src/main/drivers/nvic.h

   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 #pragma once
  22
  23
  24 // can't use 0
  25 #define NVIC_PRIO_MAX                      NVIC_BUILD_PRIORITY(0, 1)
  26 #define NVIC_PRIO_TIMER                    NVIC_BUILD_PRIORITY(1, 1)
  27 #define NVIC_PRIO_BARO_EXTI                NVIC_BUILD_PRIORITY(0x0f, 0x0f)
  28 #define NVIC_PRIO_SONAR_EXTI               NVIC_BUILD_PRIORITY(2, 0)  // maybe increase slightly
  29 #define NVIC_PRIO_DSHOT_DMA                NVIC_BUILD_PRIORITY(2, 1)
  30 #define NVIC_PRIO_TRANSPONDER_DMA          NVIC_BUILD_PRIORITY(3, 0)
  31
  32 // RX_SPI must be lower priority than SPI DMA so EXTI ISRs don't interfere with SPI transfers and transfer complete callbacks
  33 #define NVIC_PRIO_RX_SPI_INT_EXTI          NVIC_BUILD_PRIORITY(3, 0x0f)
  34 #define NVIC_PRIO_RX_INT_EXTI              NVIC_BUILD_PRIORITY(3, 0x0f)
  35 #define NVIC_PRIO_RX_BUSY_EXTI             NVIC_BUILD_PRIORITY(3, 0x0f)
  36
  37 #define NVIC_PRIO_MPU_INT_EXTI             NVIC_BUILD_PRIORITY(0x0f, 0x0f)
  38 #define NVIC_PRIO_MAG_INT_EXTI             NVIC_BUILD_PRIORITY(0x0f, 0x0f)
  39 #define NVIC_PRIO_WS2811_DMA               NVIC_BUILD_PRIORITY(1, 2)  // TODO - is there some reason to use high priority? (or to use DMA IRQ at all?)
  40 #define NVIC_PRIO_SERIALUART_TXDMA         NVIC_BUILD_PRIORITY(1, 1)  // Highest of all SERIALUARTx_TXDMA
  41 #define NVIC_PRIO_SERIALUART1_TXDMA        NVIC_BUILD_PRIORITY(1, 1)
  42 #define NVIC_PRIO_SERIALUART1_RXDMA        NVIC_BUILD_PRIORITY(1, 1)
  43 #define NVIC_PRIO_SERIALUART1              NVIC_BUILD_PRIORITY(1, 1)
  44 #define NVIC_PRIO_SERIALUART2_TXDMA        NVIC_BUILD_PRIORITY(1, 0)
  45 #define NVIC_PRIO_SERIALUART2_RXDMA        NVIC_BUILD_PRIORITY(1, 1)
  46 #define NVIC_PRIO_SERIALUART2              NVIC_BUILD_PRIORITY(1, 2)
  47 #define NVIC_PRIO_SERIALUART3_TXDMA        NVIC_BUILD_PRIORITY(1, 0)
  48 #define NVIC_PRIO_SERIALUART3_RXDMA        NVIC_BUILD_PRIORITY(1, 1)
  49 #define NVIC_PRIO_SERIALUART3              NVIC_BUILD_PRIORITY(1, 2)
  50 #define NVIC_PRIO_SERIALUART4_TXDMA        NVIC_BUILD_PRIORITY(1, 0)
  51 #define NVIC_PRIO_SERIALUART4_RXDMA        NVIC_BUILD_PRIORITY(1, 1)
  52 #define NVIC_PRIO_SERIALUART4              NVIC_BUILD_PRIORITY(1, 2)
  53 #define NVIC_PRIO_SERIALUART5_TXDMA        NVIC_BUILD_PRIORITY(1, 0)
  54 #define NVIC_PRIO_SERIALUART5_RXDMA        NVIC_BUILD_PRIORITY(1, 1)
  55 #define NVIC_PRIO_SERIALUART5              NVIC_BUILD_PRIORITY(1, 2)
  56 #define NVIC_PRIO_SERIALUART6_TXDMA        NVIC_BUILD_PRIORITY(1, 0)
  57 #define NVIC_PRIO_SERIALUART6_RXDMA        NVIC_BUILD_PRIORITY(1, 1)
  58 #define NVIC_PRIO_SERIALUART6              NVIC_BUILD_PRIORITY(1, 2)
