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Add new GPIO APIs for adding shared GPIO handlers, and improve docs (#850)

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Co-authored-by: Adam Nielsen <malvineous@shikadi.net>
This commit is contained in:
Graham Sanderson 2022-06-08 13:03:11 -05:00 committed by GitHub
parent 6389927cf9
commit ef47dfeeaf
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 330 additions and 66 deletions
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1
src/rp2_common/hardware_gpio/CMakeLists.txt
View File

@ -1 +1,2 @@
pico_simple_hardware_target(gpio)
target_link_libraries(hardware_gpio INTERFACE hardware_irq)

96
src/rp2_common/hardware_gpio/gpio.c
View File

@ -14,11 +14,13 @@
#include "pico/binary_info.h"
#endif
static gpio_irq_callback_t _callbacks[NUM_CORES];
static gpio_irq_callback_t callbacks[NUM_CORES];
// a 1 bit means the IRQ is handled by a raw IRQ handler
static uint32_t raw_irq_mask[NUM_CORES];
// Get the raw value from the pin, bypassing any muxing or overrides.
int gpio_get_pad(uint gpio) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
hw_set_bits(&padsbank0_hw->io[gpio], PADS_BANK0_GPIO0_IE_BITS);
return (iobank0_hw->io[gpio].status & IO_BANK0_GPIO0_STATUS_INFROMPAD_BITS)
>> IO_BANK0_GPIO0_STATUS_INFROMPAD_LSB;
@ -28,7 +30,7 @@ int gpio_get_pad(uint gpio) {
// Select function for this GPIO, and ensure input/output are enabled at the pad.
// This also clears the input/output/irq override bits.
void gpio_set_function(uint gpio, enum gpio_function fn) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
invalid_params_if(GPIO, ((uint32_t)fn << IO_BANK0_GPIO0_CTRL_FUNCSEL_LSB) & ~IO_BANK0_GPIO0_CTRL_FUNCSEL_BITS);
// Set input enable on, output disable off
hw_write_masked(&padsbank0_hw->io[gpio],
@ -42,14 +44,14 @@ void gpio_set_function(uint gpio, enum gpio_function fn) {
/// \end::gpio_set_function[]
enum gpio_function gpio_get_function(uint gpio) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
return (enum gpio_function) ((iobank0_hw->io[gpio].ctrl & IO_BANK0_GPIO0_CTRL_FUNCSEL_BITS) >> IO_BANK0_GPIO0_CTRL_FUNCSEL_LSB);
}
// Note that, on RP2040, setting both pulls enables a "bus keep" function,
// i.e. weak pull to whatever is current high/low state of GPIO.
void gpio_set_pulls(uint gpio, bool up, bool down) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
hw_write_masked(
&padsbank0_hw->io[gpio],
(bool_to_bit(up) << PADS_BANK0_GPIO0_PUE_LSB) | (bool_to_bit(down) << PADS_BANK0_GPIO0_PDE_LSB),
@ -59,7 +61,7 @@ void gpio_set_pulls(uint gpio, bool up, bool down) {
// Direct override for per-GPIO IRQ signal
void gpio_set_irqover(uint gpio, uint value) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
hw_write_masked(&iobank0_hw->io[gpio].ctrl,
value << IO_BANK0_GPIO0_CTRL_IRQOVER_LSB,
IO_BANK0_GPIO0_CTRL_IRQOVER_BITS
@ -68,7 +70,7 @@ void gpio_set_irqover(uint gpio, uint value) {
// Direct overrides for pad controls
void gpio_set_inover(uint gpio, uint value) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
hw_write_masked(&iobank0_hw->io[gpio].ctrl,
value << IO_BANK0_GPIO0_CTRL_INOVER_LSB,
IO_BANK0_GPIO0_CTRL_INOVER_BITS
@ -76,7 +78,7 @@ void gpio_set_inover(uint gpio, uint value) {
}
void gpio_set_outover(uint gpio, uint value) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
hw_write_masked(&iobank0_hw->io[gpio].ctrl,
value << IO_BANK0_GPIO0_CTRL_OUTOVER_LSB,
IO_BANK0_GPIO0_CTRL_OUTOVER_BITS
@ -84,7 +86,7 @@ void gpio_set_outover(uint gpio, uint value) {
}
