MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_Atmel/TARGET_SAM_CortexM0P/gpio_irq_api.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 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2015 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include <stddef.h>
sahilmgandhi 18:6a4db94011d3 17 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 18
sahilmgandhi 18:6a4db94011d3 19 #include "gpio_irq_api.h"
sahilmgandhi 18:6a4db94011d3 20 #include "gpio_api.h"
sahilmgandhi 18:6a4db94011d3 21 #include "mbed_error.h"
sahilmgandhi 18:6a4db94011d3 22 #include "extint.h"
sahilmgandhi 18:6a4db94011d3 23 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 24 #include "PeripheralPins.h"
sahilmgandhi 18:6a4db94011d3 25 #include "port.h"
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 #define IRQ_RISE_POSITION 1
sahilmgandhi 18:6a4db94011d3 28 #define IRQ_FALL_POSITION 2
sahilmgandhi 18:6a4db94011d3 29 #define CHANNEL_NUM 16
sahilmgandhi 18:6a4db94011d3 30 #define pEXT_CONF(obj) (obj->config_extint_chan)
sahilmgandhi 18:6a4db94011d3 31 static uint32_t channel_ids[CHANNEL_NUM] = {0};
sahilmgandhi 18:6a4db94011d3 32 static gpio_irq_handler irq_handler;
sahilmgandhi 18:6a4db94011d3 33 uint8_t ext_int_pins[EIC_NUMBER_OF_INTERRUPTS] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
sahilmgandhi 18:6a4db94011d3 34
sahilmgandhi 18:6a4db94011d3 35 void gpio_irq(void)
sahilmgandhi 18:6a4db94011d3 36 {
sahilmgandhi 18:6a4db94011d3 37 uint32_t current_channel;
sahilmgandhi 18:6a4db94011d3 38 uint32_t mask;
sahilmgandhi 18:6a4db94011d3 39 gpio_irq_event event;
sahilmgandhi 18:6a4db94011d3 40 PortGroup *port_base;
sahilmgandhi 18:6a4db94011d3 41
sahilmgandhi 18:6a4db94011d3 42 for (current_channel = 0; current_channel < EIC_NUMBER_OF_INTERRUPTS ; current_channel++) {
sahilmgandhi 18:6a4db94011d3 43 if (extint_chan_is_detected(current_channel)) {
sahilmgandhi 18:6a4db94011d3 44 extint_chan_clear_detected(current_channel);
sahilmgandhi 18:6a4db94011d3 45 port_base = (PortGroup*)port_get_group_from_gpio_pin(ext_int_pins[current_channel]);
sahilmgandhi 18:6a4db94011d3 46 mask = gpio_set((PinName)ext_int_pins[current_channel]);
sahilmgandhi 18:6a4db94011d3 47 if ((port_base->IN.reg & mask) != 0) {
sahilmgandhi 18:6a4db94011d3 48 event = IRQ_RISE;
sahilmgandhi 18:6a4db94011d3 49 } else {
sahilmgandhi 18:6a4db94011d3 50 event = IRQ_FALL;
sahilmgandhi 18:6a4db94011d3 51 }
sahilmgandhi 18:6a4db94011d3 52 if(irq_handler) {
sahilmgandhi 18:6a4db94011d3 53 irq_handler(channel_ids[current_channel], event);
sahilmgandhi 18:6a4db94011d3 54 }
sahilmgandhi 18:6a4db94011d3 55 }
sahilmgandhi 18:6a4db94011d3 56 }
sahilmgandhi 18:6a4db94011d3 57 }
sahilmgandhi 18:6a4db94011d3 58
