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Fix #79 IMU interrupt not trigerring on STM32 #81

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Merged
merged 3 commits into from
Sep 23, 2025
Merged

Fix #79 IMU interrupt not trigerring on STM32 #81

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ba09f88
Fix #79 imu interrupt not firing on STM32
EnzoPB Sep 19, 2025
72cad84
Merge branch 'qqqlab:main' into fix-stm-interrupt
EnzoPB Sep 23, 2025
d2dce95
set imu interrupt to the highest priority
EnzoPB Sep 23, 2025
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24 changes: 24 additions & 0 deletions src/hal/STM32/hal_STM32_cpp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -200,6 +200,30 @@ void hal_print_pin_name(int pinnum) {
}
}

IRQn_Type hal_get_irqn_from_pin(int pin) {
// converts an arduino pin number to a STM32 HAL interrupt id
// taken from https://github.com/stm32duino/Arduino_Core_STM32/blob/main/libraries/SrcWrapper/src/stm32/interrupt.cpp#L158
PinName pinName = digitalPinToPinName(pin);
uint16_t gpioPin = STM_GPIO_PIN(pinName);
uint8_t id = 0;

while (gpioPin != 0x0001) {
gpioPin = gpioPin >> 1;
id++;
}

switch (id) {
case 0: return EXTI0_IRQn;
case 1: return EXTI1_IRQn;
case 2: return EXTI2_IRQn;
case 3: return EXTI3_IRQn;
case 4: return EXTI4_IRQn;
case 5: case 6: case 7: case 8: case 9:
return EXTI9_5_IRQn;
default:
return EXTI15_10_IRQn;
}
}

MF_Serial* hal_get_ser_bus(int bus_id, int baud, MF_SerialMode mode, bool invert) {
if(bus_id < 0 || bus_id >= HAL_SER_NUM) return nullptr;
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4 changes: 4 additions & 0 deletions src/imu/imu_cpp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -389,6 +389,10 @@ void _imu_ll_interrupt_handler();
void _imu_ll_interrupt_setup(int interrupt_pin) {
Serial.println(MF_MOD ": IMU_EXEC_IRQ");
attachInterrupt(digitalPinToInterrupt(interrupt_pin), _imu_ll_interrupt_handler, RISING);
#ifdef ARDUINO_ARCH_STM32
// (#79) on stm32, set the interrupt to the highest priority, otherwise it does not get called
HAL_NVIC_SetPriority(hal_get_irqn_from_pin(interrupt_pin), 0, 0);
#endif
}

inline void _imu_ll_interrupt_handler2() {
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