diff --git a/epicardium/api/interrupt-receiver.c b/epicardium/api/interrupt-receiver.c
index 95c5038d12ee10bdc53a087ea121a568bb44d86a..c212a402d0a564375bddc193fd7ccf7c50507a81 100644
--- a/epicardium/api/interrupt-receiver.c
+++ b/epicardium/api/interrupt-receiver.c
@@ -3,33 +3,12 @@
#include "api/common.h"
#include "epicardium.h"
-void api_interrupt_handler_ctrl_c(api_int_id_t id)
- __attribute__((weak, alias("api_interrupt_handler_default")));
-void api_interrupt_handler_bhi160(api_int_id_t id)
- __attribute__((weak, alias("api_interrupt_handler_default")));
+void __dispatch_isr(api_int_id_t);
/* Timer Interrupt used for control char notification */
void TMR5_IRQHandler(void)
{
TMR_IntClear(MXC_TMR5);
-
- switch (API_CALL_MEM->int_id) {
- case API_INT_CTRL_C:
- api_interrupt_handler_ctrl_c(API_CALL_MEM->int_id);
- break;
- case API_INT_BHI160:
- api_interrupt_handler_bhi160(API_CALL_MEM->int_id);
- break;
- }
-
+ __dispatch_isr(API_CALL_MEM->int_id);
API_CALL_MEM->int_id = 0;
}
-
-__attribute__((weak)) void api_interrupt_handler_catch_all(api_int_id_t id)
-{
-}
-
-void api_interrupt_handler_default(api_int_id_t id)
-{
- api_interrupt_handler_catch_all(id);
-}
diff --git a/epicardium/api/interrupt-sender.c b/epicardium/api/interrupt-sender.c
index fb0c65a7c189fbdfa329e8a6a8acdfb67db97c64..cabd3bcb2b96f6f79c65a0a9722bd05860cf860e 100644
--- a/epicardium/api/interrupt-sender.c
+++ b/epicardium/api/interrupt-sender.c
@@ -2,15 +2,15 @@
#include "api/common.h"
#include "tmr_utils.h"
-static bool enabled[API_INT_MAX + 1];
+static bool int_enabled[EPIC_INT_NUM];
int api_interrupt_trigger(api_int_id_t id)
{
- if (id > API_INT_MAX) {
+ if (id >= EPIC_INT_NUM) {
return -EINVAL;
}
- if (enabled[id]) {
+ if (int_enabled[id]) {
while (API_CALL_MEM->int_id)
;
API_CALL_MEM->int_id = id;
@@ -21,30 +21,29 @@ int api_interrupt_trigger(api_int_id_t id)
void api_interrupt_init(void)
{
- int i;
API_CALL_MEM->int_id = 0;
- for (i = 0; i <= API_INT_MAX; i++) {
- enabled[i] = false;
+ for (int i = 0; i < EPIC_INT_NUM; i++) {
+ int_enabled[i] = false;
}
}
int epic_interrupt_enable(api_int_id_t int_id)
{
- if (int_id > API_INT_MAX) {
+ if (int_id >= EPIC_INT_NUM) {
return -EINVAL;
}
- enabled[int_id] = true;
+ int_enabled[int_id] = true;
return 0;
}
int epic_interrupt_disable(api_int_id_t int_id)
{
- if (int_id > API_INT_MAX) {
+ if (int_id >= EPIC_INT_NUM) {
return -EINVAL;
}
- enabled[int_id] = false;
+ int_enabled[int_id] = false;
return 0;
}
diff --git a/epicardium/api/interrupt-sender.h b/epicardium/api/interrupt-sender.h
index 4f690167ceff8622418b4983da17b29085a446f4..419993c72388d15a234d4887a4a71d0a00ccd6d7 100644
--- a/epicardium/api/interrupt-sender.h
+++ b/epicardium/api/interrupt-sender.h
@@ -1,4 +1,5 @@
#pragma once
#include "api/common.h"
+
void api_interrupt_init(void);
int api_interrupt_trigger(api_int_id_t id);
diff --git a/epicardium/epicardium.h b/epicardium/epicardium.h
index c32120e87399e7ca455d2b00ad0b20579df5d1f2..485cb2e1b19bc47af0ee31192cd43cb9470d2fb8 100644
--- a/epicardium/epicardium.h
+++ b/epicardium/epicardium.h
@@ -11,18 +11,22 @@
typedef unsigned int size_t;
#endif /* __SPHINX_DOC */
-/* clang-format off */
-#define API_INT_CTRL_C 1
-#define API_INT_BHI160 2
-#define API_INT_MAX API_INT_BHI160
-
/*
* These definitions are required for the code-generator. Please don't touch!
