ESP32-IDF系列教程（一） GPIO教程

一、GPIO的配置及相关函数

1.1 头文件包含

#include "driver/gpio.h"

1.2 基本配置包含

以GPIO_NUM_3 举例，配置包括设置中断类型，模式，是否上下拉。

void gpio_init(void)
{
    gpio_config_t io_conf =
        {
            /*中断使能*/
            .intr_type = GPIO_INTR_DISABLE,
            /*输出模式调节*/
            .mode = GPIO_MODE_OUTPUT,
            /*配置引脚的掩码*/
            .pin_bit_mask = 1 << GPIO_NUM_3,
            /*下拉使能*/
            .pull_down_en = 0,
            /*上拉使能*/
            .pull_up_en = 0,
        };
    gpio_config(&io_conf);

    /*设置中断类型*/
    gpio_set_intr_type(GPIO_NUM_3, GPIO_INTR_ANYEDGE);
}

其中中断类型的选择有以下几种

typedef enum {
     GPIO_INTR_DISABLE = 0,     /*!< Disable GPIO interrupt                             */
    GPIO_INTR_POSEDGE = 1,     /*!< GPIO interrupt type : rising edge                  */
    GPIO_INTR_NEGEDGE = 2,     /*!< GPIO interrupt type : falling edge                 */
    GPIO_INTR_ANYEDGE = 3,     /*!< GPIO interrupt type : both rising and falling edge */
    GPIO_INTR_LOW_LEVEL = 4,   /*!< GPIO interrupt type : input low level trigger      */
    GPIO_INTR_HIGH_LEVEL = 5,  /*!< GPIO interrupt type : input high level trigger     */
    GPIO_INTR_MAX,
} gpio_int_type_t;

1.3 中断回调函数的注册

    // install gpio isr service
    gpio_install_isr_service(0);
    // hook isr handler for specific gpio pin
    gpio_isr_handler_add(GPIO_NUM_3, gpio_isr_handler, (void *)GPIO_NUM_3);

1.4 相关的一些控制函数

/**
 * @brief GPIO common configuration
 *
 *        Configure GPIO's Mode,pull-up,PullDown,IntrType
 *
 * @param  pGPIOConfig Pointer to GPIO configure struct
 *
 * @return
 *     - ESP_OK success
 *     - ESP_ERR_INVALID_ARG Parameter error
 *
 */
esp_err_t gpio_config(const gpio_config_t *pGPIOConfig);

/**
 * @brief Reset an gpio to default state (select gpio function, enable pullup and disable input and output).
 *
 * @param gpio_num GPIO number.
 *
 * @note This function also configures the IOMUX for this pin to the GPIO
 *       function, and disconnects any other peripheral output configured via GPIO
 *       Matrix.
 *
 * @return Always return ESP_OK.
 */
esp_err_t gpio_reset_pin(gpio_num_t gpio_num);

/**
 * @brief  GPIO set interrupt trigger type
 *
 * @param  gpio_num GPIO number. If you want to set the trigger type of e.g. of GPIO16, gpio_num should be GPIO_NUM_16 (16);
 * @param  intr_type Interrupt type, select from gpio_int_type_t
 *
 * @return
 *     - ESP_OK  Success
 *     - ESP_ERR_INVALID_ARG Parameter error
 *
 */
esp_err_t gpio_set_intr_type(gpio_num_t gpio_num, gpio_int_type_t intr_type);

/**
 * @brief  Enable GPIO module interrupt signal
 *
 * @note ESP32: Please do not use the interrupt of GPIO36 and GPIO39 when using ADC or Wi-Fi and Bluetooth with sleep mode enabled.
 *       Please refer to the comments of `adc1_get_raw`.
 *       Please refer to Section 3.11 of <a href="https://espressif.com/sites/default/files/documentation/eco_and_workarounds_for_bugs_in_esp32_en.pdf">ESP32 ECO and Workarounds for Bugs</a> for the description of this issue.
 *       As a workaround, call adc_power_acquire() in the app. This will result in higher power consumption (by ~1mA),
 *       but will remove the glitches on GPIO36 and GPIO39.
 *
 * @param  gpio_num GPIO number. If you want to enable an interrupt on e.g. GPIO16, gpio_num should be GPIO_NUM_16 (16);
 *
 * @return
 *     - ESP_OK Success
 *     - ESP_ERR_INVALID_ARG Parameter error
 *
 */
esp_err_t gpio_intr_enable(gpio_num_t gpio_num);

