64 lines
2.4 KiB
C
64 lines
2.4 KiB
C
void EXTI_IRQ_Handler(void);
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void exti_irq_init(void) {
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if (car_harness_status == HARNESS_STATUS_FLIPPED) {
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// CAN2_RX IRQ on falling edge (EXTI10)
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current_board->enable_can_transceiver(3U, false);
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SYSCFG->EXTICR[2] &= ~(SYSCFG_EXTICR3_EXTI10_Msk);
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SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI10_PG);
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EXTI->IMR1 |= EXTI_IMR1_IM10;
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EXTI->RTSR1 &= ~EXTI_RTSR1_TR10; // rising edge
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EXTI->FTSR1 |= EXTI_FTSR1_TR10; // falling edge
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// IRQ on falling edge for PA1 (SBU2, EXTI1)
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SYSCFG->EXTICR[0] &= ~(SYSCFG_EXTICR1_EXTI1_Msk);
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SYSCFG->EXTICR[0] |= (SYSCFG_EXTICR1_EXTI1_PA);
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EXTI->IMR1 |= EXTI_IMR1_IM1;
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EXTI->RTSR1 &= ~EXTI_RTSR1_TR1; // rising edge
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EXTI->FTSR1 |= EXTI_FTSR1_TR1; // falling edge
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REGISTER_INTERRUPT(EXTI1_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
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NVIC_EnableIRQ(EXTI1_IRQn);
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REGISTER_INTERRUPT(EXTI15_10_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
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NVIC_EnableIRQ(EXTI15_10_IRQn);
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} else {
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// CAN0_RX IRQ on falling edge (EXTI8)
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current_board->enable_can_transceiver(1U, false);
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SYSCFG->EXTICR[2] &= ~(SYSCFG_EXTICR3_EXTI8_Msk);
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SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI8_PB);
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EXTI->IMR1 |= EXTI_IMR1_IM8;
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EXTI->RTSR1 &= ~EXTI_RTSR1_TR8; // rising edge
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EXTI->FTSR1 |= EXTI_FTSR1_TR8; // falling edge
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// IRQ on falling edge for PC4 (SBU1, EXTI4)
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SYSCFG->EXTICR[1] &= ~(SYSCFG_EXTICR2_EXTI4_Msk);
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SYSCFG->EXTICR[1] |= (SYSCFG_EXTICR2_EXTI4_PC);
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EXTI->IMR1 |= EXTI_IMR1_IM4;
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EXTI->RTSR1 &= ~EXTI_RTSR1_TR4; // rising edge
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EXTI->FTSR1 |= EXTI_FTSR1_TR4; // falling edge
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REGISTER_INTERRUPT(EXTI4_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
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NVIC_EnableIRQ(EXTI4_IRQn);
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REGISTER_INTERRUPT(EXTI9_5_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
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NVIC_EnableIRQ(EXTI9_5_IRQn);
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}
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}
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bool check_exti_irq(void) {
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return ((EXTI->PR1 & EXTI_PR1_PR8) || (EXTI->PR1 & EXTI_PR1_PR10) || (EXTI->PR1 & EXTI_PR1_PR1) || (EXTI->PR1 & EXTI_PR1_PR4));
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}
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void exti_irq_clear(void) {
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// Clear pending bits
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EXTI->PR1 |= EXTI_PR1_PR8;
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EXTI->PR1 |= EXTI_PR1_PR10;
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EXTI->PR1 |= EXTI_PR1_PR4;
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EXTI->PR1 |= EXTI_PR1_PR1; // works
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EXTI->PR1 |= EXTI_PR1_PR19; // works
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// Disable all active EXTI IRQs
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EXTI->IMR1 &= ~EXTI_IMR1_IM8;
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EXTI->IMR1 &= ~EXTI_IMR1_IM10;
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EXTI->IMR1 &= ~EXTI_IMR1_IM4;
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EXTI->IMR1 &= ~EXTI_IMR1_IM1;
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EXTI->IMR1 &= ~EXTI_IMR1_IM19;
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}
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