From 591e0c22491f7aa922dc885ce6bd741bbcdf6c94 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2018 09:08:01 +1100
Subject: [PATCH] HAL_ChibiOS: allow control of interrupt port

F412 has radio IRQ on port B
---
 libraries/AP_HAL_ChibiOS/GPIO.cpp             | 32 +++++++++----------
 libraries/AP_HAL_ChibiOS/hwdef/common/board.h |  5 +++
 .../hwdef/skyviper-f412/hwdef.dat             |  5 +--
 3 files changed, 24 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/GPIO.cpp b/libraries/AP_HAL_ChibiOS/GPIO.cpp
index 9fb366aef7..14bc41a2f7 100644
--- a/libraries/AP_HAL_ChibiOS/GPIO.cpp
+++ b/libraries/AP_HAL_ChibiOS/GPIO.cpp
@@ -80,22 +80,22 @@ static EXTConfig extcfg = {
 };
 
 static const uint32_t irq_port_list[] = {
-    EXT_MODE_GPIOD, //Chan 0
-    EXT_MODE_GPIOD, //Chan 1
-    EXT_MODE_GPIOD, //Chan 2
-    EXT_MODE_GPIOD, //Chan 3
-    EXT_MODE_GPIOD, //Chan 4
-    EXT_MODE_GPIOD, //Chan 5
-    EXT_MODE_GPIOD, //Chan 6
-    EXT_MODE_GPIOD, //Chan 7
-    EXT_MODE_GPIOD, //Chan 8
-    EXT_MODE_GPIOD, //Chan 9
-    EXT_MODE_GPIOD, //Chan 10
-    EXT_MODE_GPIOD, //Chan 11
-    EXT_MODE_GPIOD, //Chan 12
-    EXT_MODE_GPIOD, //Chan 13
-    EXT_MODE_GPIOD, //Chan 14
-    EXT_MODE_GPIOD //Chan 15
+    HAL_GPIO_INTERRUPT_PORT, //Chan 0
+    HAL_GPIO_INTERRUPT_PORT, //Chan 1
+    HAL_GPIO_INTERRUPT_PORT, //Chan 2
+    HAL_GPIO_INTERRUPT_PORT, //Chan 3
+    HAL_GPIO_INTERRUPT_PORT, //Chan 4
+    HAL_GPIO_INTERRUPT_PORT, //Chan 5
+    HAL_GPIO_INTERRUPT_PORT, //Chan 6
+    HAL_GPIO_INTERRUPT_PORT, //Chan 7
+    HAL_GPIO_INTERRUPT_PORT, //Chan 8
+    HAL_GPIO_INTERRUPT_PORT, //Chan 9
+    HAL_GPIO_INTERRUPT_PORT, //Chan 10
+    HAL_GPIO_INTERRUPT_PORT, //Chan 11
+    HAL_GPIO_INTERRUPT_PORT, //Chan 12
+    HAL_GPIO_INTERRUPT_PORT, //Chan 13
+    HAL_GPIO_INTERRUPT_PORT, //Chan 14
+    HAL_GPIO_INTERRUPT_PORT  //Chan 15
 };
 
 GPIO::GPIO()
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/board.h b/libraries/AP_HAL_ChibiOS/hwdef/common/board.h
index 6b99e1d66f..aa3530a38a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/board.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/board.h
@@ -26,6 +26,11 @@
 #define HAL_BOARD_INIT_HOOK_CALL
 #endif
 
+// default to interrupts on port D
+#ifndef HAL_GPIO_INTERRUPT_PORT
+#define HAL_GPIO_INTERRUPT_PORT EXT_MODE_GPIOD
+#endif
+
 #if !defined(_FROM_ASM_)
 #ifdef __cplusplus
 extern "C" {
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat
index 679b34b5a3..3a2bd87306 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat
@@ -103,8 +103,9 @@ define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
 define HAL_INS_MPU60x0_I2C_BUS 1
 define HAL_INS_MPU60x0_I2C_ADDR 0x68
 
-define HAL_GPIO_RADIO_RESET       1
-define HAL_GPIO_RADIO_IRQ         2
+# radio IRQ is on PB0
+define HAL_GPIO_RADIO_IRQ         0
+define HAL_GPIO_INTERRUPT_PORT EXT_MODE_GPIOB
 
 define HAL_RCINPUT_WITH_AP_RADIO 1
 define STORAGE_FLASH_PAGE	 1