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Merged
qzhhhi merged 2 commits into from
Apr 22, 2026
Merged

feat(gpio)!: Add GPIO support for rmcs_board #48

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df396da
feat(gpio)!: Add descriptor-based GPIO capability model
qzhhhi Apr 20, 2026
e77f3d3
feat(gpio)!: Add GPIO support for rmcs_board and align input sampling…
qzhhhi Apr 21, 2026
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20 changes: 15 additions & 5 deletions core/include/librmcs/data/datas.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@
#include <cstdint>
#include <span>

#include <librmcs/spec/gpio.hpp>

namespace librmcs::data {

enum class DataId : uint8_t {
Expand Down Expand Up @@ -43,12 +45,10 @@ struct UartDataView {
};

struct GpioDigitalDataView {
uint8_t channel;
bool high;
};

struct GpioAnalogDataView {
uint8_t channel;
uint16_t value;
};

Expand All @@ -59,12 +59,20 @@ enum class GpioPull : uint8_t {
};

struct GpioReadConfigView {
uint8_t channel;
uint16_t period_ms = 0;
bool asap = false;
bool rising_edge = false;
bool falling_edge = false;
GpioPull pull = GpioPull::kNone;

[[nodiscard]] constexpr bool supported(const spec::GpioDescriptor& gpio) const noexcept {
return (!asap || gpio.supports(spec::GpioCapability::kDigitalReadOnce))
&& (!period_ms || gpio.supports(spec::GpioCapability::kDigitalReadPeriodic))
&& ((!rising_edge && !falling_edge)
|| gpio.supports(spec::GpioCapability::kDigitalReadInterrupt))
&& (pull != GpioPull::kUp || gpio.supports(spec::GpioCapability::kPullUp))
&& (pull != GpioPull::kDown || gpio.supports(spec::GpioCapability::kPullDown));
}
};

struct AccelerometerDataView {
Expand Down Expand Up @@ -93,9 +101,11 @@ class DataCallback {

virtual bool uart_receive_callback(DataId id, const UartDataView& data) = 0;

virtual void gpio_digital_read_result_callback(const GpioDigitalDataView& data) = 0;
virtual void gpio_digital_read_result_callback(
uint8_t channel_index, const GpioDigitalDataView& data) = 0;

virtual void gpio_analog_read_result_callback(const GpioAnalogDataView& data) = 0;
virtual void
gpio_analog_read_result_callback(uint8_t channel_index, const GpioAnalogDataView& data) = 0;

virtual void accelerometer_receive_callback(const AccelerometerDataView& data) = 0;

Expand Down
70 changes: 70 additions & 0 deletions core/include/librmcs/spec/c_board/gpio.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,70 @@
#pragma once

#include <cstddef>
#include <cstdint>
#include <iterator>

#include <librmcs/spec/gpio.hpp>

namespace librmcs::spec::c_board {

namespace internal {
class GpioDescriptors;
}

// NOLINTNEXTLINE(cppcoreguidelines-special-member-functions)
class GpioDescriptor : public spec::GpioDescriptor {
friend internal::GpioDescriptors;
constexpr GpioDescriptor(uint8_t channel_index, GpioCapability capability_mask)
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: spec::GpioDescriptor(channel_index, capability_mask) {}

public:
GpioDescriptor(const GpioDescriptor&) = delete;
GpioDescriptor& operator=(const GpioDescriptor&) = delete;
GpioDescriptor(GpioDescriptor&&) = delete;
GpioDescriptor& operator=(GpioDescriptor&&) = delete;

[[nodiscard]] constexpr bool operator==(const GpioDescriptor& other) const noexcept {
return channel_index == other.channel_index;
}
};

namespace internal {
class GpioDescriptors {
static constexpr GpioDescriptor kArray[]{
{0, kPwmCapabilities},
{1, kPwmCapabilities},
{2, kPwmCapabilities},
{3, kPwmCapabilities},
{4, kPwmCapabilities},
{5, kPwmCapabilities & ~GpioCapability::kDigitalReadInterrupt},
{6, kPwmCapabilities}
};
static_assert(channel_indices_match_indices(kArray));

public:
constexpr GpioDescriptors() = default;

static constexpr std::size_t size() noexcept { return std::size(kArray); }

static constexpr const GpioDescriptor& operator[](std::size_t channel_index) noexcept {
return kArray[channel_index];
}

static constexpr const GpioDescriptor* begin() noexcept { return std::begin(kArray); }

static constexpr const GpioDescriptor* end() noexcept { return std::end(kArray); }

static constexpr const GpioDescriptor& kPwm1 = kArray[0];
static constexpr const GpioDescriptor& kPwm2 = kArray[1];
static constexpr const GpioDescriptor& kPwm3 = kArray[2];
static constexpr const GpioDescriptor& kPwm4 = kArray[3];
static constexpr const GpioDescriptor& kPwm5 = kArray[4];
static constexpr const GpioDescriptor& kPwm6 = kArray[5];
static constexpr const GpioDescriptor& kPwm7 = kArray[6];
};
} // namespace internal

inline constexpr internal::GpioDescriptors kGpioDescriptors{};

