diff options
| author | James Munns <[email protected]> | 2025-12-05 14:28:47 +0100 |
|---|---|---|
| committer | James Munns <[email protected]> | 2025-12-05 14:28:47 +0100 |
| commit | b252db845e19603faf528cf93fe0c44757a27430 (patch) | |
| tree | 99e646d17bed747df244dd607a15f5a67baa530a /embassy-mcxa/src/interrupt.rs | |
| parent | 6a1eed83b9df8ffa81b93860f530f5bb3252d996 (diff) | |
Move
Diffstat (limited to 'embassy-mcxa/src/interrupt.rs')
| -rw-r--r-- | embassy-mcxa/src/interrupt.rs | 546 |
1 files changed, 546 insertions, 0 deletions
diff --git a/embassy-mcxa/src/interrupt.rs b/embassy-mcxa/src/interrupt.rs new file mode 100644 index 000000000..000b2f9cd --- /dev/null +++ b/embassy-mcxa/src/interrupt.rs | |||
| @@ -0,0 +1,546 @@ | |||
| 1 | //! Minimal interrupt helpers mirroring embassy-imxrt style for OS_EVENT and LPUART2. | ||
| 2 | //! Type-level interrupt traits and bindings are provided by the | ||
| 3 | //! `embassy_hal_internal::interrupt_mod!` macro via the generated module below. | ||
| 4 | |||
| 5 | // TODO(AJM): As of 2025-11-13, we need to do a pass to ensure safety docs | ||
| 6 | // are complete prior to release. | ||
| 7 | #![allow(clippy::missing_safety_doc)] | ||
| 8 | |||
| 9 | mod generated { | ||
| 10 | embassy_hal_internal::interrupt_mod!( | ||
| 11 | OS_EVENT, RTC, ADC1, GPIO0, GPIO1, GPIO2, GPIO3, GPIO4, LPI2C0, LPI2C1, LPI2C2, LPI2C3, LPUART0, LPUART1, | ||
| 12 | LPUART2, LPUART3, LPUART4, LPUART5, DMA_CH0, DMA_CH1, DMA_CH2, DMA_CH3, DMA_CH4, DMA_CH5, DMA_CH6, DMA_CH7, | ||
| 13 | ); | ||
| 14 | } | ||
| 15 | |||
| 16 | use core::sync::atomic::{AtomicU16, AtomicU32, Ordering}; | ||
| 17 | |||
| 18 | pub use generated::interrupt::{typelevel, Priority}; | ||
| 19 | |||
| 20 | use crate::pac::Interrupt; | ||
| 21 | |||
| 22 | /// Trait for configuring and controlling interrupts. | ||
| 23 | /// | ||
| 24 | /// This trait provides a consistent interface for interrupt management across | ||
| 25 | /// different interrupt sources, similar to embassy-imxrt's InterruptExt. | ||
| 26 | pub trait InterruptExt { | ||
| 27 | /// Clear any pending interrupt in NVIC. | ||
| 28 | fn unpend(&self); | ||
| 29 | |||
| 30 | /// Set NVIC priority for this interrupt. | ||
| 31 | fn set_priority(&self, priority: Priority); | ||
| 32 | |||
| 33 | /// Enable this interrupt in NVIC. | ||
| 34 | /// | ||
| 35 | /// # Safety | ||
| 36 | /// This function is unsafe because it can enable interrupts that may not be | ||
| 37 | /// properly configured, potentially leading to undefined behavior. | ||
| 38 | unsafe fn enable(&self); | ||
| 39 | |||
| 40 | /// Disable this interrupt in NVIC. | ||
| 41 | /// | ||
| 42 | /// # Safety | ||
| 43 | /// This function is unsafe because disabling interrupts may leave the system | ||
