Merge pull request #7017 from jflyper/bfdev-exti-for-f7hal

EXTI: Unified EXTIConfig for all MCU types

src/main/drivers/accgyro/accgyro_mpu.c

@@ -134,17 +134,9 @@ static void mpuIntExtiInit(gyroDev_t *gyro)
     }
 #endif
 
-#if defined (STM32F7)
     IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
     EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
-    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL));   // TODO - maybe pullup / pulldown ?
+    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING);
-#else
-    IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
-    IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING);   // TODO - maybe pullup / pulldown ?
-
-    EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
-    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
-#endif
     EXTIEnable(mpuIntIO, true);
 }
 #endif // MPU_INT_EXTI

src/main/drivers/accgyro/accgyro_spi_bmi160.c

@@ -252,10 +252,8 @@ static void bmi160IntExtiInit(gyroDev_t *gyro)
     IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
 
     IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
-    IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING);   // TODO - maybe pullup / pulldown ?
-
     EXTIHandlerInit(&gyro->exti, bmi160ExtiHandler);
-    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
+    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING); // TODO - maybe pullup / pulldown ?
     EXTIEnable(mpuIntIO, true);
 }
 

src/main/drivers/barometer/barometer_bmp085.c

@@ -181,7 +181,7 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
         IOInit(eocIO, OWNER_BARO_EXTI, 0);
         IOConfigGPIO(eocIO, Mode_IN_FLOATING);
         EXTIHandlerInit(&bmp085_extiCallbackRec, bmp085_extiHandler);
-        EXTIConfig(eocIO, &bmp085_extiCallbackRec, NVIC_PRIO_BARO_EXTI, EXTI_Trigger_Rising);
+        EXTIConfig(eocIO, &bmp085_extiCallbackRec, NVIC_PRIO_BARO_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING);
         EXTIEnable(eocIO, true);
     }
 #else

src/main/drivers/compass/compass_hmc5883l.c

@@ -172,18 +172,11 @@ static void hmc5883lConfigureDataReadyInterruptHandling(magDev_t* mag)
     }
 #endif
 
-#if defined (STM32F7)
     IOInit(magIntIO, OWNER_COMPASS_EXTI, 0);
     EXTIHandlerInit(&mag->exti, hmc5883_extiHandler);
-    EXTIConfig(magIntIO, &mag->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL));
+    EXTIConfig(magIntIO, &mag->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING);
     EXTIEnable(magIntIO, true);
-#else
-    IOInit(magIntIO, OWNER_COMPASS_EXTI, 0);
-    IOConfigGPIO(magIntIO, IOCFG_IN_FLOATING);
-    EXTIHandlerInit(&mag->exti, hmc5883_extiHandler);
-    EXTIConfig(magIntIO, &mag->exti, NVIC_PRIO_MAG_INT_EXTI, EXTI_Trigger_Rising);
     EXTIEnable(magIntIO, true);
-#endif
 #else
     UNUSED(mag);
 #endif

src/main/drivers/exti.c

@@ -36,7 +36,7 @@ typedef struct {
 
 extiChannelRec_t extiChannelRecs[16];
 
-// IRQ gouping, same on 103 and 303
+// IRQ gouping, same on 103, 303, 40x and 7xx.
 #define EXTI_IRQ_GROUPS 7
 //                                      0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15
 static const uint8_t extiGroups[16] = { 0, 1, 2, 3, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 6, 6 };
@@ -66,6 +66,20 @@ static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
 # warning "Unknown CPU"
 #endif
 
