MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_Atmel/TARGET_SAM_CortexM0P/drivers/extint/extint_callback.c@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /**
sahilmgandhi 18:6a4db94011d3 2 * \file
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * \brief SAM External Interrupt Driver
sahilmgandhi 18:6a4db94011d3 5 *
sahilmgandhi 18:6a4db94011d3 6 * Copyright (C) 2012-2015 Atmel Corporation. All rights reserved.
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * \asf_license_start
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * \page License
sahilmgandhi 18:6a4db94011d3 11 *
sahilmgandhi 18:6a4db94011d3 12 * Redistribution and use in source and binary forms, with or without
sahilmgandhi 18:6a4db94011d3 13 * modification, are permitted provided that the following conditions are met:
sahilmgandhi 18:6a4db94011d3 14 *
sahilmgandhi 18:6a4db94011d3 15 * 1. Redistributions of source code must retain the above copyright notice,
sahilmgandhi 18:6a4db94011d3 16 * this list of conditions and the following disclaimer.
sahilmgandhi 18:6a4db94011d3 17 *
sahilmgandhi 18:6a4db94011d3 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
sahilmgandhi 18:6a4db94011d3 19 * this list of conditions and the following disclaimer in the documentation
sahilmgandhi 18:6a4db94011d3 20 * and/or other materials provided with the distribution.
sahilmgandhi 18:6a4db94011d3 21 *
sahilmgandhi 18:6a4db94011d3 22 * 3. The name of Atmel may not be used to endorse or promote products derived
sahilmgandhi 18:6a4db94011d3 23 * from this software without specific prior written permission.
sahilmgandhi 18:6a4db94011d3 24 *
sahilmgandhi 18:6a4db94011d3 25 * 4. This software may only be redistributed and used in connection with an
sahilmgandhi 18:6a4db94011d3 26 * Atmel microcontroller product.
sahilmgandhi 18:6a4db94011d3 27 *
sahilmgandhi 18:6a4db94011d3 28 * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
sahilmgandhi 18:6a4db94011d3 29 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
sahilmgandhi 18:6a4db94011d3 30 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
sahilmgandhi 18:6a4db94011d3 31 * EXPRESSLY AND SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR
sahilmgandhi 18:6a4db94011d3 32 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
sahilmgandhi 18:6a4db94011d3 33 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
sahilmgandhi 18:6a4db94011d3 34 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
sahilmgandhi 18:6a4db94011d3 35 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
sahilmgandhi 18:6a4db94011d3 36 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
sahilmgandhi 18:6a4db94011d3 37 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
sahilmgandhi 18:6a4db94011d3 38 * POSSIBILITY OF SUCH DAMAGE.
sahilmgandhi 18:6a4db94011d3 39 *
sahilmgandhi 18:6a4db94011d3 40 * \asf_license_stop
sahilmgandhi 18:6a4db94011d3 41 *
sahilmgandhi 18:6a4db94011d3 42 */
sahilmgandhi 18:6a4db94011d3 43 /*
sahilmgandhi 18:6a4db94011d3 44 * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
sahilmgandhi 18:6a4db94011d3 45 */
sahilmgandhi 18:6a4db94011d3 46 #include "extint.h"
sahilmgandhi 18:6a4db94011d3 47 #include "extint_callback.h"
sahilmgandhi 18:6a4db94011d3 48
sahilmgandhi 18:6a4db94011d3 49 /**
sahilmgandhi 18:6a4db94011d3 50 * \internal
sahilmgandhi 18:6a4db94011d3 51 * Internal driver device instance struct, declared in the main module driver.
sahilmgandhi 18:6a4db94011d3 52 */
sahilmgandhi 18:6a4db94011d3 53 extern struct _extint_module _extint_dev;
sahilmgandhi 18:6a4db94011d3 54
sahilmgandhi 18:6a4db94011d3 55 /**
sahilmgandhi 18:6a4db94011d3 56 * \internal
sahilmgandhi 18:6a4db94011d3 57 * This is the number of the channel whose callback is currently running.
sahilmgandhi 18:6a4db94011d3 58 */
sahilmgandhi 18:6a4db94011d3 59 uint8_t _current_channel;
sahilmgandhi 18:6a4db94011d3 60
sahilmgandhi 18:6a4db94011d3 61 /**
sahilmgandhi 18:6a4db94011d3 62 * \brief Registers an asynchronous callback function with the driver.
sahilmgandhi 18:6a4db94011d3 63 *
sahilmgandhi 18:6a4db94011d3 64 * Registers an asynchronous callback with the EXTINT driver, fired when a
sahilmgandhi 18:6a4db94011d3 65 * channel detects the configured channel detection criteria
sahilmgandhi 18:6a4db94011d3 66 * (e.g. edge or level). Callbacks are fired once for each detected channel.
