src/main/drivers/exti.c - master - Sangak/inav

src/main/drivers/exti.c
260 строк7 KB
Andi Kanzler
Update exti.c
24 мар 2023, 00:56
24 мар 2023, 00:56de0494d
#include <stdbool.h>
#include <stdint.h>
#include <string.h>

#include "platform.h"

#if !defined(SITL_BUILD)

#include "build/assert.h"

#include "drivers/exti.h"
#include "drivers/io_impl.h"
#include "drivers/nvic.h"

typedef struct {
    extiCallbackRec_t* handler;
} extiChannelRec_t;

extiChannelRec_t extiChannelRecs[16];

// IRQ gouping, same on 103 and 303
#define EXTI_IRQ_GROUPS 7
//                                      0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15
static const uint8_t extiGroups[16] = { 0, 1, 2, 3, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 6, 6 };
static uint8_t extiGroupPriority[EXTI_IRQ_GROUPS];

#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
    EXTI0_IRQn,
    EXTI1_IRQn,
    EXTI2_IRQn,
    EXTI3_IRQn,
    EXTI4_IRQn,
    EXTI9_5_IRQn,
    EXTI15_10_IRQn
};
#elif defined(AT32F43x)  
static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
    EXINT0_IRQn,
    EXINT1_IRQn,
    EXINT2_IRQn,
    EXINT3_IRQn,
    EXINT4_IRQn,
    EXINT9_5_IRQn,
    EXINT15_10_IRQn
};
#else
# warning "Unknown CPU"
#endif

// Absorb the difference in IMR and PR assignments to registers
#if defined(STM32H7)
#define EXTI_REG_IMR (EXTI_D1->IMR1)
#define EXTI_REG_PR  (EXTI_D1->PR1)
#elif defined(AT32F43x)  
// Interrupt enable register & interrupt status register
#define EXTI_REG_IMR (EXINT->inten)
#define EXTI_REG_PR  (EXINT->intsts)
#else
#define EXTI_REG_IMR (EXTI->IMR)
#define EXTI_REG_PR  (EXTI->PR)
#endif


void EXTIInit(void)
{
#if defined(STM32F4)
    /* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
#elif defined(AT32F43x)  
    crm_periph_clock_enable(CRM_SCFG_PERIPH_CLOCK, TRUE);
#endif
    memset(extiChannelRecs, 0, sizeof(extiChannelRecs));
    memset(extiGroupPriority, 0xff, sizeof(extiGroupPriority));
}

void EXTIHandlerInit(extiCallbackRec_t *self, extiHandlerCallback *fn)
{
    self->fn = fn;
}

#if defined(STM32F7) || defined(STM32H7)
void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t config)
{
    (void)config;
    int chIdx;
    chIdx = IO_GPIOPinIdx(io);
    if (chIdx < 0)
        return;
    extiChannelRec_t *rec = &extiChannelRecs[chIdx];
    int group = extiGroups[chIdx];

    GPIO_InitTypeDef init = {
        .Pin = IO_Pin(io),
        .Mode = GPIO_MODE_IT_RISING,
        .Speed = GPIO_SPEED_FREQ_LOW,
        .Pull = GPIO_NOPULL,
    };
    HAL_GPIO_Init(IO_GPIO(io), &init);

    rec->handler = cb;
    //uint32_t extiLine = IO_EXTI_Line(io);

    //EXTI_ClearITPendingBit(extiLine);

    if (extiGroupPriority[group] > irqPriority) {
        extiGroupPriority[group] = irqPriority;
        HAL_NVIC_SetPriority(extiGroupIRQn[group], irqPriority, 0);
        HAL_NVIC_EnableIRQ(extiGroupIRQn[group]);
    }
}
#elif defined(AT32F43x)  
void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, exint_polarity_config_type trigger)
{
    int chIdx;
    chIdx = IO_GPIOPinIdx(io);
    if (chIdx < 0)
        return;
    // we have only 16 extiChannelRecs
    ASSERT(chIdx < 16);
    extiChannelRec_t *rec = &extiChannelRecs[chIdx];
    int group = extiGroups[chIdx];
    rec->handler = cb;

    scfg_exint_line_config(IO_EXTI_PortSourceGPIO(io), IO_EXTI_PinSource(io));
    uint32_t extiLine = IO_EXTI_Line(io);   
    exint_flag_clear(extiLine);
    
    exint_init_type EXTIInit;
    exint_default_para_init(&EXTIInit);
    EXTIInit.line_mode = EXINT_LINE_INTERRUPUT;
    EXTIInit.line_select = extiLine; 
    EXTIInit.line_polarity = trigger;
    EXTIInit.line_enable = TRUE;
    exint_init(&EXTIInit);
     
    if (extiGroupPriority[group] > irqPriority) {
        extiGroupPriority[group] = irqPriority;
  	    nvic_priority_group_config(NVIC_PRIORITY_GROUPING);
  	    nvic_irq_enable(extiGroupIRQn[group],irqPriority,0);  
    }
}
#else
void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, EXTITrigger_TypeDef trigger)
{
    int chIdx;
    chIdx = IO_GPIOPinIdx(io);
    if (chIdx < 0)
        return;