| 44 | /// in an inconsistent state if the interrupt was expected to fire. | ||
| 45 | unsafe fn disable(&self); | ||
| 46 | |||
| 47 | /// Check if the interrupt is pending in NVIC. | ||
| 48 | fn is_pending(&self) -> bool; | ||
| 49 | } | ||
| 50 | |||
| 51 | #[derive(Clone, Copy, Debug, Default)] | ||
| 52 | pub struct DefaultHandlerSnapshot { | ||
| 53 | pub vector: u16, | ||
| 54 | pub count: u32, | ||
| 55 | pub cfsr: u32, | ||
| 56 | pub hfsr: u32, | ||
| 57 | pub stacked_pc: u32, | ||
| 58 | pub stacked_lr: u32, | ||
| 59 | pub stacked_sp: u32, | ||
| 60 | } | ||
| 61 | |||
| 62 | static LAST_DEFAULT_VECTOR: AtomicU16 = AtomicU16::new(0); | ||
| 63 | static LAST_DEFAULT_COUNT: AtomicU32 = AtomicU32::new(0); | ||
| 64 | static LAST_DEFAULT_CFSR: AtomicU32 = AtomicU32::new(0); | ||
| 65 | static LAST_DEFAULT_HFSR: AtomicU32 = AtomicU32::new(0); | ||
| 66 | static LAST_DEFAULT_PC: AtomicU32 = AtomicU32::new(0); | ||
| 67 | static LAST_DEFAULT_LR: AtomicU32 = AtomicU32::new(0); | ||
| 68 | static LAST_DEFAULT_SP: AtomicU32 = AtomicU32::new(0); | ||
| 69 | |||
| 70 | #[inline] | ||
| 71 | pub fn default_handler_snapshot() -> DefaultHandlerSnapshot { | ||
| 72 | DefaultHandlerSnapshot { | ||
| 73 | vector: LAST_DEFAULT_VECTOR.load(Ordering::Relaxed), | ||
| 74 | count: LAST_DEFAULT_COUNT.load(Ordering::Relaxed), | ||
| 75 | cfsr: LAST_DEFAULT_CFSR.load(Ordering::Relaxed), | ||
| 76 | hfsr: LAST_DEFAULT_HFSR.load(Ordering::Relaxed), | ||
| 77 | stacked_pc: LAST_DEFAULT_PC.load(Ordering::Relaxed), | ||
| 78 | stacked_lr: LAST_DEFAULT_LR.load(Ordering::Relaxed), | ||
| 79 | stacked_sp: LAST_DEFAULT_SP.load(Ordering::Relaxed), | ||
| 80 | } | ||
| 81 | } | ||
| 82 | |||
| 83 | #[inline] | ||
| 84 | pub fn clear_default_handler_snapshot() { | ||
| 85 | LAST_DEFAULT_VECTOR.store(0, Ordering::Relaxed); | ||
| 86 | LAST_DEFAULT_COUNT.store(0, Ordering::Relaxed); | ||
| 87 | LAST_DEFAULT_CFSR.store(0, Ordering::Relaxed); | ||
| 88 | LAST_DEFAULT_HFSR.store(0, Ordering::Relaxed); | ||
| 89 | LAST_DEFAULT_PC.store(0, Ordering::Relaxed); | ||
| 90 | LAST_DEFAULT_LR.store(0, Ordering::Relaxed); | ||
| 91 | LAST_DEFAULT_SP.store(0, Ordering::Relaxed); | ||
| 92 | } | ||
| 93 | |||
| 94 | /// OS_EVENT interrupt helper with methods similar to embassy-imxrt's InterruptExt. | ||
| 95 | pub struct OsEvent; | ||
| 96 | pub const OS_EVENT: OsEvent = OsEvent; | ||
| 97 | |||
| 98 | impl InterruptExt for OsEvent { | ||
| 99 | /// Clear any pending OS_EVENT in NVIC. | ||
| 100 | #[inline] | ||
| 101 | fn unpend(&self) { | ||
| 102 | cortex_m::peripheral::NVIC::unpend(Interrupt::OS_EVENT); | ||
| 103 | } | ||
| 104 | |||
| 105 | /// Set NVIC priority for OS_EVENT. | ||
| 106 | #[inline] | ||
| 107 | fn set_priority(&self, priority: Priority) { | ||
| 108 | unsafe { | ||
| 109 | let mut nvic = cortex_m::peripheral::Peripherals::steal().NVIC; | ||
