Merge pull request #191 from ObKo/nrf52-pal-new

NRF5x: Add support for PAL events.

22 files changed, 347 insertions, 428 deletions

diff --git a/os/hal/ports/NRF5/LLD/GPIOTEv1/driver.mk b/os/hal/ports/NRF5/LLD/GPIOTEv1/driver.mk
deleted file mode 100644
index 97e0660..0000000
--- a/os/hal/ports/NRF5/LLD/GPIOTEv1/driver.mk
+++ /dev/null
@@ -1,9 +0,0 @@
-ifeq ($(USE_SMART_BUILD),yes)

-ifneq ($(findstring HAL_USE_EXT TRUE,$(HALCONF)),)

-PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/GPIOTEv1/hal_ext_lld.c

-endif

-else

-PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/GPIOTEv1/hal_ext_lld.c

-endif

-

-PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/GPIOTEv1

diff --git a/os/hal/ports/NRF5/LLD/GPIOTEv1/hal_ext_lld.c b/os/hal/ports/NRF5/LLD/GPIOTEv1/hal_ext_lld.c
deleted file mode 100644
index f38fa0c..0000000
--- a/os/hal/ports/NRF5/LLD/GPIOTEv1/hal_ext_lld.c
+++ /dev/null
@@ -1,168 +0,0 @@
-/*

-    Copyright (C) 2015 Stephen Caudle

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-/**

- * @file    GPIOTEv1/ext_lld.c

- * @brief   NRF51 EXT subsystem low level driver source.

- *

- * @addtogroup EXT

- * @{

- */

-

-#include "hal.h"

-

-#if HAL_USE_EXT || defined(__DOXYGEN__)

-

-#include "hal_ext_lld_isr.h"

-

-/*===========================================================================*/

-/* Driver local definitions.                                                 */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver exported variables.                                                */

-/*===========================================================================*/

-

-/**

- * @brief   EXTD1 driver identifier.

- */

-EXTDriver EXTD1;

-

-/*===========================================================================*/

-/* Driver local variables and types.                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver local functions.                                                   */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver interrupt handlers.                                                */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver exported functions.                                                */

-/*===========================================================================*/

-

-/**

- * @brief   Low level EXT driver initialization.

- *

- * @notapi

- */

-void ext_lld_init(void) {

-

-  /* Driver initialization.*/

-  extObjectInit(&EXTD1);

-}

-

-/**

- * @brief   Configures and activates the EXT peripheral.

- *

- * @param[in] extp      pointer to the @p EXTDriver object

- *

- * @notapi

- */

-void ext_lld_start(EXTDriver *extp) {

-

-  unsigned i;

-

-  ext_lld_exti_irq_enable();

-

-  /* Configuration of automatic channels.*/

-  for (i = 0; i < EXT_MAX_CHANNELS; i++) {

-    uint32_t config = 0;

-    uint32_t pad = (extp->config->channels[i].mode & EXT_MODE_GPIO_MASK)

-      >> EXT_MODE_GPIO_OFFSET;

-

-    if (extp->config->channels[i].mode & EXT_CH_MODE_BOTH_EDGES)

-      config |= (GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos);

-    else if (extp->config->channels[i].mode & EXT_CH_MODE_RISING_EDGE)

-      config |= (GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos);

-    else

-      config |= (GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos);

-

-    config |= (pad << GPIOTE_CONFIG_PSEL_Pos);

-

-    NRF_GPIOTE->CONFIG[i] = config;

-    NRF_GPIOTE->EVENTS_PORT = 0;

-    NRF_GPIOTE->EVENTS_IN[i] = 0;

-

-    if (extp->config->channels[i].mode & EXT_CH_MODE_AUTOSTART)

-      ext_lld_channel_enable(extp, i);

-    else

-      ext_lld_channel_disable(extp, i);

-  }

-}

-

-/**

- * @brief   Deactivates the EXT peripheral.

- *

- * @param[in] extp      pointer to the @p EXTDriver object

- *

- * @notapi

- */

-void ext_lld_stop(EXTDriver *extp) {

-

-  unsigned i;

-

-  (void)extp;

-  ext_lld_exti_irq_disable();

-

-  for (i = 0; i < EXT_MAX_CHANNELS; i++)

-    NRF_GPIOTE->CONFIG[i] = 0;

-

-  NRF_GPIOTE->INTENCLR =

-    (GPIOTE_INTENCLR_IN3_Msk | GPIOTE_INTENCLR_IN2_Msk |

-    GPIOTE_INTENCLR_IN1_Msk | GPIOTE_INTENCLR_IN0_Msk);

-}

-

-/**

- * @brief   Enables an EXT channel.

