void PWM_ISR ( void ) {
ISR_ENTRY();
// LED_TOGGLE(2);
if (servos_idx == 0) {
IO1CLR = _BV(SERV1_RESET_PIN);
IO1SET = _BV(SERV1_DATA_PIN);
PWMMR0 = servos_values[servos_idx];
servos_delay = SERVO_REFRESH_TICS - servos_values[servos_idx];
PWMLER = PWMLER_LATCH0;
servos_idx++;
}
else if (servos_idx < _4015_NB_CHANNELS) {
IO1CLR = _BV(SERV1_DATA_PIN);
PWMMR0 = servos_values[servos_idx];
servos_delay -= servos_values[servos_idx];
PWMLER = PWMLER_LATCH0;
servos_idx++;
}
else {
IO1SET = _BV(SERV1_RESET_PIN);
PWMMR0 = servos_delay;
PWMLER = PWMLER_LATCH0;
servos_idx = 0;
}
/* clear the interrupt */
PWMIR = PWMIR_MRI_SERV1;
VICVectAddr = 0x00000000;
ISR_EXIT();
}
static void SSP_ISR(void) {
ISR_ENTRY();
MmOnSpiIt();
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
__attribute__ ((naked)) void TIMER_0_ISR_0(void)
{
ISR_ENTER();
DEBUG("\nenter ISR\n");
irq_handler(TIMER_0, TIMER_0_DEV_0, TIMER_0_DEV_1);
DEBUG("leave ISR\n\n");
ISR_EXIT();
}
/**
Interrupt handler
Simply calls the USB ISR, then signals end of interrupt to VIC
*/
void USBIntHandler(void)
{
ISR_ENTRY();
USBHwISR();
VICVectAddr = 0x00; // dummy write to VIC to signal end of ISR
ISR_EXIT();
}
static void NACKEDFUNC ATTR
ws2812_int (void) /* SSC Interrupt Handler */
{
ISR_ENTRY();
ws2812_int_safe();
*AT91C_AIC_EOICR = 0; /* End of Interrupt */
ISR_EXIT();
}
void EXTINT_ISR(void) {
ISR_ENTRY();
/* no, we won't do anything asynchronously, so just notify */
ms2001_status = MS2001_GOT_EOC;
/* clear EINT */
EXTINT = (1<<MS2001_DRDY_EINT);
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
void uart1_ISR(void) {
// perform proper ISR entry so thumb-interwork works properly
ISR_ENTRY();
uart_ISR(&uart1);
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
void EXTINT_ISR(void)
{
ISR_ENTRY();
baro_scp_read();
SetBit(EXTINT, SPI1_DRDY_EINT); /* clear EINT2 */
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
/**
Interrupt handler
Simply calls the USB ISR, then signals end of interrupt to VIC
*/
void USBIntHandler(void)
{
// do we really need this entry/exit stuff?
ISR_ENTRY();
USBHwISR();
VICVectAddr = 0x00; // dummy write to VIC to signal end of ISR
ISR_EXIT();
}
/******* External interrupt: Data input available ***********/
void EXTINT_ISR(void) {
ISR_ENTRY();
max3100_data_available = true;
SetBit(EXTINT, MAX3100_IRQ_EINT); /* clear extint */
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
void i2c1_ISR(void) {
ISR_ENTRY();
uint32_t state = I2C1STAT;
I2cAutomaton(state,&i2c1);
I2cClearIT(i2c1.reg_addr);
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
void EXTINT_ISR(void) {
ISR_ENTRY();
/* scp1000 has measured new data, now it's time to read it from spi */
scp1000_read();
EXTINT |= 1 << SCP_DRDY_EINT; /* clear EINT */
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
/**
Interrupt handler
Simply calls the USB ISR, then signals end of interrupt to VIC
*/
void USBIntHandler(void)
{
ISR_ENTRY();
//DBG("Z");
USBHwISR();
//DBG("z");
VICVectAddr = 0x00; // dummy write to VIC to signal end of ISR
//DBG("Exit int\n");
ISR_EXIT();
}
void EXTINT0_ISR(void) {
ISR_ENTRY();
//ASSERT((max1168_status == MAX1168_SENDING_REQ), DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_EOC);
max1168_status = MAX1168_GOT_EOC;
//SetBit(EXTINT, MAX1168_EOC_EINT); /* clear extint0 */
EXTINT = (1<<MAX1168_EOC_EINT);
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
void i2c1_ISR(void)
{
ISR_ENTRY();
uint32_t state = I2C1_STATUS_REG;
i2c1_automaton(state);
I2c1ClearIT();
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
