diff --git a/src/bioloid_stm32.c b/src/bioloid_stm32.c
index 0c268d7020b3d13527d633aae1335c29066d8166..4270daee979620d6a44c806741293f78c1193df4 100644
--- a/src/bioloid_stm32.c
+++ b/src/bioloid_stm32.c
@@ -27,9 +27,15 @@ uint8_t read_operation(uint8_t address, uint8_t length, uint8_t *data)
}
else// RAM region
{
+ return DYN_NO_ERROR;
}
}
+void test_gpio(void)
+{
+ gpio_toggle_led(NORTH_LED);
+}
+
int32_t main(void)
{
uint8_t inst_packet[1024];
@@ -78,6 +84,8 @@ int32_t main(void)
else
GPIO_ResetBits(GPIOD,GPIO_Pin_14);
+ gpio_set_pushbutton_callback(NORTH_PB,test_gpio);
+
while(1) /* main function does not return */
{
if(dyn_slave_is_packet_ready())// check if a new instruction packet has been received
diff --git a/src/gpio.c b/src/gpio.c
index 625c0a23dd646d4d4f8219923df81c6f5a127752..a5c60edecca04ef793dd0273c52e8bf6596773af 100644
--- a/src/gpio.c
+++ b/src/gpio.c
@@ -24,31 +24,43 @@
#define PUSH_BUTTON1_PIN GPIO_Pin_6
#define PUSH_BUTTON1_GPIO_PORT GPIOE
#define PUSH_BUTTON1_SOURCE GPIO_PinSource6
+#define PUSH_BUTTON1_EXTI_PORT EXTI_PortSourceGPIOE
+#define PUSH_BUTTON1_EXTI_PIN EXTI_PinSource6
+#define PUSH_BUTTON1_EXTI_LINE EXTI_Line6
#define PUSH_BUTTON2_GPIO_CLK RCC_AHB1Periph_GPIOC
#define PUSH_BUTTON2_PIN GPIO_Pin_13
#define PUSH_BUTTON2_GPIO_PORT GPIOC
#define PUSH_BUTTON2_SOURCE GPIO_PinSource13
+#define PUSH_BUTTON2_EXTI_PORT EXTI_PortSourceGPIOC
+#define PUSH_BUTTON2_EXTI_PIN EXTI_PinSource13
+#define PUSH_BUTTON2_EXTI_LINE EXTI_Line13
#define PUSH_BUTTON3_GPIO_CLK RCC_AHB1Periph_GPIOC
#define PUSH_BUTTON3_PIN GPIO_Pin_14
#define PUSH_BUTTON3_GPIO_PORT GPIOC
#define PUSH_BUTTON3_SOURCE GPIO_PinSource14
+#define PUSH_BUTTON3_EXTI_PORT EXTI_PortSourceGPIOC
+#define PUSH_BUTTON3_EXTI_PIN EXTI_PinSource14
+#define PUSH_BUTTON3_EXTI_LINE EXTI_Line14
#define PUSH_BUTTON4_GPIO_CLK RCC_AHB1Periph_GPIOC
#define PUSH_BUTTON4_PIN GPIO_Pin_15
#define PUSH_BUTTON4_GPIO_PORT GPIOC
#define PUSH_BUTTON4_SOURCE GPIO_PinSource15
+#define PUSH_BUTTON4_EXTI_PORT EXTI_PortSourceGPIOC
+#define PUSH_BUTTON4_EXTI_PIN EXTI_PinSource15
+#define PUSH_BUTTON4_EXTI_LINE EXTI_Line15
#define GPO_TIMER TIM2
#define GPO_TIMER_CLK RCC_APB1Periph_TIM2
#define GPO_TIMER_IRQn TIM2_IRQn
#define GPO_TIMER_IRQHandler TIM2_IRQHandler
-#define GPI_TIMER TIM3
-#define GPI_TIMER_CLK RCC_APB1Periph_TIM3
-#define GPI_TIMER_IRQn TIM3_IRQn
-#define GPI_TIMER_IRQHandler TIM3_IRQHandler
+#define GPI_EXTI1_IRQn EXTI9_5_IRQn
+#define GPI_EXTI1_IRQHandler EXTI9_5_IRQHandler
+#define GPI_EXTI2_IRQn EXTI15_10_IRQn
+#define GPI_EXTI2_IRQHandler EXTI15_10_IRQHandler
// private variables
// LED blink periods
@@ -62,39 +74,40 @@ void (*south_pb_callback)(void);
