// -----------------------------------------------------------------------------
// This puts a callback into the callback ring buffer.
void SetNewDataCallback(Callback callback)
{
if (!callback) return;
callback_buffer_head_ = (callback_buffer_head_ + 1) % MAX_CALLBACKS;
callback_buffer_[callback_buffer_head_] = callback;
VIC_SWITCmd(EXTIT0_ITLine, ENABLE);
}
//------------------------------------------------------------------------------
// This function responds to the interrupt triggered when an external device
// pulls down the interrupt line (pin 5 on the FlightCtrl header). This is a
// low-priority interrupt, so some computation can be safely added here.
void FlightCtrlInterruptHandler(void)
{
WIU_ClearITPendingBit(WIU_Line16);
VIC_SWITCmd(EXTIT2_ITLine, DISABLE);
PrepareFlightCtrlDataExchange();
}
//------------------------------------------------------------------------------
// This is a low-priority interrupt that is triggered by high-frequency data
// collecting interrupts such as SPI and I2C. It enables the data processing to
// be performed at a lower priority than the data collection, but at a higher
// priority that slower computations.
void NewDataInterruptHandler(void)
{
VIC_SWITCmd(EXTIT0_ITLine, DISABLE);
while (callback_buffer_head_ != callback_buffer_tail_)
{
callback_buffer_tail_ = (callback_buffer_tail_ + 1) % MAX_CALLBACKS;
(*callback_buffer_[callback_buffer_tail_])();
}
}
void FiftyHzInterruptHandler(void)
{
VIC_SWITCmd(EXTIT3_ITLine, DISABLE);
uint16_t button = GPIO_ReadBit(GPIO3, GPIO_Pin_1);
static uint16_t button_pv = 0;
// Start and stop magnetometer calibration.
if (button && (button_pv == 0x7FFF)) mag_calibration_ = !mag_calibration_;
// Reset GPS home position.
// if (button && (button_pv == 0x7FFF)) SetGPSHome();
button_pv = (button_pv << 1) | button;
}
//----------------------------------------------------------------------------------------------------
void TIM1_IRQHandler(void)
{
IENABLE;
if(TIM_GetFlagStatus(TIM1, TIM_FLAG_OC1) == SET)
{
TIM_ClearFlag(TIM1, TIM_FLAG_OC1); // clear irq pending bit
TIM1->OC1R += 200; // Timerfreq is 200kHz, generate an interrupt every 1ms
CountMilliseconds++;
// generate SW Interrupt to make a regular timing
// independent from the mainloop at the lowest IRQ priority
VIC_SWITCmd(EXTIT3_ITLine, ENABLE);
}
IDISABLE;
}
