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[interrupt] settable int priority level with libopencm3

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This commit is contained in:
Gautier Hattenberger
2014-01-23 15:14:14 +01:00
parent f7129c69c8
commit fd2ae6b95c
6 changed files with 68 additions and 17 deletions
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sw/airborne/arch/stm32/mcu_periph/adc_arch.c
+8 -2
View File
@@ -105,6 +105,12 @@
#include "led.h"
#include BOARD_CONFIG
#ifndef NVIC_ADC_IRQ_PRIO
#define NVIC_ADC_IRQ_PRIO 0
#endif
// Macros to automatically enable the correct ADC
#if defined(AD1_1_CHANNEL) || defined(AD1_2_CHANNEL) || defined(AD1_3_CHANNEL) || defined(AD1_4_CHANNEL)
@@ -451,10 +457,10 @@ static inline void adc_init_rcc( void )
static inline void adc_init_irq( void )
{
#if defined(STM32F1)
nvic_set_priority(NVIC_ADC1_2_IRQ, 0);
nvic_set_priority(NVIC_ADC1_2_IRQ, NVIC_ADC_IRQ_PRIO);
nvic_enable_irq(NVIC_ADC1_2_IRQ);
#elif defined(STM32F4)
nvic_set_priority(NVIC_ADC_IRQ, 0);
nvic_set_priority(NVIC_ADC_IRQ, NVIC_ADC_IRQ_PRIO);
nvic_enable_irq(NVIC_ADC_IRQ);
#endif
}
sw/airborne/arch/stm32/mcu_periph/can_arch.c
+7 -1
View File
@@ -40,6 +40,12 @@
#include "led.h"
#ifdef RTOS_PRIO
#define NVIC_USB_LP_CAN_RX0_IRQ_PRIO RTOS_PRIO+1
#else
#define NVIC_USB_LP_CAN_RX0_IRQ_PRIO 1
#endif
void _can_run_rx_callback(uint32_t id, uint8_t *buf, uint8_t len);
bool can_initialized = false;
@@ -66,7 +72,7 @@ void can_hw_init(void)
/* NVIC setup. */
nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, NVIC_USB_LP_CAN_RX0_IRQ_PRIO);
/* Reset CAN. */
can_reset(CAN1);
sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
+18 -6
View File
@@ -71,6 +71,18 @@ static inline void __enable_irq(void) { asm volatile ("cpsie i"); }
#define __I2C_REG_CRITICAL_ZONE_STOP __enable_irq();
#ifndef NVIC_I2C_IRQ_PRIO
#define NVIC_I2C1_IRQ_PRIO 0
#define NVIC_I2C2_IRQ_PRIO 0
#define NVIC_I2C3_IRQ_PRIO 0
#else
#define NVIC_I2C1_IRQ_PRIO NVIC_I2C_IRQ_PRIO
#define NVIC_I2C2_IRQ_PRIO NVIC_I2C_IRQ_PRIO
#define NVIC_I2C3_IRQ_PRIO NVIC_I2C_IRQ_PRIO
#endif
static inline void PPRZ_I2C_SEND_STOP(uint32_t i2c)
{
// Man: p722: Stop generation after the current byte transfer or after the current Start condition is sent.
@@ -900,11 +912,11 @@ void i2c1_hw_init(void) {
scb_set_priority_grouping(SCB_AIRCR_PRIGROUP_NOGROUP_SUB16);
/* Configure and enable I2C1 event interrupt --------------------------------*/
nvic_set_priority(NVIC_I2C1_EV_IRQ, 0);
nvic_set_priority(NVIC_I2C1_EV_IRQ, NVIC_I2C1_IRQ_PRIO);
nvic_enable_irq(NVIC_I2C1_EV_IRQ);
/* Configure and enable I2C1 err interrupt ----------------------------------*/
nvic_set_priority(NVIC_I2C1_ER_IRQ, 1);
nvic_set_priority(NVIC_I2C1_ER_IRQ, NVIC_I2C1_IRQ_PRIO+1);
nvic_enable_irq(NVIC_I2C1_ER_IRQ);
/* Enable peripheral clocks -------------------------------------------------*/
@@ -989,11 +1001,11 @@ void i2c2_hw_init(void) {
scb_set_priority_grouping(SCB_AIRCR_PRIGROUP_NOGROUP_SUB16);
/* Configure and enable I2C2 event interrupt --------------------------------*/
nvic_set_priority(NVIC_I2C2_EV_IRQ, 0);
nvic_set_priority(NVIC_I2C2_EV_IRQ, NVIC_I2C2_IRQ_PRIO);
nvic_enable_irq(NVIC_I2C2_EV_IRQ);
/* Configure and enable I2C2 err interrupt ----------------------------------*/
nvic_set_priority(NVIC_I2C2_ER_IRQ, 1);
nvic_set_priority(NVIC_I2C2_ER_IRQ, NVIC_I2C2_IRQ_PRIO+1);
nvic_enable_irq(NVIC_I2C2_ER_IRQ);
/* Enable peripheral clocks -------------------------------------------------*/
@@ -1079,11 +1091,11 @@ void i2c3_hw_init(void) {
scb_set_priority_grouping(SCB_AIRCR_PRIGROUP_NOGROUP_SUB16);
/* Configure and enable I2C3 event interrupt --------------------------------*/
nvic_set_priority(NVIC_I2C3_EV_IRQ, 0);
nvic_set_priority(NVIC_I2C3_EV_IRQ, NVIC_I2C3_IRQ_PRIO);
nvic_enable_irq(NVIC_I2C3_EV_IRQ);
/* Configure and enable I2C3 err interrupt ----------------------------------*/
nvic_set_priority(NVIC_I2C3_ER_IRQ, 1);
nvic_set_priority(NVIC_I2C3_ER_IRQ, NVIC_I2C3_IRQ_PRIO+1);
nvic_enable_irq(NVIC_I2C3_ER_IRQ);
/* Enable peripheral clocks -------------------------------------------------*/
sw/airborne/arch/stm32/mcu_periph/spi_arch.c
+7 -2
View File
@@ -65,6 +65,11 @@
#ifdef SPI_MASTER
#ifndef NVIC_SPI_IRQ_PRIO
#define NVIC_SPI_IRQ_PRIO 0
#endif
/**
* Libopencm3 specifc communication parameters for a SPI peripheral in master mode.
