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56 lines
1.9 KiB
56 lines
1.9 KiB
void EXTI_IRQ_Handler(void);
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void exti_irq_init(void) {
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SYSCFG->EXTICR[2] &= ~(SYSCFG_EXTICR3_EXTI8_Msk);
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if (harness.status == HARNESS_STATUS_FLIPPED) {
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// CAN2_RX
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current_board->enable_can_transceiver(3U, false);
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SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI8_PA);
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// IRQ on falling edge for PC3 (SBU2, EXTI3)
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SYSCFG->EXTICR[0] &= ~(SYSCFG_EXTICR1_EXTI3_Msk);
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SYSCFG->EXTICR[0] |= (SYSCFG_EXTICR1_EXTI3_PC);
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EXTI->IMR |= EXTI_IMR_MR3;
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EXTI->RTSR &= ~EXTI_RTSR_TR3; // rising edge
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EXTI->FTSR |= EXTI_FTSR_TR3; // falling edge
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REGISTER_INTERRUPT(EXTI3_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
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NVIC_EnableIRQ(EXTI3_IRQn);
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} else {
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// CAN0_RX
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current_board->enable_can_transceiver(1U, false);
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SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI8_PB);
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// IRQ on falling edge for PC0 (SBU1, EXTI0)
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SYSCFG->EXTICR[0] &= ~(SYSCFG_EXTICR1_EXTI0_Msk);
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SYSCFG->EXTICR[0] |= (SYSCFG_EXTICR1_EXTI0_PC);
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EXTI->IMR |= EXTI_IMR_MR0;
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EXTI->RTSR &= ~EXTI_RTSR_TR0; // rising edge
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EXTI->FTSR |= EXTI_FTSR_TR0; // falling edge
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REGISTER_INTERRUPT(EXTI0_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
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NVIC_EnableIRQ(EXTI0_IRQn);
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}
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// CAN0 or CAN2 IRQ on falling edge (EXTI8)
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EXTI->IMR |= EXTI_IMR_MR8;
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EXTI->RTSR &= ~EXTI_RTSR_TR8; // rising edge
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EXTI->FTSR |= EXTI_FTSR_TR8; // falling edge
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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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bool check_exti_irq(void) {
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return ((EXTI->PR & EXTI_PR_PR8) || (EXTI->PR & EXTI_PR_PR3) || (EXTI->PR & EXTI_PR_PR0));
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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->PR |= EXTI_PR_PR8;
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EXTI->PR |= EXTI_PR_PR0;
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EXTI->PR |= EXTI_PR_PR3;
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EXTI->PR |= EXTI_PR_PR22;
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// Disable all active EXTI IRQs
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EXTI->IMR &= ~EXTI_IMR_MR8;
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EXTI->IMR &= ~EXTI_IMR_MR0;
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EXTI->IMR &= ~EXTI_IMR_MR3;
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EXTI->IMR &= ~EXTI_IMR_MR22;
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}
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