src/platform/AT32/exti_at32.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_EXTI
  28
  29 #include "drivers/nvic.h"
  30 #include "drivers/io_impl.h"
  31 #include "drivers/exti.h"
  32
  33 typedef struct {
  34     extiCallbackRec_t* handler;
  35 } extiChannelRec_t;
  36
  37 extiChannelRec_t extiChannelRecs[16];
  38
  39 #define EXTI_IRQ_GROUPS 7
  40 //                                      0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15
  41 static const uint8_t extiGroups[16] = { 0, 1, 2, 3, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 6, 6 };
  42 static uint8_t extiGroupPriority[EXTI_IRQ_GROUPS];
  43
  44 static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
  45     EXINT0_IRQn,
  46     EXINT1_IRQn,
  47     EXINT2_IRQn,
  48     EXINT3_IRQn,
  49     EXINT4_IRQn,
  50     EXINT9_5_IRQn,
  51     EXINT15_10_IRQn
  52 };
  53
  54 static uint32_t triggerLookupTable[] = {
  55     [BETAFLIGHT_EXTI_TRIGGER_RISING]    = EXINT_TRIGGER_RISING_EDGE,
  56     [BETAFLIGHT_EXTI_TRIGGER_FALLING]   = EXINT_TRIGGER_FALLING_EDGE,
  57     [BETAFLIGHT_EXTI_TRIGGER_BOTH]      = EXINT_TRIGGER_BOTH_EDGE
  58 };
  59
  60 #define EXTI_REG_IMR (EXINT->inten)
  61 #define EXTI_REG_PR  (EXINT->intsts)
  62
  63 void EXTIInit(void)
  64 {
  65     crm_periph_clock_enable(CRM_SCFG_PERIPH_CLOCK, TRUE);
  66
  67     memset(extiChannelRecs, 0, sizeof(extiChannelRecs));
  68     memset(extiGroupPriority, 0xff, sizeof(extiGroupPriority));
  69 }
  70
  71 void EXTIHandlerInit(extiCallbackRec_t *self, extiHandlerCallback *fn)
  72 {
  73     self->fn = fn;
  74 }
  75
  76 void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t config, extiTrigger_t trigger)
  77 {
  78     int chIdx = IO_GPIOPinIdx(io);
  79
  80     if (chIdx < 0) {
  81         return;
  82     }
  83
  84     int group = extiGroups[chIdx];
  85
  86     extiChannelRec_t *rec = &extiChannelRecs[chIdx];
  87     rec->handler = cb;
  88
  89     EXTIDisable(io);
  90
  91     IOConfigGPIO(io, config);
  92
  93     scfg_exint_line_config(IO_GPIO_PortSource(io), IO_GPIO_PinSource(io));
  94
  95     uint32_t extiLine = IO_EXTI_Line(io);
  96
  97     exint_flag_clear(extiLine);
  98
  99     exint_init_type exint_init_struct;
 100     exint_default_para_init(&exint_init_struct);
 101     exint_init_struct.line_enable = TRUE;
 102     exint_init_struct.line_mode = EXINT_LINE_INTERRUPUT;
 103     exint_init_struct.line_select = extiLine;
 104     exint_init_struct.line_polarity = triggerLookupTable[trigger];
 105     exint_init(&exint_init_struct);
 106
 107     if (extiGroupPriority[group] > irqPriority) {
 108         extiGroupPriority[group] = irqPriority;
 109
 110         nvic_priority_group_config(NVIC_PRIORITY_GROUPING);
 111         nvic_irq_enable(extiGroupIRQn[group],
 112             NVIC_PRIORITY_BASE(irqPriority),
 113             NVIC_PRIORITY_SUB(irqPriority));
 114
 115     }
 116 }
 117
 118 void EXTIRelease(IO_t io)
 119 {
 120     EXTIDisable(io);
 121
 122     const int chIdx = IO_GPIOPinIdx(io);
 123
 124     if (chIdx < 0) {
 125         return;
 126     }
 127
 128     extiChannelRec_t *rec = &extiChannelRecs[chIdx];
 129     rec->handler = NULL;
 130 }
 131
 132 void EXTIEnable(IO_t io)
 133 {
 134     uint32_t extiLine = IO_EXTI_Line(io);
 135
 136     if (!extiLine) {
 137         return;
 138     }
 139
 140     EXTI_REG_IMR |= extiLine;
 141 }
 142
 143 void EXTIDisable(IO_t io)
 144 {
 145     uint32_t extiLine = IO_EXTI_Line(io);
 146
 147     if (!extiLine) {
 148         return;
 149     }
 150
 151     EXTI_REG_IMR &= ~extiLine;
 152     EXTI_REG_PR = extiLine;
 153 }
 154
 155 #define EXTI_EVENT_MASK 0xFFFF
 156
 157 void EXTI_IRQHandler(uint32_t mask)
 158 {
 159     uint32_t exti_active = (EXTI_REG_IMR & EXTI_REG_PR) & mask;
 160
 161     EXTI_REG_PR = exti_active;
 162
 163     while (exti_active) {
 164         unsigned idx = 31 - __builtin_clz(exti_active);
 165         uint32_t mask = 1 << idx;
 166         extiChannelRecs[idx].handler->fn(extiChannelRecs[idx].handler);
 167         exti_active &= ~mask;
 168     }
 169 }
 170
 171 #define _EXTI_IRQ_HANDLER(name, mask)            \
 172     void name(void) {                            \
 173         EXTI_IRQHandler(mask & EXTI_EVENT_MASK); \
 174     }                                            \
 175     struct dummy                                 \
 176     /**/
 177
 178 _EXTI_IRQ_HANDLER(EXINT0_IRQHandler, 0x0001);
 179 _EXTI_IRQ_HANDLER(EXINT1_IRQHandler, 0x0002);
 180 _EXTI_IRQ_HANDLER(EXINT2_IRQHandler, 0x0004);
 181 _EXTI_IRQ_HANDLER(EXINT3_IRQHandler, 0x0008);
 182 _EXTI_IRQ_HANDLER(EXINT4_IRQHandler, 0x0010);
 183 _EXTI_IRQ_HANDLER(EXINT9_5_IRQHandler, 0x03e0);
 184 _EXTI_IRQ_HANDLER(EXINT15_10_IRQHandler, 0xfc00);
 185
 186 #endif