatCurrAmpPerVolt;
+static float     batteryVoltage;
+static uint16_t  batteryVoltageMV;
+static float     batteryVoltageMin = 6.0;
+static float     batteryVoltageMax = 0.0;
+
+static float     extBatteryVoltage;
+static uint16_t  extBatteryVoltageMV;
+static deckPin_t extBatVoltDeckPin;
+static bool      isExtBatVoltDeckPinSet = false;
+static float     extBatVoltMultiplier;
+static float     extBatteryCurrent;
+static deckPin_t extBatCurrDeckPin;
+static bool      isExtBatCurrDeckPinSet = false;
+static float     extBatCurrAmpPerVolt;
 
 #ifdef PM_SYSTLINK_INLCUDE_TEMP
 // nRF51 internal temp
@@ -236,17 +238,18 @@ PMStates pmUpdateState()
   return state;
 }
 
-void pmEnableExtBatteryCurrMeasuring(uint8_t pin, float ampPerVolt)
+void pmEnableExtBatteryCurrMeasuring(const deckPin_t pin, float ampPerVolt)
 {
   extBatCurrDeckPin = pin;
+  isExtBatCurrDeckPinSet = true;
   extBatCurrAmpPerVolt = ampPerVolt;
 }
 
 float pmMeasureExtBatteryCurrent(void)
 {
   float current;
 
-  if (extBatCurrDeckPin)
+  if (isExtBatCurrDeckPinSet)
   {
     current = analogReadVoltage(extBatCurrDeckPin) * extBatCurrAmpPerVolt;
   }
@@ -258,17 +261,18 @@ float pmMeasureExtBatteryCurrent(void)
   return current;
 }
 
-void pmEnableExtBatteryVoltMeasuring(uint8_t pin, float multiplier)
+void pmEnableExtBatteryVoltMeasuring(const deckPin_t pin, float multiplier)
 {
   extBatVoltDeckPin = pin;
+  isExtBatVoltDeckPinSet = true;
   extBatVoltMultiplier = multiplier;
 }
 
 float pmMeasureExtBatteryVoltage(void)
 {
   float voltage;
 
-  if (extBatVoltDeckPin)
+  if (isExtBatVoltDeckPinSet)
   {
     voltage = analogReadVoltage(extBatVoltDeckPin) * extBatVoltMultiplier;
   }