/**
 * @brief  Disable GPIO module interrupt signal
 *
 * @note This function is allowed to be executed when Cache is disabled within ISR context, by enabling `CONFIG_GPIO_CTRL_FUNC_IN_IRAM`
 *
 * @param  gpio_num GPIO number. If you want to disable the interrupt of e.g. GPIO16, gpio_num should be GPIO_NUM_16 (16);
 *
 * @return
 *     - ESP_OK success
 *     - ESP_ERR_INVALID_ARG Parameter error
 *
 */
esp_err_t gpio_intr_disable(gpio_num_t gpio_num);

/**
 * @brief  GPIO set output level
 *
 * @note This function is allowed to be executed when Cache is disabled within ISR context, by enabling `CONFIG_GPIO_CTRL_FUNC_IN_IRAM`
 *
 * @param  gpio_num GPIO number. If you want to set the output level of e.g. GPIO16, gpio_num should be GPIO_NUM_16 (16);
 * @param  level Output level. 0: low ; 1: high
 *
 * @return
 *     - ESP_OK Success
 *     - ESP_ERR_INVALID_ARG GPIO number error
 *
 */
esp_err_t gpio_set_level(gpio_num_t gpio_num, uint32_t level);

/**
 * @brief  GPIO get input level
 *
 * @warning If the pad is not configured for input (or input and output) the returned value is always 0.
 *
 * @param  gpio_num GPIO number. If you want to get the logic level of e.g. pin GPIO16, gpio_num should be GPIO_NUM_16 (16);
 *
 * @return
 *     - 0 the GPIO input level is 0
 *     - 1 the GPIO input level is 1
 *
 */
int gpio_get_level(gpio_num_t gpio_num);

/**
 * @brief	 GPIO set direction
 *
 * Configure GPIO direction,such as output_only,input_only,output_and_input
 *
 * @param  gpio_num  Configure GPIO pins number, it should be GPIO number. If you want to set direction of e.g. GPIO16, gpio_num should be GPIO_NUM_16 (16);
 * @param  mode GPIO direction
 *
 * @return
 *     - ESP_OK Success
 *     - ESP_ERR_INVALID_ARG GPIO error
 *
 */
esp_err_t gpio_set_direction(gpio_num_t gpio_num, gpio_mode_t mode);
/**
 * @brief  Configure GPIO pull-up/pull-down resistors
 *
 * @note ESP32: Only pins that support both input & output have integrated pull-up and pull-down resistors. Input-only GPIOs 34-39 do not.
 *
 * @param  gpio_num GPIO number. If you want to set pull up or down mode for e.g. GPIO16, gpio_num should be GPIO_NUM_16 (16);
 * @param  pull GPIO pull up/down mode.
 *
 * @return
 *     - ESP_OK Success
 *     - ESP_ERR_INVALID_ARG : Parameter error
 *
 */
esp_err_t gpio_set_pull_mode(gpio_num_t gpio_num, gpio_pull_mode_t pull);
/**
  * @brief Enable pull-up on GPIO.
  *
  * @param gpio_num GPIO number
  *
  * @return
  *     - ESP_OK Success
  *     - ESP_ERR_INVALID_ARG Parameter error
  */
esp_err_t gpio_pullup_en(gpio_num_t gpio_num);
/**
  * @brief Enable pull-down on GPIO.
  *
  * @param gpio_num GPIO number
  *
  * @return
  *     - ESP_OK Success
  *     - ESP_ERR_INVALID_ARG Parameter error
  */
esp_err_t gpio_pulldown_en(gpio_num_t gpio_num);
/**
  * @brief Add ISR handler for the corresponding GPIO pin.
  *
  * Call this function after using gpio_install_isr_service() to
  * install the driver's GPIO ISR handler service.
  *
  * The pin ISR handlers no longer need to be declared with IRAM_ATTR,
  * unless you pass the ESP_INTR_FLAG_IRAM flag when allocating the
  * ISR in gpio_install_isr_service().
  *
  * This ISR handler will be called from an ISR. So there is a stack
  * size limit (configurable as "ISR stack size" in menuconfig). This
  * limit is smaller compared to a global GPIO interrupt handler due
  * to the additional level of indirection.
  *
  * @param gpio_num GPIO number
  * @param isr_handler ISR handler function for the corresponding GPIO number.
  * @param args parameter for ISR handler.
  *
  * @return
  *     - ESP_OK Success
  *     - ESP_ERR_INVALID_STATE Wrong state, the ISR service has not been initialized.
  *     - ESP_ERR_INVALID_ARG Parameter error
  */
esp_err_t gpio_isr_handler_add(gpio_num_t gpio_num, gpio_isr_t isr_handler, void *args);

