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soburisoburi
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zephyrCommon: Implement attachInterrupt()/detachInterrupt()
This implementation depends on CONFIG_GPIO_GET_CONFIG to keep the GPIO state already configured by pinMode(). Signed-off-by: TOKITA Hiroshi <[email protected]>
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‎cores/arduino/zephyrCommon.cpp

+181-13
Original file line numberDiff line numberDiff line change
@@ -6,6 +6,162 @@
66

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#include <Arduino.h>
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#define GPIO_MODE_MASK (GPIO_INPUT | GPIO_OUTPUT | GPIO_ACTIVE_LOW | GPIO_ACTIVE_HIGH | GPIO_PULL_DOWN | GPIO_PULL_UP)
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#define DIGITAL_PIN_MAX 256
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#define dN_gpios(N) _CONCAT(_CONCAT(d, N), _gpios)
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#define GPIO_ELEM(n,_) COND_CODE_1( DT_NODE_HAS_PROP(DT_PATH(zephyr_user), dN_gpios(n)), \
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(DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX( DT_PATH(zephyr_user), dN_gpios(n), 0)),), ())
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#define GPIO_NGPIOS(n,_) COND_CODE_1( DT_NODE_HAS_PROP(DT_PATH(zephyr_user), dN_gpios(n)), \
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(DT_PROP(DT_GPIO_CTLR_BY_IDX( DT_PATH(zephyr_user), dN_gpios(n), 0), ngpios),), ())
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namespace {
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/*
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* Calculate GPIO ports/pins number statically from devicetree configuration
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*/
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template<class First>
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constexpr int count_ngpios(const int sum, const First&) { return sum; }
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template<class First, class Second, class... Rest>
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constexpr int count_ngpios(const int max, const First& first, const Second& second, const Rest&... rest)
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{
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return count_ngpios(first == second ? first.ngpios : second, second, rest...);
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}
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template<class First>
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constexpr int count_groups(const int sum, const First&) { return sum; }
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template<class First, class Second, class... Rest>
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constexpr int count_groups(const int sum, const First& first, const Second& second, const Rest&... rest)
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{
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return count_groups(first == second ? sum : sum + 1, second, rest...);
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}
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template<class First>
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constexpr int max_in_list(const int max, const First&) { return max; }
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template<class First, class Second, class... Rest>
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constexpr int max_in_list(const int max, const First& first, const Second& second, const Rest&... rest)
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{
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return max_in_list(first >= second ? first : second, second, rest...);
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}
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const int port_num = count_groups(0, LISTIFY(DIGITAL_PIN_MAX, GPIO_ELEM, ()) nullptr);
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const int max_ngpios = max_in_list(0, LISTIFY(DIGITAL_PIN_MAX, GPIO_NGPIOS, ()) 0);
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/*
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* GPIO callback implementation
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*/
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struct gpio_port_callback {
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struct gpio_callback callback;
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voidFuncPtr handlers[max_ngpios];
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gpio_port_pins_t pins;
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const struct device* dev;
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} port_callback[port_num] = {0};
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struct gpio_port_callback* find_gpio_port_callback(const struct device* dev)
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{
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for(size_t i=0; i<ARRAY_SIZE(port_callback); i++) {
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if(port_callback[i].dev == dev) {
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return &port_callback[i];
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}
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if(port_callback[i].dev == nullptr) {
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port_callback[i].dev = dev;
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return &port_callback[i];
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}
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}
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return nullptr;
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}
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void setInterruptHandler(pin_size_t pinNumber, voidFuncPtr func)
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{
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struct gpio_port_callback* pcb = find_gpio_port_callback(arduino_pins[pinNumber]->port);
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if (pcb) {
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pcb->handlers[BIT(arduino_pins[pinNumber]->pin)] = func;
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}
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}
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void handleGpioCallback(const struct device *port, struct gpio_callback *cb, uint32_t pins)
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{
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struct gpio_port_callback* pcb = (struct gpio_port_callback*)cb;
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for(uint32_t i=0; i<max_ngpios; i++) {
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if (pins & BIT(i)) {
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pcb->handlers[BIT(i)]();
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}
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}
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}
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void pinModeImpl(pin_size_t pinNumber, gpio_flags_t pinmode, voidFuncPtr callback, gpio_flags_t intmode)
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{
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/* no use configure_dt to override PinMode config */
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gpio_pin_configure(arduino_pins[pinNumber]->port, arduino_pins[pinNumber]->pin,
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(arduino_pins[pinNumber]->dt_flags & ~GPIO_MODE_MASK) | pinmode);
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if (callback) {