| 110 | nvic.set_priority(Interrupt::OS_EVENT, u8::from(priority)); | ||
| 111 | } | ||
| 112 | } | ||
| 113 | |||
| 114 | /// Enable OS_EVENT in NVIC. | ||
| 115 | #[inline] | ||
| 116 | unsafe fn enable(&self) { | ||
| 117 | cortex_m::peripheral::NVIC::unmask(Interrupt::OS_EVENT); | ||
| 118 | } | ||
| 119 | |||
| 120 | /// Disable OS_EVENT in NVIC. | ||
| 121 | #[inline] | ||
| 122 | unsafe fn disable(&self) { | ||
| 123 | cortex_m::peripheral::NVIC::mask(Interrupt::OS_EVENT); | ||
| 124 | } | ||
| 125 | |||
| 126 | /// Check if OS_EVENT is pending in NVIC. | ||
| 127 | #[inline] | ||
| 128 | fn is_pending(&self) -> bool { | ||
| 129 | cortex_m::peripheral::NVIC::is_pending(Interrupt::OS_EVENT) | ||
| 130 | } | ||
| 131 | } | ||
| 132 | |||
| 133 | impl OsEvent { | ||
| 134 | /// Configure OS_EVENT interrupt for timer operation. | ||
| 135 | /// This sets up the NVIC priority, enables the interrupt, and ensures global interrupts are enabled. | ||
| 136 | /// Also performs a software event to wake any pending WFE. | ||
| 137 | pub fn configure_for_timer(&self, priority: Priority) { | ||
| 138 | // Configure NVIC | ||
| 139 | self.unpend(); | ||
| 140 | self.set_priority(priority); | ||
| 141 | unsafe { | ||
| 142 | self.enable(); | ||
| 143 | } | ||
| 144 | |||
| 145 | // Ensure global interrupts are enabled in no-reset scenarios (e.g., cargo run) | ||
| 146 | // Debuggers typically perform a reset which leaves PRIMASK=0; cargo run may not. | ||
| 147 | unsafe { | ||
| 148 | cortex_m::interrupt::enable(); | ||
| 149 | } | ||
| 150 | |||
| 151 | // Wake any executor WFE that might be sleeping when we armed the first deadline | ||
| 152 | cortex_m::asm::sev(); | ||
| 153 | } | ||
| 154 | } | ||
| 155 | |||
| 156 | /// LPUART2 interrupt helper with methods similar to embassy-imxrt's InterruptExt. | ||
| 157 | pub struct Lpuart2; | ||
| 158 | pub const LPUART2: Lpuart2 = Lpuart2; | ||
| 159 | |||
| 160 | impl InterruptExt for Lpuart2 { | ||
| 161 | /// Clear any pending LPUART2 in NVIC. | ||
| 162 | #[inline] | ||
| 163 | fn unpend(&self) { | ||
| 164 | cortex_m::peripheral::NVIC::unpend(Interrupt::LPUART2); | ||
| 165 | } | ||
| 166 | |||
| 167 | /// Set NVIC priority for LPUART2. | ||
| 168 | #[inline] | ||
| 169 | fn set_priority(&self, priority: Priority) { | ||
| 170 | unsafe { | ||
| 171 | let mut nvic = cortex_m::peripheral::Peripherals::steal().NVIC; | ||
| 172 | nvic.set_priority(Interrupt::LPUART2, u8::from(priority)); | ||
| 173 | } | ||
| 174 | } | ||
| 175 | |||
| 176 | /// Enable LPUART2 in NVIC. | ||
| 177 | #[inline] | ||
| 178 | unsafe fn enable(&self) { | ||
| 179 | cortex_m::peripheral::NVIC::unmask(Interrupt::LPUART2); | ||
| 180 | } | ||
| 181 | |||
| 182 | /// Disable LPUART2 in NVIC. | ||
| 183 | #[inline] | ||
