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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-20 20:57:34 +08:00
nxp_rt117:Fix Pin IRQ
This commit is contained in:
David Sidrane
@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2020 PX4 Development Team. All rights reserved.
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* Copyright (C) 2020, 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -47,6 +47,8 @@ typedef struct {
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int hi;
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} lh_t;
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#if defined(CONFIG_ARCH_FAMILY_IMXRT106x)
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const lh_t port_to_irq[9] = {
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{_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE}, {_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE},
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{_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE}, {_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE},
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@@ -54,6 +56,41 @@ const lh_t port_to_irq[9] = {
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{_IMXRT_GPIO7_0_15_BASE, _IMXRT_GPIO7_16_31_BASE}, {_IMXRT_GPIO8_0_15_BASE, _IMXRT_GPIO8_16_31_BASE},
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{_IMXRT_GPIO9_0_15_BASE, _IMXRT_GPIO9_16_31_BASE},
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};
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#endif
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#if defined(CONFIG_ARCH_FAMILY_IMXRT117x)
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const lh_t port_to_irq[13] = {
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{_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE},
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{_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE},
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{_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE},
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{_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE},
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{_IMXRT_GPIO5_0_15_BASE, _IMXRT_GPIO5_16_31_BASE},
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{_IMXRT_GPIO6_0_15_BASE, _IMXRT_GPIO6_16_31_BASE},
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{0, 0}, // GPIO7 Not on CM7
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{0, 0}, // GPIO8 Not on CM7
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{0, 0}, // GPIO9 Not on CM7
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{0, 0}, // GPIO10 Not on CM7
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{0, 0}, // GPIO11 Not on CM7
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{0, 0}, // GPIO12 Not on CM7
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{_IMXRT_GPIO13_BASE, _IMXRT_GPIO13_BASE},
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};
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#endif
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static int imxrt_pin_irq(gpio_pinset_t pinset)
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{
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volatile int irq = -1;
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volatile int port = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
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volatile int pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
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lh_t irqlh = port_to_irq[port];
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if (irqlh.low != 0 && irqlh.hi != 0) {
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irq = (pin < 16) ? irqlh.low : irqlh.hi;
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irq += pin % 16;
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}
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return irq;
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}
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/****************************************************************************
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* Name: imxrt_pin_irqattach
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@@ -75,15 +112,16 @@ const lh_t port_to_irq[9] = {
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static int imxrt_pin_irqattach(gpio_pinset_t pinset, xcpt_t func, void *arg)
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{
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volatile int port = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
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volatile int pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
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volatile int irq;
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lh_t irqlh = port_to_irq[port];
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irq = (pin < 16) ? irqlh.low : irqlh.hi;
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irq += pin % 16;
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irq_attach(irq, func, arg);
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up_enable_irq(irq);
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return 0;
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int rv = -EINVAL;
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int irq = imxrt_pin_irq(pinset);
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if (irq != -1) {
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rv = OK;
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irq_attach(irq, func, arg);
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up_enable_irq(irq);
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}
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return rv;
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}
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/****************************************************************************
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@@ -109,28 +147,31 @@ int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge,
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bool event, xcpt_t func, void *arg)
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{
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int ret = -ENOSYS;
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int irq = imxrt_pin_irq(pinset);
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if (func == NULL) {
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imxrt_gpioirq_disable(pinset);
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pinset &= ~GPIO_INTCFG_MASK;
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ret = imxrt_config_gpio(pinset);
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if (irq != -1) {
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if (func == NULL) {
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imxrt_gpioirq_disable(irq);
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pinset &= ~GPIO_INTCFG_MASK;
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ret = imxrt_config_gpio(pinset);
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} else {
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} else {
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pinset &= ~GPIO_INTCFG_MASK;
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pinset &= ~GPIO_INTCFG_MASK;
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if (risingedge & fallingedge) {
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pinset |= GPIO_INTBOTH_EDGES;
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if (risingedge & fallingedge) {
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pinset |= GPIO_INTBOTH_EDGES;
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} else if (risingedge) {
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pinset |= GPIO_INT_RISINGEDGE;
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} else if (risingedge) {
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pinset |= GPIO_INT_RISINGEDGE;
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} else if (fallingedge) {
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pinset |= GPIO_INT_FALLINGEDGE;
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} else if (fallingedge) {
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pinset |= GPIO_INT_FALLINGEDGE;
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}
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imxrt_gpioirq_configure(pinset);
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ret = imxrt_pin_irqattach(pinset, func, arg);
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}
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imxrt_gpioirq_configure(pinset);
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ret = imxrt_pin_irqattach(pinset, func, arg);
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}
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return ret;
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@@ -39,7 +39,7 @@ add_subdirectory(../imxrt/board_reset board_reset)
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#add_subdirectory(../imxrt/dshot dshot)
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add_subdirectory(../imxrt/hrt hrt)
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add_subdirectory(../imxrt/led_pwm led_pwm)
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add_subdirectory(io_pins)
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add_subdirectory(../imxrt/io_pins io_pins)
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add_subdirectory(../imxrt/tone_alarm tone_alarm)
