[rp2040] Implement IRQ handlers for GPIO and QSPI

Based on discussion #847

README.md

@@ -276,7 +276,7 @@ Please [discover modm's peripheral drivers for your specific device][discover].
 <td align="center">✅</td>
 <td align="center">○</td>
 <td align="center">○</td>
-<td align="center">○</td>
+<td align="center">✅</td>
 <td align="center">✅</td>
 <td align="center">✅</td>
 <td align="center">✅</td>

examples/rp_pico/interrupt/main.cpp

@@ -0,0 +1,38 @@
+/*
+ * Copyright (c) 2022, Nikolay Semenov
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+int
+main()
+{
+	Board::initialize();
+
+	using Led = Board::LedGreen;
+	Led::setOutput();
+	Led::set();
+
+	// Powers on the LED on the low->high transition, and off on high->low.
+	GpioInput0::setInput();
+	IntHandler::connect<GpioInput0>(Gpio::InputTrigger::BothEdges,
+									[](Gpio::InputTrigger_t triggers) {
+										Led::set(!!(triggers & Gpio::InputTrigger::RisingEdge));
+									});
+
+	// Toggles LED each time gpio input is at the high level.
+	GpioInput1::setInput(Gpio::InputType::PullDown);
+	IntHandler::connect<GpioInput1>(Gpio::InputTrigger::HighLevel,
+									[](Gpio::InputTrigger_t) { Led::toggle(); });
+
+	while (true) {}
+
+	return 0;
+}

examples/rp_pico/interrupt/project.xml

@@ -0,0 +1,10 @@
+<library>
+  <extends>modm:rp-pico</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/rp_pico/interrupt</option>
+  </options>
+  <modules>
+    <module>modm:platform:extint</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

src/modm/platform/extint/rp/int_handler.cpp.in

@@ -0,0 +1,98 @@
+/*
+ * Copyright (c) 2022, Nikolay Semenov
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/platform/extint/int_handler.hpp>
+
+namespace modm::platform
+{
+
+%% if with_bank0
+void
+IntHandler::irqBank0Handler()
+{
+	using PortRegs = Gpio::PortRegs<Gpio::Port::Bank0>;
+
+	static_assert(0b1111u == static_cast<uint32_t>(Gpio::InputTrigger::All));
+
+%% if multicore_enabled
+	auto& proc_irq_ctrl = sio_hw->cpuid ? iobank0_hw->proc1_irq_ctrl : iobank0_hw->proc0_irq_ctrl;
+%% else
+	auto& proc_irq_ctrl = iobank0_hw->proc0_irq_ctrl;
+%% endif
+
+	for (size_t group = 0; group < NUM_BANK0_GPIOS / 8; ++group)
+	{
+		if (uint32_t int_status = proc_irq_ctrl.ints[group])
+		{
+			for (uint8_t pin = group * 8; int_status; ++pin, int_status >>= 4)
+			{
+				if (uint32_t triggers = int_status & 0b1111u)
+				{
+					PortRegs::acknowledge_irq(pin, static_cast<Gpio::InputTrigger>(triggers));
+					if (auto& handler = bank0Handlers[pin])
+					{
+						handler(static_cast<Gpio::InputTrigger>(triggers));
+					}
+				}
+			}
+		}
+	}
+}
+
+%% endif
+
+%% if with_qspi
+void
+IntHandler::irqQspiHandler()
+{
+	using PortRegs = Gpio::PortRegs<Gpio::Port::Qspi>;
+
+	static_assert(NUM_QSPI_GPIOS <= 8);
+	static_assert(0b1111u == static_cast<uint32_t>(Gpio::InputTrigger::All));
+
+%% if multicore_enabled
+	auto& proc_irq_ctrl = sio_hw->cpuid ? ioqspi_hw->proc1_qspi_ctrl : ioqspi_hw->proc0_qspi_ctrl;
+%% else
+	auto& proc_irq_ctrl = ioqspi_hw->proc0_qspi_ctrl;
+%% endif
+
+	uint32_t int_status = proc_irq_ctrl.ints;
+
+	for (uint8_t pin = 0; int_status; ++pin, int_status >>= 4)
+	{
+		if (uint32_t triggers = int_status & 0b1111u)
+		{
+			PortRegs::acknowledge_irq(pin, static_cast<Gpio::InputTrigger>(triggers));
+			if (auto& handler = qspiHandlers[pin])
+			{
+				handler(static_cast<Gpio::InputTrigger>(triggers));
+			}
+		}
+	}
+}
+
+%% endif
+
+%% for type in types
+IntHandler::Handler
+IntHandler::{{type}}Handlers[NUM_{{type | upper}}_GPIOS] modm_fastdata;
+
+%% endfor
+
+%% for type in types
+MODM_ISR(IO_IRQ_{{type | upper}})
+{
+	IntHandler::irq{{type | capitalize}}Handler();
+}
+
+%% endfor
+
+}  // namespace modm::platform