void EXTINT_ISR(void) {
ISR_ENTRY();
//LED_TOGGLE(3);
/* no, we won't do anything asynchronously, so just notify */
micromag_status = MM_GOT_EOC;
/* clear EINT */
SetBit(EXTINT,MM_DRDY_EINT);
// EXTINT = (1<<MM_DRDY_EINT);
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
void ADC0_ISR ( void ) {
ISR_ENTRY();
uint32_t tmp = AD0GDR;
uint16_t tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
BatteryISRHandler(tmp2);
/* trigger next convertion */
T0MR1 += BOOZ2_ANALOG_BATTERY_PERIOD;
/* lower clock */
T0EMR &= ~TEMR_EM1;
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
__attribute__((naked)) void isr_exti4_15(void)
{
ISR_ENTER();
if (EXTI->PR & EXTI_PR_PR4) {
EXTI->PR |= EXTI_PR_PR4; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_4].cb();
}
else if (EXTI->PR & EXTI_PR_PR5) {
EXTI->PR |= EXTI_PR_PR5; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_5].cb();
}
else if (EXTI->PR & EXTI_PR_PR6) {
EXTI->PR |= EXTI_PR_PR6; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_6].cb();
}
else if (EXTI->PR & EXTI_PR_PR7) {
EXTI->PR |= EXTI_PR_PR7; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_7].cb();
}
else if (EXTI->PR & EXTI_PR_PR8) {
EXTI->PR |= EXTI_PR_PR8; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_8].cb();
}
else if (EXTI->PR & EXTI_PR_PR9) {
EXTI->PR |= EXTI_PR_PR9; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_9].cb();
}
else if (EXTI->PR & EXTI_PR_PR10) {
EXTI->PR |= EXTI_PR_PR10; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_10].cb();
}
else if (EXTI->PR & EXTI_PR_PR11) {
EXTI->PR |= EXTI_PR_PR11; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_11].cb();
}
else if (EXTI->PR & EXTI_PR_PR12) {
EXTI->PR |= EXTI_PR_PR12; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_12].cb();
}
else if (EXTI->PR & EXTI_PR_PR13) {
EXTI->PR |= EXTI_PR_PR13; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_13].cb();
}
else if (EXTI->PR & EXTI_PR_PR14) {
EXTI->PR |= EXTI_PR_PR14; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_14].cb();
}
else if (EXTI->PR & EXTI_PR_PR15) {
EXTI->PR |= EXTI_PR_PR15; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_15].cb();
}
ISR_EXIT();
}
__attribute__((naked)) void isr_exti4(void)
{
ISR_ENTER();
if (EXTI->PR & EXTI_PR_PR4) {
EXTI->PR |= EXTI_PR_PR4; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_4].cb(config[GPIO_IRQ_4].arg);
}
if (sched_context_switch_request) {
thread_yield();
}
ISR_EXIT();
}
__attribute__((naked)) void isr_exti0_1(void)
{
ISR_ENTER();
if (EXTI->PR & EXTI_PR_PR0) {
EXTI->PR |= EXTI_PR_PR0; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_0].cb();
}
else if (EXTI->PR & EXTI_PR_PR1) {
EXTI->PR |= EXTI_PR_PR1; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_1].cb();
}
ISR_EXIT();
}
__attribute__((naked)) void isr_exti2_3(void)
{
ISR_ENTER();
if (EXTI->PR & EXTI_PR_PR2) {
EXTI->PR |= EXTI_PR_PR2; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_2].cb();
}
else if (EXTI->PR & EXTI_PR_PR3) {
EXTI->PR |= EXTI_PR_PR3; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_3].cb();
}
ISR_EXIT();
}
__attribute__((naked)) void RTT_ISR(void)
{
ISR_ENTER();
if (RTT_DEV->CRL & RTC_CRL_ALRF) {
RTT_DEV->CRL &= ~(RTC_CRL_ALRF);
alarm_cb(alarm_arg);
}
if (sched_context_switch_request) {
thread_yield();
}
ISR_EXIT();
}
void NACKEDFUNC ATTR system_int (void) { /* System Interrupt Handler */
volatile AT91S_PITC * pPIT = AT91C_BASE_PITC;
ISR_ENTRY();
if (pPIT->PITC_PISR & AT91C_PITC_PITS) { /* Check PIT Interrupt */
*AT91C_AIC_EOICR = pPIT->PITC_PIVR; /* Ack & End of Interrupt */