  59 #define NVIC_PRIO_SERIALUART7_TXDMA        NVIC_BUILD_PRIORITY(1, 0)
  60 #define NVIC_PRIO_SERIALUART7_RXDMA        NVIC_BUILD_PRIORITY(1, 1)
  61 #define NVIC_PRIO_SERIALUART7              NVIC_BUILD_PRIORITY(1, 2)
  62 #define NVIC_PRIO_SERIALUART8_TXDMA        NVIC_BUILD_PRIORITY(1, 0)
  63 #define NVIC_PRIO_SERIALUART8_RXDMA        NVIC_BUILD_PRIORITY(1, 1)
  64 #define NVIC_PRIO_SERIALUART8              NVIC_BUILD_PRIORITY(1, 2)
  65 #define NVIC_PRIO_SERIALUART9_TXDMA        NVIC_BUILD_PRIORITY(1, 0)
  66 #define NVIC_PRIO_SERIALUART9_RXDMA        NVIC_BUILD_PRIORITY(1, 1)
  67 #define NVIC_PRIO_SERIALUART9              NVIC_BUILD_PRIORITY(1, 2)
  68 #define NVIC_PRIO_SERIALUART10_TXDMA       NVIC_BUILD_PRIORITY(1, 0)
  69 #define NVIC_PRIO_SERIALUART10_RXDMA       NVIC_BUILD_PRIORITY(1, 1)
  70 #define NVIC_PRIO_SERIALUART10             NVIC_BUILD_PRIORITY(1, 2)
  71 #define NVIC_PRIO_SERIALLPUART1_TXDMA      NVIC_BUILD_PRIORITY(1, 0)
  72 #define NVIC_PRIO_SERIALLPUART1_RXDMA      NVIC_BUILD_PRIORITY(1, 1)
  73 #define NVIC_PRIO_SERIALLPUART1            NVIC_BUILD_PRIORITY(1, 2)
  74 #define NVIC_PRIO_I2C_ER                   NVIC_BUILD_PRIORITY(0, 0)
  75 #define NVIC_PRIO_I2C_EV                   NVIC_BUILD_PRIORITY(0, 0)
  76 #define NVIC_PRIO_USB                      NVIC_BUILD_PRIORITY(2, 0)
  77 #define NVIC_PRIO_USB_WUP                  NVIC_BUILD_PRIORITY(1, 0)
  78 #define NVIC_PRIO_SONAR_ECHO               NVIC_BUILD_PRIORITY(0x0f, 0x0f)
  79 #define NVIC_PRIO_MPU_DATA_READY           NVIC_BUILD_PRIORITY(0, 1)
  80 #define NVIC_PRIO_MAG_DATA_READY           NVIC_BUILD_PRIORITY(0x0f, 0x0f)
  81 #define NVIC_PRIO_CALLBACK                 NVIC_BUILD_PRIORITY(0x0f, 0x0f)
  82 #define NVIC_PRIO_SPI_DMA                  NVIC_BUILD_PRIORITY(0, 0)
  83 #define NVIC_PRIO_SDIO_DMA                 NVIC_BUILD_PRIORITY(0, 0)
  84
  85 #ifdef USE_HAL_DRIVER
  86 // utility macros to join/split priority
  87 #define NVIC_PRIORITY_GROUPING NVIC_PRIORITYGROUP_2
  88 #define NVIC_BUILD_PRIORITY(base,sub) (((((base)<<(4-(7-(NVIC_PRIORITY_GROUPING))))|((sub)&(0x0f>>(7-(NVIC_PRIORITY_GROUPING)))))<<4)&0xf0)
  89 #define NVIC_PRIORITY_BASE(prio) (((prio)>>(4-(7-(NVIC_PRIORITY_GROUPING))))>>4)
  90 #define NVIC_PRIORITY_SUB(prio) (((prio)&(0x0f>>(7-(NVIC_PRIORITY_GROUPING))))>>4)
  91 #else
  92 // utility macros to join/split priority
  93 #define NVIC_PRIORITY_GROUPING NVIC_PriorityGroup_2
  94 #define NVIC_BUILD_PRIORITY(base,sub) (((((base)<<(4-(7-(NVIC_PRIORITY_GROUPING>>8))))|((sub)&(0x0f>>(7-(NVIC_PRIORITY_GROUPING>>8)))))<<4)&0xf0)
  95 #define NVIC_PRIORITY_BASE(prio) (((prio)>>(4-(7-(NVIC_PRIORITY_GROUPING>>8))))>>4)
  96 #define NVIC_PRIORITY_SUB(prio) (((prio)&(0x0f>>(7-(NVIC_PRIORITY_GROUPING>>8))))>>4)
  97 #endif