sahilmgandhi 18:6a4db94011d3 59 int gpio_irq_init(gpio_irq_t *obj, PinName pin, gpio_irq_handler handler, uint32_t id)
sahilmgandhi 18:6a4db94011d3 60 {
sahilmgandhi 18:6a4db94011d3 61 MBED_ASSERT(obj);
sahilmgandhi 18:6a4db94011d3 62 if (pin == NC)
sahilmgandhi 18:6a4db94011d3 63 return -1;
sahilmgandhi 18:6a4db94011d3 64
sahilmgandhi 18:6a4db94011d3 65 IRQn_Type irq_n = (IRQn_Type)0;
sahilmgandhi 18:6a4db94011d3 66 uint32_t vector = 0;
sahilmgandhi 18:6a4db94011d3 67 int int_channel = 0;
sahilmgandhi 18:6a4db94011d3 68 irq_handler = handler; // assuming the usage of these apis in mbed layer only
sahilmgandhi 18:6a4db94011d3 69
sahilmgandhi 18:6a4db94011d3 70 obj->pin = pin;
sahilmgandhi 18:6a4db94011d3 71
sahilmgandhi 18:6a4db94011d3 72 extint_chan_get_config_defaults(&pEXT_CONF(obj));
sahilmgandhi 18:6a4db94011d3 73 pEXT_CONF(obj).gpio_pin = (uint32_t)pin;
sahilmgandhi 18:6a4db94011d3 74 pEXT_CONF(obj).gpio_pin_mux = 0; // mux setting for ext int is 0
sahilmgandhi 18:6a4db94011d3 75 pEXT_CONF(obj).gpio_pin_pull = EXTINT_PULL_UP;
sahilmgandhi 18:6a4db94011d3 76 pEXT_CONF(obj).detection_criteria = EXTINT_DETECT_NONE;
sahilmgandhi 18:6a4db94011d3 77
sahilmgandhi 18:6a4db94011d3 78 int_channel = pinmap_find_peripheral(pin, PinMap_EXTINT);
sahilmgandhi 18:6a4db94011d3 79 if (int_channel == NC) {
sahilmgandhi 18:6a4db94011d3 80 return -1;
sahilmgandhi 18:6a4db94011d3 81 }
sahilmgandhi 18:6a4db94011d3 82 extint_chan_set_config(int_channel, &pEXT_CONF(obj));
sahilmgandhi 18:6a4db94011d3 83 ext_int_pins[int_channel] = pin;
sahilmgandhi 18:6a4db94011d3 84
sahilmgandhi 18:6a4db94011d3 85 irq_n = EIC_IRQn;
sahilmgandhi 18:6a4db94011d3 86 vector = (uint32_t)gpio_irq;
sahilmgandhi 18:6a4db94011d3 87 NVIC_SetVector(irq_n, vector);
sahilmgandhi 18:6a4db94011d3 88 NVIC_EnableIRQ(irq_n);
sahilmgandhi 18:6a4db94011d3 89 obj->ch = int_channel;
sahilmgandhi 18:6a4db94011d3 90 channel_ids[int_channel] = id;
sahilmgandhi 18:6a4db94011d3 91 obj->irqmask = 0;
sahilmgandhi 18:6a4db94011d3 92
sahilmgandhi 18:6a4db94011d3 93 return 0;
sahilmgandhi 18:6a4db94011d3 94 }
sahilmgandhi 18:6a4db94011d3 95
sahilmgandhi 18:6a4db94011d3 96 void gpio_irq_free(gpio_irq_t *obj)
sahilmgandhi 18:6a4db94011d3 97 {
sahilmgandhi 18:6a4db94011d3 98 MBED_ASSERT(obj);
sahilmgandhi 18:6a4db94011d3 99 Eic *const eic = _extint_get_eic_from_channel(obj->ch);
sahilmgandhi 18:6a4db94011d3 100 channel_ids[obj->ch] = 0;
sahilmgandhi 18:6a4db94011d3 101 eic->INTENCLR.reg = (1UL << obj->ch);
sahilmgandhi 18:6a4db94011d3 102 }
sahilmgandhi 18:6a4db94011d3 103
sahilmgandhi 18:6a4db94011d3 104 void gpio_irq_set(gpio_irq_t *obj, gpio_irq_event event, uint32_t enable)
sahilmgandhi 18:6a4db94011d3 105 {
sahilmgandhi 18:6a4db94011d3 106 MBED_ASSERT(obj);
sahilmgandhi 18:6a4db94011d3 107 Eic *const eic = _extint_get_eic_from_channel(obj->ch);