void gpio_set_oeover(uint gpio, uint value) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
hw_write_masked(&iobank0_hw->io[gpio].ctrl,
value << IO_BANK0_GPIO0_CTRL_OEOVER_LSB,
IO_BANK0_GPIO0_CTRL_OEOVER_BITS
@ -92,7 +94,7 @@ void gpio_set_oeover(uint gpio, uint value) {
}
void gpio_set_input_hysteresis_enabled(uint gpio, bool enabled) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
if (enabled)
hw_set_bits(&padsbank0_hw->io[gpio], PADS_BANK0_GPIO0_SCHMITT_BITS);
else
@ -101,12 +103,12 @@ void gpio_set_input_hysteresis_enabled(uint gpio, bool enabled) {
bool gpio_is_input_hysteresis_enabled(uint gpio) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
return (padsbank0_hw->io[gpio] & PADS_BANK0_GPIO0_SCHMITT_BITS) != 0;
}
void gpio_set_slew_rate(uint gpio, enum gpio_slew_rate slew) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
hw_write_masked(&padsbank0_hw->io[gpio],
(uint)slew << PADS_BANK0_GPIO0_SLEWFAST_LSB,
PADS_BANK0_GPIO0_SLEWFAST_BITS
@ -114,7 +116,7 @@ void gpio_set_slew_rate(uint gpio, enum gpio_slew_rate slew) {
}
enum gpio_slew_rate gpio_get_slew_rate(uint gpio) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
return (enum gpio_slew_rate)((padsbank0_hw->io[gpio]
& PADS_BANK0_GPIO0_SLEWFAST_BITS)
>> PADS_BANK0_GPIO0_SLEWFAST_LSB);
@ -124,7 +126,7 @@ enum gpio_slew_rate gpio_get_slew_rate(uint gpio) {
// Enum encoding should match hardware encoding on RP2040
static_assert(PADS_BANK0_GPIO0_DRIVE_VALUE_8MA == GPIO_DRIVE_STRENGTH_8MA, "");
void gpio_set_drive_strength(uint gpio, enum gpio_drive_strength drive) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
hw_write_masked(&padsbank0_hw->io[gpio],
(uint)drive << PADS_BANK0_GPIO0_DRIVE_LSB,
PADS_BANK0_GPIO0_DRIVE_BITS
@ -132,26 +134,29 @@ void gpio_set_drive_strength(uint gpio, enum gpio_drive_strength drive) {
}
enum gpio_drive_strength gpio_get_drive_strength(uint gpio) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
check_gpio_param(gpio);
return (enum gpio_drive_strength)((padsbank0_hw->io[gpio]
& PADS_BANK0_GPIO0_DRIVE_BITS)
>> PADS_BANK0_GPIO0_DRIVE_LSB);
}
static void gpio_irq_handler(void) {
io_irq_ctrl_hw_t *irq_ctrl_base = get_core_num() ?
&iobank0_hw->proc1_irq_ctrl : &iobank0_hw->proc0_irq_ctrl;
for (uint gpio = 0; gpio < NUM_BANK0_GPIOS; gpio++) {
io_ro_32 *status_reg = &irq_ctrl_base->ints[gpio / 8];
uint events = (*status_reg >> 4 * (gpio % 8)) & 0xf;
if (events) {
// TODO: If both cores care about this event then the second core won't get the irq?
gpio_acknowledge_irq(gpio, events);
gpio_irq_callback_t callback = _callbacks[get_core_num()];
static void gpio_default_irq_handler(void) {
uint core = get_core_num();
gpio_irq_callback_t callback = callbacks[core];
io_irq_ctrl_hw_t *irq_ctrl_base = core ? &iobank0_hw->proc1_irq_ctrl : &iobank0_hw->proc0_irq_ctrl;
for (uint gpio = 0; gpio < NUM_BANK0_GPIOS; gpio+=8) {
uint32_t events8 = irq_ctrl_base->ints[gpio >> 3u];
// note we assume events8 is 0 for non-existent GPIO
for(uint i=gpio;events8 && i<gpio+8;i++) {
uint32_t events = events8 & 0xfu;
if (events && !(raw_irq_mask[core] & (1u << i))) {
gpio_acknowledge_irq(i, events);
if (callback) {
callback(gpio, events);
}
}
events8 >>= 4;
}
}
}
@ -178,21 +183,48 @@ void gpio_set_irq_enabled(uint gpio, uint32_t events, bool enabled) {
void gpio_set_irq_enabled_with_callback(uint gpio, uint32_t events, bool enabled, gpio_irq_callback_t callback) {
gpio_set_irq_enabled(gpio, events, enabled);
gpio_set_irq_callback(callback);
if (enabled) irq_set_enabled(IO_IRQ_BANK0, true);
}
// TODO: Do we want to support a callback per GPIO pin?