- *

- * @param[in] extp      pointer to the @p EXTDriver object

- * @param[in] channel   channel to be enabled

- *

- * @notapi

- */

-void ext_lld_channel_enable(EXTDriver *extp, expchannel_t channel) {

-

-  uint32_t config = NRF_GPIOTE->CONFIG[channel] & ~GPIOTE_CONFIG_MODE_Msk;

-

-  (void)extp;

-  config |= (GPIOTE_CONFIG_MODE_Event << GPIOTE_CONFIG_MODE_Pos);

-

-  NRF_GPIOTE->CONFIG[channel] = config;

-  NRF_GPIOTE->INTENSET = (1 << channel);

-}

-

-/**

- * @brief   Disables an EXT channel.

- *

- * @param[in] extp      pointer to the @p EXTDriver object

- * @param[in] channel   channel to be disabled

- *

- * @notapi

- */

-void ext_lld_channel_disable(EXTDriver *extp, expchannel_t channel) {

-

-  (void)extp;

-  NRF_GPIOTE->CONFIG[channel] &= ~GPIOTE_CONFIG_MODE_Msk;

-  NRF_GPIOTE->INTENCLR = (1 << channel);

-}

-

-#endif /* HAL_USE_EXT */

-

-/** @} */

diff --git a/os/hal/ports/NRF5/LLD/GPIOTEv1/hal_ext_lld.h b/os/hal/ports/NRF5/LLD/GPIOTEv1/hal_ext_lld.h
deleted file mode 100644
index 8a93b6d..0000000
--- a/os/hal/ports/NRF5/LLD/GPIOTEv1/hal_ext_lld.h
+++ /dev/null
@@ -1,139 +0,0 @@
-/*

-    Copyright (C) 2015 Stephen Caudle

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-/**

- * @file    GPIOTEv1/ext_lld.h

- * @brief   NRF51 EXT subsystem low level driver header.

- *

- * @addtogroup EXT

- * @{

- */

-

-#ifndef HAL_EXT_LLD_H

-#define HAL_EXT_LLD_H

-

-#if HAL_USE_EXT || defined(__DOXYGEN__)

-

-/*===========================================================================*/

-/* Driver constants.                                                         */

-/*===========================================================================*/

-

-/**

- * @brief   Available number of EXT channels.

- */

-#define EXT_MAX_CHANNELS      4

-#define EXT_MODE_GPIO_MASK    0xF8        /**< @brief Pad field mask.        */

-#define EXT_MODE_GPIO_OFFSET  3           /**< @brief Pad field offset.      */

-/** @} */

-

-/*===========================================================================*/

-/* Driver pre-compile time settings.                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Derived constants and error checks.                                       */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver data structures and types.                                         */

-/*===========================================================================*/

-

-/**

- * @brief   EXT channel identifier.

- */

-typedef uint32_t expchannel_t;

-

-/**

- * @brief   Type of an EXT generic notification callback.

- *

- * @param[in] extp      pointer to the @p EXPDriver object triggering the

- *                      callback

- */

-typedef void (*extcallback_t)(EXTDriver *extp, expchannel_t channel);

-

-/**

- * @brief   Channel configuration structure.

- */

-typedef struct {

-  /**

-   * @brief Channel mode.

-   */

-  uint32_t              mode;

-  /**

-   * @brief Channel callback.

-   * @details  In the STM32 implementation a @p NULL callback pointer is

-   *           valid and configures the channel as an event sources instead

-   *           of an interrupt source.

-   */

-  extcallback_t         cb;

-} EXTChannelConfig;

-

-/**

- * @brief   Driver configuration structure.

- * @note    It could be empty on some architectures.

- */

-typedef struct {

-  /**

-   * @brief Channel configurations.

-   */

-  EXTChannelConfig      channels[EXT_MAX_CHANNELS];

-  /* End of the mandatory fields.*/

-} EXTConfig;

-

-/**

- * @brief   Structure representing an EXT driver.

- */

-struct EXTDriver {

-  /**

-   * @brief Driver state.

-   */

-  extstate_t                state;

-  /**

-   * @brief Current configuration data.

-   */

-  const EXTConfig           *config;

-  /* End of the mandatory fields.*/

-};

-

-/*===========================================================================*/

-/* Driver macros.                                                            */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* External declarations.                                                    */

-/*===========================================================================*/

-

-#if !defined(__DOXYGEN__)

-extern EXTDriver EXTD1;

-#endif

-

-#ifdef __cplusplus

-extern "C" {

-#endif

-  void ext_lld_init(void);

-  void ext_lld_start(EXTDriver *extp);

-  void ext_lld_stop(EXTDriver *extp);

-  void ext_lld_channel_enable(EXTDriver *extp, expchannel_t channel);

-  void ext_lld_channel_disable(EXTDriver *extp, expchannel_t channel);

-#ifdef __cplusplus

-}

-#endif

-

-#endif /* HAL_USE_EXT */

-

-#endif /* HAL_EXT_LLD_H */

-

-/** @} */

diff --git a/os/hal/ports/NRF5/LLD/GPIOv1/hal_pal_lld.c b/os/hal/ports/NRF5/LLD/GPIOv1/hal_pal_lld.c
index 9cfad8d..3029367 100644
--- a/os/hal/ports/NRF5/LLD/GPIOv1/hal_pal_lld.c
+++ b/os/hal/ports/NRF5/LLD/GPIOv1/hal_pal_lld.c
@@ -1,4 +1,5 @@
 /*

+    Copyright (C) 2018 Konstantin Oblaukhov

     Copyright (C) 2015 Fabio Utzig

 

     Licensed under the Apache License, Version 2.0 (the "License");

@@ -35,6 +36,11 @@
 /* Driver exported variables.                                                */

 /*===========================================================================*/

 

+/**

+ * @brief   Event records for the GPIOTE channels.

