Custom App using Interrupt

Dear all,

i want to use a pin change interrupt in a custom application. There is less documentation, but i figured out how to set up the interrupt, but the vesc crashes when the interrupt occours.

Do i have to configure GPIOC 14/15 in a special way because the pins are OSC_OUT ?  Or is the interrupt init at the wrong place ?

Thanks in advance

GEorg

hwconf/hw_gsvesc.h:

...
//Trigger and Speed Hall Pins
#define HW_HALL_TRIGGER_GPIO            GPIOC
#define HW_HALL_TRIGGER_PIN             13
#define HW_HALL_ROTARY_A_GPIO           GPIOC
#define HW_HALL_ROTARY_A_PIN            14
#define HW_HALL_ROTARY_B_GPIO           GPIOC
#define HW_HALL_ROTARY_B_PIN            15
#define HW_HALL_ROTARY_A_EXTI_PORTSRC   EXTI_PortSourceGPIOC
#define HW_HALL_ROTARY_A_EXTI_PINSRC    EXTI_PinSource14
#define HW_HALL_ROTARY_A_EXTI_CH        EXTI15_10_IRQn
#define HW_HALL_ROTARY_A_EXTI_LINE      EXTI_Line14
#define HW_HALL_ROTARY_A_EXTI_ISR_VEC   EXTI15_10_IRQHandler
...

application/app_dpv.c:

#include "ch.h" // ChibiOS
#include "hal.h" // ChibiOS HAL
#include "mc_interface.h" // Motor control functions
#include "hw.h" // Pin mapping on this hardware
#include "timeout.h" // To reset the timeout
#include "commands.h" //just for printf in terminal
#define AVAILABLE_POWERS 3

CH_IRQ_HANDLER(HW_HALL_ROTARY_A_EXTI_ISR_VEC) {
        if (EXTI_GetITStatus(HW_HALL_ROTARY_A_EXTI_LINE) != RESET) {

                commands_printf("Rotary A Interrupt fired");
                // Clear the EXTI line pending bit
                EXTI_ClearITPendingBit(HW_HALL_ROTARY_A_EXTI_LINE);
        }
}

// Diving Vehicle thread
static THD_FUNCTION(dpv_thread, arg);
static THD_WORKING_AREA(dpv_thread_wa, 2048); // 2kb stack for this thread

void app_dpv_init(void) {
        EXTI_InitTypeDef   EXTI_InitStructure;

        // Set the UART TX pin as an input with pulldown
        palSetPadMode(HW_HALL_TRIGGER_GPIO, HW_HALL_TRIGGER_PIN, PAL_MODE_INPUT_PULLUP);
        palSetPadMode(HW_HALL_ROTARY_A_GPIO, HW_HALL_ROTARY_A_PIN, PAL_MODE_INPUT_PULLUP);
        palSetPadMode(HW_HALL_ROTARY_B_GPIO, HW_HALL_ROTARY_B_PIN, PAL_MODE_INPUT_PULLUP);

        // Interrupt on HALL ROTARY A Pin
        // Connect EXTI Line to pin
        SYSCFG_EXTILineConfig(HW_HALL_ROTARY_A_EXTI_PORTSRC, HW_HALL_ROTARY_A_EXTI_PINSRC);

        // Configure EXTI Line
        EXTI_InitStructure.EXTI_Line = HW_HALL_ROTARY_A_EXTI_LINE;
        EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
        EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
        EXTI_InitStructure.EXTI_LineCmd = ENABLE;
        EXTI_Init(&EXTI_InitStructure);

        // Enable and set EXTI Line Interrupt to the highest priority
        nvicEnableVector(HW_HALL_ROTARY_A_EXTI_CH, 0);

       chThdCreateStatic(dpv_thread_wa, sizeof(dpv_thread_wa),
                NORMALPRIO, dpv_thread, NULL);
}

static THD_FUNCTION(dpv_thread, arg) {
        (void)arg;

        chRegSetThreadName("app_dpv");
        static bool need_to_change_power_in_future = false;
        static float power[AVAILABLE_POWERS] = {0.7, 1, 0.5};
        static int power_index = 0;

        for(;;) {

                if (palReadPad(HW_HALL_TRIGGER_GPIO, HW_HALL_TRIGGER_PIN)) {
                        mc_interface_set_duty(power[power_index]);
                        need_to_change_power_in_future = true;
                } else {
                        if(need_to_change_power_in_future){
                                need_to_change_power_in_future = false;
                                power_index=(power_index+1)%AVAILABLE_POWERS;
                        }
                        // If the button is not pressed, release the motor
                        mc_interface_release_motor();
                }

                // Run this loop at 100Hz
                chThdSleepMilliseconds(10);

                // Reset the timeout
                timeout_reset();
        }
}