Exti rework (#770)

* io_pins: implement efiSetPadUnused

When pin becomes unused it should be switched to safe mode and
disconnected from any IP block. Assume that gpio input mode with
pull-up is safe enough.

* trigger_input: switch triggers pins to safe mode on stop/reinit

* digital_input_exti: rework

* rename enableExti to efiExtiEnablePin
* add efiExtiDisablePin
* keep track of used exti channels

* trigger_input: use digital_input_exti functions

firmware/hw_layer/cdm_ion_sense.cpp

@@ -43,8 +43,8 @@ void ionPostState(TunerStudioOutputChannels *tsOutputChannels) {
 
 static CdmState instance;
 
-static void extIonCallback(int pinIndex) {
+static void extIonCallback(void *arg) {
-        UNUSED(pinIndex);
+        UNUSED(arg);
 
         int currentRevolution = engine->triggerCentral.triggerState.getTotalRevolutionCounter();
 
@@ -62,7 +62,7 @@ void cdmIonInit(void) {
 		return;
 	}
 
-	enableExti(CONFIGB(cdmInputPin), PAL_EVENT_MODE_RISING_EDGE, (palcallback_t)(void *)extIonCallback);
+	efiExtiEnablePin("ion", CONFIGB(cdmInputPin), PAL_EVENT_MODE_RISING_EDGE, extIonCallback, NULL);
 }
 
 #endif /* EFI_CDM_INTEGRATION */

firmware/hw_layer/digital_input_exti.cpp

@@ -10,6 +10,7 @@
 #if HAL_USE_PAL && EFI_PROD_CODE
 #include "digital_input_exti.h"
 #include "efi_gpio.h"
+#include "error_handling.h"
 
 /**
  * EXTI is a funny thing: you can only use same pin on one port. For example, you can use
@@ -19,17 +20,67 @@
  * because pin '0' would be used on two different ports
  */
 
+static ioportmask_t ext_used = 0;
+
 // EXT is not able to give you the front direction but you could read the pin in the callback.
-void enableExti(brain_pin_e pin, uint32_t mode, palcallback_t cb) {
+int efiExtiEnablePin(const char *msg, brain_pin_e brainPin, uint32_t mode, palcallback_t cb, void *cb_data) {
-	if (pin == GPIO_UNASSIGNED)
+	int index;
+	ioportid_t port;
+	ioline_t line;
+
+	/* paranoid chech, in case of GPIO_UNASSIGNED getHwPort will return NULL
+	 * and we will fail on next check */
+	if (brainPin == GPIO_UNASSIGNED)
+		return -1;
+
+	port = getHwPort(msg, brainPin);
+	if (port == NULL)
+		return -1;
+
+	index = getHwPin(msg, brainPin);
+
+	/* is this index already used? */
+	if (ext_used & PAL_PORT_BIT(index)) {
+		firmwareError(CUSTOM_ERR_PIN_ALREADY_USED_2, "%s: pin %d: exti index already used", msg, brainPin);
+		return -1;
+	}
+
+	line = PAL_LINE(port, index);
+	palEnableLineEvent(line, mode);
+	palSetLineCallback(line, cb, cb_data);
+
+	/* mark used */
+	ext_used |= PAL_PORT_BIT(index);
+
+	return 0;
+}
+
+void efiExtiDisablePin(brain_pin_e brainPin)
+{
+	int index;
+	ioportid_t port;
+	ioline_t line;
+
+	/* paranoid chech, in case of GPIO_UNASSIGNED getHwPort will return NULL
+	 * and we will fail on next check */
+	if (brainPin == GPIO_UNASSIGNED)
 		return;
 
-	int index = getHwPin("joy", pin);
+	port = getHwPort("exti", brainPin);
-	ioportid_t port = getHwPort("joy", pin);
+	if (port == NULL)
+		return;
 
