Merge pull request #13820 from francois-berder/pic32-gpio-irq

cpu: mips_pic32_common: Implement GPIO IRQ

boards/6lowpan-clicker/Makefile.features

@@ -2,6 +2,5 @@ CPU = mips_pic32mx
 CPU_MODEL = p32mx470f512h
 
 # Put defined MCU peripherals here (in alphabetical order)
-FEATURES_PROVIDED += periph_gpio
 FEATURES_PROVIDED += periph_timer
 FEATURES_PROVIDED += periph_uart

boards/6lowpan-clicker/include/board.h

@@ -58,6 +58,17 @@ extern "C" {
 #define LED2_TOGGLE         (LATBINV = LED2_MASK)
 /** @} */
 
+/**
+ * @name    Button pin configuration
+ * @{
+ */
+#define BTN0_PIN            GPIO_PIN(PORT_E, 7)
+#define BTN0_MODE           GPIO_IN
+
+#define BTN1_PIN            GPIO_PIN(PORT_B, 0)
+#define BTN1_MODE           GPIO_IN
+/** @} */
+
 /**
  * @brief   Board level initialization
  */

boards/6lowpan-clicker/include/gpio_params.h

@@ -41,6 +41,16 @@ static const saul_gpio_params_t saul_gpio_params[] =
         .pin = LED2_PIN,
         .mode = GPIO_OUT,
     },
+    {
+        .name  = "T1",
+        .pin   = BTN0_PIN,
+        .mode  = BTN0_MODE,
+    },
+    {
+        .name  = "T2",
+        .pin   = BTN1_PIN,
+        .mode  = BTN1_MODE,
+    },
 };
 
 #ifdef __cplusplus

boards/pic32-wifire/Makefile.features

@@ -2,6 +2,5 @@ CPU = mips_pic32mz
 CPU_MODEL = p32mz2048efg100
 
 # Put defined MCU peripherals here (in alphabetical order)
-FEATURES_PROVIDED += periph_gpio
 FEATURES_PROVIDED += periph_timer
 FEATURES_PROVIDED += periph_uart

boards/pic32-wifire/include/board.h

@@ -69,6 +69,17 @@ extern "C" {
 #define LED4_TOGGLE         (LATGINV = LED4_MASK)
 /** @} */
 
+/**
+ * @name    Button pin configuration
+ * @{
+ */
+#define BTN0_PIN            GPIO_PIN(PORT_A, 5)
+#define BTN0_MODE           GPIO_IN
+
+#define BTN1_PIN            GPIO_PIN(PORT_A, 4)
+#define BTN1_MODE           GPIO_IN
+/** @} */
+
 /**
  * @brief   Board level initialization
  */

boards/pic32-wifire/include/gpio_params.h

@@ -51,6 +51,16 @@ static const saul_gpio_params_t saul_gpio_params[] =
         .pin = LED4_PIN,
         .mode = GPIO_OUT,
     },
+    {
+        .name  = "BTN1",
+        .pin   = BTN0_PIN,
+        .mode  = BTN0_MODE,
+    },
+    {
+        .name  = "BTN2",
+        .pin   = BTN1_PIN,
+        .mode  = BTN1_MODE,
+    },
 };
 
 #ifdef __cplusplus

cpu/mips_pic32_common/Makefile.features

@@ -1,3 +1,4 @@
 FEATURES_PROVIDED += periph_cpuid
+FEATURES_PROVIDED += periph_gpio periph_gpio_irq
 
 -include $(RIOTCPU)/mips32r2_common/Makefile.features

cpu/mips_pic32_common/periph/gpio.c

@@ -20,6 +20,7 @@
   */
 
 #include "cpu.h"
+#include "eic.h"
 #include "periph/gpio.h"
 #include "periph_conf.h"
 
@@ -37,6 +38,14 @@
 #define ANSELxCLR(P)    ((P)[0x04/0x4])
 #define TRISxCLR(P)     ((P)[0x14/0x4])
 #define TRISxSET(P)     ((P)[0x18/0x4])
+#define CNENxCLR(P)     ((P)[0x84/0x4])
+#define CNENxSET(P)     ((P)[0x88/0x4])
+#define CNNExCLR(P)     ((P)[0xA4/0x4])
+#define CNNExSET(P)     ((P)[0xA8/0x4])
+#define CNSTATx(P)      ((P)[0x90/0x4])
+#define CNCONxCLR(P)    ((P)[0x74/0x4])
+#define CNCONxSET(P)    ((P)[0x78/0x4])
+#define CNFx(P)         ((P)[0xB0/0x4])
 
 /**
  * @brief   Extract the port base address from the given pin identifier
@@ -65,6 +74,117 @@ static inline int _pin_num(gpio_t pin)
     return (pin & 0x0f);
 }
 
+#ifdef MODULE_PERIPH_GPIO_IRQ
+/**
+ * @brief   The PIC32 family has 7 I/O ports and 16 I/O per port
+ */
+#define PORT_NUMOF          (7U)
+#define GPIO_NUMOF          (16U)
+
+static gpio_flank_t isr_flank[PORT_NUMOF][GPIO_NUMOF];
+static gpio_isr_ctx_t isr_ctx[PORT_NUMOF][GPIO_NUMOF];
+
+#if defined(CPU_FAM_PIC32MX)
+static void isr_handler(uint32_t port_addr)
+{
+    uint32_t cnstat = CNSTATx(_port(port_addr));
+
+    cnstat &= (1 << GPIO_NUMOF) - 1;
+    while (cnstat) {
+        /* we want the position of the first one bit, so N_bits - (N_zeros + 1) */
+        int pin = 32 - __builtin_clz(cnstat) - 1;
+        uint32_t port = PORTx(_port(port_addr));
+
+        cnstat &= ~(1 << pin);
+        if (isr_flank[_port_num(port_addr)][pin] == GPIO_BOTH
+        || (isr_flank[_port_num(port_addr)][pin] == GPIO_RISING && (port & (1U << pin)))
+        || (isr_flank[_port_num(port_addr)][pin] == GPIO_FALLING && !(port & (1U << pin))))
+            isr_ctx[_port_num(port_addr)][pin].cb(isr_ctx[_port_num(port_addr)][pin].arg);
+    }
+}
+
+static void cn_isr(void)
+{
+#ifdef _PORTA_BASE_ADDRESS
+    isr_handler(_PORTA_BASE_ADDRESS);
+#endif
+#ifdef _PORTB_BASE_ADDRESS
+    isr_handler(_PORTB_BASE_ADDRESS);
+#endif
+#ifdef _PORTC_BASE_ADDRESS
+    isr_handler(_PORTC_BASE_ADDRESS);
+#endif
+#ifdef _PORTD_BASE_ADDRESS
+    isr_handler(_PORTD_BASE_ADDRESS);
+#endif
+#ifdef _PORTE_BASE_ADDRESS
+    isr_handler(_PORTE_BASE_ADDRESS);
+#endif
+#ifdef _PORTF_BASE_ADDRESS
+    isr_handler(_PORTF_BASE_ADDRESS);
+#endif
+#ifdef _PORTG_BASE_ADDRESS
+    isr_handler(_PORTG_BASE_ADDRESS);
+#endif
+
+    mips32r2_isr_end();
+}
+#elif defined(CPU_FAM_PIC32MZ)
+static void isr_handler(uint32_t port_addr)
+{
+    while (CNFx(_port(port_addr))) {
+        /* we want the position of the first one bit, so N_bits - (N_zeros + 1) */
+        int pin = 32 - __builtin_clz(CNFx(_port(port_addr))) - 1;
+
+        isr_ctx[_port_num(port_addr)][pin].cb(isr_ctx[_port_num(port_addr)][pin].arg);
+        CNFx(_port(port_addr)) &= ~(1U << pin);
+    }
+}
+
+static void cn_porta_isr(void)
+{
+    isr_handler(_PORTA_BASE_ADDRESS);
+    mips32r2_isr_end();
+}
+
+static void cn_portb_isr(void)
+{
+    isr_handler(_PORTB_BASE_ADDRESS);
+    mips32r2_isr_end();
+}
+
+static void cn_portc_isr(void)
+{
+    isr_handler(_PORTC_BASE_ADDRESS);
+    mips32r2_isr_end();
+}
+
+static void cn_portd_isr(void)
+{
+    isr_handler(_PORTD_BASE_ADDRESS);
+    mips32r2_isr_end();
+}
+
+static void cn_porte_isr(void)
+{
+    isr_handler(_PORTE_BASE_ADDRESS);
+    mips32r2_isr_end();
+}
+
+static void cn_portf_isr(void)
+{
+    isr_handler(_PORTF_BASE_ADDRESS);
