amiro-os / os / core / src / aos_interrupts.c @ 0128be0f
History | View | Annotate | Download (2.798 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2018 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
#include <aos_interrupts.h> |
| 20 |
|
| 21 |
/**
|
| 22 |
* @brief Initializes the interrupt driver.
|
| 23 |
*
|
| 24 |
* @param[out] intd Interrupt driver object.
|
| 25 |
* @param[in] interrupt_cfg Interrupt configuration to be used to initialize the driver.
|
| 26 |
*/
|
| 27 |
void aosIntDriverInit(aos_interrupt_driver_t *intd, aos_interrupt_cfg_t *interrupt_cfg) {
|
| 28 |
intd->interrupts = interrupt_cfg; |
| 29 |
} |
| 30 |
|
| 31 |
/**
|
| 32 |
* @brief Starts the interrupt system by setting the pad callbacks and starting the pad events.
|
| 33 |
*
|
| 34 |
* @param[in] intd Interrupt driver with an interrupt configuration that specifies which interrupts to start.
|
| 35 |
*/
|
| 36 |
void aosIntDriverStart(aos_interrupt_driver_t *intd) {
|
| 37 |
irqInit(); |
| 38 |
for (uint8_t i = 0; i < intd->len; i++) { |
| 39 |
chSysLock(); |
| 40 |
palSetPadCallbackI(intd->interrupts[i].port, intd->interrupts[i].pad, intd->interrupts[i].cb, &intd->interrupts[i].cb_arg); |
| 41 |
if (intd->interrupts[i].flags & AOS_INTERRUPT_AUTOSTART) {
|
| 42 |
palEnablePadEventI(intd->interrupts[i].port, intd->interrupts[i].pad, intd->interrupts[i].eventmode); |
| 43 |
} |
| 44 |
chSysUnlock(); |
| 45 |
} |
| 46 |
} |
| 47 |
|
| 48 |
/**
|
| 49 |
* @brief Stops the interrupt system.
|
| 50 |
*
|
| 51 |
* @param[in] intd All events associated with this driver will be disabled.
|
| 52 |
*/
|
| 53 |
void aosIntDriverStop(aos_interrupt_driver_t *intd) {
|
| 54 |
for (uint8_t i = 0; i < intd->len; i++) { |
| 55 |
palDisablePadEvent(intd->interrupts[i].port, intd->interrupts[i].pad); |
| 56 |
} |
| 57 |
irqDeinit(); |
| 58 |
} |
| 59 |
|
| 60 |
/**
|
| 61 |
* @brief Enables the events on a specified channel.
|
| 62 |
*
|
| 63 |
* @param[in] intd Interrupt driver object.
|
| 64 |
* @param[in] channel Channel of the interrupt to enable.
|
| 65 |
*/
|
| 66 |
void aosIntEnable(aos_interrupt_driver_t *intd, uint8_t channel) {
|
| 67 |
channel -= 1;
|
| 68 |
palEnablePadEvent(intd->interrupts[channel].port, intd->interrupts[channel].pad, intd->interrupts[channel].eventmode); |
| 69 |
} |
| 70 |
|
| 71 |
/**
|
| 72 |
* @brief Disables the events on a specified channel.
|
| 73 |
*
|
| 74 |
* @param[in] intd Interrupt driver object.
|
| 75 |
* @param[in] channel Channel of the interrupt to disable.
|
| 76 |
*/
|
| 77 |
void aosIntDisable(aos_interrupt_driver_t *intd, uint8_t channel) {
|
| 78 |
channel -= 1;
|
| 79 |
palDisablePadEvent(intd->interrupts[channel].port, intd->interrupts[channel].pad); |
| 80 |
} |