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Interrupt based button read on STM32F103ZET6 board

2017-11-28 04:33  
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In previous example we implemented a simple demo program that reads buttons by constantly checking their status in main program loop. Obviously this isn’t efficient and convenient way to do that. Imagine your program has to do lots of tasks and in between you also need to check button status – mission becomes impossible unless you use interrupts. In this part we briefly introduce to STM32F10x interrupt system and write example code where LEDs and buttons are serviced within interrupts.

ARM Cortex-M3 microcontrollers have advanced interrupt system that is pretty easy manageable. All interrupts are controlled inside Nested Vectored Interrupt Controller (NVIC) which is close to Cortex core to ensure low latency and robust performance. Main features of NVIC include:

Interrupt preemption – automatic support for nested interrupts where higher level exception may interrupt lower level that is currently processed. NVIC takes care of saving context to stack. As everything is done in hardware there is no need for assembler wrappers like we do in other MCUS. All is needed is to ensure that you won’t run out of stack memory and set right interrupt priorities;

Tail chaining – it’s a mechanism allowing to reduce latency if exception occurs during or just after current ISR routine. In this case MCU doesn’t have to do full unstacking that allows to enter another pending exception as soon as possible.

Late arrivals – feature allowing to overtake current lower priority interrupt which is in stacking process.

These features are handled automatically and you don’t have to care much about this – just enjoy faster ISR response.

STM Cortex-M3 interrupt system

During microcontroller initialization (when start-up code is run) all exception/interrupt vectors usually are stored in very beginning of flash memory starting from address 0×00000004. Address 0×00000000 is used to store initial stack pointer value.

As you can see in table, first 15 interrupts are generated within cortex core while other down the list are interrupts generated by peripherals like pins, timers, ADC, DMA, etc. STM32F103ZET6 NVIC is able to handle up to 60 maskable interrupt channels plus 16 lines of core interrupts. Each interrupt (except first three: Reset, NMI, Hard fault) can have 16 priority levels set with 4 bits in 8-bit priority level register. The lover number means higher priority. The higher priority may preempt lower priority automatically. Priority bits may be split in to two groups called Preemptive priority and sub-priority. This doesn’t change much, but helps to organize priorities so that same preemptive level priorities could be arranged in to sub-priorities in order to decide which should be handled first. Anyway all this is done with same 4- bits what leads to total number of 16.

The whole procedure of enabling interrupts consists of following steps:

Select interrupt channel in NVIC module;Set preemptive priority;Set sub-priority;Enable interrupt for particular line.

Then you have to take care of interrupt service routine where your code will be performed when interrupt occurs.

EXTI and pin mapping

External interrupts from microcontroller pins aren’t traced directly to NVIC as you’d expect. STM32 provides flexible mechanism that allows mapping different pins to same channel. This gives lots of freedom to decide on which pin to generate interrupt on which channel. So external interrupts are manged through External Interrupt/event Controller (EXTI). EXTI can be set to rise event on rising, falling or both edges. There are 19 lines in EXTI that are associated with mapped pins and other sources. 16 lines are dedicated to port pins each line for separate pin number like this:

Other three lines are dedicated to RTC alarm interrupt, power voltage detect (PVD) and USB wakeup event. Then these lines are traced to NVIC controller in following manner:

EXTI0 to EXTI4 are traced directly to NVIC as separate channels;EXTI5 to EXTI9 are grouped to single NVIC channel (EXTI5_9);EXTI10 to EXTI15 are grouped to single NVIC channel (EXTI10_15);RTC alarm, PVD and USB wakeup are also traced as single separate channels in NVIC.

Some practical examples

Having this information we can start building our code. In our development board buttons are connected as follows:

Each of them accidentally (or maybe not) falls in to positions where each of them can be mapped to different EXTI lines that allows to have dedicated NVIC channels. This way we will be able to write separate separate handlers for each button:

EXTI0 line for WAKEUP button (EXTI0_IRQHandler);EXTI3 line for USER2 button (EXTI3_IRQHandler);EXTI9 line for USER1 button (EXTI9_5_IRQHandler;EXTI13 line for TAMPER button (EXTI15_10_IRQHandler;

We are going to write simple routine where each button will toggle related LED. To set up buttons for generating interrupts we write following ButtonInitEXTI() function:

void ButtonsInitEXTI(void)
	//enable AFIO clock
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,  ENABLE);
	EXTI_InitTypeDef EXTI_InitStructure;
	//NVIC structure to set up NVIC controller
	NVIC_InitTypeDef NVIC_InitStructure;
	//GPIO structure used to initialize Button pins
	//Connect EXTI Lines to Button Pins
	//select EXTI line0
	EXTI_InitStructure.EXTI_Line = EXTI_Line0;
	//select interrupt mode
	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
	//generate interrupt on rising edge
	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
	//enable EXTI line
	EXTI_InitStructure.EXTI_LineCmd = ENABLE;
	//send values to registers
	//select EXTI line13
	EXTI_InitStructure.EXTI_Line = EXTI_Line13;
	EXTI_InitStructure.EXTI_Line = EXTI_Line3;
	EXTI_InitStructure.EXTI_Line = EXTI_Line8;
	//disable AFIO clock
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,  DISABLE);
	//configure NVIC
	//select NVIC channel to configure
	NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
	//set priority to lowest
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
	//set subpriority to lowest
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
	//enable IRQ channel
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	//update NVIC registers
	//select NVIC channel to configure
	NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQn;
	NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
	NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;

It may seem a bit complicated but in deed this is simple when you know what you’re doing. Just a quick overview of what’s done. First of all when modifying/using some peripheral don’t forget to enable bus clock for or otherwise you’ll end up wandering why it’s not working when settings seems to be OK. So are going to be used as alternate functions this is why we need to enable AFIO bus clock. Then we simply map button pins to adequate EXTI lines with GPIO_EXTILineConfig() function which sets proper bits in AFIO->EXTICR registers. Then we select Interrupt mode for EXTI lines (there can be software events also). Generate interrupts on falling edge and with these settings enable current EXTI line. This has to be done with each line.

Once EXTi lines are configured we can disable AFIO bus clock and proceed to NVIC settings. Here we are setting priorities and sub-priorities for each channel and enabling each of them one by one. This is it. Now we can implement interrupt handlers that we are gonna place in separate source file (stm32f10x_it.c). here we implement codes:

void EXTI0_IRQHandler(void)

	//Check if EXTI_Line0 is asserted
	if(EXTI_GetITStatus(EXTI_Line0) != RESET)
	//we need to clear line pending bit manually

and so on for all channels. Within handler it is good practice to check if current EXTI line is asserted. Then we can do our business like toggle LED. And before leaving EXTI handler it is important t oreset EXTI line as it stays set until manually cleared. If not this line will generate chain interrupts constantly as NVIC takes this as pending interrupt all the time.

Finally we can write our main code which is actually nothing much left:

//STM32F103ZET6 Buttons Test
#include "stm32f10x.h"
#include "leds.h"
#include "buttons.h"
#include "stm32f10x_it.h"

int main(void)
  //init leds
  //init buttons t ogenerate interrupts
  //start sys tick timer that also generates interrupts
  while (1)
	//your tasks

all we need is to implement LED pins, Initialize buttons by calling ButtonsInitEXT() function and thats it. To show another interesting feature of Cortex microcontroller I also enabled SysTick timer which simply generates SysTick interrupts every second.

void SysTick_Handler(void)

Interrupt handler simply toggles LED5.

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