Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
This commit is contained in:
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/**
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******************************************************************************
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* @file stm32wbxx_hal_exti.c
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* @author MCD Application Team
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* @brief EXTI HAL module driver.
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* This file provides firmware functions to manage the following
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* functionalities of the General Purpose Input/Output (EXTI) peripheral:
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* + Initialization and de-initialization functions
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* + IO operation functions
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2019 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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@verbatim
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==============================================================================
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##### EXTI Peripheral features #####
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==============================================================================
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[..]
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(+) Each Exti line can be configured within this driver.
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(+) Exti line can be configured in 3 different modes
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(++) Interrupt
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(++) Event
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(++) Both of them
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(+) Configurable Exti lines can be configured with 3 different triggers
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(++) Rising
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(++) Falling
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(++) Both of them
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(+) When set in interrupt mode, configurable Exti lines have one
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interrupt pending register:
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(++) Trigger request occurred
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(+) Exti lines 0 to 15 are linked to gpio pin number 0 to 15. Gpio port can
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be selected through multiplexer.
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##### How to use this driver #####
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==============================================================================
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[..]
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(#) Configure the EXTI line using HAL_EXTI_SetConfigLine().
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(++) Choose the interrupt line number by setting "Line" member from
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EXTI_ConfigTypeDef structure.
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(++) Configure the interrupt and/or event mode using "Mode" member from
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EXTI_ConfigTypeDef structure.
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(++) For configurable lines, configure rising and/or falling trigger
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"Trigger" member from EXTI_ConfigTypeDef structure.
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(++) For Exti lines linked to gpio, choose gpio port using "GPIOSel"
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member from GPIO_InitTypeDef structure.
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(#) Get current Exti configuration of a dedicated line using
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HAL_EXTI_GetConfigLine().
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(++) Provide exiting handle as parameter.
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(++) Provide pointer on EXTI_ConfigTypeDef structure as second parameter.
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(#) Clear Exti configuration of a dedicated line using HAL_EXTI_GetConfigLine().
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(++) Provide exiting handle as parameter.
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(#) Register callback to treat Exti interrupts using HAL_EXTI_RegisterCallback().
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(++) Provide exiting handle as first parameter.
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(++) Provide which callback will be registered using one value from
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EXTI_CallbackIDTypeDef.
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(++) Provide callback function pointer.
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(#) Get interrupt pending bit using HAL_EXTI_GetPending().
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(#) Clear interrupt pending bit using HAL_EXTI_GetPending().
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(#) Generate software interrupt using HAL_EXTI_GenerateSWI().
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@endverbatim
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "stm32wbxx_hal.h"
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/** @addtogroup STM32WBxx_HAL_Driver
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* @{
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*/
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/** @addtogroup EXTI
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* @{
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*/
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/** MISRA C:2012 deviation rule has been granted for following rule:
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* Rule-18.1_b - Medium: Array `EXTICR' 1st subscript interval [0,7] may be out
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* of bounds [0,3] in following API :
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* HAL_EXTI_SetConfigLine
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* HAL_EXTI_GetConfigLine
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* HAL_EXTI_ClearConfigLine
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*/
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#ifdef HAL_EXTI_MODULE_ENABLED
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/* Private typedef -----------------------------------------------------------*/
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/* Private defines ------------------------------------------------------------*/
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/** @defgroup EXTI_Private_Constants EXTI Private Constants
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* @{
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*/
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#define EXTI_MODE_OFFSET 0x04u /* 0x10: offset between CPU IMR/EMR registers */
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#define EXTI_CONFIG_OFFSET 0x08u /* 0x20: offset between CPU Rising/Falling configuration registers */
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/**
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* @}
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*/
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/* Private macros ------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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/* Private function prototypes -----------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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/** @addtogroup EXTI_Exported_Functions
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* @{
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*/
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/** @addtogroup EXTI_Exported_Functions_Group1
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* @brief Configuration functions
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*
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@verbatim
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===============================================================================
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##### Configuration functions #####
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===============================================================================
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@endverbatim
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* @{
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*/
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/**
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* @brief Set configuration of a dedicated Exti line.
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* @param hexti Exti handle.
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* @param pExtiConfig Pointer on EXTI configuration to be set.
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* @retval HAL Status.