void (*east_pb_callback)(void);
void (*west_pb_callback)(void);
-// IRQ hanfler functions
-void GPI_TIMER_IRQHandler(void)
+// IRQ handler functions
+void GPI_EXTI1_IRQHandler(void)
{
- uint16_t capture;
- static uint8_t north_pb_last=Bit_SET,south_pb_last=Bit_SET,east_pb_last=Bit_SET,west_pb_last=Bit_SET;
- uint8_t north_pb_new,south_pb_new,east_pb_new,west_pb_new;
+ if(EXTI_GetITStatus(PUSH_BUTTON1_EXTI_LINE) != RESET)
+ {
+ if(north_pb_callback!=0)
+ north_pb_callback();
+ /* Clear the EXTI line 0 pending bit */
+ EXTI_ClearITPendingBit(PUSH_BUTTON1_EXTI_LINE);
+ }
+}
- if(TIM_GetITStatus(GPI_TIMER, TIM_IT_CC1)!=RESET)
+void GPI_EXTI2_IRQHandler(void)
+{
+ if(EXTI_GetITStatus(PUSH_BUTTON2_EXTI_LINE) != RESET)
{
- TIM_ClearITPendingBit(GPI_TIMER,TIM_IT_CC1);
- capture = TIM_GetCapture1(GPI_TIMER);
- TIM_SetCompare1(GPI_TIMER, capture + 10);
- /* check all the pushbuttons */
- north_pb_new=GPIO_ReadInputDataBit(PUSH_BUTTON1_GPIO_PORT,PUSH_BUTTON1_PIN);
- if(north_pb_last==Bit_SET && north_pb_new==Bit_RESET)
- if(north_pb_callback!=0)
- north_pb_callback();
- north_pb_last=north_pb_new;
- south_pb_new=GPIO_ReadInputDataBit(PUSH_BUTTON2_GPIO_PORT,PUSH_BUTTON2_PIN);
- if(south_pb_last==Bit_SET && south_pb_new==Bit_RESET)
- if(south_pb_callback!=0)
- south_pb_callback();
- south_pb_last=south_pb_new;
- east_pb_new=GPIO_ReadInputDataBit(PUSH_BUTTON3_GPIO_PORT,PUSH_BUTTON3_PIN);
- if(east_pb_last==Bit_SET && east_pb_new==Bit_RESET)
- if(east_pb_callback!=0)
- east_pb_callback();
- east_pb_last=east_pb_new;
- west_pb_new=GPIO_ReadInputDataBit(PUSH_BUTTON4_GPIO_PORT,PUSH_BUTTON4_PIN);
- if(west_pb_last==Bit_SET && west_pb_new==Bit_RESET)
- if(west_pb_callback!=0)
- west_pb_callback();
- west_pb_last=west_pb_new;
+ if(south_pb_callback!=0)
+ south_pb_callback();
+ /* Clear the EXTI line 0 pending bit */
+ EXTI_ClearITPendingBit(PUSH_BUTTON2_EXTI_LINE);
+ }
+ if(EXTI_GetITStatus(PUSH_BUTTON3_EXTI_LINE) != RESET)
+ {
+ if(east_pb_callback!=0)
+ east_pb_callback();
+ /* Clear the EXTI line 0 pending bit */
+ EXTI_ClearITPendingBit(PUSH_BUTTON3_EXTI_LINE);
+ }
+ if(EXTI_GetITStatus(PUSH_BUTTON4_EXTI_LINE) != RESET)
+ {
+ if(west_pb_callback!=0)
+ west_pb_callback();
+ /* Clear the EXTI line 0 pending bit */
+ EXTI_ClearITPendingBit(PUSH_BUTTON4_EXTI_LINE);
}
}
@@ -137,15 +150,16 @@ void GPO_TIMER_IRQHandler(void)
// public functions
void gpio_init(void)
{
- GPIO_InitTypeDef GPIO_InitStructure;
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+ GPIO_InitTypeDef GPIO_InitStructure;
+ TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
+ EXTI_InitTypeDef EXTI_InitStructure;
/* enable clocks */
