[Comp] Cleaning example, removing dependencies and adding checks.

4 files changed, 164 insertions, 177 deletions

diff --git a/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c
index 5289d50..0c96185 100644
--- a/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c
+++ b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c
@@ -122,86 +122,156 @@ void comp_lld_init(void) {
 #if STM32_COMP_USE_COMP1
   /* Driver initialization.*/
   compObjectInit(&COMPD1);
-  COMPD1.comp = COMP;
+  COMPD1.reg = COMP;
+  COMPD1.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP1_2_3_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
 #endif
 
 #if STM32_COMP_USE_COMP2
   /* Driver initialization.*/
   compObjectInit(&COMPD2);
-  COMPD2.comp = COMP2;
+  COMPD2.reg = COMP2;
+  COMPD2.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP1_2_3_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
 #endif
 
 #if STM32_COMP_USE_COMP3
   /* Driver initialization.*/
   compObjectInit(&COMPD3);
-  COMPD3.comp = COMP3;
+  COMPD3.reg = COMP3;
+  COMPD3.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP1_2_3_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
 #endif
 
 #if STM32_COMP_USE_COMP4
   /* Driver initialization.*/
   compObjectInit(&COMPD4);
-  COMPD4.comp = COMP4;
+  COMPD4.reg = COMP4;
+  COMPD4.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP4_5_6_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
 #endif
 
 #if STM32_COMP_USE_COMP5
   /* Driver initialization.*/
   compObjectInit(&COMPD5);
-  COMPD8.comp = COMP5;
+  COMPD5.reg = COMP5;
+  COMPD5.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP4_5_6_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
 #endif
 
 #if STM32_COMP_USE_COMP6
   /* Driver initialization.*/
   compObjectInit(&COMPD6);
-  COMPD6.comp = COMP6;
+  COMPD6.reg = COMP6;
+  COMPD6.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP4_5_6_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
 #endif
 
 #if STM32_COMP_USE_COMP7
   /* Driver initialization.*/
   compObjectInit(&COMPD7);
-  COMPD7.comp = COMP7;
+  COMPD7.reg = COMP7;
+  COMPD7.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP7_IRQn, STM32_COMP_7_IRQ_PRIORITY);
+#endif
 #endif
 
 }
-#if STM32_COMP_USE_INTERRUPTS
-static void comp_lld_cb(EXTDriver *extp, expchannel_t channel) {
 
-  (void) extp;
-  switch (channel) {
+/**
+ * @brief  COMP1, COMP2, COMP3 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector140) {
+  uint32_t pr;
+
+  OSAL_IRQ_PROLOGUE();
 
+  pr = EXTI->PR;
+  pr &= EXTI->IMR & ((1U << 21) | (1U << 22) | (1U << 29));
+  EXTI->PR = pr;
 #if STM32_COMP_USE_COMP1
-    case 21:
-      COMPD1.config->cb(&COMPD1);
+  if (pr & (1U << 21) && COMPD1.config->cb != NULL)
+    COMPD1.config->cb(&COMPD1);
 #endif
 #if STM32_COMP_USE_COMP2
-    case 22:
-      COMPD2.config->cb(&COMPD2);
+  if (pr & (1U << 22) && COMPD2.config->cb != NULL)
+    COMPD2.config->cb(&COMPD2);
 #endif
 #if STM32_COMP_USE_COMP3
-    case 29:
-      COMPD3.config->cb(&COMPD3);
+  if (pr & (1U << 29) && COMPD3.config->cb != NULL)
+    COMPD3.config->cb(&COMPD3);
 #endif
+
+  OSAL_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief   COMP4, COMP5, COMP6 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector144) {
+  uint32_t pr;
+
+  OSAL_IRQ_PROLOGUE();
+
+  pr = EXTI->PR;
+  pr &= EXTI->IMR & ((1U << 30) | (1U << 31));
+  EXTI->PR = pr;
 #if STM32_COMP_USE_COMP4
-    case 30:
-      COMPD4.config->cb(&COMPD4);
+  if (pr & (1U << 30) && COMPD4.config->cb != NULL)
+    COMPD4.config->cb(&COMPD4);
 #endif
 #if STM32_COMP_USE_COMP5
-    case 31:
-      COMPD5.config->cb(&COMPD5);
+  if (pr & (1U << 31) && COMPD5.config->cb != NULL)
+    COMPD5.config->cb(&COMPD5);
 #endif
+
 #if STM32_COMP_USE_COMP6
-    case 32:
-      COMPD6.config->cb(&COMPD6);
+  pr = EXTI->PR2 & EXTI->IMR2 & (1U << 0);
+  EXTI->PR2 = pr;
+  if (pr & (1U << 0) && COMPD6.config->cb != NULL)
+    COMPD6.config->cb(&COMPD6);
 #endif
+
+  OSAL_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief   COMP7 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector148) {
+  uint32_t pr2;
+
+  OSAL_IRQ_PROLOGUE();
+
+  pr2 = EXTI->PR2;
+  pr2 = EXTI->IMR & (1U << 1);
+  EXTI->PR2 = pr2;
 #if STM32_COMP_USE_COMP7
-    case 33:
-      COMPD7.config->cb(&COMPD7);
+  if (pr2 & (1U << 1) && COMPD7.config->cb != NULL)
+    COMPD7.config->cb(&COMPD7);
 #endif
-    default:
-      return;
-    }
 
