Move GPIO_TypeDef and IO_GPIO out of common drivers into platform-specific headers to decouple IO implementation from hardware details by blckmn · Pull Request #14962 · betaflight/betaflight

blckmn · 2026-03-02T07:10:27Z

Summary by CodeRabbit

Refactor
- Reorganized I/O layer to move low-level GPIO access into platform-level implementations and decouple drivers from direct hardware access. Public I/O surface simplified and internal types adjusted. No user-visible behavioral changes; existing features remain unchanged.

…cific headers to decouple IO implementation from hardware details

github-actions · 2026-03-02T07:10:36Z

Do you want to test this code? You can flash it directly from the Betaflight App:

Simply put #14962 (this pull request number) in the Select commit field in the Firmware Flasher tab (you need to Enable expert mode, Show release candidates and Development).

WARNING: It may be unstable. Use only for testing!

coderabbitai · 2026-03-02T07:10:58Z

No actionable comments were generated in the recent review. 🎉

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📥 Commits

Reviewing files that changed from the base of the PR and between f83df0a and 21bf937.

📒 Files selected for processing (1)

src/platform/STM32/pwm_output_dshot_hal.c

🚧 Files skipped from review as they are similar to previous changes (1)

src/platform/STM32/pwm_output_dshot_hal.c

Walkthrough

Refactors IO/GPIO handling by removing driver-level GPIO accessors, changing ioRec->gpio to void*, moving IO_GPIO and platform-specific EXTI helpers into platform/common/stm32 io_impl.*, and updating includes across drivers and platform files to use the new platform io_impl headers. No public API additions beyond platform-level accessors.

Changes

Cohort / File(s)	Summary
Driver include removals `src/main/drivers/accgyro/accgyro_spi_bmi160.c`, `src/main/drivers/accgyro/accgyro_spi_bmi270.c`, `src/main/drivers/accgyro/accgyro_spi_lsm6dso.c`, `src/main/drivers/accgyro/accgyro_spi_lsm6dso_init.c`, `src/main/drivers/light_led.c`, `src/main/drivers/rx/rx_a7105.c`, `src/main/drivers/rx/rx_cyrf6936.c`, `src/main/drivers/rx/rx_nrf24l01.c`, `src/main/drivers/rx/rx_spi.c`, `src/main/drivers/rx/rx_sx127x.c`, `src/main/drivers/rx/rx_sx1280.c`, `src/main/rx/spektrum.c`	Removed `drivers/io_impl.h` includes from driver sources to decouple drivers from platform-specific IO implementation.
Core drivers IO refactor `src/main/drivers/io.c`, `src/main/drivers/io.h`, `src/main/drivers/io_impl.h`	Removed driver-level `IO_GPIO()` declaration/definition; changed `io_impl.h` API/typedefs (removed `ioDef_t`, switched `ioRec_s.gpio` from `GPIO_TypeDef` to `void`, removed several IO accessor prototypes/macros, added `IO_Rec()` declaration).
Platform include additions `src/platform/STM32/dshot_bitbang.c`, `src/platform/STM32/exti.c`, `src/platform/STM32/io_stm32.c`, `src/platform/STM32/pwm_output_dshot_hal.c`, `src/platform/AT32/dshot_bitbang.c`, `src/platform/AT32/io_at32.c`, `src/platform/APM32/dshot_bitbang.c`, `src/platform/APM32/eint_apm32.c`, `src/platform/APM32/io_apm32.c`, `src/platform/common/stm32/debug_pin.c`	Added `platform/io_impl.h` includes in multiple platform-specific implementation files so platform-level IO accessors are available where needed.
New/updated platform IO impl `src/platform/common/stm32/platform/io_impl.h`, `src/platform/common/stm32/io_impl.c`	Introduced platform/common/stm32 `io_impl.h` declaring `IO_GPIO()` and conditional EXTI helpers; implemented `IO_GPIO()` in `io_impl.c` to resolve `ioRec->gpio` (converting `void` storage to `GPIO_TypeDef`).
Platform GPIO typedef removals `src/platform/PICO/include/platform/platform.h`, `src/platform/SIMULATOR/target/SITL/target.h`, `src/test/unit/platform.h`	Removed platform-local `GPIO_TypeDef` typedefs/definitions from several platform headers (register map / test typedefs removed).

