--- /dev/null
+*.o
+*.elf
+*.hex
+.*.swp
+cscope.out
+tags
--- /dev/null
+CC = $(CROSS_COMPILE)gcc
+CXX = $(CROSS_COMPILE)g++
+OBJCOPY = $(CROSS_COMPILE)objcopy
+SIZE = $(CROSS_COMPILE)size
+
+TOOLSPATH = tools
+
+TARGET = teensytas
+
+# CPPFLAGS += -DUSB_SERIAL -DLAYOUT_US_ENGLISH
+CPPFLAGS += -D__MK20DX256__ -DF_CPU=48000000
+CPPFLAGS += -DUSB_RAWHID
+CPPFLAGS += -Wall -Wno-format -g -Os
+CPPFLAGS += -mcpu=cortex-m4 -mtune=cortex-m4 -mthumb -nostdlib # -MMD
+CXXFLAGS += -std=gnu++0x -felide-constructors -fno-exceptions -fno-rtti
+LDFLAGS = -Os -Wl,--gc-sections -mcpu=cortex-m4 -mthumb -Tteensy3/mk20dx256.ld
+LDLIBS += -lm
+
+C_FILES := $(wildcard *.c)
+CT_FILES := $(wildcard teensy3/*.c)
+OBJS += $(C_FILES:.c=.o) $(CT_FILES:.c=.o)
+
+all: $(TARGET).hex
+
+$(TARGET).elf: $(OBJS) $(LDSCRIPT)
+ $(CC) $(LDFLAGS) -o "$@" $(OBJS) $(LDLIBS)
+
+%.hex: %.elf
+ $(SIZE) "$<"
+ $(OBJCOPY) -O ihex -R .eeprom "$<" "$@"
+
+clean:
+ $(RM) $(TARGET).hex $(TARGET).elf $(OBJS)
+
+up: $(TARGET).hex
+ teensy_loader_cli -mmcu=mk20dx128 -w $<
--- /dev/null
+CFLAGS += -Wall -ggdb
+ifndef DEBUG
+CFLAGS += -O2
+endif
+
+TARGET = main
+OBJS = main.o
+
+all: $(TARGET)
+
+$(TARGET): $(OBJS)
+ $(CC) -o $@ $(CFLAGS) $(LDFLAGS) $^ $(LDLIBS)
+
+clean:
+ $(RM) $(TARGET) $(OBJS)
--- /dev/null
+/*
+ * TeensyTAS, TAS input player for MegaDrive
+ * Copyright (c) 2014 notaz
+ *
+ * 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:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * 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 <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/select.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <signal.h>
+#include <termios.h>
+#include <errno.h>
+#include <linux/usbdevice_fs.h>
+#include <linux/usb/ch9.h>
+#include <linux/input.h>
+#include "../pkts.h"
+
+#define ARRAY_SIZE(x) (sizeof(x) / sizeof(x[0]))
+
+struct teensy_dev {
+ int fd;
+ struct {
+ int ep_in;
+ int ep_out;
+ } ifaces[2];
+};
+
+/* return 1 if founf, 0 if not, < 0 on error */
+static int find_device(struct teensy_dev *dev,
+ uint16_t vendor, uint16_t product)
+{
+ const char path_root[] = "/dev/bus/usb";
+ union {
+ struct usb_descriptor_header hdr;
+ struct usb_device_descriptor d;
+ struct usb_config_descriptor c;
+ struct usb_interface_descriptor i;
+ struct usb_endpoint_descriptor e;
+ char space[0x100]; /* enough? */
+ } desc;
+ char path_bus[256], path_dev[256];
+ struct dirent *ent, *ent_bus;
+ DIR *dir = NULL, *dir_bus = NULL;
+ int num, fd = -1;
+ int iface = -1;
+ int retval = -1;
+ int ret;
+
+ memset(dev, 0xff, sizeof(*dev));
+
+ dir = opendir(path_root);
+ if (dir == NULL) {
+ perror("opendir");
+ return -1;
+ }
+
+ for (ent = readdir(dir); ent != NULL; ent = readdir(dir)) {
+ /* should be a number like 000 */
+ if (sscanf(ent->d_name, "%03d", &num) != 1)
+ continue;
+
+ snprintf(path_bus, sizeof(path_bus), "%s/%s",
+ path_root, ent->d_name);
+
+ dir_bus = opendir(path_bus);
+ if (dir_bus == NULL)
+ continue;
+
+ ent_bus = readdir(dir_bus);
+ for (; ent_bus != NULL; ent_bus = readdir(dir_bus)) {
+ if (sscanf(ent->d_name, "%03d", &num) != 1)
+ continue;
+
+ snprintf(path_dev, sizeof(path_dev), "%s/%s/%s",
+ path_root, ent->d_name, ent_bus->d_name);
+
+ fd = open(path_dev, O_RDWR);
+ if (fd == -1)
+ continue;
+
+ ret = read(fd, &desc.d, sizeof(desc.d));
+ if (ret != sizeof(desc.d)) {
+ fprintf(stderr, "desc read: %d/%zd: ", ret, sizeof(desc.d));
+ perror("");
+ goto next;
+ }
+
+ if (desc.d.bDescriptorType != USB_DT_DEVICE) {
+ fprintf(stderr, "%s: bad DT: 0x%02x\n",
+ path_dev, desc.d.bDescriptorType);
+ goto next;
+ }
+
+ if (desc.d.idVendor == vendor && desc.d.idProduct == product)
+ goto found;
+
+next:
+ close(fd);
+ fd = -1;
+ }
+
+ closedir(dir_bus);
+ dir_bus = NULL;
+ }
+
+ /* not found */
+ retval = 0;
+ goto out;
+
+found:
+ if (desc.d.bNumConfigurations != 1) {
+ fprintf(stderr, "unexpected bNumConfigurations: %u\n",
+ desc.d.bNumConfigurations);
+ goto out;
+ }
+
+ /* walk through all descriptors */
+ while (1)
+ {
+ ret = read(fd, &desc.hdr, sizeof(desc.hdr));
+ if (ret == 0)
+ break;
+ if (ret != sizeof(desc.hdr)) {
+ fprintf(stderr, "desc.hdr read: %d/%zd: ", ret, sizeof(desc.hdr));
+ perror("");
+ break;
+ }
+
+ ret = (int)lseek(fd, -sizeof(desc.hdr), SEEK_CUR);
+ if (ret == -1) {
+ perror("lseek");
+ break;
+ }
+
+ ret = read(fd, &desc, desc.hdr.bLength);
+ if (ret != desc.hdr.bLength) {
+ fprintf(stderr, "desc read: %d/%u: ", ret, desc.hdr.bLength);
+ perror("");
+ break;
+ }
+
+ switch (desc.hdr.bDescriptorType) {
+ case USB_DT_CONFIG:
+ if (desc.c.bNumInterfaces != 2) {
+ fprintf(stderr, "unexpected bNumInterfaces: %u\n",
+ desc.c.bNumInterfaces);
+ goto out;
+ }
+ break;
+
+ case USB_DT_INTERFACE:
+ if (desc.i.bInterfaceClass != USB_CLASS_HID
+ || desc.i.bInterfaceSubClass != 0
+ || desc.i.bInterfaceProtocol != 0) {
+ fprintf(stderr, "unexpected interface %x:%x:%x\n",
+ desc.i.bInterfaceClass, desc.i.bInterfaceSubClass,
+ desc.i.bInterfaceProtocol);
+ goto out;
+ }
+ if (desc.i.bNumEndpoints != 2) {
+ fprintf(stderr, "unexpected bNumEndpoints: %u\n",
+ desc.i.bNumEndpoints);
+ goto out;
+ }
+ iface++;
+ break;
+
+ case USB_DT_ENDPOINT:
+ if (iface < 0 || iface >= ARRAY_SIZE(dev->ifaces)) {
+ fprintf(stderr, "bad iface: %d\n", iface);
+ goto out;
+ }
+ if (desc.e.wMaxPacketSize != 64 && desc.e.wMaxPacketSize != 32) {
+ fprintf(stderr, "iface %d, EP %02x: "
+ "unexpected wMaxPacketSize: %u\n",
+ iface, desc.e.bEndpointAddress, desc.e.wMaxPacketSize);
+ goto out;
+ }
+ if (desc.e.bEndpointAddress & 0x80)
+ dev->ifaces[iface].ep_in = desc.e.bEndpointAddress; // & 0x7F;
+ else
+ dev->ifaces[iface].ep_out = desc.e.bEndpointAddress;
+ break;
+
+ case 0x21:
+ /* ignore */
+ break;
+
+ default:
+ fprintf(stderr, "skipping desc 0x%02x\n",
+ desc.hdr.bDescriptorType);
+ break;
+ }
+ }
+
+ /* claim interfaces */
+ for (iface = 0; iface < ARRAY_SIZE(dev->ifaces); iface++) {
+ struct usbdevfs_ioctl usbio;
+
+ if (dev->ifaces[iface].ep_in == -1) {
+ fprintf(stderr, "missing ep_in, iface: %d\n", iface);
+ goto out;
+ }
+ if (dev->ifaces[iface].ep_out == -1) {
+ fprintf(stderr, "missing ep_out, iface: %d\n", iface);
+ goto out;
+ }
+
+ /* disconnect default driver */
+ memset(&usbio, 0, sizeof(usbio));
+ usbio.ifno = iface;
+ usbio.ioctl_code = USBDEVFS_DISCONNECT;
+ ret = ioctl(fd, USBDEVFS_IOCTL, &usbio);
+ if (ret != 0 && errno != ENODATA)
+ perror("USBDEVFS_DISCONNECT");
+
+ ret = ioctl(fd, USBDEVFS_CLAIMINTERFACE, &iface);
+ if (ret != 0)
+ perror("USBDEVFS_CLAIMINTERFACE");
+ }
+
+ dev->fd = fd;
+ fd = -1;
+ retval = 1;
+
+out:
+ if (fd != -1)
+ close(fd);
+ if (dir_bus != NULL)
+ closedir(dir_bus);
+ if (dir != NULL)
+ closedir(dir);
+
+ return retval;
+}
+
+static int enable_echo(int enable)
+{
+ const char *portname = "/dev/tty";
+ struct termios tty;
+ int retval = -1;
+ int ret;
+ int fd;
+
+ memset(&tty, 0, sizeof(tty));
+
+ fd = open(portname, O_RDWR | O_NOCTTY | O_SYNC);
+ if (fd < 0) {
+ fprintf(stderr, "open %s: ", portname);
+ perror("");
+ return 1;
+ }
+
+ ret = tcgetattr(fd, &tty);
+ if (ret != 0) {
+ perror("tcgetattr");
+ goto out;
+ }
+
+ // printf("lflag: 0%o\n", tty.c_lflag);
+ if (enable)
+ tty.c_lflag |= ECHO | ICANON;
+ else {
+ tty.c_lflag &= ~(ECHO | ICANON);
+ tty.c_cc[VMIN] = tty.c_cc[VTIME] = 0;
+ }
+
+ ret = tcsetattr(fd, TCSANOW, &tty);
+ if (ret != 0) {
+ perror("tcsetattr");
+ goto out;
+ }
+
+ retval = 0;
+out:
+ close(fd);
+
+ return retval;
+}
+
+static int g_exit;
+
+static void signal_handler(int sig)
+{
+ g_exit = 1;
+ signal(sig, SIG_DFL);
+}
+
+/* ?0SA 00DU, ?1CB RLDU */
+#define STATE_BYTES 2
+
+static uint8_t fixed_input_state[STATE_BYTES] = { 0x33, 0x3f };
+
+enum mdbtn {
+ MDBTN_UP = 1,
+ MDBTN_DOWN,
+ MDBTN_LEFT,
+ MDBTN_RIGHT,
+ MDBTN_A,
+ MDBTN_B,
+ MDBTN_C,
+ MDBTN_START,
+};
+
+static const enum mdbtn evdev_md_map[KEY_CNT] = {
+ [KEY_UP] = MDBTN_UP,
+ [KEY_DOWN] = MDBTN_DOWN,
+ [KEY_LEFT] = MDBTN_LEFT,
+ [KEY_RIGHT] = MDBTN_RIGHT,
+ [KEY_HOME] = MDBTN_A,
+ [KEY_PAGEDOWN] = MDBTN_B,
+ [KEY_END] = MDBTN_C,
+ [KEY_LEFTALT] = MDBTN_START,
+};
+
+int do_evdev_input(int fd)
+{
+ uint8_t old_state[STATE_BYTES];
+ uint8_t changed_bits[STATE_BYTES] = { 0, };
+ struct input_event ev;
+ enum mdbtn mdbtn;
+ int i, ret;
+
+ ret = read(fd, &ev, sizeof(ev));
+ if (ret != sizeof(ev)) {
+ fprintf(stderr, "evdev read %d/%zd: ", ret, sizeof(ev));
+ perror("");
+ return 0;
+ }
+
+ if (ev.type != EV_KEY)
+ return 0;
+
+ if (ev.value != 0 && ev.value != 1)
+ return 0;
+
+ if ((uint32_t)ev.code >= ARRAY_SIZE(evdev_md_map)) {
+ fprintf(stderr, "evdev read bad key: %u\n", ev.code);
+ return 0;
+ }
+
+ mdbtn = evdev_md_map[ev.code];
+ if (mdbtn == 0)
+ return 0;
+
+ memcpy(old_state, fixed_input_state, STATE_BYTES);
+
+ /* ?0SA 00DU, ?1CB RLDU */
+ switch (mdbtn) {
+ case MDBTN_UP:
+ changed_bits[0] = 0x01;
+ changed_bits[1] = 0x01;
+ break;
+ case MDBTN_DOWN:
+ changed_bits[0] = 0x02;
+ changed_bits[1] = 0x02;
+ break;
+ case MDBTN_LEFT:
+ changed_bits[0] = 0x00;
+ changed_bits[1] = 0x04;
+ break;
+ case MDBTN_RIGHT:
+ changed_bits[0] = 0x00;
+ changed_bits[1] = 0x08;
+ break;
+ case MDBTN_A:
+ changed_bits[0] = 0x10;
+ changed_bits[1] = 0x00;
+ break;
+ case MDBTN_B:
+ changed_bits[0] = 0x00;
+ changed_bits[1] = 0x10;
+ break;
+ case MDBTN_C:
+ changed_bits[0] = 0x00;
+ changed_bits[1] = 0x20;
+ break;
+ case MDBTN_START:
+ changed_bits[0] = 0x20;
+ changed_bits[1] = 0x00;
+ break;
+ }
+
+ if (ev.value) {
+ // key press
+ for (i = 0; i < STATE_BYTES; i++)
+ fixed_input_state[i] &= ~changed_bits[i];
+ }
+ else {
+ // key release
+ for (i = 0; i < STATE_BYTES; i++)
+ fixed_input_state[i] |= changed_bits[i];
+ }
+
+ return memcmp(old_state, fixed_input_state, STATE_BYTES) ? 1 : 0;
+}
+
+#define MAX_INPUT_BYTES 2
+
+// TODO: 6btn
+static int tas_data_to_teensy(uint16_t b, uint8_t *data, FILE *logf)
+{
+ uint8_t t;
+
+ /* SCBA RLDU */
+ /* v */
+ /* ?0SA 00DU, ?1CB RLDU */
+ data[0] = (b & 0x13) | ((b >> 2) & 0x20);
+ data[1] = (b & 0x0f) | ((b >> 1) & 0x30);
+
+ if (logf != NULL) {
+ fwrite(&data[0], 1, 1, logf);
+ t = data[1] | 0x40; // expected TH
+ fwrite(&t, 1, 1, logf);
+ }
+
+ return 2;
+}
+
+struct gmv_tas {
+ char sig[15];
+ char ver;
+ uint32_t rerecord_count;
+ char ctrl1;
+ char ctrl2;
+ uint16_t flags;
+ char name[40];
+ uint8_t data[0][3];
+};
+
+static int import_gmv(FILE *f, long size,
+ uint8_t *out[2], int out_byte_count[2], FILE *logf)
+{
+ struct gmv_tas *gmv;
+ int frame_count;
+ int count = 0;
+ uint16_t val;
+ int ret;
+ int i;
+
+ out_byte_count[0] = out_byte_count[1] = 0;
+
+ if (size < (long)sizeof(*gmv)) {
+ fprintf(stderr, "bad gmv size: %ld\n", size);
+ return -1;
+ }
+
+ gmv = malloc(size);
+ if (gmv == NULL) {
+ fprintf(stderr, "OOM?\n");
+ return -1;
+ }
+ ret = fread(gmv, 1, size, f);
+ if (ret != size) {
+ fprintf(stderr, "fread %d/%ld: ", ret, size);
+ perror("");
+ return -1;
+ }
+
+ frame_count = (size - sizeof(*gmv)) / sizeof(gmv->data[0]);
+
+ /* check the GMV.. */
+ if (frame_count <= 0 || size != sizeof(*gmv) + frame_count * 3) {
+ fprintf(stderr, "broken gmv? frames=%d\n", frame_count);
+ return -1;
+ }
+
+ if (strncmp(gmv->sig, "Gens Movie TEST", 15) != 0) {
+ fprintf(stderr, "bad GMV sig\n");
+ return -1;
+ }
+ if (gmv->ctrl1 != '3') {
+ fprintf(stderr, "unhandled controlled config: '%c'\n", gmv->ctrl1);
+ //return -1;
+ }
+ if (gmv->ver >= 'A') {
+ if (gmv->flags & 0x40) {
+ fprintf(stderr, "unhandled flag: movie requires a savestate\n");
+ return -1;
+ }
+ if (gmv->flags & 0x20) {
+ fprintf(stderr, "unhandled flag: 3-player movie\n");
+ return -1;
+ }
+ if (gmv->flags & ~0x80) {
+ //fprintf(stderr, "unhandled flag(s): %04x\n", gmv->flags);
+ //return 1;
+ }
+ }
+ gmv->name[39] = 0;
+ printf("loaded GMV: %s\n", gmv->name);
+ printf("%d frames, %u rerecords\n",
+ frame_count, gmv->rerecord_count);
+
+ out[0] = malloc(frame_count * MAX_INPUT_BYTES);
+ if (out[0] == NULL) {
+ fprintf(stderr, "OOM?\n");
+ return -1;
+ }
+
+ for (i = 0; i < frame_count; i++) {
+ val = gmv->data[i][0] | ((gmv->data[i][2] & 0x0f) << 8);
+ count += tas_data_to_teensy(val, out[0] + count, logf);
+
+ if (gmv->data[i][1] != 0xff || gmv->data[i][2] != 0xff)
+ {
+ fprintf(stderr, "f %d: unhandled byte(s) %02x %02x\n",
+ i, gmv->data[i][1], gmv->data[i][2]);
+ }
+ }
+
+ out_byte_count[0] = count;
+ return 0;
+}
+
+static int do_bkm_char(char c, char expect, uint16_t *val, int bit)
+{
+ if (c == expect) {
+ *val &= ~(1 << bit);
+ return 0;
+ }
+ if (c == '.')
+ return 0;
+
+ fprintf(stderr, "unexpected bkm char: '%c' instead of '%c'\n",
+ c, expect);
+ return 1;
+}
+
+static int import_bkm(FILE *f, uint8_t *out[2], int out_byte_count[2],
+ FILE *logf)
+{
+ int teensy_bytes = 0;
+ int have_pl2 = 0;
+ int have_xyz = 0;
+ int frames = 0;
+ int count = 0;
+ int alloc = 0;
+ int line = 0;
+ char buf[256];
+ const char *r;
+ uint16_t val;
+ char *p;
+ int pl, i;
+
+ while ((p = fgets(buf, sizeof(buf), f)) != NULL)
+ {
+ line++;
+ if (p[0] != '|')
+ continue;
+
+ if (strlen(p) < 30)
+ goto unhandled_line;
+ if (p[30] != '\r' && p[30] != '\n')
+ goto unhandled_line;
+ p[30] = 0;
+
+ if (count >= alloc - MAX_INPUT_BYTES) {
+ alloc = alloc * 2 + 64;
+ for (pl = 0; pl < 2; pl++) {
+ out[pl] = realloc(out[pl], alloc * sizeof(out[0][0]));
+ if (out[pl] == NULL) {
+ fprintf(stderr, "OOM?\n");
+ return -1;
+ }
+ }
+ }
+
+ if (strncmp(p, "|.|", 3) != 0)
+ goto unhandled_line;
+ p += 3;
+
+ for (pl = 0; pl < 2; pl++) {
+ static const char ref[] = "UDLRABCSXYZM";
+
+ val = 0xfff;
+ for (r = ref, i = 0; *r != 0; p++, r++, i++) {
+ if (do_bkm_char(*p, *r, &val, i))
+ goto unhandled_line;
+ }
+
+ if (*p++ != '|')
+ goto unhandled_line;
+
+ teensy_bytes = tas_data_to_teensy(val, out[pl] + count, logf);
+
+ if ((val & 0xf00) != 0xf00)
+ have_xyz = 1;
+ if (pl == 1)
+ have_pl2 |= (val != 0xfff);
+ }
+ count += teensy_bytes;
+
+ if (strcmp(p, "|") != 0)
+ goto unhandled_line;
+
+ frames++;
+ continue;
+
+unhandled_line:
+ fprintf(stderr, "unhandled bkm line %d: '%s'\n", line, buf);
+ return -1;
+ }
+
+ printf("loaded bkm, %d players, %d frames, %d bytes, have_xyz=%d\n",
+ have_pl2 ? 2 : 1, frames, count, have_xyz);
+ out_byte_count[0] = count;
+ if (have_pl2)
+ out_byte_count[1] = count;
+ else {
+ free(out[1]);
+ out[1] = NULL;
+ }
+
+ return 0;
+}
+
+static int import_raw(FILE *f, uint8_t **out, int *out_byte_count,
+ FILE *logf)
+{
+ int count = 0;
+ int alloc = 0;
+ int line = 0;
+ int first = 1;
+ char buf[256];
+ uint8_t val;
+ char *p;
+ int i;
+
+ *out_byte_count = 0;
+
+ while ((p = fgets(buf, sizeof(buf), f)) != NULL)
+ {
+ line++;
+ if (p[0] == '#')
+ continue;
+ if (p[0] != 'e') {
+ printf("skipping: %s", p);
+ continue;
+ }
+
+ val = 0;
+ p++;
+ for (i = 6; i >= 0; i--, p++) {
+ if (*p != '0' && *p != '1')
+ goto bad;
+ if (*p == '1')
+ val |= 1 << i;
+ }
+ if (*p != ' ')
+ goto bad;
+
+ if (first && (val & 0x40))
+ continue; // XXX..
