Initial exti support, untested

src/platform/PICO/exti_pico.c

@@ -19,22 +19,67 @@
  * If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <string.h>
 #include "drivers/exti.h"
 #include "common/utils.h"
+#include "drivers/io_impl.h"
+
+#include "hardware/gpio.h"
+
+typedef struct {
+    extiCallbackRec_t* handler;
+} extiChannelRec_t;
+
+static extiChannelRec_t extiChannelRecs[DEFIO_USED_COUNT];
+static uint32_t extiEventMask[DEFIO_USED_COUNT];
 
 void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t config, extiTrigger_t trigger)
 {
-    UNUSED(io);
+    uint32_t gpio = IO_Pin(io);
-    UNUSED(cb);
+
-    UNUSED(irqPriority);
+    UNUSED(irqPriority); // Just stick with default GPIO irq priority for now
-    UNUSED(config);
+    UNUSED(config); // TODO consider pullup/pulldown etc. Needs fixing first in platform.h
-    UNUSED(trigger);
+
+    // Ensure the GPIO is initialised and not being used for some other function
+    gpio_init(gpio);
+
+    extiChannelRec_t *rec = &extiChannelRecs[gpio];
+    rec->handler = cb;
+
+    switch(trigger) {
+    case BETAFLIGHT_EXTI_TRIGGER_RISING:
+    default:
+        extiEventMask[gpio] = GPIO_IRQ_EDGE_RISE;
+        break;
+
+    case BETAFLIGHT_EXTI_TRIGGER_FALLING:
+        extiEventMask[gpio] = GPIO_IRQ_EDGE_FALL;
+        break;
+
+    case BETAFLIGHT_EXTI_TRIGGER_BOTH:
+        extiEventMask[gpio] = GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL;
+        break;
+    }
+}
+
+static void EXTI_IRQHandler(uint gpio, uint32_t event_mask)
+{
+    // Call the registered handler for this GPIO
+    if (extiChannelRecs[gpio].handler) {
+        extiChannelRecs[gpio].handler->fn(extiChannelRecs[gpio].handler);
+    }
+
+    // Acknowledge the interrupt
+    gpio_acknowledge_irq(gpio, event_mask);
 }
 
 void EXTIInit(void)
 {
-    //TODO: implement
+    // Clear all the callbacks
-    // NOOP
+    memset(extiChannelRecs, 0, sizeof(extiChannelRecs));
+
+    // Register the shared handler for GPIO interrupts
+    gpio_set_irq_callback(EXTI_IRQHandler);
 }
 
 void EXTIHandlerInit(extiCallbackRec_t *self, extiHandlerCallback *fn)
@@ -44,6 +89,10 @@ void EXTIHandlerInit(extiCallbackRec_t *self, extiHandlerCallback *fn)
 
 void EXTIEnable(IO_t io)
 {
-    //TODO: implement
+    gpio_set_irq_enabled(IO_Pin(io), 0, true);
-    UNUSED(io);
+}
+
+void EXTIDisable(IO_t io)
+{
+    gpio_set_irq_enabled(IO_Pin(io), extiEventMask[IO_Pin(io)], false);
 }

src/platform/PICO/target/RP2350B/target.h

@@ -45,7 +45,7 @@
 #define USBD_PRODUCT_STRING     "Betaflight RP2350B"
 #endif
 
-#define USE_MULTICORE
+//#define USE_MULTICORE
 #define USE_IO
 #define USE_UART0
 #define USE_UART1