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~25 minutes

Possibly related PRs

Platform-dependent IO_GPIO.. functions, IO tags allow single port, more pins. #14407: Related refactor moving IO_GPIO and platform-specific IO helpers out of drivers into platform io_impl layers.
PICO: Implement debug pin #14526: Changes to src/platform/common/stm32/debug_pin.c includes that overlap with include adjustments in this PR.

Suggested reviewers

KarateBrot
sugaarK
haslinghuis
ledvinap

🚥 Pre-merge checks | ✅ 1 | ❌ 2

❌ Failed checks (2 warnings)

Check name	Status	Explanation	Resolution
Description check	⚠️ Warning	The pull request has no description provided by the author, violating the repository's template expectations which require explanation of changes and adherence to submission guidelines.	Add a comprehensive pull request description explaining the motivation, implementation approach, testing performed, and any breaking changes or migration notes for affected code.
Docstring Coverage	⚠️ Warning	Docstring coverage is 50.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (1 passed)

Check name	Status	Explanation
Title check	✅ Passed	The title accurately and clearly summarizes the main objective of the changeset—moving GPIO_TypeDef and IO_GPIO from common drivers into platform-specific headers to decouple implementation from hardware.

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SupaflyFPV

The intent and execution are solid. The main practical risk is the SITL build — if that still compiles and the simulated IO path works, the rest of this is a straightforward and beneficial cleanup.

Removed unnecessary include for 'drivers/io_impl.h'.

…cific headers to decouple IO implementation from hardware details (betaflight#14962) * Move GPIO_TypeDef and IO_GPIO out of common drivers into platform-specific headers to decouple IO implementation from hardware details * Platform headers to be located in platform/ * Remove redundant include for io_impl.h Removed unnecessary include for 'drivers/io_impl.h'.

Move GPIO_TypeDef and IO_GPIO out of common drivers into platform-spe…

a233c68

…cific headers to decouple IO implementation from hardware details

blckmn self-assigned this Mar 2, 2026

blckmn added the RN: REFACTORING label Mar 2, 2026

coderabbitai Bot approved these changes Mar 2, 2026

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SteveCEvans approved these changes Mar 2, 2026

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haslinghuis added this to 2026.6.0 Mar 2, 2026

haslinghuis moved this to Refactoring in 2026.6.0 Mar 2, 2026

haslinghuis added this to the 2026.6 milestone Mar 2, 2026

haslinghuis approved these changes Mar 2, 2026

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Platform headers to be located in platform/

f83df0a

blckmn requested review from KarateBrot, SupaflyFPV and sugaarK March 2, 2026 17:54

SupaflyFPV reviewed Mar 2, 2026

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Comment thread src/platform/STM32/pwm_output_dshot_hal.c

Comment thread src/platform/SIMULATOR/target/SITL/target.h

Comment thread src/test/unit/platform.h

Comment thread src/main/drivers/io_impl.h

Comment thread src/main/drivers/io_impl.h

Remove redundant include for io_impl.h

21bf937

Removed unnecessary include for 'drivers/io_impl.h'.

sugaarK approved these changes Mar 3, 2026

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haslinghuis merged commit b494f6c into betaflight:master Mar 3, 2026
34 checks passed

github-project-automation Bot moved this from Refactoring to Done in 2026.6.0 Mar 3, 2026

blckmn deleted the io-gpio-move-to-platform branch March 25, 2026 20:15

This was referenced Mar 27, 2026

Replace void* and MCU-specific TypeDef pointers with opaque resource types in driver interfaces #15033

Merged

Migrate UART from HAL to LL, eliminating HAL handle dependencies #15035

Merged

Remove MCU-specific conditionals from src/main driver code #15036

Merged

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Move GPIO_TypeDef and IO_GPIO out of common drivers into platform-specific headers to decouple IO implementation from hardware details - #14962

Move GPIO_TypeDef and IO_GPIO out of common drivers into platform-specific headers to decouple IO implementation from hardware details#14962
haslinghuis merged 3 commits into
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blckmn:io-gpio-move-to-platform

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