+ */

+palevent_t _pal_events[NRF5_GPIOTE_NUM_CHANNELS];

+

 /*===========================================================================*/

 /* Driver local variables and types.                                         */

 /*===========================================================================*/

@@ -127,6 +133,12 @@ void _pal_lld_init(const PALConfig *config)
   for (i = 0; i < TOTAL_GPIO_PADS; i++) {

     pal_lld_setpadmode(IOPORT1, i, config->pads[i]);

   }

+  

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

+  for (i = 0; i < NRF5_GPIOTE_NUM_CHANNELS; i++) {

+    _pal_init_event(i);

+  }

+#endif

 }

 

 /**

@@ -153,6 +165,76 @@ void _pal_lld_setgroupmode(ioportid_t port,
   }

 }

 

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

+/**

+ * @brief   Pad event enable.

+ * @note    Programming an unknown or unsupported mode is silently ignored.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ * @param[in] mode      pad event mode

+ *

+ * @notapi

+ */

+void _pal_lld_enablepadevent(ioportid_t port,

+                             iopadid_t pad,

+                             ioeventmode_t mode) {

+    (void)port;

+

+    int ch = NRF5_PAL_PAD_TO_EVENT(pad);

+    uint32_t config = NRF_GPIOTE->CONFIG[ch];

+

+    osalDbgAssert((((config & GPIOTE_CONFIG_PSEL_Msk) >> GPIOTE_CONFIG_PSEL_Pos) == pad) ||

+                  (((config & GPIOTE_CONFIG_MODE_Msk) >> GPIOTE_CONFIG_MODE_Pos) != GPIOTE_CONFIG_MODE_Event),

+                  "channel already in use");

+

+    if ((mode & PAL_EVENT_MODE_RISING_EDGE) && (mode & PAL_EVENT_MODE_FALLING_EDGE))

+      config |= (GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos);

+    else if (mode & PAL_EVENT_MODE_RISING_EDGE)

+      config |= (GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos);

+    else

+      config |= (GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos);

+

+    config |= (pad << GPIOTE_CONFIG_PSEL_Pos);

+

+    config |= (GPIOTE_CONFIG_MODE_Event << GPIOTE_CONFIG_MODE_Pos);

+

+    NRF_GPIOTE->CONFIG[ch] = config;

+    NRF_GPIOTE->EVENTS_PORT = 0;

+    NRF_GPIOTE->EVENTS_IN[ch] = 0;

+    NRF_GPIOTE->INTENSET = (1 << ch);

+}

+

+/**

+ * @brief   Pad event disable.

+ * @details This function disables previously programmed event callbacks.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ *

+ * @notapi

+ */

+void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad) {

+  (void)port;

+  int ch = NRF5_PAL_PAD_TO_EVENT(pad);

+  uint32_t config = NRF_GPIOTE->CONFIG[ch];

+

+  if (((config & GPIOTE_CONFIG_MODE_Msk) >> GPIOTE_CONFIG_MODE_Pos) == GPIOTE_CONFIG_MODE_Event)

+  {

+    osalDbgAssert(((config & GPIOTE_CONFIG_PSEL_Msk) >> GPIOTE_CONFIG_PSEL_Pos) == pad,

+                  "channel mapped on different pad");

+

+    NRF_GPIOTE->INTENSET &= ~(1 << ch);

+    NRF_GPIOTE->CONFIG[ch] = 0;

+

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT

+  /* Callback cleared and/or thread reset.*/

+  _pal_clear_event(pad);

+#endif

+  }

+}

+#endif /* PAL_USE_CALLBACKS || PAL_USE_WAIT */

+

 #endif /* HAL_USE_PAL == TRUE */

 

 /** @} */

diff --git a/os/hal/ports/NRF5/LLD/GPIOv1/hal_pal_lld.h b/os/hal/ports/NRF5/LLD/GPIOv1/hal_pal_lld.h
index a005d50..e9021eb 100644
--- a/os/hal/ports/NRF5/LLD/GPIOv1/hal_pal_lld.h
+++ b/os/hal/ports/NRF5/LLD/GPIOv1/hal_pal_lld.h
@@ -1,4 +1,5 @@
 /*

+    Copyright (C) 2018 Konstantin Oblaukhov

     Copyright (C) 2015 Fabio Utzig

 

     Licensed under the Apache License, Version 2.0 (the "License");

@@ -112,6 +113,11 @@ typedef uint8_t iomode_t;
 typedef uint32_t ioline_t;

 

 /**

+ * @brief   Type of an event mode.

