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Merge pull request #62 from blckmn/mpu_exti_cleanup
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Cleaned up MPU interrupt initialisation
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@rs2k
rs2k committed Jan 21, 2016
2 parents a24ace0 + 546e592 commit 196f05f
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Showing 11 changed files with 30 additions and 355 deletions.
264 changes: 5 additions & 259 deletions src/main/drivers/accgyro_mpu.c
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Original file line number Diff line number Diff line change
Expand Up @@ -214,281 +214,24 @@ static void mpu6050FindRevision(void)

void MPU_DATA_READY_EXTI_Handler(void)
{

#if defined (REVO)
if (EXTI_GetITStatus(EXTI_Line4) != RESET) {
EXTI_ClearITPendingBit(EXTI_Line4);
#elif defined (REVONANO)
if (EXTI_GetITStatus(EXTI_Line15) != RESET) {
EXTI_ClearITPendingBit(EXTI_Line15);
#elif defined (SPARKY2) || defined(BLUEJAYF4)
if (EXTI_GetITStatus(EXTI_Line5) != RESET) {
EXTI_ClearITPendingBit(EXTI_Line5);
#elif defined (ALIENFLIGHTF4)
if (EXTI_GetITStatus(EXTI_Line14) != RESET) {
EXTI_ClearITPendingBit(EXTI_Line14);
#elif defined (VRCORE)
if (EXTI_GetITStatus(EXTI_Line10) != RESET) {
EXTI_ClearITPendingBit(EXTI_Line10);
#else
if (EXTI_GetITStatus(mpuIntExtiConfig->exti_line) != RESET) {
EXTI_ClearITPendingBit(mpuIntExtiConfig->exti_line);
#endif

#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
static uint32_t lastCalledAt = 0;
uint32_t now = micros();
uint32_t callDelta = now - lastCalledAt;
debug[0] = callDelta;
lastCalledAt = now;
/* if (callDelta > 150) {
if (timewatchdog < 32) {
timewatch[timewatchdog] = 1;
timewatchdog++;
}
} else {
if (timewatchdog < 32) {
timewatch[timewatchdog] = 0;
timewatchdog++;
}
}
if (timewatchdog == 32) {
debug[2]=timewatch[0] << 0 | timewatch[1] << 1 | timewatch[2] << 2 | timewatch[3] << 3 | timewatch[4] << 4 | timewatch[5] << 5 | timewatch[6] << 6 | timewatch[7] << 7 | timewatch[8] << 8 | timewatch[9] << 9 | timewatch[10]<< 10 | timewatch[11]<< 11 | timewatch[12]<< 12 | timewatch[13]<< 13 | timewatch[14]<< 14 | timewatch[15]<< 15;
debug[3]=timewatch[16]<< 0 | timewatch[17]<< 1 | timewatch[18]<< 2 | timewatch[19]<< 3 | timewatch[20]<< 4 | timewatch[21]<< 5 | timewatch[22]<< 6 | timewatch[23]<< 7 | timewatch[24]<< 8 | timewatch[25]<< 9 | timewatch[26]<< 10 | timewatch[27]<< 11 | timewatch[28]<< 12 | timewatch[29]<< 13 | timewatch[30]<< 14 | timewatch[31]<< 15;
debug[1]++;
timewatchdog=0;
}
*/
#endif

mpuDataReady = true;


}

}


void configureMPUDataReadyInterruptHandling(void)
{
#if defined(USE_MPU_DATA_READY_SIGNAL) && defined(REVO)

GPIO_InitTypeDef GPIO_InitStruct;
EXTI_InitTypeDef EXTI_InitStruct;
NVIC_InitTypeDef NVIC_InitStruct;

RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);

GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOC, &GPIO_InitStruct);

SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC, EXTI_PinSource4);

EXTI_InitStruct.EXTI_Line = EXTI_Line4;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_Init(&EXTI_InitStruct);

NVIC_InitStruct.NVIC_IRQChannel = EXTI4_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);

registerExtiCallbackHandler(EXTI4_IRQn, MPU_DATA_READY_EXTI_Handler);

EXTI_ClearITPendingBit(EXTI_Line4);

#elif defined(USE_MPU_DATA_READY_SIGNAL) && defined(SPARKY2)

GPIO_InitTypeDef GPIO_InitStruct;
EXTI_InitTypeDef EXTI_InitStruct;
NVIC_InitTypeDef NVIC_InitStruct;

RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);

GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOC, &GPIO_InitStruct);

SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC, EXTI_PinSource5);

EXTI_InitStruct.EXTI_Line = EXTI_Line5;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_Init(&EXTI_InitStruct);

NVIC_InitStruct.NVIC_IRQChannel = EXTI9_5_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);

registerExtiCallbackHandler(EXTI9_5_IRQn, MPU_DATA_READY_EXTI_Handler);

EXTI_ClearITPendingBit(EXTI_Line5);

#elif defined(USE_MPU_DATA_READY_SIGNAL) && defined(BLUEJAYF4)