+  OSAL_IRQ_EPILOGUE();
 }
-#endif
 
 /**
  * @brief   Configures and activates the COMP peripheral.
@@ -213,58 +283,11 @@ static void comp_lld_cb(EXTDriver *extp, expchannel_t channel) {
 void comp_lld_start(COMPDriver *compp) {
 
   // Apply CSR Execpt the enable bit.
-  compp->comp->CSR = compp->config->csr & ~COMP_CSR_COMPxEN;
+  compp->reg->CSR = compp->config->csr & ~COMP_CSR_COMPxEN;
 
   // Inverted output
   if (compp->config->mode == COMP_OUTPUT_INVERTED)
-    compp->comp->CSR |= COMP_CSR_COMPxPOL;
-
-  EXTChannelConfig chn_cfg = {EXT_CH_MODE_BOTH_EDGES, comp_lld_cb};
-  EXTConfig *cfg = (EXTConfig*)EXTD1.config;
-
-
-#if STM32_COMP_USE_COMP1 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD1 == compp) {
-      cfg->channels[21] = chn_cfg;
-      ext_lld_channel_enable(&EXTD1, 21);
-    }
-#endif
-#if STM32_COMP_USE_COMP2 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD2 == compp) {
-      cfg->channels[22] = chn_cfg;
-      ext_lld_channel_enable(&EXTD1, 22);
-    }
-#endif
-#if STM32_COMP_USE_COMP3 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD3 == compp) {
-      cfg->channels[29] = chn_cfg;
-      ext_lld_channel_enable(&EXTD1, 29);
-    }
-#endif
-#if STM32_COMP_USE_COMP4 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD4 == compp) {
-      cfg->channels[30] = chn_cfg;
-      ext_lld_channel_enable(&EXTD1, 30);
-    }
-#endif
-#if STM32_COMP_USE_COMP5 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD5 == compp) {
-      cfg->channels[31] = chn_cfg;
-      ext_lld_channel_enable(&EXTD1, 31);
-    }
-#endif
-#if STM32_COMP_USE_COMP6 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD6 == compp) {
-      cfg->channels[32] = chn_cfg;
-      ext_lld_channel_enable(&EXTD1, 32);
-    }
-#endif
-#if STM32_COMP_USE_COMP7 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD7 == compp) {
-      cfg->channels[33] = chn_cfg;
-      ext_lld_channel_enable(&EXTD1, 33);
-    }
-#endif
+    compp->reg->CSR |= COMP_CSR_COMPxPOL;
 
 }
 
@@ -279,42 +302,7 @@ void comp_lld_stop(COMPDriver *compp) {
 
   if (compp->state == COMP_READY) {
 
-
-#if STM32_COMP_USE_COMP1 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD1 == compp) {
-      ext_lld_channel_disable(&EXTD1, 21);
-    }
-#endif
-#if STM32_COMP_USE_COMP2 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD2 == compp) {
-      ext_lld_channel_disable(&EXTD1, 22);
-    }
-#endif
-#if STM32_COMP_USE_COMP3 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD3 == compp) {
-      ext_lld_channel_disable(&EXTD1, 29);
-    }
-#endif
-#if STM32_COMP_USE_COMP4 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD4 == compp) {
-      ext_lld_channel_disable(&EXTD1, 30);
-    }
-#endif
-#if STM32_COMP_USE_COMP5 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD5 == compp) {
-      ext_lld_channel_disable(&EXTD1, 31);
-    }
-#endif
-#if STM32_COMP_USE_COMP6 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD6 == compp) {
-      ext_lld_channel_disable(&EXTD1, 32);
-    }
-#endif
-#if STM32_COMP_USE_COMP7 && STM32_COMP_USE_INTERRUPTS
-    if (&COMPD7 == compp) {
-      ext_lld_channel_disable(&EXTD1, 33);
-    }
-#endif
+    compp->reg->CSR = 0;
   }
 }
 