// Install IRQ handler
_callbacks[get_core_num()] = callback;
irq_set_exclusive_handler(IO_IRQ_BANK0, gpio_irq_handler);
irq_set_enabled(IO_IRQ_BANK0, true);
void gpio_set_irq_callback(gpio_irq_callback_t callback) {
uint core = get_core_num();
if (callbacks[core]) {
if (!callback) {
irq_remove_handler(IO_IRQ_BANK0, gpio_default_irq_handler);
}
callbacks[core] = callback;
} else if (callback) {
callbacks[core] = callback;
irq_add_shared_handler(IO_IRQ_BANK0, gpio_default_irq_handler, GPIO_IRQ_CALLBACK_ORDER_PRIORITY);
}
}
void gpio_add_raw_irq_handler_with_order_priority_masked(uint gpio_mask, irq_handler_t handler, uint8_t order_priority) {
hard_assert(!(raw_irq_mask[get_core_num()] & gpio_mask)); // should not add multiple handlers for the same event
raw_irq_mask[get_core_num()] |= gpio_mask;
irq_add_shared_handler(IO_IRQ_BANK0, handler, order_priority);
}
void gpio_add_raw_irq_handler_masked(uint gpio_mask, irq_handler_t handler) {
gpio_add_raw_irq_handler_with_order_priority_masked(gpio_mask, handler, GPIO_RAW_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
}
void gpio_remove_raw_irq_handler_masked(uint gpio_mask, irq_handler_t handler) {
assert(raw_irq_mask[get_core_num()] & gpio_mask); // should not remove handlers that are not added
irq_remove_handler(IO_IRQ_BANK0, handler);
raw_irq_mask[get_core_num()] &= ~gpio_mask;
}
void gpio_set_dormant_irq_enabled(uint gpio, uint32_t events, bool enabled) {
check_gpio_param(gpio);
io_irq_ctrl_hw_t *irq_ctrl_base = &iobank0_hw->dormant_wake_irq_ctrl;
_gpio_set_irq_enabled(gpio, events, enabled, irq_ctrl_base);
}
void gpio_acknowledge_irq(uint gpio, uint32_t events) {
iobank0_hw->intr[gpio / 8] = events << 4 * (gpio % 8);
check_gpio_param(gpio);
iobank0_hw->intr[gpio / 8] = events << (4 * (gpio % 8));
}
#define DEBUG_PIN_MASK (((1u << PICO_DEBUG_PIN_COUNT)-1) << PICO_DEBUG_PIN_BASE)
@ -222,7 +254,7 @@ void gpio_deinit(uint gpio) {
}
void gpio_init_mask(uint gpio_mask) {
for(uint i=0;i<32;i++) {
for(uint i=0;i<NUM_BANK0_GPIOS;i++) {
if (gpio_mask & 1) {
gpio_init(i);
}

289
src/rp2_common/hardware_gpio/include/hardware/gpio.h
View File

@ -11,6 +11,7 @@
#include "hardware/structs/sio.h"
#include "hardware/structs/padsbank0.h"
#include "hardware/structs/iobank0.h"
#include "hardware/irq.h"
#ifdef __cplusplus
extern "C" {
@ -103,7 +104,7 @@ enum gpio_function {
#define GPIO_OUT 1
#define GPIO_IN 0
/*! \brief GPIO Interrupt level definitions
/*! \brief GPIO Interrupt level definitions (GPIO events)
* \ingroup hardware_gpio
* \brief GPIO Interrupt levels
*
@ -129,10 +130,11 @@ enum gpio_irq_level {
* \ingroup hardware_gpio
*
* \param gpio Which GPIO caused this interrupt
* \param events Which events caused this interrupt. See \ref gpio_set_irq_enabled for details.
