nxp_imxrt,rt106x add imxrt_gpiosetevent

platforms/nuttx/src/px4/nxp/imxrt/io_pins/CMakeLists.txt

@@ -40,4 +40,5 @@ px4_add_library(arch_io_pins
 	pwm_servo.c
 	pwm_trigger.c
 	input_capture.c
+	imxrt_pinirq.c
 )

platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c

@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <systemlib/px4_macros.h>
+
+#include <arch/board/board.h>
+
+#include <errno.h>
+
+#include "chip.h"
+#include "imxrt_irq.h"
+#include "hardware/imxrt_gpio.h"
+
+typedef struct {
+	int low;
+	int hi;
+} lh_t;
+
+const lh_t port_to_irq[9] = {
+	{_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE},
+	{_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE},
+	{_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE},
+	{_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE},
+	{_IMXRT_GPIO5_0_15_BASE, _IMXRT_GPIO5_16_31_BASE},
+	{_IMXRT_GPIO6_0_15_BASE, _IMXRT_GPIO6_16_31_BASE},
+	{_IMXRT_GPIO7_0_15_BASE, _IMXRT_GPIO7_16_31_BASE},
+	{_IMXRT_GPIO8_0_15_BASE, _IMXRT_GPIO8_16_31_BASE},
+	{_IMXRT_GPIO9_0_15_BASE, _IMXRT_GPIO9_16_31_BASE},
+};
+
+/****************************************************************************
+ * Name: imxrt_pin_irqattach
+ *
+ * Description:
+ *   Sets/clears GPIO based event and interrupt triggers.
+ *
+ * Input Parameters:
+ *  - pinset: gpio pin configuration
+ *  - rising/falling edge: enables
+ *  - func:   when non-NULL, generate interrupt
+ *  - arg:    Argument passed to the interrupt callback
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure indicating the
+ *   nature of the failure.
+ *
+ ****************************************************************************/
+
+static int imxrt_pin_irqattach(gpio_pinset_t pinset, xcpt_t func, void *arg)
+{
+	volatile int port   = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
+	volatile int pin    = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
+	volatile int irq;
+	lh_t irqlh = port_to_irq[port];
+	irq = (pin < 16) ? irqlh.low : irqlh.hi;
+	irq += pin % 16;
+	irq_attach(irq, func, arg);
+	up_enable_irq(irq);
+	return 0;
+}
+
+/****************************************************************************
+ * Name: imxrt_gpiosetevent
+ *
+ * Description:
+ *   Sets/clears GPIO based event and interrupt triggers.
+ *
+ * Input Parameters:
+ *  - pinset: gpio pin configuration
+ *  - rising/falling edge: enables
+ *  - event:  generate event when set
+ *  - func:   when non-NULL, generate interrupt
+ *  - arg:    Argument passed to the interrupt callback
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure indicating the
+ *   nature of the failure.
+ *
+ ****************************************************************************/
+#if defined(CONFIG_IMXRT_GPIO_IRQ)
+int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge,
+		       bool event, xcpt_t func, void *arg)
+{
+	int ret = -ENOSYS;
+
+	if (func == NULL) {
+		imxrt_gpioirq_disable(pinset);
+		pinset &= ~GPIO_INTCFG_MASK;
+		ret = imxrt_config_gpio(pinset);
+
+	} else {
+
+		pinset &= ~GPIO_INTCFG_MASK;
+
+		if (risingedge & fallingedge) {
+			pinset |= GPIO_INTBOTH_EDGES;
+
+		} else if (risingedge) {
+			pinset |= GPIO_INT_RISINGEDGE;
+
+		} else if (fallingedge) {
+			pinset |= GPIO_INT_FALLINGEDGE;
+		}
+
+		imxrt_gpioirq_configure(pinset);
+		ret = imxrt_pin_irqattach(pinset, func, arg);
+	}
+
+	return ret;
+}
+#endif /* CONFIG_IMXRT_GPIO_IRQ */

platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h

@@ -101,9 +101,9 @@ __BEGIN_DECLS
 #define px4_arch_gpioread(pinset)               imxrt_gpio_read(pinset)
 #define px4_arch_gpiowrite(pinset, value)       imxrt_gpio_write(pinset, value)
 
-/* imxrt_gpiosetevent is not implemented and will need to be added */
+int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool event, xcpt_t func, void *arg);
 
-#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  (-1)
+#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  imxrt_gpiosetevent(pinset,r,f,e,fp,a)
 
 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ))
 #define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST))