diff --git a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/CMakeLists.txt index a048ebfa8e..5720786e14 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/CMakeLists.txt +++ b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/CMakeLists.txt @@ -40,4 +40,5 @@ px4_add_library(arch_io_pins pwm_servo.c pwm_trigger.c input_capture.c + imxrt_pinirq.c ) diff --git a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c new file mode 100644 index 0000000000..e768c95fe6 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c @@ -0,0 +1,142 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include + +#include + +#include + +#include "chip.h" +#include "imxrt_irq.h" +#include "hardware/imxrt_gpio.h" + +typedef struct { + int low; + int hi; +} lh_t; + +const lh_t port_to_irq[9] = { + {_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE}, + {_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE}, + {_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE}, + {_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE}, + {_IMXRT_GPIO5_0_15_BASE, _IMXRT_GPIO5_16_31_BASE}, + {_IMXRT_GPIO6_0_15_BASE, _IMXRT_GPIO6_16_31_BASE}, + {_IMXRT_GPIO7_0_15_BASE, _IMXRT_GPIO7_16_31_BASE}, + {_IMXRT_GPIO8_0_15_BASE, _IMXRT_GPIO8_16_31_BASE}, + {_IMXRT_GPIO9_0_15_BASE, _IMXRT_GPIO9_16_31_BASE}, +}; + +/**************************************************************************** + * Name: imxrt_pin_irqattach + * + * Description: + * Sets/clears GPIO based event and interrupt triggers. + * + * Input Parameters: + * - pinset: gpio pin configuration + * - rising/falling edge: enables + * - func: when non-NULL, generate interrupt + * - arg: Argument passed to the interrupt callback + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure indicating the + * nature of the failure. + * + ****************************************************************************/ + +static int imxrt_pin_irqattach(gpio_pinset_t pinset, xcpt_t func, void *arg) +{ + volatile int port = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT; + volatile int pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT; + volatile int irq; + lh_t irqlh = port_to_irq[port]; + irq = (pin < 16) ? irqlh.low : irqlh.hi; + irq += pin % 16; + irq_attach(irq, func, arg); + up_enable_irq(irq); + return 0; +} + +/**************************************************************************** + * Name: imxrt_gpiosetevent + * + * Description: + * Sets/clears GPIO based event and interrupt triggers. + * + * Input Parameters: + * - pinset: gpio pin configuration + * - rising/falling edge: enables + * - event: generate event when set + * - func: when non-NULL, generate interrupt + * - arg: Argument passed to the interrupt callback + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure indicating the + * nature of the failure. + * + ****************************************************************************/ +#if defined(CONFIG_IMXRT_GPIO_IRQ) +int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, + bool event, xcpt_t func, void *arg) +{ + int ret = -ENOSYS; + + if (func == NULL) { + imxrt_gpioirq_disable(pinset); + pinset &= ~GPIO_INTCFG_MASK; + ret = imxrt_config_gpio(pinset); + + } else { + + pinset &= ~GPIO_INTCFG_MASK; + + if (risingedge & fallingedge) { + pinset |= GPIO_INTBOTH_EDGES; + + } else if (risingedge) { + pinset |= GPIO_INT_RISINGEDGE; + + } else if (fallingedge) { + pinset |= GPIO_INT_FALLINGEDGE; + } + + imxrt_gpioirq_configure(pinset); + ret = imxrt_pin_irqattach(pinset, func, arg); + } + + return ret; +} +#endif /* CONFIG_IMXRT_GPIO_IRQ */ diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h index 0ff5271a5c..dbfe82a5c7 100644 --- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h @@ -101,9 +101,9 @@ __BEGIN_DECLS #define px4_arch_gpioread(pinset) imxrt_gpio_read(pinset) #define px4_arch_gpiowrite(pinset, value) imxrt_gpio_write(pinset, value) -/* imxrt_gpiosetevent is not implemented and will need to be added */ +int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool event, xcpt_t func, void *arg); -#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) (-1) +#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) imxrt_gpiosetevent(pinset,r,f,e,fp,a) #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)) #define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST))