stmhal: Add initial implementation of Pin.irq() method.

dpgeorge · dpgeorge · commit 4abe3731e3fb · 2017-06-15T17:17:36.000+10:00
This method follows the new HW API and allows to set a hard or soft IRQ
callback when a Pin has a level change.  It still remains to make this
method return a IRQ object.
diff --git a/stmhal/extint.c b/stmhal/extint.c
@@ -95,9 +95,13 @@
 // The USB_FS_WAKUP event is a direct type and there is no support for it.
 #define EXTI_Mode_Interrupt offsetof(EXTI_TypeDef, IMR1)
 #define EXTI_Mode_Event     offsetof(EXTI_TypeDef, EMR1)
+#define EXTI_RTSR EXTI->RTSR1
+#define EXTI_FTSR EXTI->FTSR1
 #else
 #define EXTI_Mode_Interrupt offsetof(EXTI_TypeDef, IMR)
 #define EXTI_Mode_Event     offsetof(EXTI_TypeDef, EMR)
+#define EXTI_RTSR EXTI->RTSR
+#define EXTI_FTSR EXTI->FTSR
 #endif
 
 #define EXTI_SWIER_BB(line) (*(__IO uint32_t *)(PERIPH_BB_BASE + ((EXTI_OFFSET + offsetof(EXTI_TypeDef, SWIER)) * 32) + ((line) * 4)))
@@ -107,7 +111,11 @@ typedef struct {
     mp_int_t line;
 } extint_obj_t;
 
-STATIC uint32_t pyb_extint_mode[EXTI_NUM_VECTORS];
+STATIC uint8_t pyb_extint_mode[EXTI_NUM_VECTORS];
+STATIC bool pyb_extint_hard_irq[EXTI_NUM_VECTORS];
+
+// The callback arg is a small-int or a ROM Pin object, so no need to scan by GC
+STATIC mp_obj_t pyb_extint_callback_arg[EXTI_NUM_VECTORS];
 
 #if !defined(ETH)
 #define ETH_WKUP_IRQn   62  // Some MCUs don't have ETH, but we want a value to put in our table
@@ -187,6 +195,8 @@ uint extint_register(mp_obj_t pin_obj, uint32_t mode, uint32_t pull, mp_obj_t ca
         EXTI_Mode_Interrupt : EXTI_Mode_Event;
 
     if (*cb != mp_const_none) {
+        pyb_extint_hard_irq[v_line] = true;
+        pyb_extint_callback_arg[v_line] = MP_OBJ_NEW_SMALL_INT(v_line);
 
         mp_hal_gpio_clock_enable(pin->gpio);
         GPIO_InitTypeDef exti;
@@ -205,6 +215,64 @@ uint extint_register(mp_obj_t pin_obj, uint32_t mode, uint32_t pull, mp_obj_t ca
     return v_line;
 }
 
+// This function is intended to be used by the Pin.irq() method
+void extint_register_pin(const pin_obj_t *pin, uint32_t mode, bool hard_irq, mp_obj_t callback_obj) {
+    uint32_t line = pin->pin;
+
+    // Check if the ExtInt line is already in use by another Pin/ExtInt
+    mp_obj_t *cb = &MP_STATE_PORT(pyb_extint_callback)[line];
+    if (*cb != mp_const_none && MP_OBJ_FROM_PTR(pin) != pyb_extint_callback_arg[line]) {
+        if (MP_OBJ_IS_SMALL_INT(pyb_extint_callback_arg[line])) {
+            nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_OSError,
+                "ExtInt vector %d is already in use", line));
+        } else {
+            const pin_obj_t *other_pin = (const pin_obj_t*)pyb_extint_callback_arg[line];
+            nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_OSError,
+                "IRQ resource already taken by Pin('%q')", other_pin->name));
+        }
+    }
+
+    extint_disable(line);
+
+    *cb = callback_obj;
+    pyb_extint_mode[line] = (mode & 0x00010000) ? // GPIO_MODE_IT == 0x00010000
+        EXTI_Mode_Interrupt : EXTI_Mode_Event;
+
+    if (*cb != mp_const_none) {
+        // Configure and enable the callback
+
+        pyb_extint_hard_irq[line] = hard_irq;
+        pyb_extint_callback_arg[line] = MP_OBJ_FROM_PTR(pin);
+
+        // Route the GPIO to EXTI
+        __HAL_RCC_SYSCFG_CLK_ENABLE();
+        SYSCFG->EXTICR[line >> 2] =
+            (SYSCFG->EXTICR[line >> 2] & ~(0x0f << (4 * (line & 0x03))))
+            | ((uint32_t)(GPIO_GET_INDEX(pin->gpio)) << (4 * (line & 0x03)));
+
+        // Enable or disable the rising detector
+        if ((mode & GPIO_MODE_IT_RISING) == GPIO_MODE_IT_RISING) {
+            EXTI_RTSR |= 1 << line;
+        } else {
+            EXTI_RTSR &= ~(1 << line);
+        }
+
+        // Enable or disable the falling detector
+        if ((mode & GPIO_MODE_IT_FALLING) == GPIO_MODE_IT_FALLING) {
+            EXTI_FTSR |= 1 << line;
+        } else {
+            EXTI_FTSR &= ~(1 << line);
+        }
+
+        // Configure the NVIC
+        HAL_NVIC_SetPriority(nvic_irq_channel[line], IRQ_PRI_EXTINT, IRQ_SUBPRI_EXTINT);
+        HAL_NVIC_EnableIRQ(nvic_irq_channel[line]);
+
+        // Enable the interrupt
+        extint_enable(line);
+    }
+}
+
 void extint_enable(uint line) {
     if (line >= EXTI_NUM_VECTORS) {
         return;
@@ -411,13 +479,19 @@ void Handle_EXTI_Irq(uint32_t line) {
         if (line < EXTI_NUM_VECTORS) {
             mp_obj_t *cb = &MP_STATE_PORT(pyb_extint_callback)[line];
             if (*cb != mp_const_none) {
+                // If it's a soft IRQ handler then just schedule callback for later
+                if (!pyb_extint_hard_irq[line]) {
+                    mp_sched_schedule(*cb, pyb_extint_callback_arg[line]);
+                    return;
+                }
+
                 mp_sched_lock();
                 // When executing code within a handler we must lock the GC to prevent
                 // any memory allocations.  We must also catch any exceptions.
                 gc_lock();
                 nlr_buf_t nlr;
                 if (nlr_push(&nlr) == 0) {
-                    mp_call_function_1(*cb, MP_OBJ_NEW_SMALL_INT(line));
+                    mp_call_function_1(*cb, pyb_extint_callback_arg[line]);
                     nlr_pop();
                 } else {
                     // Uncaught exception; disable the callback so it doesn't run again.
diff --git a/stmhal/extint.h b/stmhal/extint.h
@@ -52,6 +52,7 @@
 void extint_init0(void);
 