@@ -327,8 +315,7 @@ void comp_lld_stop(COMPDriver *compp) {
  */
 void comp_lld_enable(COMPDriver *compp) {
 
-   compp->comp->CSR |= COMP_CSR_COMPxEN; /* Enable */
-
+   compp->reg->CSR |= COMP_CSR_COMPxEN; /* Enable */
 }
 
 /**
@@ -340,8 +327,7 @@ void comp_lld_enable(COMPDriver *compp) {
  */
 void comp_lld_disable(COMPDriver *compp) {
 
-  compp->comp->CSR &= ~COMP_CSR_COMPxEN; /* Disable */
-
+  compp->reg->CSR &= ~COMP_CSR_COMPxEN; /* Disable */
 }
 
 #endif /* HAL_USE_COMP */
diff --git a/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h
index 0ecdca2..70868c0 100644
--- a/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h
+++ b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h
@@ -34,32 +34,26 @@
 /* Driver constants.                                                         */
 /*===========================================================================*/
 
-#if defined(STM32F303x8)
-
+#if defined(STM32F301x8) || defined(STM32F302x8) || defined(STM32F303x8) \
+|| defined(STM32F318xx) || defined(STM32F328xx) || defined(STM32F334x8)
 #define STM32_HAS_COMP1 FALSE
 #define STM32_HAS_COMP2 TRUE
 #define STM32_HAS_COMP3 FALSE
 #define STM32_HAS_COMP4 TRUE
 #define STM32_HAS_COMP5 FALSE
-#define STM32_HAS_COMP6 FALSE
+#define STM32_HAS_COMP6 TRUE
 #define STM32_HAS_COMP7 FALSE
 
-#endif
-
-#if defined(STM32F303xC)
-
+#elif defined(STM32F302xc) || defined(STM32F302xe)
 #define STM32_HAS_COMP1 TRUE
 #define STM32_HAS_COMP2 TRUE
-#define STM32_HAS_COMP3 TRUE
+#define STM32_HAS_COMP3 FALSE
 #define STM32_HAS_COMP4 TRUE
-#define STM32_HAS_COMP5 TRUE
+#define STM32_HAS_COMP5 FALSE
 #define STM32_HAS_COMP6 TRUE
-#define STM32_HAS_COMP7 TRUE
-
-#endif
-
-#if defined(STM32F303xE)
+#define STM32_HAS_COMP7 FALSE
 
+#elif defined(STM32F303xC) || defined(STM32F303xE) || defined(STM32F358xx) || defined(STM32F398xx)
 #define STM32_HAS_COMP1 TRUE
 #define STM32_HAS_COMP2 TRUE
 #define STM32_HAS_COMP3 TRUE
@@ -68,6 +62,24 @@
 #define STM32_HAS_COMP6 TRUE
 #define STM32_HAS_COMP7 TRUE
 
+#elif defined(STM32F373xx) || defined(STM32F378xx) || defined(STM32L0XX) || defined(STM32L1XX)
+#define STM32_HAS_COMP1 TRUE
+#define STM32_HAS_COMP2 TRUE
+#define STM32_HAS_COMP3 FALSE
+#define STM32_HAS_COMP4 FALSE
+#define STM32_HAS_COMP5 FALSE
+#define STM32_HAS_COMP6 FALSE
+#define STM32_HAS_COMP7 FALSE
+
+#else
+#define STM32_HAS_COMP1 FALSE
+#define STM32_HAS_COMP2 FALSE
+#define STM32_HAS_COMP3 FALSE
+#define STM32_HAS_COMP4 FALSE
+#define STM32_HAS_COMP5 FALSE
+#define STM32_HAS_COMP6 FALSE
+#define STM32_HAS_COMP7 FALSE
+
 #endif
 
 /*===========================================================================*/
@@ -157,12 +169,10 @@
 /* Derived constants and error checks.                                       */
 /*===========================================================================*/
 
