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cocasema
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[rp2040] Implement IRQ handlers for GPIO and QSPI
Based on discussion #847
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‎README.md

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@@ -276,7 +276,7 @@ Please [discover modm's peripheral drivers for your specific device][discover].
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<td align="center">✅</td>
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<td align="center">○</td>
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<td align="center">○</td>
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<td align="center">○</td>
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<td align="center">✅</td>
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<td align="center">✅</td>
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<td align="center">✅</td>
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<td align="center">✅</td>

‎examples/rp_pico/interrupt/main.cpp

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/*
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* Copyright (c) 2022, Nikolay Semenov
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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int
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main()
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{
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Board::initialize();
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using Led = Board::LedGreen;
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Led::setOutput();
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Led::set();
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// Powers on the LED on the low->high transition, and off on high->low.
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GpioInput0::setInput();
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IntHandler::connect<GpioInput0>(Gpio::InputTrigger::BothEdges,
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[](Gpio::InputTrigger_t triggers) {
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Led::set(!!(triggers & Gpio::InputTrigger::RisingEdge));
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});
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// Toggles LED each time gpio input is at the high level.
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GpioInput1::setInput(Gpio::InputType::PullDown);
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IntHandler::connect<GpioInput1>(Gpio::InputTrigger::HighLevel,
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[](Gpio::InputTrigger_t) { Led::toggle(); });
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while (true) {}
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return 0;
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}

‎examples/rp_pico/interrupt/project.xml

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<library>
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<extends>modm:rp-pico</extends>
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<options>
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<option name="modm:build:build.path">../../../build/rp_pico/interrupt</option>
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</options>
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<modules>
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<module>modm:platform:extint</module>
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<module>modm:build:scons</module>
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</modules>
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</library>

‎src/modm/platform/extint/rp/int_handler.cpp.in

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/*
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* Copyright (c) 2022, Nikolay Semenov
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/platform/extint/int_handler.hpp>
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namespace modm::platform
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{
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%% if with_bank0
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void
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IntHandler::irqBank0Handler()
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{
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using PortRegs = Gpio::PortRegs<Gpio::Port::Bank0>;
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static_assert(0b1111u == static_cast<uint32_t>(Gpio::InputTrigger::All));
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%% if multicore_enabled
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auto& proc_irq_ctrl = sio_hw->cpuid ? iobank0_hw->proc1_irq_ctrl : iobank0_hw->proc0_irq_ctrl;
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%% else
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auto& proc_irq_ctrl = iobank0_hw->proc0_irq_ctrl;
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%% endif
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for (size_t group = 0; group < NUM_BANK0_GPIOS / 8; ++group)
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{
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if (uint32_t int_status = proc_irq_ctrl.ints[group])
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{
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for (uint8_t pin = group * 8; int_status; ++pin, int_status >>= 4)
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{
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if (uint32_t triggers = int_status & 0b1111u)
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{
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PortRegs::acknowledge_irq(pin, static_cast<Gpio::InputTrigger>(triggers));
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if (auto& handler = bank0Handlers[pin])
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{
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handler(static_cast<Gpio::InputTrigger>(triggers));
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}
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}
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}
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}
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}
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}
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%% endif
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%% if with_qspi
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void
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IntHandler::irqQspiHandler()
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{
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using PortRegs = Gpio::PortRegs<Gpio::Port::Qspi>;
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static_assert(NUM_QSPI_GPIOS <= 8);
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static_assert(0b1111u == static_cast<uint32_t>(Gpio::InputTrigger::All));
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%% if multicore_enabled
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auto& proc_irq_ctrl = sio_hw->cpuid ? ioqspi_hw->proc1_qspi_ctrl : ioqspi_hw->proc0_qspi_ctrl;
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%% else
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auto& proc_irq_ctrl = ioqspi_hw->proc0_qspi_ctrl;
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%% endif
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uint32_t int_status = proc_irq_ctrl.ints;
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for (uint8_t pin = 0; int_status; ++pin, int_status >>= 4)
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{
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if (uint32_t triggers = int_status & 0b1111u)
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{
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PortRegs::acknowledge_irq(pin, static_cast<Gpio::InputTrigger>(triggers));
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if (auto& handler = qspiHandlers[pin])
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{
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handler(static_cast<Gpio::InputTrigger>(triggers));
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}
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}
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}
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}
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%% endif
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%% for type in types
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IntHandler::Handler
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IntHandler::{{type}}Handlers[NUM_{{type | upper}}_GPIOS] modm_fastdata;
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%% endfor
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%% for type in types
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MODM_ISR(IO_IRQ_{{type | upper}})
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{
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IntHandler::irq{{type | capitalize}}Handler();
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}
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%% endfor
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} // namespace modm::platform