/**
  * @brief Remove ISR handler for the corresponding GPIO pin.
  *
  * @param gpio_num GPIO number
  *
  * @return
  *     - ESP_OK Success
  *     - ESP_ERR_INVALID_STATE Wrong state, the ISR service has not been initialized.
  *     - ESP_ERR_INVALID_ARG Parameter error
  */
esp_err_t gpio_isr_handler_remove(gpio_num_t gpio_num);

1.5 完整的实例代码

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <inttypes.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "driver/gpio.h"

/*
 ****************************************************************
 * 本教程包括的内容有
 * 引脚3，初始化
 * 设置引脚电平
 * 查看引脚电平
 * 设置中断函数
 * 创造任务
 * 创造队列
 ****************************************************************
 */



static QueueHandle_t gpio_evt_queue = NULL;

static void IRAM_ATTR gpio_isr_handler(void *arg)
{
    uint32_t gpio_num = (uint32_t)arg;
    xQueueSendFromISR(gpio_evt_queue, &gpio_num, NULL);
}

static void gpio_task_example(void *arg)
{
    uint32_t io_num;
    for (;;)
    {
        if (xQueueReceive(gpio_evt_queue, &io_num, portMAX_DELAY))
        {
            printf("GPIO[%" PRIu32 "] intr, val: %d\n", io_num, gpio_get_level(io_num));
        }
    }
}

void gpio_init(void)
{
    gpio_config_t io_conf =
        {
            /*中断使能*/
            .intr_type = GPIO_INTR_DISABLE,
            /*输出模式调节*/
            .mode = GPIO_MODE_OUTPUT,
            /*配置引脚的掩码*/
            .pin_bit_mask = 1 << GPIO_NUM_3,
            /*下拉使能*/
            .pull_down_en = 0,
            /*上拉使能*/
            .pull_up_en = 0,
        };
    gpio_config(&io_conf);

    /*设置中断类型*/
    gpio_set_intr_type(GPIO_NUM_3, GPIO_INTR_ANYEDGE);
}

void app_main(void)
{

    gpio_init();
    // create a queue to handle gpio event from isr
    gpio_evt_queue = xQueueCreate(10, sizeof(uint32_t));

    // GPIO_NUM_16		结构体gpio_num_t中的枚举值
    gpio_set_direction(GPIO_NUM_3, GPIO_MODE_OUTPUT); // 写这个或下一个
    gpio_set_direction(3, GPIO_MODE_OUTPUT);          // 或这个
    // start gpio task
    xTaskCreate(gpio_task_example, "gpio_task_example", 2048, NULL, 10, NULL);

    // install gpio isr service
    gpio_install_isr_service(0);
    // hook isr handler for specific gpio pin
    gpio_isr_handler_add(GPIO_NUM_3, gpio_isr_handler, (void *)GPIO_NUM_3);

    printf("Minimum free heap size: %" PRIu32 " bytes\n", esp_get_minimum_free_heap_size());

    int cnt = 0;
    int ret = 0;
    while (1)
    {
        printf("cnt: %d\n", cnt++);
        vTaskDelay(1000 / portTICK_PERIOD_MS);
        gpio_set_level(5, cnt % 2);
        ret = gpio_get_level(5);
    }
}