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*/
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HAL_StatusTypeDef HAL_EXTI_SetConfigLine(EXTI_HandleTypeDef *hexti, const EXTI_ConfigTypeDef *pExtiConfig)
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{
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__IO uint32_t *regaddr;
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uint32_t regval;
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uint32_t linepos;
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uint32_t maskline;
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uint32_t offset;
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/* Check null pointer */
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if ((hexti == NULL) || (pExtiConfig == NULL))
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{
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return HAL_ERROR;
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}
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/* Check parameters */
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assert_param(IS_EXTI_LINE(pExtiConfig->Line));
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assert_param(IS_EXTI_MODE(pExtiConfig->Mode));
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/* Assign line number to handle */
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hexti->Line = pExtiConfig->Line;
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/* compute line register offset and line mask */
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offset = ((pExtiConfig->Line & EXTI_REG_MASK) >> EXTI_REG_SHIFT);
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linepos = (pExtiConfig->Line & EXTI_PIN_MASK);
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maskline = (1uL << linepos);
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/* Configure triggers for configurable lines */
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if ((pExtiConfig->Line & EXTI_CONFIG) != 0x00u)
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{
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assert_param(IS_EXTI_TRIGGER(pExtiConfig->Trigger));
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/* Configure rising trigger */
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regaddr = (&EXTI->RTSR1 + (EXTI_CONFIG_OFFSET * offset));
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regval = *regaddr;
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/* Mask or set line */
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if ((pExtiConfig->Trigger & EXTI_TRIGGER_RISING) != 0x00u)
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{
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regval |= maskline;
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}
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else
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{
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regval &= ~maskline;
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}
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/* Store rising trigger mode */
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*regaddr = regval;
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/* Configure falling trigger */
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regaddr = (&EXTI->FTSR1 + (EXTI_CONFIG_OFFSET * offset));
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regval = *regaddr;
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/* Mask or set line */
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if ((pExtiConfig->Trigger & EXTI_TRIGGER_FALLING) != 0x00u)
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{
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regval |= maskline;
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}
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else
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{
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regval &= ~maskline;
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}
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/* Store falling trigger mode */
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*regaddr = regval;
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/* Configure gpio port selection in case of gpio exti line */
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if ((pExtiConfig->Line & EXTI_GPIO) == EXTI_GPIO)
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{
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assert_param(IS_EXTI_GPIO_PORT(pExtiConfig->GPIOSel));
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assert_param(IS_EXTI_GPIO_PIN(linepos));
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regval = SYSCFG->EXTICR[linepos >> 2u];
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regval &= ~(SYSCFG_EXTICR1_EXTI0 << (SYSCFG_EXTICR1_EXTI1_Pos * (linepos & 0x03u)));
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regval |= (pExtiConfig->GPIOSel << (SYSCFG_EXTICR1_EXTI1_Pos * (linepos & 0x03u)));
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SYSCFG->EXTICR[linepos >> 2u] = regval;
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}
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}
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/* Configure interrupt mode : read current mode */
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regaddr = (&EXTI->IMR1 + (EXTI_MODE_OFFSET * offset));
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regval = *regaddr;
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/* Mask or set line */
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if ((pExtiConfig->Mode & EXTI_MODE_INTERRUPT) != 0x00u)
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{
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regval |= maskline;
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}
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else
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{
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regval &= ~maskline;
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}
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/* Store interrupt mode */
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*regaddr = regval;
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/* The event mode cannot be configured if the line does not support it */
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assert_param(((pExtiConfig->Line & EXTI_EVENT) == EXTI_EVENT) || ((pExtiConfig->Mode & EXTI_MODE_EVENT) != EXTI_MODE_EVENT));
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/* Configure event mode : read current mode */
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regaddr = (&EXTI->EMR1 + (EXTI_MODE_OFFSET * offset));
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regval = *regaddr;
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/* Mask or set line */
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if ((pExtiConfig->Mode & EXTI_MODE_EVENT) != 0x00u)
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{
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regval |= maskline;
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}
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else
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{
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regval &= ~maskline;
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}
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/* Store event mode */
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*regaddr = regval;
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return HAL_OK;
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}
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/**
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* @brief Get configuration of a dedicated Exti line.
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* @param hexti Exti handle.
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* @param pExtiConfig Pointer on structure to store Exti configuration.
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* @retval HAL Status.