+ first = 0;
+
+ if (count >= alloc) {
+ alloc = alloc * 2 + 64;
+ *out = realloc(*out, alloc * sizeof((*out)[0]));
+ if (*out == NULL) {
+ fprintf(stderr, "OOM?\n");
+ return -1;
+ }
+ }
+
+ if (logf)
+ fwrite(&val, 1, 1, logf);
+
+ (*out)[count++] = val & 0x3f;
+ continue;
+
+bad:
+ fprintf(stderr, "bad raw line %d: '%s'\n", line, buf);
+ return -1;
+ }
+
+ printf("loaded raw, %d bytes\n", count);
+ *out_byte_count = count;
+ return 0;
+}
+
+static int write_bkm_frame(FILE *f, const uint8_t *data)
+{
+ /* ?0SA 00DU, ?1CB RLDU */
+ static const char ref[] = "UDLRABCSXYZM";
+ static const char bits[] = { 0,1,2,3, 12,4,5,13, 16,16,16,16 };
+ uint32_t idata[2];
+ int p, i;
+
+ if (f == NULL) {
+ fprintf(stderr, "%s called without outfile\n", __func__);
+ goto out;
+ }
+
+ idata[0] = 0x10000 | (data[0] << 8) | data[1];
+ idata[1] = ~0;
+
+ fprintf(f, "|.|");
+ for (p = 0; p < 2; p++) {
+ for (i = 0; i < 12; i++)
+ fprintf(f, "%c", (idata[p] & (1 << bits[i])) ? '.' : ref[i]);
+ fprintf(f, "|");
+ }
+ fprintf(f, "|\n");
+
+out:
+ return 2;
+}
+
+static int submit_urb(int fd, struct usbdevfs_urb *urb, int ep,
+ void *buf, size_t buf_size)
+{
+ memset(urb, 0, sizeof(*urb));
+ urb->type = USBDEVFS_URB_TYPE_INTERRUPT;
+ urb->endpoint = ep;
+ urb->buffer = buf;
+ urb->buffer_length = buf_size;
+
+ return ioctl(fd, USBDEVFS_SUBMITURB, urb);
+}
+
+enum my_urbs {
+ URB_DATA_IN,
+ URB_DATA_OUT,
+ URB_DBG_IN,
+ URB_CNT
+};
+
+static void missing_arg(int a)
+{
+ fprintf(stderr, "missing arg: %d\n", a);
+ exit(1);
+}
+
+int main(int argc, char *argv[])
+{
+ struct teensy_dev dev;
+ struct usbdevfs_urb urb[URB_CNT];
+ struct usbdevfs_urb *reaped_urb;
+ int fixed_input_changed = 0;
+ int evdev_fds[16];
+ int evdev_fd_cnt = 0;
+ int evdev_support;
+ int wait_device = 0;
+ int pending_urbs = 0;
+ fd_set rfds, wfds;
+ const char *tasfn = NULL;
+ const char *tasfn_p2 = NULL;
+ const char *outfn = NULL;
+ const char *logfn = NULL;
+ uint8_t *tas_data[2] = { NULL, NULL };
+ int tas_data_size[2] = { 0, 0 };
+ int bytes_sent[2] = { 0, 0 };
+ int use_vsync = 0; // frame increment on vsync
+ int separate_2p = 0;
+ int no_start_seq = 0;
+ int enable_sent = 0;
+ int abort_sent = 0;
+ int frame_count = 0;
+ char buf_dbg[64 + 1];
+ struct tas_pkt pkt_in;
+ struct tas_pkt pkt_out;
+ struct timeval *timeout = NULL;
+ struct timeval tout;
+ FILE *outf = NULL;
+ FILE *logf = NULL;
+ int i, ret = -1;
+ int fd;
+
+ for (i = 1; i < argc; i++) {
+ if (argv[i][0] == '-') {
+ switch (argv[i][1] | (argv[i][2] << 8)) {
+ case 'm':
+ i++;
+ if (argv[i] == NULL)
+ missing_arg(i);
+ tasfn = argv[i];
+ continue;
+ case '2':
+ i++;
+ if (argv[i] == NULL)
+ missing_arg(i);
+ tasfn_p2 = argv[i];
+ continue;
+ case 'w':
+ i++;
+ if (argv[i] == NULL)
+ missing_arg(i);
+ outfn = argv[i];
+ continue;
+ case 'l':
+ i++;
+ if (argv[i] == NULL)
+ missing_arg(i);
+ logfn = argv[i];
+ continue;
+ case 'v':
+ use_vsync = 1;
+ continue;
+ case 'n':
+ no_start_seq = 1;
+ continue;
+ default:
+ fprintf(stderr, "bad arg: %s\n", argv[i]);
+ return 1;
+ }
+ }
+
+ /* remaining args are evdev filenames */
+ if (evdev_fd_cnt >= ARRAY_SIZE(evdev_fds)) {
+ fprintf(stderr, "too many evdevs\n");
+ break;
+ }
+ fd = open(argv[i], O_RDONLY);
+ if (fd == -1) {
+ fprintf(stderr, "open %s: ", argv[i]);
+ perror("");
+ continue;
+ }
+ evdev_support = 0;
+ ret = ioctl(fd, EVIOCGBIT(0, sizeof(evdev_support)),
+ &evdev_support);
+ if (ret < 0)
+ perror("EVIOCGBIT");
+ if (!(evdev_support & (1 << EV_KEY))) {
+ fprintf(stderr, "%s doesn't have keys\n", argv[i]);
+ close(fd);
+ continue;
+ }
+ evdev_fds[evdev_fd_cnt++] = fd;
+ }
+
+ if (logfn != NULL) {
+ logf = fopen(logfn, "wb");
+ if (logf == NULL) {
+ fprintf(stderr, "fopen %s: ", logfn);
+ perror("");
+ return 1;
+ }
+ }
+
+ if (tasfn != NULL) {
+ FILE *f, *f_p2 = NULL;
+ const char *ext;
+ long size;
+
+ f = fopen(tasfn, "rb");
+ if (f == NULL) {
+ fprintf(stderr, "fopen %s: ", tasfn);
+ perror("");
+ return 1;
+ }
+
+ if (tasfn_p2 != NULL) {
+ f_p2 = fopen(tasfn_p2, "rb");
+ if (f_p2 == NULL) {
+ fprintf(stderr, "fopen %s: ", tasfn_p2);
+ perror("");
+ return 1;
+ }
+ }
+
+ fseek(f, 0, SEEK_END);
+ size = ftell(f);
+ fseek(f, 0, SEEK_SET);
+ if (size <= 0) {
+ fprintf(stderr, "bad size: %ld\n", size);
+ return 1;
+ }
+
+ ext = strrchr(tasfn, '.');
+ if (ext == NULL)
+ ext = tasfn;
+ else
+ ext++;
+
+ if (strcasecmp(ext, "gmv") == 0)
+ ret = import_gmv(f, size, tas_data, tas_data_size, logf);
+ else if (strcasecmp(ext, "bkm") == 0)
+ ret = import_bkm(f, tas_data, tas_data_size, logf);
+ else if (strcasecmp(ext, "txt") == 0)
+ ret = import_raw(f, &tas_data[0], &tas_data_size[0], logf);
+ else {
+ fprintf(stderr, "unknown movie type: '%s'\n", ext);
+ return 1;
+ }
+ fclose(f);
+
+ if (ret != 0 || tas_data[0] == NULL || tas_data_size[0] <= 0) {
+ fprintf(stderr, "failed fo parse %s\n", tasfn);
+ return 1;
+ }
+
+ // separate file with p2 input?
+ if (f_p2 != NULL) {
+ ret = import_raw(f_p2, &tas_data[1], &tas_data_size[1], NULL);
+ if (ret != 0 || tas_data[1] == NULL || tas_data_size[1] <= 0) {
+ fprintf(stderr, "failed fo parse %s\n", tasfn_p2);
+ return 1;
+ }
+ fclose(f_p2);
+ separate_2p = 1;
+ }
+
+ if (logf != NULL) {
+ fclose(logf);
+ logf = NULL;
+ }
+
+ if (tas_data_size[1] != 0 && tas_data[1] == NULL) {
+ fprintf(stderr, "missing tas_data[1]\n");
+ return 1;
+ }
+ }
+
+ if (outfn != NULL) {
+ outf = fopen(outfn, "w");
+ if (outf == NULL) {
+ fprintf(stderr, "fopen %s: ", outfn);
+ perror("");
+ return 1;
+ }
+ }
+
+ enable_echo(0);
+ signal(SIGINT, signal_handler);
+
+ dev.fd = -1;
+
+ while (!g_exit || (pending_urbs & (1 << URB_DATA_OUT)))
+ {
+ if (dev.fd == -1) {
+ ret = find_device(&dev, 0x16C0, 0x0486);
+ if (ret < 0)
+ break;
+
+ if (ret == 0) {
+ if (!wait_device) {
+ printf("waiting for device..\n");
+ wait_device = 1;
+ }
+ usleep(250000);
+ continue;
+ }
+
+ wait_device = 0;
+ pending_urbs = 0;
+ enable_sent = 0;
+ bytes_sent[0] = 0;
+ bytes_sent[1] = 0;
+
+ /* we wait first, then send commands, but if teensy
+ * is started already, it won't send anything */
+ tout.tv_sec = 1;
+ tout.tv_usec = 0;
+ timeout = &tout;
+ }
+
+ if (!(pending_urbs & (1 << URB_DATA_IN))) {
+ memset(&pkt_in, 0, sizeof(pkt_in));
+ ret = submit_urb(dev.fd, &urb[URB_DATA_IN], dev.ifaces[0].ep_in,
+ &pkt_in, sizeof(pkt_in));
+ if (ret != 0) {
+ perror("USBDEVFS_SUBMITURB URB_DATA_IN");
+ break;
+ }
+
+ pending_urbs |= 1 << URB_DATA_IN;
+ }
+ if (!(pending_urbs & (1 << URB_DBG_IN))) {
+ ret = submit_urb(dev.fd, &urb[URB_DBG_IN], dev.ifaces[1].ep_in,
+ buf_dbg, sizeof(buf_dbg) - 1);
+ if (ret != 0) {
+ perror("USBDEVFS_SUBMITURB URB_DBG_IN");
+ break;
+ }
+
+ pending_urbs |= 1 << URB_DBG_IN;
+ }
+
+ FD_ZERO(&rfds);
+ FD_SET(STDIN_FILENO, &rfds);
+ for (i = 0; i < evdev_fd_cnt; i++)
+ FD_SET(evdev_fds[i], &rfds);
+
+ FD_ZERO(&wfds);
+ FD_SET(dev.fd, &wfds);
+
+ ret = select(dev.fd + 1, &rfds, &wfds, NULL, timeout);
+ if (ret < 0) {
+ perror("select");
+ break;
+ }
+ timeout = NULL;
+
+ /* sometihng form stdin? */
+ if (FD_ISSET(STDIN_FILENO, &rfds)) {
+ char c = 0;
+ ret = read(STDIN_FILENO, &c, 1);
+ if (ret <= 0) {
+ perror("read stdin");
+ break;
+ }
+
+ switch (c) {
+ case 'r':
+ enable_sent = 0;
+ break;
+ }
+ }
+
+ /* something from input devices? */
+ for (i = 0; i < evdev_fd_cnt; i++) {
+ if (FD_ISSET(evdev_fds[i], &rfds)) {
+ fixed_input_changed |=
+ do_evdev_input(evdev_fds[i]);
+ }
+ }
+
+ /* something from USB? */
+ if (FD_ISSET(dev.fd, &wfds))
+ {
+ unsigned int which_urb;
+
+ reaped_urb = NULL;
+ ret = ioctl(dev.fd, USBDEVFS_REAPURB, &reaped_urb);
+ if (ret != 0) {
+ if (errno == ENODEV)
+ goto dev_close;
+ perror("USBDEVFS_REAPURB");
+ break;
+ }
+ which_urb = reaped_urb - urb;
+ if (which_urb < ARRAY_SIZE(urb))
+ pending_urbs &= ~(1 << which_urb);
+ else {
+ fprintf(stderr, "reaped unknown urb: %p #%u",
+ reaped_urb, which_urb);
+ }
+
+ if (reaped_urb != NULL && reaped_urb->status != 0) {
+ errno = -reaped_urb->status;
+ fprintf(stderr, "urb #%u: ", which_urb);
+ perror("");
+ if (reaped_urb->status == -EILSEQ) {
+ /* this is usually a sign of disconnect.. */
+ usleep(250000);
+ goto dev_close;
+ }
+ }
+ else if (reaped_urb == &urb[URB_DATA_IN])
+ {
+ int p;
+
+ /* some request from teensy */
+ switch (pkt_in.type) {
+ case PKT_STREAM_REQ:
+ p = pkt_in.req.is_p2 ? 1 : 0;
+ printf("req%d: %d/%d/%d\n", pkt_in.req.is_p2,
+ pkt_in.req.frame * 2, bytes_sent[p], tas_data_size[p]);
+
+ pkt_out.size = 0;
+ if (bytes_sent[p] < tas_data_size[p]) {
+ pkt_out.type = p ? PKT_STREAM_DATA_TO_P2
+ : PKT_STREAM_DATA_TO_P1;
+
+ i = tas_data_size[p] - bytes_sent[p];
+ if (i > sizeof(pkt_out.data))
+ i = sizeof(pkt_out.data);
+ memcpy(pkt_out.data, tas_data[p] + bytes_sent[p], i);
+ bytes_sent[p] += i;
+ pkt_out.size = i;
+ }
+ else {
+ pkt_out.type = PKT_STREAM_END;
+ }
+
+ ret = submit_urb(dev.fd, &urb[URB_DATA_OUT],
+ dev.ifaces[0].ep_out, &pkt_out, sizeof(pkt_out));
+ if (ret != 0)
+ perror("USBDEVFS_SUBMITURB PKT_STREAM_DATA_TO");
+ break;
+
+ case PKT_STREAM_DATA_FROM:
+ printf("f: %d\n", frame_count);
+ if (pkt_in.size == 0 || pkt_in.size > sizeof(pkt_out.data)) {
+ printf("host: got bad DATA_FROM size: %u\n", pkt_in.size);
+ break;
+ }
+ for (i = 0; i < pkt_in.size; ) {
+ i += write_bkm_frame(outf, pkt_in.data + i);
+ frame_count++;
+ }
+ break;
+
+ default:
+ printf("host: got unknown pkt type: %04x\n", pkt_in.type);
+ break;
+ }
+ }
+ else if (reaped_urb == &urb[URB_DATA_OUT])
+ {
+ }
+ else if (reaped_urb == &urb[URB_DBG_IN])
+ {
+ /* debug text */
+ buf_dbg[reaped_urb->actual_length] = 0;
+ printf("%s", buf_dbg);
+
+ // continue receiving debug before sending out stuff
+ tout.tv_sec = 0;
+ tout.tv_usec = 1000;
+ timeout = &tout;
+ continue;
+ }
+ else {
+ fprintf(stderr, "reaped unknown urb? %p #%zu\n",
+ reaped_urb, reaped_urb - urb);
+ }
+ }
+
+ /* something to send? */
+ if (pending_urbs & (1 << URB_DATA_OUT))
+ // can't do that yet
+ continue;
+
+ if ((tas_data[0] != NULL || outf != NULL) && !enable_sent) {
+ memset(&pkt_out, 0, sizeof(pkt_out));
+ pkt_out.type = PKT_STREAM_ENABLE;
+ pkt_out.enable.stream_to = (tas_data[0] != NULL);
+ pkt_out.enable.stream_from = (outf != NULL);
+ pkt_out.enable.no_start_seq = no_start_seq;
+ if (use_vsync)
+ pkt_out.enable.inc_mode = INC_MODE_VSYNC;
+ else if (tas_data_size[1] != 0 && separate_2p)
+ pkt_out.enable.inc_mode = INC_MODE_SEPARATE;
+ else if (tas_data_size[1] != 0)
+ pkt_out.enable.inc_mode = INC_MODE_SHARED_PL2;
+ else
+ pkt_out.enable.inc_mode = INC_MODE_SHARED_PL1;
+
+ ret = submit_urb(dev.fd, &urb[URB_DATA_OUT], dev.ifaces[0].ep_out,
+ &pkt_out, sizeof(pkt_out));
+ if (ret != 0) {
+ perror("USBDEVFS_SUBMITURB PKT_STREAM_ENABLE");
+ continue;
+ }
+ pending_urbs |= 1 << URB_DATA_OUT;
+ enable_sent = 1;
+ bytes_sent[0] = 0;
+ bytes_sent[1] = 0;
+ continue;
+ }
+ if (tas_data[0] == NULL && fixed_input_changed) {
+ memset(&pkt_out, 0, sizeof(pkt_out));
+ pkt_out.type = PKT_FIXED_STATE;
+ memcpy(pkt_out.data, fixed_input_state, sizeof(fixed_input_state));
+
+ ret = submit_urb(dev.fd, &urb[URB_DATA_OUT], dev.ifaces[0].ep_out,
+ &pkt_out, sizeof(pkt_out));
+ if (ret != 0) {
+ perror("USBDEVFS_SUBMITURB PKT_FIXED_STATE");
+ break;
+ }
+ fixed_input_changed = 0;
+ pending_urbs |= 1 << URB_DATA_OUT;
+ continue;
+ }
+ if (g_exit && !abort_sent) {
+ memset(&pkt_out, 0, sizeof(pkt_out));
+ pkt_out.type = PKT_STREAM_ABORT;
+
+ ret = submit_urb(dev.fd, &urb[URB_DATA_OUT], dev.ifaces[0].ep_out,
+ &pkt_out, sizeof(pkt_out));
+ if (ret != 0) {
+ perror("USBDEVFS_SUBMITURB PKT_STREAM_ABORT");
+ break;
+ }
+ pending_urbs |= 1 << URB_DATA_OUT;
+ abort_sent = 1;
+ continue;
+ }
+
+ continue;
+
+dev_close:
+ close(dev.fd);
+ dev.fd = -1;
+ }
+
+ enable_echo(1);
+
+ if (outf != NULL)
+ fclose(outf);
+
+ if (dev.fd != -1) {
+ /* deal with pending URBs */
+ if (pending_urbs & (1 << URB_DATA_IN))
+ ioctl(dev.fd, USBDEVFS_DISCARDURB, &urb[URB_DATA_IN]);
+ if (pending_urbs & (1 << URB_DBG_IN))
+ ioctl(dev.fd, USBDEVFS_DISCARDURB, &urb[URB_DBG_IN]);
+ for (i = 0; i < URB_CNT; i++) {
+ if (pending_urbs & (1 << i)) {
+ ret = ioctl(dev.fd, USBDEVFS_REAPURB, &reaped_urb);
+ if (ret != 0)
+ perror("USBDEVFS_REAPURB");
+ }
+ }
+
+ close(dev.fd);
+ }
+
+ return ret;
+}
+
+// vim: ts=2:sw=2:expandtab
--- /dev/null
+/*
+ * TeensyTAS, TAS input player for MegaDrive
+ * Copyright (c) 2014 notaz
+ *
+ * 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:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * 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 <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include "teensy3/core_pins.h"
+#include "teensy3/usb_seremu.h"
+#include "teensy3/usb_rawhid.h"
+#include "pkts.h"
+
+#define ARRAY_SIZE(x) (sizeof(x) / sizeof(x[0]))
+
+#define noinline __attribute__((noinline))
+
+// use power of 2
+#define STREAM_BUF_SIZE 512
+#define STREAM_BUF_MASK (512 - 1)
+
+/* ?0SA 00DU, ?1CB RLDU */
+#define STREAM_EL_SZ 2
+
+static struct {
+ uint8_t stream_to[2][STREAM_BUF_SIZE][STREAM_EL_SZ];
+ uint8_t stream_from[STREAM_BUF_SIZE][STREAM_EL_SZ];
+ struct {
+ union {
+ uint8_t fixed_state[4];
+ uint32_t fixed_state32;
+ };
+ union {
+ uint8_t pending_state[4];
+ uint32_t pending_state32;
+ };
+ } pl[2];
+ uint32_t stream_enable_to:1;
+ uint32_t stream_enable_from:1;
+ uint32_t stream_started:1;
+ uint32_t stream_ended:1;
+ uint32_t inc_mode:2;
+ uint32_t use_pending:1;
+ uint32_t frame_cnt;
+ uint32_t edge_cnt;
+ struct {
+ uint32_t i;
+ uint32_t o;
+ } pos_to_p[2], pos_from;
+} g;
+
+ssize_t _write(int fd, const void *buf, size_t nbyte)
+{
+ char tbuf[64];
+ int ret;
+
+ if (fd != 1 && fd != 2) {
+ snprintf(tbuf, sizeof(tbuf), "write to fd %d\n", fd);
+ usb_seremu_write(tbuf, strlen(tbuf));
+ }
+
+ ret = usb_seremu_write(buf, nbyte);
+ return ret < 0 ? ret : nbyte;
+}
+
+void yield(void)
+{
+}
+
+static noinline void choose_isrs_idle(void);
+
+/* player1 TH */
+#define PL1_ISFR PORTD_ISFR
+#define PL1_TH() ((CORE_PIN21_PINREG >> CORE_PIN21_BIT) & 1)
+
+static void pl1th_isr_fixed(void)
+{
+ uint32_t isfr, th;
+
+ isfr = PL1_ISFR;
+ PL1_ISFR = isfr;
+ th = PL1_TH();
+
+ GPIOD_PDOR = g.pl[0].fixed_state[th];
+ g.edge_cnt++;
+}
+
+static noinline void do_to_step_pl1(void)
+{
+ g.frame_cnt++;
+
+ g.pos_to_p[0].o = (g.pos_to_p[0].o + 1) & STREAM_BUF_MASK;
+ if (g.pos_to_p[0].o == g.pos_to_p[0].i)
+ // done
+ choose_isrs_idle();
+}
+
+static void pl1th_isr_do_to_inc(void)
+{
+ uint32_t isfr, th;
+
+ isfr = PL1_ISFR;
+ PL1_ISFR = isfr;
+ th = PL1_TH();
+
+ GPIOD_PDOR = g.stream_to[0][g.pos_to_p[0].o][th];
+ if (th)
+ do_to_step_pl1();
+}
+
+static void pl1th_isr_do_to(void)
+{
+ uint32_t isfr, th;
+
+ isfr = PL1_ISFR;
+ PL1_ISFR = isfr;
+ th = PL1_TH();
+
+ GPIOD_PDOR = g.stream_to[0][g.pos_to_p[0].o][th];
+ g.edge_cnt++;
+}
+
+/* player2 TH */
+#define PL2_ISFR PORTC_ISFR
+#define PL2_TH() ((CORE_PIN15_PINREG >> CORE_PIN15_BIT) & 1)
+#define PL2_ADJ(x) ((x) | ((x) << 12))
+
+static void pl2th_isr_fixed(void)
+{
+ uint32_t isfr, th, v;
+
+ isfr = PL2_ISFR;
+ PL2_ISFR = isfr;
+ th = PL2_TH();
+
+ v = g.pl[1].fixed_state[th];
+ GPIOB_PDOR = PL2_ADJ(v);
+}
+
+static noinline void do_to_step_pl2(void)
+{
+ g.pos_to_p[1].o = (g.pos_to_p[1].o + 1) & STREAM_BUF_MASK;
+ if (g.pos_to_p[1].o == g.pos_to_p[1].i)
+ // done
+ choose_isrs_idle();
+}
+
+static void pl2th_isr_do_to_inc(void)
+{
+ uint32_t isfr, th, v;
+
+ isfr = PL2_ISFR;
+ PL2_ISFR = isfr;
+ th = PL2_TH();
+
+ v = g.stream_to[1][g.pos_to_p[1].o][th];
+ GPIOB_PDOR = PL2_ADJ(v);
+ if (th)
+ do_to_step_pl2();
+}
+
+static void pl2th_isr_do_to_p1d(void)
+{
+ uint32_t isfr, th, v;
+
+ isfr = PL2_ISFR;
+ PL2_ISFR = isfr;
+ th = PL2_TH();
+
+ v = g.stream_to[1][g.pos_to_p[0].o][th];
+ GPIOB_PDOR = PL2_ADJ(v);
+
+ g.pos_to_p[1].o = g.pos_to_p[0].o;
+}
+
+static void pl2th_isr_do_to_inc_pl1(void)
+{
+ uint32_t isfr, th, v;
+
+ isfr = PL2_ISFR;
+ PL2_ISFR = isfr;
+ th = PL2_TH();
+
+ v = g.stream_to[1][g.pos_to_p[1].o][th];
+ GPIOB_PDOR = PL2_ADJ(v);
+ if (th) {
+ do_to_step_pl1();
+ g.pos_to_p[1].o = g.pos_to_p[0].o;
+ }
+}
+
+/* vsync handler */
+#define VSYNC_ISFR PORTC_ISFR
+
+static void vsync_isr_nop(void)
+{
+ uint32_t isfr;
+
+ isfr = VSYNC_ISFR;
+ VSYNC_ISFR = isfr;
+}
+
+// /vsync starts at line 235/259 (ntsc/pal), just as vcounter jumps back
+// we care when it comes out (/vsync goes high) after 3 lines at 238/262
+static void vsync_isr_frameinc(void)
+{
+ uint32_t isfr;
+
+ isfr = VSYNC_ISFR;
+ VSYNC_ISFR = isfr;
+
+ g.pos_to_p[0].o = (g.pos_to_p[0].o + 1) & STREAM_BUF_MASK;
+ g.pos_to_p[1].o = g.pos_to_p[0].o;
+
+ if (g.pos_to_p[0].o == g.pos_to_p[0].i)
+ choose_isrs_idle();
+ g.frame_cnt++;
+}
+
+/* "recording" data */
+static noinline void do_from_step(void)
+{
+ uint32_t s;
+
+ // should hopefully give atomic fixed_state read..