RCC_AHB1PeriphClockCmd(LED1_GPIO_CLK | LED2_GPIO_CLK | LED3_GPIO_CLK | LED4_GPIO_CLK, ENABLE);
RCC_AHB1PeriphClockCmd(PUSH_BUTTON1_GPIO_CLK | PUSH_BUTTON2_GPIO_CLK | PUSH_BUTTON3_GPIO_CLK | PUSH_BUTTON4_GPIO_CLK, ENABLE);
- RCC_APB1PeriphClockCmd(GPO_TIMER_CLK | GPI_TIMER_CLK,ENABLE);
+ RCC_APB1PeriphClockCmd(GPO_TIMER_CLK,ENABLE);
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
/* GPIO Configuration */
GPIO_InitStructure.GPIO_Pin = LED1_PIN;
@@ -197,9 +211,6 @@ void gpio_init(void)
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
- NVIC_InitStructure.NVIC_IRQChannel = GPI_TIMER_IRQn;
- NVIC_Init(&NVIC_InitStructure);
-
/* LED's timer configuration */
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
@@ -210,19 +221,30 @@ void gpio_init(void)
TIM_PrescalerConfig(GPO_TIMER, 42000, TIM_PSCReloadMode_Immediate);
TIM_SetClockDivision(GPO_TIMER,TIM_CKD_DIV2);
- /* pushbutton timer configuration */
- TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
- TIM_TimeBaseStructure.TIM_Prescaler = 0;
- TIM_TimeBaseStructure.TIM_ClockDivision = 0;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
- TIM_TimeBaseInit(GPI_TIMER,&TIM_TimeBaseStructure);
- TIM_Cmd(GPI_TIMER, ENABLE);
- TIM_PrescalerConfig(GPI_TIMER, 42000, TIM_PSCReloadMode_Immediate);
- TIM_SetClockDivision(GPI_TIMER,TIM_CKD_DIV2);
- TIM_OCInitStructure.TIM_Pulse = 10;// 10 Hz
- TIM_OC1Init(GPI_TIMER, &TIM_OCInitStructure);
- TIM_OC1PreloadConfig(GPI_TIMER, TIM_OCPreload_Disable);
- TIM_ITConfig(GPI_TIMER, TIM_IT_CC1, ENABLE);
+ /* Connect external interrupts */
+ SYSCFG_EXTILineConfig(PUSH_BUTTON1_EXTI_PORT,PUSH_BUTTON1_EXTI_PIN);
+ SYSCFG_EXTILineConfig(PUSH_BUTTON2_EXTI_PORT,PUSH_BUTTON2_EXTI_PIN);
+ SYSCFG_EXTILineConfig(PUSH_BUTTON3_EXTI_PORT,PUSH_BUTTON3_EXTI_PIN);
+ SYSCFG_EXTILineConfig(PUSH_BUTTON4_EXTI_PORT,PUSH_BUTTON4_EXTI_PIN);
+
+ /* configure external interrupts */
+ EXTI_InitStructure.EXTI_Line = PUSH_BUTTON1_EXTI_LINE | PUSH_BUTTON2_EXTI_LINE | PUSH_BUTTON3_EXTI_LINE | PUSH_BUTTON4_EXTI_LINE;
+ EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+ EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+ EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+ EXTI_Init(&EXTI_InitStructure);
+
+ NVIC_InitStructure.NVIC_IRQChannel = GPI_EXTI1_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&NVIC_InitStructure);
+
+ NVIC_InitStructure.NVIC_IRQChannel = GPI_EXTI2_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&NVIC_InitStructure);
}
void gpio_set_led(led_t led_id)
@@ -371,6 +393,8 @@ uint8_t gpio_is_pushbutton_pressed(pushbutton_t pb_id)
return 0x00;
break;
}
+
+ return 0x00;
}
void gpio_set_pushbutton_callback(pushbutton_t pb_id,void (*callback)(void))