-#if STM32_COMP_USE_INTERRUPTS && !HAL_USE_EXT
-#error "COMP needs HAL_USE_EXT to use interrupts"
-#endif
-
 #if STM32_COMP_USE_INTERRUPTS
-#include "hal_ext_lld.h"
+#if !defined(STM32_DISABLE_EXTI21_22_29_HANDLER) || !defined(STM32_DISABLE_EXTI30_32_HANDLER) || !defined(STM32_DISABLE_EXTI33_HANDLER)
+#error "COMP needs these defines in mcuconf to use interrupts: STM32_DISABLE_EXTI21_22_29_HANDLER STM32_DISABLE_EXTI30_32_HANDLER STM32_DISABLE_EXTI33_HANDLER"
+#endif
 #endif
 
 #if STM32_COMP_USE_COMP1 && !STM32_HAS_COMP1
@@ -256,7 +266,7 @@ struct COMPDriver {
   /**
    * @brief Pointer to the COMPx registers block.
    */
-  COMP_TypeDef               *comp;
+  COMP_TypeDef               *reg;
 };
 
 /*===========================================================================*/
diff --git a/testhal/STM32/STM32F3xx/COMP/main.c b/testhal/STM32/STM32F3xx/COMP/main.c
index 5b377aa..83a00ff 100644
--- a/testhal/STM32/STM32F3xx/COMP/main.c
+++ b/testhal/STM32/STM32F3xx/COMP/main.c
@@ -17,44 +17,30 @@
 #include "ch.h"

 #include "hal.h"

 

-static const EXTConfig extcfg = {

-  {

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL},

-    {EXT_CH_MODE_DISABLED, NULL}

+void comp2_cb(COMPDriver *comp) {

+

+  if (comp->reg->CSR & COMP_CSR_COMPxOUT) {

+

+

   }

-};

+

+}

+

+void comp4_cb(COMPDriver *comp) {

+  (void) comp;

+

+}

 

 static const COMPConfig comp2_conf = {

   COMP_OUTPUT_NORMAL,

-  NULL,

-  0

+  comp2_cb,

+  COMP_CSR_COMPxINSEL_0 | COMP_CSR_COMPxOUTSEL_0 // CSR

 };

 

 static const COMPConfig comp4_conf = {

   COMP_OUTPUT_INVERTED,

-  NULL,

-  0

+  comp4_cb,

+  COMP_CSR_COMPxINSEL_0 | COMP_CSR_COMPxOUTSEL_1 // CSR

 };

 

 

@@ -66,7 +52,6 @@ int main(void) {
   halInit();

   chSysInit();

 

-  extStart(&EXTD1, &extcfg);

   compStart(&COMPD2, &comp2_conf);

   compStart(&COMPD4, &comp4_conf);

 

@@ -74,7 +59,6 @@ int main(void) {
    * Normal main() thread activity, it resets the watchdog.

    */

   while (true) {

-    palToggleLine(LINE_LED4_BLUE);

     chThdSleepMilliseconds(500);

   }

   return 0;

diff --git a/testhal/STM32/STM32F3xx/COMP/mcuconf_community.h b/testhal/STM32/STM32F3xx/COMP/mcuconf_community.h
index dad1b6d..1f89e54 100644
--- a/testhal/STM32/STM32F3xx/COMP/mcuconf_community.h
+++ b/testhal/STM32/STM32F3xx/COMP/mcuconf_community.h
@@ -64,15 +64,22 @@
 
 /*
  * COMP driver system settings.
- * IRQ priority is set with the EXT driver (lines 21-22, 29-33)
  */
-#define STM32_COMP_USE_COMP1                  FALSE
+#define STM32_COMP_USE_COMP1                  TRUE
 #define STM32_COMP_USE_COMP2                  TRUE
-#define STM32_COMP_USE_COMP3                  FALSE
+#define STM32_COMP_USE_COMP3                  TRUE
 #define STM32_COMP_USE_COMP4                  TRUE
-#define STM32_COMP_USE_COMP5                  FALSE
-#define STM32_COMP_USE_COMP6                  FALSE
-#define STM32_COMP_USE_COMP7                  FALSE
+#define STM32_COMP_USE_COMP5                  TRUE
+#define STM32_COMP_USE_COMP6                  TRUE
+#define STM32_COMP_USE_COMP7                  TRUE
+
 #define STM32_COMP_USE_INTERRUPTS             TRUE
+#define STM32_COMP_1_2_3_IRQ_PRIORITY         5
+#define STM32_COMP_4_5_6_IRQ_PRIORITY         5
+#define STM32_COMP_7_IRQ_PRIORITY             5
 
- 
+#if STM32_COMP_USE_INTERRUPTS
+#define STM32_DISABLE_EXTI21_22_29_HANDLER
+#define STM32_DISABLE_EXTI30_32_HANDLER
+#define STM32_DISABLE_EXTI33_HANDLER
+#endif