+ */

+typedef uint32_t ioeventmode_t;

+

+/**

  * @brief   Port Identifier.

  * @details This type can be a scalar or some kind of pointer, do not make

  *          any assumption about it, use the provided macros when populating

@@ -139,6 +145,24 @@ typedef uint32_t iopadid_t;
 #define IOPORT1         NRF_P0

 #endif

 

+/**

+ * @brief   Number of PAL events.

+ * @details Maximum number of GPIO events supported by GPIOTE peripheral

+ */

+#if NRF_SERIES == 51

+#define NRF5_GPIOTE_NUM_CHANNELS (4)

+#else

+#define NRF5_GPIOTE_NUM_CHANNELS (8)

+#endif

+

+/**

+ * @brief   Pad to event number

+ * @details Converts pad to GPIOTE peripheral pad event number

+ */

+#if !defined(NRF5_PAL_PAD_TO_EVENT) || defined(__DOXYGEN__)

+#define NRF5_PAL_PAD_TO_EVENT(pad) ((pad) % NRF5_GPIOTE_NUM_CHANNELS)

+#endif

+

 /*===========================================================================*/

 /* Implementation, some of the following macros could be implemented as      */

 /* functions, if so please put them in pal_lld.c.                            */

@@ -331,8 +355,55 @@ typedef uint32_t iopadid_t;
  */

 #define pal_lld_setpadmode(port, pad, mode) _pal_lld_setpadmode(port, pad, mode)

 

+/**

+ * @brief   Pad event enable.

+ * @note    Programming an unknown or unsupported mode is silently ignored.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ * @param[in] mode      pad event mode

+ *

+ * @notapi

+ */

+#define pal_lld_enablepadevent(port, pad, mode)                             \

+  _pal_lld_enablepadevent(port, pad, mode)

+

+/**

+ * @brief   Pad event disable.

+ * @details This function disables previously programmed event callbacks.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ *

+ * @notapi

+ */

+#define pal_lld_disablepadevent(port, pad)                                  \

+  _pal_lld_disablepadevent(port, pad)

+

+/**

+ * @brief   Returns a PAL event structure associated to a pad.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ *

+ * @notapi

+ */

+#define pal_lld_get_pad_event(port, pad)                                    \

+  &_pal_events[NRF5_PAL_PAD_TO_EVENT(pad)]; (void)(port)

+

+/**

+ * @brief   Returns a PAL event structure associated to a line.

+ *

+ * @param[in] line      line identifier

+ *

+ * @notapi

+ */

+#define pal_lld_get_line_event(line)                                        \

+  &_pal_events[NRF5_PAL_PAD_TO_EVENT(PAL_PAD(line))]

+

 #if !defined(__DOXYGEN__)

 extern const PALConfig pal_default_config;

+extern palevent_t _pal_events[NRF5_GPIOTE_NUM_CHANNELS];

 #endif

 

 #ifdef __cplusplus

@@ -345,6 +416,12 @@ extern "C" {
   void _pal_lld_setpadmode(ioportid_t port,

                            uint8_t pad,

                            iomode_t mode);

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT

+  void _pal_lld_enablepadevent(ioportid_t port,

+                               iopadid_t pad,

+                               ioeventmode_t mode);

+  void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad);

+#endif

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/ports/NRF5/LLD/TIMERv1/hal_icu_lld.c b/os/hal/ports/NRF5/LLD/TIMERv1/hal_icu_lld.c
index 4966007..bca8855 100644
--- a/os/hal/ports/NRF5/LLD/TIMERv1/hal_icu_lld.c
+++ b/os/hal/ports/NRF5/LLD/TIMERv1/hal_icu_lld.c
@@ -301,25 +301,6 @@ static void start_channels(ICUDriver *icup) {
 /* Driver interrupt handlers.                                                */
 /*===========================================================================*/
 
-#if NRF5_ICU_USE_GPIOTE_PPI
-/**
- * @brief   GPIOTE events interrupt handler.
- * @note    It is assumed that the various sources are only activated if the
- *          associated callback pointer is not equal to @p NULL in order to not
- *          perform an extra check in a potentially critical interrupt handler.
- *
- * @isr
- */
-OSAL_IRQ_HANDLER(Vector58) {
-
-  OSAL_IRQ_PROLOGUE();
-
-  icu_lld_serve_gpiote_interrupt(&ICUD1);
-
-  OSAL_IRQ_EPILOGUE();
-}
-#endif /* NRF5_ICU_USE_GPIOTE_PPI */
-
 #if NRF5_ICU_USE_TIMER0
 /**
  * @brief   TIMER0 compare interrupt handler.
diff --git a/os/hal/ports/NRF5/NRF51822/hal_lld.c b/os/hal/ports/NRF5/NRF51822/hal_lld.c
index f33fdda..412cfea 100644
--- a/os/hal/ports/NRF5/NRF51822/hal_lld.c
+++ b/os/hal/ports/NRF5/NRF51822/hal_lld.c
@@ -80,6 +80,8 @@ void hal_lld_init(void)
     (NRF5_SYSTEM_TICKS == NRF5_SYSTEM_TICKS_AS_RTC)
   NRF_CLOCK->TASKS_LFCLKSTART = 1;
 #endif
+  
+  irqInit();
 }
 
