flight/pios/stm32f10x/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 #define PIOS_EXTI_INVALID 0xFF
  39 static uint8_t pios_exti_line_to_cfg_map[EXTI_MAX_LINES] = {
  40     [0 ... EXTI_MAX_LINES - 1] = PIOS_EXTI_INVALID,
  41 };
  42
  43 /* Table of exti configs registered at compile time */
  44 extern struct pios_exti_cfg __start__exti __attribute__((weak));
  45 extern struct pios_exti_cfg __stop__exti  __attribute__((weak));
  46
  47 static uint8_t PIOS_EXTI_line_to_index(uint32_t line)
  48 {
  49     switch (line) {
  50     case EXTI_Line0: return 0;
  51
  52     case EXTI_Line1: return 1;
  53
  54     case EXTI_Line2: return 2;
  55
  56     case EXTI_Line3: return 3;
  57
  58     case EXTI_Line4: return 4;
  59
  60     case EXTI_Line5: return 5;
  61
  62     case EXTI_Line6: return 6;
  63
  64     case EXTI_Line7: return 7;
  65
  66     case EXTI_Line8: return 8;
  67
  68     case EXTI_Line9: return 9;
  69
  70     case EXTI_Line10: return 10;
  71
  72     case EXTI_Line11: return 11;
  73
  74     case EXTI_Line12: return 12;
  75
  76     case EXTI_Line13: return 13;
  77
  78     case EXTI_Line14: return 14;
  79
  80     case EXTI_Line15: return 15;
  81     }
  82
  83     PIOS_Assert(0);
  84     return 0xFF;
  85 }
  86
  87 uint8_t PIOS_EXTI_gpio_port_to_exti_source_port(GPIO_TypeDef *gpio_port)
  88 {
  89     switch ((uint32_t)gpio_port) {
  90     case (uint32_t)GPIOA: return GPIO_PortSourceGPIOA;
  91
  92     case (uint32_t)GPIOB: return GPIO_PortSourceGPIOB;
  93
  94     case (uint32_t)GPIOC: return GPIO_PortSourceGPIOC;
  95
  96     case (uint32_t)GPIOD: return GPIO_PortSourceGPIOD;
  97
  98     case (uint32_t)GPIOE: return GPIO_PortSourceGPIOE;
  99
 100     case (uint32_t)GPIOF: return GPIO_PortSourceGPIOF;
 101
 102     case (uint32_t)GPIOG: return GPIO_PortSourceGPIOG;
 103     }
 104
 105     PIOS_Assert(0);
 106     return 0xFF;
 107 }
 108
 109 uint8_t PIOS_EXTI_gpio_pin_to_exti_source_pin(uint32_t gpio_pin)
 110 {
 111     switch ((uint32_t)gpio_pin) {
 112     case GPIO_Pin_0: return GPIO_PinSource0;
 113
 114     case GPIO_Pin_1: return GPIO_PinSource1;
 115
 116     case GPIO_Pin_2: return GPIO_PinSource2;
 117
 118     case GPIO_Pin_3: return GPIO_PinSource3;
 119
 120     case GPIO_Pin_4: return GPIO_PinSource4;
 121
 122     case GPIO_Pin_5: return GPIO_PinSource5;
 123
 124     case GPIO_Pin_6: return GPIO_PinSource6;
 125
 126     case GPIO_Pin_7: return GPIO_PinSource7;
 127
 128     case GPIO_Pin_8: return GPIO_PinSource8;
 129
 130     case GPIO_Pin_9: return GPIO_PinSource9;
 131
 132     case GPIO_Pin_10: return GPIO_PinSource10;
 133
 134     case GPIO_Pin_11: return GPIO_PinSource11;
 135
 136     case GPIO_Pin_12: return GPIO_PinSource12;
 137
 138     case GPIO_Pin_13: return GPIO_PinSource13;
 139
 140     case GPIO_Pin_14: return GPIO_PinSource14;
 141
 142     case GPIO_Pin_15: return GPIO_PinSource15;
 143     }
 144
 145     PIOS_Assert(0);
 146     return 0xFF;
 147 }
 148
 149 int32_t PIOS_EXTI_Init(const struct pios_exti_cfg *cfg)
 150 {
 151     PIOS_Assert(cfg);
 152     PIOS_Assert(&__start__exti);
 153     PIOS_Assert(cfg >= &__start__exti);
 154     PIOS_Assert(cfg < &__stop__exti);
 155
 156     uint8_t cfg_index  = cfg - &__start__exti;
 157
 158     /* Connect this config to the requested vector */
 159     uint8_t line_index = PIOS_EXTI_line_to_index(cfg->line);
 160
 161     if (pios_exti_line_to_cfg_map[line_index] != PIOS_EXTI_INVALID) {
 162         /* Someone else already has this mapped */
 163         goto out_fail;
 164     }
 165
 166     /* Bind the config to the exti line */
 167     pios_exti_line_to_cfg_map[line_index] = cfg_index;
 168
 169     /* Initialize the GPIO pin */
 170     GPIO_Init(cfg->pin.gpio, &cfg->pin.init);
 171
 172     /* Set up the EXTI interrupt source */
 173     uint8_t exti_source_port = PIOS_EXTI_gpio_port_to_exti_source_port(cfg->pin.gpio);
 174     uint8_t exti_source_pin  = PIOS_EXTI_gpio_pin_to_exti_source_pin(cfg->pin.init.GPIO_Pin);
 175     GPIO_EXTILineConfig(exti_source_port, exti_source_pin);
 176     EXTI_Init(&cfg->exti.init);
 177
 178     /* Enable the interrupt channel */
 179     NVIC_Init(&cfg->irq.init);
 180
 181     return 0;
 182
 183 out_fail:
 184     return -1;
 185 }
 186
 187 static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 188 {
 189     uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
 190
 191     PIOS_Assert(&__start__exti);
 192
 193     if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
 194         cfg_index == PIOS_EXTI_INVALID) {
 195         /* Unconfigured interrupt just fired! */
 196         return false;
 197     }
 198
 199     struct pios_exti_cfg *cfg = &__start__exti + cfg_index;
 200     return cfg->vector();
 201 }
 202
 203 #ifdef PIOS_INCLUDE_FREERTOS