-	ioline_t line = PAL_LINE(port, index);
+	index = getHwPin("exti", brainPin);
-	palEnableLineEvent(line, mode);
+
-    palSetLineCallback(line, cb, (void*)index);
+	/* is this index was used? */
+	if (!(ext_used & PAL_PORT_BIT(index))) {
+		return;
+	}
+
+	palDisableLineEvent(line);
+
+	/* mark unused */
+	ext_used &= ~PAL_PORT_BIT(index);
 }
 
 #endif /* HAL_USE_PAL && EFI_PROD_CODE */

firmware/hw_layer/digital_input_exti.h

@@ -11,7 +11,8 @@
 #include "global.h"
 
 #if HAL_USE_PAL
-void enableExti(brain_pin_e pin, uint32_t mode, palcallback_t cb);
+int efiExtiEnablePin(const char *msg, brain_pin_e pin, uint32_t mode, palcallback_t cb, void *cb_data);
+void efiExtiDisablePin(brain_pin_e brainPin);
 #endif /* HAL_USE_PAL */
 
 #endif /* HW_LAYER_DIGITAL_INPUT_EXTI_H_ */

firmware/hw_layer/digital_input_hw.cpp

@@ -205,6 +205,10 @@ void turnOnCapturePin(const char *msg, brain_pin_e brainPin) {
 	}
 }
 
+void turnOffCapturePin(brain_pin_e brainPin) {
+	efiSetPadUnused(brainPin);
+}
+
 /**
  * takes next digital_input_s from the registeredIcus pool
  */

firmware/hw_layer/digital_input_hw.h

@@ -24,6 +24,7 @@ typedef struct {
 } digital_input_s;
 
 void turnOnCapturePin(const char *msg, brain_pin_e brainPin);
+void turnOffCapturePin(brain_pin_e brainPin);
 
 digital_input_s *addWaveAnalyzerDriver(const char *msg, brain_pin_e brainPin);
 void startInputDriver(const char *msg, /*nullable*/digital_input_s *hw, bool isActiveHigh);

firmware/hw_layer/io_pins.cpp

@@ -99,6 +99,27 @@ void efiSetPadMode(const char *msg, brain_pin_e brainPin, iomode_t mode)
 	}
 }
 
+void efiSetPadUnused(brain_pin_e brainPin)
+{
+	/* input with pull up, is it safe? */
+	iomode_t mode = PAL_STM32_MODE_INPUT | PAL_STM32_PUPDR_PULLUP;
+
+	if (brain_pin_is_onchip(brainPin)) {
+		ioportid_t port = getHwPort("unused", brainPin);
+		ioportmask_t pin = getHwPin("unused", brainPin);
+
+		/* input with pull up, is it safe? */
+		palSetPadMode(port, pin, mode);
+	}
+	#if (BOARD_EXT_GPIOCHIPS > 0)
+		else {
+			gpiochips_setPadMode(brainPin, mode);
+		}
+	#endif
+
+	brain_pin_markUnused(brainPin);
+}
+
 iomode_t getInputMode(pin_input_mode_e mode) {
 	switch (mode) {
 	case PI_PULLUP:

firmware/hw_layer/io_pins.h

@@ -53,6 +53,7 @@
 
 #if EFI_GPIO_HARDWARE
 void efiSetPadMode(const char *msg, brain_pin_e pin, iomode_t mode);
+void efiSetPadUnused(brain_pin_e brainPin);
 
 bool efiReadPin(brain_pin_e pin);
 

firmware/hw_layer/sensors/joystick.cpp

@@ -111,16 +111,20 @@ void startJoystickPins() {
 }
 
 void initJoystick(Logging *shared) {
+	int channel;
 	addConsoleAction("joystickinfo", joystickInfo);
 	if (!isJoystickEnabled())
 		return;
 	sharedLogger = shared;
 
