flight/pios/stm32f30x/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 #define EXTI_MAX_LINES 16
  37
  38 static pios_exti_vector_t pios_exti_vector[EXTI_MAX_LINES];
  39
  40 static uint8_t PIOS_EXTI_line_to_index(uint32_t line)
  41 {
  42     switch (line) {
  43     case EXTI_Line0: return 0;
  44
  45     case EXTI_Line1: return 1;
  46
  47     case EXTI_Line2: return 2;
  48
  49     case EXTI_Line3: return 3;
  50
  51     case EXTI_Line4: return 4;
  52
  53     case EXTI_Line5: return 5;
  54
  55     case EXTI_Line6: return 6;
  56
  57     case EXTI_Line7: return 7;
  58
  59     case EXTI_Line8: return 8;
  60
  61     case EXTI_Line9: return 9;
  62
  63     case EXTI_Line10: return 10;
  64
  65     case EXTI_Line11: return 11;
  66
  67     case EXTI_Line12: return 12;
  68
  69     case EXTI_Line13: return 13;
  70
  71     case EXTI_Line14: return 14;
  72
  73     case EXTI_Line15: return 15;
  74     }
  75
  76     PIOS_Assert(0);
  77     return 0xFF;
  78 }
  79
  80 uint8_t PIOS_EXTI_gpio_port_to_exti_source_port(GPIO_TypeDef *gpio_port)
  81 {
  82     switch ((uint32_t)gpio_port) {
  83     case (uint32_t)GPIOA: return EXTI_PortSourceGPIOA;
  84
  85     case (uint32_t)GPIOB: return EXTI_PortSourceGPIOB;
  86
  87     case (uint32_t)GPIOC: return EXTI_PortSourceGPIOC;
  88
  89     case (uint32_t)GPIOD: return EXTI_PortSourceGPIOD;
  90
  91     case (uint32_t)GPIOE: return EXTI_PortSourceGPIOE;
  92
  93     case (uint32_t)GPIOF: return EXTI_PortSourceGPIOF;
  94     }
  95
  96     PIOS_Assert(0);
  97     return 0xFF;
  98 }
  99
 100 uint8_t PIOS_EXTI_gpio_pin_to_exti_source_pin(uint32_t gpio_pin)
 101 {
 102     switch ((uint32_t)gpio_pin) {
 103     case GPIO_Pin_0: return GPIO_PinSource0;
 104
 105     case GPIO_Pin_1: return GPIO_PinSource1;
 106
 107     case GPIO_Pin_2: return GPIO_PinSource2;
 108
 109     case GPIO_Pin_3: return GPIO_PinSource3;
 110
 111     case GPIO_Pin_4: return GPIO_PinSource4;
 112
 113     case GPIO_Pin_5: return GPIO_PinSource5;
 114
 115     case GPIO_Pin_6: return GPIO_PinSource6;
 116
 117     case GPIO_Pin_7: return GPIO_PinSource7;
 118
 119     case GPIO_Pin_8: return GPIO_PinSource8;
 120
 121     case GPIO_Pin_9: return GPIO_PinSource9;
 122
 123     case GPIO_Pin_10: return GPIO_PinSource10;
 124
 125     case GPIO_Pin_11: return GPIO_PinSource11;
 126
 127     case GPIO_Pin_12: return GPIO_PinSource12;
 128
 129     case GPIO_Pin_13: return GPIO_PinSource13;
 130
 131     case GPIO_Pin_14: return GPIO_PinSource14;
 132
 133     case GPIO_Pin_15: return GPIO_PinSource15;
 134     }
 135
 136     PIOS_Assert(0);
 137     return 0xFF;
 138 }
 139
 140 int32_t PIOS_EXTI_Init(const struct pios_exti_cfg *cfg)
 141 {
 142     PIOS_Assert(cfg);
 143
 144     /* Connect this config to the requested vector */
 145     uint8_t line_index = PIOS_EXTI_line_to_index(cfg->line);
 146
 147     if (pios_exti_vector[line_index]) {
 148         /* Someone else already has this mapped */
 149         return -1;
 150     }
 151
 152     /* Bind the vector to the exti line */
 153     pios_exti_vector[line_index] = cfg->vector;
 154
 155     /* Initialize the GPIO pin */
 156     GPIO_Init(cfg->pin.gpio, (GPIO_InitTypeDef *)&cfg->pin.init);
 157
 158     /* Set up the EXTI interrupt source */
 159     uint8_t exti_source_port = PIOS_EXTI_gpio_port_to_exti_source_port(cfg->pin.gpio);
 160     /* 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 */
 161     uint8_t exti_source_pin  = PIOS_EXTI_gpio_pin_to_exti_source_pin(cfg->pin.init.GPIO_Pin);
 162     SYSCFG_EXTILineConfig(exti_source_port, exti_source_pin);
 163     EXTI_Init((EXTI_InitTypeDef *)&cfg->exti.init);
 164
 165     /* Enable the interrupt channel */
 166     NVIC_Init((NVIC_InitTypeDef *)&cfg->irq.init);
 167
 168     return 0;
 169 }
 170
 171 int32_t PIOS_EXTI_DeInit(const struct pios_exti_cfg *cfg)
 172 {
 173     uint8_t line_index = PIOS_EXTI_line_to_index(cfg->line);
 174
 175     if (pios_exti_vector[line_index] == cfg->vector) {
 176         EXTI_InitTypeDef disable = cfg->exti.init;
 177         disable.EXTI_LineCmd = DISABLE;
 178
 179         EXTI_Init(&disable);
 180         pios_exti_vector[line_index] = 0;
 181
 182         return 0;
 183     }
 184
 185     return -1;
 186 }
 187
 188 static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 189 {
 190     if (pios_exti_vector[line_index]) {
 191         return pios_exti_vector[line_index]();
 192     }
 193
 194     /* Unconfigured interrupt just fired! */
 195     return false;
 196 }
 197
 198 /* Bind Interrupt Handlers */
 199
 200 #ifdef PIOS_INCLUDE_FREERTOS