 /**
diff --git a/os/hal/ports/NRF5/NRF51822/hal_lld.h b/os/hal/ports/NRF5/NRF51822/hal_lld.h
index a1d2460..178bb42 100644
--- a/os/hal/ports/NRF5/NRF51822/hal_lld.h
+++ b/os/hal/ports/NRF5/NRF51822/hal_lld.h
@@ -94,7 +94,7 @@
 /*===========================================================================*/
 
 #include "nvic.h"
-
+#include "nrf51_isr.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/os/hal/ports/NRF5/NRF51822/hal_ext_lld_isr.h b/os/hal/ports/NRF5/NRF51822/nrf51_isr.c
index d606866..9a2bd94 100644
--- a/os/hal/ports/NRF5/NRF51822/hal_ext_lld_isr.h
+++ b/os/hal/ports/NRF5/NRF51822/nrf51_isr.c
@@ -1,4 +1,5 @@
 /*

+    Copyright (C) 2018 Konstantin Oblaukhov

     Copyright (C) 2015 Stephen Caudle

 

     Licensed under the Apache License, Version 2.0 (the "License");

@@ -15,65 +16,81 @@
 */

 

 /**

- * @file    NRF51x22/ext_lld_isr.h

- * @brief   NRF51x22 EXT subsystem low level driver ISR header.

+ * @file    NRF51822/nrf51_isr.c

+ * @brief   NRF51822 ISR handler code.

  *

- * @addtogroup EXT

+ * @addtogroup NRF51822_ISR

  * @{

  */

 

-#ifndef HAL_EXT_LLD_ISR_H

-#define HAL_EXT_LLD_ISR_H

-

-#if HAL_USE_EXT || defined(__DOXYGEN__)

+#include "hal.h"

 

 /*===========================================================================*/

-/* Driver constants.                                                         */

+/* Driver local definitions.                                                 */

 /*===========================================================================*/

 

 /*===========================================================================*/

-/* Driver pre-compile time settings.                                         */

+/* Driver exported variables.                                                */

 /*===========================================================================*/

 

-/**

- * @name    Configuration options

- * @{

- */

-/**

- * @brief   GPIOTE interrupt priority level setting.

- */

-#if !defined(NRF5_EXT_GPIOTE_IRQ_PRIORITY) || defined(__DOXYGEN__)

-#define NRF5_EXT_GPIOTE_IRQ_PRIORITY      3

-#endif

-/** @} */

-

 /*===========================================================================*/

-/* Derived constants and error checks.                                       */

+/* Driver local variables.                                                   */

 /*===========================================================================*/

 

 /*===========================================================================*/

-/* Driver data structures and types.                                         */

+/* Driver local functions.                                                   */

 /*===========================================================================*/

 

 /*===========================================================================*/

-/* Driver macros.                                                            */

+/* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

+/**

+ * @brief   GPIOTE interrupt handler.

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector58) {

+

+  OSAL_IRQ_PROLOGUE();

+  

+  for (int ch = 0; ch < NRF5_GPIOTE_NUM_CHANNELS; ch++)

+  {

+    if (NRF_GPIOTE->EVENTS_IN[ch])

+    {

+        NRF_GPIOTE->EVENTS_IN[ch] = 0;

+        _pal_isr_code(ch);

+    }

+  }

+

+  OSAL_IRQ_EPILOGUE();

+}

+

 /*===========================================================================*/

-/* External declarations.                                                    */

+/* Driver exported functions.                                                */

 /*===========================================================================*/

+/**

+ * @brief   Enables IRQ sources.

+ *

+ * @notapi

+ */

+void irqInit(void) {

 

-#ifdef __cplusplus

-extern "C" {

+#if HAL_USE_PAL

+  nvicEnableVector(GPIOTE_IRQn, NRF5_IRQ_GPIOTE_PRIORITY);

 #endif

-  void ext_lld_exti_irq_enable(void);

-  void ext_lld_exti_irq_disable(void);

-#ifdef __cplusplus

 }

-#endif

 

-#endif /* HAL_USE_EXT */

+/**

+ * @brief   Disables IRQ sources.

