Add attachInterrupt

teensy4/imxrt.h

@@ -86,15 +86,15 @@ enum IRQ_NUMBER_t {
         IRQ_GPIO1_INT5 =        77,
         IRQ_GPIO1_INT6 =        78,
         IRQ_GPIO1_INT7 =        79,
-        IRQ_GPI01_0_15 =        80,
+        IRQ_GPIO1_0_15 =        80,
         IRQ_GPIO1_16_31 =       81,
-        IRQ_GPI02_0_15 =        82,
+        IRQ_GPIO2_0_15 =        82,
         IRQ_GPIO2_16_31 =       83,
-        IRQ_GPI03_0_15 =        84,
+        IRQ_GPIO3_0_15 =        84,
         IRQ_GPIO3_16_31 =       85,
-        IRQ_GPI04_0_15 =        86,
+        IRQ_GPIO4_0_15 =        86,
         IRQ_GPIO4_16_31 =       87,
-        IRQ_GPI05_0_15 =        88,
+        IRQ_GPIO5_0_15 =        88,
         IRQ_GPIO5_16_31 =       89,
         IRQ_FLEXIO1 =           90,
         IRQ_FLEXIO2 =           91,

teensy4/interrupt.c

@@ -0,0 +1,149 @@
+#include "Arduino.h"
+#include "pins_arduino.h"
+#include "debug/printf.h"
+
+static void dummy_isr() {};
+typedef void (*voidFuncPtr)(void);
+
+// TODO: define these properly in core_pins.h - don't waste memory
+#define CORE_MAX_PIN_PORT1 31
+#define CORE_MAX_PIN_PORT2 31
+#define CORE_MAX_PIN_PORT3 31
+#define CORE_MAX_PIN_PORT4 31
+
+voidFuncPtr isr_table_gpio1[CORE_MAX_PIN_PORT1+1] = { [0 ... CORE_MAX_PIN_PORT1] = dummy_isr };
+voidFuncPtr isr_table_gpio2[CORE_MAX_PIN_PORT2+1] = { [0 ... CORE_MAX_PIN_PORT2] = dummy_isr };
+voidFuncPtr isr_table_gpio3[CORE_MAX_PIN_PORT3+1] = { [0 ... CORE_MAX_PIN_PORT3] = dummy_isr };
+voidFuncPtr isr_table_gpio4[CORE_MAX_PIN_PORT4+1] = { [0 ... CORE_MAX_PIN_PORT4] = dummy_isr };
+
+#define DR    0
+#define GDIR  1
+#define PSR   2
+#define ICR1  3
+#define ICR2  4
+#define IMR   5
+#define ISR   6
+#define EDGE  7
+
+FASTRUN
+void irq_anyport(volatile uint32_t *gpio, voidFuncPtr *table)
+{
+	uint32_t status = gpio[ISR] & gpio[IMR];
+	gpio[ISR] = status;
+	while (status) {
+		uint32_t index = __builtin_ctz(status);
+		table[index]();
+		status = status & ~(1 << index);
+		//status = status & (status - 1);
+	}
+}
+
+FASTRUN
+void irq_gpio1(void)
+{
+	irq_anyport(&GPIO1_DR, isr_table_gpio1);
+}
+
+FASTRUN
+void irq_gpio2(void)
+{
+	irq_anyport(&GPIO2_DR, isr_table_gpio2);
+}
+
+FASTRUN
+void irq_gpio3(void)
+{
+	irq_anyport(&GPIO3_DR, isr_table_gpio3);
+}
+
+FASTRUN
+void irq_gpio4(void)
+{
+	irq_anyport(&GPIO4_DR, isr_table_gpio4);
+}
+
+
+
+void attachInterrupt(uint8_t pin, void (*function)(void), int mode)
+{
+	if (pin >= CORE_NUM_DIGITAL) return;
+	//printf("attachInterrupt, pin=%u\n", pin);
+	volatile uint32_t *gpio = portOutputRegister(pin);
+	volatile uint32_t *mux = portConfigRegister(pin);
+	//volatile uint32_t *pad = portControlRegister(pin);
+	uint32_t mask = digitalPinToBitMask(pin);
+
+	voidFuncPtr *table;