sahilmgandhi 18:6a4db94011d3 67 *
sahilmgandhi 18:6a4db94011d3 68 * \note NMI channel callbacks cannot be registered via this function; the
sahilmgandhi 18:6a4db94011d3 69 * device's NMI interrupt should be hooked directly in the user
sahilmgandhi 18:6a4db94011d3 70 * application and the NMI flags manually cleared via
sahilmgandhi 18:6a4db94011d3 71 * \ref extint_nmi_clear_detected().
sahilmgandhi 18:6a4db94011d3 72 *
sahilmgandhi 18:6a4db94011d3 73 * \param[in] callback Pointer to the callback function to register
sahilmgandhi 18:6a4db94011d3 74 * \param[in] channel Logical channel to register callback for
sahilmgandhi 18:6a4db94011d3 75 * \param[in] type Type of callback function to register
sahilmgandhi 18:6a4db94011d3 76 *
sahilmgandhi 18:6a4db94011d3 77 * \return Status of the registration operation.
sahilmgandhi 18:6a4db94011d3 78 * \retval STATUS_OK The callback was registered successfully
sahilmgandhi 18:6a4db94011d3 79 * \retval STATUS_ERR_INVALID_ARG If an invalid callback type was supplied
sahilmgandhi 18:6a4db94011d3 80 * \retval STATUS_ERR_ALREADY_INITIALIZED Callback function has been
sahilmgandhi 18:6a4db94011d3 81 * registered, need unregister first
sahilmgandhi 18:6a4db94011d3 82 */
sahilmgandhi 18:6a4db94011d3 83 enum status_code extint_register_callback(
sahilmgandhi 18:6a4db94011d3 84 const extint_callback_t callback,
sahilmgandhi 18:6a4db94011d3 85 const uint8_t channel,
sahilmgandhi 18:6a4db94011d3 86 const enum extint_callback_type type)
sahilmgandhi 18:6a4db94011d3 87 {
sahilmgandhi 18:6a4db94011d3 88 /* Sanity check arguments */
sahilmgandhi 18:6a4db94011d3 89 Assert(callback);
sahilmgandhi 18:6a4db94011d3 90
sahilmgandhi 18:6a4db94011d3 91 if (type != EXTINT_CALLBACK_TYPE_DETECT) {
sahilmgandhi 18:6a4db94011d3 92 Assert(false);
sahilmgandhi 18:6a4db94011d3 93 return STATUS_ERR_INVALID_ARG;
sahilmgandhi 18:6a4db94011d3 94 }
sahilmgandhi 18:6a4db94011d3 95
sahilmgandhi 18:6a4db94011d3 96 if (_extint_dev.callbacks[channel] == NULL) {
sahilmgandhi 18:6a4db94011d3 97 _extint_dev.callbacks[channel] = callback;
sahilmgandhi 18:6a4db94011d3 98 return STATUS_OK;
sahilmgandhi 18:6a4db94011d3 99 } else if (_extint_dev.callbacks[channel] == callback) {
sahilmgandhi 18:6a4db94011d3 100 return STATUS_OK;
sahilmgandhi 18:6a4db94011d3 101 }
sahilmgandhi 18:6a4db94011d3 102
sahilmgandhi 18:6a4db94011d3 103 return STATUS_ERR_ALREADY_INITIALIZED;
sahilmgandhi 18:6a4db94011d3 104 }
sahilmgandhi 18:6a4db94011d3 105
sahilmgandhi 18:6a4db94011d3 106 /**
sahilmgandhi 18:6a4db94011d3 107 * \brief Unregisters an asynchronous callback function with the driver.
sahilmgandhi 18:6a4db94011d3 108 *
sahilmgandhi 18:6a4db94011d3 109 * Unregisters an asynchronous callback with the EXTINT driver, removing it
sahilmgandhi 18:6a4db94011d3 110 * from the internal callback registration table.
sahilmgandhi 18:6a4db94011d3 111 *
sahilmgandhi 18:6a4db94011d3 112 * \param[in] callback Pointer to the callback function to unregister
sahilmgandhi 18:6a4db94011d3 113 * \param[in] channel Logical channel to unregister callback for
sahilmgandhi 18:6a4db94011d3 114 * \param[in] type Type of callback function to unregister
sahilmgandhi 18:6a4db94011d3 115 *
sahilmgandhi 18:6a4db94011d3 116 * \return Status of the de-registration operation.