+ s = g.pl[0].fixed_state32;
+ g.pl[0].fixed_state32 = g.pl[0].pending_state32;
+ g.stream_from[g.pos_from.i][0] = s;
+ g.stream_from[g.pos_from.i][1] = s >> 8;
+ g.pos_from.i = (g.pos_from.i + 1) & STREAM_BUF_MASK;
+}
+
+static void pl1th_isr_fixed_do_from(void)
+{
+ uint32_t isfr, th;
+
+ isfr = PL1_ISFR;
+ PL1_ISFR = isfr;
+ th = PL1_TH();
+
+ GPIOD_PDOR = g.pl[0].fixed_state[th];
+ if (th)
+ do_from_step();
+ g.edge_cnt++;
+}
+
+static void vsync_isr_frameinc_do_from(void)
+{
+ uint32_t isfr;
+
+ isfr = VSYNC_ISFR;
+ VSYNC_ISFR = isfr;
+
+ do_from_step();
+ g.frame_cnt++;
+}
+
+/* * */
+static void choose_isrs(void)
+{
+ void (*pl1th_handler)(void) = pl1th_isr_fixed;
+ void (*pl2th_handler)(void) = pl2th_isr_fixed;
+ void (*vsync_handler)(void) = vsync_isr_nop;
+
+ if (g.stream_enable_to) {
+ switch (g.inc_mode) {
+ case INC_MODE_VSYNC:
+ pl1th_handler = pl1th_isr_do_to;
+ pl2th_handler = pl2th_isr_do_to_p1d;
+ vsync_handler = vsync_isr_frameinc;
+ break;
+ case INC_MODE_SHARED_PL1:
+ pl1th_handler = pl1th_isr_do_to_inc;
+ pl2th_handler = pl2th_isr_do_to_p1d;
+ break;
+ case INC_MODE_SHARED_PL2:
+ pl1th_handler = pl1th_isr_do_to;
+ pl2th_handler = pl2th_isr_do_to_inc_pl1;
+ break;
+ case INC_MODE_SEPARATE:
+ pl1th_handler = pl1th_isr_do_to_inc;
+ pl2th_handler = pl2th_isr_do_to_inc;
+ break;
+ }
+ }
+ else if (g.stream_enable_from) {
+ g.use_pending = 1;
+ switch (g.inc_mode) {
+ case INC_MODE_VSYNC:
+ vsync_handler = vsync_isr_frameinc_do_from;
+ break;
+ case INC_MODE_SHARED_PL1:
+ pl1th_handler = pl1th_isr_fixed_do_from;
+ break;
+ case INC_MODE_SHARED_PL2:
+ case INC_MODE_SEPARATE:
+ /* TODO */
+ break;
+ }
+ }
+
+ attachInterruptVector(IRQ_PORTD, pl1th_handler);
+ attachInterruptVector(IRQ_PORTC, pl2th_handler);
+ attachInterruptVector(IRQ_PORTA, vsync_handler);
+}
+
+static noinline void choose_isrs_idle(void)
+{
+ attachInterruptVector(IRQ_PORTD, pl1th_isr_fixed);
+ attachInterruptVector(IRQ_PORTC, pl2th_isr_fixed);
+ attachInterruptVector(IRQ_PORTA, vsync_isr_nop);
+}
+
+static void udelay(uint32_t us)
+{
+ uint32_t start = micros();
+
+ while ((micros() - start) < us) {
+ asm volatile("nop; nop; nop; nop");
+ yield();
+ }
+}
+
+static void do_start_seq(void)
+{
+ uint32_t edge_cnt_last;
+ uint32_t edge_cnt;
+ uint32_t start, t1, t2;
+ int tout;
+
+ start = micros();
+ edge_cnt = g.edge_cnt;
+
+ /* magic value */
+ g.pl[0].fixed_state[0] =
+ g.pl[0].fixed_state[1] = 0x25;
+
+ for (tout = 10000; tout > 0; tout--) {
+ edge_cnt_last = edge_cnt;
+ udelay(100);
+ edge_cnt = g.edge_cnt;
+
+ if (edge_cnt != edge_cnt_last)
+ continue;
+ if (!PL1_TH())
+ break;
+ }
+
+ g.pl[0].fixed_state[0] = 0x33;
+ g.pl[0].fixed_state[1] = 0x3f;
+ GPIOD_PDOR = 0x33;
+
+ t1 = micros();
+ if (tout == 0) {
+ printf("start_seq timeout1, t=%u\n", t1 - start);
+ return;
+ }
+
+ for (tout = 100000; tout > 0; tout--) {
+ udelay(1);
+
+ if (PL1_TH())
+ break;
+ }
+
+ t2 = micros();
+ if (tout == 0) {
+ printf("start_seq timeout2, t1=%u, t2=%u\n",
+ t1 - start, t2 - t1);
+ return;
+ }
+
+ //printf(" t1=%u, t2=%u\n", t1 - start, t2 - t1);
+
+ if (g.stream_started) {
+ printf("got start_seq when already started\n");
+ return;
+ }
+
+ if (!g.stream_enable_to && !g.stream_enable_from) {
+ printf("got start_seq, without enable from USB\n");
+ return;
+ }
+
+ if (g.stream_enable_to && g.pos_to_p[0].i == g.pos_to_p[0].o) {
+ printf("got start_seq while stream_to is empty\n");
+ return;
+ }
+
+ if (g.stream_enable_from && g.pos_from.i != g.pos_from.o) {
+ printf("got start_seq while stream_from is not empty\n");
+ return;
+ }
+
+ __disable_irq();
+ choose_isrs();
+ g.stream_started = 1;
+ __enable_irq();
+}
+
+// callers must disable IRQs
+static void clear_state(void)
+{
+ int i;
+
+ g.stream_enable_to = 0;
+ g.stream_enable_from = 0;
+ g.stream_started = 0;
+ g.stream_ended = 0;
+ g.inc_mode = INC_MODE_VSYNC;
+ g.use_pending = 0;
+ for (i = 0; i < ARRAY_SIZE(g.pos_to_p); i++)
+ g.pos_to_p[i].i = g.pos_to_p[i].o = 0;
+ g.pos_from.i = g.pos_from.o = 0;
+ g.frame_cnt = 0;
+ memset(g.stream_to[1], 0x3f, sizeof(g.stream_to[1]));
+ choose_isrs_idle();
+}
+
+static int get_space_to(int p)
+{
+ return STREAM_BUF_SIZE - ((g.pos_to_p[p].i - g.pos_to_p[p].o)
+ & STREAM_BUF_MASK);
+}
+
+static int get_used_from(void)
+{
+ return (g.pos_from.i - g.pos_from.o) & STREAM_BUF_MASK;
+}
+
+static void do_usb(void *buf)
+{
+ struct tas_pkt *pkt = buf;
+ uint32_t pos_to_i, i, p;
+ int space;
+
+ switch (pkt->type) {
+ case PKT_FIXED_STATE:
+ memcpy(&i, pkt->data, sizeof(i));
+ if (g.use_pending)
+ g.pl[0].pending_state32 = i;
+ else
+ g.pl[0].fixed_state32 = i;
+ break;
+ case PKT_STREAM_ENABLE:
+ __disable_irq();
+ clear_state();
+ /* wait for start from MD */
+ g.stream_enable_to = pkt->enable.stream_to;
+ g.stream_enable_from = pkt->enable.stream_from;
+ g.inc_mode = pkt->enable.inc_mode;
+ if (pkt->enable.no_start_seq) {
+ GPIOD_PDOR = 0x3f;
+ choose_isrs();
+ g.stream_started = 1;
+ }
+ __enable_irq();
+ break;
+ case PKT_STREAM_ABORT:
+ __disable_irq();
+ clear_state();
+ __enable_irq();
+ break;
+ case PKT_STREAM_END:
+ g.stream_ended = 1;
+ printf("end of stream\n");
+ break;
+ case PKT_STREAM_DATA_TO_P1:
+ case PKT_STREAM_DATA_TO_P2:
+ p = pkt->type == PKT_STREAM_DATA_TO_P1 ? 0 : 1;
+ pos_to_i = g.pos_to_p[p].i;
+ space = get_space_to(p);
+ if (space <= pkt->size / STREAM_EL_SZ) {
+ printf("got data pkt while space=%d\n", space);
+ return;
+ }
+ for (i = 0; i < pkt->size / STREAM_EL_SZ; i++) {
+ memcpy(&g.stream_to[p][pos_to_i++],
+ pkt->data + i * STREAM_EL_SZ,
+ STREAM_EL_SZ);
+ pos_to_i &= STREAM_BUF_MASK;
+ }
+ g.pos_to_p[p].i = pos_to_i;
+ break;
+ default:
+ printf("got unknown pkt type: %04x\n", pkt->type);
+ break;
+ }
+}
+
+static void check_get_data(int p)
+{
+ struct tas_pkt pkt;
+ uint8_t buf[64];
+ int ret;
+
+ if (get_space_to(p) <= sizeof(pkt.data) / STREAM_EL_SZ)
+ return;
+
+ if (g.pos_to_p[p].i == g.pos_to_p[p].o && g.frame_cnt != 0) {
+ printf("underflow detected\n");
+ g.stream_enable_to = 0;
+ return;
+ }
+
+ pkt.type = PKT_STREAM_REQ;
+ pkt.req.frame = g.frame_cnt;
+ pkt.req.is_p2 = p;
+
+ ret = usb_rawhid_send(&pkt, 1000);
+ if (ret != sizeof(pkt)) {
+ printf("send STREAM_REQ/%d: %d\n", p, ret);
+ return;
+ }
+
+ ret = usb_rawhid_recv(buf, 1000);
+ if (ret != 64)
+ printf("usb_rawhid_recv/s: %d\n", ret);
+ else
+ do_usb(buf);
+}
+
+int main(void)
+{
+ uint32_t led_time = 0;
+ uint32_t scheck_time = 0;
+ uint32_t edge_cnt_last;
+ uint32_t edge_cnt;
+ uint8_t buf[64];
+ int i, ret;
+
+ delay(1000); // wait for usb..
+
+ /* ?0SA 00DU, ?1CB RLDU */
+ for (i = 0; i < 2; i++) {
+ g.pl[i].fixed_state[0] = 0x33;
+ g.pl[i].fixed_state[1] = 0x3f;
+ }
+
+ printf("starting, rawhid: %d\n", usb_rawhid_available());
+
+ choose_isrs_idle();
+
+ // md pin th tr tl r l d u vsync th tr tl r l d u
+ // 7 9 6 4 3 2 1 7 9 6 4 3 2 1
+ // md bit* 6 5 4 3 2 1 0 6 5 4 3 2 1 0
+ // t bit d6 d5 d4 d3 d2 d1 d0 a12 c0 b17 b16 b3 b2 b1 b0
+ // t pin 21 20 6 8 7 14 2 3 15 1 0 18 19 17 16
+ // * - note: tl/tr mixed in most docs
+
+ // player1
+ pinMode(21, INPUT);
+ attachInterrupt(21, pl1th_isr_fixed, CHANGE);
+ NVIC_SET_PRIORITY(IRQ_PORTD, 0);
+
+ pinMode( 2, OUTPUT);
+ pinMode(14, OUTPUT);
+ pinMode( 7, OUTPUT);
+ pinMode( 8, OUTPUT);
+ pinMode( 6, OUTPUT);
+ pinMode(20, OUTPUT);
+
+ // player2
+ pinMode(15, INPUT);
+ attachInterrupt(15, pl1th_isr_fixed, CHANGE);
+ NVIC_SET_PRIORITY(IRQ_PORTC, 0);
+
+ pinMode(16, OUTPUT);
+ pinMode(17, OUTPUT);
+ pinMode(19, OUTPUT);
+ pinMode(18, OUTPUT);
+ pinMode( 0, OUTPUT);
+ pinMode( 1, OUTPUT);
+
+ // vsync line
+ pinMode(3, INPUT);
+ attachInterrupt(3, vsync_isr_nop, RISING);
+ NVIC_SET_PRIORITY(IRQ_PORTA, 16);
+
+ // led
+ pinMode(13, OUTPUT);
+
+ // lower other priorities
+ SCB_SHPR1 = SCB_SHPR2 = SCB_SHPR3 = 0x10101010;
+
+ // CORE_PIN0_PORTSET CORE_PIN0_BITMASK PORTB_PCR16
+ printf("GPIOB PDDR, PDIR: %08x %08x\n", GPIOB_PDIR, GPIOB_PDDR);
+ printf("GPIOC PDDR, PDIR: %08x %08x\n", GPIOC_PDIR, GPIOC_PDDR);
+ printf("GPIOD PDDR, PDIR: %08x %08x\n", GPIOD_PDIR, GPIOD_PDDR);
+ printf("PORTB_PCR16: %08x\n", PORTB_PCR16);
+ printf("PORTC_PCR6: %08x\n", PORTC_PCR6);
+ printf("PORTD_PCR0: %08x\n", PORTD_PCR0);
+
+ asm("mrs %0, BASEPRI" : "=r"(ret));
+ printf("BASEPRI: %d, SHPR: %08x %08x %08x\n",
+ ret, SCB_SHPR1, SCB_SHPR2, SCB_SHPR3);
+
+ edge_cnt_last = g.edge_cnt;
+
+ while (1) {
+ struct tas_pkt pkt;
+ uint32_t now;
+
+ if (g.stream_enable_to && !g.stream_ended) {
+ check_get_data(0);
+ if (g.inc_mode == INC_MODE_SHARED_PL2
+ || g.inc_mode == INC_MODE_SEPARATE)
+ check_get_data(1);
+ }
+
+ while (g.stream_enable_from && !g.stream_ended
+ && get_used_from() >= sizeof(pkt.data) / STREAM_EL_SZ)
+ {
+ uint32_t o;
+ int i;
+
+ o = g.pos_from.o;
+ for (i = 0; i < sizeof(pkt.data); i += STREAM_EL_SZ) {
+ memcpy(pkt.data + i, &g.stream_from[o++],
+ STREAM_EL_SZ);
+ o &= STREAM_BUF_MASK;
+ }
+ g.pos_from.o = o;
+
+ pkt.type = PKT_STREAM_DATA_FROM;
+ pkt.size = i;
+
+ ret = usb_rawhid_send(&pkt, 1000);
+ if (ret != sizeof(pkt)) {
+ printf("send DATA_FROM: %d\n", ret);
+ break;
+ }
+ }
+
+ now = millis();
+
+ // start condition check
+ if (now - scheck_time > 1000) {
+ edge_cnt = g.edge_cnt;
+ //printf("e: %d th: %d\n", edge_cnt - edge_cnt_last,
+ // PL1_TH());
+ if ((g.stream_enable_to || g.stream_enable_from)
+ && !g.stream_started
+ && edge_cnt - edge_cnt_last > 10000)
+ {
+ do_start_seq();
+ edge_cnt = g.edge_cnt;
+ }
+ edge_cnt_last = edge_cnt;
+ scheck_time = now;
+ }
+
+ // led?
+ if (CORE_PIN13_PORTREG & CORE_PIN13_BITMASK) {
+ if ((int)(now - led_time) > 10)
+ CORE_PIN13_PORTCLEAR = CORE_PIN13_BITMASK;
+ }
+
+ // something on rawhid?
+ if (usb_rawhid_available() > 0)
+ {
+ ret = usb_rawhid_recv(buf, 20);
+ if (ret == 64) {
+ led_time = millis();
+ CORE_PIN13_PORTSET = CORE_PIN13_BITMASK;
+
+ do_usb(buf);
+ }
+ else {
+ printf("usb_rawhid_recv: %d\n", ret);
+ }
+ }
+ }
+
+ return 0;
+}
--- /dev/null
+
+enum tas_pkt_type {
+ PKT_FIXED_STATE = 0xef01,
+ PKT_STREAM_ENABLE = 0xef02,
+ PKT_STREAM_REQ = 0xef03,
+ PKT_STREAM_DATA_TO_P1 = 0xef04,
+ PKT_STREAM_DATA_TO_P2 = 0xef05,
+ PKT_STREAM_DATA_FROM = 0xef06,
+ PKT_STREAM_END = 0xef07,
+ PKT_STREAM_ABORT = 0xef08,
+};
+
+struct tas_pkt {
+ uint16_t type;
+ uint16_t size; // for DATA_FROM/TO
+ union {
+ uint8_t data[60];
+ struct {
+ uint32_t frame; // just fyi
+ uint8_t is_p2;
+ } req;
+ struct {
+ uint8_t stream_to;
+ uint8_t stream_from;
+ // frame increment on read
+ uint8_t inc_mode;
+ uint8_t no_start_seq;
+ } enable;
+ };
+} __attribute__((packed));
+
+enum inc_mode {
+ INC_MODE_VSYNC = 0,
+ // shared stream index incremented by pl1 or pl2
+ INC_MODE_SHARED_PL1 = 1,
+ INC_MODE_SHARED_PL2 = 2,
+ INC_MODE_SEPARATE = 3,
+};
--- /dev/null
+/* 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.
+ */
+
+#ifndef _avr_functions_h_
+#define _avr_functions_h_
+
+#include <inttypes.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void eeprom_initialize(void);
+uint8_t eeprom_read_byte(const uint8_t *addr) __attribute__ ((pure));
+uint16_t eeprom_read_word(const uint16_t *addr) __attribute__ ((pure));
+uint32_t eeprom_read_dword(const uint32_t *addr) __attribute__ ((pure));
+void eeprom_read_block(void *buf, const void *addr, uint32_t len);
+void eeprom_write_byte(uint8_t *addr, uint8_t value);
+void eeprom_write_word(uint16_t *addr, uint16_t value);
+void eeprom_write_dword(uint32_t *addr, uint32_t value);
+void eeprom_write_block(const void *buf, void *addr, uint32_t len);
+int eeprom_is_ready(void);
+#define eeprom_busy_wait() do {} while (!eeprom_is_ready())
+
+static inline float eeprom_read_float(const float *addr) __attribute__((pure, always_inline, unused));
+static inline float eeprom_read_float(const float *addr)
+{
+ union {float f; uint32_t u32;} u;
+ u.u32 = eeprom_read_dword((const uint32_t *)addr);
+ return u.f;
+}
+static inline void eeprom_write_float(float *addr, float value) __attribute__((always_inline, unused));
+static inline void eeprom_write_float(float *addr, float value)
+{
+ union {float f; uint32_t u32;} u;
+ u.f = value;
+ eeprom_write_dword((uint32_t *)addr, u.u32);
+}
+static inline void eeprom_update_byte(uint8_t *addr, uint8_t value) __attribute__((always_inline, unused));
+static inline void eeprom_update_byte(uint8_t *addr, uint8_t value)
+{
+ eeprom_write_byte(addr, value);
+}
+static inline void eeprom_update_word(uint16_t *addr, uint16_t value) __attribute__((always_inline, unused));
+static inline void eeprom_update_word(uint16_t *addr, uint16_t value)
+{
+ eeprom_write_word(addr, value);
+}
+static inline void eeprom_update_dword(uint32_t *addr, uint32_t value) __attribute__((always_inline, unused));
+static inline void eeprom_update_dword(uint32_t *addr, uint32_t value)
+{
+ eeprom_write_dword(addr, value);
+}
+static inline void eeprom_update_float(float *addr, float value) __attribute__((always_inline, unused));
+static inline void eeprom_update_float(float *addr, float value)
+{
+ union {float f; uint32_t u32;} u;
+ u.f = value;
+ eeprom_write_dword((uint32_t *)addr, u.u32);
+}
+static inline void eeprom_update_block(const void *buf, void *addr, uint32_t len) __attribute__((always_inline, unused));
+static inline void eeprom_update_block(const void *buf, void *addr, uint32_t len)
+{
+ eeprom_write_block(buf, addr, len);
+}
+
+
+char * ultoa(unsigned long val, char *buf, int radix);
+char * ltoa(long val, char *buf, int radix);
+static inline char * utoa(unsigned int val, char *buf, int radix) __attribute__((always_inline, unused));
+static inline char * utoa(unsigned int val, char *buf, int radix) { return ultoa(val, buf, radix); }
+static inline char * itoa(int val, char *buf, int radix) __attribute__((always_inline, unused));
+static inline char * itoa(int val, char *buf, int radix) { return ltoa(val, buf, radix); }
+char * dtostrf(float val, int width, unsigned int precision, char *buf);
+
+
+#ifdef __cplusplus
+}
+#endif
+#endif
--- /dev/null
+/* 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.