+	switch((uint32_t)gpio) {
+		case (uint32_t)&GPIO1_DR:
+			table = isr_table_gpio1;
+			attachInterruptVector(IRQ_GPIO1_0_15, &irq_gpio1);
+			attachInterruptVector(IRQ_GPIO1_16_31, &irq_gpio1);
+			NVIC_ENABLE_IRQ(IRQ_GPIO1_0_15);
+			NVIC_ENABLE_IRQ(IRQ_GPIO1_16_31);
+			break;
+		case (uint32_t)&GPIO2_DR:
+			table = isr_table_gpio2;
+			attachInterruptVector(IRQ_GPIO2_0_15, &irq_gpio2);
+			attachInterruptVector(IRQ_GPIO2_16_31, &irq_gpio2);
+			NVIC_ENABLE_IRQ(IRQ_GPIO2_0_15);
+			NVIC_ENABLE_IRQ(IRQ_GPIO2_16_31);
+			break;
+		case (uint32_t)&GPIO3_DR:
+			table = isr_table_gpio3;
+			attachInterruptVector(IRQ_GPIO3_0_15, &irq_gpio3);
+			attachInterruptVector(IRQ_GPIO3_16_31, &irq_gpio3);
+			NVIC_ENABLE_IRQ(IRQ_GPIO3_0_15);
+			NVIC_ENABLE_IRQ(IRQ_GPIO3_16_31);
+			break;
+		case (uint32_t)&GPIO4_DR:
+			table = isr_table_gpio4;
+			attachInterruptVector(IRQ_GPIO4_0_15, &irq_gpio4);
+			attachInterruptVector(IRQ_GPIO4_16_31, &irq_gpio4);
+			NVIC_ENABLE_IRQ(IRQ_GPIO4_0_15);
+			NVIC_ENABLE_IRQ(IRQ_GPIO4_16_31);
+			break;
+		default:
+			return;
+	}
+
+	uint32_t icr;
+	switch (mode) { 
+		case CHANGE:  icr = 0; break;
+		case RISING:  icr = 2; break;
+		case FALLING: icr = 3; break;
+		case LOW:     icr = 0; break;
+		case HIGH:    icr = 1; break;
+		default: return;
+	}
+
+	// TODO: global interrupt disable to protect these read-modify-write accesses?
+	gpio[IMR] &= ~mask;	// disable interrupt
+	*mux = 5;		// pin is GPIO
+	gpio[GDIR] &= ~mask;	// pin to input mode
+	uint32_t index = __builtin_ctz(mask);
+	table[index] = function;
+	if (mode == CHANGE) {
+		gpio[EDGE] |= mask;
+	} else {
+		gpio[EDGE] &= ~mask;
+		if (index < 15) {
+			uint32_t shift = index * 2;
+			gpio[ICR1] = (gpio[ICR1] & ~(3 << shift)) | (icr << shift);
+		} else {
+			uint32_t shift = (index - 16) * 2;
+			gpio[ICR2] = (gpio[ICR2] & ~(3 << shift)) | (icr << shift);
+		}
+	}
+	gpio[ISR] = mask;  // clear any prior pending interrupt
+	gpio[IMR] |= mask; // enable interrupt
+}
+
+void detachInterrupt(uint8_t pin)
+{
+	if (pin >= CORE_NUM_DIGITAL) return;
+	volatile uint32_t *gpio = portOutputRegister(pin);
+	uint32_t mask = digitalPinToBitMask(pin);
+	gpio[IMR] &= ~mask;
+}
+

teensy4/pins_arduino.h

@@ -119,6 +119,7 @@ extern const struct digital_pin_bitband_and_config_table_struct digital_pin_to_i
 #define portInputRegister(pin)   ((digital_pin_to_info_PGM[(pin)].reg + 16))
 #define portModeRegister(pin)    ((digital_pin_to_info_PGM[(pin)].reg + 20))
 #define portConfigRegister(pin)  ((digital_pin_to_info_PGM[(pin)].mux))
+#define portControlRegister(pin) ((digital_pin_to_info_PGM[(pin)].pad))
 #define digitalPinToPortReg(pin) (portOutputRegister(pin))
 #define digitalPinToBit(pin)     // TODO, is this needed?