+ *

+ * @notapi

+ */

+void irqDeinit(void) {

 

-#endif /* HAL_EXT_LLD_ISR_H */

+#if HAL_USE_PAL

+  nvicDisableVector(GPIOTE_IRQn);

+#endif

+}

 

 /** @} */

diff --git a/os/hal/ports/NRF5/NRF51822/nrf51_isr.h b/os/hal/ports/NRF5/NRF51822/nrf51_isr.h
new file mode 100644
index 0000000..832d2c3
--- /dev/null
+++ b/os/hal/ports/NRF5/NRF51822/nrf51_isr.h
@@ -0,0 +1,44 @@
+/*

+    Copyright (C) 2018 Konstantin Oblaukhov

+    Copyright (C) 2015 Stephen Caudle

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    NRF51822/nrf51_isr.h

+ * @brief   NRF51822 ISR handler header.

+ *

+ * @addtogroup NRF51822_ISR

+ * @{

+ */

+

+#ifndef NRF51_ISR_H

+#define NRF51_ISR_H

+

+#if !defined(NRF5_IRQ_GPIOTE_PRIORITY) || defined(__DOXYGEN__)

+#define NRF5_IRQ_GPIOTE_PRIORITY      3

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void irqInit(void);

+  void irqDeinit(void);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* NRF51_ISR_H */

+

+/** @} */

diff --git a/os/hal/ports/NRF5/NRF51822/platform.mk b/os/hal/ports/NRF5/NRF51822/platform.mk
index 298a85c..711a625 100644
--- a/os/hal/ports/NRF5/NRF51822/platform.mk
+++ b/os/hal/ports/NRF5/NRF51822/platform.mk
@@ -1,6 +1,6 @@
 PLATFORMSRC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
                        ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/NRF51822/hal_lld.c \
-                       ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/NRF51822/hal_ext_lld_isr.c \
+                       ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/NRF51822/nrf51_isr.c \
                        ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/TIMERv1/hal_st_lld.c
                        
 PLATFORMINC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx \
@@ -21,7 +21,6 @@ endif
 include ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/GPIOv1/driver.mk
 include ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/UARTv1/driver.mk
 include ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/SPIv1/driver.mk
-include ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/GPIOTEv1/driver.mk
 include ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/TWIv1/driver.mk
 include ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/ADCv1/driver.mk
 include ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/TIMERv1/driver.mk
diff --git a/os/hal/ports/NRF5/NRF52832/hal_lld.c b/os/hal/ports/NRF5/NRF52832/hal_lld.c
index e63e57e..11307f8 100644
--- a/os/hal/ports/NRF5/NRF52832/hal_lld.c
+++ b/os/hal/ports/NRF5/NRF52832/hal_lld.c
@@ -87,6 +87,8 @@ void hal_lld_init(void)
   NRF_CLOCK->TASKS_LFCLKSTART = 1;
   while (NRF_CLOCK->EVENTS_LFCLKSTARTED == 0);
 #endif
+  
+  irqInit();
 }
 
 /**
diff --git a/os/hal/ports/NRF5/NRF52832/hal_lld.h b/os/hal/ports/NRF5/NRF52832/hal_lld.h
index a2a8cc3..0620b5f 100644
--- a/os/hal/ports/NRF5/NRF52832/hal_lld.h
+++ b/os/hal/ports/NRF5/NRF52832/hal_lld.h
@@ -115,6 +115,7 @@
 #endif
 
 #include "nvic.h"
+#include "nrf52_isr.h"
 
 
 #ifdef __cplusplus
diff --git a/os/hal/ports/NRF5/NRF51822/hal_ext_lld_isr.c b/os/hal/ports/NRF5/NRF52832/nrf52_isr.c
index ca8e24d..431bb3b 100644
--- a/os/hal/ports/NRF5/NRF51822/hal_ext_lld_isr.c
+++ b/os/hal/ports/NRF5/NRF52832/nrf52_isr.c
@@ -1,4 +1,5 @@
 /*

+    Copyright (C) 2018 Konstantin Oblaukhov

     Copyright (C) 2015 Stephen Caudle

 

     Licensed under the Apache License, Version 2.0 (the "License");

@@ -15,19 +16,15 @@
 */

 

 /**

- * @file    NRF51x22/ext_lld_isr.h

- * @brief   NRF51x22 EXT subsystem low level driver ISR code.

+ * @file    NRF52832/nrf52_isr.c

+ * @brief   NRF52832 ISR handler code.

  *

- * @addtogroup EXT

+ * @addtogroup NRF52832_ISR

  * @{

  */

 

 #include "hal.h"

 

-#if HAL_USE_EXT || defined(__DOXYGEN__)

-

-#include "hal_ext_lld_isr.h"

-

 /*===========================================================================*/

 /* Driver local definitions.                                                 */

 /*===========================================================================*/

@@ -44,12 +41,16 @@
 /* Driver local functions.                                                   */

 /*===========================================================================*/

 

+#if (HAL_USE_ICU && NRF5_ICU_USE_GPIOTE_PPI)

+extern void icu_lld_serve_gpiote_interrupt(ICUDriver *icup);

+#endif

+

 /*===========================================================================*/

 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

 /**

- * @brief   EXTI[0]...EXTI[1] interrupt handler.