+ */
+
+#ifndef _core_pins_h_
+#define _core_pins_h_
+
+#include "kinetis.h"
+#include "pins_arduino.h"
+
+
+#define HIGH 1
+#define LOW 0
+#define INPUT 0
+#define OUTPUT 1
+#define INPUT_PULLUP 2
+#define LSBFIRST 0
+#define MSBFIRST 1
+#define _BV(n) (1<<(n))
+#define CHANGE 4
+#define FALLING 2
+#define RISING 3
+
+// Pin Arduino
+// 0 B16 RXD
+// 1 B17 TXD
+// 2 D0
+// 3 A12 FTM1_CH0
+// 4 A13 FTM1_CH1
+// 5 D7 FTM0_CH7 OC0B/T1
+// 6 D4 FTM0_CH4 OC0A
+// 7 D2
+// 8 D3 ICP1
+// 9 C3 FTM0_CH2 OC1A
+// 10 C4 FTM0_CH3 SS/OC1B
+// 11 C6 MOSI/OC2A
+// 12 C7 MISO
+// 13 C5 SCK
+// 14 D1
+// 15 C0
+// 16 B0 (FTM1_CH0)
+// 17 B1 (FTM1_CH1)
+// 18 B3 SDA
+// 19 B2 SCL
+// 20 D5 FTM0_CH5
+// 21 D6 FTM0_CH6
+// 22 C1 FTM0_CH0
+// 23 C2 FTM0_CH1
+// 24 A5 (FTM0_CH2)
+// 25 B19
+// 26 E1
+// 27 C9
+// 28 C8
+// 29 C10
+// 30 C11
+// 31 E0
+// 32 B18
+// 33 A4 (FTM0_CH1)
+// (34) analog only
+// (35) analog only
+// (36) analog only
+// (37) analog only
+
+// not available to user:
+// A0 FTM0_CH5 SWD Clock
+// A1 FTM0_CH6 USB ID
+// A2 FTM0_CH7 SWD Trace
+// A3 FTM0_CH0 SWD Data
+
+#define CORE_NUM_TOTAL_PINS 34
+#define CORE_NUM_DIGITAL 34
+#define CORE_NUM_INTERRUPT 34
+#if defined(__MK20DX128__)
+#define CORE_NUM_ANALOG 14
+#define CORE_NUM_PWM 10
+#elif defined(__MK20DX256__)
+#define CORE_NUM_ANALOG 21
+#define CORE_NUM_PWM 12
+#endif
+
+#define CORE_PIN0_BIT 16
+#define CORE_PIN1_BIT 17
+#define CORE_PIN2_BIT 0
+#define CORE_PIN3_BIT 12
+#define CORE_PIN4_BIT 13
+#define CORE_PIN5_BIT 7
+#define CORE_PIN6_BIT 4
+#define CORE_PIN7_BIT 2
+#define CORE_PIN8_BIT 3
+#define CORE_PIN9_BIT 3
+#define CORE_PIN10_BIT 4
+#define CORE_PIN11_BIT 6
+#define CORE_PIN12_BIT 7
+#define CORE_PIN13_BIT 5
+#define CORE_PIN14_BIT 1
+#define CORE_PIN15_BIT 0
+#define CORE_PIN16_BIT 0
+#define CORE_PIN17_BIT 1
+#define CORE_PIN18_BIT 3
+#define CORE_PIN19_BIT 2
+#define CORE_PIN20_BIT 5
+#define CORE_PIN21_BIT 6
+#define CORE_PIN22_BIT 1
+#define CORE_PIN23_BIT 2
+#define CORE_PIN24_BIT 5
+#define CORE_PIN25_BIT 19
+#define CORE_PIN26_BIT 1
+#define CORE_PIN27_BIT 9
+#define CORE_PIN28_BIT 8
+#define CORE_PIN29_BIT 10
+#define CORE_PIN30_BIT 11
+#define CORE_PIN31_BIT 0
+#define CORE_PIN32_BIT 18
+#define CORE_PIN33_BIT 4
+
+#define CORE_PIN0_BITMASK (1<<(CORE_PIN0_BIT))
+#define CORE_PIN1_BITMASK (1<<(CORE_PIN1_BIT))
+#define CORE_PIN2_BITMASK (1<<(CORE_PIN2_BIT))
+#define CORE_PIN3_BITMASK (1<<(CORE_PIN3_BIT))
+#define CORE_PIN4_BITMASK (1<<(CORE_PIN4_BIT))
+#define CORE_PIN5_BITMASK (1<<(CORE_PIN5_BIT))
+#define CORE_PIN6_BITMASK (1<<(CORE_PIN6_BIT))
+#define CORE_PIN7_BITMASK (1<<(CORE_PIN7_BIT))
+#define CORE_PIN8_BITMASK (1<<(CORE_PIN8_BIT))
+#define CORE_PIN9_BITMASK (1<<(CORE_PIN9_BIT))
+#define CORE_PIN10_BITMASK (1<<(CORE_PIN10_BIT))
+#define CORE_PIN11_BITMASK (1<<(CORE_PIN11_BIT))
+#define CORE_PIN12_BITMASK (1<<(CORE_PIN12_BIT))
+#define CORE_PIN13_BITMASK (1<<(CORE_PIN13_BIT))
+#define CORE_PIN14_BITMASK (1<<(CORE_PIN14_BIT))
+#define CORE_PIN15_BITMASK (1<<(CORE_PIN15_BIT))
+#define CORE_PIN16_BITMASK (1<<(CORE_PIN16_BIT))
+#define CORE_PIN17_BITMASK (1<<(CORE_PIN17_BIT))
+#define CORE_PIN18_BITMASK (1<<(CORE_PIN18_BIT))
+#define CORE_PIN19_BITMASK (1<<(CORE_PIN19_BIT))
+#define CORE_PIN20_BITMASK (1<<(CORE_PIN20_BIT))
+#define CORE_PIN21_BITMASK (1<<(CORE_PIN21_BIT))
+#define CORE_PIN22_BITMASK (1<<(CORE_PIN22_BIT))
+#define CORE_PIN23_BITMASK (1<<(CORE_PIN23_BIT))
+#define CORE_PIN24_BITMASK (1<<(CORE_PIN24_BIT))
+#define CORE_PIN25_BITMASK (1<<(CORE_PIN25_BIT))
+#define CORE_PIN26_BITMASK (1<<(CORE_PIN26_BIT))
+#define CORE_PIN27_BITMASK (1<<(CORE_PIN27_BIT))
+#define CORE_PIN28_BITMASK (1<<(CORE_PIN28_BIT))
+#define CORE_PIN29_BITMASK (1<<(CORE_PIN29_BIT))
+#define CORE_PIN30_BITMASK (1<<(CORE_PIN30_BIT))
+#define CORE_PIN31_BITMASK (1<<(CORE_PIN31_BIT))
+#define CORE_PIN32_BITMASK (1<<(CORE_PIN32_BIT))
+#define CORE_PIN33_BITMASK (1<<(CORE_PIN33_BIT))
+
+#define CORE_PIN0_PORTREG GPIOB_PDOR
+#define CORE_PIN1_PORTREG GPIOB_PDOR
+#define CORE_PIN2_PORTREG GPIOD_PDOR
+#define CORE_PIN3_PORTREG GPIOA_PDOR
+#define CORE_PIN4_PORTREG GPIOA_PDOR
+#define CORE_PIN5_PORTREG GPIOD_PDOR
+#define CORE_PIN6_PORTREG GPIOD_PDOR
+#define CORE_PIN7_PORTREG GPIOD_PDOR
+#define CORE_PIN8_PORTREG GPIOD_PDOR
+#define CORE_PIN9_PORTREG GPIOC_PDOR
+#define CORE_PIN10_PORTREG GPIOC_PDOR
+#define CORE_PIN11_PORTREG GPIOC_PDOR
+#define CORE_PIN12_PORTREG GPIOC_PDOR
+#define CORE_PIN13_PORTREG GPIOC_PDOR
+#define CORE_PIN14_PORTREG GPIOD_PDOR
+#define CORE_PIN15_PORTREG GPIOC_PDOR
+#define CORE_PIN16_PORTREG GPIOB_PDOR
+#define CORE_PIN17_PORTREG GPIOB_PDOR
+#define CORE_PIN18_PORTREG GPIOB_PDOR
+#define CORE_PIN19_PORTREG GPIOB_PDOR
+#define CORE_PIN20_PORTREG GPIOD_PDOR
+#define CORE_PIN21_PORTREG GPIOD_PDOR
+#define CORE_PIN22_PORTREG GPIOC_PDOR
+#define CORE_PIN23_PORTREG GPIOC_PDOR
+#define CORE_PIN24_PORTREG GPIOA_PDOR
+#define CORE_PIN25_PORTREG GPIOB_PDOR
+#define CORE_PIN26_PORTREG GPIOE_PDOR
+#define CORE_PIN27_PORTREG GPIOC_PDOR
+#define CORE_PIN28_PORTREG GPIOC_PDOR
+#define CORE_PIN29_PORTREG GPIOC_PDOR
+#define CORE_PIN30_PORTREG GPIOC_PDOR
+#define CORE_PIN31_PORTREG GPIOE_PDOR
+#define CORE_PIN32_PORTREG GPIOB_PDOR
+#define CORE_PIN33_PORTREG GPIOA_PDOR
+
+#define CORE_PIN0_PORTSET GPIOB_PSOR
+#define CORE_PIN1_PORTSET GPIOB_PSOR
+#define CORE_PIN2_PORTSET GPIOD_PSOR
+#define CORE_PIN3_PORTSET GPIOA_PSOR
+#define CORE_PIN4_PORTSET GPIOA_PSOR
+#define CORE_PIN5_PORTSET GPIOD_PSOR
+#define CORE_PIN6_PORTSET GPIOD_PSOR
+#define CORE_PIN7_PORTSET GPIOD_PSOR
+#define CORE_PIN8_PORTSET GPIOD_PSOR
+#define CORE_PIN9_PORTSET GPIOC_PSOR
+#define CORE_PIN10_PORTSET GPIOC_PSOR
+#define CORE_PIN11_PORTSET GPIOC_PSOR
+#define CORE_PIN12_PORTSET GPIOC_PSOR
+#define CORE_PIN13_PORTSET GPIOC_PSOR
+#define CORE_PIN14_PORTSET GPIOD_PSOR
+#define CORE_PIN15_PORTSET GPIOC_PSOR
+#define CORE_PIN16_PORTSET GPIOB_PSOR
+#define CORE_PIN17_PORTSET GPIOB_PSOR
+#define CORE_PIN18_PORTSET GPIOB_PSOR
+#define CORE_PIN19_PORTSET GPIOB_PSOR
+#define CORE_PIN20_PORTSET GPIOD_PSOR
+#define CORE_PIN21_PORTSET GPIOD_PSOR
+#define CORE_PIN22_PORTSET GPIOC_PSOR
+#define CORE_PIN23_PORTSET GPIOC_PSOR
+#define CORE_PIN24_PORTSET GPIOA_PSOR
+#define CORE_PIN25_PORTSET GPIOB_PSOR
+#define CORE_PIN26_PORTSET GPIOE_PSOR
+#define CORE_PIN27_PORTSET GPIOC_PSOR
+#define CORE_PIN28_PORTSET GPIOC_PSOR
+#define CORE_PIN29_PORTSET GPIOC_PSOR
+#define CORE_PIN30_PORTSET GPIOC_PSOR
+#define CORE_PIN31_PORTSET GPIOE_PSOR
+#define CORE_PIN32_PORTSET GPIOB_PSOR
+#define CORE_PIN33_PORTSET GPIOA_PSOR
+
+#define CORE_PIN0_PORTCLEAR GPIOB_PCOR
+#define CORE_PIN1_PORTCLEAR GPIOB_PCOR
+#define CORE_PIN2_PORTCLEAR GPIOD_PCOR
+#define CORE_PIN3_PORTCLEAR GPIOA_PCOR
+#define CORE_PIN4_PORTCLEAR GPIOA_PCOR
+#define CORE_PIN5_PORTCLEAR GPIOD_PCOR
+#define CORE_PIN6_PORTCLEAR GPIOD_PCOR
+#define CORE_PIN7_PORTCLEAR GPIOD_PCOR
+#define CORE_PIN8_PORTCLEAR GPIOD_PCOR
+#define CORE_PIN9_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN10_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN11_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN12_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN13_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN14_PORTCLEAR GPIOD_PCOR
+#define CORE_PIN15_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN16_PORTCLEAR GPIOB_PCOR
+#define CORE_PIN17_PORTCLEAR GPIOB_PCOR
+#define CORE_PIN18_PORTCLEAR GPIOB_PCOR
+#define CORE_PIN19_PORTCLEAR GPIOB_PCOR
+#define CORE_PIN20_PORTCLEAR GPIOD_PCOR
+#define CORE_PIN21_PORTCLEAR GPIOD_PCOR
+#define CORE_PIN22_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN23_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN24_PORTCLEAR GPIOA_PCOR
+#define CORE_PIN25_PORTCLEAR GPIOB_PCOR
+#define CORE_PIN26_PORTCLEAR GPIOE_PCOR
+#define CORE_PIN27_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN28_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN29_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN30_PORTCLEAR GPIOC_PCOR
+#define CORE_PIN31_PORTCLEAR GPIOE_PCOR
+#define CORE_PIN32_PORTCLEAR GPIOB_PCOR
+#define CORE_PIN33_PORTCLEAR GPIOA_PCOR
+
+#define CORE_PIN0_DDRREG GPIOB_PDDR
+#define CORE_PIN1_DDRREG GPIOB_PDDR
+#define CORE_PIN2_DDRREG GPIOD_PDDR
+#define CORE_PIN3_DDRREG GPIOA_PDDR
+#define CORE_PIN4_DDRREG GPIOA_PDDR
+#define CORE_PIN5_DDRREG GPIOD_PDDR
+#define CORE_PIN6_DDRREG GPIOD_PDDR
+#define CORE_PIN7_DDRREG GPIOD_PDDR
+#define CORE_PIN8_DDRREG GPIOD_PDDR
+#define CORE_PIN9_DDRREG GPIOC_PDDR
+#define CORE_PIN10_DDRREG GPIOC_PDDR
+#define CORE_PIN11_DDRREG GPIOC_PDDR
+#define CORE_PIN12_DDRREG GPIOC_PDDR
+#define CORE_PIN13_DDRREG GPIOC_PDDR
+#define CORE_PIN14_DDRREG GPIOD_PDDR
+#define CORE_PIN15_DDRREG GPIOC_PDDR
+#define CORE_PIN16_DDRREG GPIOB_PDDR
+#define CORE_PIN17_DDRREG GPIOB_PDDR
+#define CORE_PIN18_DDRREG GPIOB_PDDR
+#define CORE_PIN19_DDRREG GPIOB_PDDR
+#define CORE_PIN20_DDRREG GPIOD_PDDR
+#define CORE_PIN21_DDRREG GPIOD_PDDR
+#define CORE_PIN22_DDRREG GPIOC_PDDR
+#define CORE_PIN23_DDRREG GPIOC_PDDR
+#define CORE_PIN24_DDRREG GPIOA_PDDR
+#define CORE_PIN25_DDRREG GPIOB_PDDR
+#define CORE_PIN26_DDRREG GPIOE_PDDR
+#define CORE_PIN27_DDRREG GPIOC_PDDR
+#define CORE_PIN28_DDRREG GPIOC_PDDR
+#define CORE_PIN29_DDRREG GPIOC_PDDR
+#define CORE_PIN30_DDRREG GPIOC_PDDR
+#define CORE_PIN31_DDRREG GPIOE_PDDR
+#define CORE_PIN32_DDRREG GPIOB_PDDR
+#define CORE_PIN33_DDRREG GPIOA_PDDR
+
+#define CORE_PIN0_PINREG GPIOB_PDIR
+#define CORE_PIN1_PINREG GPIOB_PDIR
+#define CORE_PIN2_PINREG GPIOD_PDIR
+#define CORE_PIN3_PINREG GPIOA_PDIR
+#define CORE_PIN4_PINREG GPIOA_PDIR
+#define CORE_PIN5_PINREG GPIOD_PDIR
+#define CORE_PIN6_PINREG GPIOD_PDIR
+#define CORE_PIN7_PINREG GPIOD_PDIR
+#define CORE_PIN8_PINREG GPIOD_PDIR
+#define CORE_PIN9_PINREG GPIOC_PDIR
+#define CORE_PIN10_PINREG GPIOC_PDIR
+#define CORE_PIN11_PINREG GPIOC_PDIR
+#define CORE_PIN12_PINREG GPIOC_PDIR
+#define CORE_PIN13_PINREG GPIOC_PDIR
+#define CORE_PIN14_PINREG GPIOD_PDIR
+#define CORE_PIN15_PINREG GPIOC_PDIR
+#define CORE_PIN16_PINREG GPIOB_PDIR
+#define CORE_PIN17_PINREG GPIOB_PDIR
+#define CORE_PIN18_PINREG GPIOB_PDIR
+#define CORE_PIN19_PINREG GPIOB_PDIR
+#define CORE_PIN20_PINREG GPIOD_PDIR
+#define CORE_PIN21_PINREG GPIOD_PDIR
+#define CORE_PIN22_PINREG GPIOC_PDIR
+#define CORE_PIN23_PINREG GPIOC_PDIR
+#define CORE_PIN24_PINREG GPIOA_PDIR
+#define CORE_PIN25_PINREG GPIOB_PDIR
+#define CORE_PIN26_PINREG GPIOE_PDIR
+#define CORE_PIN27_PINREG GPIOC_PDIR
+#define CORE_PIN28_PINREG GPIOC_PDIR
+#define CORE_PIN29_PINREG GPIOC_PDIR
+#define CORE_PIN30_PINREG GPIOC_PDIR
+#define CORE_PIN31_PINREG GPIOE_PDIR
+#define CORE_PIN32_PINREG GPIOB_PDIR
+#define CORE_PIN33_PINREG GPIOA_PDIR
+
+#define CORE_PIN0_CONFIG PORTB_PCR16
+#define CORE_PIN1_CONFIG PORTB_PCR17
+#define CORE_PIN2_CONFIG PORTD_PCR0
+#define CORE_PIN3_CONFIG PORTA_PCR12
+#define CORE_PIN4_CONFIG PORTA_PCR13
+#define CORE_PIN5_CONFIG PORTD_PCR7
+#define CORE_PIN6_CONFIG PORTD_PCR4
+#define CORE_PIN7_CONFIG PORTD_PCR2
+#define CORE_PIN8_CONFIG PORTD_PCR3
+#define CORE_PIN9_CONFIG PORTC_PCR3
+#define CORE_PIN10_CONFIG PORTC_PCR4
+#define CORE_PIN11_CONFIG PORTC_PCR6
+#define CORE_PIN12_CONFIG PORTC_PCR7
+#define CORE_PIN13_CONFIG PORTC_PCR5
+#define CORE_PIN14_CONFIG PORTD_PCR1
+#define CORE_PIN15_CONFIG PORTC_PCR0
+#define CORE_PIN16_CONFIG PORTB_PCR0
+#define CORE_PIN17_CONFIG PORTB_PCR1
+#define CORE_PIN18_CONFIG PORTB_PCR3
+#define CORE_PIN19_CONFIG PORTB_PCR2
+#define CORE_PIN20_CONFIG PORTD_PCR5
+#define CORE_PIN21_CONFIG PORTD_PCR6
+#define CORE_PIN22_CONFIG PORTC_PCR1
+#define CORE_PIN23_CONFIG PORTC_PCR2
+#define CORE_PIN24_CONFIG PORTA_PCR5
+#define CORE_PIN25_CONFIG PORTB_PCR19
+#define CORE_PIN26_CONFIG PORTE_PCR1
+#define CORE_PIN27_CONFIG PORTC_PCR9
+#define CORE_PIN28_CONFIG PORTC_PCR8
+#define CORE_PIN29_CONFIG PORTC_PCR10
+#define CORE_PIN30_CONFIG PORTC_PCR11
+#define CORE_PIN31_CONFIG PORTE_PCR0
+#define CORE_PIN32_CONFIG PORTB_PCR18
+#define CORE_PIN33_CONFIG PORTA_PCR4
+
+#define CORE_ADC0_PIN 14
+#define CORE_ADC1_PIN 15
+#define CORE_ADC2_PIN 16
+#define CORE_ADC3_PIN 17
+#define CORE_ADC4_PIN 18
+#define CORE_ADC5_PIN 19
+#define CORE_ADC6_PIN 20
+#define CORE_ADC7_PIN 21
+#define CORE_ADC8_PIN 22
+#define CORE_ADC9_PIN 23
+#define CORE_ADC10_PIN 34
+#define CORE_ADC11_PIN 35
+#define CORE_ADC12_PIN 36
+#define CORE_ADC13_PIN 37
+
+#define CORE_RXD0_PIN 0
+#define CORE_TXD0_PIN 1
+#define CORE_RXD1_PIN 9
+#define CORE_TXD1_PIN 10
+#define CORE_RXD2_PIN 7
+#define CORE_TXD2_PIN 8
+
+#define CORE_INT0_PIN 0
+#define CORE_INT1_PIN 1
+#define CORE_INT2_PIN 2
+#define CORE_INT3_PIN 3
+#define CORE_INT4_PIN 4
+#define CORE_INT5_PIN 5
+#define CORE_INT6_PIN 6
+#define CORE_INT7_PIN 7
+#define CORE_INT8_PIN 8
+#define CORE_INT9_PIN 9
+#define CORE_INT10_PIN 10
+#define CORE_INT11_PIN 11
+#define CORE_INT12_PIN 12
+#define CORE_INT13_PIN 13
+#define CORE_INT14_PIN 14
+#define CORE_INT15_PIN 15
+#define CORE_INT16_PIN 16
+#define CORE_INT17_PIN 17
+#define CORE_INT18_PIN 18
+#define CORE_INT19_PIN 19
+#define CORE_INT20_PIN 20
+#define CORE_INT21_PIN 21
+#define CORE_INT22_PIN 22
+#define CORE_INT23_PIN 23
+#define CORE_INT24_PIN 24
+#define CORE_INT25_PIN 25
+#define CORE_INT26_PIN 26
+#define CORE_INT27_PIN 27
+#define CORE_INT28_PIN 28
+#define CORE_INT29_PIN 29
+#define CORE_INT30_PIN 30
+#define CORE_INT31_PIN 31
+#define CORE_INT32_PIN 32
+#define CORE_INT33_PIN 33
+#define CORE_INT_EVERY_PIN 1
+
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void digitalWrite(uint8_t pin, uint8_t val);
+static inline void digitalWriteFast(uint8_t pin, uint8_t val) __attribute__((always_inline, unused));
+static inline void digitalWriteFast(uint8_t pin, uint8_t val)
+{
+ if (__builtin_constant_p(pin)) {
+ if (val) {
+ if (pin == 0) {
+ CORE_PIN0_PORTSET = CORE_PIN0_BITMASK;
+ } else if (pin == 1) {
+ CORE_PIN1_PORTSET = CORE_PIN1_BITMASK;
+ } else if (pin == 2) {
+ CORE_PIN2_PORTSET = CORE_PIN2_BITMASK;
+ } else if (pin == 3) {
+ CORE_PIN3_PORTSET = CORE_PIN3_BITMASK;
+ } else if (pin == 4) {
+ CORE_PIN4_PORTSET = CORE_PIN4_BITMASK;
+ } else if (pin == 5) {
+ CORE_PIN5_PORTSET = CORE_PIN5_BITMASK;
+ } else if (pin == 6) {
+ CORE_PIN6_PORTSET = CORE_PIN6_BITMASK;
+ } else if (pin == 7) {
+ CORE_PIN7_PORTSET = CORE_PIN7_BITMASK;
+ } else if (pin == 8) {
+ CORE_PIN8_PORTSET = CORE_PIN8_BITMASK;
+ } else if (pin == 9) {
+ CORE_PIN9_PORTSET = CORE_PIN9_BITMASK;
+ } else if (pin == 10) {
+ CORE_PIN10_PORTSET = CORE_PIN10_BITMASK;
+ } else if (pin == 11) {
+ CORE_PIN11_PORTSET = CORE_PIN11_BITMASK;
+ } else if (pin == 12) {
+ CORE_PIN12_PORTSET = CORE_PIN12_BITMASK;
+ } else if (pin == 13) {
+ CORE_PIN13_PORTSET = CORE_PIN13_BITMASK;
+ } else if (pin == 14) {
+ CORE_PIN14_PORTSET = CORE_PIN14_BITMASK;
+ } else if (pin == 15) {
+ CORE_PIN15_PORTSET = CORE_PIN15_BITMASK;
+ } else if (pin == 16) {
+ CORE_PIN16_PORTSET = CORE_PIN16_BITMASK;
+ } else if (pin == 17) {
+ CORE_PIN17_PORTSET = CORE_PIN17_BITMASK;
+ } else if (pin == 18) {
+ CORE_PIN18_PORTSET = CORE_PIN18_BITMASK;
+ } else if (pin == 19) {
+ CORE_PIN19_PORTSET = CORE_PIN19_BITMASK;
+ } else if (pin == 20) {
+ CORE_PIN20_PORTSET = CORE_PIN20_BITMASK;
+ } else if (pin == 21) {
+ CORE_PIN21_PORTSET = CORE_PIN21_BITMASK;
+ } else if (pin == 22) {
+ CORE_PIN22_PORTSET = CORE_PIN22_BITMASK;
+ } else if (pin == 23) {
+ CORE_PIN23_PORTSET = CORE_PIN23_BITMASK;
+ } else if (pin == 24) {
+ CORE_PIN24_PORTSET = CORE_PIN24_BITMASK;
+ } else if (pin == 25) {
+ CORE_PIN25_PORTSET = CORE_PIN25_BITMASK;
+ } else if (pin == 26) {
+ CORE_PIN26_PORTSET = CORE_PIN26_BITMASK;
+ } else if (pin == 27) {
+ CORE_PIN27_PORTSET = CORE_PIN27_BITMASK;
+ } else if (pin == 28) {
+ CORE_PIN28_PORTSET = CORE_PIN28_BITMASK;
+ } else if (pin == 29) {
+ CORE_PIN29_PORTSET = CORE_PIN29_BITMASK;
+ } else if (pin == 30) {
+ CORE_PIN30_PORTSET = CORE_PIN30_BITMASK;
+ } else if (pin == 31) {
+ CORE_PIN31_PORTSET = CORE_PIN31_BITMASK;
+ } else if (pin == 32) {
+ CORE_PIN32_PORTSET = CORE_PIN32_BITMASK;
+ } else if (pin == 33) {
+ CORE_PIN33_PORTSET = CORE_PIN33_BITMASK;
+ }
+ } else {
+ if (pin == 0) {
+ CORE_PIN0_PORTCLEAR = CORE_PIN0_BITMASK;
+ } else if (pin == 1) {
+ CORE_PIN1_PORTCLEAR = CORE_PIN1_BITMASK;
+ } else if (pin == 2) {
+ CORE_PIN2_PORTCLEAR = CORE_PIN2_BITMASK;
+ } else if (pin == 3) {
+ CORE_PIN3_PORTCLEAR = CORE_PIN3_BITMASK;
+ } else if (pin == 4) {
+ CORE_PIN4_PORTCLEAR = CORE_PIN4_BITMASK;
+ } else if (pin == 5) {
+ CORE_PIN5_PORTCLEAR = CORE_PIN5_BITMASK;
+ } else if (pin == 6) {
+ CORE_PIN6_PORTCLEAR = CORE_PIN6_BITMASK;
+ } else if (pin == 7) {
+ CORE_PIN7_PORTCLEAR = CORE_PIN7_BITMASK;
+ } else if (pin == 8) {
+ CORE_PIN8_PORTCLEAR = CORE_PIN8_BITMASK;
+ } else if (pin == 9) {
+ CORE_PIN9_PORTCLEAR = CORE_PIN9_BITMASK;
+ } else if (pin == 10) {
+ CORE_PIN10_PORTCLEAR = CORE_PIN10_BITMASK;
+ } else if (pin == 11) {
+ CORE_PIN11_PORTCLEAR = CORE_PIN11_BITMASK;
+ } else if (pin == 12) {
+ CORE_PIN12_PORTCLEAR = CORE_PIN12_BITMASK;
+ } else if (pin == 13) {
+ CORE_PIN13_PORTCLEAR = CORE_PIN13_BITMASK;
+ } else if (pin == 14) {
+ CORE_PIN14_PORTCLEAR = CORE_PIN14_BITMASK;
+ } else if (pin == 15) {
+ CORE_PIN15_PORTCLEAR = CORE_PIN15_BITMASK;
+ } else if (pin == 16) {
+ CORE_PIN16_PORTCLEAR = CORE_PIN16_BITMASK;
+ } else if (pin == 17) {
+ CORE_PIN17_PORTCLEAR = CORE_PIN17_BITMASK;
+ } else if (pin == 18) {
+ CORE_PIN18_PORTCLEAR = CORE_PIN18_BITMASK;
+ } else if (pin == 19) {
+ CORE_PIN19_PORTCLEAR = CORE_PIN19_BITMASK;
+ } else if (pin == 20) {
+ CORE_PIN20_PORTCLEAR = CORE_PIN20_BITMASK;
+ } else if (pin == 21) {
+ CORE_PIN21_PORTCLEAR = CORE_PIN21_BITMASK;
+ } else if (pin == 22) {
+ CORE_PIN22_PORTCLEAR = CORE_PIN22_BITMASK;
+ } else if (pin == 23) {
+ CORE_PIN23_PORTCLEAR = CORE_PIN23_BITMASK;
+ } else if (pin == 24) {
+ CORE_PIN24_PORTCLEAR = CORE_PIN24_BITMASK;
+ } else if (pin == 25) {
+ CORE_PIN25_PORTCLEAR = CORE_PIN25_BITMASK;
+ } else if (pin == 26) {
+ CORE_PIN26_PORTCLEAR = CORE_PIN26_BITMASK;
+ } else if (pin == 27) {
+ CORE_PIN27_PORTCLEAR = CORE_PIN27_BITMASK;
+ } else if (pin == 28) {
+ CORE_PIN28_PORTCLEAR = CORE_PIN28_BITMASK;
+ } else if (pin == 29) {