*/
@@ -479,10 +484,10 @@ static void spi_configure_dma(uint32_t dma, uint8_t chan, uint32_t periph_addr,
static void spi_arch_int_enable(struct spi_periph *spi) {
/// @todo fix priority levels if necessary
// enable receive interrupt
nvic_set_priority( ((struct spi_periph_dma *)spi->init_struct)->rx_nvic_irq, 0);
nvic_set_priority( ((struct spi_periph_dma *)spi->init_struct)->rx_nvic_irq, NVIC_SPI_IRQ_PRIO);
nvic_enable_irq( ((struct spi_periph_dma *)spi->init_struct)->rx_nvic_irq );
// enable transmit interrupt
nvic_set_priority( ((struct spi_periph_dma *)spi->init_struct)->tx_nvic_irq, 0);
nvic_set_priority( ((struct spi_periph_dma *)spi->init_struct)->tx_nvic_irq, NVIC_SPI_IRQ_PRIO);
nvic_enable_irq( ((struct spi_periph_dma *)spi->init_struct)->tx_nvic_irq );
}
sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
+8 -2
View File
@@ -46,6 +46,12 @@
#define ONE_MHZ_CLK 1000000
#ifdef NVIC_TIM_IRQ_PRIO
#define PPM_IRQ_PRIO NVIC_TIM_IRQ_PRIO
#else
#define PPM_IRQ_PRIO 2
#endif
uint8_t ppm_cur_pulse;
uint32_t ppm_last_pulse_time;
@@ -192,11 +198,11 @@ void ppm_arch_init ( void ) {
timer_ic_set_filter(PPM_TIMER, PPM_CHANNEL, TIM_IC_OFF);
/* Enable timer Interrupt(s). */
nvic_set_priority(PPM_IRQ, 2);
nvic_set_priority(PPM_IRQ, PPM_IRQ_PRIO);
nvic_enable_irq(PPM_IRQ);
#ifdef PPM_IRQ2
nvic_set_priority(PPM_IRQ2, 2);
nvic_set_priority(PPM_IRQ2, PPM_IRQ_PRIO);
nvic_enable_irq(PPM_IRQ2);
#endif
sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
+20 -4
View File
@@ -49,6 +49,22 @@
#define MIN_FRAME_SPACE 70 // 7ms
#define MAX_BYTE_SPACE 3 // .3ms
#ifndef NVIC_TIM6_IRQ_PRIO
#define NVIC_TIM6_IRQ_PRIO 2
#endif
#ifndef NVIC_TIM6_DAC_IRQ_PRIO
#define NVIC_TIM6_DAC_IRQ_PRIO 2
#endif
#ifdef NVIC_UART_IRQ_PRIO
#define NVIC_PRIMARY_UART_PRIO NVIC_UART_IRQ_PRIO
#else
#define NVIC_PRIMARY_UART_PRIO 2
#endif
/*
* in the makefile we set RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT to be UARTx
* but in uart_hw.c the initialisation functions are
@@ -481,11 +497,11 @@ void SpektrumTimerInit( void ) {
/* Enable TIM6 interrupts */
#ifdef STM32F1
nvic_set_priority(NVIC_TIM6_IRQ, 2);
nvic_set_priority(NVIC_TIM6_IRQ, NVIC_TIM6_IRQ_PRIO);
nvic_enable_irq(NVIC_TIM6_IRQ);
#elif defined STM32F4
/* the define says DAC IRQ, but it is also the global TIM6 IRQ*/
nvic_set_priority(NVIC_TIM6_DAC_IRQ, 2);
nvic_set_priority(NVIC_TIM6_DAC_IRQ, NVIC_TIM6_DAC_IRQ_PRIO);
nvic_enable_irq(NVIC_TIM6_DAC_IRQ);
#endif
@@ -529,7 +545,7 @@ void SpektrumUartInit(void) {
rcc_peripheral_enable_clock(PrimaryUart(_RCC_REG), PrimaryUart(_RCC_DEV));
/* Enable USART interrupts */
nvic_set_priority(PrimaryUart(_IRQ), 2);
nvic_set_priority(PrimaryUart(_IRQ), NVIC_PRIMARY_UART_PRIO);
nvic_enable_irq(PrimaryUart(_IRQ));
/* Init GPIOS */
@@ -556,7 +572,7 @@ void SpektrumUartInit(void) {
rcc_peripheral_enable_clock(SecondaryUart(_RCC_REG), SecondaryUart(_RCC_DEV));
/* Enable USART interrupts */
nvic_set_priority(SecondaryUart(_IRQ), 3);
nvic_set_priority(SecondaryUart(_IRQ), NVIC_PRIMARY_UART_PRIO+1);
nvic_enable_irq(SecondaryUart(_IRQ));
/* Init GPIOS */;