timeval++; /* Increment Time Tick */
} else {
*AT91C_AIC_EOICR = 0; /* End of Interrupt */
}
ISR_EXIT();
}
void EXTINT2_ISR(void) {
ISR_ENTRY();
/* read dummy control byte reply */
uint8_t foo __attribute__ ((unused)) = SSPDR;
/* trigger 2 bytes read */
SSPDR = 0;
SSPDR = 0;
/* enable timeout interrupt */
SpiEnableRti();
/* clear EINT2 */
SetBit(EXTINT,MM_DRDY_EINT); /* clear EINT2 */
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
void NACKEDFUNC ATTR system_int (void) { /* System Interrupt Handler */
volatile AT91S_PITC * pPIT = AT91C_BASE_PITC;
ISR_ENTRY();
if (pPIT->PITC_PISR & AT91C_PITC_PITS) { /* Check PIT Interrupt */
timeval++; /* Increment Time Tick */
if ((timeval % 500) == 0) { /* 500ms Elapsed ? */
*AT91C_PIOA_ODSR ^= LED4; /* Toggle LED4 */
}
*AT91C_AIC_EOICR = pPIT->PITC_PIVR; /* Ack & End of Interrupt */
} else {
*AT91C_AIC_EOICR = 0; /* End of Interrupt */
}
ISR_EXIT();
}
void TIMER_1_ISR1(void)
{
ISR_ENTER();
uint32_t status = TIMER_1_DEV->TC_CHANNEL[0].TC_SR;
if (status & TC_SR_CPAS) {
TIMER_1_DEV->TC_CHANNEL[0].TC_IDR = TC_IDR_CPAS;
config[TIMER_1].cb(0);
}
if (status & TC_SR_CPBS) {
TIMER_1_DEV->TC_CHANNEL[0].TC_IDR = TC_IDR_CPBS;
config[TIMER_1].cb(1);
}
if (status & TC_SR_CPCS) {
TIMER_1_DEV->TC_CHANNEL[0].TC_IDR = TC_IDR_CPCS;
config[TIMER_1].cb(2);
}
ISR_EXIT();
}
void TIMER_2_ISR2(void)
{
ISR_ENTER();
uint32_t status = TIMER_2_DEV->TC_CHANNEL[1].TC_SR;
if (status & TC_SR_CPAS) {
TIMER_2_DEV->TC_CHANNEL[1].TC_IDR = TC_IDR_CPAS;
config[TIMER_2].cb(3);
}
else if (status & TC_SR_CPBS) {
TIMER_2_DEV->TC_CHANNEL[1].TC_IDR = TC_IDR_CPBS;
config[TIMER_2].cb(4);
}
else if (status & TC_SR_CPCS) {
TIMER_2_DEV->TC_CHANNEL[1].TC_IDR = TC_IDR_CPCS;
config[TIMER_2].cb(5);
}
ISR_EXIT();
}
__attribute__((naked)) void isr_exti15_10(void)
{
ISR_ENTER();
#ifdef GPIO_IRQ_10
if (EXTI->PR & EXTI_PR_PR10) {
EXTI->PR |= EXTI_PR_PR10; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_10].cb(config[GPIO_IRQ_10].arg);
}
#endif
#ifdef GPIO_IRQ_11
if (EXTI->PR & EXTI_PR_PR11) {
EXTI->PR |= EXTI_PR_PR11; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_11].cb(config[GPIO_IRQ_11].arg);
}
#endif
#ifdef GPIO_IRQ_12
if (EXTI->PR & EXTI_PR_PR12) {
EXTI->PR |= EXTI_PR_PR12; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_12].cb(config[GPIO_IRQ_12].arg);
}
#endif
#ifdef GPIO_IRQ_13
if (EXTI->PR & EXTI_PR_PR13) {
EXTI->PR |= EXTI_PR_PR13; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_13].cb(config[GPIO_IRQ_13].arg);
}
#endif
#ifdef GPIO_IRQ_14
if (EXTI->PR & EXTI_PR_PR14) {
EXTI->PR |= EXTI_PR_PR14; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_14].cb(config[GPIO_IRQ_14].arg);
}
#endif
#ifdef GPIO_IRQ_15
if (EXTI->PR & EXTI_PR_PR15) {
EXTI->PR |= EXTI_PR_PR15; /* clear status bit by writing a 1 to it */
config[GPIO_IRQ_15].cb(config[GPIO_IRQ_15].arg);
}
#endif
if (sched_context_switch_request) {
thread_yield();
}
ISR_EXIT();
}
static void SSP_ISR(void) {
ISR_ENTRY();
switch (imu_spi_selected)
{
case SPI_SLAVE_MAX1168:
max1168_got_interrupt_retrieve_values();
imu_spi_selected = SPI_NONE;
break;
case SPI_SLAVE_MM:
micromag_got_interrupt_retrieve_values();
if (micromag_status == MM_DATA_AVAILABLE)
imu_spi_selected = SPI_NONE;
break;
}
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
static void SPI0_ISR(void) {
ISR_ENTRY();
static uint8_t cnt = 0;
LED_TOGGLE(1);
if ( bit_is_set(S0SPSR, SPIF)) { /* transfer complete */
uint8_t foo = S0SPDR;
S0SPDR = cnt;
cnt++;
}
/* clear_it */
S0SPINT = 1<<SPI0IF;
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