‎src/modm/platform/extint/rp/int_handler.hpp.in

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/*
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* Copyright (c) 2022, Nikolay Semenov
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#pragma once
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#include <modm/architecture/interface/interrupt.hpp>
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#include <modm/platform/extint/int_priority.hpp>
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#include <modm/platform/gpio/base.hpp>
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#include <modm/utils/inplace_function.hpp>
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#include <RP2040.h>
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#if defined __DOXYGEN__ || !defined MODM_EXTINT_HANDLER_STORAGE
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/// @ingroup modm_platform_extint
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#define MODM_EXTINT_HANDLER_STORAGE sizeof(void*)
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#endif
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namespace modm::platform
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{
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%% for type in types
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MODM_ISR_DECL(IO_IRQ_{{type | upper}});
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%% endfor
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/**
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* Interrupt Handler
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*
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* @ingroup modm_platform_extint
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*/
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class IntHandler
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{
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public:
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using Handler = modm::inplace_function<void(Gpio::InputTrigger_t), MODM_EXTINT_HANDLER_STORAGE, alignof(void*)>;
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public:
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static void
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enable(IRQn_Type type, IntPriority priority = IntPriority::Default)
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{
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if (!NVIC_GetEnableIRQ(type))
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{
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if (priority != static_cast<IntPriority>(NVIC_GetPriority(type)))
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{
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NVIC_SetPriority(type, priority);
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}
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NVIC_ClearPendingIRQ(type);
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NVIC_EnableIRQ(type);
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}
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}
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static void
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disable(IRQn_Type type)
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{
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NVIC_DisableIRQ(type);
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}
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template<class Pin>
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static void
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connect(Gpio::InputTrigger_t triggers, Handler&& handler)
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{
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constexpr const auto type = irqType<Pin::port>();
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static_assert(0 <= type, "Support for this Pin's Port is not enabled!");
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enable(type);
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disableInterrupts<Pin>(Gpio::InputTrigger::All);
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acknowledgeInterrupts<Pin>(Gpio::InputTrigger::All);
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irqHandler<Pin::port>(Pin::pin) = handler;
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enableInterrupts<Pin>(triggers);
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}
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template<class Pin>
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static void
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disconnect()
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{
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static_assert(0 <= irqType<Pin::port>(), "Support for this Pin's Port is not enabled!");
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disableInterrupts<Pin>(Gpio::InputTrigger::All);
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irqHandler<Pin::port>(Pin::pin) = nullptr;
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}
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private:
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template<class Pin>
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static void
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enableInterrupts(Gpio::InputTrigger_t triggers)
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{
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Gpio::PortRegs<Pin::port>::enable_irq(Pin::pin, triggers);
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}
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template<class Pin>
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static void
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disableInterrupts(Gpio::InputTrigger_t triggers)
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{
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Gpio::PortRegs<Pin::port>::disable_irq(Pin::pin, triggers);
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}
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template<class Pin>
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static void
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acknowledgeInterrupts(Gpio::InputTrigger_t triggers)
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{
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Gpio::PortRegs<Pin::port>::acknowledge_irq(Pin::pin, triggers);
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}
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%% for type in types
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static void
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irq{{type | capitalize}}Handler();
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friend void MODM_ISR_NAME(IO_IRQ_{{type | upper}})();
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// In the current implementation we do not allow handlers
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// for the same line (pin) for more than a single core.
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static Handler {{type}}Handlers[NUM_{{type | upper}}_GPIOS];
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%% endfor
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template <Gpio::Port port>
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static constexpr IRQn_Type
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irqType()
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{
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%% for type in types
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if constexpr (port == Gpio::Port::{{type | capitalize}}) { return IO_IRQ_{{type | upper}}_IRQn; }
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%% endfor
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return static_cast<IRQn_Type>(-99);
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}
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template <Gpio::Port port>
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static constexpr Handler&
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irqHandler(uint8_t pin)
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{
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%% for type in types
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if constexpr (port == Gpio::Port::{{type | capitalize}}) { return {{type}}Handlers[pin]; }
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%% endfor
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return *static_cast<Handler*>(nullptr);
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}
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};
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} // namespace modm::platform

‎src/modm/platform/extint/rp/int_priority.hpp

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/*
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* Copyright (c) 2022, Nikolay Semenov
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#pragma once
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#include <cstdint>
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namespace modm::platform
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{
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/**
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* Priority level of 0-192 in steps of 64 for each interrupt.
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* A higher level corresponds to a lower priority,
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* so level 0 is the highest programmable interrupt priority.
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* ...
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* The processor implements only bits[7:6] of each field, bits [5:0] read as zero and ignore writes.
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* This means writing 255 to a priority register saves value 192 to the register.
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*
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* https://developer.arm.com/documentation/dui0662/b/Cortex-M0--Peripherals/Nested-Vectored-Interrupt-Controller
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* https://developer.arm.com/documentation/dui0662/b/Cortex-M0--Peripherals/Nested-Vectored-Interrupt-Controller/Interrupt-Priority-Registers
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*
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* @ingroup modm_platform_extint
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*/
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enum IntPriority : uint8_t
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{
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Highest = 0x00,
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Default = 0x80,
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Lowest = 0xff,
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};
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} // namespace modm::platform

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