*/
#ifndef API
#define API(id, def) def
#endif
+#ifndef API_ISR
+#define API_ISR(id, isr) void isr(void);
+#endif
+/*
+ * IDs for all defined API calls. These IDs should not be needed in application
+ * code on any side.
+ */
+
+/* clang-format off */
#define API_UART_WRITE 0x1
#define API_UART_READ 0x2
#define API_LEDS_SET 0x3
@@ -31,9 +35,53 @@ typedef unsigned int size_t;
#define API_STREAM_READ 0x6
#define API_INTERRUPT_ENABLE 0x7
#define API_INTERRUPT_DISABLE 0x8
+/* clang-format on */
+
+typedef uint32_t api_int_id_t;
+
+/**
+ * Interrupts
+ * ==========
+ * Next to API calls, Epicardium API also has an interrupt mechanism to serve
+ * the other direction. These interrupts can be enabled/disabled
+ * (masked/unmasked) using :c:func:`epic_interrupt_enable` and
+ * :c:func:`epic_interrupt_disable`.
+ */
+
+/**
+ * Enable/unmask an API interrupt.
+ *
+ * :param int_id: The interrupt to be enabled
+ */
+API(API_INTERRUPT_ENABLE, int epic_interrupt_enable(api_int_id_t int_id));
+
+/**
+ * Disable/mask an API interrupt.
+ *
+ * :param int_id: The interrupt to be disabled
+ */
+API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
+
+/**
+ * The following interrupts are defined:
+ */
+/* clang-format off */
+/** Reset Handler? **TODO** */
+#define EPIC_INT_RESET 0
+/** ``^C`` interrupt. See :c:func:`epic_isr_ctrl_c` for details. */
+#define EPIC_INT_CTRL_C 1
+/* Debug interrupt, please ignore */
+#define EPIC_INT_BHI160_TEST 2
+API_ISR(EPIC_INT_BHI160_TEST, epic_isr_bhi160_test);
+
+/* Number of defined interrupts. */
+#define EPIC_INT_NUM 3
/* clang-format on */
+API_ISR(EPIC_INT_RESET, epic_isr_reset);
+
+
/**
* UART/Serial Interface
* =====================
@@ -60,6 +108,21 @@ API(API_UART_WRITE, void epic_uart_write_str(const char *str, intptr_t length));
*/
API(API_UART_READ, char epic_uart_read_chr(void));
+/**
+ * **Interrupt Service Routine**
+ *
+ * A user-defineable ISR which is triggered when a ``^C`` (``0x04``) is received
+ * on any serial input device. This function is weakly aliased to
+ * :c:func:`epic_isr_default` by default.
