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LibrePilot/flight/pios/stm32f10x/pios_exti.c
Oleg Semyonov b6e1331e5d Rename flight/PiOS->flight/pios
2013-04-25 13:13:41 +03:00

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8.8 KiB
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/**
******************************************************************************
*
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_EXTI External Interrupt Handlers
* @brief External interrupt handler functions
* @{
*
* @file pios_exti.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief External Interrupt Handlers
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_EXTI
/* Map EXTI line to full config */
#define EXTI_MAX_LINES 16
#define PIOS_EXTI_INVALID 0xFF
static uint8_t pios_exti_line_to_cfg_map[EXTI_MAX_LINES] = {
[0 ... EXTI_MAX_LINES-1] = PIOS_EXTI_INVALID,
};
/* Table of exti configs registered at compile time */
extern struct pios_exti_cfg __start__exti __attribute__((weak));
extern struct pios_exti_cfg __stop__exti __attribute__((weak));
static uint8_t PIOS_EXTI_line_to_index (uint32_t line)
{
switch (line) {
case EXTI_Line0: return 0;
case EXTI_Line1: return 1;
case EXTI_Line2: return 2;
case EXTI_Line3: return 3;
case EXTI_Line4: return 4;
case EXTI_Line5: return 5;
case EXTI_Line6: return 6;
case EXTI_Line7: return 7;
case EXTI_Line8: return 8;
case EXTI_Line9: return 9;
case EXTI_Line10: return 10;
case EXTI_Line11: return 11;
case EXTI_Line12: return 12;
case EXTI_Line13: return 13;
case EXTI_Line14: return 14;
case EXTI_Line15: return 15;
}
PIOS_Assert(0);
return 0xFF;
}
uint8_t PIOS_EXTI_gpio_port_to_exti_source_port(GPIO_TypeDef * gpio_port)
{
switch((uint32_t)gpio_port) {
case (uint32_t)GPIOA: return (GPIO_PortSourceGPIOA);
case (uint32_t)GPIOB: return (GPIO_PortSourceGPIOB);
case (uint32_t)GPIOC: return (GPIO_PortSourceGPIOC);
case (uint32_t)GPIOD: return (GPIO_PortSourceGPIOD);
case (uint32_t)GPIOE: return (GPIO_PortSourceGPIOE);
case (uint32_t)GPIOF: return (GPIO_PortSourceGPIOF);
case (uint32_t)GPIOG: return (GPIO_PortSourceGPIOG);
}
PIOS_Assert(0);
return 0xFF;
}
uint8_t PIOS_EXTI_gpio_pin_to_exti_source_pin(uint32_t gpio_pin)
{
switch((uint32_t)gpio_pin) {
case GPIO_Pin_0: return (GPIO_PinSource0);
case GPIO_Pin_1: return (GPIO_PinSource1);
case GPIO_Pin_2: return (GPIO_PinSource2);
case GPIO_Pin_3: return (GPIO_PinSource3);
case GPIO_Pin_4: return (GPIO_PinSource4);
case GPIO_Pin_5: return (GPIO_PinSource5);
case GPIO_Pin_6: return (GPIO_PinSource6);
case GPIO_Pin_7: return (GPIO_PinSource7);
case GPIO_Pin_8: return (GPIO_PinSource8);
case GPIO_Pin_9: return (GPIO_PinSource9);
case GPIO_Pin_10: return (GPIO_PinSource10);
case GPIO_Pin_11: return (GPIO_PinSource11);
case GPIO_Pin_12: return (GPIO_PinSource12);
case GPIO_Pin_13: return (GPIO_PinSource13);
case GPIO_Pin_14: return (GPIO_PinSource14);
case GPIO_Pin_15: return (GPIO_PinSource15);
}
PIOS_Assert(0);
return 0xFF;
}
int32_t PIOS_EXTI_Init(const struct pios_exti_cfg * cfg)
{
PIOS_Assert(cfg);
PIOS_Assert(&__start__exti);
PIOS_Assert(cfg >= &__start__exti);
PIOS_Assert(cfg < &__stop__exti);
uint8_t cfg_index = cfg - &__start__exti;
/* Connect this config to the requested vector */
uint8_t line_index = PIOS_EXTI_line_to_index(cfg->line);
if (pios_exti_line_to_cfg_map[line_index] != PIOS_EXTI_INVALID) {
/* Someone else already has this mapped */
goto out_fail;
}
/* Bind the config to the exti line */
pios_exti_line_to_cfg_map[line_index] = cfg_index;
/* Initialize the GPIO pin */
GPIO_Init(cfg->pin.gpio, &cfg->pin.init);
/* Set up the EXTI interrupt source */
uint8_t exti_source_port = PIOS_EXTI_gpio_port_to_exti_source_port(cfg->pin.gpio);
uint8_t exti_source_pin = PIOS_EXTI_gpio_pin_to_exti_source_pin(cfg->pin.init.GPIO_Pin);
GPIO_EXTILineConfig(exti_source_port, exti_source_pin);
EXTI_Init(&cfg->exti.init);
/* Enable the interrupt channel */
NVIC_Init(&cfg->irq.init);
return 0;
out_fail:
return -1;
}
static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
{
uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
PIOS_Assert(&__start__exti);
if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
cfg_index == PIOS_EXTI_INVALID) {
/* Unconfigured interrupt just fired! */
return false;
}
struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
return cfg->vector();
}
#ifdef PIOS_INCLUDE_FREERTOS
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
}
#else
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
PIOS_EXTI_generic_irq_handler(line); \
}
#endif
/* Bind Interrupt Handlers */
static void PIOS_EXTI_0_irq_handler (void)
{
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
static void PIOS_EXTI_1_irq_handler (void)
{
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
static void PIOS_EXTI_2_irq_handler (void)
{
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
static void PIOS_EXTI_3_irq_handler (void)
{
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
static void PIOS_EXTI_4_irq_handler (void)
{
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
static void PIOS_EXTI_9_5_irq_handler (void)
{
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
static void PIOS_EXTI_15_10_irq_handler (void)
{
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));
#endif /* PIOS_INCLUDE_EXTI */
/**
* @}
* @}
*/
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