GPIO_InitTypeDef GPIO_InitStruct;
EXTI_InitTypeDef EXTI_InitStruct;
NVIC_InitTypeDef NVIC_InitStruct;

RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);

GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOC, &GPIO_InitStruct);

SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC, EXTI_PinSource5);

EXTI_InitStruct.EXTI_Line = EXTI_Line5;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_Init(&EXTI_InitStruct);

NVIC_InitStruct.NVIC_IRQChannel = EXTI9_5_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);

registerExtiCallbackHandler(EXTI9_5_IRQn, MPU_DATA_READY_EXTI_Handler);

EXTI_ClearITPendingBit(EXTI_Line5);

#elif defined(USE_MPU_DATA_READY_SIGNAL) && defined(ALIENFLIGHTF4)

GPIO_InitTypeDef GPIO_InitStruct;
EXTI_InitTypeDef EXTI_InitStruct;
NVIC_InitTypeDef NVIC_InitStruct;

/* Enable clock for SYSCFG */
RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
/* Enable clock for SYSCFG */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);

GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_14;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOC, &GPIO_InitStruct);

SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC, EXTI_PinSource14);

/* PD0 is connected to EXTI_Line0 */
EXTI_InitStruct.EXTI_Line = EXTI_Line14;
/* Enable interrupt */
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
/* Interrupt mode */
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
/* Triggers on rising and falling edge */
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;
/* Add to EXTI */
EXTI_Init(&EXTI_InitStruct);

/* Add IRQ vector to NVIC */
NVIC_InitStruct.NVIC_IRQChannel = EXTI15_10_IRQn;
/* Set priority */
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
/* Set sub priority */
NVIC_InitStruct.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
/* Enable interrupt */
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
/* Add to NVIC */
NVIC_Init(&NVIC_InitStruct);

registerExtiCallbackHandler(EXTI15_10_IRQn, MPU_DATA_READY_EXTI_Handler);

EXTI_ClearITPendingBit(EXTI_Line14);

#elif defined(USE_MPU_DATA_READY_SIGNAL) && defined(REVONANO)

GPIO_InitTypeDef GPIO_InitStruct;
EXTI_InitTypeDef EXTI_InitStruct;
NVIC_InitTypeDef NVIC_InitStruct;

RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);

GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOA, &GPIO_InitStruct);

SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource15);

EXTI_InitStruct.EXTI_Line = EXTI_Line15;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_Init(&EXTI_InitStruct);

NVIC_InitStruct.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);

registerExtiCallbackHandler(EXTI15_10_IRQn, MPU_DATA_READY_EXTI_Handler);

EXTI_ClearITPendingBit(EXTI_Line15);

#elif defined(USE_MPU_DATA_READY_SIGNAL) && defined(VRCORE)

GPIO_InitTypeDef GPIO_InitStruct;
EXTI_InitTypeDef EXTI_InitStruct;
NVIC_InitTypeDef NVIC_InitStruct;

RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);

GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOD, &GPIO_InitStruct);

SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOD, EXTI_PinSource10);

EXTI_InitStruct.EXTI_Line = EXTI_Line10;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_Init(&EXTI_InitStruct);

NVIC_InitStruct.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);

registerExtiCallbackHandler(EXTI15_10_IRQn, MPU_DATA_READY_EXTI_Handler);

EXTI_ClearITPendingBit(EXTI_Line10);


#elif defined(USE_MPU_DATA_READY_SIGNAL)
#if defined(USE_MPU_DATA_READY_SIGNAL)

#ifdef STM32F10X
// enable AFIO for EXTI support
Expand All @@ -501,6 +244,8 @@ void configureMPUDataReadyInterruptHandling(void)
#endif

#if defined(STM32F40_41xxx) || defined (STM32F411xE)
RCC_APB2PeriphClockCmd(mpuIntExtiConfig->gpioAHB1Peripherals, ENABLE);

/* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
#endif
Expand All @@ -522,6 +267,8 @@ void configureMPUDataReadyInterruptHandling(void)
if (status) {
return;
}
#endif

#endif

registerExtiCallbackHandler(mpuIntExtiConfig->exti_irqn, MPU_DATA_READY_EXTI_Handler);
Expand All @@ -542,7 +289,6 @@ void configureMPUDataReadyInterruptHandling(void)
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_MPU_DATA_READY);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
}

void mpuIntExtiInit(void)
Expand Down
15 changes: 12 additions & 3 deletions src/main/drivers/gpio_stm32f4xx.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,16 @@ void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config)

void gpioExtiLineConfig(uint8_t portsrc, uint8_t pinsrc)
{
UNUSED(portsrc);
UNUSED(pinsrc);
// FIXME needed yet? implement?
/*
May or may not need this. Testing thus far indicates it is a not required.
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Pin = pin;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(port, &GPIO_InitStruct);
*/
SYSCFG_EXTILineConfig(portsrc, pinsrc);

}
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