sahilmgandhi 18:6a4db94011d3 108 if (enable) {
sahilmgandhi 18:6a4db94011d3 109 if (event == IRQ_RISE) {
sahilmgandhi 18:6a4db94011d3 110 obj->irqmask |= IRQ_RISE_POSITION;
sahilmgandhi 18:6a4db94011d3 111 } else if (event == IRQ_FALL) {
sahilmgandhi 18:6a4db94011d3 112 obj->irqmask |= IRQ_FALL_POSITION;
sahilmgandhi 18:6a4db94011d3 113 }
sahilmgandhi 18:6a4db94011d3 114 eic->INTENSET.reg = (1UL << obj->ch);
sahilmgandhi 18:6a4db94011d3 115 } else {
sahilmgandhi 18:6a4db94011d3 116 if (event == IRQ_RISE) {
sahilmgandhi 18:6a4db94011d3 117 obj->irqmask &= ~IRQ_RISE_POSITION;
sahilmgandhi 18:6a4db94011d3 118 } else if (event == IRQ_FALL) {
sahilmgandhi 18:6a4db94011d3 119 obj->irqmask &= ~IRQ_FALL_POSITION;
sahilmgandhi 18:6a4db94011d3 120 }
sahilmgandhi 18:6a4db94011d3 121 }
sahilmgandhi 18:6a4db94011d3 122
sahilmgandhi 18:6a4db94011d3 123 if (obj->irqmask == (IRQ_RISE_POSITION | IRQ_FALL_POSITION)) {
sahilmgandhi 18:6a4db94011d3 124 pEXT_CONF(obj).detection_criteria = EXTINT_DETECT_BOTH;
sahilmgandhi 18:6a4db94011d3 125 } else if (obj->irqmask == IRQ_RISE_POSITION) {
sahilmgandhi 18:6a4db94011d3 126 pEXT_CONF(obj).detection_criteria = EXTINT_DETECT_RISING;
sahilmgandhi 18:6a4db94011d3 127 } else if (obj->irqmask == IRQ_FALL_POSITION) {
sahilmgandhi 18:6a4db94011d3 128 pEXT_CONF(obj).detection_criteria = EXTINT_DETECT_FALLING;
sahilmgandhi 18:6a4db94011d3 129 } else {
sahilmgandhi 18:6a4db94011d3 130 pEXT_CONF(obj).detection_criteria = EXTINT_DETECT_NONE;
sahilmgandhi 18:6a4db94011d3 131 eic->INTENCLR.reg = (1UL << obj->ch);
sahilmgandhi 18:6a4db94011d3 132 }
sahilmgandhi 18:6a4db94011d3 133
sahilmgandhi 18:6a4db94011d3 134 extint_chan_set_config(obj->ch, &pEXT_CONF(obj));
sahilmgandhi 18:6a4db94011d3 135 }
sahilmgandhi 18:6a4db94011d3 136
sahilmgandhi 18:6a4db94011d3 137 void gpio_irq_enable(gpio_irq_t *obj)
sahilmgandhi 18:6a4db94011d3 138 {
sahilmgandhi 18:6a4db94011d3 139 MBED_ASSERT(obj);
sahilmgandhi 18:6a4db94011d3 140 Eic *const eic = _extint_get_eic_from_channel(obj->ch);
sahilmgandhi 18:6a4db94011d3 141 NVIC_EnableIRQ(EIC_IRQn);
sahilmgandhi 18:6a4db94011d3 142 eic->INTENSET.reg = (1UL << obj->ch);
sahilmgandhi 18:6a4db94011d3 143 }
sahilmgandhi 18:6a4db94011d3 144
sahilmgandhi 18:6a4db94011d3 145 void gpio_irq_disable(gpio_irq_t *obj)
sahilmgandhi 18:6a4db94011d3 146 {
sahilmgandhi 18:6a4db94011d3 147 MBED_ASSERT(obj);
sahilmgandhi 18:6a4db94011d3 148 Eic *const eic = _extint_get_eic_from_channel(obj->ch);
sahilmgandhi 18:6a4db94011d3 149 eic->INTENCLR.reg = (1UL << obj->ch);
sahilmgandhi 18:6a4db94011d3 150 if (eic->INTENSET.reg == 0) {
sahilmgandhi 18:6a4db94011d3 151 NVIC_DisableIRQ(EIC_IRQn);
sahilmgandhi 18:6a4db94011d3 152 }
sahilmgandhi 18:6a4db94011d3 153 }