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*/
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HAL_StatusTypeDef HAL_EXTI_GetConfigLine(const EXTI_HandleTypeDef *hexti, EXTI_ConfigTypeDef *pExtiConfig)
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{
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const __IO uint32_t *regaddr;
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uint32_t regval;
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uint32_t linepos;
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uint32_t maskline;
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uint32_t offset;
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/* Check null pointer */
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if ((hexti == NULL) || (pExtiConfig == NULL))
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{
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return HAL_ERROR;
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}
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/* Check the parameter */
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assert_param(IS_EXTI_LINE(hexti->Line));
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/* Store handle line number to configuration structure */
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pExtiConfig->Line = hexti->Line;
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/* compute line register offset and line mask */
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offset = ((pExtiConfig->Line & EXTI_REG_MASK) >> EXTI_REG_SHIFT);
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linepos = (pExtiConfig->Line & EXTI_PIN_MASK);
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maskline = (1uL << linepos);
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/* 1] Get core mode : interrupt */
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regaddr = (&EXTI->IMR1 + (EXTI_MODE_OFFSET * offset));
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regval = *regaddr;
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/* Check if selected line is enable */
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if ((regval & maskline) != 0x00u)
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{
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pExtiConfig->Mode = EXTI_MODE_INTERRUPT;
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}
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else
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{
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pExtiConfig->Mode = EXTI_MODE_NONE;
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}
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/* Get event mode */
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regaddr = (&EXTI->EMR1 + (EXTI_MODE_OFFSET * offset));
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regval = *regaddr;
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/* Check if selected line is enable */
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if ((regval & maskline) != 0x00u)
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{
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pExtiConfig->Mode |= EXTI_MODE_EVENT;
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}
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/* Get default Trigger and GPIOSel configuration */
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pExtiConfig->Trigger = EXTI_TRIGGER_NONE;
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pExtiConfig->GPIOSel = 0x00u;
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/* 2] Get trigger for configurable lines : rising */
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if ((pExtiConfig->Line & EXTI_CONFIG) != 0x00u)
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{
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regaddr = (&EXTI->RTSR1 + (EXTI_CONFIG_OFFSET * offset));
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regval = *regaddr;
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/* Check if configuration of selected line is enable */
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if ((regval & maskline) != 0x00u)
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{
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pExtiConfig->Trigger = EXTI_TRIGGER_RISING;
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}
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/* Get falling configuration */
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regaddr = (&EXTI->FTSR1 + (EXTI_CONFIG_OFFSET * offset));
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regval = *regaddr;
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/* Check if configuration of selected line is enable */
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if ((regval & maskline) != 0x00u)
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{
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pExtiConfig->Trigger |= EXTI_TRIGGER_FALLING;
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}
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/* Get Gpio port selection for gpio lines */
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if ((pExtiConfig->Line & EXTI_GPIO) == EXTI_GPIO)
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{
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assert_param(IS_EXTI_GPIO_PIN(linepos));
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regval = SYSCFG->EXTICR[linepos >> 2u];
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pExtiConfig->GPIOSel = (regval >> (SYSCFG_EXTICR1_EXTI1_Pos * (linepos & 0x03u))) & SYSCFG_EXTICR1_EXTI0;
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}
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}
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return HAL_OK;
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}
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/**
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* @brief Clear whole configuration of a dedicated Exti line.
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* @param hexti Exti handle.
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* @retval HAL Status.
|
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*/
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HAL_StatusTypeDef HAL_EXTI_ClearConfigLine(const EXTI_HandleTypeDef *hexti)
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{
|
||||
__IO uint32_t *regaddr;
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uint32_t regval;
|
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uint32_t linepos;
|
||||
uint32_t maskline;
|
||||
uint32_t offset;
|
||||
|
||||
/* Check null pointer */
|
||||
if (hexti == NULL)
|
||||
{
|
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return HAL_ERROR;
|
||||
}
|
||||
|
||||
/* Check the parameter */
|
||||
assert_param(IS_EXTI_LINE(hexti->Line));
|
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/* compute line register offset and line mask */
|
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offset = ((hexti->Line & EXTI_REG_MASK) >> EXTI_REG_SHIFT);
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linepos = (hexti->Line & EXTI_PIN_MASK);
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maskline = (1uL << linepos);
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|
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/* 1] Clear interrupt mode */
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regaddr = (&EXTI->IMR1 + (EXTI_MODE_OFFSET * offset));
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regval = (*regaddr & ~maskline);
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*regaddr = regval;
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|
||||
/* 2] Clear event mode */
|
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regaddr = (&EXTI->EMR1 + (EXTI_MODE_OFFSET * offset));
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regval = (*regaddr & ~maskline);
|
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*regaddr = regval;
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||||
/* 3] Clear triggers in case of configurable lines */
|
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if ((hexti->Line & EXTI_CONFIG) != 0x00u)
|
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{
|
||||
regaddr = (&EXTI->RTSR1 + (EXTI_CONFIG_OFFSET * offset));
|
||||
regval = (*regaddr & ~maskline);
|
||||
*regaddr = regval;
|
||||
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||||
regaddr = (&EXTI->FTSR1 + (EXTI_CONFIG_OFFSET * offset));
|
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regval = (*regaddr & ~maskline);
|
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*regaddr = regval;
|
||||
|
||||
/* Get Gpio port selection for gpio lines */
|
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if ((hexti->Line & EXTI_GPIO) == EXTI_GPIO)
|
||||
{
|
||||
assert_param(IS_EXTI_GPIO_PIN(linepos));
|
||||
|
||||
regval = SYSCFG->EXTICR[linepos >> 2u];
|
||||
regval &= ~(SYSCFG_EXTICR1_EXTI0 << (SYSCFG_EXTICR1_EXTI1_Pos * (linepos & 0x03u)));
|
||||
SYSCFG->EXTICR[linepos >> 2u] = regval;
|
||||
}
|
||||
}
|
||||
|
||||
return HAL_OK;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Register callback for a dedicaated Exti line.
