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AP_HAL_AVR: implement GPIO::attach_interrupt just for interrupt 6

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This commit is contained in:
Pat Hickey 2012-10-11 17:25:30 -07:00 committed by Andrew Tridgell
parent 7480707f9e
commit 11bf533c57
2 changed files with 29 additions and 0 deletions
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26
libraries/AP_HAL_AVR/GPIO.cpp
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@ -1,13 +1,23 @@
#include <avr/interrupt.h>
#include <avr/io.h>
#include "pins_arduino_mega.h"
#include "GPIO.h"
using namespace AP_HAL_AVR;
ArduinoGPIO* ArduinoDigitalSource::parent;
AP_HAL::Proc ArduinoGPIO::_interrupt_6 = NULL;
SIGNAL(INT6_vect) {
if (ArduinoGPIO::_interrupt_6) {
ArduinoGPIO::_interrupt_6();
}
}
// Get the bit location within the hardware port of the given virtual pin.
// This comes from the pins_*.c file for the active board configuration.
@ -82,6 +92,20 @@ void ArduinoGPIO::write(uint8_t pin, uint8_t value) {
SREG = oldSREG;
}
/* Implement GPIO Interrupt 6, used for MPU6000 data ready on APM2. */
bool ArduinoGPIO::attach_interrupt(
int interrupt_num, AP_HAL::Proc proc, int mode) {
if (interrupt_num == 6) {
_interrupt_6 = proc;
EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60);
EIMSK |= (1 << INT6);
return true;
} else {
return false;
}
}
AP_HAL::DigitalSource* ArduinoGPIO::channel(int n) {
if (ArduinoDigitalSource::parent == NULL) {
ArduinoDigitalSource::parent = this;
@ -100,3 +124,5 @@ uint8_t ArduinoDigitalSource::read() {
void ArduinoDigitalSource::write(uint8_t value) {
parent->write(_pin, value);
}

3
libraries/AP_HAL_AVR/GPIO.h
View File

@ -25,6 +25,9 @@ public:
uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value);
AP_HAL::DigitalSource* channel(int);
bool attach_interrupt(int interrupt_num, AP_HAL::Proc proc, int mode);
/* private-ish: only to be used from the appropriate interrupt */
static AP_HAL::Proc _interrupt_6;
};
#endif // __AP_HAL_AVR_GPIO_H__