* \param event_mask Which events caused this interrupt. See \ref gpio_irq_level for details.
* \sa gpio_set_irq_enabled_with_callback()
* \sa gpio_set_irq_callback()
*/
typedef void (*gpio_irq_callback_t)(uint gpio, uint32_t events);
typedef void (*gpio_irq_callback_t)(uint gpio, uint32_t event_mask);
enum gpio_override {
GPIO_OVERRIDE_NORMAL = 0, ///< peripheral signal selected via \ref gpio_set_function
@ -166,6 +168,10 @@ enum gpio_drive_strength {
GPIO_DRIVE_STRENGTH_12MA = 3 ///< 12 mA nominal drive strength
};
static inline void check_gpio_param(__unused uint gpio) {
invalid_params_if(GPIO, gpio >= NUM_BANK0_GPIOS);
}
// ----------------------------------------------------------------------------
// Pad Controls + IO Muxing
// ----------------------------------------------------------------------------
@ -347,63 +353,288 @@ void gpio_set_drive_strength(uint gpio, enum gpio_drive_strength drive);
*/
enum gpio_drive_strength gpio_get_drive_strength(uint gpio);
/*! \brief Enable or disable interrupts for specified GPIO
/*! \brief Enable or disable specific interrupt events for specified GPIO
* \ingroup hardware_gpio
*
* \note The IO IRQs are independent per-processor. This configures IRQs for
* This function sets which GPIO events cause a GPIO interrupt on the calling core. See
* \ref gpio_set_irq_callback, \ref gpio_set_irq_enabled_with_callback and
* \ref gpio_add_raw_irq_handler to set up a GPIO interrupt handler to handle the events.
*
* \note The IO IRQs are independent per-processor. This configures the interrupt events for
* the processor that calls the function.
*
* \param gpio GPIO number
* \param events Which events will cause an interrupt
* \param event_mask Which events will cause an interrupt
* \param enabled Enable or disable flag
*
* Events is a bitmask of the following:
* Events is a bitmask of the following \ref gpio_irq_level values:
*
* bit | interrupt
* ----|----------
* 0 | Low level
* 1 | High level
* 2 | Edge low
* 3 | Edge high
* bit | constant | interrupt
* ----|----------------------------------------------------------
* 0 | GPIO_IRQ_LEVEL_LOW | Continuously while level is low
* 1 | GPIO_IRQ_LEVEL_HIGH | Continuously while level is high
* 2 | GPIO_IRQ_EDGE_FALL | On each transition from high to low
* 3 | GPIO_IRQ_EDGE_RISE | On each transition from low to high
*
* which are specified in \ref gpio_irq_level
*/
void gpio_set_irq_enabled(uint gpio, uint32_t events, bool enabled);
void gpio_set_irq_enabled(uint gpio, uint32_t event_mask, bool enabled);
/*! \brief Enable interrupts for specified GPIO
// PICO_CONFIG: GPIO_IRQ_CALLBACK_ORDER_PRIORITY, the irq priority order of the default IRQ callback, min=0, max=255, default=PICO_SHARED_IRQ_HANDLER_LOWEST_ORDER_PRIORITY, group=hardware_gpio
#ifndef GPIO_IRQ_CALLBACK_ORDER_PRIORITY
#define GPIO_IRQ_CALLBACK_ORDER_PRIORITY PICO_SHARED_IRQ_HANDLER_LOWEST_ORDER_PRIORITY
#endif
// PICO_CONFIG: GPIO_RAW_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY, the irq priority order of raw IRQ handlers if the priortiy is not specified, min=0, max=255, default=PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY, group=hardware_gpio
#ifndef GPIO_RAW_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY
#define GPIO_RAW_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY
#endif
/*! \brief Set the generic callback used for GPIO IRQ events for the current core
* \ingroup hardware_gpio
*
* \note The IO IRQs are independent per-processor. This configures IRQs for
* This function sets the callback used for all GPIO IRQs on the current core that are not explicitly
* hooked via \ref gpio_add_raw_irq_handler or other gpio_add_raw_irq_handler_ functions.
