X-Git-Url: https://notaz.gp2x.de/cgi-bin/gitweb.cgi?a=blobdiff_plain;f=teensy3%2Fpins_teensy.c;h=52df77794b83eb129713406b3d196a8bdb787b29;hb=HEAD;hp=a45fc84e794dbfa26e62e60a6e70be99617fb723;hpb=a773ac06cdc55be51ebc0bc61aa6066b54746c7d;p=megadrive.git diff --git a/teensy3/pins_teensy.c b/teensy3/pins_teensy.c deleted file mode 100644 index a45fc84..0000000 --- a/teensy3/pins_teensy.c +++ /dev/null @@ -1,830 +0,0 @@ -/* Teensyduino Core Library - * http://www.pjrc.com/teensy/ - * Copyright (c) 2013 PJRC.COM, LLC. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject to - * the following conditions: - * - * 1. The above copyright notice and this permission notice shall be - * included in all copies or substantial portions of the Software. - * - * 2. If the Software is incorporated into a build system that allows - * selection among a list of target devices, then similar target - * devices manufactured by PJRC.COM must be included in the list of - * target devices and selectable in the same manner. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS - * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN - * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -#include "core_pins.h" -#include "pins_arduino.h" -//#include "HardwareSerial.h" - -#if 0 -// moved to pins_arduino.h -struct digital_pin_bitband_and_config_table_struct { - volatile uint32_t *reg; - volatile uint32_t *config; -}; -const struct digital_pin_bitband_and_config_table_struct digital_pin_to_info_PGM[]; - -// compatibility macros -#define digitalPinToPort(pin) (pin) -#define digitalPinToBitMask(pin) (1) -#define portOutputRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 0)) -#define portSetRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 32)) -#define portClearRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 64)) -#define portToggleRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 96)) -#define portInputRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 128)) -#define portModeRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 160)) -#define portConfigRegister(pin) ((volatile uint32_t *)(digital_pin_to_info_PGM[(pin)].config)) -#endif - -//#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) ) -//#define analogInPinToBit(P) (P) - -#define GPIO_BITBAND_ADDR(reg, bit) (((uint32_t)&(reg) - 0x40000000) * 32 + (bit) * 4 + 0x42000000) -#define GPIO_BITBAND_PTR(reg, bit) ((uint32_t *)GPIO_BITBAND_ADDR((reg), (bit))) -//#define GPIO_SET_BIT(reg, bit) (*GPIO_BITBAND_PTR((reg), (bit)) = 1) -//#define GPIO_CLR_BIT(reg, bit) (*GPIO_BITBAND_PTR((reg), (bit)) = 0) - -const struct digital_pin_bitband_and_config_table_struct digital_pin_to_info_PGM[] = { - {GPIO_BITBAND_PTR(CORE_PIN0_PORTREG, CORE_PIN0_BIT), &CORE_PIN0_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN1_PORTREG, CORE_PIN1_BIT), &CORE_PIN1_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN2_PORTREG, CORE_PIN2_BIT), &CORE_PIN2_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN3_PORTREG, CORE_PIN3_BIT), &CORE_PIN3_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN4_PORTREG, CORE_PIN4_BIT), &CORE_PIN4_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN5_PORTREG, CORE_PIN5_BIT), &CORE_PIN5_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN6_PORTREG, CORE_PIN6_BIT), &CORE_PIN6_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN7_PORTREG, CORE_PIN7_BIT), &CORE_PIN7_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN8_PORTREG, CORE_PIN8_BIT), &CORE_PIN8_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN9_PORTREG, CORE_PIN9_BIT), &CORE_PIN9_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN10_PORTREG, CORE_PIN10_BIT), &CORE_PIN10_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN11_PORTREG, CORE_PIN11_BIT), &CORE_PIN11_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN12_PORTREG, CORE_PIN12_BIT), &CORE_PIN12_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN13_PORTREG, CORE_PIN13_BIT), &CORE_PIN13_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN14_PORTREG, CORE_PIN14_BIT), &CORE_PIN14_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN15_PORTREG, CORE_PIN15_BIT), &CORE_PIN15_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN16_PORTREG, CORE_PIN16_BIT), &CORE_PIN16_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN17_PORTREG, CORE_PIN17_BIT), &CORE_PIN17_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN18_PORTREG, CORE_PIN18_BIT), &CORE_PIN18_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN19_PORTREG, CORE_PIN19_BIT), &CORE_PIN19_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN20_PORTREG, CORE_PIN20_BIT), &CORE_PIN20_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN21_PORTREG, CORE_PIN21_BIT), &CORE_PIN21_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN22_PORTREG, CORE_PIN22_BIT), &CORE_PIN22_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN23_PORTREG, CORE_PIN23_BIT), &CORE_PIN23_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN24_PORTREG, CORE_PIN24_BIT), &CORE_PIN24_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN25_PORTREG, CORE_PIN25_BIT), &CORE_PIN25_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN26_PORTREG, CORE_PIN26_BIT), &CORE_PIN26_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN27_PORTREG, CORE_PIN27_BIT), &CORE_PIN27_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN28_PORTREG, CORE_PIN28_BIT), &CORE_PIN28_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN29_PORTREG, CORE_PIN29_BIT), &CORE_PIN29_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN30_PORTREG, CORE_PIN30_BIT), &CORE_PIN30_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN31_PORTREG, CORE_PIN31_BIT), &CORE_PIN31_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN32_PORTREG, CORE_PIN32_BIT), &CORE_PIN32_CONFIG}, - {GPIO_BITBAND_PTR(CORE_PIN33_PORTREG, CORE_PIN33_BIT), &CORE_PIN33_CONFIG} -}; - - - - -typedef void (*voidFuncPtr)(void); -volatile static voidFuncPtr intFunc[CORE_NUM_DIGITAL]; - -void init_pin_interrupts(void) -{ - //SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO - NVIC_ENABLE_IRQ(IRQ_PORTA); - NVIC_ENABLE_IRQ(IRQ_PORTB); - NVIC_ENABLE_IRQ(IRQ_PORTC); - NVIC_ENABLE_IRQ(IRQ_PORTD); - NVIC_ENABLE_IRQ(IRQ_PORTE); - // TODO: maybe these should be set to a lower priority - // so if the user puts lots of slow code on attachInterrupt - // fast interrupts will still be serviced quickly? -} - -void attachInterruptVector(enum IRQ_NUMBER_t irq, void (*function)(void)) -{ - _VectorsRam[irq + 16] = function; -} - -void attachInterrupt(uint8_t pin, void (*function)(void), int mode) -{ - volatile uint32_t *config; - uint32_t cfg, mask; - - if (pin >= CORE_NUM_DIGITAL) return; - switch (mode) { - case CHANGE: mask = 0x0B; break; - case RISING: mask = 0x09; break; - case FALLING: mask = 0x0A; break; - case LOW: mask = 0x08; break; - case HIGH: mask = 0x0C; break; - default: return; - } - mask = (mask << 16) | 0x01000000; - config = portConfigRegister(pin); - - __disable_irq(); - cfg = *config; - cfg &= ~0x000F0000; // disable any previous interrupt - *config = cfg; - intFunc[pin] = function; // set the function pointer - cfg |= mask; - *config = cfg; // enable the new interrupt - __enable_irq(); -} - -void detachInterrupt(uint8_t pin) -{ - volatile uint32_t *config; - - config = portConfigRegister(pin); - __disable_irq(); - *config = ((*config & ~0x000F0000) | 0x01000000); - intFunc[pin] = NULL; - __enable_irq(); -} - - -void porta_isr(void) -{ - uint32_t isfr = PORTA_ISFR; - PORTA_ISFR = isfr; - if ((isfr & CORE_PIN3_BITMASK) && intFunc[3]) intFunc[3](); - if ((isfr & CORE_PIN4_BITMASK) && intFunc[4]) intFunc[4](); - if ((isfr & CORE_PIN24_BITMASK) && intFunc[24]) intFunc[24](); - if ((isfr & CORE_PIN33_BITMASK) && intFunc[33]) intFunc[33](); -} - -void portb_isr(void) -{ - uint32_t isfr = PORTB_ISFR; - PORTB_ISFR = isfr; - if ((isfr & CORE_PIN0_BITMASK) && intFunc[0]) intFunc[0](); - if ((isfr & CORE_PIN1_BITMASK) && intFunc[1]) intFunc[1](); - if ((isfr & CORE_PIN16_BITMASK) && intFunc[16]) intFunc[16](); - if ((isfr & CORE_PIN17_BITMASK) && intFunc[17]) intFunc[17](); - if ((isfr & CORE_PIN18_BITMASK) && intFunc[18]) intFunc[18](); - if ((isfr & CORE_PIN19_BITMASK) && intFunc[19]) intFunc[19](); - if ((isfr & CORE_PIN25_BITMASK) && intFunc[25]) intFunc[25](); - if ((isfr & CORE_PIN32_BITMASK) && intFunc[32]) intFunc[32](); -} - -void portc_isr(void) -{ - // TODO: these are inefficent. Use CLZ somehow.... - uint32_t isfr = PORTC_ISFR; - PORTC_ISFR = isfr; - if ((isfr & CORE_PIN9_BITMASK) && intFunc[9]) intFunc[9](); - if ((isfr & CORE_PIN10_BITMASK) && intFunc[10]) intFunc[10](); - if ((isfr & CORE_PIN11_BITMASK) && intFunc[11]) intFunc[11](); - if ((isfr & CORE_PIN12_BITMASK) && intFunc[12]) intFunc[12](); - if ((isfr & CORE_PIN13_BITMASK) && intFunc[13]) intFunc[13](); - if ((isfr & CORE_PIN15_BITMASK) && intFunc[15]) intFunc[15](); - if ((isfr & CORE_PIN22_BITMASK) && intFunc[22]) intFunc[22](); - if ((isfr & CORE_PIN23_BITMASK) && intFunc[23]) intFunc[23](); - if ((isfr & CORE_PIN27_BITMASK) && intFunc[27]) intFunc[27](); - if ((isfr & CORE_PIN28_BITMASK) && intFunc[28]) intFunc[28](); - if ((isfr & CORE_PIN29_BITMASK) && intFunc[29]) intFunc[29](); - if ((isfr & CORE_PIN30_BITMASK) && intFunc[30]) intFunc[30](); -} - -void portd_isr(void) -{ - uint32_t isfr = PORTD_ISFR; - PORTD_ISFR = isfr; - if ((isfr & CORE_PIN2_BITMASK) && intFunc[2]) intFunc[2](); - if ((isfr & CORE_PIN5_BITMASK) && intFunc[5]) intFunc[5](); - if ((isfr & CORE_PIN6_BITMASK) && intFunc[6]) intFunc[6](); - if ((isfr & CORE_PIN7_BITMASK) && intFunc[7]) intFunc[7](); - if ((isfr & CORE_PIN8_BITMASK) && intFunc[8]) intFunc[8](); - if ((isfr & CORE_PIN14_BITMASK) && intFunc[14]) intFunc[14](); - if ((isfr & CORE_PIN20_BITMASK) && intFunc[20]) intFunc[20](); - if ((isfr & CORE_PIN21_BITMASK) && intFunc[21]) intFunc[21](); -} - -void porte_isr(void) -{ - uint32_t isfr = PORTE_ISFR; - PORTE_ISFR = isfr; - if ((isfr & CORE_PIN26_BITMASK) && intFunc[26]) intFunc[26](); - if ((isfr & CORE_PIN31_BITMASK) && intFunc[31]) intFunc[31](); -} - - - - -unsigned long rtc_get(void) -{ - return RTC_TSR; -} - -void rtc_set(unsigned long t) -{ - RTC_SR = 0; - RTC_TPR = 0; - RTC_TSR = t; - RTC_SR = RTC_SR_TCE; -} - - -// adjust is the amount of crystal error to compensate, 1 = 0.1192 ppm -// For example, adjust = -100 is slows the clock by 11.92 ppm -// -void rtc_compensate(int