| 184 | unsafe fn disable(&self) { | ||
| 185 | cortex_m::peripheral::NVIC::mask(Interrupt::LPUART2); | ||
| 186 | } | ||
| 187 | |||
| 188 | /// Check if LPUART2 is pending in NVIC. | ||
| 189 | #[inline] | ||
| 190 | fn is_pending(&self) -> bool { | ||
| 191 | cortex_m::peripheral::NVIC::is_pending(Interrupt::LPUART2) | ||
| 192 | } | ||
| 193 | } | ||
| 194 | |||
| 195 | impl Lpuart2 { | ||
| 196 | /// Configure LPUART2 interrupt for UART operation. | ||
| 197 | /// This sets up the NVIC priority, enables the interrupt, and ensures global interrupts are enabled. | ||
| 198 | pub fn configure_for_uart(&self, priority: Priority) { | ||
| 199 | // Configure NVIC | ||
| 200 | self.unpend(); | ||
| 201 | self.set_priority(priority); | ||
| 202 | unsafe { | ||
| 203 | self.enable(); | ||
| 204 | } | ||
| 205 | |||
| 206 | // Ensure global interrupts are enabled in no-reset scenarios (e.g., cargo run) | ||
| 207 | // Debuggers typically perform a reset which leaves PRIMASK=0; cargo run may not. | ||
| 208 | unsafe { | ||
| 209 | cortex_m::interrupt::enable(); | ||
| 210 | } | ||
| 211 | } | ||
| 212 | |||
| 213 | /// Install LPUART2 handler into the RAM vector table. | ||
| 214 | /// Safety: See `install_irq_handler`. | ||
| 215 | pub unsafe fn install_handler(&self, handler: unsafe extern "C" fn()) { | ||
| 216 | install_irq_handler(Interrupt::LPUART2, handler); | ||
| 217 | } | ||
| 218 | } | ||
| 219 | |||
| 220 | pub struct Rtc; | ||
| 221 | pub const RTC: Rtc = Rtc; | ||
| 222 | |||
| 223 | impl InterruptExt for Rtc { | ||
| 224 | /// Clear any pending RTC in NVIC. | ||
| 225 | #[inline] | ||
| 226 | fn unpend(&self) { | ||
| 227 | cortex_m::peripheral::NVIC::unpend(Interrupt::RTC); | ||
| 228 | } | ||
| 229 | |||
| 230 | /// Set NVIC priority for RTC. | ||
| 231 | #[inline] | ||
| 232 | fn set_priority(&self, priority: Priority) { | ||
| 233 | unsafe { | ||
| 234 | let mut nvic = cortex_m::peripheral::Peripherals::steal().NVIC; | ||
| 235 | nvic.set_priority(Interrupt::RTC, u8::from(priority)); | ||
| 236 | } | ||
| 237 | } | ||
| 238 | |||
| 239 | /// Enable RTC in NVIC. | ||
| 240 | #[inline] | ||
| 241 | unsafe fn enable(&self) { | ||
| 242 | cortex_m::peripheral::NVIC::unmask(Interrupt::RTC); | ||
| 243 | } | ||
| 244 | |||
| 245 | /// Disable RTC in NVIC. | ||
| 246 | #[inline] | ||
| 247 | unsafe fn disable(&self) { | ||
| 248 | cortex_m::peripheral::NVIC::mask(Interrupt::RTC); | ||
| 249 | } | ||
| 250 | |||
| 251 | /// Check if RTC is pending in NVIC. | ||
| 252 | #[inline] | ||
| 253 | fn is_pending(&self) -> bool { | ||
| 254 | cortex_m::peripheral::NVIC::is_pending(Interrupt::RTC) | ||
| 255 | } | ||
| 256 | } | ||
| 257 | |||
| 258 | pub struct Adc; | ||
| 259 | pub const ADC1: Adc = Adc; | ||
| 260 | |||
| 261 | impl InterruptExt for Adc { | ||