*
* This function is called with the GPIO number and event mask for each of the (not explicitly hooked)
* GPIOs that have events enabled and that are pending (see \ref gpio_get_irq_event_mask).
*
* \note The IO IRQs are independent per-processor. This function affects
* the processor that calls the function.
*
* \param gpio GPIO number
* \param events Which events will cause an interrupt. See \ref gpio_set_irq_enabled for details.
* \param enabled Enable or disable flag
* \param callback user function to call on GPIO irq. Note only one of these can be set per processor.
*
* \note Currently the GPIO parameter is ignored, and this callback will be called for any enabled GPIO IRQ on any pin.
*
* \param callback default user function to call on GPIO irq. Note only one of these can be set per processor.
*/
void gpio_set_irq_enabled_with_callback(uint gpio, uint32_t events, bool enabled, gpio_irq_callback_t callback);
void gpio_set_irq_callback(gpio_irq_callback_t callback);
/*! \brief Enable dormant wake up interrupt for specified GPIO
/*! \brief Convenience function which performs multiple GPIO IRQ related initializations
* \ingroup hardware_gpio
*
* This method is a slightly eclectic mix of initialization, that:
*
* \li Updates whether the specified events for the specified GPIO causes an interrupt on the calling core based
* on the enable flag.
*
* \li Sets the callback handler for the calling core to callback (or clears the handler if the callback is NULL).
*
* \li Enables GPIO IRQs on the current core if enabled is true.
*
* This method is commonly used to perform a one time setup, and following that any additional IRQs/events are enabled
* via \ref gpio_set_irq_enabled. All GPIOs/events added in this way on the same core share the same callback; for multiple
* independent handlers for different GPIOs you should use \ref gpio_add_raw_irq_handler and related functions.
*
* This method is equivalent to:
*
* \code{.c}
* gpio_set_irq_enabled(gpio, event_mask, enabled);
* gpio_set_irq_callback(callback);
* if (enabled) irq_set_enabled(IO_IRQ_BANK0, true);
* \endcode
*
* \note The IO IRQs are independent per-processor. This method affects only the processor that calls the function.
*
* \param gpio GPIO number
* \param event_mask Which events will cause an interrupt. See \ref gpio_irq_level for details.
* \param enabled Enable or disable flag
* \param callback user function to call on GPIO irq. if NULL, the callback is removed
*/
void gpio_set_irq_enabled_with_callback(uint gpio, uint32_t event_mask, bool enabled, gpio_irq_callback_t callback);
/*! \brief Enable dormant wake up interrupt for specified GPIO and events
* \ingroup hardware_gpio
*
* This configures IRQs to restart the XOSC or ROSC when they are
* disabled in dormant mode
*
* \param gpio GPIO number
* \param events Which events will cause an interrupt. See \ref gpio_set_irq_enabled for details.
* \param event_mask Which events will cause an interrupt. See \ref gpio_irq_level for details.
* \param enabled Enable/disable flag
*/
void gpio_set_dormant_irq_enabled(uint gpio, uint32_t events, bool enabled);
void gpio_set_dormant_irq_enabled(uint gpio, uint32_t event_mask, bool enabled);
/*! \brief Acknowledge a GPIO interrupt
/*! \brief Return the current interrupt status (pending events) for the given GPIO
* \ingroup hardware_gpio
*
* \param gpio GPIO number
* \return Bitmask of events that are currently pending for the GPIO. See \ref gpio_irq_level for details.
* \sa gpio_acknowledge_irq
*/
static inline uint32_t gpio_get_irq_event_mask(uint gpio) {
check_gpio_param(gpio);
io_irq_ctrl_hw_t *irq_ctrl_base = get_core_num() ?
&iobank0_hw->proc1_irq_ctrl : &iobank0_hw->proc0_irq_ctrl;
io_ro_32 *status_reg = &irq_ctrl_base->ints[gpio >> 3u];
return (*status_reg >> (4 * (gpio & 7u))) & 0xfu;
}
/*! \brief Acknowledge a GPIO interrupt for the specified events on the calling core
* \ingroup hardware_gpio
*
* \note This may be called with a mask of any of valid bits specified in \ref gpio_irq_level, however
* it has no effect on \a level sensitive interrupts which remain pending while the GPIO is at the specified
* level. When handling \a level sensitive interrupts, you should generally disable the interrupt (see
* \ref gpio_set_irq_enabled) and then set it up again later once the GPIO level has changed (or to catch
* the opposite level).