+ *
+ * To enable this interrupt, you need to enable :c:data:`EPIC_INT_CTRL_C`:
+ *
+ * .. code-block:: cpp
+ *
+ * epic_interrupt_enable(EPIC_INT_CTRL_C);
+ */
+API_ISR(EPIC_INT_CTRL_C, epic_isr_ctrl_c);
+
/**
* LEDs
* ====
@@ -156,23 +219,4 @@ API(API_VIBRA_SET, void epic_vibra_set(int status));
*/
API(API_VIBRA_VIBRATE, void epic_vibra_vibrate(int millis));
-/**
- * API interrupt type
- */
-typedef uint32_t api_int_id_t;
-
-/**
- * Enable/unmask an API interrupt
- *
- * :param int_id: The interrupt to be enabled
- */
-API(API_INTERRUPT_ENABLE, int epic_interrupt_enable(api_int_id_t int_id));
-
-/**
- * Disable/mask an API interrupt
- *
- * :param int_id: The interrupt to be disabled
- */
-API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
-
#endif /* _EPICARDIUM_H */
diff --git a/epicardium/modules/serial.c b/epicardium/modules/serial.c
index bb9c325ce3933287307093d3e4caefc28ef3a0e8..bf341fe79f1d36242481c150e6dd56dfcae119c6 100644
--- a/epicardium/modules/serial.c
+++ b/epicardium/modules/serial.c
@@ -57,12 +57,12 @@ static void enqueue_char(char chr)
{
if (chr == 0x3) {
/* Control-C */
- api_interrupt_trigger(API_INT_CTRL_C);
+ api_interrupt_trigger(EPIC_INT_CTRL_C);
}
if (chr == 0x0e) {
/* Control-N */
- api_interrupt_trigger(API_INT_BHI160);
+ api_interrupt_trigger(EPIC_INT_BHI160_TEST);
}
if (xQueueSend(read_queue, &chr, 100) == errQUEUE_FULL) {
diff --git a/pycardium/modules/interrupt.c b/pycardium/modules/interrupt.c
index b45680c723a8150fd440665065ff8170f8e3e6bc..510efa313f2299b36cf4b99214103094d348e224 100644
--- a/pycardium/modules/interrupt.c
+++ b/pycardium/modules/interrupt.c
@@ -6,15 +6,15 @@
#include "mphalport.h"
// TODO: these should be intialized as mp_const_none
-mp_obj_t callbacks[API_INT_MAX + 1] = {
+mp_obj_t callbacks[EPIC_INT_NUM] = {
0,
};
-void api_interrupt_handler_catch_all(api_int_id_t id)
+void epic_isr_default_handler(api_int_id_t id)
{
// TODO: check if id is out of rante
// TOOD: check against mp_const_none
- if (id <= API_INT_MAX) {
+ if (id < EPIC_INT_NUM) {
if (callbacks[id]) {
mp_sched_schedule(
callbacks[id], MP_OBJ_NEW_SMALL_INT(id)
@@ -32,7 +32,7 @@ STATIC mp_obj_t mp_interrupt_set_callback(mp_obj_t id_in, mp_obj_t callback_obj)
}
// TODO: throw error if id is out of range
- if (id <= API_INT_MAX) {
+ if (id < EPIC_INT_NUM) {
callbacks[id] = callback_obj;
}
diff --git a/pycardium/mphalport.c b/pycardium/mphalport.c
index 4ca84e13027f55c434ece35cf741447284498450..95d4bffa90089570d4e26ab5f098345b646c8dab 100644
--- a/pycardium/mphalport.c
+++ b/pycardium/mphalport.c
@@ -62,7 +62,7 @@ long _write(int fd, const char *buf, size_t cnt)
return cnt;
}
-void api_interrupt_handler_ctrl_c(void)
+void epic_isr_ctrl_c(void)
{
/* Taken from lib/micropython/micropython/lib/utils/interrupt_char.c */
MP_STATE_VM(mp_pending_exception) =
@@ -83,9 +83,9 @@ void mp_hal_set_interrupt_char(char c)
}
if (c == 0x03) {
- epic_interrupt_enable(API_INT_CTRL_C);
+ epic_interrupt_enable(EPIC_INT_CTRL_C);
} else {
- epic_interrupt_disable(API_INT_CTRL_C);
+ epic_interrupt_disable(EPIC_INT_CTRL_C);
}
}