 uint extint_register(mp_obj_t pin_obj, uint32_t mode, uint32_t pull, mp_obj_t callback_obj, bool override_callback_obj);
+void extint_register_pin(const pin_obj_t *pin, uint32_t mode, bool hard_irq, mp_obj_t callback_obj);
 
 void extint_enable(uint line);
 void extint_disable(uint line);
diff --git a/stmhal/pin.c b/stmhal/pin.c
@@ -33,6 +33,7 @@
 #include "py/mphal.h"
 #include "extmod/virtpin.h"
 #include "pin.h"
+#include "extint.h"
 
 /// \moduleref pyb
 /// \class Pin - control I/O pins
@@ -414,6 +415,29 @@ STATIC mp_obj_t pin_on(mp_obj_t self_in) {
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_on_obj, pin_on);
 
+// pin.irq(handler=None, trigger=IRQ_FALLING|IRQ_RISING, hard=False)
+STATIC mp_obj_t pin_irq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    enum { ARG_handler, ARG_trigger, ARG_hard };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_handler, MP_ARG_OBJ, {.u_obj = mp_const_none} },
+        { MP_QSTR_trigger, MP_ARG_INT, {.u_int = GPIO_MODE_IT_RISING | GPIO_MODE_IT_FALLING} },
+        { MP_QSTR_hard, MP_ARG_BOOL, {.u_bool = false} },
+    };
+    pin_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
+    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+    mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+
+    if (n_args > 1 || kw_args->used != 0) {
+        // configure irq
+        extint_register_pin(self, args[ARG_trigger].u_int,
+            args[ARG_hard].u_bool, args[ARG_handler].u_obj);
+    }
+
+    // TODO should return an IRQ object
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pin_irq_obj, 1, pin_irq);
+
 /// \method name()
 /// Get the pin name.
 STATIC mp_obj_t pin_name(mp_obj_t self_in) {
@@ -498,6 +522,8 @@ STATIC const mp_rom_map_elem_t pin_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_value),   MP_ROM_PTR(&pin_value_obj) },
     { MP_ROM_QSTR(MP_QSTR_off),     MP_ROM_PTR(&pin_off_obj) },
     { MP_ROM_QSTR(MP_QSTR_on),      MP_ROM_PTR(&pin_on_obj) },
+    { MP_ROM_QSTR(MP_QSTR_irq),     MP_ROM_PTR(&pin_irq_obj) },
+
     // Legacy names as used by pyb.Pin
     { MP_ROM_QSTR(MP_QSTR_low),     MP_ROM_PTR(&pin_off_obj) },
     { MP_ROM_QSTR(MP_QSTR_high),    MP_ROM_PTR(&pin_on_obj) },
@@ -529,6 +555,8 @@ STATIC const mp_rom_map_elem_t pin_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_ANALOG),    MP_ROM_INT(GPIO_MODE_ANALOG) },
     { MP_ROM_QSTR(MP_QSTR_PULL_UP),   MP_ROM_INT(GPIO_PULLUP) },
     { MP_ROM_QSTR(MP_QSTR_PULL_DOWN), MP_ROM_INT(GPIO_PULLDOWN) },
+    { MP_ROM_QSTR(MP_QSTR_IRQ_RISING), MP_ROM_INT(GPIO_MODE_IT_RISING) },
+    { MP_ROM_QSTR(MP_QSTR_IRQ_FALLING), MP_ROM_INT(GPIO_MODE_IT_FALLING) },
 
     // legacy class constants
     { MP_ROM_QSTR(MP_QSTR_OUT_PP),    MP_ROM_INT(GPIO_MODE_OUTPUT_PP) },