*
* \param gpio GPIO number
* \param events Bitmask of events to clear. See \ref gpio_set_irq_enabled for details.
*
* \note For callbacks set with \ref gpio_set_irq_enabled_with_callback, or \ref gpio_set_irq_callback,this function is called automatically.
* \param event_mask Bitmask of events to clear. See \ref gpio_irq_level for details.
*/
void gpio_acknowledge_irq(uint gpio, uint32_t events);
void gpio_acknowledge_irq(uint gpio, uint32_t event_mask);
/*! \brief Adds a raw GPIO IRQ handler for the specified GPIOs on the current core
* \ingroup hardware_gpio
*
* In addition to the default mechanism of a single GPIO IRQ event callback per core (see \ref gpio_set_irq_callback),
* it is possible to add explicit GPIO IRQ handlers which are called independent of the default callback. The order
* relative to the default callback can be controlled via the order_priority parameter (the default callback has the priority
* \ref GPIO_IRQ_CALLBACK_ORDER_PRIORITY which defaults to the lowest priority with the intention of it running last).
*
* This method adds such an explicit GPIO IRQ handler, and disables the "default" callback for the specified GPIOs.
*
* \note Multiple raw handlers should not be added for the same GPIOs, and this method will assert if you attempt to.
*
* A raw handler should check for whichever GPIOs and events it handles, and acknowledge them itself; it might look something like:
*
* \code{.c}
* void my_irq_handler(void) {
* if (gpio_get_irq_event_mask(my_gpio_num) & my_gpio_event_mask) {
* gpio_acknowledge_irq(my_gpio_num, my_gpio_event_mask);
* // handle the IRQ
* }
* if (gpio_get_irq_event_mask(my_gpio_num2) & my_gpio_event_mask2) {
* gpio_acknowledge_irq(my_gpio_num2, my_gpio_event_mask2);
* // handle the IRQ
* }
* }
* \endcode
*
* @param gpio_mask a bit mask of the GPIO numbers that will no longer be passed to the default callback for this core
* @param handler the handler to add to the list of GPIO IRQ handlers for this core
* @param order_priority the priority order to determine the relative position of the handler in the list of GPIO IRQ handlers for this core.
*/
void gpio_add_raw_irq_handler_with_order_priority_masked(uint gpio_mask, irq_handler_t handler, uint8_t order_priority);
/*! \brief Adds a raw GPIO IRQ handler for a specific GPIO on the current core
* \ingroup hardware_gpio
*
* In addition to the default mechanism of a single GPIO IRQ event callback per core (see \ref gpio_set_irq_callback),
* it is possible to add explicit GPIO IRQ handlers which are called independent of the default callback. The order
* relative to the default callback can be controlled via the order_priority parameter(the default callback has the priority
* \ref GPIO_IRQ_CALLBACK_ORDER_PRIORITY which defaults to the lowest priority with the intention of it running last).
*
* This method adds such a callback, and disables the "default" callback for the specified GPIO.
*
* \note Multiple raw handlers should not be added for the same GPIO, and this method will assert if you attempt to.
*
* A raw handler should check for whichever GPIOs and events it handles, and acknowledge them itself; it might look something like:
*
* \code{.c}
* void my_irq_handler(void) {
* if (gpio_get_irq_event_mask(my_gpio_num) & my_gpio_event_mask) {
* gpio_acknowledge_irq(my_gpio_num, my_gpio_event_mask);
* // handle the IRQ
* }
* }
* \endcode
*
* @param gpio the GPIO number that will no longer be passed to the default callback for this core
* @param handler the handler to add to the list of GPIO IRQ handlers for this core
* @param order_priority the priority order to determine the relative position of the handler in the list of GPIO IRQ handlers for this core.
*/
static inline void gpio_add_raw_irq_handler_with_order_priority(uint gpio, irq_handler_t handler, uint8_t order_priority) {
check_gpio_param(gpio);
gpio_add_raw_irq_handler_with_order_priority_masked(1u << gpio, handler, order_priority);
}
/*! \brief Adds a raw GPIO IRQ handler for the specified GPIOs on the current core
* \ingroup hardware_gpio
*
* In addition to the default mechanism of a single GPIO IRQ event callback per core (see \ref gpio_set_irq_callback),
* it is possible to add explicit GPIO IRQ handlers which are called independent of the default event callback.