+static uint32_t triggerLookupTable[] = {
+#if defined(STM32F7)
+    [EXTI_TRIGGER_RISING] = GPIO_MODE_IT_RISING,
+    [EXTI_TRIGGER_FALLING] = GPIO_MODE_IT_FALLING,
+    [EXTI_TRIGGER_BOTH] = GPIO_MODE_IT_RISING_FALLING
+#elif defined(STM32F1) || defined(STM32F3) || defined(STM32F4)
+    [EXTI_TRIGGER_RISING] = EXTI_Trigger_Rising,
+    [EXTI_TRIGGER_FALLING] = EXTI_Trigger_Falling,
+    [EXTI_TRIGGER_BOTH] = EXTI_Trigger_Rising_Falling
+#else
+# warning "Unknown CPU"
+#endif
+};
+
 
 void EXTIInit(void)
 {
@@ -92,48 +106,37 @@ void EXTIHandlerInit(extiCallbackRec_t *self, extiHandlerCallback *fn)
     self->fn = fn;
 }
 
-#if defined(STM32F7)
+void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t config, extiTrigger_t trigger)
-void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t config)
 {
-    (void)config;
+    int chIdx = IO_GPIOPinIdx(io);
-    int chIdx;
+
-    chIdx = IO_GPIOPinIdx(io);
+    if (chIdx < 0) {
-    if (chIdx < 0)
         return;
-    extiChannelRec_t *rec = &extiChannelRecs[chIdx];
+    }
+
     int group = extiGroups[chIdx];
 
+    extiChannelRec_t *rec = &extiChannelRecs[chIdx];
+    rec->handler = cb;
+
+#if defined(STM32F7)
     GPIO_InitTypeDef init = {
         .Pin = IO_Pin(io),
-        .Mode = GPIO_MODE_IT_RISING,
+        .Mode = GPIO_MODE_INPUT | IO_CONFIG_GET_MODE(config) | triggerLookupTable[trigger],
-        .Speed = GPIO_SPEED_FREQ_LOW,
+        .Speed = IO_CONFIG_GET_SPEED(config),
-        .Pull = GPIO_NOPULL,
+        .Pull = IO_CONFIG_GET_PULL(config),
     };
     HAL_GPIO_Init(IO_GPIO(io), &init);
 
-    rec->handler = cb;
-    //uint32_t extiLine = IO_EXTI_Line(io);
-
-    //EXTI_ClearITPendingBit(extiLine);
 
     if (extiGroupPriority[group] > irqPriority) {
         extiGroupPriority[group] = irqPriority;
         HAL_NVIC_SetPriority(extiGroupIRQn[group], NVIC_PRIORITY_BASE(irqPriority), NVIC_PRIORITY_SUB(irqPriority));
         HAL_NVIC_EnableIRQ(extiGroupIRQn[group]);
     }
-}
 #else
+    IOConfigGPIO(io, config);
 
-void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, EXTITrigger_TypeDef trigger)
-{
-    int chIdx;
-    chIdx = IO_GPIOPinIdx(io);
-    if (chIdx < 0)
-        return;
-    extiChannelRec_t *rec = &extiChannelRecs[chIdx];
-    int group = extiGroups[chIdx];
-
-    rec->handler = cb;
 #if defined(STM32F10X)
     GPIO_EXTILineConfig(IO_GPIO_PortSource(io), IO_GPIO_PinSource(io));
 #elif defined(STM32F303xC)
@@ -143,6 +146,7 @@ void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, EXTITrigger_Typ
 #else
 # warning "Unknown CPU"
 #endif
+
     uint32_t extiLine = IO_EXTI_Line(io);
 
     EXTI_ClearITPendingBit(extiLine);
@@ -150,7 +154,7 @@ void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, EXTITrigger_Typ
     EXTI_InitTypeDef EXTIInit;
     EXTIInit.EXTI_Line = extiLine;
     EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
-    EXTIInit.EXTI_Trigger = trigger;
+    EXTIInit.EXTI_Trigger = triggerLookupTable[trigger];
     EXTIInit.EXTI_LineCmd = ENABLE;
     EXTI_Init(&EXTIInit);
 