sahilmgandhi 18:6a4db94011d3 117 * \retval STATUS_OK The callback was Unregistered successfully
sahilmgandhi 18:6a4db94011d3 118 * \retval STATUS_ERR_INVALID_ARG If an invalid callback type was supplied
sahilmgandhi 18:6a4db94011d3 119 * \retval STATUS_ERR_BAD_ADDRESS No matching entry was found in the
sahilmgandhi 18:6a4db94011d3 120 * registration table
sahilmgandhi 18:6a4db94011d3 121 */
sahilmgandhi 18:6a4db94011d3 122 enum status_code extint_unregister_callback(
sahilmgandhi 18:6a4db94011d3 123 const extint_callback_t callback,
sahilmgandhi 18:6a4db94011d3 124 const uint8_t channel,
sahilmgandhi 18:6a4db94011d3 125 const enum extint_callback_type type)
sahilmgandhi 18:6a4db94011d3 126 {
sahilmgandhi 18:6a4db94011d3 127 /* Sanity check arguments */
sahilmgandhi 18:6a4db94011d3 128 Assert(callback);
sahilmgandhi 18:6a4db94011d3 129
sahilmgandhi 18:6a4db94011d3 130 if (type != EXTINT_CALLBACK_TYPE_DETECT) {
sahilmgandhi 18:6a4db94011d3 131 Assert(false);
sahilmgandhi 18:6a4db94011d3 132 return STATUS_ERR_INVALID_ARG;
sahilmgandhi 18:6a4db94011d3 133 }
sahilmgandhi 18:6a4db94011d3 134
sahilmgandhi 18:6a4db94011d3 135 if (_extint_dev.callbacks[channel] == callback) {
sahilmgandhi 18:6a4db94011d3 136 _extint_dev.callbacks[channel] = NULL;
sahilmgandhi 18:6a4db94011d3 137 return STATUS_OK;
sahilmgandhi 18:6a4db94011d3 138 }
sahilmgandhi 18:6a4db94011d3 139
sahilmgandhi 18:6a4db94011d3 140 return STATUS_ERR_BAD_ADDRESS;
sahilmgandhi 18:6a4db94011d3 141 }
sahilmgandhi 18:6a4db94011d3 142
sahilmgandhi 18:6a4db94011d3 143 /**
sahilmgandhi 18:6a4db94011d3 144 * \brief Enables asynchronous callback generation for a given channel and type.
sahilmgandhi 18:6a4db94011d3 145 *
sahilmgandhi 18:6a4db94011d3 146 * Enables asynchronous callbacks for a given logical external interrupt channel
sahilmgandhi 18:6a4db94011d3 147 * and type. This must be called before an external interrupt channel will
sahilmgandhi 18:6a4db94011d3 148 * generate callback events.
sahilmgandhi 18:6a4db94011d3 149 *
sahilmgandhi 18:6a4db94011d3 150 * \param[in] channel Logical channel to enable callback generation for
sahilmgandhi 18:6a4db94011d3 151 * \param[in] type Type of callback function callbacks to enable
sahilmgandhi 18:6a4db94011d3 152 *
sahilmgandhi 18:6a4db94011d3 153 * \return Status of the callback enable operation.
sahilmgandhi 18:6a4db94011d3 154 * \retval STATUS_OK The callback was enabled successfully
sahilmgandhi 18:6a4db94011d3 155 * \retval STATUS_ERR_INVALID_ARG If an invalid callback type was supplied
sahilmgandhi 18:6a4db94011d3 156 */
sahilmgandhi 18:6a4db94011d3 157 enum status_code extint_chan_enable_callback(
sahilmgandhi 18:6a4db94011d3 158 const uint8_t channel,
sahilmgandhi 18:6a4db94011d3 159 const enum extint_callback_type type)
sahilmgandhi 18:6a4db94011d3 160 {
sahilmgandhi 18:6a4db94011d3 161 if (type == EXTINT_CALLBACK_TYPE_DETECT) {
sahilmgandhi 18:6a4db94011d3 162 Eic *const eic = _extint_get_eic_from_channel(channel);
sahilmgandhi 18:6a4db94011d3 163
sahilmgandhi 18:6a4db94011d3 164 eic->INTENSET.reg = (1UL << channel);
sahilmgandhi 18:6a4db94011d3 165 } else {
sahilmgandhi 18:6a4db94011d3 166 Assert(false);
sahilmgandhi 18:6a4db94011d3 167 return STATUS_ERR_INVALID_ARG;
sahilmgandhi 18:6a4db94011d3 168 }
sahilmgandhi 18:6a4db94011d3 169
sahilmgandhi 18:6a4db94011d3 170 return STATUS_OK;
sahilmgandhi 18:6a4db94011d3 171 }
sahilmgandhi 18:6a4db94011d3 172
sahilmgandhi 18:6a4db94011d3 173 /**
sahilmgandhi 18:6a4db94011d3 174 * \brief Disables asynchronous callback generation for a given channel and type.
