Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-13 19:40:31 +03:00
Code Issues Wiki Activity

More cleanup of MPU driver code. Support MPU INT on CC3D and Naze32

Browse source 
Rev6.
This commit is contained in:
Dominic Clifton 2015-10-15 23:03:11 +01:00
parent 026afb22c7
commit 9b054f6fde
20 changed files with 210 additions and 211 deletions
Download patch file Download diff file Expand all files Collapse all files

62
src/main/drivers/system.c
View file

@ -31,45 +31,61 @@
#include "system.h"
#ifndef EXTI15_10_CALLBACK_HANDLER_COUNT
#define EXTI15_10_CALLBACK_HANDLER_COUNT 1
#ifndef EXTI_CALLBACK_HANDLER_COUNT
#define EXTI_CALLBACK_HANDLER_COUNT 1
#endif
static extiCallbackHandler* exti15_10_handlers[EXTI15_10_CALLBACK_HANDLER_COUNT];
typedef struct extiCallbackHandlerConfig_s {
IRQn_Type irqn;
extiCallbackHandlerFunc* fn;
} extiCallbackHandlerConfig_t;
void registerExti15_10_CallbackHandler(extiCallbackHandler *fn)
static extiCallbackHandlerConfig_t extiHandlerConfigs[EXTI_CALLBACK_HANDLER_COUNT];
void registerExtiCallbackHandler(IRQn_Type irqn, extiCallbackHandlerFunc *fn)
{
for (int index = 0; index < EXTI15_10_CALLBACK_HANDLER_COUNT; index++) {
extiCallbackHandler *candidate = exti15_10_handlers[index];
if (!candidate) {
exti15_10_handlers[index] = fn;
for (int index = 0; index < EXTI_CALLBACK_HANDLER_COUNT; index++) {
extiCallbackHandlerConfig_t *candidate = &extiHandlerConfigs[index];
if (!candidate->fn) {
candidate->fn = fn;
candidate->irqn = irqn;
return;
}
}
failureMode(FAILURE_DEVELOPER); // EXTI15_10_CALLBACK_HANDLER_COUNT is too low for the amount of handlers required.
failureMode(FAILURE_DEVELOPER); // EXTI_CALLBACK_HANDLER_COUNT is too low for the amount of handlers required.
}
void unregisterExti15_10_CallbackHandler(extiCallbackHandler *fn)
void unregisterExtiCallbackHandler(IRQn_Type irqn, extiCallbackHandlerFunc *fn)
{
for (int index = 0; index < EXTI15_10_CALLBACK_HANDLER_COUNT; index++) {
extiCallbackHandler *candidate = exti15_10_handlers[index];
if (candidate == fn) {
exti15_10_handlers[index] = 0;
for (int index = 0; index < EXTI_CALLBACK_HANDLER_COUNT; index++) {
extiCallbackHandlerConfig_t *candidate = &extiHandlerConfigs[index];
if (candidate->fn == fn && candidate->irqn == irqn) {
candidate->fn = NULL;
candidate->irqn = 0;
return;
}
}
}
static void extiHandler(IRQn_Type irqn)
{
for (int index = 0; index < EXTI_CALLBACK_HANDLER_COUNT; index++) {
extiCallbackHandlerConfig_t *candidate = &extiHandlerConfigs[index];
if (candidate->fn && candidate->irqn == irqn) {
candidate->fn();
}
}
}
void EXTI15_10_IRQHandler(void)
{
for (int index = 0; index < EXTI15_10_CALLBACK_HANDLER_COUNT; index++) {
extiCallbackHandler *fn = exti15_10_handlers[index];
if (!fn) {
continue;
}
fn();
}
extiHandler(EXTI15_10_IRQn);
}
void EXTI3_IRQHandler(void)
{
extiHandler(EXTI3_IRQn);
}
// cycles per microsecond
@ -149,7 +165,7 @@ void systemInit(void)
cycleCounterInit();
memset(&exti15_10_handlers, 0x00, sizeof(exti15_10_handlers));
memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs));
// SysTick
SysTick_Config(SystemCoreClock / 1000);
}