tests: Added tests for gpio_init_int() on ATmega boards

boards/arduino-leonardo/Makefile.dep

@@ -0,0 +1,3 @@
+USEMODULE += boards_common_arduino-atmega
+
+include $(RIOTBOARD)/common/arduino-atmega/Makefile.dep

boards/arduino-nano/include/atmega_pcint.h

@@ -0,0 +1,21 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* PB5 is connected to an LED on the Arduino Nano */
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_UNDEF, GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+/* PC6 is not available on the Arduino Nano */
+#define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_C, 0), GPIO_PIN(PORT_C, 1), GPIO_PIN(PORT_C, 2), GPIO_PIN(PORT_C, 3), GPIO_PIN(PORT_C, 4), GPIO_PIN(PORT_C, 5), GPIO_UNDEF, GPIO_UNDEF
+/* Pin PD2 is both INT0 and PCINT18, RIOT is using it as INT0 */
+/* Pin PD3 is both INT1 and PCINT19, RIOT is using it as INT1 */
+/* Pins PD6 and PD7 are not available on the Arduino Nano */
+#define ATMEGA_PCINT_MAP_PCINT2 GPIO_PIN(PORT_D, 0), GPIO_PIN(PORT_D, 1), GPIO_UNDEF, GPIO_UNDEF, GPIO_PIN(PORT_D, 4), GPIO_PIN(PORT_D, 5), GPIO_UNDEF, GPIO_UNDEF
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */

boards/arduino-uno/include/atmega_pcint.h

@@ -0,0 +1,20 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+/* PC6 is not available on the Arduino Uno */
+#define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_C, 0), GPIO_PIN(PORT_C, 1), GPIO_PIN(PORT_C, 2), GPIO_PIN(PORT_C, 3), GPIO_PIN(PORT_C, 4), GPIO_PIN(PORT_C, 5), GPIO_UNDEF, GPIO_UNDEF
+/* Pin PD2 is both INT0 and PCINT18, RIOT is using it as INT0 */
+/* Pin PD3 is both INT1 and PCINT19, RIOT is using it as INT1 */
+/* Pins PD6 and PD7 are not available on the Arduino Uno */
+#define ATMEGA_PCINT_MAP_PCINT2 GPIO_PIN(PORT_D, 0), GPIO_PIN(PORT_D, 1), GPIO_UNDEF, GPIO_UNDEF, GPIO_PIN(PORT_D, 4), GPIO_PIN(PORT_D, 5), GPIO_UNDEF, GPIO_UNDEF
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */

cpu/atmega328p/include/atmega_pcint.h

@@ -7,7 +7,9 @@ extern "C" {
 
 #define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
 #define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_C, 0), GPIO_PIN(PORT_C, 1), GPIO_PIN(PORT_C, 2), GPIO_PIN(PORT_C, 3), GPIO_PIN(PORT_C, 4), GPIO_PIN(PORT_C, 5), GPIO_PIN(PORT_C, 6), GPIO_UNDEF
-#define ATMEGA_PCINT_MAP_PCINT2 GPIO_PIN(PORT_D, 0), GPIO_PIN(PORT_D, 1), GPIO_PIN(PORT_D, 2), GPIO_PIN(PORT_D, 3), GPIO_PIN(PORT_D, 4), GPIO_PIN(PORT_D, 5), GPIO_PIN(PORT_D, 6), GPIO_PIN(PORT_D, 7)
+/* Pin PD2 is both INT0 and PCINT18, RIOT is using it as INT0 */
+/* Pin PD3 is both INT1 and PCINT19, RIOT is using it as INT1 */
+#define ATMEGA_PCINT_MAP_PCINT2 GPIO_PIN(PORT_D, 0), GPIO_PIN(PORT_D, 1), GPIO_UNDEF, GPIO_UNDEF, GPIO_PIN(PORT_D, 4), GPIO_PIN(PORT_D, 5), GPIO_PIN(PORT_D, 6), GPIO_PIN(PORT_D, 7)
 
 #ifdef __cplusplus
 }

cpu/atmega32u4/include/periph_cpu.h

@@ -45,8 +45,7 @@ enum {
 #define CPU_ATMEGA_EXT_INTS    { GPIO_PIN(PORT_D, 0), \
                                  GPIO_PIN(PORT_D, 1), \
                                  GPIO_PIN(PORT_D, 2), \
-                                 GPIO_PIN(PORT_D, 3), \
-                                 GPIO_PIN(PORT_E, 7) }
+                                 GPIO_PIN(PORT_D, 3) }
 
