mirror of https://github.com/ArduPilot/ardupilot
245 lines
6.2 KiB
C
245 lines
6.2 KiB
C
/*
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(c) 2017 night_ghost@ykoctpa.ru
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based on: LeafLabs
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*/
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#pragma GCC optimize ("O2")
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#include "exti.h"
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#include "hal.h"
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#include "util.h"
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#include "nvic.h"
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typedef struct exti_channel {
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uint32_t irq_line;
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IRQn_Type irq_type;
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} exti_channel;
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static const exti_channel exti_channels[] = {
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{ .irq_line = EXTI_Line0, .irq_type = EXTI0_IRQn }, // EXTI0
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{ .irq_line = EXTI_Line1, .irq_type = EXTI1_IRQn }, // EXTI1
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{ .irq_line = EXTI_Line2, .irq_type = EXTI2_IRQn }, // EXTI2
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{ .irq_line = EXTI_Line3, .irq_type = EXTI3_IRQn }, // EXTI3
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{ .irq_line = EXTI_Line4, .irq_type = EXTI4_IRQn }, // EXTI4
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{ .irq_line = EXTI_Line5, .irq_type = EXTI9_5_IRQn }, // EXTI5
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{ .irq_line = EXTI_Line6, .irq_type = EXTI9_5_IRQn }, // EXTI6
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{ .irq_line = EXTI_Line7, .irq_type = EXTI9_5_IRQn }, // EXTI7
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{ .irq_line = EXTI_Line8, .irq_type = EXTI9_5_IRQn }, // EXTI8
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{ .irq_line = EXTI_Line9, .irq_type = EXTI9_5_IRQn }, // EXTI9
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{ .irq_line = EXTI_Line10, .irq_type = EXTI15_10_IRQn }, // EXTI10
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{ .irq_line = EXTI_Line11, .irq_type = EXTI15_10_IRQn }, // EXTI11
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{ .irq_line = EXTI_Line12, .irq_type = EXTI15_10_IRQn }, // EXTI12
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{ .irq_line = EXTI_Line13, .irq_type = EXTI15_10_IRQn }, // EXTI13
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{ .irq_line = EXTI_Line14, .irq_type = EXTI15_10_IRQn }, // EXTI14
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{ .irq_line = EXTI_Line15, .irq_type = EXTI15_10_IRQn }, // EXTI15
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};
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#define NUM_IRQ (sizeof(exti_channels)/sizeof(exti_channel))
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static Handler handlers[NUM_IRQ] IN_CCM;
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void exti_init(){
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memset(handlers, 0, sizeof(handlers));
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}
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static inline EXTITrigger_TypeDef get_exti_mode(exti_trigger_mode mode) {
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switch (mode) {
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case EXTI_RISING:
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return EXTI_Trigger_Rising;
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case EXTI_FALLING:
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return EXTI_Trigger_Falling;
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case EXTI_RISING_FALLING:
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return EXTI_Trigger_Rising_Falling;
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}
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// Can't happen
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assert_param(0);
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return (EXTITrigger_TypeDef)0;
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}
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void exti_attach_interrupt(afio_exti_num num,
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afio_exti_port port,
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Handler handler,
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exti_trigger_mode mode)
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{
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/* Check the parameters */
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assert_param(handler);
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assert_param(IS_EXTI_PIN_SOURCE(num));
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assert_param(IS_EXTI_PORT_SOURCE(num));
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assert_param(port >= 0 && num <= 4);
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EXTI_InitTypeDef EXTI_InitStructure;
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// Register the handler
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handlers[num] = handler;
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// Enable SYSCFG clock
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
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afio_exti_select(port, num);
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uint32_t line = exti_channels[num].irq_line;
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// clear active request
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exti_clear_pending_bit(line);
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/* Configure EXTI Line */
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EXTI_InitStructure.EXTI_Line = line;
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EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
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EXTI_InitStructure.EXTI_Trigger = get_exti_mode(mode);
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EXTI_InitStructure.EXTI_LineCmd = ENABLE;
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EXTI_Init(&EXTI_InitStructure);
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/* Enable and set EXTI Line Interrupt priority */
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enable_nvic_irq(exti_channels[num].irq_type, GPIO_INT_PRIORITY); // we init NVIC for 4 bit preemption, 0 bit subpriority
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}
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void exti_attach_interrupt_pri(afio_exti_num num,
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afio_exti_port port,
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Handler handler,
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exti_trigger_mode mode,
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uint8_t priority)
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{
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/* Check the parameters */
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assert_param(handler);
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assert_param(IS_EXTI_PIN_SOURCE(num));
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assert_param(IS_EXTI_PORT_SOURCE(num));
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assert_param(port >= 0 && num <= 4);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE); // we must wait some time before access to SYSCFG