src/modm/platform/extint/rp/int_handler.hpp.in

@@ -0,0 +1,145 @@
+/*
+ * Copyright (c) 2022, Nikolay Semenov
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+#include <modm/architecture/interface/interrupt.hpp>
+#include <modm/platform/extint/int_priority.hpp>
+#include <modm/platform/gpio/base.hpp>
+#include <modm/utils/inplace_function.hpp>
+
+#include <RP2040.h>
+
+#if defined __DOXYGEN__ || !defined MODM_EXTINT_HANDLER_STORAGE
+/// @ingroup modm_platform_extint
+#define MODM_EXTINT_HANDLER_STORAGE sizeof(void*)
+#endif
+
+namespace modm::platform
+{
+
+%% for type in types
+MODM_ISR_DECL(IO_IRQ_{{type | upper}});
+%% endfor
+
+/**
+ * Interrupt Handler
+ *
+ * @ingroup modm_platform_extint
+ */
+class IntHandler
+{
+public:
+	using Handler = modm::inplace_function<void(Gpio::InputTrigger_t), MODM_EXTINT_HANDLER_STORAGE, alignof(void*)>;
+
+public:
+	static void
+	enable(IRQn_Type type, IntPriority priority = IntPriority::Default)
+	{
+		if (!NVIC_GetEnableIRQ(type))
+		{
+			if (priority != static_cast<IntPriority>(NVIC_GetPriority(type)))
+			{
+				NVIC_SetPriority(type, priority);
+			}
+			NVIC_ClearPendingIRQ(type);
+			NVIC_EnableIRQ(type);
+		}
+	}
+
+	static void
+	disable(IRQn_Type type)
+	{
+		NVIC_DisableIRQ(type);
+	}
+
+	template<class Pin>
+	static void
+	connect(Gpio::InputTrigger_t triggers, Handler&& handler)
+	{
+		constexpr const auto type = irqType<Pin::port>();
+		static_assert(0 <= type, "Support for this Pin's Port is not enabled!");
+
+		enable(type);
+
+		disableInterrupts<Pin>(Gpio::InputTrigger::All);
+		acknowledgeInterrupts<Pin>(Gpio::InputTrigger::All);
+
+		irqHandler<Pin::port>(Pin::pin) = handler;
+
+		enableInterrupts<Pin>(triggers);
+	}
+
+	template<class Pin>
+	static void
+	disconnect()
+	{
+		static_assert(0 <= irqType<Pin::port>(), "Support for this Pin's Port is not enabled!");
+
+		disableInterrupts<Pin>(Gpio::InputTrigger::All);
+		irqHandler<Pin::port>(Pin::pin) = nullptr;
+	}
+
+private:
+	template<class Pin>
+	static void
+	enableInterrupts(Gpio::InputTrigger_t triggers)
+	{
+		Gpio::PortRegs<Pin::port>::enable_irq(Pin::pin, triggers);
+	}
+
+	template<class Pin>
+	static void
+	disableInterrupts(Gpio::InputTrigger_t triggers)
+	{
+		Gpio::PortRegs<Pin::port>::disable_irq(Pin::pin, triggers);
+	}
+
+	template<class Pin>
+	static void
+	acknowledgeInterrupts(Gpio::InputTrigger_t triggers)
+	{
+		Gpio::PortRegs<Pin::port>::acknowledge_irq(Pin::pin, triggers);
+	}
+
+%% for type in types
+	static void
+	irq{{type | capitalize}}Handler();
+	friend void MODM_ISR_NAME(IO_IRQ_{{type | upper}})();
+
+	// In the current implementation we do not allow handlers
+	// for the same line (pin) for more than a single core.
+	static Handler {{type}}Handlers[NUM_{{type | upper}}_GPIOS];
+
+%% endfor
+
+	template <Gpio::Port port>
+	static constexpr IRQn_Type
+	irqType()
+	{
+%% for type in types
+		if constexpr (port == Gpio::Port::{{type | capitalize}}) { return IO_IRQ_{{type | upper}}_IRQn; }
+%% endfor
+		return static_cast<IRQn_Type>(-99);
+	}
+
+	template <Gpio::Port port>
+	static constexpr Handler&
+	irqHandler(uint8_t pin)
+	{
+%% for type in types
+		if constexpr (port == Gpio::Port::{{type | capitalize}}) { return {{type}}Handlers[pin]; }
+%% endfor
+		return *static_cast<Handler*>(nullptr);
+	}
+};
+
+}  // namespace modm::platform

src/modm/platform/extint/rp/int_priority.hpp

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2022, Nikolay Semenov
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+#include <cstdint>
+
+namespace modm::platform
+{
+
+/**
+ * Priority level of 0-192 in steps of 64 for each interrupt.
+ * A higher level corresponds to a lower priority,
+ * so level 0 is the highest programmable interrupt priority.
+ * ...
+ * The processor implements only bits[7:6] of each field, bits [5:0] read as zero and ignore writes.
+ * This means writing 255 to a priority register saves value 192 to the register.
+ *
+ * https://developer.arm.com/documentation/dui0662/b/Cortex-M0--Peripherals/Nested-Vectored-Interrupt-Controller
+ * https://developer.arm.com/documentation/dui0662/b/Cortex-M0--Peripherals/Nested-Vectored-Interrupt-Controller/Interrupt-Priority-Registers
+ *
+ * @ingroup modm_platform_extint
+ */
+enum IntPriority : uint8_t
+{
+	Highest = 0x00,
+	Default = 0x80,
+	Lowest = 0xff,
+};
+
+}  // namespace modm::platform