| 262 | /// Clear any pending ADC1 in NVIC. | ||
| 263 | #[inline] | ||
| 264 | fn unpend(&self) { | ||
| 265 | cortex_m::peripheral::NVIC::unpend(Interrupt::ADC1); | ||
| 266 | } | ||
| 267 | |||
| 268 | /// Set NVIC priority for ADC1. | ||
| 269 | #[inline] | ||
| 270 | fn set_priority(&self, priority: Priority) { | ||
| 271 | unsafe { | ||
| 272 | let mut nvic = cortex_m::peripheral::Peripherals::steal().NVIC; | ||
| 273 | nvic.set_priority(Interrupt::ADC1, u8::from(priority)); | ||
| 274 | } | ||
| 275 | } | ||
| 276 | |||
| 277 | /// Enable ADC1 in NVIC. | ||
| 278 | #[inline] | ||
| 279 | unsafe fn enable(&self) { | ||
| 280 | cortex_m::peripheral::NVIC::unmask(Interrupt::ADC1); | ||
| 281 | } | ||
| 282 | |||
| 283 | /// Disable ADC1 in NVIC. | ||
| 284 | #[inline] | ||
| 285 | unsafe fn disable(&self) { | ||
| 286 | cortex_m::peripheral::NVIC::mask(Interrupt::ADC1); | ||
| 287 | } | ||
| 288 | |||
| 289 | /// Check if ADC1 is pending in NVIC. | ||
| 290 | #[inline] | ||
| 291 | fn is_pending(&self) -> bool { | ||
| 292 | cortex_m::peripheral::NVIC::is_pending(Interrupt::ADC1) | ||
| 293 | } | ||
| 294 | } | ||
| 295 | |||
| 296 | pub struct Gpio0; | ||
| 297 | pub const GPIO0: Gpio0 = Gpio0; | ||
| 298 | |||
| 299 | impl InterruptExt for Gpio0 { | ||
| 300 | /// Clear any pending GPIO0 in NVIC. | ||
| 301 | #[inline] | ||
| 302 | fn unpend(&self) { | ||
| 303 | cortex_m::peripheral::NVIC::unpend(Interrupt::GPIO0); | ||
| 304 | } | ||
| 305 | |||
| 306 | /// Set NVIC priority for GPIO0. | ||
| 307 | #[inline] | ||
| 308 | fn set_priority(&self, priority: Priority) { | ||
| 309 | unsafe { | ||
| 310 | let mut nvic = cortex_m::peripheral::Peripherals::steal().NVIC; | ||
| 311 | nvic.set_priority(Interrupt::GPIO0, u8::from(priority)); | ||
| 312 | } | ||
| 313 | } | ||
| 314 | |||
| 315 | /// Enable GPIO0 in NVIC. | ||
| 316 | #[inline] | ||
| 317 | unsafe fn enable(&self) { | ||
| 318 | cortex_m::peripheral::NVIC::unmask(Interrupt::GPIO0); | ||
| 319 | } | ||
| 320 | |||
| 321 | /// Disable GPIO0 in NVIC. | ||
| 322 | #[inline] | ||
| 323 | unsafe fn disable(&self) { | ||
| 324 | cortex_m::peripheral::NVIC::mask(Interrupt::GPIO0); | ||
| 325 | } | ||
| 326 | |||
| 327 | /// Check if GPIO0 is pending in NVIC. | ||
| 328 | #[inline] | ||
| 329 | fn is_pending(&self) -> bool { | ||
| 330 | cortex_m::peripheral::NVIC::is_pending(Interrupt::GPIO0) | ||
| 331 | } | ||
| 332 | } | ||
| 333 | |||
| 334 | pub struct Gpio1; | ||
| 335 | pub const GPIO1: Gpio1 = Gpio1; | ||
| 336 | |||
| 337 | impl InterruptExt for Gpio1 { | ||
| 338 | /// Clear any pending GPIO1 in NVIC. | ||
| 339 | #[inline] | ||
| 340 | fn unpend(&self) { | ||
| 341 | cortex_m::peripheral::NVIC::unpend(Interrupt::GPIO1); | ||
| 342 | } | ||
| 343 | |||
| 344 | /// Set NVIC priority for GPIO1. | ||