*
* This method adds such a callback, and disables the "default" callback for the specified GPIOs.
*
* \note Multiple raw handlers should not be added for the same GPIOs, and this method will assert if you attempt to.
*
* A raw handler should check for whichever GPIOs and events it handles, and acknowledge them itself; it might look something like:
*
* \code{.c}
* void my_irq_handler(void) {
* if (gpio_get_irq_event_mask(my_gpio_num) & my_gpio_event_mask) {
* gpio_acknowledge_irq(my_gpio_num, my_gpio_event_mask);
* // handle the IRQ
* }
* if (gpio_get_irq_event_mask(my_gpio_num2) & my_gpio_event_mask2) {
* gpio_acknowledge_irq(my_gpio_num2, my_gpio_event_mask2);
* // handle the IRQ
* }
* }
* \endcode
*
* @param gpio_mask a bit mask of the GPIO numbers that will no longer be passed to the default callback for this core
* @param handler the handler to add to the list of GPIO IRQ handlers for this core
*/
void gpio_add_raw_irq_handler_masked(uint gpio_mask, irq_handler_t handler);
/*! \brief Adds a raw GPIO IRQ handler for a specific GPIO on the current core
* \ingroup hardware_gpio
*
* In addition to the default mechanism of a single GPIO IRQ event callback per core (see \ref gpio_set_irq_callback),
* it is possible to add explicit GPIO IRQ handlers which are called independent of the default event callback.
*
* This method adds such a callback, and disables the "default" callback for the specified GPIO.
*
* \note Multiple raw handlers should not be added for the same GPIO, and this method will assert if you attempt to.
*
* A raw handler should check for whichever GPIOs and events it handles, and acknowledge them itself; it might look something like:
*
* \code{.c}
* void my_irq_handler(void) {
* if (gpio_get_irq_event_mask(my_gpio_num) & my_gpio_event_mask) {
* gpio_acknowledge_irq(my_gpio_num, my_gpio_event_mask);
* // handle the IRQ
* }
* }
* \endcode
*
* @param gpio the GPIO number that will no longer be passed to the default callback for this core
* @param handler the handler to add to the list of GPIO IRQ handlers for this core
*/
static inline void gpio_add_raw_irq_handler(uint gpio, irq_handler_t handler) {
check_gpio_param(gpio);
gpio_add_raw_irq_handler_masked(1u << gpio, handler);
}
/*! \brief Removes a raw GPIO IRQ handler for the specified GPIOs on the current core
* \ingroup hardware_gpio
*
* In addition to the default mechanism of a single GPIO IRQ event callback per core (see \ref gpio_set_irq_callback),
* it is possible to add explicit GPIO IRQ handlers which are called independent of the default event callback.
*
* This method removes such a callback, and enables the "default" callback for the specified GPIOs.
*
* @param gpio_mask a bit mask of the GPIO numbers that will now be passed to the default callback for this core
* @param handler the handler to remove from the list of GPIO IRQ handlers for this core
*/
void gpio_remove_raw_irq_handler_masked(uint gpio_mask, irq_handler_t handler);
/*! \brief Removes a raw GPIO IRQ handler for the specified GPIO on the current core
* \ingroup hardware_gpio
*
* In addition to the default mechanism of a single GPIO IRQ event callback per core (see \ref gpio_set_irq_callback),
* it is possible to add explicit GPIO IRQ handlers which are called independent of the default event callback.
*
* This method removes such a callback, and enables the "default" callback for the specified GPIO.
*
* @param gpio the GPIO number that will now be passed to the default callback for this core
* @param handler the handler to remove from the list of GPIO IRQ handlers for this core
*/
static inline void gpio_remove_raw_irq_handler(uint gpio, irq_handler_t handler) {
check_gpio_param(gpio);
gpio_remove_raw_irq_handler_masked(1u << gpio, handler);
}
/*! \brief Initialise a GPIO for (enabled I/O and set func to GPIO_FUNC_SIO)
* \ingroup hardware_gpio