 204 #define PIOS_EXTI_HANDLE_LINE(line, woken)                      \
 205     if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {       \
 206         EXTI_ClearITPendingBit(EXTI_Line##line);        \
 207         woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
 208     }
 209 #else
 210 #define PIOS_EXTI_HANDLE_LINE(line, woken)                      \
 211     if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {       \
 212         EXTI_ClearITPendingBit(EXTI_Line##line);        \
 213         PIOS_EXTI_generic_irq_handler(line);            \
 214     }
 215 #endif
 216
 217 /* Bind Interrupt Handlers */
 218
 219 static void PIOS_EXTI_0_irq_handler(void)
 220 {
 221 #ifdef PIOS_INCLUDE_FREERTOS
 222     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 223 #else
 224     bool xHigherPriorityTaskWoken; // dummy variable
 225 #endif
 226     PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
 227 #ifdef PIOS_INCLUDE_FREERTOS
 228     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 229 #endif
 230 }
 231 void EXTI0_IRQHandler(void) __attribute__((alias("PIOS_EXTI_0_irq_handler")));
 232
 233 static void PIOS_EXTI_1_irq_handler(void)
 234 {
 235 #ifdef PIOS_INCLUDE_FREERTOS
 236     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 237 #else
 238     bool xHigherPriorityTaskWoken; // dummy variable
 239 #endif
 240     PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
 241 #ifdef PIOS_INCLUDE_FREERTOS
 242     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 243 #endif
 244 }
 245 void EXTI1_IRQHandler(void) __attribute__((alias("PIOS_EXTI_1_irq_handler")));
 246
 247 static void PIOS_EXTI_2_irq_handler(void)
 248 {
 249 #ifdef PIOS_INCLUDE_FREERTOS
 250     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 251 #else
 252     bool xHigherPriorityTaskWoken; // dummy variable
 253 #endif
 254     PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
 255 #ifdef PIOS_INCLUDE_FREERTOS
 256     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 257 #endif
 258 }
 259 void EXTI2_IRQHandler(void) __attribute__((alias("PIOS_EXTI_2_irq_handler")));
 260
 261 static void PIOS_EXTI_3_irq_handler(void)
 262 {
 263 #ifdef PIOS_INCLUDE_FREERTOS
 264     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 265 #else
 266     bool xHigherPriorityTaskWoken; // dummy variable
 267 #endif
 268     PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
 269 #ifdef PIOS_INCLUDE_FREERTOS
 270     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 271 #endif
 272 }
 273 void EXTI3_IRQHandler(void) __attribute__((alias("PIOS_EXTI_3_irq_handler")));
 274
 275 static void PIOS_EXTI_4_irq_handler(void)
 276 {
 277 #ifdef PIOS_INCLUDE_FREERTOS
 278     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 279 #else
 280     bool xHigherPriorityTaskWoken; // dummy variable
 281 #endif
 282     PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
 283 #ifdef PIOS_INCLUDE_FREERTOS
 284     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 285 #endif
 286 }
 287 void EXTI4_IRQHandler(void) __attribute__((alias("PIOS_EXTI_4_irq_handler")));
 288
 289 static void PIOS_EXTI_9_5_irq_handler(void)
 290 {
 291 #ifdef PIOS_INCLUDE_FREERTOS
 292     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 293 #else
 294     bool xHigherPriorityTaskWoken; // dummy variable
 295 #endif
 296     PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
 297     PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
 298     PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
 299     PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
 300     PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
 301 #ifdef PIOS_INCLUDE_FREERTOS
 302     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 303 #endif
 304 }
 305 void EXTI9_5_IRQHandler(void) __attribute__((alias("PIOS_EXTI_9_5_irq_handler")));
 306
 307 static void PIOS_EXTI_15_10_irq_handler(void)
 308 {
 309 #ifdef PIOS_INCLUDE_FREERTOS
 310     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 311 #else
 312     bool xHigherPriorityTaskWoken; // dummy variable
 313 #endif
 314     PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
 315     PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
 316     PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
 317     PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
 318     PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
 319     PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
 320 #ifdef PIOS_INCLUDE_FREERTOS
 321     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 322 #endif
 323 }
 324 void EXTI15_10_IRQHandler(void) __attribute__((alias("PIOS_EXTI_15_10_irq_handler")));
 325
 326 #endif /* PIOS_INCLUDE_EXTI */
 327
 328 /**
 329  * @}
 330  * @}
 331  */