+ CORE_PIN29_PORTCLEAR = CORE_PIN29_BITMASK;
+ } else if (pin == 30) {
+ CORE_PIN30_PORTCLEAR = CORE_PIN30_BITMASK;
+ } else if (pin == 31) {
+ CORE_PIN31_PORTCLEAR = CORE_PIN31_BITMASK;
+ } else if (pin == 32) {
+ CORE_PIN32_PORTCLEAR = CORE_PIN32_BITMASK;
+ } else if (pin == 33) {
+ CORE_PIN33_PORTCLEAR = CORE_PIN33_BITMASK;
+ }
+ }
+ } else {
+ if (val) {
+ *portSetRegister(pin) = 1;
+ } else {
+ *portClearRegister(pin) = 1;
+ }
+ }
+}
+
+uint8_t digitalRead(uint8_t pin);
+static inline uint8_t digitalReadFast(uint8_t pin) __attribute__((always_inline, unused));
+static inline uint8_t digitalReadFast(uint8_t pin)
+{
+ if (__builtin_constant_p(pin)) {
+ if (pin == 0) {
+ return (CORE_PIN0_PINREG & CORE_PIN0_BITMASK) ? 1 : 0;
+ } else if (pin == 1) {
+ return (CORE_PIN1_PINREG & CORE_PIN1_BITMASK) ? 1 : 0;
+ } else if (pin == 2) {
+ return (CORE_PIN2_PINREG & CORE_PIN2_BITMASK) ? 1 : 0;
+ } else if (pin == 3) {
+ return (CORE_PIN3_PINREG & CORE_PIN3_BITMASK) ? 1 : 0;
+ } else if (pin == 4) {
+ return (CORE_PIN4_PINREG & CORE_PIN4_BITMASK) ? 1 : 0;
+ } else if (pin == 5) {
+ return (CORE_PIN5_PINREG & CORE_PIN5_BITMASK) ? 1 : 0;
+ } else if (pin == 6) {
+ return (CORE_PIN6_PINREG & CORE_PIN6_BITMASK) ? 1 : 0;
+ } else if (pin == 7) {
+ return (CORE_PIN7_PINREG & CORE_PIN7_BITMASK) ? 1 : 0;
+ } else if (pin == 8) {
+ return (CORE_PIN8_PINREG & CORE_PIN8_BITMASK) ? 1 : 0;
+ } else if (pin == 9) {
+ return (CORE_PIN9_PINREG & CORE_PIN9_BITMASK) ? 1 : 0;
+ } else if (pin == 10) {
+ return (CORE_PIN10_PINREG & CORE_PIN10_BITMASK) ? 1 : 0;
+ } else if (pin == 11) {
+ return (CORE_PIN11_PINREG & CORE_PIN11_BITMASK) ? 1 : 0;
+ } else if (pin == 12) {
+ return (CORE_PIN12_PINREG & CORE_PIN12_BITMASK) ? 1 : 0;
+ } else if (pin == 13) {
+ return (CORE_PIN13_PINREG & CORE_PIN13_BITMASK) ? 1 : 0;
+ } else if (pin == 14) {
+ return (CORE_PIN14_PINREG & CORE_PIN14_BITMASK) ? 1 : 0;
+ } else if (pin == 15) {
+ return (CORE_PIN15_PINREG & CORE_PIN15_BITMASK) ? 1 : 0;
+ } else if (pin == 16) {
+ return (CORE_PIN16_PINREG & CORE_PIN16_BITMASK) ? 1 : 0;
+ } else if (pin == 17) {
+ return (CORE_PIN17_PINREG & CORE_PIN17_BITMASK) ? 1 : 0;
+ } else if (pin == 18) {
+ return (CORE_PIN18_PINREG & CORE_PIN18_BITMASK) ? 1 : 0;
+ } else if (pin == 19) {
+ return (CORE_PIN19_PINREG & CORE_PIN19_BITMASK) ? 1 : 0;
+ } else if (pin == 20) {
+ return (CORE_PIN20_PINREG & CORE_PIN20_BITMASK) ? 1 : 0;
+ } else if (pin == 21) {
+ return (CORE_PIN21_PINREG & CORE_PIN21_BITMASK) ? 1 : 0;
+ } else if (pin == 22) {
+ return (CORE_PIN22_PINREG & CORE_PIN22_BITMASK) ? 1 : 0;
+ } else if (pin == 23) {
+ return (CORE_PIN23_PINREG & CORE_PIN23_BITMASK) ? 1 : 0;
+ } else if (pin == 24) {
+ return (CORE_PIN24_PINREG & CORE_PIN24_BITMASK) ? 1 : 0;
+ } else if (pin == 25) {
+ return (CORE_PIN25_PINREG & CORE_PIN25_BITMASK) ? 1 : 0;
+ } else if (pin == 26) {
+ return (CORE_PIN26_PINREG & CORE_PIN26_BITMASK) ? 1 : 0;
+ } else if (pin == 27) {
+ return (CORE_PIN27_PINREG & CORE_PIN27_BITMASK) ? 1 : 0;
+ } else if (pin == 28) {
+ return (CORE_PIN28_PINREG & CORE_PIN28_BITMASK) ? 1 : 0;
+ } else if (pin == 29) {
+ return (CORE_PIN29_PINREG & CORE_PIN29_BITMASK) ? 1 : 0;
+ } else if (pin == 30) {
+ return (CORE_PIN30_PINREG & CORE_PIN30_BITMASK) ? 1 : 0;
+ } else if (pin == 31) {
+ return (CORE_PIN31_PINREG & CORE_PIN31_BITMASK) ? 1 : 0;
+ } else if (pin == 32) {
+ return (CORE_PIN32_PINREG & CORE_PIN32_BITMASK) ? 1 : 0;
+ } else if (pin == 33) {
+ return (CORE_PIN33_PINREG & CORE_PIN33_BITMASK) ? 1 : 0;
+ } else {
+ return 0;
+ }
+ } else {
+ return *portInputRegister(pin);
+ }
+}
+
+
+void pinMode(uint8_t pin, uint8_t mode);
+void init_pins(void);
+void analogWrite(uint8_t pin, int val);
+void analogWriteRes(uint32_t bits);
+static inline void analogWriteResolution(uint32_t bits) { analogWriteRes(bits); }
+void analogWriteFrequency(uint8_t pin, uint32_t frequency);
+void analogWriteDAC0(int val);
+#ifdef __cplusplus
+void attachInterruptVector(IRQ_NUMBER_t irq, void (*function)(void));
+#else
+void attachInterruptVector(enum IRQ_NUMBER_t irq, void (*function)(void));
+#endif
+void attachInterrupt(uint8_t pin, void (*function)(void), int mode);
+void detachInterrupt(uint8_t pin);
+void _init_Teensyduino_internal_(void);
+
+int analogRead(uint8_t pin);
+void analogReference(uint8_t type);
+void analogReadRes(unsigned int bits);
+static inline void analogReadResolution(unsigned int bits) { analogReadRes(bits); }
+void analogReadAveraging(unsigned int num);
+void analog_init(void);
+
+#define DEFAULT 0
+#define INTERNAL 2
+#define INTERNAL1V2 2
+#define INTERNAL1V1 2
+#define EXTERNAL 0
+
+int touchRead(uint8_t pin);
+
+
+static inline void shiftOut(uint8_t, uint8_t, uint8_t, uint8_t) __attribute__((always_inline, unused));
+extern void _shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t value) __attribute__((noinline));
+extern void shiftOut_lsbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value) __attribute__((noinline));
+extern void shiftOut_msbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value) __attribute__((noinline));
+
+static inline void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t value)
+{
+ if (__builtin_constant_p(bitOrder)) {
+ if (bitOrder == LSBFIRST) {
+ shiftOut_lsbFirst(dataPin, clockPin, value);
+ } else {
+ shiftOut_msbFirst(dataPin, clockPin, value);
+ }
+ } else {
+ _shiftOut(dataPin, clockPin, bitOrder, value);
+ }
+}
+
+static inline uint8_t shiftIn(uint8_t, uint8_t, uint8_t) __attribute__((always_inline, unused));
+extern uint8_t _shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder) __attribute__((noinline));
+extern uint8_t shiftIn_lsbFirst(uint8_t dataPin, uint8_t clockPin) __attribute__((noinline));
+extern uint8_t shiftIn_msbFirst(uint8_t dataPin, uint8_t clockPin) __attribute__((noinline));
+
+static inline uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder)
+{
+ if (__builtin_constant_p(bitOrder)) {
+ if (bitOrder == LSBFIRST) {
+ return shiftIn_lsbFirst(dataPin, clockPin);
+ } else {
+ return shiftIn_msbFirst(dataPin, clockPin);
+ }
+ } else {
+ return _shiftIn(dataPin, clockPin, bitOrder);
+ }
+}
+
+void _reboot_Teensyduino_(void) __attribute__((noreturn));
+void _restart_Teensyduino_(void) __attribute__((noreturn));
+
+void yield(void);
+
+void delay(uint32_t msec);
+
+extern volatile uint32_t systick_millis_count;
+
+static inline uint32_t millis(void) __attribute__((always_inline, unused));
+static inline uint32_t millis(void)
+{
+ volatile uint32_t ret = systick_millis_count; // single aligned 32 bit is atomic;
+ return ret;
+}
+
+uint32_t micros(void);
+
+static inline void delayMicroseconds(uint32_t) __attribute__((always_inline, unused));
+static inline void delayMicroseconds(uint32_t usec)
+{
+#if F_CPU == 168000000
+ uint32_t n = usec * 56;
+#elif F_CPU == 144000000
+ uint32_t n = usec * 48;
+#elif F_CPU == 120000000
+ uint32_t n = usec * 40;
+#elif F_CPU == 96000000
+ uint32_t n = usec << 5;
+#elif F_CPU == 72000000
+ uint32_t n = usec * 24;
+#elif F_CPU == 48000000
+ uint32_t n = usec << 4;
+#elif F_CPU == 24000000
+ uint32_t n = usec << 3;
+#elif F_CPU == 16000000
+ uint32_t n = usec << 2;
+#elif F_CPU == 8000000
+ uint32_t n = usec << 1;
+#elif F_CPU == 4000000
+ uint32_t n = usec;
+#elif F_CPU == 2000000
+ uint32_t n = usec >> 1;
+#endif
+ // changed because a delay of 1 micro Sec @ 2MHz will be 0
+ if (n == 0) return;
+ __asm__ volatile(
+ "L_%=_delayMicroseconds:" "\n\t"
+#if F_CPU < 24000000
+ "nop" "\n\t"
+#endif
+ "subs %0, #1" "\n\t"
+ "bne L_%=_delayMicroseconds" "\n"
+ : "+r" (n) :
+ );
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+
+
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+unsigned long rtc_get(void);
+void rtc_set(unsigned long t);
+void rtc_compensate(int adjust);
+#ifdef __cplusplus
+}
+class teensy3_clock_class
+{
+public:
+ static unsigned long get(void) __attribute__((always_inline)) { return rtc_get(); }
+ static void set(unsigned long t) __attribute__((always_inline)) { rtc_set(t); }
+ static void compensate(int adj) __attribute__((always_inline)) { rtc_compensate(adj); }
+};
+extern teensy3_clock_class Teensy3Clock;
+#endif
+
+
+
+
+#endif
--- /dev/null
+/* 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.
+ */
+
+#ifndef _kinetis_h_
+#define _kinetis_h_
+
+#include <stdint.h>
+
+// Teensy 3.0
+#if defined(__MK20DX128__)
+enum IRQ_NUMBER_t {
+ IRQ_DMA_CH0 = 0,
+ IRQ_DMA_CH1 = 1,
+ IRQ_DMA_CH2 = 2,
+ IRQ_DMA_CH3 = 3,
+ IRQ_DMA_ERROR = 4,
+ IRQ_FTFL_COMPLETE = 6,
+ IRQ_FTFL_COLLISION = 7,
+ IRQ_LOW_VOLTAGE = 8,
+ IRQ_LLWU = 9,
+ IRQ_WDOG = 10,
+ IRQ_I2C0 = 11,
+ IRQ_SPI0 = 12,
+ IRQ_I2S0_TX = 13,
+ IRQ_I2S0_RX = 14,
+ IRQ_UART0_LON = 15,
+ IRQ_UART0_STATUS = 16,
+ IRQ_UART0_ERROR = 17,
+ IRQ_UART1_STATUS = 18,
+ IRQ_UART1_ERROR = 19,
+ IRQ_UART2_STATUS = 20,
+ IRQ_UART2_ERROR = 21,
+ IRQ_ADC0 = 22,
+ IRQ_CMP0 = 23,
+ IRQ_CMP1 = 24,
+ IRQ_FTM0 = 25,
+ IRQ_FTM1 = 26,
+ IRQ_CMT = 27,
+ IRQ_RTC_ALARM = 28,
+ IRQ_RTC_SECOND = 29,
+ IRQ_PIT_CH0 = 30,
+ IRQ_PIT_CH1 = 31,
+ IRQ_PIT_CH2 = 32,
+ IRQ_PIT_CH3 = 33,
+ IRQ_PDB = 34,
+ IRQ_USBOTG = 35,
+ IRQ_USBDCD = 36,
+ IRQ_TSI = 37,
+ IRQ_MCG = 38,
+ IRQ_LPTMR = 39,
+ IRQ_PORTA = 40,
+ IRQ_PORTB = 41,
+ IRQ_PORTC = 42,
+ IRQ_PORTD = 43,
+ IRQ_PORTE = 44,
+ IRQ_SOFTWARE = 45
+};
+#define NVIC_NUM_INTERRUPTS 46
+#define DMA_NUM_CHANNELS 4
+#define KINETISK_UART0
+#define KINETISK_UART0_FIFO
+#define KINETISK_UART1
+#define KINETISK_UART2
+
+// Teensy 3.1
+#elif defined(__MK20DX256__)
+enum IRQ_NUMBER_t {
+ IRQ_DMA_CH0 = 0,
+ IRQ_DMA_CH1 = 1,
+ IRQ_DMA_CH2 = 2,
+ IRQ_DMA_CH3 = 3,
+ IRQ_DMA_CH4 = 4,
+ IRQ_DMA_CH5 = 5,
+ IRQ_DMA_CH6 = 6,
+ IRQ_DMA_CH7 = 7,
+ IRQ_DMA_CH8 = 8,
+ IRQ_DMA_CH9 = 9,
+ IRQ_DMA_CH10 = 10,
+ IRQ_DMA_CH11 = 11,
+ IRQ_DMA_CH12 = 12,
+ IRQ_DMA_CH13 = 13,
+ IRQ_DMA_CH14 = 14,
+ IRQ_DMA_CH15 = 15,
+ IRQ_DMA_ERROR = 16,
+ IRQ_FTFL_COMPLETE = 18,
+ IRQ_FTFL_COLLISION = 19,
+ IRQ_LOW_VOLTAGE = 20,
+ IRQ_LLWU = 21,
+ IRQ_WDOG = 22,
+ IRQ_I2C0 = 24,
+ IRQ_I2C1 = 25,
+ IRQ_SPI0 = 26,
+ IRQ_SPI1 = 27,
+ IRQ_CAN_MESSAGE = 29,
+ IRQ_CAN_BUS_OFF = 30,
+ IRQ_CAN_ERROR = 31,
+ IRQ_CAN_TX_WARN = 32,
+ IRQ_CAN_RX_WARN = 33,
+ IRQ_CAN_WAKEUP = 34,
+ IRQ_I2S0_TX = 35,
+ IRQ_I2S0_RX = 36,
+ IRQ_UART0_LON = 44,
+ IRQ_UART0_STATUS = 45,
+ IRQ_UART0_ERROR = 46,
+ IRQ_UART1_STATUS = 47,
+ IRQ_UART1_ERROR = 48,
+ IRQ_UART2_STATUS = 49,
+ IRQ_UART2_ERROR = 50,
+ IRQ_ADC0 = 57,
+ IRQ_ADC1 = 58,
+ IRQ_CMP0 = 59,
+ IRQ_CMP1 = 60,
+ IRQ_CMP2 = 61,
+ IRQ_FTM0 = 62,
+ IRQ_FTM1 = 63,
+ IRQ_FTM2 = 64,
+ IRQ_CMT = 65,
+ IRQ_RTC_ALARM = 66,
+ IRQ_RTC_SECOND = 67,
+ IRQ_PIT_CH0 = 68,
+ IRQ_PIT_CH1 = 69,
+ IRQ_PIT_CH2 = 70,
+ IRQ_PIT_CH3 = 71,
+ IRQ_PDB = 72,
+ IRQ_USBOTG = 73,
+ IRQ_USBDCD = 74,
+ IRQ_DAC0 = 81,
+ IRQ_TSI = 83,
+ IRQ_MCG = 84,
+ IRQ_LPTMR = 85,
+ IRQ_PORTA = 87,
+ IRQ_PORTB = 88,
+ IRQ_PORTC = 89,
+ IRQ_PORTD = 90,
+ IRQ_PORTE = 91,
+ IRQ_SOFTWARE = 94
+};
+#define NVIC_NUM_INTERRUPTS 95
+#define DMA_NUM_CHANNELS 16
+#define KINETISK_UART0
+#define KINETISK_UART0_FIFO
+#define KINETISK_UART1
+#define KINETISK_UART1_FIFO
+#define KINETISK_UART2
+
+#endif // end of board-specific definitions
+
+
+#if (F_CPU == 168000000)
+ #define F_BUS 56000000
+ #define F_MEM 33600000
+#elif (F_CPU == 144000000)
+ #define F_BUS 48000000
+ #define F_MEM 28800000
+#elif (F_CPU == 120000000)
+ #define F_BUS 60000000
+ #define F_MEM 24000000
+#elif (F_CPU == 96000000)
+ #define F_BUS 48000000
+ #define F_MEM 24000000
+#elif (F_CPU == 72000000)
+ #define F_BUS 36000000
+ #define F_MEM 24000000
+#elif (F_CPU == 48000000)
+ #define F_BUS 48000000
+ #define F_MEM 24000000
+#elif (F_CPU == 24000000)
+ #define F_BUS 24000000
+ #define F_MEM 24000000
+#elif (F_CPU == 16000000)
+ #define F_BUS 16000000
+ #define F_MEM 16000000
+#elif (F_CPU == 8000000)
+ #define F_BUS 8000000
+ #define F_MEM 8000000
+#elif (F_CPU == 4000000)
+ #define F_BUS 4000000
+ #define F_MEM 4000000
+#elif (F_CPU == 2000000)
+ #define F_BUS 2000000
+ #define F_MEM 1000000
+#endif
+
+
+#ifndef NULL
+#define NULL ((void *)0)
+#endif
+
+// chapter 11: Port control and interrupts (PORT)
+#define PORTA_PCR0 (*(volatile uint32_t *)0x40049000) // Pin Control Register n
+#define PORT_PCR_ISF ((uint32_t)0x01000000) // Interrupt Status Flag
+#define PORT_PCR_IRQC(n) ((uint32_t)(((n) & 15) << 16)) // Interrupt Configuration
+#define PORT_PCR_IRQC_MASK ((uint32_t)0x000F0000)
+#define PORT_PCR_LK ((uint32_t)0x00008000) // Lock Register
+#define PORT_PCR_MUX(n) ((uint32_t)(((n) & 7) << 8)) // Pin Mux Control
+#define PORT_PCR_MUX_MASK ((uint32_t)0x00000700)
+#define PORT_PCR_DSE ((uint32_t)0x00000040) // Drive Strength Enable
+#define PORT_PCR_ODE ((uint32_t)0x00000020) // Open Drain Enable
+#define PORT_PCR_PFE ((uint32_t)0x00000010) // Passive Filter Enable
+#define PORT_PCR_SRE ((uint32_t)0x00000004) // Slew Rate Enable
+#define PORT_PCR_PE ((uint32_t)0x00000002) // Pull Enable
+#define PORT_PCR_PS ((uint32_t)0x00000001) // Pull Select
+#define PORTA_PCR1 (*(volatile uint32_t *)0x40049004) // Pin Control Register n
+#define PORTA_PCR2 (*(volatile uint32_t *)0x40049008) // Pin Control Register n
+#define PORTA_PCR3 (*(volatile uint32_t *)0x4004900C) // Pin Control Register n
+#define PORTA_PCR4 (*(volatile uint32_t *)0x40049010) // Pin Control Register n
+#define PORTA_PCR5 (*(volatile uint32_t *)0x40049014) // Pin Control Register n
+#define PORTA_PCR6 (*(volatile uint32_t *)0x40049018) // Pin Control Register n
+#define PORTA_PCR7 (*(volatile uint32_t *)0x4004901C) // Pin Control Register n
+#define PORTA_PCR8 (*(volatile uint32_t *)0x40049020) // Pin Control Register n
+#define PORTA_PCR9 (*(volatile uint32_t *)0x40049024) // Pin Control Register n
+#define PORTA_PCR10 (*(volatile uint32_t *)0x40049028) // Pin Control Register n
+#define PORTA_PCR11 (*(volatile uint32_t *)0x4004902C) // Pin Control Register n
+#define PORTA_PCR12 (*(volatile uint32_t *)0x40049030) // Pin Control Register n
+#define PORTA_PCR13 (*(volatile uint32_t *)0x40049034) // Pin Control Register n
+#define PORTA_PCR14 (*(volatile uint32_t *)0x40049038) // Pin Control Register n
+#define PORTA_PCR15 (*(volatile uint32_t *)0x4004903C) // Pin Control Register n
+#define PORTA_PCR16 (*(volatile uint32_t *)0x40049040) // Pin Control Register n
+#define PORTA_PCR17 (*(volatile uint32_t *)0x40049044) // Pin Control Register n
+#define PORTA_PCR18 (*(volatile uint32_t *)0x40049048) // Pin Control Register n
+#define PORTA_PCR19 (*(volatile uint32_t *)0x4004904C) // Pin Control Register n
+#define PORTA_PCR20 (*(volatile uint32_t *)0x40049050) // Pin Control Register n
+#define PORTA_PCR21 (*(volatile uint32_t *)0x40049054) // Pin Control Register n
+#define PORTA_PCR22 (*(volatile uint32_t *)0x40049058) // Pin Control Register n
+#define PORTA_PCR23 (*(volatile uint32_t *)0x4004905C) // Pin Control Register n
+#define PORTA_PCR24 (*(volatile uint32_t *)0x40049060) // Pin Control Register n
+#define PORTA_PCR25 (*(volatile uint32_t *)0x40049064) // Pin Control Register n
+#define PORTA_PCR26 (*(volatile uint32_t *)0x40049068) // Pin Control Register n
+#define PORTA_PCR27 (*(volatile uint32_t *)0x4004906C) // Pin Control Register n
+#define PORTA_PCR28 (*(volatile uint32_t *)0x40049070) // Pin Control Register n
+#define PORTA_PCR29 (*(volatile uint32_t *)0x40049074) // Pin Control Register n
+#define PORTA_PCR30 (*(volatile uint32_t *)0x40049078) // Pin Control Register n
+#define PORTA_PCR31 (*(volatile uint32_t *)0x4004907C) // Pin Control Register n
+#define PORTA_GPCLR (*(volatile uint32_t *)0x40049080) // Global Pin Control Low Register
+#define PORTA_GPCHR (*(volatile uint32_t *)0x40049084) // Global Pin Control High Register
+#define PORTA_ISFR (*(volatile uint32_t *)0x400490A0) // Interrupt Status Flag Register
+#define PORTB_PCR0 (*(volatile uint32_t *)0x4004A000) // Pin Control Register n
+#define PORTB_PCR1 (*(volatile uint32_t *)0x4004A004) // Pin Control Register n
+#define PORTB_PCR2 (*(volatile uint32_t *)0x4004A008) // Pin Control Register n
+#define PORTB_PCR3 (*(volatile uint32_t *)0x4004A00C) // Pin Control Register n
+#define PORTB_PCR4 (*(volatile uint32_t *)0x4004A010) // Pin Control Register n
+#define PORTB_PCR5 (*(volatile uint32_t *)0x4004A014) // Pin Control Register n
+#define PORTB_PCR6 (*(volatile uint32_t *)0x4004A018) // Pin Control Register n
+#define PORTB_PCR7 (*(volatile uint32_t *)0x4004A01C) // Pin Control Register n
+#define PORTB_PCR8 (*(volatile uint32_t *)0x4004A020) // Pin Control Register n
+#define PORTB_PCR9 (*(volatile uint32_t *)0x4004A024) // Pin Control Register n
+#define PORTB_PCR10 (*(volatile uint32_t *)0x4004A028) // Pin Control Register n
+#define PORTB_PCR11 (*(volatile uint32_t *)0x4004A02C) // Pin Control Register n
+#define PORTB_PCR12 (*(volatile uint32_t *)0x4004A030) // Pin Control Register n
+#define PORTB_PCR13 (*(volatile uint32_t *)0x4004A034) // Pin Control Register n
+#define PORTB_PCR14 (*(volatile uint32_t *)0x4004A038) // Pin Control Register n
+#define PORTB_PCR15 (*(volatile uint32_t *)0x4004A03C) // Pin Control Register n
+#define PORTB_PCR16 (*(volatile uint32_t *)0x4004A040) // Pin Control Register n
+#define PORTB_PCR17 (*(volatile uint32_t *)0x4004A044) // Pin Control Register n
+#define PORTB_PCR18 (*(volatile uint32_t *)0x4004A048) // Pin Control Register n
+#define PORTB_PCR19 (*(volatile uint32_t *)0x4004A04C) // Pin Control Register n
+#define PORTB_PCR20 (*(volatile uint32_t *)0x4004A050) // Pin Control Register n
+#define PORTB_PCR21 (*(volatile uint32_t *)0x4004A054) // Pin Control Register n
+#define PORTB_PCR22 (*(volatile uint32_t *)0x4004A058) // Pin Control Register n
+#define PORTB_PCR23 (*(volatile uint32_t *)0x4004A05C) // Pin Control Register n
+#define PORTB_PCR24 (*(volatile uint32_t *)0x4004A060) // Pin Control Register n
+#define PORTB_PCR25 (*(volatile uint32_t *)0x4004A064) // Pin Control Register n
+#define PORTB_PCR26 (*(volatile uint32_t *)0x4004A068) // Pin Control Register n
+#define PORTB_PCR27 (*(volatile uint32_t *)0x4004A06C) // Pin Control Register n
+#define PORTB_PCR28 (*(volatile uint32_t *)0x4004A070) // Pin Control Register n
+#define PORTB_PCR29 (*(volatile uint32_t *)0x4004A074) // Pin Control Register n