| 345 | #[inline] | ||
| 346 | fn set_priority(&self, priority: Priority) { | ||
| 347 | unsafe { | ||
| 348 | let mut nvic = cortex_m::peripheral::Peripherals::steal().NVIC; | ||
| 349 | nvic.set_priority(Interrupt::GPIO1, u8::from(priority)); | ||
| 350 | } | ||
| 351 | } | ||
| 352 | |||
| 353 | /// Enable GPIO1 in NVIC. | ||
| 354 | #[inline] | ||
| 355 | unsafe fn enable(&self) { | ||
| 356 | cortex_m::peripheral::NVIC::unmask(Interrupt::GPIO1); | ||
| 357 | } | ||
| 358 | |||
| 359 | /// Disable GPIO1 in NVIC. | ||
| 360 | #[inline] | ||
| 361 | unsafe fn disable(&self) { | ||
| 362 | cortex_m::peripheral::NVIC::mask(Interrupt::GPIO1); | ||
| 363 | } | ||
| 364 | |||
| 365 | /// Check if GPIO1 is pending in NVIC. | ||
| 366 | #[inline] | ||
| 367 | fn is_pending(&self) -> bool { | ||
| 368 | cortex_m::peripheral::NVIC::is_pending(Interrupt::GPIO1) | ||
| 369 | } | ||
| 370 | } | ||
| 371 | |||
| 372 | pub struct Gpio2; | ||
| 373 | pub const GPIO2: Gpio2 = Gpio2; | ||
| 374 | |||
| 375 | impl InterruptExt for Gpio2 { | ||
| 376 | /// Clear any pending GPIO2 in NVIC. | ||
| 377 | #[inline] | ||
| 378 | fn unpend(&self) { | ||
| 379 | cortex_m::peripheral::NVIC::unpend(Interrupt::GPIO2); | ||
| 380 | } | ||
| 381 | |||
| 382 | /// Set NVIC priority for GPIO2. | ||
| 383 | #[inline] | ||
| 384 | fn set_priority(&self, priority: Priority) { | ||
| 385 | unsafe { | ||
| 386 | let mut nvic = cortex_m::peripheral::Peripherals::steal().NVIC; | ||
| 387 | nvic.set_priority(Interrupt::GPIO2, u8::from(priority)); | ||
| 388 | } | ||
| 389 | } | ||
| 390 | |||
| 391 | /// Enable GPIO2 in NVIC. | ||
| 392 | #[inline] | ||
| 393 | unsafe fn enable(&self) { | ||
| 394 | cortex_m::peripheral::NVIC::unmask(Interrupt::GPIO2); | ||
| 395 | } | ||
| 396 | |||
| 397 | /// Disable GPIO2 in NVIC. | ||
| 398 | #[inline] | ||
| 399 | unsafe fn disable(&self) { | ||
| 400 | cortex_m::peripheral::NVIC::mask(Interrupt::GPIO2); | ||
| 401 | } | ||
| 402 | |||
| 403 | /// Check if GPIO2 is pending in NVIC. | ||
| 404 | #[inline] | ||
| 405 | fn is_pending(&self) -> bool { | ||
| 406 | cortex_m::peripheral::NVIC::is_pending(Interrupt::GPIO2) | ||
| 407 | } | ||
| 408 | } | ||
| 409 | |||
| 410 | pub struct Gpio3; | ||
| 411 | pub const GPIO3: Gpio3 = Gpio3; | ||
| 412 | |||
| 413 | impl InterruptExt for Gpio3 { | ||
| 414 | /// Clear any pending GPIO3 in NVIC. | ||
| 415 | #[inline] | ||
| 416 | fn unpend(&self) { | ||
| 417 | cortex_m::peripheral::NVIC::unpend(Interrupt::GPIO3); | ||
| 418 | } | ||
| 419 | |||
| 420 | /// Set NVIC priority for GPIO3. | ||
| 421 | #[inline] | ||
| 422 | fn set_priority(&self, priority: Priority) { | ||
| 423 | unsafe { | ||
| 424 | let mut nvic = cortex_m::peripheral::Peripherals::steal().NVIC; | ||
| 425 | nvic.set_priority(Interrupt::GPIO3, u8::from(priority)); | ||
