flight/pios/stm32f0x/pios_exti.c

   1 /**
   2  ******************************************************************************
   3  *
   4  * @addtogroup PIOS PIOS Core hardware abstraction layer
   5  * @{
   6  * @addtogroup PIOS_EXTI External Interrupt Handlers
   7  * @brief External interrupt handler functions
   8  * @{
   9  *
  10  * @file       pios_exti.c
  11  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  12  * @brief      External Interrupt Handlers
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #include "pios.h"
  33
  34 #ifdef PIOS_INCLUDE_EXTI
  35
  36 /* Map EXTI line to full config */
  37 #define EXTI_MAX_LINES 16
  38
  39 static pios_exti_vector_t pios_exti_vector[EXTI_MAX_LINES];
  40
  41 static uint8_t PIOS_EXTI_line_to_index(uint32_t line)
  42 {
  43     switch (line) {
  44     case EXTI_Line0: return 0;
  45
  46     case EXTI_Line1: return 1;
  47
  48     case EXTI_Line2: return 2;
  49
  50     case EXTI_Line3: return 3;
  51
  52     case EXTI_Line4: return 4;
  53
  54     case EXTI_Line5: return 5;
  55
  56     case EXTI_Line6: return 6;
  57
  58     case EXTI_Line7: return 7;
  59
  60     case EXTI_Line8: return 8;
  61
  62     case EXTI_Line9: return 9;
  63
  64     case EXTI_Line10: return 10;
  65
  66     case EXTI_Line11: return 11;
  67
  68     case EXTI_Line12: return 12;
  69
  70     case EXTI_Line13: return 13;
  71
  72     case EXTI_Line14: return 14;
  73
  74     case EXTI_Line15: return 15;
  75     }
  76
  77     PIOS_Assert(0);
  78     return 0xFF;
  79 }
  80
  81 uint8_t PIOS_EXTI_gpio_port_to_exti_source_port(GPIO_TypeDef *gpio_port)
  82 {
  83     switch ((uint32_t)gpio_port) {
  84     case (uint32_t)GPIOA: return EXTI_PortSourceGPIOA;
  85
  86     case (uint32_t)GPIOB: return EXTI_PortSourceGPIOB;
  87
  88     case (uint32_t)GPIOC: return EXTI_PortSourceGPIOC;
  89
  90     case (uint32_t)GPIOD: return EXTI_PortSourceGPIOD;
  91
  92     case (uint32_t)GPIOE: return EXTI_PortSourceGPIOE;
  93
  94     case (uint32_t)GPIOF: return EXTI_PortSourceGPIOF;
  95     }
  96
  97     PIOS_Assert(0);
  98     return 0xFF;
  99 }
 100
 101 uint8_t PIOS_EXTI_gpio_pin_to_exti_source_pin(uint32_t gpio_pin)
 102 {
 103     switch ((uint32_t)gpio_pin) {
 104     case GPIO_Pin_0: return GPIO_PinSource0;
 105
 106     case GPIO_Pin_1: return GPIO_PinSource1;
 107
 108     case GPIO_Pin_2: return GPIO_PinSource2;
 109
 110     case GPIO_Pin_3: return GPIO_PinSource3;
 111
 112     case GPIO_Pin_4: return GPIO_PinSource4;
 113
 114     case GPIO_Pin_5: return GPIO_PinSource5;
 115
 116     case GPIO_Pin_6: return GPIO_PinSource6;
 117
 118     case GPIO_Pin_7: return GPIO_PinSource7;
 119
 120     case GPIO_Pin_8: return GPIO_PinSource8;
 121
 122     case GPIO_Pin_9: return GPIO_PinSource9;
 123
 124     case GPIO_Pin_10: return GPIO_PinSource10;
 125
 126     case GPIO_Pin_11: return GPIO_PinSource11;
 127
 128     case GPIO_Pin_12: return GPIO_PinSource12;
 129
 130     case GPIO_Pin_13: return GPIO_PinSource13;
 131
 132     case GPIO_Pin_14: return GPIO_PinSource14;
 133
 134     case GPIO_Pin_15: return GPIO_PinSource15;
 135     }
 136
 137     PIOS_Assert(0);
 138     return 0xFF;
 139 }
 140
 141 int32_t PIOS_EXTI_Init(const struct pios_exti_cfg *cfg)
 142 {
 143     PIOS_Assert(cfg);
 144
 145     /* Connect this config to the requested vector */
 146     uint8_t line_index = PIOS_EXTI_line_to_index(cfg->line);
 147
 148     if (pios_exti_vector[line_index]) {
 149         /* Someone else already has this mapped */
 150         return -1;
 151     }
 152
 153     /* Bind the vector to the exti line */
 154     pios_exti_vector[line_index] = cfg->vector;
 155
 156     /* Initialize the GPIO pin */
 157     GPIO_Init(cfg->pin.gpio, &cfg->pin.init);
 158
 159     /* Set up the EXTI interrupt source */
 160     uint8_t exti_source_port = PIOS_EXTI_gpio_port_to_exti_source_port(cfg->pin.gpio);
 161     /* 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 */
 162     uint8_t exti_source_pin  = PIOS_EXTI_gpio_pin_to_exti_source_pin(cfg->pin.init.GPIO_Pin);