+#define PORTB_PCR30 (*(volatile uint32_t *)0x4004A078) // Pin Control Register n
+#define PORTB_PCR31 (*(volatile uint32_t *)0x4004A07C) // Pin Control Register n
+#define PORTB_GPCLR (*(volatile uint32_t *)0x4004A080) // Global Pin Control Low Register
+#define PORTB_GPCHR (*(volatile uint32_t *)0x4004A084) // Global Pin Control High Register
+#define PORTB_ISFR (*(volatile uint32_t *)0x4004A0A0) // Interrupt Status Flag Register
+#define PORTC_PCR0 (*(volatile uint32_t *)0x4004B000) // Pin Control Register n
+#define PORTC_PCR1 (*(volatile uint32_t *)0x4004B004) // Pin Control Register n
+#define PORTC_PCR2 (*(volatile uint32_t *)0x4004B008) // Pin Control Register n
+#define PORTC_PCR3 (*(volatile uint32_t *)0x4004B00C) // Pin Control Register n
+#define PORTC_PCR4 (*(volatile uint32_t *)0x4004B010) // Pin Control Register n
+#define PORTC_PCR5 (*(volatile uint32_t *)0x4004B014) // Pin Control Register n
+#define PORTC_PCR6 (*(volatile uint32_t *)0x4004B018) // Pin Control Register n
+#define PORTC_PCR7 (*(volatile uint32_t *)0x4004B01C) // Pin Control Register n
+#define PORTC_PCR8 (*(volatile uint32_t *)0x4004B020) // Pin Control Register n
+#define PORTC_PCR9 (*(volatile uint32_t *)0x4004B024) // Pin Control Register n
+#define PORTC_PCR10 (*(volatile uint32_t *)0x4004B028) // Pin Control Register n
+#define PORTC_PCR11 (*(volatile uint32_t *)0x4004B02C) // Pin Control Register n
+#define PORTC_PCR12 (*(volatile uint32_t *)0x4004B030) // Pin Control Register n
+#define PORTC_PCR13 (*(volatile uint32_t *)0x4004B034) // Pin Control Register n
+#define PORTC_PCR14 (*(volatile uint32_t *)0x4004B038) // Pin Control Register n
+#define PORTC_PCR15 (*(volatile uint32_t *)0x4004B03C) // Pin Control Register n
+#define PORTC_PCR16 (*(volatile uint32_t *)0x4004B040) // Pin Control Register n
+#define PORTC_PCR17 (*(volatile uint32_t *)0x4004B044) // Pin Control Register n
+#define PORTC_PCR18 (*(volatile uint32_t *)0x4004B048) // Pin Control Register n
+#define PORTC_PCR19 (*(volatile uint32_t *)0x4004B04C) // Pin Control Register n
+#define PORTC_PCR20 (*(volatile uint32_t *)0x4004B050) // Pin Control Register n
+#define PORTC_PCR21 (*(volatile uint32_t *)0x4004B054) // Pin Control Register n
+#define PORTC_PCR22 (*(volatile uint32_t *)0x4004B058) // Pin Control Register n
+#define PORTC_PCR23 (*(volatile uint32_t *)0x4004B05C) // Pin Control Register n
+#define PORTC_PCR24 (*(volatile uint32_t *)0x4004B060) // Pin Control Register n
+#define PORTC_PCR25 (*(volatile uint32_t *)0x4004B064) // Pin Control Register n
+#define PORTC_PCR26 (*(volatile uint32_t *)0x4004B068) // Pin Control Register n
+#define PORTC_PCR27 (*(volatile uint32_t *)0x4004B06C) // Pin Control Register n
+#define PORTC_PCR28 (*(volatile uint32_t *)0x4004B070) // Pin Control Register n
+#define PORTC_PCR29 (*(volatile uint32_t *)0x4004B074) // Pin Control Register n
+#define PORTC_PCR30 (*(volatile uint32_t *)0x4004B078) // Pin Control Register n
+#define PORTC_PCR31 (*(volatile uint32_t *)0x4004B07C) // Pin Control Register n
+#define PORTC_GPCLR (*(volatile uint32_t *)0x4004B080) // Global Pin Control Low Register
+#define PORTC_GPCHR (*(volatile uint32_t *)0x4004B084) // Global Pin Control High Register
+#define PORTC_ISFR (*(volatile uint32_t *)0x4004B0A0) // Interrupt Status Flag Register
+#define PORTD_PCR0 (*(volatile uint32_t *)0x4004C000) // Pin Control Register n
+#define PORTD_PCR1 (*(volatile uint32_t *)0x4004C004) // Pin Control Register n
+#define PORTD_PCR2 (*(volatile uint32_t *)0x4004C008) // Pin Control Register n
+#define PORTD_PCR3 (*(volatile uint32_t *)0x4004C00C) // Pin Control Register n
+#define PORTD_PCR4 (*(volatile uint32_t *)0x4004C010) // Pin Control Register n
+#define PORTD_PCR5 (*(volatile uint32_t *)0x4004C014) // Pin Control Register n
+#define PORTD_PCR6 (*(volatile uint32_t *)0x4004C018) // Pin Control Register n
+#define PORTD_PCR7 (*(volatile uint32_t *)0x4004C01C) // Pin Control Register n
+#define PORTD_PCR8 (*(volatile uint32_t *)0x4004C020) // Pin Control Register n
+#define PORTD_PCR9 (*(volatile uint32_t *)0x4004C024) // Pin Control Register n
+#define PORTD_PCR10 (*(volatile uint32_t *)0x4004C028) // Pin Control Register n
+#define PORTD_PCR11 (*(volatile uint32_t *)0x4004C02C) // Pin Control Register n
+#define PORTD_PCR12 (*(volatile uint32_t *)0x4004C030) // Pin Control Register n
+#define PORTD_PCR13 (*(volatile uint32_t *)0x4004C034) // Pin Control Register n
+#define PORTD_PCR14 (*(volatile uint32_t *)0x4004C038) // Pin Control Register n
+#define PORTD_PCR15 (*(volatile uint32_t *)0x4004C03C) // Pin Control Register n
+#define PORTD_PCR16 (*(volatile uint32_t *)0x4004C040) // Pin Control Register n
+#define PORTD_PCR17 (*(volatile uint32_t *)0x4004C044) // Pin Control Register n
+#define PORTD_PCR18 (*(volatile uint32_t *)0x4004C048) // Pin Control Register n
+#define PORTD_PCR19 (*(volatile uint32_t *)0x4004C04C) // Pin Control Register n
+#define PORTD_PCR20 (*(volatile uint32_t *)0x4004C050) // Pin Control Register n
+#define PORTD_PCR21 (*(volatile uint32_t *)0x4004C054) // Pin Control Register n
+#define PORTD_PCR22 (*(volatile uint32_t *)0x4004C058) // Pin Control Register n
+#define PORTD_PCR23 (*(volatile uint32_t *)0x4004C05C) // Pin Control Register n
+#define PORTD_PCR24 (*(volatile uint32_t *)0x4004C060) // Pin Control Register n
+#define PORTD_PCR25 (*(volatile uint32_t *)0x4004C064) // Pin Control Register n
+#define PORTD_PCR26 (*(volatile uint32_t *)0x4004C068) // Pin Control Register n
+#define PORTD_PCR27 (*(volatile uint32_t *)0x4004C06C) // Pin Control Register n
+#define PORTD_PCR28 (*(volatile uint32_t *)0x4004C070) // Pin Control Register n
+#define PORTD_PCR29 (*(volatile uint32_t *)0x4004C074) // Pin Control Register n
+#define PORTD_PCR30 (*(volatile uint32_t *)0x4004C078) // Pin Control Register n
+#define PORTD_PCR31 (*(volatile uint32_t *)0x4004C07C) // Pin Control Register n
+#define PORTD_GPCLR (*(volatile uint32_t *)0x4004C080) // Global Pin Control Low Register
+#define PORTD_GPCHR (*(volatile uint32_t *)0x4004C084) // Global Pin Control High Register
+#define PORTD_ISFR (*(volatile uint32_t *)0x4004C0A0) // Interrupt Status Flag Register
+#define PORTE_PCR0 (*(volatile uint32_t *)0x4004D000) // Pin Control Register n
+#define PORTE_PCR1 (*(volatile uint32_t *)0x4004D004) // Pin Control Register n
+#define PORTE_PCR2 (*(volatile uint32_t *)0x4004D008) // Pin Control Register n
+#define PORTE_PCR3 (*(volatile uint32_t *)0x4004D00C) // Pin Control Register n
+#define PORTE_PCR4 (*(volatile uint32_t *)0x4004D010) // Pin Control Register n
+#define PORTE_PCR5 (*(volatile uint32_t *)0x4004D014) // Pin Control Register n
+#define PORTE_PCR6 (*(volatile uint32_t *)0x4004D018) // Pin Control Register n
+#define PORTE_PCR7 (*(volatile uint32_t *)0x4004D01C) // Pin Control Register n
+#define PORTE_PCR8 (*(volatile uint32_t *)0x4004D020) // Pin Control Register n
+#define PORTE_PCR9 (*(volatile uint32_t *)0x4004D024) // Pin Control Register n
+#define PORTE_PCR10 (*(volatile uint32_t *)0x4004D028) // Pin Control Register n
+#define PORTE_PCR11 (*(volatile uint32_t *)0x4004D02C) // Pin Control Register n
+#define PORTE_PCR12 (*(volatile uint32_t *)0x4004D030) // Pin Control Register n
+#define PORTE_PCR13 (*(volatile uint32_t *)0x4004D034) // Pin Control Register n
+#define PORTE_PCR14 (*(volatile uint32_t *)0x4004D038) // Pin Control Register n
+#define PORTE_PCR15 (*(volatile uint32_t *)0x4004D03C) // Pin Control Register n
+#define PORTE_PCR16 (*(volatile uint32_t *)0x4004D040) // Pin Control Register n
+#define PORTE_PCR17 (*(volatile uint32_t *)0x4004D044) // Pin Control Register n
+#define PORTE_PCR18 (*(volatile uint32_t *)0x4004D048) // Pin Control Register n
+#define PORTE_PCR19 (*(volatile uint32_t *)0x4004D04C) // Pin Control Register n
+#define PORTE_PCR20 (*(volatile uint32_t *)0x4004D050) // Pin Control Register n
+#define PORTE_PCR21 (*(volatile uint32_t *)0x4004D054) // Pin Control Register n
+#define PORTE_PCR22 (*(volatile uint32_t *)0x4004D058) // Pin Control Register n
+#define PORTE_PCR23 (*(volatile uint32_t *)0x4004D05C) // Pin Control Register n
+#define PORTE_PCR24 (*(volatile uint32_t *)0x4004D060) // Pin Control Register n
+#define PORTE_PCR25 (*(volatile uint32_t *)0x4004D064) // Pin Control Register n
+#define PORTE_PCR26 (*(volatile uint32_t *)0x4004D068) // Pin Control Register n
+#define PORTE_PCR27 (*(volatile uint32_t *)0x4004D06C) // Pin Control Register n
+#define PORTE_PCR28 (*(volatile uint32_t *)0x4004D070) // Pin Control Register n
+#define PORTE_PCR29 (*(volatile uint32_t *)0x4004D074) // Pin Control Register n
+#define PORTE_PCR30 (*(volatile uint32_t *)0x4004D078) // Pin Control Register n
+#define PORTE_PCR31 (*(volatile uint32_t *)0x4004D07C) // Pin Control Register n
+#define PORTE_GPCLR (*(volatile uint32_t *)0x4004D080) // Global Pin Control Low Register
+#define PORTE_GPCHR (*(volatile uint32_t *)0x4004D084) // Global Pin Control High Register
+#define PORTE_ISFR (*(volatile uint32_t *)0x4004D0A0) // Interrupt Status Flag Register
+
+// Chapter 12: System Integration Module (SIM)
+#define SIM_SOPT1 (*(volatile uint32_t *)0x40047000) // System Options Register 1
+#define SIM_SOPT1CFG (*(volatile uint32_t *)0x40047004) // SOPT1 Configuration Register
+#define SIM_SOPT2 (*(volatile uint32_t *)0x40048004) // System Options Register 2
+#define SIM_SOPT2_USBSRC ((uint32_t)0x00040000) // 0=USB_CLKIN, 1=FFL/PLL
+#define SIM_SOPT2_PLLFLLSEL ((uint32_t)0x00010000) // 0=FLL, 1=PLL
+#define SIM_SOPT2_TRACECLKSEL ((uint32_t)0x00001000) // 0=MCGOUTCLK, 1=CPU
+#define SIM_SOPT2_PTD7PAD ((uint32_t)0x00000800) // 0=normal, 1=double drive PTD7
+#define SIM_SOPT2_CLKOUTSEL(n) ((uint32_t)(((n) & 7) << 5)) // Selects the clock to output on the CLKOUT pin.
+#define SIM_SOPT2_RTCCLKOUTSEL ((uint32_t)0x00000010) // RTC clock out select
+#define SIM_SOPT4 (*(volatile uint32_t *)0x4004800C) // System Options Register 4
+#define SIM_SOPT5 (*(volatile uint32_t *)0x40048010) // System Options Register 5
+#define SIM_SOPT7 (*(volatile uint32_t *)0x40048018) // System Options Register 7
+#define SIM_SDID (*(const uint32_t *)0x40048024) // System Device Identification Register
+#define SIM_SCGC2 (*(volatile uint32_t *)0x4004802C) // System Clock Gating Control Register 2
+#define SIM_SCGC2_DAC0 ((uint32_t)0x00001000) // DAC0 Clock Gate Control
+#define SIM_SCGC3 (*(volatile uint32_t *)0x40048030) // System Clock Gating Control Register 3
+#define SIM_SCGC3_ADC1 ((uint32_t)0x08000000) // ADC1 Clock Gate Control
+#define SIM_SCGC3_FTM2 ((uint32_t)0x01000000) // FTM2 Clock Gate Control
+#define SIM_SCGC4 (*(volatile uint32_t *)0x40048034) // System Clock Gating Control Register 4
+#define SIM_SCGC4_VREF ((uint32_t)0x00100000) // VREF Clock Gate Control
+#define SIM_SCGC4_CMP ((uint32_t)0x00080000) // Comparator Clock Gate Control
+#define SIM_SCGC4_USBOTG ((uint32_t)0x00040000) // USB Clock Gate Control
+#define SIM_SCGC4_UART2 ((uint32_t)0x00001000) // UART2 Clock Gate Control
+#define SIM_SCGC4_UART1 ((uint32_t)0x00000800) // UART1 Clock Gate Control
+#define SIM_SCGC4_UART0 ((uint32_t)0x00000400) // UART0 Clock Gate Control
+#define SIM_SCGC4_I2C1 ((uint32_t)0x00000080) // I2C1 Clock Gate Control
+#define SIM_SCGC4_I2C0 ((uint32_t)0x00000040) // I2C0 Clock Gate Control
+#define SIM_SCGC4_CMT ((uint32_t)0x00000004) // CMT Clock Gate Control
+#define SIM_SCGC4_EWM ((uint32_t)0x00000002) // EWM Clock Gate Control
+#define SIM_SCGC5 (*(volatile uint32_t *)0x40048038) // System Clock Gating Control Register 5
+#define SIM_SCGC5_PORTE ((uint32_t)0x00002000) // Port E Clock Gate Control
+#define SIM_SCGC5_PORTD ((uint32_t)0x00001000) // Port D Clock Gate Control
+#define SIM_SCGC5_PORTC ((uint32_t)0x00000800) // Port C Clock Gate Control
+#define SIM_SCGC5_PORTB ((uint32_t)0x00000400) // Port B Clock Gate Control
+#define SIM_SCGC5_PORTA ((uint32_t)0x00000200) // Port A Clock Gate Control
+#define SIM_SCGC5_TSI ((uint32_t)0x00000020) // Touch Sense Input TSI Clock Gate Control
+#define SIM_SCGC5_LPTIMER ((uint32_t)0x00000001) // Low Power Timer Access Control
+#define SIM_SCGC6 (*(volatile uint32_t *)0x4004803C) // System Clock Gating Control Register 6
+#define SIM_SCGC6_RTC ((uint32_t)0x20000000) // RTC Access
+#define SIM_SCGC6_ADC0 ((uint32_t)0x08000000) // ADC0 Clock Gate Control
+#define SIM_SCGC6_FTM1 ((uint32_t)0x02000000) // FTM1 Clock Gate Control
+#define SIM_SCGC6_FTM0 ((uint32_t)0x01000000) // FTM0 Clock Gate Control
+#define SIM_SCGC6_PIT ((uint32_t)0x00800000) // PIT Clock Gate Control
+#define SIM_SCGC6_PDB ((uint32_t)0x00400000) // PDB Clock Gate Control
+#define SIM_SCGC6_USBDCD ((uint32_t)0x00200000) // USB DCD Clock Gate Control
+#define SIM_SCGC6_CRC ((uint32_t)0x00040000) // CRC Clock Gate Control
+#define SIM_SCGC6_I2S ((uint32_t)0x00008000) // I2S Clock Gate Control
+#define SIM_SCGC6_SPI1 ((uint32_t)0x00002000) // SPI1 Clock Gate Control
+#define SIM_SCGC6_SPI0 ((uint32_t)0x00001000) // SPI0 Clock Gate Control
+#define SIM_SCGC6_FLEXCAN0 ((uint32_t)0x00000010) // FlexCAN0 Clock Gate Control
+#define SIM_SCGC6_DMAMUX ((uint32_t)0x00000002) // DMA Mux Clock Gate Control
+#define SIM_SCGC6_FTFL ((uint32_t)0x00000001) // Flash Memory Clock Gate Control
+#define SIM_SCGC7 (*(volatile uint32_t *)0x40048040) // System Clock Gating Control Register 7
+#define SIM_SCGC7_DMA ((uint32_t)0x00000002) // DMA Clock Gate Control
+#define SIM_CLKDIV1 (*(volatile uint32_t *)0x40048044) // System Clock Divider Register 1
+#define SIM_CLKDIV1_OUTDIV1(n) ((uint32_t)(((n) & 0x0F) << 28)) // divide value for the core/system clock
+#define SIM_CLKDIV1_OUTDIV2(n) ((uint32_t)(((n) & 0x0F) << 24)) // divide value for the peripheral clock
+#define SIM_CLKDIV1_OUTDIV4(n) ((uint32_t)(((n) & 0x0F) << 16)) // divide value for the flash clock
+#define SIM_CLKDIV2 (*(volatile uint32_t *)0x40048048) // System Clock Divider Register 2
+#define SIM_CLKDIV2_USBDIV(n) ((uint32_t)(((n) & 0x07) << 1))
+#define SIM_CLKDIV2_USBFRAC ((uint32_t)0x01)
+#define SIM_FCFG1 (*(const uint32_t *)0x4004804C) // Flash Configuration Register 1
+#define SIM_FCFG2 (*(const uint32_t *)0x40048050) // Flash Configuration Register 2
+#define SIM_UIDH (*(const uint32_t *)0x40048054) // Unique Identification Register High
+#define SIM_UIDMH (*(const uint32_t *)0x40048058) // Unique Identification Register Mid-High
+#define SIM_UIDML (*(const uint32_t *)0x4004805C) // Unique Identification Register Mid Low
+#define SIM_UIDL (*(const uint32_t *)0x40048060) // Unique Identification Register Low
+
+// Chapter 13: Reset Control Module (RCM)
+#define RCM_SRS0 (*(volatile uint8_t *)0x4007F000) // System Reset Status Register 0
+#define RCM_SRS1 (*(volatile uint8_t *)0x4007F001) // System Reset Status Register 1
+#define RCM_RPFC (*(volatile uint8_t *)0x4007F004) // Reset Pin Filter Control Register
+#define RCM_RPFW (*(volatile uint8_t *)0x4007F005) // Reset Pin Filter Width Register
+#define RCM_MR (*(volatile uint8_t *)0x4007F007) // Mode Register
+
+// Chapter 14: System Mode Controller
+#define SMC_PMPROT (*(volatile uint8_t *)0x4007E000) // Power Mode Protection Register
+#define SMC_PMPROT_AVLP ((uint8_t)0x20) // Allow very low power modes
+#define SMC_PMPROT_ALLS ((uint8_t)0x08) // Allow low leakage stop mode
+#define SMC_PMPROT_AVLLS ((uint8_t)0x02) // Allow very low leakage stop mode
+#define SMC_PMCTRL (*(volatile uint8_t *)0x4007E001) // Power Mode Control Register
+#define SMC_PMCTRL_LPWUI ((uint8_t)0x80) // Low Power Wake Up on Interrupt
+#define SMC_PMCTRL_RUNM(n) ((uint8_t)(((n) & 0x03) << 5)) // Run Mode Control
+#define SMC_PMCTRL_STOPA ((uint8_t)0x08) // Stop Aborted
+#define SMC_PMCTRL_STOPM(n) ((uint8_t)((n) & 0x07)) // Stop Mode Control
+#define SMC_VLLSCTRL (*(volatile uint8_t *)0x4007E002) // VLLS Control Register
+#define SMC_VLLSCTRL_PORPO ((uint8_t)0x20) // POR Power Option
+#define SMC_VLLSCTRL_VLLSM(n) ((uint8_t)((n) & 0x07)) // VLLS Mode Control
+#define SMC_PMSTAT (*(volatile uint8_t *)0x4007E003) // Power Mode Status Register
+#define SMC_PMSTAT_RUN ((uint8_t)0x01) // Current power mode is RUN
+#define SMC_PMSTAT_STOP ((uint8_t)0x02) // Current power mode is STOP
+#define SMC_PMSTAT_VLPR ((uint8_t)0x04) // Current power mode is VLPR
+#define SMC_PMSTAT_VLPW ((uint8_t)0x08) // Current power mode is VLPW
+#define SMC_PMSTAT_VLPS ((uint8_t)0x10) // Current power mode is VLPS
+#define SMC_PMSTAT_LLS ((uint8_t)0x20) // Current power mode is LLS
+#define SMC_PMSTAT_VLLS ((uint8_t)0x40) // Current power mode is VLLS
+
+// Chapter 15: Power Management Controller
+#define PMC_LVDSC1 (*(volatile uint8_t *)0x4007D000) // Low Voltage Detect Status And Control 1 register
+#define PMC_LVDSC1_LVDF ((uint8_t)0x80) // Low-Voltage Detect Flag
+#define PMC_LVDSC1_LVDACK ((uint8_t)0x40) // Low-Voltage Detect Acknowledge
+#define PMC_LVDSC1_LVDIE ((uint8_t)0x20) // Low-Voltage Detect Interrupt Enable
+#define PMC_LVDSC1_LVDRE ((uint8_t)0x10) // Low-Voltage Detect Reset Enable
+#define PMC_LVDSC1_LVDV(n) ((uint8_t)((n) & 0x03)) // Low-Voltage Detect Voltage Select
+#define PMC_LVDSC2 (*(volati(le uint8_t *)0x4007D001) // Low Voltage Detect Status And Control 2 register
+#define PMC_LVDSC2_LVWF ((uint8_t)0x80) // Low-Voltage Warning Flag
+#define PMC_LVDSC2_LVWACK ((uint8_t)0x40) // Low-Voltage Warning Acknowledge
+#define PMC_LVDSC2_LVWIE ((uint8_t)0x20) // Low-Voltage Warning Interrupt Enable
+#define PMC_LVDSC2_LVWV(n) ((uint8_t)((n) & 0x03)) // Low-Voltage Warning Voltage Select
+#define PMC_REGSC (*(volatile uint8_t *)0x4007D002) // Regulator Status And Control register
+#define PMC_REGSC_BGEN ((uint8_t)0x10) // Bandgap Enable In VLPx Operation
+#define PMC_REGSC_ACKISO ((uint8_t)0x08) // Acknowledge Isolation
+#define PMC_REGSC_REGONS ((uint8_t)0x04) // Regulator In Run Regulation Status
+#define PMC_REGSC_BGBE ((uint8_t)0x01) // Bandgap Buffer Enable
+
+// Chapter 16: Low-Leakage Wakeup Unit (LLWU)
+#define LLWU_PE1 (*(volatile uint8_t *)0x4007C000) // LLWU Pin Enable 1 register
+#define LLWU_PE2 (*(volatile uint8_t *)0x4007C001) // LLWU Pin Enable 2 register
