Merge pull request #124 from mikehamer/update_exti

Enables all EXTI handlers to use callbacks

src/config/nvicconf.h

@@ -84,5 +84,15 @@
 #define NVIC_RADIO_PRI        11
 #define NVIC_ADC_PRI          12
 #define NVIC_CPPM_PRI         14
+#define NVIC_SYSLINK_PRI      5
+
+// Priorities for external interrupts
+#define EXTI0_PRI NVIC_LOW_PRI
+#define EXTI1_PRI NVIC_LOW_PRI
+#define EXTI2_PRI NVIC_LOW_PRI
+#define EXTI3_PRI NVIC_LOW_PRI
+#define EXTI4_PRI NVIC_SYSLINK_PRI // this serves the syslink UART
+#define EXTI9_5_PRI NVIC_LOW_PRI
+#define EXTI15_10_PRI NVIC_MID_PRI // this serves the decks and sensors
 
 #endif /* NVIC_CONF_H_ */

src/deck/drivers/src/dwm1000.c

@@ -380,7 +380,7 @@ static void spiRead(dwDevice_t* dev, const void *header, size_t headerLength,
   xSemaphoreGive(spiSemaphore);
 }
 
-void __attribute__((used)) EXTI15_10_IRQHandler(void)
+void __attribute__((used)) EXTI11_Callback(void)
 {
   portBASE_TYPE  xHigherPriorityTaskWoken = pdFALSE;
 

src/drivers/interface/exti.h

@@ -31,7 +31,22 @@
 void extiInit();
 bool extiTest();
 
-inline void extiInterruptHandler(void);
+void EXTI0_Callback(void);
+void EXTI1_Callback(void);
+void EXTI2_Callback(void);
+void EXTI3_Callback(void);
+void EXTI4_Callback(void);
+void EXTI5_Callback(void);
+void EXTI6_Callback(void);
+void EXTI7_Callback(void);
+void EXTI8_Callback(void);
+void EXTI9_Callback(void);
+void EXTI10_Callback(void);
+void EXTI11_Callback(void);
+void EXTI12_Callback(void);
+void EXTI13_Callback(void);
+void EXTI14_Callback(void);
+void EXTI15_Callback(void);
 
 #endif /* __EXTI_H__ */
 

src/drivers/src/exti.c

@@ -27,31 +27,65 @@
 
 #include "stm32fxxx.h"
 
+#include "exti.h"
 #include "nvicconf.h"
 #include "nrf24l01.h"
 
-#ifdef PLATFORM_CF1
-  #define RADIO_GPIO_IRQ_LINE   EXTI_Line9
-  #define RADIO_IRQ_CHANNEL     EXTI9_5_IRQn
-#else
-  #define RADIO_GPIO_IRQ_LINE   EXTI_Line10
-  #define RADIO_IRQ_CHANNEL     EXTI15_10_IRQn
-#endif
-
 static bool isInit;
 
 /* Interruption initialisation */
 void extiInit()
 {
+  static NVIC_InitTypeDef NVIC_InitStructure;
+
   if (isInit)
     return;
 
-  NVIC_InitTypeDef NVIC_InitStructure;
+#ifdef PLATFORM_CF2 
+  // This is required for the EXTI interrupt configuration since EXTI
+  // lines are set via the SYSCFG peripheral; eg.
+  // SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC, EXTI_PinSource13);
+
+  // On the CF1, the equivalent command is:
+  // GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource9);
+  // which only requires the relevant GPIO clock to be enabled.
+
+  RCC_AHB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE); 
+#endif
+
+  // Here we enable all EXTI interrupt handlers to save conflicting
+  // reinitialization code for the 9_5 and 15_10 handlers. Note that
+  // the individual EXTI interrupts still need to be enabled.
 
-  NVIC_InitStructure.NVIC_IRQChannel = RADIO_IRQ_CHANNEL;
-  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_RADIO_PRI;
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = EXTI0_PRI;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
+  NVIC_Init(&NVIC_InitStructure);
+
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = EXTI1_PRI;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
+  NVIC_Init(&NVIC_InitStructure);
+
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = EXTI2_PRI;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
+  NVIC_Init(&NVIC_InitStructure);
+
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = EXTI3_PRI;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQn;
+  NVIC_Init(&NVIC_InitStructure);
+
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = EXTI4_PRI;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn;
+  NVIC_Init(&NVIC_InitStructure);
+
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = EXTI9_5_PRI;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
+  NVIC_Init(&NVIC_InitStructure);
+
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = EXTI15_10_PRI;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
   NVIC_Init(&NVIC_InitStructure);
 
