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