+#define LLWU_PE3 (*(volatile uint8_t *)0x4007C002) // LLWU Pin Enable 3 register
+#define LLWU_PE4 (*(volatile uint8_t *)0x4007C003) // LLWU Pin Enable 4 register
+#define LLWU_ME (*(volatile uint8_t *)0x4007C004) // LLWU Module Enable register
+#define LLWU_F1 (*(volatile uint8_t *)0x4007C005) // LLWU Flag 1 register
+#define LLWU_F2 (*(volatile uint8_t *)0x4007C006) // LLWU Flag 2 register
+#define LLWU_F3 (*(volatile uint8_t *)0x4007C007) // LLWU Flag 3 register
+#define LLWU_FILT1 (*(volatile uint8_t *)0x4007C008) // LLWU Pin Filter 1 register
+#define LLWU_FILT2 (*(volatile uint8_t *)0x4007C009) // LLWU Pin Filter 2 register
+#define LLWU_RST (*(volatile uint8_t *)0x4007C00A) // LLWU Reset Enable register
+
+// Chapter 17: Miscellaneous Control Module (MCM)
+#define MCM_PLASC (*(volatile uint16_t *)0xE0080008) // Crossbar Switch (AXBS) Slave Configuration
+#define MCM_PLAMC (*(volatile uint16_t *)0xE008000A) // Crossbar Switch (AXBS) Master Configuration
+#define MCM_PLACR (*(volatile uint32_t *)0xE008000C) // Crossbar Switch (AXBS) Control Register (MK20DX128)
+#define MCM_PLACR_ARG ((uint32_t)0x00000200) // Arbitration select, 0=fixed, 1=round-robin
+#define MCM_CR (*(volatile uint32_t *)0xE008000C) // RAM arbitration control register (MK20DX256)
+#define MCM_CR_SRAMLWP ((uint32_t)0x40000000) // SRAM_L write protect
+#define MCM_CR_SRAMLAP(n) ((uint32_t)(((n) & 0x03) << 28)) // SRAM_L priority, 0=RR, 1=favor DMA, 2=CPU, 3=DMA
+#define MCM_CR_SRAMUWP ((uint32_t)0x04000000) // SRAM_U write protect
+#define MCM_CR_SRAMUAP(n) ((uint32_t)(((n) & 0x03) << 24)) // SRAM_U priority, 0=RR, 1=favor DMA, 2=CPU, 3=DMA
+
+// Crossbar Switch (AXBS) - only programmable on MK20DX256
+#define AXBS_PRS0 (*(volatile uint32_t *)0x40004000) // Priority Registers Slave 0
+#define AXBS_CRS0 (*(volatile uint32_t *)0x40004010) // Control Register 0
+#define AXBS_PRS1 (*(volatile uint32_t *)0x40004100) // Priority Registers Slave 1
+#define AXBS_CRS1 (*(volatile uint32_t *)0x40004110) // Control Register 1
+#define AXBS_PRS2 (*(volatile uint32_t *)0x40004200) // Priority Registers Slave 2
+#define AXBS_CRS2 (*(volatile uint32_t *)0x40004210) // Control Register 2
+#define AXBS_PRS3 (*(volatile uint32_t *)0x40004300) // Priority Registers Slave 3
+#define AXBS_CRS3 (*(volatile uint32_t *)0x40004310) // Control Register 3
+#define AXBS_PRS4 (*(volatile uint32_t *)0x40004400) // Priority Registers Slave 4
+#define AXBS_CRS4 (*(volatile uint32_t *)0x40004410) // Control Register 4
+#define AXBS_PRS5 (*(volatile uint32_t *)0x40004500) // Priority Registers Slave 5
+#define AXBS_CRS5 (*(volatile uint32_t *)0x40004510) // Control Register 5
+#define AXBS_PRS6 (*(volatile uint32_t *)0x40004600) // Priority Registers Slave 6
+#define AXBS_CRS6 (*(volatile uint32_t *)0x40004610) // Control Register 6
+#define AXBS_PRS7 (*(volatile uint32_t *)0x40004700) // Priority Registers Slave 7
+#define AXBS_CRS7 (*(volatile uint32_t *)0x40004710) // Control Register 7
+#define AXBS_MGPCR0 (*(volatile uint32_t *)0x40004800) // Master 0 General Purpose Control Register
+#define AXBS_MGPCR1 (*(volatile uint32_t *)0x40004900) // Master 1 General Purpose Control Register
+#define AXBS_MGPCR2 (*(volatile uint32_t *)0x40004A00) // Master 2 General Purpose Control Register
+#define AXBS_MGPCR3 (*(volatile uint32_t *)0x40004B00) // Master 3 General Purpose Control Register
+#define AXBS_MGPCR4 (*(volatile uint32_t *)0x40004C00) // Master 4 General Purpose Control Register
+#define AXBS_MGPCR5 (*(volatile uint32_t *)0x40004D00) // Master 5 General Purpose Control Register
+#define AXBS_MGPCR6 (*(volatile uint32_t *)0x40004E00) // Master 6 General Purpose Control Register
+#define AXBS_MGPCR7 (*(volatile uint32_t *)0x40004F00) // Master 7 General Purpose Control Register
+#define AXBS_CRS_READONLY ((uint32_t)0x80000000)
+#define AXBS_CRS_HALTLOWPRIORITY ((uint32_t)0x40000000)
+#define AXBS_CRS_ARB_FIXED ((uint32_t)0x00000000)
+#define AXBS_CRS_ARB_ROUNDROBIN ((uint32_t)0x00010000)
+#define AXBS_CRS_PARK_FIXED ((uint32_t)0x00000000)
+#define AXBS_CRS_PARK_PREVIOUS ((uint32_t)0x00000010)
+#define AXBS_CRS_PARK_NONE ((uint32_t)0x00000020)
+#define AXBS_CRS_PARK(n) ((uint32_t)(((n) & 7) << 0))
+
+
+
+// Chapter 20: Direct Memory Access Multiplexer (DMAMUX)
+#define DMAMUX0_CHCFG0 (*(volatile uint8_t *)0x40021000) // Channel Configuration register
+#define DMAMUX0_CHCFG1 (*(volatile uint8_t *)0x40021001) // Channel Configuration register
+#define DMAMUX0_CHCFG2 (*(volatile uint8_t *)0x40021002) // Channel Configuration register
+#define DMAMUX0_CHCFG3 (*(volatile uint8_t *)0x40021003) // Channel Configuration register
+#define DMAMUX0_CHCFG4 (*(volatile uint8_t *)0x40021004) // Channel Configuration register
+#define DMAMUX0_CHCFG5 (*(volatile uint8_t *)0x40021005) // Channel Configuration register
+#define DMAMUX0_CHCFG6 (*(volatile uint8_t *)0x40021006) // Channel Configuration register
+#define DMAMUX0_CHCFG7 (*(volatile uint8_t *)0x40021007) // Channel Configuration register
+#define DMAMUX0_CHCFG8 (*(volatile uint8_t *)0x40021008) // Channel Configuration register
+#define DMAMUX0_CHCFG9 (*(volatile uint8_t *)0x40021009) // Channel Configuration register
+#define DMAMUX0_CHCFG10 (*(volatile uint8_t *)0x4002100A) // Channel Configuration register
+#define DMAMUX0_CHCFG11 (*(volatile uint8_t *)0x4002100B) // Channel Configuration register
+#define DMAMUX0_CHCFG12 (*(volatile uint8_t *)0x4002100C) // Channel Configuration register
+#define DMAMUX0_CHCFG13 (*(volatile uint8_t *)0x4002100D) // Channel Configuration register
+#define DMAMUX0_CHCFG14 (*(volatile uint8_t *)0x4002100E) // Channel Configuration register
+#define DMAMUX0_CHCFG15 (*(volatile uint8_t *)0x4002100F) // Channel Configuration register
+#define DMAMUX_DISABLE 0
+#define DMAMUX_TRIG 64
+#define DMAMUX_ENABLE 128
+#define DMAMUX_SOURCE_UART0_RX 2
+#define DMAMUX_SOURCE_UART0_TX 3
+#define DMAMUX_SOURCE_UART1_RX 4
+#define DMAMUX_SOURCE_UART1_TX 5
+#define DMAMUX_SOURCE_UART2_RX 6
+#define DMAMUX_SOURCE_UART2_TX 7
+#define DMAMUX_SOURCE_I2S0_RX 14
+#define DMAMUX_SOURCE_I2S0_TX 15
+#define DMAMUX_SOURCE_SPI0_RX 16
+#define DMAMUX_SOURCE_SPI0_TX 17
+#define DMAMUX_SOURCE_I2C0 22
+#define DMAMUX_SOURCE_I2C1 23
+#define DMAMUX_SOURCE_FTM0_CH0 24
+#define DMAMUX_SOURCE_FTM0_CH1 25
+#define DMAMUX_SOURCE_FTM0_CH2 26
+#define DMAMUX_SOURCE_FTM0_CH3 27
+#define DMAMUX_SOURCE_FTM0_CH4 28
+#define DMAMUX_SOURCE_FTM0_CH5 29
+#define DMAMUX_SOURCE_FTM0_CH6 30
+#define DMAMUX_SOURCE_FTM0_CH7 31
+#define DMAMUX_SOURCE_FTM1_CH0 32
+#define DMAMUX_SOURCE_FTM1_CH1 33
+#define DMAMUX_SOURCE_FTM2_CH0 34
+#define DMAMUX_SOURCE_FTM2_CH1 35
+#define DMAMUX_SOURCE_ADC0 40
+#define DMAMUX_SOURCE_ADC1 41
+#define DMAMUX_SOURCE_CMP0 42
+#define DMAMUX_SOURCE_CMP1 43
+#define DMAMUX_SOURCE_CMP2 44
+#define DMAMUX_SOURCE_DAC0 45
+#define DMAMUX_SOURCE_CMT 47
+#define DMAMUX_SOURCE_PDB 48
+#define DMAMUX_SOURCE_PORTA 49
+#define DMAMUX_SOURCE_PORTB 50
+#define DMAMUX_SOURCE_PORTC 51
+#define DMAMUX_SOURCE_PORTD 52
+#define DMAMUX_SOURCE_PORTE 53
+#define DMAMUX_SOURCE_ALWAYS0 54
+#define DMAMUX_SOURCE_ALWAYS1 55
+#define DMAMUX_SOURCE_ALWAYS2 56
+#define DMAMUX_SOURCE_ALWAYS3 57
+#define DMAMUX_SOURCE_ALWAYS4 58
+#define DMAMUX_SOURCE_ALWAYS5 59
+#define DMAMUX_SOURCE_ALWAYS6 60
+#define DMAMUX_SOURCE_ALWAYS7 61
+#define DMAMUX_SOURCE_ALWAYS8 62
+#define DMAMUX_SOURCE_ALWAYS9 63
+#define DMAMUX_NUM_SOURCE_ALWAYS 10
+
+// Chapter 21: Direct Memory Access Controller (eDMA)
+#define DMA_CR (*(volatile uint32_t *)0x40008000) // Control Register
+#define DMA_CR_CX ((uint32_t)(1<<17)) // Cancel Transfer
+#define DMA_CR_ECX ((uint32_t)(1<<16)) // Error Cancel Transfer
+#define DMA_CR_EMLM ((uint32_t)0x80) // Enable Minor Loop Mapping
+#define DMA_CR_CLM ((uint32_t)0x40) // Continuous Link Mode
+#define DMA_CR_HALT ((uint32_t)0x20) // Halt DMA Operations
+#define DMA_CR_HOE ((uint32_t)0x10) // Halt On Error
+#define DMA_CR_ERCA ((uint32_t)0x04) // Enable Round Robin Channel Arbitration
+#define DMA_CR_EDBG ((uint32_t)0x02) // Enable Debug
+#define DMA_ES (*(volatile uint32_t *)0x40008004) // Error Status Register
+#define DMA_ERQ (*(volatile uint32_t *)0x4000800C) // Enable Request Register
+#define DMA_ERQ_ERQ0 ((uint32_t)1<<0) // Enable DMA Request 0
+#define DMA_ERQ_ERQ1 ((uint32_t)1<<1) // Enable DMA Request 1
+#define DMA_ERQ_ERQ2 ((uint32_t)1<<2) // Enable DMA Request 2
+#define DMA_ERQ_ERQ3 ((uint32_t)1<<3) // Enable DMA Request 3
+#define DMA_ERQ_ERQ4 ((uint32_t)1<<4) // Enable DMA Request 4
+#define DMA_ERQ_ERQ5 ((uint32_t)1<<5) // Enable DMA Request 5
+#define DMA_ERQ_ERQ6 ((uint32_t)1<<6) // Enable DMA Request 6
+#define DMA_ERQ_ERQ7 ((uint32_t)1<<7) // Enable DMA Request 7
+#define DMA_ERQ_ERQ8 ((uint32_t)1<<8) // Enable DMA Request 8
+#define DMA_ERQ_ERQ9 ((uint32_t)1<<9) // Enable DMA Request 9
+#define DMA_ERQ_ERQ10 ((uint32_t)1<<10) // Enable DMA Request 10
+#define DMA_ERQ_ERQ11 ((uint32_t)1<<11) // Enable DMA Request 11
+#define DMA_ERQ_ERQ12 ((uint32_t)1<<12) // Enable DMA Request 12
+#define DMA_ERQ_ERQ13 ((uint32_t)1<<13) // Enable DMA Request 13
+#define DMA_ERQ_ERQ14 ((uint32_t)1<<14) // Enable DMA Request 14
+#define DMA_ERQ_ERQ15 ((uint32_t)1<<15) // Enable DMA Request 15
+#define DMA_EEI (*(volatile uint32_t *)0x40008014) // Enable Error Interrupt Register
+#define DMA_EEI_EEI0 ((uint32_t)1<<0) // Enable Error Interrupt 0
+#define DMA_EEI_EEI1 ((uint32_t)1<<1) // Enable Error Interrupt 1
+#define DMA_EEI_EEI2 ((uint32_t)1<<2) // Enable Error Interrupt 2
+#define DMA_EEI_EEI3 ((uint32_t)1<<3) // Enable Error Interrupt 3
+#define DMA_EEI_EEI4 ((uint32_t)1<<4) // Enable Error Interrupt 4
+#define DMA_EEI_EEI5 ((uint32_t)1<<5) // Enable Error Interrupt 5
+#define DMA_EEI_EEI6 ((uint32_t)1<<6) // Enable Error Interrupt 6
+#define DMA_EEI_EEI7 ((uint32_t)1<<7) // Enable Error Interrupt 7
+#define DMA_EEI_EEI8 ((uint32_t)1<<8) // Enable Error Interrupt 8
+#define DMA_EEI_EEI9 ((uint32_t)1<<9) // Enable Error Interrupt 9
+#define DMA_EEI_EEI10 ((uint32_t)1<<10) // Enable Error Interrupt 10
+#define DMA_EEI_EEI11 ((uint32_t)1<<11) // Enable Error Interrupt 11
+#define DMA_EEI_EEI12 ((uint32_t)1<<12) // Enable Error Interrupt 12
+#define DMA_EEI_EEI13 ((uint32_t)1<<13) // Enable Error Interrupt 13
+#define DMA_EEI_EEI14 ((uint32_t)1<<14) // Enable Error Interrupt 14
+#define DMA_EEI_EEI15 ((uint32_t)1<<15) // Enable Error Interrupt 15
+#define DMA_CEEI (*(volatile uint8_t *)0x40008018) // Clear Enable Error Interrupt Register
+#define DMA_CEEI_CEEI(n) ((uint8_t)(n & 15)<<0) // Clear Enable Error Interrupt
+#define DMA_CEEI_CAEE ((uint8_t)1<<6) // Clear All Enable Error Interrupts
+#define DMA_CEEI_NOP ((uint8_t)1<<7) // NOP
+#define DMA_SEEI (*(volatile uint8_t *)0x40008019) // Set Enable Error Interrupt Register
+#define DMA_SEEI_SEEI(n) ((uint8_t)(n & 15)<<0) // Set Enable Error Interrupt
+#define DMA_SEEI_SAEE ((uint8_t)1<<6) // Set All Enable Error Interrupts
+#define DMA_SEEI_NOP ((uint8_t)1<<7) // NOP
+#define DMA_CERQ (*(volatile uint8_t *)0x4000801A) // Clear Enable Request Register
+#define DMA_CERQ_CERQ(n) ((uint8_t)(n & 15)<<0) // Clear Enable Request
+#define DMA_CERQ_CAER ((uint8_t)1<<6) // Clear All Enable Requests
+#define DMA_CERQ_NOP ((uint8_t)1<<7) // NOP
+#define DMA_SERQ (*(volatile uint8_t *)0x4000801B) // Set Enable Request Register
+#define DMA_SERQ_SERQ(n) ((uint8_t)(n & 15)<<0) // Set Enable Request
+#define DMA_SERQ_SAER ((uint8_t)1<<6) // Set All Enable Requests
+#define DMA_SERQ_NOP ((uint8_t)1<<7) // NOP
+#define DMA_CDNE (*(volatile uint8_t *)0x4000801C) // Clear DONE Status Bit Register
+#define DMA_CDNE_CDNE(n) ((uint8_t)(n & 15)<<0) // Clear Done Bit
+#define DMA_CDNE_CADN ((uint8_t)1<<6) // Clear All Done Bits
+#define DMA_CDNE_NOP ((uint8_t)1<<7) // NOP
+#define DMA_SSRT (*(volatile uint8_t *)0x4000801D) // Set START Bit Register
+#define DMA_SSRT_SSRT(n) ((uint8_t)(n & 15)<<0) // Set Start Bit
+#define DMA_SSRT_SAST ((uint8_t)1<<6) // Set All Start Bits
+#define DMA_SSRT_NOP ((uint8_t)1<<7) // NOP
+#define DMA_CERR (*(volatile uint8_t *)0x4000801E) // Clear Error Register
+#define DMA_CERR_CERR(n) ((uint8_t)(n & 15)<<0) // Clear Error Indicator
+#define DMA_CERR_CAEI ((uint8_t)1<<6) // Clear All Error Indicators
+#define DMA_CERR_NOP ((uint8_t)1<<7) // NOP
+#define DMA_CINT (*(volatile uint8_t *)0x4000801F) // Clear Interrupt Request Register
+#define DMA_CINT_CINT(n) ((uint8_t)(n & 15)<<0) // Clear Interrupt Request
+#define DMA_CINT_CAIR ((uint8_t)1<<6) // Clear All Interrupt Requests
+#define DMA_CINT_NOP ((uint8_t)1<<7) // NOP
+#define DMA_INT (*(volatile uint32_t *)0x40008024) // Interrupt Request Register
+#define DMA_INT_INT0 ((uint32_t)1<<0) // Interrupt Request 0
+#define DMA_INT_INT1 ((uint32_t)1<<1) // Interrupt Request 1
+#define DMA_INT_INT2 ((uint32_t)1<<2) // Interrupt Request 2
+#define DMA_INT_INT3 ((uint32_t)1<<3) // Interrupt Request 3
+#define DMA_INT_INT4 ((uint32_t)1<<4) // Interrupt Request 4
+#define DMA_INT_INT5 ((uint32_t)1<<5) // Interrupt Request 5
+#define DMA_INT_INT6 ((uint32_t)1<<6) // Interrupt Request 6
+#define DMA_INT_INT7 ((uint32_t)1<<7) // Interrupt Request 7
+#define DMA_INT_INT8 ((uint32_t)1<<8) // Interrupt Request 8
+#define DMA_INT_INT9 ((uint32_t)1<<9) // Interrupt Request 9
+#define DMA_INT_INT10 ((uint32_t)1<<10) // Interrupt Request 10
+#define DMA_INT_INT11 ((uint32_t)1<<11) // Interrupt Request 11
+#define DMA_INT_INT12 ((uint32_t)1<<12) // Interrupt Request 12
+#define DMA_INT_INT13 ((uint32_t)1<<13) // Interrupt Request 13
+#define DMA_INT_INT14 ((uint32_t)1<<14) // Interrupt Request 14
+#define DMA_INT_INT15 ((uint32_t)1<<15) // Interrupt Request 15
+#define DMA_ERR (*(volatile uint32_t *)0x4000802C) // Error Register
+#define DMA_ERR_ERR0 ((uint32_t)1<<0) // Error in Channel 0
+#define DMA_ERR_ERR1 ((uint32_t)1<<1) // Error in Channel 1
+#define DMA_ERR_ERR2 ((uint32_t)1<<2) // Error in Channel 2
+#define DMA_ERR_ERR3 ((uint32_t)1<<3) // Error in Channel 3
+#define DMA_ERR_ERR4 ((uint32_t)1<<4) // Error in Channel 4
+#define DMA_ERR_ERR5 ((uint32_t)1<<5) // Error in Channel 5
+#define DMA_ERR_ERR6 ((uint32_t)1<<6) // Error in Channel 6
+#define DMA_ERR_ERR7 ((uint32_t)1<<7) // Error in Channel 7
+#define DMA_ERR_ERR8 ((uint32_t)1<<8) // Error in Channel 8
+#define DMA_ERR_ERR9 ((uint32_t)1<<9) // Error in Channel 9
+#define DMA_ERR_ERR10 ((uint32_t)1<<10) // Error in Channel 10
+#define DMA_ERR_ERR11 ((uint32_t)1<<11) // Error in Channel 11
+#define DMA_ERR_ERR12 ((uint32_t)1<<12) // Error in Channel 12
+#define DMA_ERR_ERR13 ((uint32_t)1<<13) // Error in Channel 13
+#define DMA_ERR_ERR14 ((uint32_t)1<<14) // Error in Channel 14
+#define DMA_ERR_ERR15 ((uint32_t)1<<15) // Error in Channel 15
+#define DMA_HRS (*(volatile uint32_t *)0x40008034) // Hardware Request Status Register
+#define DMA_HRS_HRS0 ((uint32_t)1<<0) // Hardware Request Status Channel 0
+#define DMA_HRS_HRS1 ((uint32_t)1<<1) // Hardware Request Status Channel 1
+#define DMA_HRS_HRS2 ((uint32_t)1<<2) // Hardware Request Status Channel 2
+#define DMA_HRS_HRS3 ((uint32_t)1<<3) // Hardware Request Status Channel 3
+#define DMA_HRS_HRS4 ((uint32_t)1<<4) // Hardware Request Status Channel 4
+#define DMA_HRS_HRS5 ((uint32_t)1<<5) // Hardware Request Status Channel 5
+#define DMA_HRS_HRS6 ((uint32_t)1<<6) // Hardware Request Status Channel 6
+#define DMA_HRS_HRS7 ((uint32_t)1<<7) // Hardware Request Status Channel 7
+#define DMA_HRS_HRS8 ((uint32_t)1<<8) // Hardware Request Status Channel 8
+#define DMA_HRS_HRS9 ((uint32_t)1<<9) // Hardware Request Status Channel 9
+#define DMA_HRS_HRS10 ((uint32_t)1<<10) // Hardware Request Status Channel 10
+#define DMA_HRS_HRS11 ((uint32_t)1<<11) // Hardware Request Status Channel 11
+#define DMA_HRS_HRS12 ((uint32_t)1<<12) // Hardware Request Status Channel 12
+#define DMA_HRS_HRS13 ((uint32_t)1<<13) // Hardware Request Status Channel 13
+#define DMA_HRS_HRS14 ((uint32_t)1<<14) // Hardware Request Status Channel 14
+#define DMA_HRS_HRS15 ((uint32_t)1<<15) // Hardware Request Status Channel 15
+#define DMA_DCHPRI3 (*(volatile uint8_t *)0x40008100) // Channel n Priority Register
+#define DMA_DCHPRI2 (*(volatile uint8_t *)0x40008101) // Channel n Priority Register
+#define DMA_DCHPRI1 (*(volatile uint8_t *)0x40008102) // Channel n Priority Register
+#define DMA_DCHPRI0 (*(volatile uint8_t *)0x40008103) // Channel n Priority Register
+#define DMA_DCHPRI_CHPRI(n) ((uint8_t)(n & 15)<<0) // Channel Arbitration Priority
+#define DMA_DCHPRI_DPA ((uint8_t)1<<6) // Disable PreEmpt Ability
+#define DMA_DCHPRI_ECP ((uint8_t)1<<7) // Enable PreEmption
+#define DMA_DCHPRI7 (*(volatile uint8_t *)0x40008104) // Channel n Priority Register
+#define DMA_DCHPRI6 (*(volatile uint8_t *)0x40008105) // Channel n Priority Register
+#define DMA_DCHPRI5 (*(volatile uint8_t *)0x40008106) // Channel n Priority Register
+#define DMA_DCHPRI4 (*(volatile uint8_t *)0x40008107) // Channel n Priority Register
+#define DMA_DCHPRI11 (*(volatile uint8_t *)0x40008108) // Channel n Priority Register
+#define DMA_DCHPRI10 (*(volatile uint8_t *)0x40008109) // Channel n Priority Register
+#define DMA_DCHPRI9 (*(volatile uint8_t *)0x4000810A) // Channel n Priority Register
+#define DMA_DCHPRI8 (*(volatile uint8_t *)0x4000810B) // Channel n Priority Register
+#define DMA_DCHPRI15 (*(volatile uint8_t *)0x4000810C) // Channel n Priority Register
+#define DMA_DCHPRI14 (*(volatile uint8_t *)0x4000810D) // Channel n Priority Register
+#define DMA_DCHPRI13 (*(volatile uint8_t *)0x4000810E) // Channel n Priority Register
+#define DMA_DCHPRI12 (*(volatile uint8_t *)0x4000810F) // Channel n Priority Register
+
+
+#define DMA_TCD_ATTR_SMOD(n) (((n) & 0x1F) << 11)
+#define DMA_TCD_ATTR_SSIZE(n) (((n) & 0x7) << 8)
+#define DMA_TCD_ATTR_DMOD(n) (((n) & 0x1F) << 3)
+#define DMA_TCD_ATTR_DSIZE(n) (((n) & 0x7) << 0)
+#define DMA_TCD_ATTR_SIZE_8BIT 0
+#define DMA_TCD_ATTR_SIZE_16BIT 1
+#define DMA_TCD_ATTR_SIZE_32BIT 2
+#define DMA_TCD_ATTR_SIZE_16BYTE 4
+#define DMA_TCD_ATTR_SIZE_32BYTE 5 // caution: this might not be supported in newer chips?
