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h7: enable exti support #7054

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merged 1 commit into from
Jun 1, 2021
Merged

h7: enable exti support #7054

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2 changes: 1 addition & 1 deletion src/main/drivers/accgyro/accgyro.c
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ void gyroIntExtiInit(gyroDev_t *gyro)
}
#endif

#if defined (STM32F7)
#if defined (STM32F7) || defined (STM32H7)
IOInit(gyro->busDev->irqPin, OWNER_MPU, RESOURCE_EXTI, 0);

EXTIHandlerInit(&gyro->exti, gyroIntExtiHandler);
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29 changes: 19 additions & 10 deletions src/main/drivers/exti.c
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Expand Up @@ -24,7 +24,7 @@ extiChannelRec_t extiChannelRecs[16];
static const uint8_t extiGroups[16] = { 0, 1, 2, 3, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 6, 6 };
static uint8_t extiGroupPriority[EXTI_IRQ_GROUPS];

#if defined(STM32F4) || defined(STM32F7)
#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
EXTI0_IRQn,
EXTI1_IRQn,
Expand All @@ -48,6 +48,15 @@ static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
# warning "Unknown CPU"
#endif

// Absorb the difference in IMR and PR assignments to registers
#if defined(STM32H7)
#define EXTI_REG_IMR (EXTI_D1->IMR1)
#define EXTI_REG_PR (EXTI_D1->PR1)
#else
#define EXTI_REG_IMR (EXTI->IMR)
#define EXTI_REG_PR (EXTI->PR)
#endif


void EXTIInit(void)
{
Expand All @@ -64,7 +73,7 @@ void EXTIHandlerInit(extiCallbackRec_t *self, extiHandlerCallback *fn)
self->fn = fn;
}

#if defined(STM32F7)
#if defined(STM32F7) || defined(STM32H7)
void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t config)
{
(void)config;
Expand Down Expand Up @@ -156,37 +165,37 @@ void EXTIRelease(IO_t io)

void EXTIEnable(IO_t io, bool enable)
{
#if defined(STM32F4) || defined(STM32F7)
#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
uint32_t extiLine = IO_EXTI_Line(io);
if (!extiLine)
return;
if (enable)
EXTI->IMR |= extiLine;
EXTI_REG_IMR |= extiLine;
else
EXTI->IMR &= ~extiLine;
EXTI_REG_IMR &= ~extiLine;
#elif defined(STM32F303xC)
int extiLine = IO_EXTI_Line(io);
if (extiLine < 0)
return;
// assume extiLine < 32 (valid for all EXTI pins)
if (enable)
EXTI->IMR |= 1 << extiLine;
EXTI_REG_IMR |= 1 << extiLine;
else
EXTI->IMR &= ~(1 << extiLine);
EXTI_REG_IMR &= ~(1 << extiLine);
#else
# error "Unsupported target"
#endif
}

void EXTI_IRQHandler(void)
{
uint32_t exti_active = EXTI->IMR & EXTI->PR;
uint32_t exti_active = EXTI_REG_IMR & EXTI_REG_PR;

while (exti_active) {
unsigned idx = 31 - __builtin_clz(exti_active);
uint32_t mask = 1 << idx;
extiChannelRecs[idx].handler->fn(extiChannelRecs[idx].handler);
EXTI->PR = mask; // clear pending mask (by writing 1)
EXTI_REG_PR = mask; // clear pending mask (by writing 1)
exti_active &= ~mask;
}
}
Expand All @@ -201,7 +210,7 @@ void EXTI_IRQHandler(void)

_EXTI_IRQ_HANDLER(EXTI0_IRQHandler);
_EXTI_IRQ_HANDLER(EXTI1_IRQHandler);
#if defined(STM32F7)
#if defined(STM32F7) || defined(STM32H7)
_EXTI_IRQ_HANDLER(EXTI2_IRQHandler);
#elif defined(STM32F3) || defined(STM32F4)
_EXTI_IRQ_HANDLER(EXTI2_TS_IRQHandler);
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2 changes: 1 addition & 1 deletion src/main/target/MATEKH743/target.h
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Expand Up @@ -179,10 +179,10 @@
#define USE_ESC_SENSOR
#define USE_SERIALSHOT

#if 0
#define USE_EXTI
#define USE_MPU_DATA_READY_SIGNAL

#if 0
// *************** PINIO ***************************
#define USE_PINIO
#define USE_PINIOBOX
Expand Down