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/* Register the handler */
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handlers[num] = handler;
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// Enable SYSCFG clock
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afio_exti_select(port, num); // select port as EXTI interrupt source. SYSCFG not documented in STM docs
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uint32_t line = exti_channels[num].irq_line;
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// clear active request
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exti_clear_pending_bit(line);
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/* Configure EXTI Line */
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EXTI_InitTypeDef EXTI_InitStructure;
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EXTI_InitStructure.EXTI_Line = line;
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EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
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EXTI_InitStructure.EXTI_Trigger = get_exti_mode(mode);
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EXTI_InitStructure.EXTI_LineCmd = ENABLE;
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EXTI_Init(&EXTI_InitStructure);
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/* Enable and set EXTI Line Interrupt to the given priority */
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enable_nvic_irq(exti_channels[num].irq_type, priority); // we init NVIC for 4 bit preemption, 0 bit subpriority
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}
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void exti_detach_interrupt(afio_exti_num num)
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{
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/* Check the parameters */
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assert_param(IS_EXTI_PORT_SOURCE(num));
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EXTI_InitTypeDef EXTI_InitStructure;
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EXTI_StructInit(&EXTI_InitStructure);
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EXTI_InitStructure.EXTI_Line = exti_channels[num].irq_line;
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EXTI_InitStructure.EXTI_LineCmd = DISABLE;
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EXTI_Init(&EXTI_InitStructure);
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/* do not disable interrupt in NVIC because it can be shared
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NVIC_DisableIRQ(exti_channels[num].irq_type);
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*/
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/* Finally, unregister the user's handler */
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handlers[num] = (Handler)0;
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}
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void exti_enable_interrupt(afio_exti_num num, bool e){
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if(e){
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EXTI->IMR |= exti_channels[num].irq_line;
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}else {
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EXTI->IMR &= ~exti_channels[num].irq_line;
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}
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}
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/*
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* Interrupt handlers
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*/
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static void exti_serv(uint32_t extline, uint8_t num)
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{
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#ifdef ISR_PERF
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t = stopwatch_getticks();
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#endif
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if(EXTI_GetITStatus(extline) != RESET) {
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Handler handler = handlers[num];
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if (handler) {
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revo_call_handler(handler, num); // handler();
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}
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/* Clear the EXTI line pending bit */
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exti_clear_pending_bit(extline);
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}
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#ifdef ISR_PERF
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t = stopwatch_getticks() - t;
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isr_time += t;
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if(t>max_isr_time) max_isr_time=t;
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#endif
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}
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void EXTI0_IRQHandler(void)
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{
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exti_serv(EXTI_Line0, 0);
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}
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void EXTI1_IRQHandler(void)
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{
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exti_serv(EXTI_Line1, 1);
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}
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void EXTI2_IRQHandler(void)
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{
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exti_serv(EXTI_Line2, 2);
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}
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void EXTI3_IRQHandler(void)
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{
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exti_serv(EXTI_Line3, 3);
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}
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void EXTI4_IRQHandler(void)
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{
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exti_serv(EXTI_Line4, 4);
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}
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void EXTI9_5_IRQHandler(void)
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{
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exti_serv(EXTI_Line5, 5);
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exti_serv(EXTI_Line6, 6);
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exti_serv(EXTI_Line7, 7);
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exti_serv(EXTI_Line8, 8);
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exti_serv(EXTI_Line9, 9);
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}
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void EXTI15_10_IRQHandler(void)
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{
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exti_serv(EXTI_Line10, 10);
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exti_serv(EXTI_Line11, 11);
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exti_serv(EXTI_Line12, 12);
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exti_serv(EXTI_Line13, 13);
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exti_serv(EXTI_Line14, 14);
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exti_serv(EXTI_Line15, 15);
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}
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