 163     SYSCFG_EXTILineConfig(exti_source_port, exti_source_pin);
 164     EXTI_Init((EXTI_InitTypeDef *)&cfg->exti.init);
 165
 166     /* Enable the interrupt channel */
 167     NVIC_Init(&cfg->irq.init);
 168
 169     return 0;
 170 }
 171
 172 int32_t PIOS_EXTI_DeInit(const struct pios_exti_cfg *cfg)
 173 {
 174     uint8_t line_index = PIOS_EXTI_line_to_index(cfg->line);
 175
 176     if (pios_exti_vector[line_index] == cfg->vector) {
 177         EXTI_InitTypeDef disable = cfg->exti.init;
 178         disable.EXTI_LineCmd = DISABLE;
 179
 180         EXTI_Init(&disable);
 181         pios_exti_vector[line_index] = 0;
 182
 183         return 0;
 184     }
 185
 186     return -1;
 187 }
 188
 189 static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 190 {
 191     if (pios_exti_vector[line_index]) {
 192         return pios_exti_vector[line_index]();
 193     }
 194
 195     /* Unconfigured interrupt just fired! */
 196     return false;
 197 }
 198
 199
 200 /* Bind Interrupt Handlers */
 201
 202 #ifdef PIOS_INCLUDE_FREERTOS
 203 #define PIOS_EXTI_HANDLE_LINE(line, woken)                      \
 204     if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {       \
 205         EXTI_ClearITPendingBit(EXTI_Line##line);        \
 206         woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
 207     }
 208 #else
 209 #define PIOS_EXTI_HANDLE_LINE(line, woken)                      \
 210     if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {       \
 211         EXTI_ClearITPendingBit(EXTI_Line##line);        \
 212         PIOS_EXTI_generic_irq_handler(line);            \
 213     }
 214 #endif
 215
 216 static void PIOS_EXTI_0_1_irq_handler(void)
 217 {
 218 #ifdef PIOS_INCLUDE_FREERTOS
 219     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 220 #else
 221     bool xHigherPriorityTaskWoken;
 222 #endif
 223     PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
 224     PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
 225 #ifdef PIOS_INCLUDE_FREERTOS
 226     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 227 #endif
 228 }
 229 void EXTI0_1_IRQHandler(void) __attribute__((alias("PIOS_EXTI_0_1_irq_handler")));
 230
 231
 232 static void PIOS_EXTI_2_3_irq_handler(void)
 233 {
 234 #ifdef PIOS_INCLUDE_FREERTOS
 235     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 236 #else
 237     bool xHigherPriorityTaskWoken;
 238 #endif
 239     PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
 240     PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
 241 #ifdef PIOS_INCLUDE_FREERTOS
 242     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 243 #endif
 244 }
 245 void EXTI2_3_IRQHandler(void) __attribute__((alias("PIOS_EXTI_2_3_irq_handler")));
 246
 247
 248 static void PIOS_EXTI4_15_irq_handler(void)
 249 {
 250 #ifdef PIOS_INCLUDE_FREERTOS
 251     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 252 #else
 253     bool xHigherPriorityTaskWoken;
 254 #endif
 255     PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
 256     PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
 257     PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
 258     PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
 259     PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
 260     PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
 261
 262     PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
 263     PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
 264     PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
 265     PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
 266     PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
 267     PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
 268 #ifdef PIOS_INCLUDE_FREERTOS
 269     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 270 #endif
 271 }
 272 void EXTI4_15_IRQHandler(void) __attribute__((alias("PIOS_EXTI4_15_irq_handler")));
 273
 274 #endif /* PIOS_INCLUDE_EXTI */
 275
 276 /**
 277  * @}
 278  * @}
 279  */