flight/pios/stm32f4xx/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     case (uint32_t)GPIOG: return EXTI_PortSourceGPIOG;
  96     }
  97
  98     PIOS_Assert(0);
  99     return 0xFF;
 100 }
 101
 102 uint8_t PIOS_EXTI_gpio_pin_to_exti_source_pin(uint32_t gpio_pin)
 103 {
 104     switch ((uint32_t)gpio_pin) {
 105     case GPIO_Pin_0: return GPIO_PinSource0;
 106
 107     case GPIO_Pin_1: return GPIO_PinSource1;
 108
 109     case GPIO_Pin_2: return GPIO_PinSource2;
 110
 111     case GPIO_Pin_3: return GPIO_PinSource3;
 112
 113     case GPIO_Pin_4: return GPIO_PinSource4;
 114
 115     case GPIO_Pin_5: return GPIO_PinSource5;
 116
 117     case GPIO_Pin_6: return GPIO_PinSource6;
 118
 119     case GPIO_Pin_7: return GPIO_PinSource7;
 120
 121     case GPIO_Pin_8: return GPIO_PinSource8;
 122
 123     case GPIO_Pin_9: return GPIO_PinSource9;
 124
 125     case GPIO_Pin_10: return GPIO_PinSource10;
 126
 127     case GPIO_Pin_11: return GPIO_PinSource11;
 128
 129     case GPIO_Pin_12: return GPIO_PinSource12;
 130
 131     case GPIO_Pin_13: return GPIO_PinSource13;
 132
 133     case GPIO_Pin_14: return GPIO_PinSource14;
 134
 135     case GPIO_Pin_15: return GPIO_PinSource15;
 136     }
 137
 138     PIOS_Assert(0);
 139     return 0xFF;
 140 }
 141
 142 int32_t PIOS_EXTI_Init(const struct pios_exti_cfg *cfg)
 143 {
 144     PIOS_Assert(cfg);
 145
 146     /* Connect this config to the requested vector */
 147     uint8_t line_index = PIOS_EXTI_line_to_index(cfg->line);
 148
 149     if (pios_exti_vector[line_index]) {
 150         /* Someone else already has this mapped */
 151         return -1;
 152     }
 153
 154     /* Bind the vector to the exti line */
 155     pios_exti_vector[line_index] = cfg->vector;
 156
 157     /* Initialize the GPIO pin */
 158     GPIO_Init(cfg->pin.gpio, &cfg->pin.init);
 159
 160     /* Set up the EXTI interrupt source */
 161     uint8_t exti_source_port = PIOS_EXTI_gpio_port_to_exti_source_port(cfg->pin.gpio);
 162     /* 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 */
 163     uint8_t exti_source_pin  = PIOS_EXTI_gpio_pin_to_exti_source_pin(cfg->pin.init.GPIO_Pin);
 164     SYSCFG_EXTILineConfig(exti_source_port, exti_source_pin);
 165     EXTI_Init(&cfg->exti.init);
 166
 167     /* Enable the interrupt channel */
 168     NVIC_Init(&cfg->irq.init);
 169
 170     return 0;
 171 }
 172
 173 int32_t PIOS_EXTI_DeInit(const struct pios_exti_cfg *cfg)
 174 {
 175     uint8_t line_index = PIOS_EXTI_line_to_index(cfg->line);
 176
 177     if (pios_exti_vector[line_index] == cfg->vector) {
 178         EXTI_InitTypeDef disable = cfg->exti.init;
 179         disable.EXTI_LineCmd = DISABLE;
 180
 181         EXTI_Init(&disable);
 182         pios_exti_vector[line_index] = 0;
 183
 184         return 0;
 185     }
 186
 187     return -1;
 188 }
 189
 190 static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 191 {
 192     if (pios_exti_vector[line_index]) {
 193         return pios_exti_vector[line_index]();
 194     }
 195
 196     /* Unconfigured interrupt just fired! */
 197     return false;
 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_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 #ifdef PIOS_INCLUDE_FREERTOS
 225     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 226 #endif
 227 }
 228 void EXTI0_IRQHandler(void) __attribute__((alias("PIOS_EXTI_0_irq_handler")));
 229
 230 static void PIOS_EXTI_1_irq_handler(void)
 231 {
 232 #ifdef PIOS_INCLUDE_FREERTOS
 233     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 234 #else
 235     bool xHigherPriorityTaskWoken;
 236 #endif
 237     PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
 238 #ifdef PIOS_INCLUDE_FREERTOS
 239     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 240 #endif
 241 }
 242 void EXTI1_IRQHandler(void) __attribute__((alias("PIOS_EXTI_1_irq_handler")));
 243
 244 static void PIOS_EXTI_2_irq_handler(void)
 245 {
 246 #ifdef PIOS_INCLUDE_FREERTOS
 247     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 248 #else
 249     bool xHigherPriorityTaskWoken;
 250 #endif
 251     PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
 252 #ifdef PIOS_INCLUDE_FREERTOS
 253     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 254 #endif
 255 }
 256 void EXTI2_IRQHandler(void) __attribute__((alias("PIOS_EXTI_2_irq_handler")));
 257
 258 static void PIOS_EXTI_3_irq_handler(void)
 259 {
 260 #ifdef PIOS_INCLUDE_FREERTOS
 261     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 262 #else
 263     bool xHigherPriorityTaskWoken;
 264 #endif
 265     PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
 266 #ifdef PIOS_INCLUDE_FREERTOS
 267     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 268 #endif
 269 }
 270 void EXTI3_IRQHandler(void) __attribute__((alias("PIOS_EXTI_3_irq_handler")));
 271
 272 static void PIOS_EXTI_4_irq_handler(void)
 273 {
 274 #ifdef PIOS_INCLUDE_FREERTOS
 275     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 276 #else
 277     bool xHigherPriorityTaskWoken;
 278 #endif
 279     PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
 280 #ifdef PIOS_INCLUDE_FREERTOS
 281     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 282 #endif
 283 }
 284 void EXTI4_IRQHandler(void) __attribute__((alias("PIOS_EXTI_4_irq_handler")));
 285
 286 static void PIOS_EXTI_9_5_irq_handler(void)
 287 {
 288 #ifdef PIOS_INCLUDE_FREERTOS
 289     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 290 #else
 291     bool xHigherPriorityTaskWoken;
 292 #endif
 293     PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
 294     PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
 295     PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
 296     PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
 297     PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
 298 #ifdef PIOS_INCLUDE_FREERTOS
 299     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 300 #endif
 301 }
 302 void EXTI9_5_IRQHandler(void) __attribute__((alias("PIOS_EXTI_9_5_irq_handler")));
 303
 304 static void PIOS_EXTI_15_10_irq_handler(void)
 305 {
 306 #ifdef PIOS_INCLUDE_FREERTOS
 307     portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 308 #else
 309     bool xHigherPriorityTaskWoken;
 310 #endif
 311     PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
 312     PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
 313     PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
 314     PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
 315     PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
 316     PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
 317 #ifdef PIOS_INCLUDE_FREERTOS
 318     portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 319 #endif
 320 }
 321 void EXTI15_10_IRQHandler(void) __attribute__((alias("PIOS_EXTI_15_10_irq_handler")));
 322
 323 #endif /* PIOS_INCLUDE_EXTI */
 324
 325 /**
 326  * @}
 327  * @}
 328  */