} // namespace librmcs::spec::c_board
58 changes: 58 additions & 0 deletions core/include/librmcs/spec/gpio.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,58 @@
#pragma once

#include <cstddef>
#include <cstdint>

namespace librmcs::spec {

enum class GpioCapability : std::uint8_t {
kNone = 0,
kDigitalWrite = 1U << 0,
kAnalogWrite = 1U << 1,
kDigitalReadOnce = 1U << 2,
kDigitalReadPeriodic = 1U << 3,
kDigitalReadInterrupt = 1U << 4,
kPullUp = 1U << 5,
kPullDown = 1U << 6,
};

constexpr GpioCapability operator|(GpioCapability a, GpioCapability b) noexcept {
return static_cast<GpioCapability>(static_cast<std::uint8_t>(a) | static_cast<std::uint8_t>(b));
}

constexpr GpioCapability operator&(GpioCapability a, GpioCapability b) noexcept {
return static_cast<GpioCapability>(static_cast<std::uint8_t>(a) & static_cast<std::uint8_t>(b));
}

constexpr GpioCapability operator~(GpioCapability a) noexcept {
return static_cast<GpioCapability>(~static_cast<std::uint8_t>(a));
}

inline constexpr GpioCapability kDigitalCapabilities =
GpioCapability::kDigitalWrite | GpioCapability::kDigitalReadOnce
| GpioCapability::kDigitalReadPeriodic | GpioCapability::kDigitalReadInterrupt
| GpioCapability::kPullUp | GpioCapability::kPullDown;

inline constexpr GpioCapability kPwmCapabilities =
kDigitalCapabilities | GpioCapability::kAnalogWrite;

struct GpioDescriptor {
std::uint8_t channel_index;
GpioCapability capability_mask = GpioCapability::kNone;

[[nodiscard]] constexpr bool supports(GpioCapability capability) const noexcept {
return (capability_mask & capability) == capability;
}
};

template <typename Descriptor, std::size_t n>
[[nodiscard]] consteval bool
channel_indices_match_indices(const Descriptor (&descriptors)[n]) noexcept {
for (std::size_t index = 0; index < n; ++index) {
if (descriptors[index].channel_index != index)
return false;
}
return true;
}

} // namespace librmcs::spec
66 changes: 66 additions & 0 deletions core/include/librmcs/spec/rmcs_board_lite/gpio.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,66 @@
#pragma once

#include <cstddef>
#include <cstdint>
#include <iterator>

#include <librmcs/spec/gpio.hpp>

namespace librmcs::spec::rmcs_board_lite {

namespace internal {
class GpioDescriptors;
}

// NOLINTNEXTLINE(cppcoreguidelines-special-member-functions)
class GpioDescriptor : public spec::GpioDescriptor {
friend internal::GpioDescriptors;
constexpr GpioDescriptor(uint8_t channel_index, GpioCapability capability_mask)
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qzhhhi marked this conversation as resolved.
: spec::GpioDescriptor(channel_index, capability_mask) {}

public:
GpioDescriptor(const GpioDescriptor&) = delete;
GpioDescriptor& operator=(const GpioDescriptor&) = delete;
GpioDescriptor(GpioDescriptor&&) = delete;
GpioDescriptor& operator=(GpioDescriptor&&) = delete;

[[nodiscard]] constexpr bool operator==(const GpioDescriptor& other) const noexcept {
return channel_index == other.channel_index;
}
};

namespace internal {

class GpioDescriptors {
static constexpr GpioDescriptor kArray[]{
{0, kDigitalCapabilities},
{1, kDigitalCapabilities},
{2, kDigitalCapabilities},
{3, kDigitalCapabilities},
};
static_assert(channel_indices_match_indices(kArray));

public:
constexpr GpioDescriptors() = default;

static constexpr std::size_t size() noexcept { return std::size(kArray); }

static constexpr const GpioDescriptor& operator[](std::size_t channel_index) noexcept {
return kArray[channel_index];
}

static constexpr const GpioDescriptor* begin() noexcept { return std::begin(kArray); }

static constexpr const GpioDescriptor* end() noexcept { return std::end(kArray); }

static constexpr const GpioDescriptor& kUart0Rx = kArray[0];
static constexpr const GpioDescriptor& kUart0Tx = kArray[1];
static constexpr const GpioDescriptor& kUart1Rx = kArray[2];
static constexpr const GpioDescriptor& kUart1Tx = kArray[3];
};