sahilmgandhi 18:6a4db94011d3 175 *
sahilmgandhi 18:6a4db94011d3 176 * Disables asynchronous callbacks for a given logical external interrupt
sahilmgandhi 18:6a4db94011d3 177 * channel and type.
sahilmgandhi 18:6a4db94011d3 178 *
sahilmgandhi 18:6a4db94011d3 179 * \param[in] channel Logical channel to disable callback generation for
sahilmgandhi 18:6a4db94011d3 180 * \param[in] type Type of callback function callbacks to disable
sahilmgandhi 18:6a4db94011d3 181 *
sahilmgandhi 18:6a4db94011d3 182 * \return Status of the callback disable operation.
sahilmgandhi 18:6a4db94011d3 183 * \retval STATUS_OK The callback was disabled successfully
sahilmgandhi 18:6a4db94011d3 184 * \retval STATUS_ERR_INVALID_ARG If an invalid callback type was supplied
sahilmgandhi 18:6a4db94011d3 185 */
sahilmgandhi 18:6a4db94011d3 186 enum status_code extint_chan_disable_callback(
sahilmgandhi 18:6a4db94011d3 187 const uint8_t channel,
sahilmgandhi 18:6a4db94011d3 188 const enum extint_callback_type type)
sahilmgandhi 18:6a4db94011d3 189 {
sahilmgandhi 18:6a4db94011d3 190 if (type == EXTINT_CALLBACK_TYPE_DETECT) {
sahilmgandhi 18:6a4db94011d3 191 Eic *const eic = _extint_get_eic_from_channel(channel);
sahilmgandhi 18:6a4db94011d3 192
sahilmgandhi 18:6a4db94011d3 193 eic->INTENCLR.reg = (1UL << channel);
sahilmgandhi 18:6a4db94011d3 194 } else {
sahilmgandhi 18:6a4db94011d3 195 Assert(false);
sahilmgandhi 18:6a4db94011d3 196 return STATUS_ERR_INVALID_ARG;
sahilmgandhi 18:6a4db94011d3 197 }
sahilmgandhi 18:6a4db94011d3 198
sahilmgandhi 18:6a4db94011d3 199 return STATUS_OK;
sahilmgandhi 18:6a4db94011d3 200 }
sahilmgandhi 18:6a4db94011d3 201
sahilmgandhi 18:6a4db94011d3 202 /**
sahilmgandhi 18:6a4db94011d3 203 * \brief Find what channel caused the callback.
sahilmgandhi 18:6a4db94011d3 204 *
sahilmgandhi 18:6a4db94011d3 205 * Can be used in an EXTINT callback function to find what channel caused
sahilmgandhi 18:6a4db94011d3 206 * the callback in case same callback is used by multiple channels.
sahilmgandhi 18:6a4db94011d3 207 *
sahilmgandhi 18:6a4db94011d3 208 * \return Channel number.
sahilmgandhi 18:6a4db94011d3 209 */
sahilmgandhi 18:6a4db94011d3 210 uint8_t extint_get_current_channel(void)
sahilmgandhi 18:6a4db94011d3 211 {
sahilmgandhi 18:6a4db94011d3 212 return _current_channel;
sahilmgandhi 18:6a4db94011d3 213 }
sahilmgandhi 18:6a4db94011d3 214
sahilmgandhi 18:6a4db94011d3 215 /** Handler for the EXTINT hardware module interrupt. */
sahilmgandhi 18:6a4db94011d3 216 void EIC_Handler(void)
sahilmgandhi 18:6a4db94011d3 217 {
sahilmgandhi 18:6a4db94011d3 218 /* Find any triggered channels, run associated callback handlers */
sahilmgandhi 18:6a4db94011d3 219 for (_current_channel = 0; _current_channel < EIC_NUMBER_OF_INTERRUPTS ; _current_channel++) {
sahilmgandhi 18:6a4db94011d3 220 if (extint_chan_is_detected(_current_channel)) {
sahilmgandhi 18:6a4db94011d3 221 /* Clear flag */
sahilmgandhi 18:6a4db94011d3 222 extint_chan_clear_detected(_current_channel);
sahilmgandhi 18:6a4db94011d3 223 /* Find any associated callback entries in the callback table */
sahilmgandhi 18:6a4db94011d3 224 if (_extint_dev.callbacks[_current_channel] != NULL) {
sahilmgandhi 18:6a4db94011d3 225 /* Run the registered callback */
sahilmgandhi 18:6a4db94011d3 226 _extint_dev.callbacks[_current_channel]();
sahilmgandhi 18:6a4db94011d3 227 }
sahilmgandhi 18:6a4db94011d3 228 }
sahilmgandhi 18:6a4db94011d3 229 }
sahilmgandhi 18:6a4db94011d3 230 }