|
||||
* @param hexti Exti handle.
|
||||
* @param CallbackID User callback identifier.
|
||||
* This parameter can be one of @arg @ref EXTI_CallbackIDTypeDef values.
|
||||
* @param pPendingCbfn function pointer to be stored as callback.
|
||||
* @retval HAL Status.
|
||||
*/
|
||||
HAL_StatusTypeDef HAL_EXTI_RegisterCallback(EXTI_HandleTypeDef *hexti, EXTI_CallbackIDTypeDef CallbackID,
|
||||
void (*pPendingCbfn)(void))
|
||||
{
|
||||
HAL_StatusTypeDef status = HAL_OK;
|
||||
|
||||
switch (CallbackID)
|
||||
{
|
||||
case HAL_EXTI_COMMON_CB_ID:
|
||||
hexti->PendingCallback = pPendingCbfn;
|
||||
break;
|
||||
|
||||
default:
|
||||
status = HAL_ERROR;
|
||||
break;
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Store line number as handle private field.
|
||||
* @param hexti Exti handle.
|
||||
* @param ExtiLine Exti line number.
|
||||
* This parameter can be from 0 to @ref EXTI_LINE_NB.
|
||||
* @retval HAL Status.
|
||||
*/
|
||||
HAL_StatusTypeDef HAL_EXTI_GetHandle(EXTI_HandleTypeDef *hexti, uint32_t ExtiLine)
|
||||
{
|
||||
/* Check the parameters */
|
||||
assert_param(IS_EXTI_LINE(ExtiLine));
|
||||
|
||||
/* Check null pointer */
|
||||
if (hexti == NULL)
|
||||
{
|
||||
return HAL_ERROR;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Store line number as handle private field */
|
||||
hexti->Line = ExtiLine;
|
||||
|
||||
return HAL_OK;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup EXTI_Exported_Functions_Group2
|
||||
* @brief EXTI IO functions.
|
||||
*
|
||||
@verbatim
|
||||
===============================================================================
|
||||
##### IO operation functions #####
|
||||
===============================================================================
|
||||
|
||||
@endverbatim
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief Handle EXTI interrupt request.
|
||||
* @param hexti Exti handle.
|
||||
* @retval none.
|
||||
*/
|
||||
void HAL_EXTI_IRQHandler(const EXTI_HandleTypeDef *hexti)
|
||||
{
|
||||
__IO uint32_t *regaddr;
|
||||
uint32_t regval;
|
||||
uint32_t maskline;
|
||||
uint32_t offset;
|
||||
|
||||
/* Compute line register offset and line mask */
|
||||
offset = ((hexti->Line & EXTI_REG_MASK) >> EXTI_REG_SHIFT);
|
||||
maskline = (1uL << (hexti->Line & EXTI_PIN_MASK));
|
||||
|
||||
/* Get pending bit */
|
||||
regaddr = (&EXTI->PR1 + (EXTI_CONFIG_OFFSET * offset));
|
||||
regval = (*regaddr & maskline);
|
||||
|
||||
if (regval != 0x00u)
|
||||
{
|
||||
/* Clear pending bit */
|
||||
*regaddr = maskline;
|
||||
|
||||
/* Call callback */
|
||||
if (hexti->PendingCallback != NULL)
|
||||
{
|
||||
hexti->PendingCallback();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get interrupt pending bit of a dedicated line.