   isInit = true;
@@ -62,13 +96,110 @@ bool extiTest(void)
   return isInit;
 }
 
-#ifdef PLATFORM_CF1
+void __attribute__((used)) EXTI0_IRQHandler(void)
+{
+  EXTI_ClearITPendingBit(EXTI_Line0);
+  EXTI0_Callback();
+}
+
+void __attribute__((used)) EXTI1_IRQHandler(void)
+{
+  EXTI_ClearITPendingBit(EXTI_Line1);
+  EXTI1_Callback();
+}
+
+void __attribute__((used)) EXTI2_IRQHandler(void)
+{
+  EXTI_ClearITPendingBit(EXTI_Line2);
+  EXTI2_Callback();
+}
+
+void __attribute__((used)) EXTI3_IRQHandler(void)
+{
+  EXTI_ClearITPendingBit(EXTI_Line3);
+  EXTI3_Callback();
+}
+
+void __attribute__((used)) EXTI4_IRQHandler(void)
+{
+  EXTI_ClearITPendingBit(EXTI_Line4);
+  EXTI4_Callback();
+}
+
 void __attribute__((used)) EXTI9_5_IRQHandler(void)
 {
-  if (EXTI_GetITStatus(RADIO_GPIO_IRQ_LINE) == SET)
-  {
-    EXTI_ClearITPendingBit(RADIO_GPIO_IRQ_LINE);
-    nrfIsr();
+  if (EXTI_GetITStatus(EXTI_Line5) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line5);
+    EXTI5_Callback();
+  }
+
+  if (EXTI_GetITStatus(EXTI_Line6) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line6);
+    EXTI6_Callback();
+  }
+
+  if (EXTI_GetITStatus(EXTI_Line7) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line7);
+    EXTI7_Callback();
+  }
+
+  if (EXTI_GetITStatus(EXTI_Line8) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line8);
+    EXTI8_Callback();
+  }
+
+  if (EXTI_GetITStatus(EXTI_Line9) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line9);
+    EXTI9_Callback();
   }
 }
-#endif
+
+void __attribute__((used)) EXTI15_10_IRQHandler(void)
+{
+  if (EXTI_GetITStatus(EXTI_Line10) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line10);
+    EXTI10_Callback();
+  }
+
+  if (EXTI_GetITStatus(EXTI_Line11) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line11);
+    EXTI11_Callback();
+  }
+
+  if (EXTI_GetITStatus(EXTI_Line12) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line12);
+    EXTI12_Callback();
+  }
+
+  if (EXTI_GetITStatus(EXTI_Line13) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line13);
+    EXTI13_Callback();
+  }
+
+  if (EXTI_GetITStatus(EXTI_Line14) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line14);
+    EXTI14_Callback();
+  }
+
+  if (EXTI_GetITStatus(EXTI_Line15) == SET) {
+    EXTI_ClearITPendingBit(EXTI_Line15);
+    EXTI15_Callback();
+  }
+}
+
+void __attribute__((weak)) EXTI0_Callback(void) { }
+void __attribute__((weak)) EXTI1_Callback(void) { }
+void __attribute__((weak)) EXTI2_Callback(void) { }
+void __attribute__((weak)) EXTI3_Callback(void) { }
+void __attribute__((weak)) EXTI4_Callback(void) { }
+void __attribute__((weak)) EXTI5_Callback(void) { }
+void __attribute__((weak)) EXTI6_Callback(void) { }
+void __attribute__((weak)) EXTI7_Callback(void) { }
+void __attribute__((weak)) EXTI8_Callback(void) { }
+void __attribute__((weak)) EXTI9_Callback(void) { }
+void __attribute__((weak)) EXTI10_Callback(void) { }
+void __attribute__((weak)) EXTI11_Callback(void) { }
+void __attribute__((weak)) EXTI12_Callback(void) { }
+void __attribute__((weak)) EXTI13_Callback(void) { }
+void __attribute__((weak)) EXTI14_Callback(void) { }
+void __attribute__((weak)) EXTI15_Callback(void) { }

src/drivers/src/nrf24l01.c

@@ -279,14 +279,13 @@ unsigned char nrfReadRX(char *buffer, int len)
   return status;
 }
 
-/* Interrupt service routine, call the interrupt callback
- */
-void nrfIsr()
+/* Interrupt service routine, call the interrupt callback */
+void __attribute__((used)) EXTI9_Callback(void)
 {
   if (interruptCb)
+  {
     interruptCb();
-
-  return;
+  }
 }
 
 void nrfSetInterruptCallback(void (*cb)(void))
@@ -355,9 +354,6 @@ void nrfInit(void)
   if (isInit)
     return;
 
-  /* Enable the EXTI interrupt router */
-  extiInit();
-
   /* Enable SPI and GPIO clocks */
   RCC_APB2PeriphClockCmd(RADIO_GPIO_SPI_CLK | RADIO_GPIO_CS_PERIF | 
                          RADIO_GPIO_CE_PERIF | RADIO_GPIO_IRQ_PERIF, ENABLE);

src/drivers/src/uart_syslink.c

@@ -156,7 +156,7 @@ void uartslkInit(void)
 
   // Configure Rx buffer not empty interrupt
   NVIC_InitStructure.NVIC_IRQChannel = UARTSLK_IRQ;
-  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_HIGH_PRI;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_SYSLINK_PRI;
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
   NVIC_Init(&NVIC_InitStructure);
@@ -368,7 +368,7 @@ void uartslkTxenFlowctrlIsr()
   }
 }
 
-void __attribute__((used)) EXTI4_IRQHandler(void)
+void __attribute__((used)) EXTI4_Callback(void)
 {
   uartslkTxenFlowctrlIsr();
 }

src/platform/cf1/platform_cf1.c

@@ -25,6 +25,7 @@
  */
 
 /* Project includes */
+#include "exti.h"
 #include "nvic.h"
 
 // TODO: Implement!
@@ -33,6 +34,9 @@ int platformInit(void)
   //Low level init: Clock and Interrupt controller
   nvicInit();
 
+  //EXTI interrupts
+  extiInit();
+
   return 0;
 }
 

src/platform/cf2/platform_cf2.c

@@ -26,6 +26,7 @@
 
 /* Personal configs */
 /* Project includes */
+#include "exti.h"
 #include "nvic.h"
 
 // TODO: Implement!
@@ -34,6 +35,9 @@ int platformInit(void)
   //Low level init: Clock and Interrupt controller
   nvicInit();
 
+  //EXTI interrupts
+  extiInit();
+
   return 0;
 }