-	enableExti(CONFIGB(joystickCenterPin), PAL_EVENT_MODE_RISING_EDGE, (palcallback_t)(void *)extCallback);
+	channel = getHwPin("joy", CONFIGB(joystickCenterPin));
-	enableExti(CONFIGB(joystickAPin), PAL_EVENT_MODE_RISING_EDGE, (palcallback_t)(void *)extCallback);
+	efiExtiEnablePin("joy", CONFIGB(joystickCenterPin), PAL_EVENT_MODE_RISING_EDGE, (palcallback_t)(void *)extCallback, (void *)channel);
+	channel = getHwPin("joy", CONFIGB(joystickAPin));
+	efiExtiEnablePin("joy", CONFIGB(joystickAPin), PAL_EVENT_MODE_RISING_EDGE, (palcallback_t)(void *)extCallback, (void *)channel);
 // not used so far	applyPin(CONFIGB(joystickBPin));
 // not used so far	applyPin(CONFIGB(joystickCPin));
-	enableExti(CONFIGB(joystickDPin), PAL_EVENT_MODE_RISING_EDGE, (palcallback_t)(void *)extCallback);
+	channel = getHwPin("joy", CONFIGB(joystickDPin));
+	efiExtiEnablePin("joy", CONFIGB(joystickDPin), PAL_EVENT_MODE_RISING_EDGE, (palcallback_t)(void *)extCallback, (void *)channel);
 
 	startJoystickPins();
 }

firmware/hw_layer/trigger_input.cpp

@@ -23,6 +23,7 @@
 
 #include "trigger_input.h"
 #include "digital_input_hw.h"
+#include "digital_input_exti.h"
 #include "pin_repository.h"
 #include "trigger_structure.h"
 #include "trigger_central.h"
@@ -100,41 +101,21 @@ static void cam_callback(void *arg)
 static int turnOnTriggerInputPin(const char *msg, brain_pin_e brainPin, bool is_shaft)
 {
 	ioline_t pal_line;
-	(void)is_shaft;
-
-	/* check for on-chip? */
-	if (brainPin == GPIO_UNASSIGNED)
-		return -1;
 
 	scheduleMsg(logger, "turnOnTriggerInputPin(PAL) %s %s", msg, hwPortname(brainPin));
 
+	/* TODO:
+	 * * do not set to both edges if we need only one
+	 * * simplify callback in case of one edge */
 	pal_line = PAL_LINE(getHwPort("trg", brainPin), getHwPin("trg", brainPin));
-	// todo efiSetPadMode(msg, brainPin, mode); or reuse joystick code? configurePalInputPin?
+	return efiExtiEnablePin(msg, brainPin, PAL_EVENT_MODE_BOTH_EDGES, is_shaft ? shaft_callback : cam_callback, (void *)pal_line);
-	brain_pin_markUsed(brainPin, msg);
-
-	palEnableLineEvent(pal_line, PAL_EVENT_MODE_BOTH_EDGES);
-	if (is_shaft)
-		palSetLineCallback(pal_line, shaft_callback, (void*)pal_line);
-	else
-		palSetLineCallback(pal_line, cam_callback, (void*)pal_line);
-
-	return 0;
 }
 
 static void turnOffTriggerInputPin(brain_pin_e brainPin)
 {
-	uint32_t pal_line;
+	efiExtiDisablePin(brainPin);
-
-	/* check for on-chip? */
-	if (brainPin == GPIO_UNASSIGNED)
-		return;
-	brain_pin_markUnused(brainPin);
-
-	pal_line = PAL_LINE(getHwPort("trg", brainPin), getHwPin("trg", brainPin));
-	palDisableLineEvent(pal_line);
 }
 
-
 static void setPrimaryChannel(brain_pin_e brainPin)
 {
 	primary_line = PAL_LINE(getHwPort("trg", brainPin), getHwPin("trg", brainPin));
@@ -262,7 +243,7 @@ static void turnOffTriggerInputPin(brain_pin_e brainPin) {
         icuStopCapture(driver);
 		icuStop(driver);
 		scheduleMsg(logger, "turnOffTriggerInputPin %s", hwPortname(brainPin));
-		brain_pin_markUnused(brainPin);
+		turnOffCapturePin(brainPin);
 	}
 }