    // we have only 16 extiChannelRecs
    ASSERT(chIdx < 16);

    extiChannelRec_t *rec = &extiChannelRecs[chIdx];
    int group = extiGroups[chIdx];

    rec->handler = cb;
#if defined(STM32F4)
    SYSCFG_EXTILineConfig(IO_EXTI_PortSourceGPIO(io), IO_EXTI_PinSource(io));
#else
# warning "Unknown CPU"
#endif
    uint32_t extiLine = IO_EXTI_Line(io);

    EXTI_ClearITPendingBit(extiLine);

    EXTI_InitTypeDef EXTIInit;
    EXTIInit.EXTI_Line = extiLine;
    EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTIInit.EXTI_Trigger = trigger;
    EXTIInit.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTIInit);

    if (extiGroupPriority[group] > irqPriority) {
        extiGroupPriority[group] = irqPriority;

        NVIC_SetPriority(extiGroupIRQn[group], irqPriority);
        NVIC_EnableIRQ(extiGroupIRQn[group]);
    }
}
#endif

void EXTIRelease(IO_t io)
{
    // don't forget to match cleanup with config
    EXTIEnable(io, false);

    int chIdx;
    chIdx = IO_GPIOPinIdx(io);
    if (chIdx < 0)
        return;

    // we have only 16 extiChannelRecs
    ASSERT(chIdx < 16);

    extiChannelRec_t *rec = &extiChannelRecs[chIdx];
    rec->handler = NULL;
}

void EXTIEnable(IO_t io, bool enable)
{
#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)|| defined(AT32F43x)
    uint32_t extiLine = IO_EXTI_Line(io);
    if (!extiLine)
        return;
    if (enable)
        EXTI_REG_IMR |= extiLine;
    else
        EXTI_REG_IMR &= ~extiLine;
#else
# error "Unsupported target"
#endif
}

void EXTI_IRQHandler(void)
{
    uint32_t exti_active = EXTI_REG_IMR & EXTI_REG_PR;

    while (exti_active) {
        unsigned idx = 31 - __builtin_clz(exti_active);
        uint32_t mask = 1 << idx;
        extiChannelRecs[idx].handler->fn(extiChannelRecs[idx].handler);
        EXTI_REG_PR = mask;  // clear pending mask (by writing 1)
        exti_active &= ~mask;
    }
}

#define _EXTI_IRQ_HANDLER(name)                 \
    void name(void) {                           \
        EXTI_IRQHandler();                      \
    }                                           \
    struct dummy                                \
    /**/


#if defined(AT32F43x) 
_EXTI_IRQ_HANDLER(EXINT0_IRQHandler);
_EXTI_IRQ_HANDLER(EXINT1_IRQHandler); 
_EXTI_IRQ_HANDLER(EXINT2_IRQHandler);  
_EXTI_IRQ_HANDLER(EXINT3_IRQHandler);
_EXTI_IRQ_HANDLER(EXINT4_IRQHandler);
_EXTI_IRQ_HANDLER(EXINT9_5_IRQHandler);
_EXTI_IRQ_HANDLER(EXINT15_10_IRQHandler);
#else
_EXTI_IRQ_HANDLER(EXTI0_IRQHandler);
_EXTI_IRQ_HANDLER(EXTI1_IRQHandler);
#if defined(STM32F7) || defined(STM32H7)
_EXTI_IRQ_HANDLER(EXTI2_IRQHandler);
#elif defined(STM32F4) || defined(AT32F43x)  
_EXTI_IRQ_HANDLER(EXTI2_TS_IRQHandler);
#else
# warning "Unknown CPU"
#endif
_EXTI_IRQ_HANDLER(EXTI3_IRQHandler);
_EXTI_IRQ_HANDLER(EXTI4_IRQHandler);
_EXTI_IRQ_HANDLER(EXTI9_5_IRQHandler);
_EXTI_IRQ_HANDLER(EXTI15_10_IRQHandler);
#endif 

#endif