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EXTI: clear pending bits before dispatching handlers #11942

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EXTI: clear pending bits before dispatching handlers #11942

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6 changes: 5 additions & 1 deletion src/main/drivers/exti.c
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Original file line number Diff line number Diff line change
Expand Up @@ -216,11 +216,15 @@ void EXTI_IRQHandler(void)
{
uint32_t exti_active = EXTI_REG_IMR & EXTI_REG_PR;

// Clear before dispatching (as Betaflight does): an edge on the same line
// while its handler runs must stay pending rather than be wiped when the
// handler returns.
EXTI_REG_PR = exti_active;

while (exti_active) {
unsigned idx = 31 - __builtin_clz(exti_active);
uint32_t mask = 1 << idx;
extiChannelRecs[idx].handler->fn(extiChannelRecs[idx].handler);
EXTI_REG_PR = mask; // clear pending mask (by writing 1)
exti_active &= ~mask;
}
}
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