@@ -164,8 +168,8 @@ void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, EXTITrigger_Typ
         NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
         NVIC_Init(&NVIC_InitStructure);
     }
-}
 #endif
+}
 
 void EXTIRelease(IO_t io)
 {
@@ -200,7 +204,7 @@ void EXTIEnable(IO_t io, bool enable)
     else
         EXTI->IMR &= ~(1 << extiLine);
 #else
-# error "Unsupported target"
+# error "Unknown CPU"
 #endif
 }
 

src/main/drivers/exti.h

@@ -24,6 +24,12 @@
 
 #include "drivers/io_types.h"
 
+typedef enum {
+    EXTI_TRIGGER_RISING = 0,
+    EXTI_TRIGGER_FALLING = 1,
+    EXTI_TRIGGER_BOTH = 2
+} extiTrigger_t;
+
 typedef struct extiCallbackRec_s extiCallbackRec_t;
 typedef void extiHandlerCallback(extiCallbackRec_t *self);
 
@@ -34,10 +40,6 @@ struct extiCallbackRec_s {
 void EXTIInit(void);
 
 void EXTIHandlerInit(extiCallbackRec_t *cb, extiHandlerCallback *fn);
-#if defined(STM32F7)
+void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t config, extiTrigger_t trigger);
-void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t config);
-#else
-void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, EXTITrigger_TypeDef trigger);
-#endif
 void EXTIRelease(IO_t io);
 void EXTIEnable(IO_t io, bool enable);

src/main/drivers/io.h

@@ -98,6 +98,14 @@
 # warning "Unknown TARGET"
 #endif
 
+#if defined(STM32F7)
+// Expose these for EXTIConfig
+#define IO_CONFIG_GET_MODE(cfg) (((cfg) >> 0) & 0x03)
+#define IO_CONFIG_GET_SPEED(cfg) (((cfg) >> 2) & 0x03)
+#define IO_CONFIG_GET_OTYPE(cfg) (((cfg) >> 4) & 0x01)
+#define IO_CONFIG_GET_PULL(cfg) (((cfg) >> 5) & 0x03)
+#endif
+
 // declare available IO pins. Available pins are specified per target
 #include "io_def.h"
 

src/main/drivers/rangefinder/rangefinder_hcsr04.c

@@ -203,7 +203,7 @@ bool hcsr04Detect(rangefinderDev_t *dev, const sonarConfig_t * rangefinderHardwa
         // Hardware detected - configure the driver
 #ifdef USE_EXTI
         EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
-        EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
+        EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_BOTH); // TODO - priority!
         EXTIEnable(echoIO, true);
 #endif
 

src/main/drivers/rx/rx_a7105.c

@@ -54,18 +54,13 @@ void a7105extiHandler(extiCallbackRec_t* cb)
     }
 }
 
-void A7105Init (uint32_t id) {
+void A7105Init (uint32_t id)
+{
     spiDeviceByInstance(RX_SPI_INSTANCE);
     rxIntIO = IOGetByTag(IO_TAG(RX_IRQ_PIN)); /* config receiver IRQ pin */
     IOInit(rxIntIO, OWNER_RX_SPI_CS, 0);
-#ifdef STM32F7
     EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
-    EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_PULLDOWN));
+    EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IPD, EXTI_TRIGGER_RISING);
-#else
-    IOConfigGPIO(rxIntIO, IOCFG_IPD);
-    EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
-    EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
-#endif
     EXTIEnable(rxIntIO, false);
 
 #ifdef RX_PA_TXEN_PIN

src/main/target/OMNIBUSF7/target.h

@@ -223,6 +223,12 @@
 #define VBAT_ADC_PIN            PC3
 #define RSSI_ADC_PIN            PC5
 
+// Additional sensors ----------------------
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_HCSR04
+#define RANGEFINDER_HCSR04_TRIGGER_PIN     PB10 // TX3 for testing
+#define RANGEFINDER_HCSR04_ECHO_PIN        PB11 // RX3 for testing
+
 //DEFAULTS----------------------------------
 
 #define DEFAULT_FEATURES        (FEATURE_OSD)