adjust) -{ - uint32_t comp, interval, tcr; - - // This simple approach tries to maximize the interval. - // Perhaps minimizing TCR would be better, so the - // compensation is distributed more evenly across - // many seconds, rather than saving it all up and then - // altering one second up to +/- 0.38% - if (adjust >= 0) { - comp = adjust; - interval = 256; - while (1) { - tcr = comp * interval; - if (tcr < 128*256) break; - if (--interval == 1) break; - } - tcr = tcr >> 8; - } else { - comp = -adjust; - interval = 256; - while (1) { - tcr = comp * interval; - if (tcr < 129*256) break; - if (--interval == 1) break; - } - tcr = tcr >> 8; - tcr = 256 - tcr; - } - RTC_TCR = ((interval - 1) << 8) | tcr; -} - -#if 0 -// TODO: build system should define this -// so RTC is automatically initialized to approx correct time -// at least when the program begins running right after upload -#ifndef TIME_T -#define TIME_T 1350160272 -#endif - -void init_rtc(void) -{ - serial_print("init_rtc\n"); - //SIM_SCGC6 |= SIM_SCGC6_RTC; - - // enable the RTC crystal oscillator, for approx 12pf crystal - if (!(RTC_CR & RTC_CR_OSCE)) { - serial_print("start RTC oscillator\n"); - RTC_SR = 0; - RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE; - } - // should wait for crystal to stabilize..... - - serial_print("SR="); - serial_phex32(RTC_SR); - serial_print("\n"); - serial_print("CR="); - serial_phex32(RTC_CR); - serial_print("\n"); - serial_print("TSR="); - serial_phex32(RTC_TSR); - serial_print("\n"); - serial_print("TCR="); - serial_phex32(RTC_TCR); - serial_print("\n"); - - if (RTC_SR & RTC_SR_TIF) { - // enable the RTC - RTC_SR = 0; - RTC_TPR = 0; - RTC_TSR = TIME_T; - RTC_SR = RTC_SR_TCE; - } -} -#endif - -extern void usb_init(void); - - -// create a default PWM at the same 488.28 Hz as Arduino Uno - -#if F_BUS == 60000000 -#define DEFAULT_FTM_MOD (61440 - 1) -#define DEFAULT_FTM_PRESCALE 1 -#elif F_BUS == 56000000 -#define DEFAULT_FTM_MOD (57344 - 1) -#define DEFAULT_FTM_PRESCALE 1 -#elif F_BUS == 48000000 -#define DEFAULT_FTM_MOD (49152 - 1) -#define DEFAULT_FTM_PRESCALE 1 -#elif F_BUS == 40000000 -#define DEFAULT_FTM_MOD (40960 - 1) -#define DEFAULT_FTM_PRESCALE 1 -#elif F_BUS == 36000000 -#define DEFAULT_FTM_MOD (36864 - 1) -#define DEFAULT_FTM_PRESCALE 1 -#elif F_BUS == 24000000 -#define DEFAULT_FTM_MOD (49152 - 1) -#define DEFAULT_FTM_PRESCALE 0 -#elif F_BUS == 16000000 -#define DEFAULT_FTM_MOD (32768 - 1) -#define DEFAULT_FTM_PRESCALE 0 -#elif F_BUS == 8000000 -#define DEFAULT_FTM_MOD (16384 - 1) -#define DEFAULT_FTM_PRESCALE 0 -#elif F_BUS == 4000000 -#define DEFAULT_FTM_MOD (8192 - 1) -#define DEFAULT_FTM_PRESCALE 0 -#elif F_BUS == 2000000 -#define DEFAULT_FTM_MOD (4096 - 1) -#define DEFAULT_FTM_PRESCALE 0 -#endif - -//void init_pins(void) -void _init_Teensyduino_internal_(void) -{ - init_pin_interrupts(); - - //SIM_SCGC6 |= SIM_SCGC6_FTM0; // TODO: use bitband for atomic read-mod-write - //SIM_SCGC6 |= SIM_SCGC6_FTM1; - FTM0_CNT = 0; - FTM0_MOD = DEFAULT_FTM_MOD; - FTM0_C0SC = 0x28; // MSnB:MSnA = 10, ELSnB:ELSnA = 10 - FTM0_C1SC = 0x28; - FTM0_C2SC = 0x28; - FTM0_C3SC = 0x28; - FTM0_C4SC = 0x28; - FTM0_C5SC = 0x28; - FTM0_C6SC = 0x28; - FTM0_C7SC = 0x28; - FTM0_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE); - FTM1_CNT = 0; - FTM1_MOD = DEFAULT_FTM_MOD; - FTM1_C0SC = 0x28; - FTM1_C1SC = 0x28; - FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE); -#if defined(__MK20DX256__) - FTM2_CNT = 0; - FTM2_MOD = DEFAULT_FTM_MOD; - FTM2_C0SC = 0x28; - FTM2_C1SC = 0x28; - FTM2_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE); -#endif - - //analog_init(); - //delay(100); // TODO: this is not necessary, right? - delay(4); - usb_init(); -} - -#if 0 - -static uint8_t analog_write_res = 8; - -// SOPT4 is SIM select clocks? -// FTM is clocked by the bus clock, either 24 or 48 MHz -// input capture can be FTM1_CH0, CMP0 or CMP1 or USB start of frame -// 24 MHz with reload 49152 to match Arduino's speed = 488.28125 Hz - -void analogWrite(uint8_t pin, int val) -{ - uint32_t cval, max; - -#if defined(__MK20DX256__) - if (pin == A14) { - uint8_t res = analog_write_res; - if (res < 12) { - val <<= 12 - res; - } else if (res > 12) { - val >>= res - 12; - } - analogWriteDAC0(val); - return; - } -#endif - - max = 1 << analog_write_res; - if (val <= 0) { - digitalWrite(pin, LOW); - pinMode(pin, OUTPUT); // TODO: implement OUTPUT_LOW - return; - } else if (val >= max) { - digitalWrite(pin, HIGH); - pinMode(pin, OUTPUT); // TODO: implement OUTPUT_HIGH - return; - } - - //serial_print("analogWrite\n"); - //serial_print("val = "); - //serial_phex32(val); - //serial_print("\n"); - //serial_print("analog_write_res = "); - //serial_phex(analog_write_res); - //serial_print("\n"); - if (pin == 3 || pin == 4) { - cval = ((uint32_t)val * (uint32_t)(FTM1_MOD + 1)) >> analog_write_res; -#if defined(__MK20DX256__) - } else if (pin == 25 || pin == 32) { - cval = ((uint32_t)val * (uint32_t)(FTM2_MOD + 1)) >> analog_write_res; -#endif - } else { - cval = ((uint32_t)val * (uint32_t)(FTM0_MOD + 1)) >> analog_write_res; - } - //serial_print("cval = "); - //serial_phex32(cval); - //serial_print("\n"); - switch (pin) { - case 3: // PTA12, FTM1_CH0 - FTM1_C0V = cval; - CORE_PIN3_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 4: // PTA13, FTM1_CH1 - FTM1_C1V = cval; - CORE_PIN4_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 5: // PTD7, FTM0_CH7 - FTM0_C7V = cval; - CORE_PIN5_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 6: // PTD4, FTM0_CH4 - FTM0_C4V = cval; - CORE_PIN6_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 9: // PTC3, FTM0_CH2 - FTM0_C2V = cval; - CORE_PIN9_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 10: // PTC4, FTM0_CH3 - FTM0_C3V = cval; - CORE_PIN10_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 20: // PTD5, FTM0_CH5 - FTM0_C5V = cval; - CORE_PIN20_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 21: // PTD6, FTM0_CH6 - FTM0_C6V = cval; - CORE_PIN21_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 22: // PTC1, FTM0_CH0 - FTM0_C0V = cval; - CORE_PIN22_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 23: // PTC2, FTM0_CH1 - FTM0_C1V = cval; - CORE_PIN23_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; - break; -#if defined(__MK20DX256__) - case 32: // PTB18, FTM2_CH0 - FTM2_C0V = cval; - CORE_PIN32_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; - break; - case 25: // PTB19, FTM1_CH1 - FTM2_C1V = cval; - CORE_PIN25_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; - break; -#endif - default: - digitalWrite(pin, (val > 127) ? HIGH : LOW); - pinMode(pin, OUTPUT); - } -} - -void analogWriteRes(uint32_t bits) -{ - if (bits < 1) { - bits = 1; - } else if (bits > 16) { - bits = 16; - } - analog_write_res = bits; -} - -void analogWriteFrequency(uint8_t pin, uint32_t frequency) -{ - uint32_t minfreq, prescale, mod; - - //serial_print("analogWriteFrequency: pin = "); - //serial_phex(pin); - //serial_print(", freq = "); - //serial_phex32(frequency); - //serial_print("\n"); - for (prescale = 0; prescale < 7; prescale++) { - minfreq = (F_BUS >> 16) >> prescale; - if (frequency > minfreq) break; - } - //serial_print("F_BUS = "); - //serial_phex32(F_BUS >> prescale); - //serial_print("\n"); - //serial_print("prescale = "); - //serial_phex(prescale); - //serial_print("\n"); - //mod = ((F_BUS >> prescale) / frequency) - 1; - mod = (((F_BUS >> prescale) + (frequency >> 1)) / frequency) - 1; - if (mod > 65535) mod = 65535; - //serial_print("mod = "); - //serial_phex32(mod); - //serial_print("\n"); - if (pin == 3 || pin == 4) { - FTM1_SC = 0; - FTM1_CNT = 0; - FTM1_MOD = mod; - FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_PS(prescale); - } else if (pin == 5 || pin == 6 || pin == 9 || pin == 10 || - (pin >= 20 && pin <= 23)) { - FTM0_SC = 0; - FTM0_CNT = 0; - FTM0_MOD = mod; - FTM0_SC = FTM_SC_CLKS(1) | FTM_SC_PS(prescale); - } -#if defined(__MK20DX256__) - else if (pin == 25 || pin == 32) { - FTM2_SC = 0; - FTM2_CNT = 0; - FTM2_MOD = mod; - FTM2_SC = FTM_SC_CLKS(1) | FTM_SC_PS(prescale); - } -#endif -} - -#endif - - -// TODO: startup code needs to initialize all pins to GPIO mode, input by default - -void digitalWrite(uint8_t pin, uint8_t val) -{ - if (pin >= CORE_NUM_DIGITAL) return; - if (*portModeRegister(pin)) { - if (val) { - *portSetRegister(pin) = 1; - } else { - *portClearRegister(pin) = 1; - } - } else { - volatile uint32_t *config = portConfigRegister(pin); - if (val) { - // TODO use bitband for atomic read-mod-write - *config |= (PORT_PCR_PE | PORT_PCR_PS); - //*config = PORT_PCR_MUX(1) | PORT_PCR_PE | PORT_PCR_PS; - } else { - // TODO use bitband for atomic read-mod-write - *config &= ~(PORT_PCR_PE); - //*config = PORT_PCR_MUX(1); - } - } - -} - -uint8_t digitalRead(uint8_t pin) -{ - if (pin >= CORE_NUM_DIGITAL) return 0; - return *portInputRegister(pin); -} - - - -void pinMode(uint8_t pin, uint8_t mode) -{ - volatile uint32_t *config; - - if (pin >= CORE_NUM_DIGITAL) return; - config = portConfigRegister(pin); - - if (mode == OUTPUT) { - *portModeRegister(pin) = 1; - *config = PORT_PCR_SRE | PORT_PCR_DSE | PORT_PCR_MUX(1); - } else { - *portModeRegister(pin) = 0; - if (mode == INPUT) { - *config = PORT_PCR_MUX(1); - } else { - *config = PORT_PCR_MUX(1) | PORT_PCR_PE | PORT_PCR_PS; // pullup - } - } -} - - -void _shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t value) -{ - if (bitOrder == LSBFIRST) { - shiftOut_lsbFirst(dataPin, clockPin, value); - } else { - shiftOut_msbFirst(dataPin, clockPin, value); - } -} - -void shiftOut_lsbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value) -{ - uint8_t mask; - for (mask=0x01; mask; mask <<= 1) { - digitalWrite(dataPin, value & mask); - digitalWrite(clockPin, HIGH); - digitalWrite(clockPin, LOW); - } -} - -void shiftOut_msbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value) -{ - uint8_t mask; - for (mask=0x80; mask; mask >>= 1) { - digitalWrite(dataPin, value & mask); - digitalWrite(clockPin, HIGH); - digitalWrite(clockPin, LOW); - } -} - -uint8_t _shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder) -{ - if (bitOrder == LSBFIRST) { - return shiftIn_lsbFirst(dataPin, clockPin); - } else { - return shiftIn_msbFirst(dataPin, clockPin); - } -} - -uint8_t shiftIn_lsbFirst(uint8_t dataPin, uint8_t clockPin) -{ - uint8_t mask, value=0; - for (mask=0x01; mask; mask <<= 1) { - digitalWrite(clockPin, HIGH); - if (digitalRead(dataPin)) value |= mask; - digitalWrite(clockPin, LOW); - } - return value; -} - -uint8_t shiftIn_msbFirst(uint8_t dataPin, uint8_t clockPin) -{ - uint8_t mask, value=0; - for (mask=0x80; mask; mask >>= 1) { - digitalWrite(clockPin, HIGH); - if (digitalRead(dataPin)) value |= mask; - digitalWrite(clockPin, LOW); - } - return value; -} - - - -// the systick interrupt is supposed to increment this at 1 kHz rate -volatile uint32_t systick_millis_count = 0; - -//uint32_t systick_current, systick_count, systick_istatus; // testing only - -uint32_t micros(void) -{ - uint32_t count, current, istatus; - - __disable_irq(); - current = SYST_CVR; - count = systick_millis_count; - istatus = SCB_ICSR; // bit 26 indicates if systick exception pending - __enable_irq(); - //systick_current = current; - //systick_count = count; - //systick_istatus = istatus & SCB_ICSR_PENDSTSET ? 1 : 0; - if ((istatus & SCB_ICSR_PENDSTSET) && current > 50) count++; - current = ((F_CPU / 1000) - 1) - current; - return count * 1000 + current / (F_CPU / 1000000); -} - -void delay(uint32_t ms) -{ - uint32_t start = micros(); - - if (ms > 0) { - while (1) { - if ((micros() - start) >= 1000) { - ms--; - if (ms == 0) return; - start += 1000; - } - yield(); - } - } -} - -// TODO: verify these result in correct timeouts... -#if F_CPU == 168000000 -#define PULSEIN_LOOPS_PER_USEC 25 -#elif F_CPU == 144000000 -#define PULSEIN_LOOPS_PER_USEC 21 -#elif F_CPU == 120000000 -#define PULSEIN_LOOPS_PER_USEC 18 -#elif F_CPU == 96000000 -#define PULSEIN_LOOPS_PER_USEC 14 -#elif F_CPU == 72000000 -#define PULSEIN_LOOPS_PER_USEC 10 -#elif F_CPU == 48000000 -#define PULSEIN_LOOPS_PER_USEC 7 -#elif F_CPU == 24000000 -#define PULSEIN_LOOPS_PER_USEC 4 -#elif F_CPU == 16000000 -#define PULSEIN_LOOPS_PER_USEC 1 -#elif F_CPU == 8000000 -#define PULSEIN_LOOPS_PER_USEC 1 -#elif F_CPU == 4000000 -#define PULSEIN_LOOPS_PER_USEC 1 -#elif F_CPU == 2000000 -#define PULSEIN_LOOPS_PER_USEC 1 -#endif - - -uint32_t pulseIn_high(volatile uint8_t *reg, uint32_t timeout) -{ - uint32_t timeout_count = timeout * PULSEIN_LOOPS_PER_USEC; - uint32_t usec_start, usec_stop; - - // wait for any previous pulse to end - while (*reg) { - if (--timeout_count == 0) return 0; - } - // wait for the pulse to start - while (!*reg) { - if (--timeout_count == 0) return 0; - } - usec_start = micros(); - // wait for the pulse to stop - while (*reg) { - if (--timeout_count == 0) return 0; - } - usec_stop = micros(); - return usec_stop - usec_start; -} - -uint32_t pulseIn_low(volatile uint8_t *reg, uint32_t timeout) -{ - uint32_t timeout_count = timeout * PULSEIN_LOOPS_PER_USEC; - uint32_t usec_start, usec_stop; - - // wait for any previous pulse to end - while (!*reg) { - if (--timeout_count == 0) return 0; - } - // wait for the pulse to start - while (*reg) { - if (--timeout_count == 0) return 0; - } - usec_start = micros(); - // wait for the pulse to stop - while (!*reg) { - if (--timeout_count == 0) return 0; - } - usec_stop = micros(); - return usec_stop - usec_start; -} - -// TODO: an inline version should handle the common case where state is const -uint32_t pulseIn(uint8_t pin, uint8_t state, uint32_t timeout) -{ - if (pin >= CORE_NUM_DIGITAL) return 0; - if (state) return pulseIn_high(portInputRegister(pin), timeout); - return pulseIn_low(portInputRegister(pin), timeout);; -} - - - - - - - - - - - - - - - - - - - - - - - - - - - -