+ * @brief   GPIOTE interrupt handler.

  *

  * @isr

  */

@@ -57,26 +58,20 @@ OSAL_IRQ_HANDLER(Vector58) {
 

   OSAL_IRQ_PROLOGUE();

 

-  if (NRF_GPIOTE->EVENTS_IN[0])

-  {

-    NRF_GPIOTE->EVENTS_IN[0] = 0;

-    EXTD1.config->channels[0].cb(&EXTD1, 0);

-  }

-  if (NRF_GPIOTE->EVENTS_IN[1])

-  {

-    NRF_GPIOTE->EVENTS_IN[1] = 0;

-    EXTD1.config->channels[1].cb(&EXTD1, 1);

-  }

-  if (NRF_GPIOTE->EVENTS_IN[2])

-  {

-    NRF_GPIOTE->EVENTS_IN[2] = 0;

-    EXTD1.config->channels[2].cb(&EXTD1, 2);

-  }

-  if (NRF_GPIOTE->EVENTS_IN[3])

+#if (HAL_USE_ICU && NRF5_ICU_USE_GPIOTE_PPI)

+  icu_lld_serve_gpiote_interrupt(&ICUD1);

+#endif

+

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS))

+  for (int ch = 0; ch < NRF5_GPIOTE_NUM_CHANNELS; ch++)

   {

-    NRF_GPIOTE->EVENTS_IN[3] = 0;

-    EXTD1.config->channels[3].cb(&EXTD1, 3);

+    if (NRF_GPIOTE->EVENTS_IN[ch])

+    {

+      NRF_GPIOTE->EVENTS_IN[ch] = 0;

+      _pal_isr_code(ch);

+    }

   }

+#endif

 

   OSAL_IRQ_EPILOGUE();

 }

@@ -84,27 +79,28 @@ OSAL_IRQ_HANDLER(Vector58) {
 /*===========================================================================*/

 /* Driver exported functions.                                                */

 /*===========================================================================*/

-

 /**

- * @brief   Enables EXTI IRQ sources.

+ * @brief   Enables IRQ sources.

  *

  * @notapi

  */

-void ext_lld_exti_irq_enable(void) {

+void irqInit(void) {

 

-  nvicEnableVector(GPIOTE_IRQn, NRF5_EXT_GPIOTE_IRQ_PRIORITY);

+#if HAL_USE_PAL

+  nvicEnableVector(GPIOTE_IRQn, NRF5_IRQ_GPIOTE_PRIORITY);

+#endif

 }

 

 /**

- * @brief   Disables EXTI IRQ sources.

+ * @brief   Disables IRQ sources.

  *

  * @notapi

  */

-void ext_lld_exti_irq_disable(void) {

+void irqDeinit(void) {

 

+#if HAL_USE_PAL

   nvicDisableVector(GPIOTE_IRQn);

+#endif

 }

 

-#endif /* HAL_USE_EXT */

-

 /** @} */

diff --git a/os/hal/ports/NRF5/NRF52832/nrf52_isr.h b/os/hal/ports/NRF5/NRF52832/nrf52_isr.h
new file mode 100644
index 0000000..b9f81d0
--- /dev/null
+++ b/os/hal/ports/NRF5/NRF52832/nrf52_isr.h
@@ -0,0 +1,44 @@
+/*

+    Copyright (C) 2018 Konstantin Oblaukhov

+    Copyright (C) 2015 Stephen Caudle

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    NRF52832/nrf52_isr.h

+ * @brief   NRF52832 ISR handler header.

+ *

+ * @addtogroup NRF52832_ISR

+ * @{

+ */

+

+#ifndef NRF52_ISR_H

+#define NRF52_ISR_H

+

+#if !defined(NRF5_IRQ_GPIOTE_PRIORITY) || defined(__DOXYGEN__)

+#define NRF5_IRQ_GPIOTE_PRIORITY      3

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void irqInit(void);

+  void irqDeinit(void);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* NRF52_ISR_H */

+

+/** @} */

diff --git a/os/hal/ports/NRF5/NRF52832/platform.mk b/os/hal/ports/NRF5/NRF52832/platform.mk
index f1fcfe7..1e0a1af 100644
--- a/os/hal/ports/NRF5/NRF52832/platform.mk
+++ b/os/hal/ports/NRF5/NRF52832/platform.mk
@@ -1,5 +1,6 @@
 PLATFORMSRC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
                        ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/NRF52832/hal_lld.c \
+                       ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/NRF52832/nrf52_isr.c \
                        ${CHIBIOS_CONTRIB}/os/hal/ports/NRF5/LLD/TIMERv1/hal_st_lld.c
                        