| 426 | } | ||
| 427 | } | ||
| 428 | |||
| 429 | /// Enable GPIO3 in NVIC. | ||
| 430 | #[inline] | ||
| 431 | unsafe fn enable(&self) { | ||
| 432 | cortex_m::peripheral::NVIC::unmask(Interrupt::GPIO3); | ||
| 433 | } | ||
| 434 | |||
| 435 | /// Disable GPIO3 in NVIC. | ||
| 436 | #[inline] | ||
| 437 | unsafe fn disable(&self) { | ||
| 438 | cortex_m::peripheral::NVIC::mask(Interrupt::GPIO3); | ||
| 439 | } | ||
| 440 | |||
| 441 | /// Check if GPIO3 is pending in NVIC. | ||
| 442 | #[inline] | ||
| 443 | fn is_pending(&self) -> bool { | ||
| 444 | cortex_m::peripheral::NVIC::is_pending(Interrupt::GPIO3) | ||
| 445 | } | ||
| 446 | } | ||
| 447 | |||
| 448 | pub struct Gpio4; | ||
| 449 | pub const GPIO4: Gpio4 = Gpio4; | ||
| 450 | |||
| 451 | impl InterruptExt for Gpio4 { | ||
| 452 | /// Clear any pending GPIO4 in NVIC. | ||
| 453 | #[inline] | ||
| 454 | fn unpend(&self) { | ||
| 455 | cortex_m::peripheral::NVIC::unpend(Interrupt::GPIO4); | ||
| 456 | } | ||
| 457 | |||
| 458 | /// Set NVIC priority for GPIO4. | ||
| 459 | #[inline] | ||
| 460 | fn set_priority(&self, priority: Priority) { | ||
| 461 | unsafe { | ||
| 462 | let mut nvic = cortex_m::peripheral::Peripherals::steal().NVIC; | ||
| 463 | nvic.set_priority(Interrupt::GPIO4, u8::from(priority)); | ||
| 464 | } | ||
| 465 | } | ||
| 466 | |||
| 467 | /// Enable GPIO4 in NVIC. | ||
| 468 | #[inline] | ||
| 469 | unsafe fn enable(&self) { | ||
| 470 | cortex_m::peripheral::NVIC::unmask(Interrupt::GPIO4); | ||
| 471 | } | ||
| 472 | |||
| 473 | /// Disable GPIO4 in NVIC. | ||
| 474 | #[inline] | ||
| 475 | unsafe fn disable(&self) { | ||
| 476 | cortex_m::peripheral::NVIC::mask(Interrupt::GPIO4); | ||
| 477 | } | ||
| 478 | |||
| 479 | /// Check if GPIO4 is pending in NVIC. | ||
| 480 | #[inline] | ||
| 481 | fn is_pending(&self) -> bool { | ||
| 482 | cortex_m::peripheral::NVIC::is_pending(Interrupt::GPIO4) | ||
| 483 | } | ||
| 484 | } | ||
| 485 | |||
| 486 | /// Set VTOR (Vector Table Offset) to a RAM-based vector table. | ||
| 487 | /// Pass a pointer to the first word in the RAM table (stack pointer slot 0). | ||
| 488 | /// Safety: Caller must ensure the RAM table is valid and aligned as required by the core. | ||
| 489 | pub unsafe fn vtor_set_ram_vector_base(base: *const u32) { | ||
| 490 | core::ptr::write_volatile(0xE000_ED08 as *mut u32, base as u32); | ||
| 491 | } | ||
| 492 | |||
| 493 | /// Install an interrupt handler into the current VTOR-based vector table. | ||
| 494 | /// This writes the function pointer at index 16 + irq number. | ||
| 495 | /// Safety: Caller must ensure VTOR points at a writable RAM table and that `handler` | ||
| 496 | /// has the correct ABI and lifetime. | ||
| 497 | pub unsafe fn install_irq_handler(irq: Interrupt, handler: unsafe extern "C" fn()) { | ||