 /**
  * @name   Defines for the I2C interface

tests/periph_gpio_pcint/Makefile

@@ -0,0 +1,16 @@
+include ../Makefile.tests_common
+
+BOARD ?= arduino-uno
+
+FEATURES_REQUIRED += periph_gpio
+FEATURES_REQUIRED += periph_gpio_irq
+# At least one PCINT port is required
+FEATURES_REQUIRED += atmega_pcint0
+
+USEMODULE += atmega_pcint
+
+include $(RIOTBASE)/Makefile.include
+
+ifeq (arduino-uno,$(BOARD))
+  CFLAGS += "-DTHREAD_STACKSIZE_DEFAULT=256"
+endif

tests/periph_gpio_pcint/main.c

@@ -0,0 +1,242 @@
+/*
+ * Copyright (C) 2019 Otto-von-Guericke-Universität Magdeburg
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @ingroup     tests
+ * @{
+ *
+ * @file
+ * @brief       Test application for GPIO interrupts for the ATmega boards that
+ *              takes PCINT into account
+ *
+ * @author      Marian Buschsieweke <marian.buschsieweke@ovgu.de>
+ *
+ * @}
+ */
+
+#include <inttypes.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "atmega_pcint.h"
+#include "periph/gpio.h"
+#include "periph_cpu.h"
+#ifdef MODULE_BOARDS_COMMON_ARDUINO_ATMEGA
+#include "arduino_board.h"
+
+static const gpio_t analog_map[] = {
+    ARDUINO_PIN_A0,
+    ARDUINO_PIN_A1,
+    ARDUINO_PIN_A2,
+    ARDUINO_PIN_A3,
+    ARDUINO_PIN_A4,
+    ARDUINO_PIN_A5,
+#if !defined(CPU_ATMEGA328P) && !defined(CPU_ATMEGA32U4)
+    ARDUINO_PIN_A6,
+    ARDUINO_PIN_A7,
+#endif /* !defined(CPU_ATMEGA328P) || !defined(CPU_ATMEGA32U4) */
+#if defined(CPU_ATMEGA2560)
+    ARDUINO_PIN_A8,
+    ARDUINO_PIN_A9,
+    ARDUINO_PIN_A10,
+    ARDUINO_PIN_A11,
+    ARDUINO_PIN_A12,
+    ARDUINO_PIN_A13,
+    ARDUINO_PIN_A14,
+    ARDUINO_PIN_A15,
+#endif /* CPU_ATMEGA2560 */
+};
+
+#define ANALOG_NUMOF        (sizeof(analog_map) / sizeof(analog_map[0]))
+#define DIGITAL_NUMOF       (sizeof(arduino_pinmap) / sizeof(arduino_pinmap[0]))
+
+#endif /* MODULE_BOARDS_COMMON_ARDUINO_ATMEGA */
+
+/* Used to represent one empty PCINT bank */
+#define EMPTY_PCINT_MAP \
+        GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, \
+        GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF
+
+static const gpio_t ext_int_pins[] = CPU_ATMEGA_EXT_INTS;
+
+static const gpio_t pcint_pins[] = {
+#ifdef ATMEGA_PCINT_MAP_PCINT0
+ATMEGA_PCINT_MAP_PCINT0
+#else
+EMPTY_PCINT_MAP
+#endif
+,
+#ifdef ATMEGA_PCINT_MAP_PCINT1
+ATMEGA_PCINT_MAP_PCINT1
+#else
+EMPTY_PCINT_MAP
+#endif
+,
+#ifdef ATMEGA_PCINT_MAP_PCINT2
+ATMEGA_PCINT_MAP_PCINT2,
+#else
+EMPTY_PCINT_MAP
+#endif
+};
+
+static const gpio_t blacklist[] = {
+    GPIO_UNDEF,
+#ifdef CPU_ATMEGA328P
+    GPIO_PIN(PORT_D, 0), /* RXD (UART) used for stdio */
+    GPIO_PIN(PORT_D, 1), /* TXD (UART) used for stdio */
+#endif /* CPU_ATMEGA328P */
+#ifdef CPU_ATMEGA32U4
+    GPIO_PIN(PORT_D, 2), /* RXD (UART) used for stdio */
+    GPIO_PIN(PORT_D, 3), /* TXD (UART) used for stdio */
+#endif /* CPU_ATMEGA328P */
+};
+
+/**
+ * Maps port number to port letter for ATmega CPUs. Not all CPUs have alls
+ * ports. Somehow port number 7 is H and port number 8 is J (and not I, as
+ * one would suspect). Port numbers are stored as the upper four bits, so
+ * we just define 16 letters in order not having to check for out of bound
+ * reads
+ */
+static const char port_names[16] = "ABCDEFGHJKL-----";
+
+static const gpio_flank_t flanks[] = {
+    GPIO_FALLING, GPIO_RISING, GPIO_BOTH,
+};
+
+static const char *flank_names[] = {
+    "falling", "rising", "falling and rising",
+};
+
+#define GPIO_PCINT_NUMOF        (sizeof(pcint_pins) / sizeof(pcint_pins[0]))
+#define GPIO_EXT_INT_NUMOF      (sizeof(ext_int_pins) / sizeof(ext_int_pins[0]))
+#define FLANKS_NUMOF            (sizeof(flanks) / sizeof(flanks[0]))