 PLATFORMINC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx \
diff --git a/testhal/NRF51/NRF51822/EXT/Makefile b/testhal/NRF51/NRF51822/PAL/Makefile
index 79e226d..79e226d 100644
--- a/testhal/NRF51/NRF51822/EXT/Makefile
+++ b/testhal/NRF51/NRF51822/PAL/Makefile
diff --git a/testhal/NRF51/NRF51822/EXT/chconf.h b/testhal/NRF51/NRF51822/PAL/chconf.h
index 0ac7be8..0ac7be8 100644
--- a/testhal/NRF51/NRF51822/EXT/chconf.h
+++ b/testhal/NRF51/NRF51822/PAL/chconf.h
diff --git a/testhal/NRF51/NRF51822/EXT/halconf.h b/testhal/NRF51/NRF51822/PAL/halconf.h
index 407dd2f..c8c556a 100644
--- a/testhal/NRF51/NRF51822/EXT/halconf.h
+++ b/testhal/NRF51/NRF51822/PAL/halconf.h
@@ -55,7 +55,7 @@
  * @brief   Enables the EXT subsystem.
  */
 #if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
-#define HAL_USE_EXT                 TRUE
+#define HAL_USE_EXT                 FALSE
 #endif
 
 /**
diff --git a/testhal/NRF51/NRF51822/EXT/halconf_community.h b/testhal/NRF51/NRF51822/PAL/halconf_community.h
index 43fdbf8..43fdbf8 100644
--- a/testhal/NRF51/NRF51822/EXT/halconf_community.h
+++ b/testhal/NRF51/NRF51822/PAL/halconf_community.h
diff --git a/testhal/NRF51/NRF51822/EXT/main.c b/testhal/NRF51/NRF51822/PAL/main.c
index f24eb5d..313291c 100644
--- a/testhal/NRF51/NRF51822/EXT/main.c
+++ b/testhal/NRF51/NRF51822/PAL/main.c
@@ -42,11 +42,9 @@ static void led2toggle(void *arg) {
   debouncing2 = false;
 }
 
-static void extcb1(EXTDriver *extp, expchannel_t channel)
+static void extcb1(void *arg)
 {
-  (void)extp;
-  (void)channel;
-
+  (void)arg;
   uint8_t pad1 = palReadPad(IOPORT1, KEY1);
 
   if (!debouncing1 && (pad1 == PAL_LOW)) {
@@ -63,11 +61,9 @@ static void extcb1(EXTDriver *extp, expchannel_t channel)
   }
 }
 
-static void extcb2(EXTDriver *extp, expchannel_t channel)
+static void extcb2(void *arg)
 {
-  (void)extp;
-  (void)channel;
-
+  (void)arg;
   uint8_t pad2 = palReadPad(IOPORT1, KEY2);
 
   if (!debouncing2 && (pad2 == PAL_LOW)) {
@@ -84,14 +80,6 @@ static void extcb2(EXTDriver *extp, expchannel_t channel)
   }
 }
 
-static const EXTConfig extcfg =
-{
-  {
-    {EXT_CH_MODE_FALLING_EDGE | EXT_CH_MODE_AUTOSTART | (KEY1 << EXT_MODE_GPIO_OFFSET), extcb1},
-    {EXT_CH_MODE_RISING_EDGE | EXT_CH_MODE_AUTOSTART | (KEY2 << EXT_MODE_GPIO_OFFSET), extcb2},
-  }
-};
-
 /*
  * Application entry point.
  */
@@ -106,8 +94,9 @@ int main(void)
    */
   halInit();
   chSysInit();
-
-  extStart(&EXTD1, &extcfg);
+  
+  palSetPadCallback(IOPORT1, KEY1, extcb1, NULL);
+  palSetPadCallback(IOPORT1, KEY2, extcb2, NULL);
 
   /*
    * Normal main() thread activity, in this demo it enables and disables the
@@ -116,12 +105,12 @@ int main(void)
   while (TRUE) {
     palSetPad(IOPORT1, LED0);
     chThdSleepMilliseconds(5000);
-    extChannelDisable(&EXTD1, 0);
-    extChannelDisable(&EXTD1, 1);
+    palDisablePadEvent(IOPORT1, KEY1);
+    palDisablePadEvent(IOPORT1, KEY2);
     palClearPad(IOPORT1, LED0);
     chThdSleepMilliseconds(5000);
-    extChannelEnable(&EXTD1, 0);
-    extChannelEnable(&EXTD1, 1);
+    palEnablePadEvent(IOPORT1, KEY1, PAL_EVENT_MODE_FALLING_EDGE);
+    palEnablePadEvent(IOPORT1, KEY2, PAL_EVENT_MODE_RISING_EDGE);
   }
 
   return 0;
diff --git a/testhal/NRF51/NRF51822/EXT/mcuconf.h b/testhal/NRF51/NRF51822/PAL/mcuconf.h
index f3a0d85..f3a0d85 100644
--- a/testhal/NRF51/NRF51822/EXT/mcuconf.h
+++ b/testhal/NRF51/NRF51822/PAL/mcuconf.h