 201 #define PIOS_EXTI_HANDLE_LINE(line, woken)                      \
 202     if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {       \
 203         EXTI_ClearITPendingBit(EXTI_Line##line);        \
 204         woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
 205     }
 206 #else
 207 #define PIOS_EXTI_HANDLE_LINE(line, woken)                      \
 208     if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {       \
 209         EXTI_ClearITPendingBit(EXTI_Line##line);        \
 210         PIOS_EXTI_generic_irq_handler(line);            \
 211     }
 212 #endif
 213
 214 static void PIOS_EXTI_0_irq_handler(void)
 215 {
 216 #ifdef PIOS_INCLUDE_FREERTOS
 217     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 218 #else
 219     bool xHigherPriorityTaskWoken;
 220 #endif
 221     PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
 222 #ifdef PIOS_INCLUDE_FREERTOS
 223     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 224 #endif
 225 }
 226 void EXTI0_IRQHandler(void) __attribute__((alias("PIOS_EXTI_0_irq_handler")));
 227
 228 static void PIOS_EXTI_1_irq_handler(void)
 229 {
 230 #ifdef PIOS_INCLUDE_FREERTOS
 231     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 232 #else
 233     bool xHigherPriorityTaskWoken;
 234 #endif
 235     PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
 236 #ifdef PIOS_INCLUDE_FREERTOS
 237     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 238 #endif
 239 }
 240 void EXTI1_IRQHandler(void) __attribute__((alias("PIOS_EXTI_1_irq_handler")));
 241
 242 static void PIOS_EXTI_2_irq_handler(void)
 243 {
 244 #ifdef PIOS_INCLUDE_FREERTOS
 245     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 246 #else
 247     bool xHigherPriorityTaskWoken;
 248 #endif
 249     PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
 250 #ifdef PIOS_INCLUDE_FREERTOS
 251     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 252 #endif
 253 }
 254 void EXTI2_IRQHandler(void) __attribute__((alias("PIOS_EXTI_2_irq_handler")));
 255
 256 static void PIOS_EXTI_3_irq_handler(void)
 257 {
 258 #ifdef PIOS_INCLUDE_FREERTOS
 259     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 260 #else
 261     bool xHigherPriorityTaskWoken;
 262 #endif
 263     PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
 264 #ifdef PIOS_INCLUDE_FREERTOS
 265     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 266 #endif
 267 }
 268 void EXTI3_IRQHandler(void) __attribute__((alias("PIOS_EXTI_3_irq_handler")));
 269
 270 static void PIOS_EXTI_4_irq_handler(void)
 271 {
 272 #ifdef PIOS_INCLUDE_FREERTOS
 273     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 274 #else
 275     bool xHigherPriorityTaskWoken;
 276 #endif
 277     PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
 278 #ifdef PIOS_INCLUDE_FREERTOS
 279     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 280 #endif
 281 }
 282 void EXTI4_IRQHandler(void) __attribute__((alias("PIOS_EXTI_4_irq_handler")));
 283
 284 static void PIOS_EXTI_9_5_irq_handler(void)
 285 {
 286 #ifdef PIOS_INCLUDE_FREERTOS
 287     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 288 #else
 289     bool xHigherPriorityTaskWoken;
 290 #endif
 291     PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
 292     PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
 293     PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
 294     PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
 295     PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
 296 #ifdef PIOS_INCLUDE_FREERTOS
 297     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 298 #endif
 299 }
 300 void EXTI9_5_IRQHandler(void) __attribute__((alias("PIOS_EXTI_9_5_irq_handler")));
 301
 302 static void PIOS_EXTI_15_10_irq_handler(void)
 303 {
 304 #ifdef PIOS_INCLUDE_FREERTOS
 305     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 306 #else
 307     bool xHigherPriorityTaskWoken;
 308 #endif
 309     PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
 310     PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
 311     PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
 312     PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
 313     PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
 314     PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
 315 #ifdef PIOS_INCLUDE_FREERTOS
 316     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 317 #endif
 318 }
 319 void EXTI15_10_IRQHandler(void) __attribute__((alias("PIOS_EXTI_15_10_irq_handler")));
 320
 321 #endif /* PIOS_INCLUDE_EXTI */
 322
 323 /**
 324  * @}
 325  * @}
 326  */