+#define BLACKLIST_NUMOF         (sizeof(blacklist) / sizeof(blacklist[0]))
+
+static short is_usable(gpio_t pin)
+{
+    for (uint8_t i = 0; i < BLACKLIST_NUMOF; i++) {
+        if (pin == blacklist[i]) {
+            return 0;
+        }
+    }
+
+    return 1;
+}
+
+static void print_pin(gpio_t pin)
+{
+    uint8_t port_num = (pin >> 4) & 0x0f;
+    uint8_t pin_num = pin & 0x0f;
+    printf("P%c%" PRIu8, port_names[port_num], pin_num);
+#ifdef MODULE_BOARDS_COMMON_ARDUINO_ATMEGA
+    for (uint8_t i = 0; i < ANALOG_NUMOF; i++) {
+        if (pin == analog_map[i]) {
+            printf(" (A%" PRIu8 ")", i);
+            return;
+        }
+    }
+    for (uint8_t i = 0; i < DIGITAL_NUMOF; i++) {
+        if (pin == arduino_pinmap[i]) {
+            printf(" (D%" PRIu8 ")", i);
+            return;
+        }
+    }
+#endif /* MODULE_BOARDS_COMMON_ARDUINO_ATMEGA */
+}
+
+static void ext_int_cb(void *arg)
+{
+    uint8_t idx = (uint8_t)(uintptr_t)arg;
+    gpio_t pin = ext_int_pins[idx];
+    const char *flank = flank_names[idx % FLANKS_NUMOF];
+
+    printf("INT%" PRIu8 " on ", idx);
+    print_pin(pin);
+    printf(", flank(s) = %s\n", flank);
+}
+
+static void pcint_cb(void *arg)
+{
+    uint8_t idx = (uint8_t)(uintptr_t)arg;
+    gpio_t pin = pcint_pins[idx];
+    const char *flank = flank_names[idx % FLANKS_NUMOF];
+
+    printf("PCINT%" PRIu8 " on ", idx);
+    print_pin(pin);
+    printf(", flank(s) = %s\n", flank);
+}
+
+int main(void)
+{
+    puts(
+        "GPIO interrupt test for ATmega boards\n"
+        "\n"
+        "For all pins supporting IRQs interrupts will be configured, which\n"
+        "are triggered on falling edge, on rising edge, and on both edges\n"
+        "(in turns). Pull the pins against ground one by one and check if the\n"
+        "console output matches your actions.\n"
+        "\n"
+        "Installing interrupts...");
+
+    /* first the external interrupts */
+    for (uint8_t i = 0; i < GPIO_EXT_INT_NUMOF; i++) {
+        gpio_t pin = ext_int_pins[i];
+        printf("INT%" PRIu8 " on ", i);
+        if (is_usable(pin)) {
+            const char *flank = flank_names[i % FLANKS_NUMOF];
+            print_pin(pin);
+            printf(" with flank(s) %s: ", flank);
+            if (gpio_init_int(pin, GPIO_IN_PU, flanks[i % FLANKS_NUMOF], ext_int_cb,
+                              (void *)(uintptr_t)i)) {
+                puts("Failed");
+            }
+            else {
+                puts("OK");
+            }
+        }
+        else {
+            print_pin(pin);
+            puts(": Blacklisted");
+        }
+    }
+
+    /* next the pin changed interrupts */
+    for (uint8_t i = 0; i < GPIO_PCINT_NUMOF; i++) {
+        gpio_t pin = pcint_pins[i];
+        printf("PCINT%" PRIu8, i);
+        if (is_usable(pin)) {
+            const char *flank = flank_names[i % FLANKS_NUMOF];
+            printf(" on ");
+            print_pin(pin);
+            printf(" with flank(s) %s: ", flank);
+            if (gpio_init_int(pin, GPIO_IN_PU, flanks[i % FLANKS_NUMOF], 
+                              pcint_cb, (void *)(uintptr_t)i)) {
+                puts("Failed");
+            }
+            else {
+                puts("OK");
+            }
+        }
+        else {
+            if (pin == GPIO_UNDEF){
+                puts(": Unsupported");
+            }
+            else {
+                printf(" on ");
+                print_pin(pin);
+                puts(": Blacklisted");
+            }
+        }
+    }
+
+    puts("Interrupt handlers have been set up.");
+
+    return 0;
+}