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struct gpio_port_callback* pcb = find_gpio_port_callback(arduino_pins[pinNumber]->port);
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__ASSERT(pcb != nullptr, "");
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pcb->pins |= BIT(arduino_pins[pinNumber]->pin);
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setInterruptHandler(pinNumber, callback);
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gpio_pin_interrupt_configure_dt(arduino_pins[pinNumber], intmode);
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gpio_init_callback(&pcb->callback, handleGpioCallback, pcb->pins);
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gpio_add_callback(arduino_pins[pinNumber]->port, &pcb->callback);
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}
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}
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gpio_flags_t pinMode2flags(PinMode pinMode) {
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if (pinMode == INPUT) {
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return (GPIO_INPUT | GPIO_ACTIVE_HIGH);
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} else if (pinMode == INPUT_PULLUP) {
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return (GPIO_INPUT | GPIO_PULL_UP | GPIO_ACTIVE_HIGH);
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} else if (pinMode == INPUT_PULLDOWN) {
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return (GPIO_INPUT | GPIO_PULL_DOWN | GPIO_ACTIVE_HIGH);
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} else if (pinMode == OUTPUT) {
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return (GPIO_OUTPUT_LOW | GPIO_ACTIVE_HIGH);
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} else if (pinMode == OUTPUT_OPENDRAIN) {
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return (GPIO_OUTPUT_LOW | GPIO_ACTIVE_HIGH | GPIO_OPEN_DRAIN);
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} else {
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__ASSERT(false, "Unknown PinMode");
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return 0;
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}
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}
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gpio_flags_t pinStatus2flags(PinStatus status) {
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if (status == LOW) {
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return GPIO_INT_LEVEL_LOW;
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}
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else if (status == HIGH) {
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return GPIO_INT_LEVEL_HIGH;
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}
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else if (status == CHANGE) {
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return GPIO_INT_EDGE_BOTH;
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}
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else if (status == FALLING) {
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return GPIO_INT_EDGE_FALLING;
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}
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else if (status == RISING) {
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return GPIO_INT_EDGE_RISING;
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} else {
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__ASSERT(false, "Unknown PinStatus");
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return 0;
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}
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}
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} // anonymous namespace
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/*
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* APIs
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*/
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void yield(void) {
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k_yield();
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}
@@ -16,19 +172,14 @@ void yield(void) {
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* A high physical level will be interpreted as value 1
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*/
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void pinMode(pin_size_t pinNumber, PinMode pinMode) {
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if (pinMode == INPUT) { // input mode
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gpio_pin_configure_dt(arduino_pins[pinNumber],
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GPIO_INPUT | GPIO_ACTIVE_HIGH);
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} else if (pinMode == INPUT_PULLUP) { // input with internal pull-up
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gpio_pin_configure_dt(arduino_pins[pinNumber],
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GPIO_INPUT | GPIO_PULL_UP | GPIO_ACTIVE_HIGH);
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} else if (pinMode == INPUT_PULLDOWN) { // input with internal pull-down
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gpio_pin_configure_dt(arduino_pins[pinNumber],
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GPIO_INPUT | GPIO_PULL_DOWN | GPIO_ACTIVE_HIGH);
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} else if (pinMode == OUTPUT) { // output mode
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gpio_pin_configure_dt(arduino_pins[pinNumber],
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GPIO_OUTPUT_LOW | GPIO_ACTIVE_HIGH);
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}
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gpio_flags_t pinstatus = 0;
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#ifdef CONFIG_GPIO_GET_CONFIG
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/* preserve GPIO interrupt configuration */
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gpio_pin_get_config_dt(arduino_pins[pinNumber], &pinstatus);
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#endif
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pinModeImpl(pinNumber, pinMode2flags(pinMode), nullptr, (pinstatus & ~GPIO_MODE_MASK));
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}
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void digitalWrite(pin_size_t pinNumber, PinStatus status) {
@@ -49,3 +200,20 @@ unsigned long micros(void) {
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unsigned long millis(void) { return k_uptime_get_32(); }
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#ifdef CONFIG_GPIO_GET_CONFIG
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void attachInterrupt(pin_size_t pinNumber, voidFuncPtr callback, PinStatus pinStatus)
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{
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gpio_flags_t pinmode = 0;
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/* preserve GPIO configuration that configured by pinMode()*/
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gpio_pin_get_config_dt(arduino_pins[pinNumber], &pinmode);
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pinModeImpl(pinNumber, (pinmode & ~GPIO_INT_MASK), callback, pinStatus2flags(pinStatus));
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}
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void detachInterrupt(pin_size_t pinNumber)
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{
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setInterruptHandler(pinNumber, nullptr);
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}
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#endif

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