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add_subdirectory(../imxrt/version version)
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add_subdirectory(../imxrt/spi spi)
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@@ -1,44 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_compile_options(
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-Wno-unused-function
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) # TODO: remove once io_timer_handlerX are used
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px4_add_library(arch_io_pins
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../../imxrt/io_pins/io_timer.c
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../../imxrt/io_pins/pwm_servo.c
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../../imxrt/io_pins/pwm_trigger.c
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../../imxrt/io_pins/input_capture.c
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imxrt_pinirq.c
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)
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@@ -1,161 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <systemlib/px4_macros.h>
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#include <arch/board/board.h>
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#include <errno.h>
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#include "chip.h"
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#include "imxrt_irq.h"
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#include "hardware/imxrt_gpio.h"
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typedef struct {
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int low;
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int hi;
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} lh_t;
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const lh_t port_to_irq[13] = {
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{_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE},
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{_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE},
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{_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE},
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{_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE},
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{_IMXRT_GPIO5_0_15_BASE, _IMXRT_GPIO5_16_31_BASE},
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{_IMXRT_GPIO6_0_15_BASE, _IMXRT_GPIO6_16_31_BASE},
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{0, 0}, // GPIO7 Not on CM7
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{0, 0}, // GPIO8 Not on CM7
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{0, 0}, // GPIO9 Not on CM7
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{0, 0}, // GPIO10 Not on CM7
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{0, 0}, // GPIO11 Not on CM7
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{0, 0}, // GPIO12 Not on CM7
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{_IMXRT_GPIO13_BASE, _IMXRT_GPIO13_BASE},
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};
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static bool imxrt_pin_irq_valid(gpio_pinset_t pinset)
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{
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int port = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
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lh_t irqlh = port_to_irq[port];
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return (irqlh.low != 0 && irqlh.hi != 0);
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}
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/****************************************************************************
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* Name: imxrt_pin_irqattach
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*
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* Description:
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* Sets/clears GPIO based event and interrupt triggers.
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*
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* Input Parameters:
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* - pinset: gpio pin configuration
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* - rising/falling edge: enables
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* - func: when non-NULL, generate interrupt
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* - arg: Argument passed to the interrupt callback
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure indicating the
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* nature of the failure.
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*
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****************************************************************************/
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static int imxrt_pin_irqattach(gpio_pinset_t pinset, xcpt_t func, void *arg)
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{
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int rv = -EINVAL;
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volatile int port = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
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volatile int pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
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volatile int irq;
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lh_t irqlh = port_to_irq[port];
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if (irqlh.low != 0 && irqlh.hi != 0) {
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rv = OK;
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irq = (pin < 16) ? irqlh.low : irqlh.hi;
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irq += pin % 16;
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irq_attach(irq, func, arg);
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up_enable_irq(irq);
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}
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return rv;
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}
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/****************************************************************************
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* Name: imxrt_gpiosetevent
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*
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* Description:
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* Sets/clears GPIO based event and interrupt triggers.
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*
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* Input Parameters:
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* - pinset: gpio pin configuration
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* - rising/falling edge: enables
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* - event: generate event when set
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* - func: when non-NULL, generate interrupt
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* - arg: Argument passed to the interrupt callback
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure indicating the
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* nature of the failure.
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*
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****************************************************************************/
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#if defined(CONFIG_IMXRT_GPIO_IRQ)
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int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge,
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bool event, xcpt_t func, void *arg)
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{
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int ret = -ENOSYS;
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if (imxrt_pin_irq_valid(pinset)) {
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if (func == NULL) {
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imxrt_gpioirq_disable(pinset);
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pinset &= ~GPIO_INTCFG_MASK;
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ret = imxrt_config_gpio(pinset);
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} else {
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pinset &= ~GPIO_INTCFG_MASK;
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if (risingedge & fallingedge) {
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pinset |= GPIO_INTBOTH_EDGES;
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} else if (risingedge) {
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pinset |= GPIO_INT_RISINGEDGE;
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} else if (fallingedge) {
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pinset |= GPIO_INT_FALLINGEDGE;
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}
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imxrt_gpioirq_configure(pinset);
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ret = imxrt_pin_irqattach(pinset, func, arg);
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}
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}
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return ret;
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}
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#endif /* CONFIG_IMXRT_GPIO_IRQ */
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