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HAL_ChibiOS: move to using recent pal driver api for GPIO IRQ events

This commit is contained in:
Siddharth Purohit 2018-06-02 21:24:38 +05:30 committed by Andrew Tridgell
parent 86b7adf68f
commit 4e8d072d6d
2 changed files with 12 additions and 65 deletions
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73
libraries/AP_HAL_ChibiOS/GPIO.cpp
View File

@ -28,7 +28,6 @@ static struct gpio_entry {
bool enabled;
uint8_t pwm_num;
ioline_t pal_line;
uint16_t port;
} _gpio_tab[] = HAL_GPIO_PINS;
#define NUM_PINS ARRAY_SIZE_SIMPLE(_gpio_tab)
@ -50,10 +49,7 @@ static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num, bool check_enabled=tr
return NULL;
}
static void ext_interrupt_cb(EXTDriver *extp, expchannel_t channel);
static EXTConfig extcfg;
static AP_HAL::Proc ext_irq[EXT_MAX_CHANNELS]; // ext int irq list
static void pal_interrupt_cb(void *arg);
GPIO::GPIO()
{}
@ -125,58 +121,16 @@ extern const AP_HAL::HAL& hal;
*/
bool GPIO::_attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode)
{
uint8_t pad = PAL_PAD(line);
stm32_gpio_t *pal_port = PAL_PORT(line);
uint8_t ext_port = 0xff;
const struct {
stm32_gpio_t *port;
uint8_t ext_port;
} port_mapping[] = {
{ GPIOA, EXT_MODE_GPIOA },
{ GPIOB, EXT_MODE_GPIOB },
{ GPIOC, EXT_MODE_GPIOC },
{ GPIOD, EXT_MODE_GPIOD },
{ GPIOE, EXT_MODE_GPIOE },
{ GPIOF, EXT_MODE_GPIOF },
#ifdef GPIOG
{ GPIOG, EXT_MODE_GPIOG },
#endif
#ifdef GPIOH
{ GPIOH, EXT_MODE_GPIOH },
#endif
#if defined(GPIOI) && defined(GPIOI_BASE)
{ GPIOI, EXT_MODE_GPIOI },
#endif
};
// convert the line to a EXT_MODE_GPIOn value, this is STM32 specific
for (uint8_t i=0; i<ARRAY_SIZE_SIMPLE(port_mapping); i++) {
if (pal_port == port_mapping[i].port) {
ext_port = port_mapping[i].ext_port;
}
}
if (ext_port == 0xff) {
return false;
}
if (p && ext_irq[pad] != nullptr && ext_irq[pad] != p) {
// already used
return false;
} else if (!p && !ext_irq[pad]) {
// nothing to remove
return false;
}
uint32_t chmode = 0;
switch(mode) {
case HAL_GPIO_INTERRUPT_LOW:
chmode = EXT_CH_MODE_LOW_LEVEL;
break;
case HAL_GPIO_INTERRUPT_FALLING:
chmode = EXT_CH_MODE_FALLING_EDGE;
chmode = PAL_EVENT_MODE_FALLING_EDGE;
break;
case HAL_GPIO_INTERRUPT_RISING:
chmode = EXT_CH_MODE_RISING_EDGE;
chmode = PAL_EVENT_MODE_RISING_EDGE;
break;
case HAL_GPIO_INTERRUPT_BOTH:
chmode = EXT_CH_MODE_BOTH_EDGES;
chmode = PAL_EVENT_MODE_BOTH_EDGES;
break;
default:
if (p) {
@ -184,16 +138,9 @@ bool GPIO::_attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode)
}
break;
}
if (_ext_started) {
extStop(&EXTD1);
_ext_started = false;
}
extcfg.channels[pad].mode = chmode;
extcfg.channels[pad].mode |= (p?EXT_CH_MODE_AUTOSTART:0) | ext_port;
ext_irq[pad] = p;
extcfg.channels[pad].cb = ext_interrupt_cb;
extStart(&EXTD1, &extcfg);
_ext_started = true;
palDisableLineEvent(line);
palEnableLineEvent(line, chmode);
palSetLineCallback(line, pal_interrupt_cb, (void*)p);
return true;
}
@ -239,10 +186,10 @@ void DigitalSource::toggle()
palToggleLine(line);
}
void ext_interrupt_cb(EXTDriver *extp, expchannel_t channel)
void pal_interrupt_cb(void *arg)
{
if (ext_irq[channel] != nullptr) {
ext_irq[channel]();
if (arg != nullptr) {
((AP_HAL::Proc)arg)();
}
}

4
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -925,8 +925,8 @@ def write_GPIO_config(f):
f.write('#define HAL_GPIO_LINE_GPIO%u PAL_LINE(GPIO%s, %2uU)\n' % (gpio, port, pin))
f.write('#define HAL_GPIO_PINS { \\\n')
for (gpio, pwm, port, pin, p) in gpios:
f.write('{ %3u, true, %2u, PAL_LINE(GPIO%s, %2uU), EXT_MODE_GPIO%s }, /* %s */ \\\n' %
(gpio, pwm, port, pin, port, p))
f.write('{ %3u, true, %2u, PAL_LINE(GPIO%s, %2uU)}, /* %s */ \\\n' %
(gpio, pwm, port, pin, p))
# and write #defines for use by config code
f.write('}\n\n')
f.write('// full pin define list\n')