|
||||
* @param hexti Exti handle.
|
||||
* @param Edge Specify which pending edge as to be checked.
|
||||
* This parameter can be one of the following values:
|
||||
* @arg @ref EXTI_TRIGGER_RISING_FALLING
|
||||
* This parameter is kept for compatibility with other series.
|
||||
* @retval 1 if interrupt is pending else 0.
|
||||
*/
|
||||
uint32_t HAL_EXTI_GetPending(const EXTI_HandleTypeDef *hexti, uint32_t Edge)
|
||||
{
|
||||
/* Prevent unused argument(s) compilation warning */
|
||||
UNUSED(Edge);
|
||||
|
||||
const __IO uint32_t *regaddr;
|
||||
uint32_t regval;
|
||||
uint32_t linepos;
|
||||
uint32_t maskline;
|
||||
uint32_t offset;
|
||||
|
||||
/* Check parameters */
|
||||
assert_param(IS_EXTI_LINE(hexti->Line));
|
||||
assert_param(IS_EXTI_CONFIG_LINE(hexti->Line));
|
||||
|
||||
/* compute line register offset and line mask */
|
||||
offset = ((hexti->Line & EXTI_REG_MASK) >> EXTI_REG_SHIFT);
|
||||
linepos = (hexti->Line & EXTI_PIN_MASK);
|
||||
maskline = (1uL << linepos);
|
||||
|
||||
/* Get pending bit */
|
||||
regaddr = (&EXTI->PR1 + (EXTI_CONFIG_OFFSET * offset));
|
||||
|
||||
/* return 1 if bit is set else 0 */
|
||||
regval = ((*regaddr & maskline) >> linepos);
|
||||
return regval;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Clear interrupt pending bit of a dedicated line.
|
||||
* @param hexti Exti handle.
|
||||
* @param Edge Specify which pending edge as to be clear.
|
||||
* This parameter can be one of the following values:
|
||||
* @arg @ref EXTI_TRIGGER_RISING_FALLING
|
||||
* This parameter is kept for compatibility with other series.
|
||||
* @retval None.
|
||||
*/
|
||||
void HAL_EXTI_ClearPending(const EXTI_HandleTypeDef *hexti, uint32_t Edge)
|
||||
{
|
||||
/* Prevent unused argument(s) compilation warning */
|
||||
UNUSED(Edge);
|
||||
|
||||
__IO uint32_t *regaddr;
|
||||
uint32_t maskline;
|
||||
uint32_t offset;
|
||||
|
||||
/* Check parameters */
|
||||
assert_param(IS_EXTI_LINE(hexti->Line));
|
||||
assert_param(IS_EXTI_CONFIG_LINE(hexti->Line));
|
||||
|
||||
/* compute line register offset and line mask */
|
||||
offset = ((hexti->Line & EXTI_REG_MASK) >> EXTI_REG_SHIFT);
|
||||
maskline = (1uL << (hexti->Line & EXTI_PIN_MASK));
|
||||
|
||||
/* Get pending register address */
|
||||
regaddr = (&EXTI->PR1 + (EXTI_CONFIG_OFFSET * offset));
|
||||
|
||||
/* Clear Pending bit */
|
||||
*regaddr = maskline;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Generate a software interrupt for a dedicated line.
|
||||
* @param hexti Exti handle.
|
||||
* @retval None.
|
||||
*/
|
||||
void HAL_EXTI_GenerateSWI(const EXTI_HandleTypeDef *hexti)
|
||||
{
|
||||
__IO uint32_t *regaddr;
|
||||
uint32_t maskline;
|
||||
uint32_t offset;
|
||||
|
||||
/* Check parameters */
|
||||
assert_param(IS_EXTI_LINE(hexti->Line));
|
||||
assert_param(IS_EXTI_CONFIG_LINE(hexti->Line));
|
||||
|
||||
/* compute line register offset and line mask */
|
||||
offset = ((hexti->Line & EXTI_REG_MASK) >> EXTI_REG_SHIFT);
|
||||
maskline = (1uL << (hexti->Line & EXTI_PIN_MASK));
|
||||
|
||||
regaddr = (&EXTI->SWIER1 + (EXTI_CONFIG_OFFSET * offset));
|
||||
*regaddr = maskline;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
#endif /* HAL_EXTI_MODULE_ENABLED */
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
Reference in New Issue
Block a user