} // namespace internal

inline constexpr internal::GpioDescriptors kGpioDescriptors{};

} // namespace librmcs::spec::rmcs_board_lite
94 changes: 94 additions & 0 deletions core/include/librmcs/spec/rmcs_board_pro/gpio.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,94 @@
#pragma once

#include <cstddef>
#include <cstdint>
#include <iterator>

#include <librmcs/spec/gpio.hpp>

namespace librmcs::spec::rmcs_board_pro {

namespace internal {
class GpioDescriptors;
}

// NOLINTNEXTLINE(cppcoreguidelines-special-member-functions)
class GpioDescriptor : public spec::GpioDescriptor {
friend internal::GpioDescriptors;
constexpr GpioDescriptor(uint8_t channel_index, GpioCapability capability_mask)
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: spec::GpioDescriptor(channel_index, capability_mask) {}

public:
GpioDescriptor(const GpioDescriptor&) = delete;
GpioDescriptor& operator=(const GpioDescriptor&) = delete;
GpioDescriptor(GpioDescriptor&&) = delete;
GpioDescriptor& operator=(GpioDescriptor&&) = delete;

[[nodiscard]] constexpr bool operator==(const GpioDescriptor& other) const noexcept {
return channel_index == other.channel_index;
}
};

namespace internal {

class GpioDescriptors {
static constexpr GpioDescriptor kArray[]{
{ 0, kPwmCapabilities},
{ 1, kPwmCapabilities},
{ 2, kPwmCapabilities},
{ 3, kPwmCapabilities},
{ 4, kDigitalCapabilities},
{ 5, kDigitalCapabilities},
{ 6, kDigitalCapabilities},
{ 7, kDigitalCapabilities},
{ 8, kDigitalCapabilities},
{ 9, kDigitalCapabilities},
{10, kDigitalCapabilities},
{11, kDigitalCapabilities},
{12, kDigitalCapabilities},
{13, kDigitalCapabilities},
{14, kDigitalCapabilities},
{15, kDigitalCapabilities},
{16, kDigitalCapabilities},
};
static_assert(channel_indices_match_indices(kArray));

public:
constexpr GpioDescriptors() = default;

static constexpr std::size_t size() noexcept { return std::size(kArray); }

static constexpr const GpioDescriptor& operator[](std::size_t channel_index) noexcept {
return kArray[channel_index];
}

static constexpr const GpioDescriptor* begin() noexcept { return std::begin(kArray); }

static constexpr const GpioDescriptor* end() noexcept { return std::end(kArray); }

static constexpr const GpioDescriptor& kPwm0 = kArray[0];
static constexpr const GpioDescriptor& kPwm1 = kArray[1];
static constexpr const GpioDescriptor& kPwm2 = kArray[2];
static constexpr const GpioDescriptor& kPwm3 = kArray[3];

static constexpr const GpioDescriptor& kSpiI2cSocket0 = kArray[4];
static constexpr const GpioDescriptor& kSpiI2cSocket1 = kArray[5];
static constexpr const GpioDescriptor& kSpiI2cSocket2 = kArray[6];
static constexpr const GpioDescriptor& kSpiI2cSocket3 = kArray[7];
static constexpr const GpioDescriptor& kSpiI2cSocket4 = kArray[8];
static constexpr const GpioDescriptor& kSpiI2cSocket5 = kArray[9];
static constexpr const GpioDescriptor& kSpiI2cSocket6 = kArray[10];

static constexpr const GpioDescriptor& kUart0Rx = kArray[11];
static constexpr const GpioDescriptor& kUart0Tx = kArray[12];
static constexpr const GpioDescriptor& kUart1Rx = kArray[13];
static constexpr const GpioDescriptor& kUart1Tx = kArray[14];
static constexpr const GpioDescriptor& kUart2Rx = kArray[15];
static constexpr const GpioDescriptor& kUart2Tx = kArray[16];
};

} // namespace internal

inline constexpr internal::GpioDescriptors kGpioDescriptors{};

} // namespace librmcs::spec::rmcs_board_pro
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