+    mips32r2_isr_end();
+}
+
+static void cn_portg_isr(void)
+{
+    isr_handler(_PORTG_BASE_ADDRESS);
+    mips32r2_isr_end();
+}
+#endif
+#endif /* MODULE_PERIPH_GPIO_IRQ */
+
 int gpio_init(gpio_t pin, gpio_mode_t mode)
 {
     volatile unsigned int * port = _port(pin);
@@ -141,3 +261,74 @@ void gpio_write(gpio_t pin, int value)
     else
         gpio_clear(pin);
 }
+
+#ifdef MODULE_PERIPH_GPIO_IRQ
+int gpio_init_int(gpio_t pin, gpio_mode_t mode, gpio_flank_t flank,
+                  gpio_cb_t cb, void *arg)
+{
+    int pin_num = _pin_num(pin);
+    int port_num = _port_num(pin);
+
+    /* set callback */
+    isr_ctx[port_num][pin_num].cb = cb;
+    isr_ctx[port_num][pin_num].arg = arg;
+    isr_flank[port_num][pin_num] = flank;
+
+    /* initialize pin as input */
+    gpio_init(pin, mode);
+
+#if defined(CPU_FAM_PIC32MX)
+    set_external_isr_cb(_CHANGE_NOTICE_VECTOR, cn_isr);
+    eic_configure_priority(_CHANGE_NOTICE_VECTOR, 1, 0);
+    eic_enable(_CHANGE_NOTICE_A_IRQ + port_num);
+#elif defined(CPU_FAM_PIC32MZ)
+    switch (port_num) {
+    case PORT_A: set_external_isr_cb(_CHANGE_NOTICE_A_VECTOR, cn_porta_isr); break;
+    case PORT_B: set_external_isr_cb(_CHANGE_NOTICE_B_VECTOR, cn_portb_isr); break;
+    case PORT_C: set_external_isr_cb(_CHANGE_NOTICE_C_VECTOR, cn_portc_isr); break;
+    case PORT_D: set_external_isr_cb(_CHANGE_NOTICE_D_VECTOR, cn_portd_isr); break;
+    case PORT_E: set_external_isr_cb(_CHANGE_NOTICE_E_VECTOR, cn_porte_isr); break;
+    case PORT_F: set_external_isr_cb(_CHANGE_NOTICE_F_VECTOR, cn_portf_isr); break;
+    case PORT_G: set_external_isr_cb(_CHANGE_NOTICE_G_VECTOR, cn_portg_isr); break;
+    }
+    eic_configure_priority(_CHANGE_NOTICE_A_VECTOR + port_num, 1, 0);
+    eic_enable(_CHANGE_NOTICE_A_VECTOR + port_num);
+    CNCONxSET(_port(pin)) = _CNCONB_EDGEDETECT_MASK;
+#endif
+    CNCONxSET(_port(pin)) = _CNCONB_ON_MASK;
+    gpio_irq_enable(pin);
+
+    return 0;
+}
+
+void gpio_irq_enable(gpio_t pin)
+{
+#if defined(CPU_FAM_PIC32MX)
+    CNENxSET(_port(pin)) = 1U << _pin_num(pin);
+#elif defined(CPU_FAM_PIC32MZ)
+    switch (isr_flank[_port_num(pin)][_pin_num(pin)]) {
+    case GPIO_RISING:
+        CNENxSET(_port(pin)) = 1U << _pin_num(pin);
+        CNNExCLR(_port(pin)) = 1U << _pin_num(pin);
+        break;
+    case GPIO_FALLING:
+        CNENxCLR(_port(pin)) = 1U << _pin_num(pin);
+        CNNExSET(_port(pin)) = 1U << _pin_num(pin);
+        break;
+    case GPIO_BOTH:
+        CNENxSET(_port(pin)) = 1U << _pin_num(pin);
+        CNNExSET(_port(pin)) = 1U << _pin_num(pin);
+        break;
+    }
+#endif
+}
+
+void gpio_irq_disable(gpio_t pin)
+{
+    CNENxCLR(_port(pin)) = 1U << _pin_num(pin);
+#if defined(CPU_FAM_PIC32Mz)
+    CNNExCLR(_port(pin)) = 1U << _pin_num(pin);
+#endif
+}
+
+#endif /* MODULE_PERIPH_GPIO_IRQ */