| 498 | let vtor_base = core::ptr::read_volatile(0xE000_ED08 as *const u32) as *mut u32; | ||
| 499 | let idx = 16 + (irq as isize as usize); | ||
| 500 | core::ptr::write_volatile(vtor_base.add(idx), handler as usize as u32); | ||
| 501 | } | ||
| 502 | |||
| 503 | impl OsEvent { | ||
| 504 | /// Convenience to install the OS_EVENT handler into the RAM vector table. | ||
| 505 | /// Safety: See `install_irq_handler`. | ||
| 506 | pub unsafe fn install_handler(&self, handler: extern "C" fn()) { | ||
| 507 | install_irq_handler(Interrupt::OS_EVENT, handler); | ||
| 508 | } | ||
| 509 | } | ||
| 510 | |||
| 511 | /// Install OS_EVENT handler by raw address. Useful to avoid fn pointer type mismatches. | ||
| 512 | /// Safety: Caller must ensure the address is a valid `extern "C" fn()` handler. | ||
| 513 | pub unsafe fn os_event_install_handler_raw(handler_addr: usize) { | ||
| 514 | let vtor_base = core::ptr::read_volatile(0xE000_ED08 as *const u32) as *mut u32; | ||
| 515 | let idx = 16 + (Interrupt::OS_EVENT as isize as usize); | ||
| 516 | core::ptr::write_volatile(vtor_base.add(idx), handler_addr as u32); | ||
| 517 | } | ||
| 518 | |||
| 519 | /// Provide a conservative default IRQ handler that avoids wedging the system. | ||
| 520 | /// It clears all NVIC pending bits and returns, so spurious or reserved IRQs | ||
| 521 | /// don’t trap the core in an infinite WFI loop during bring-up. | ||
| 522 | #[no_mangle] | ||
| 523 | pub unsafe extern "C" fn DefaultHandler() { | ||
| 524 | let active = core::ptr::read_volatile(0xE000_ED04 as *const u32) & 0x1FF; | ||
| 525 | let cfsr = core::ptr::read_volatile(0xE000_ED28 as *const u32); | ||
| 526 | let hfsr = core::ptr::read_volatile(0xE000_ED2C as *const u32); | ||
| 527 | |||
| 528 | let sp = cortex_m::register::msp::read(); | ||
| 529 | let stacked = sp as *const u32; | ||
| 530 | // Stacked registers follow ARMv8-M procedure call standard order | ||
| 531 | let stacked_pc = unsafe { stacked.add(6).read() }; | ||
| 532 | let stacked_lr = unsafe { stacked.add(5).read() }; | ||
| 533 | |||
| 534 | LAST_DEFAULT_VECTOR.store(active as u16, Ordering::Relaxed); | ||
| 535 | LAST_DEFAULT_CFSR.store(cfsr, Ordering::Relaxed); | ||
| 536 | LAST_DEFAULT_HFSR.store(hfsr, Ordering::Relaxed); | ||
| 537 | LAST_DEFAULT_COUNT.fetch_add(1, Ordering::Relaxed); | ||
| 538 | LAST_DEFAULT_PC.store(stacked_pc, Ordering::Relaxed); | ||
| 539 | LAST_DEFAULT_LR.store(stacked_lr, Ordering::Relaxed); | ||
| 540 | LAST_DEFAULT_SP.store(sp, Ordering::Relaxed); | ||
| 541 | |||
| 542 | // Do nothing here: on some MCUs/TrustZone setups, writing NVIC from a spurious | ||
| 543 | // handler can fault if targeting the Secure bank. Just return. | ||
| 544 | cortex_m::asm::dsb(); | ||
| 545 | cortex_m::asm::isb(); | ||
| 546 | } | ||