+#define DMA_TCD_CSR_BWC(n) (((n) & 0x3) << 14)
+#define DMA_TCD_CSR_BWC_MASK 0xC000
+#define DMA_TCD_CSR_MAJORLINKCH(n) (((n) & 0xF) << 8)
+#define DMA_TCD_CSR_MAJORLINKCH_MASK 0x0F00
+#define DMA_TCD_CSR_DONE 0x0080
+#define DMA_TCD_CSR_ACTIVE 0x0040
+#define DMA_TCD_CSR_MAJORELINK 0x0020
+#define DMA_TCD_CSR_ESG 0x0010
+#define DMA_TCD_CSR_DREQ 0x0008
+#define DMA_TCD_CSR_INTHALF 0x0004
+#define DMA_TCD_CSR_INTMAJOR 0x0002
+#define DMA_TCD_CSR_START 0x0001
+#define DMA_TCD_CITER_MASK ((uint16_t)0x7FFF) // Loop count mask
+#define DMA_TCD_CITER_ELINK ((uint16_t)1<<15) // Enable channel linking on minor-loop complete
+#define DMA_TCD_BITER_MASK ((uint16_t)0x7FFF) // Loop count mask
+#define DMA_TCD_BITER_ELINK ((uint16_t)1<<15) // Enable channel linking on minor-loop complete
+#define DMA_TCD_BITER_ELINKYES_ELINK 0x8000
+#define DMA_TCD_BITER_ELINKYES_LINKCH(n) (((n) & 0xF) << 9)
+#define DMA_TCD_BITER_ELINKYES_LINKCH_MASK 0x1E00
+#define DMA_TCD_BITER_ELINKYES_BITER(n) (((n) & 0x1FF) << 0)
+#define DMA_TCD_BITER_ELINKYES_BITER_MASK 0x01FF
+#define DMA_TCD_CITER_ELINKYES_ELINK 0x8000
+#define DMA_TCD_CITER_ELINKYES_LINKCH(n) (((n) & 0xF) << 9)
+#define DMA_TCD_CITER_ELINKYES_LINKCH_MASK 0x1E00
+#define DMA_TCD_CITER_ELINKYES_CITER(n) (((n) & 0x1FF) << 0)
+#define DMA_TCD_CITER_ELINKYES_CITER_MASK 0x01FF
+#define DMA_TCD_NBYTES_SMLOE ((uint32_t)1<<31) // Source Minor Loop Offset Enable
+#define DMA_TCD_NBYTES_DMLOE ((uint32_t)1<<30) // Destination Minor Loop Offset Enable
+#define DMA_TCD_NBYTES_MLOFFNO_NBYTES(n) ((uint32_t)(n)) // NBytes transfer count when minor loop disabled
+#define DMA_TCD_NBYTES_MLOFFYES_NBYTES(n) ((uint32_t)(n & 0x1F)) // NBytes transfer count when minor loop enabled
+#define DMA_TCD_NBYTES_MLOFFYES_MLOFF(n) ((uint32_t)(n & 0xFFFFF)<<10) // Offset
+
+#define DMA_TCD0_SADDR (*(volatile const void * volatile *)0x40009000) // TCD Source Address
+#define DMA_TCD0_SOFF (*(volatile int16_t *)0x40009004) // TCD Signed Source Address Offset
+#define DMA_TCD0_ATTR (*(volatile uint16_t *)0x40009006) // TCD Transfer Attributes
+#define DMA_TCD0_NBYTES_MLNO (*(volatile uint32_t *)0x40009008) // TCD Minor Byte Count (Minor Loop Disabled)
+#define DMA_TCD0_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009008) // TCD Signed Minor Loop Offset (Minor Loop Enabled and Offset Disabled)
+#define DMA_TCD0_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009008) // TCD Signed Minor Loop Offset (Minor Loop and Offset Enabled)
+#define DMA_TCD0_SLAST (*(volatile int32_t *)0x4000900C) // TCD Last Source Address Adjustment
+#define DMA_TCD0_DADDR (*(volatile void * volatile *)0x40009010) // TCD Destination Address
+#define DMA_TCD0_DOFF (*(volatile int16_t *)0x40009014) // TCD Signed Destination Address Offset
+#define DMA_TCD0_CITER_ELINKYES (*(volatile uint16_t *)0x40009016) // TCD Current Minor Loop Link, Major Loop Count, Channel Linking Enabled
+#define DMA_TCD0_CITER_ELINKNO (*(volatile uint16_t *)0x40009016) // ??
+#define DMA_TCD0_DLASTSGA (*(volatile int32_t *)0x40009018) // TCD Last Destination Address Adjustment/Scatter Gather Address
+#define DMA_TCD0_CSR (*(volatile uint16_t *)0x4000901C) // TCD Control and Status
+#define DMA_TCD0_BITER_ELINKYES (*(volatile uint16_t *)0x4000901E) // TCD Beginning Minor Loop Link, Major Loop Count, Channel Linking Enabled
+#define DMA_TCD0_BITER_ELINKNO (*(volatile uint16_t *)0x4000901E) // TCD Beginning Minor Loop Link, Major Loop Count, Channel Linking Disabled
+
+#define DMA_TCD1_SADDR (*(volatile const void * volatile *)0x40009020) // TCD Source Address
+#define DMA_TCD1_SOFF (*(volatile int16_t *)0x40009024) // TCD Signed Source Address Offset
+#define DMA_TCD1_ATTR (*(volatile uint16_t *)0x40009026) // TCD Transfer Attributes
+#define DMA_TCD1_NBYTES_MLNO (*(volatile uint32_t *)0x40009028) // TCD Minor Byte Count, Minor Loop Disabled
+#define DMA_TCD1_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009028) // TCD Signed Minor Loop Offset, Minor Loop Enabled and Offset Disabled
+#define DMA_TCD1_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009028) // TCD Signed Minor Loop Offset, Minor Loop and Offset Enabled
+#define DMA_TCD1_SLAST (*(volatile int32_t *)0x4000902C) // TCD Last Source Address Adjustment
+#define DMA_TCD1_DADDR (*(volatile void * volatile *)0x40009030) // TCD Destination Address
+#define DMA_TCD1_DOFF (*(volatile int16_t *)0x40009034) // TCD Signed Destination Address Offset
+#define DMA_TCD1_CITER_ELINKYES (*(volatile uint16_t *)0x40009036) // TCD Current Minor Loop Link, Major Loop Count, Channel Linking Enabled
+#define DMA_TCD1_CITER_ELINKNO (*(volatile uint16_t *)0x40009036) // ??
+#define DMA_TCD1_DLASTSGA (*(volatile int32_t *)0x40009038) // TCD Last Destination Address Adjustment/Scatter Gather Address
+#define DMA_TCD1_CSR (*(volatile uint16_t *)0x4000903C) // TCD Control and Status
+#define DMA_TCD1_BITER_ELINKYES (*(volatile uint16_t *)0x4000903E) // TCD Beginning Minor Loop Link, Major Loop Count Channel Linking Enabled
+#define DMA_TCD1_BITER_ELINKNO (*(volatile uint16_t *)0x4000903E) // TCD Beginning Minor Loop Link, Major Loop Count, Channel Linking Disabled
+
+#define DMA_TCD2_SADDR (*(volatile const void * volatile *)0x40009040) // TCD Source Address
+#define DMA_TCD2_SOFF (*(volatile int16_t *)0x40009044) // TCD Signed Source Address Offset
+#define DMA_TCD2_ATTR (*(volatile uint16_t *)0x40009046) // TCD Transfer Attributes
+#define DMA_TCD2_NBYTES_MLNO (*(volatile uint32_t *)0x40009048) // TCD Minor Byte Count, Minor Loop Disabled
+#define DMA_TCD2_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009048) // TCD Signed Minor Loop Offset, Minor Loop Enabled and Offset Disabled
+#define DMA_TCD2_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009048) // TCD Signed Minor Loop Offset, Minor Loop and Offset Enabled
+#define DMA_TCD2_SLAST (*(volatile int32_t *)0x4000904C) // TCD Last Source Address Adjustment
+#define DMA_TCD2_DADDR (*(volatile void * volatile *)0x40009050) // TCD Destination Address
+#define DMA_TCD2_DOFF (*(volatile int16_t *)0x40009054) // TCD Signed Destination Address Offset
+#define DMA_TCD2_CITER_ELINKYES (*(volatile uint16_t *)0x40009056) // TCD Current Minor Loop Link, Major Loop Count, Channel Linking Enabled
+#define DMA_TCD2_CITER_ELINKNO (*(volatile uint16_t *)0x40009056) // ??
+#define DMA_TCD2_DLASTSGA (*(volatile int32_t *)0x40009058) // TCD Last Destination Address Adjustment/Scatter Gather Address
+#define DMA_TCD2_CSR (*(volatile uint16_t *)0x4000905C) // TCD Control and Status
+#define DMA_TCD2_BITER_ELINKYES (*(volatile uint16_t *)0x4000905E) // TCD Beginning Minor Loop Link, Major Loop Count, Channel Linking Enabled
+#define DMA_TCD2_BITER_ELINKNO (*(volatile uint16_t *)0x4000905E) // TCD Beginning Minor Loop Link, Major Loop Count, Channel Linking Disabled
+
+#define DMA_TCD3_SADDR (*(volatile const void * volatile *)0x40009060) // TCD Source Address
+#define DMA_TCD3_SOFF (*(volatile int16_t *)0x40009064) // TCD Signed Source Address Offset
+#define DMA_TCD3_ATTR (*(volatile uint16_t *)0x40009066) // TCD Transfer Attributes
+#define DMA_TCD3_NBYTES_MLNO (*(volatile uint32_t *)0x40009068) // TCD Minor Byte Count, Minor Loop Disabled
+#define DMA_TCD3_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009068) // TCD Signed Minor Loop Offset, Minor Loop Enabled and Offset Disabled
+#define DMA_TCD3_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009068) // TCD Signed Minor Loop Offset, Minor Loop and Offset Enabled
+#define DMA_TCD3_SLAST (*(volatile int32_t *)0x4000906C) // TCD Last Source Address Adjustment
+#define DMA_TCD3_DADDR (*(volatile void * volatile *)0x40009070) // TCD Destination Address
+#define DMA_TCD3_DOFF (*(volatile int16_t *)0x40009074) // TCD Signed Destination Address Offset
+#define DMA_TCD3_CITER_ELINKYES (*(volatile uint16_t *)0x40009076) // TCD Current Minor Loop Link, Major Loop Count, Channel Linking Enabled
+#define DMA_TCD3_CITER_ELINKNO (*(volatile uint16_t *)0x40009076) // ??
+#define DMA_TCD3_DLASTSGA (*(volatile int32_t *)0x40009078) // TCD Last Destination Address Adjustment/Scatter Gather Address
+#define DMA_TCD3_CSR (*(volatile uint16_t *)0x4000907C) // TCD Control and Status
+#define DMA_TCD3_BITER_ELINKYES (*(volatile uint16_t *)0x4000907E) // TCD Beginning Minor Loop Link, Major Loop Count ,Channel Linking Enabled
+#define DMA_TCD3_BITER_ELINKNO (*(volatile uint16_t *)0x4000907E) // TCD Beginning Minor Loop Link, Major Loop Count ,Channel Linking Disabled
+
+#define DMA_TCD4_SADDR (*(volatile const void * volatile *)0x40009080) // TCD Source Addr
+#define DMA_TCD4_SOFF (*(volatile int16_t *)0x40009084) // TCD Signed Source Address Offset
+#define DMA_TCD4_ATTR (*(volatile uint16_t *)0x40009086) // TCD Transfer Attributes
+#define DMA_TCD4_NBYTES_MLNO (*(volatile uint32_t *)0x40009088) // TCD Minor Byte Count
+#define DMA_TCD4_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009088) // TCD Signed Minor Loop Offset
+#define DMA_TCD4_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009088) // TCD Signed Minor Loop Offset
+#define DMA_TCD4_SLAST (*(volatile int32_t *)0x4000908C) // TCD Last Source Addr Adj.
+#define DMA_TCD4_DADDR (*(volatile void * volatile *)0x40009090) // TCD Destination Address
+#define DMA_TCD4_DOFF (*(volatile int16_t *)0x40009094) // TCD Signed Dest Address Offset
+#define DMA_TCD4_CITER_ELINKYES (*(volatile uint16_t *)0x40009096) // TCD Current Minor Loop Link
+#define DMA_TCD4_CITER_ELINKNO (*(volatile uint16_t *)0x40009096) // ??
+#define DMA_TCD4_DLASTSGA (*(volatile int32_t *)0x40009098) // TCD Last Destination Addr Adj
+#define DMA_TCD4_CSR (*(volatile uint16_t *)0x4000909C) // TCD Control and Status
+#define DMA_TCD4_BITER_ELINKYES (*(volatile uint16_t *)0x4000909E) // TCD Beginning Minor Loop Link
+#define DMA_TCD4_BITER_ELINKNO (*(volatile uint16_t *)0x4000909E) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD5_SADDR (*(volatile const void * volatile *)0x400090A0) // TCD Source Addr
+#define DMA_TCD5_SOFF (*(volatile int16_t *)0x400090A4) // TCD Signed Source Address Offset
+#define DMA_TCD5_ATTR (*(volatile uint16_t *)0x400090A6) // TCD Transfer Attributes
+#define DMA_TCD5_NBYTES_MLNO (*(volatile uint32_t *)0x400090A8) // TCD Minor Byte Count
+#define DMA_TCD5_NBYTES_MLOFFNO (*(volatile uint32_t *)0x400090A8) // TCD Signed Minor Loop Offset
+#define DMA_TCD5_NBYTES_MLOFFYES (*(volatile uint32_t *)0x400090A8) // TCD Signed Minor Loop Offset
+#define DMA_TCD5_SLAST (*(volatile int32_t *)0x400090AC) // TCD Last Source Addr Adj.
+#define DMA_TCD5_DADDR (*(volatile void * volatile *)0x400090B0) // TCD Destination Address
+#define DMA_TCD5_DOFF (*(volatile int16_t *)0x400090B4) // TCD Signed Dest Address Offset
+#define DMA_TCD5_CITER_ELINKYES (*(volatile uint16_t *)0x400090B6) // TCD Current Minor Loop Link
+#define DMA_TCD5_CITER_ELINKNO (*(volatile uint16_t *)0x400090B6) // ??
+#define DMA_TCD5_DLASTSGA (*(volatile int32_t *)0x400090B8) // TCD Last Destination Addr Adj
+#define DMA_TCD5_CSR (*(volatile uint16_t *)0x400090BC) // TCD Control and Status
+#define DMA_TCD5_BITER_ELINKYES (*(volatile uint16_t *)0x400090BE) // TCD Beginning Minor Loop Link
+#define DMA_TCD5_BITER_ELINKNO (*(volatile uint16_t *)0x400090BE) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD6_SADDR (*(volatile const void * volatile *)0x400090C0) // TCD Source Addr
+#define DMA_TCD6_SOFF (*(volatile int16_t *)0x400090C4) // TCD Signed Source Address Offset
+#define DMA_TCD6_ATTR (*(volatile uint16_t *)0x400090C6) // TCD Transfer Attributes
+#define DMA_TCD6_NBYTES_MLNO (*(volatile uint32_t *)0x400090C8) // TCD Minor Byte Count
+#define DMA_TCD6_NBYTES_MLOFFNO (*(volatile uint32_t *)0x400090C8) // TCD Signed Minor Loop Offset
+#define DMA_TCD6_NBYTES_MLOFFYES (*(volatile uint32_t *)0x400090C8) // TCD Signed Minor Loop Offset
+#define DMA_TCD6_SLAST (*(volatile int32_t *)0x400090CC) // TCD Last Source Addr Adj.
+#define DMA_TCD6_DADDR (*(volatile void * volatile *)0x400090D0) // TCD Destination Address
+#define DMA_TCD6_DOFF (*(volatile int16_t *)0x400090D4) // TCD Signed Dest Address Offset
+#define DMA_TCD6_CITER_ELINKYES (*(volatile uint16_t *)0x400090D6) // TCD Current Minor Loop Link
+#define DMA_TCD6_CITER_ELINKNO (*(volatile uint16_t *)0x400090D6) // ??
+#define DMA_TCD6_DLASTSGA (*(volatile int32_t *)0x400090D8) // TCD Last Destination Addr Adj
+#define DMA_TCD6_CSR (*(volatile uint16_t *)0x400090DC) // TCD Control and Status
+#define DMA_TCD6_BITER_ELINKYES (*(volatile uint16_t *)0x400090DE) // TCD Beginning Minor Loop Link
+#define DMA_TCD6_BITER_ELINKNO (*(volatile uint16_t *)0x400090DE) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD7_SADDR (*(volatile const void * volatile *)0x400090E0) // TCD Source Addr
+#define DMA_TCD7_SOFF (*(volatile int16_t *)0x400090E4) // TCD Signed Source Address Offset
+#define DMA_TCD7_ATTR (*(volatile uint16_t *)0x400090E6) // TCD Transfer Attributes
+#define DMA_TCD7_NBYTES_MLNO (*(volatile uint32_t *)0x400090E8) // TCD Minor Byte Count
+#define DMA_TCD7_NBYTES_MLOFFNO (*(volatile uint32_t *)0x400090E8) // TCD Signed Minor Loop Offset
+#define DMA_TCD7_NBYTES_MLOFFYES (*(volatile uint32_t *)0x400090E8) // TCD Signed Minor Loop Offset
+#define DMA_TCD7_SLAST (*(volatile int32_t *)0x400090EC) // TCD Last Source Addr Adj.
+#define DMA_TCD7_DADDR (*(volatile void * volatile *)0x400090F0) // TCD Destination Address
+#define DMA_TCD7_DOFF (*(volatile int16_t *)0x400090F4) // TCD Signed Dest Address Offset
+#define DMA_TCD7_CITER_ELINKYES (*(volatile uint16_t *)0x400090F6) // TCD Current Minor Loop Link
+#define DMA_TCD7_CITER_ELINKNO (*(volatile uint16_t *)0x400090F6) // ??
+#define DMA_TCD7_DLASTSGA (*(volatile int32_t *)0x400090F8) // TCD Last Destination Addr Adj
+#define DMA_TCD7_CSR (*(volatile uint16_t *)0x400090FC) // TCD Control and Status
+#define DMA_TCD7_BITER_ELINKYES (*(volatile uint16_t *)0x400090FE) // TCD Beginning Minor Loop Link
+#define DMA_TCD7_BITER_ELINKNO (*(volatile uint16_t *)0x400090FE) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD8_SADDR (*(volatile const void * volatile *)0x40009100) // TCD Source Addr
+#define DMA_TCD8_SOFF (*(volatile int16_t *)0x40009104) // TCD Signed Source Address Offset
+#define DMA_TCD8_ATTR (*(volatile uint16_t *)0x40009106) // TCD Transfer Attributes
+#define DMA_TCD8_NBYTES_MLNO (*(volatile uint32_t *)0x40009108) // TCD Minor Byte Count
+#define DMA_TCD8_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009108) // TCD Signed Minor Loop Offset
+#define DMA_TCD8_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009108) // TCD Signed Minor Loop Offset
+#define DMA_TCD8_SLAST (*(volatile int32_t *)0x4000910C) // TCD Last Source Addr Adj.
+#define DMA_TCD8_DADDR (*(volatile void * volatile *)0x40009110) // TCD Destination Address
+#define DMA_TCD8_DOFF (*(volatile int16_t *)0x40009114) // TCD Signed Dest Address Offset
+#define DMA_TCD8_CITER_ELINKYES (*(volatile uint16_t *)0x40009116) // TCD Current Minor Loop Link
+#define DMA_TCD8_CITER_ELINKNO (*(volatile uint16_t *)0x40009116) // ??
+#define DMA_TCD8_DLASTSGA (*(volatile int32_t *)0x40009118) // TCD Last Destination Addr Adj
+#define DMA_TCD8_CSR (*(volatile uint16_t *)0x4000911C) // TCD Control and Status
+#define DMA_TCD8_BITER_ELINKYES (*(volatile uint16_t *)0x4000911E) // TCD Beginning Minor Loop Link
+#define DMA_TCD8_BITER_ELINKNO (*(volatile uint16_t *)0x4000911E) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD9_SADDR (*(volatile const void * volatile *)0x40009120) // TCD Source Addr
+#define DMA_TCD9_SOFF (*(volatile int16_t *)0x40009124) // TCD Signed Source Address Offset
+#define DMA_TCD9_ATTR (*(volatile uint16_t *)0x40009126) // TCD Transfer Attributes
+#define DMA_TCD9_NBYTES_MLNO (*(volatile uint32_t *)0x40009128) // TCD Minor Byte Count
+#define DMA_TCD9_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009128) // TCD Signed Minor Loop Offset
+#define DMA_TCD9_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009128) // TCD Signed Minor Loop Offset
+#define DMA_TCD9_SLAST (*(volatile int32_t *)0x4000912C) // TCD Last Source Addr Adj.
+#define DMA_TCD9_DADDR (*(volatile void * volatile *)0x40009130) // TCD Destination Address
+#define DMA_TCD9_DOFF (*(volatile int16_t *)0x40009134) // TCD Signed Dest Address Offset
+#define DMA_TCD9_CITER_ELINKYES (*(volatile uint16_t *)0x40009136) // TCD Current Minor Loop Link
+#define DMA_TCD9_CITER_ELINKNO (*(volatile uint16_t *)0x40009136) // ??
+#define DMA_TCD9_DLASTSGA (*(volatile int32_t *)0x40009138) // TCD Last Destination Addr Adj
+#define DMA_TCD9_CSR (*(volatile uint16_t *)0x4000913C) // TCD Control and Status
+#define DMA_TCD9_BITER_ELINKYES (*(volatile uint16_t *)0x4000913E) // TCD Beginning Minor Loop Link
+#define DMA_TCD9_BITER_ELINKNO (*(volatile uint16_t *)0x4000913E) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD10_SADDR (*(volatile const void * volatile *)0x40009140) // TCD Source Addr
+#define DMA_TCD10_SOFF (*(volatile int16_t *)0x40009144) // TCD Signed Source Address Offset
+#define DMA_TCD10_ATTR (*(volatile uint16_t *)0x40009146) // TCD Transfer Attributes
+#define DMA_TCD10_NBYTES_MLNO (*(volatile uint32_t *)0x40009148) // TCD Minor Byte Count
+#define DMA_TCD10_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009148) // TCD Signed Minor Loop Offset
+#define DMA_TCD10_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009148) // TCD Signed Minor Loop Offset
+#define DMA_TCD10_SLAST (*(volatile int32_t *)0x4000914C) // TCD Last Source Addr Adj.
+#define DMA_TCD10_DADDR (*(volatile void * volatile *)0x40009150) // TCD Destination Address
+#define DMA_TCD10_DOFF (*(volatile int16_t *)0x40009154) // TCD Signed Dest Address Offset
+#define DMA_TCD10_CITER_ELINKYES (*(volatile uint16_t *)0x40009156) // TCD Current Minor Loop Link
+#define DMA_TCD10_CITER_ELINKNO (*(volatile uint16_t *)0x40009156) // ??
+#define DMA_TCD10_DLASTSGA (*(volatile int32_t *)0x40009158) // TCD Last Destination Addr Adj
+#define DMA_TCD10_CSR (*(volatile uint16_t *)0x4000915C) // TCD Control and Status
+#define DMA_TCD10_BITER_ELINKYES (*(volatile uint16_t *)0x4000915E) // TCD Beginning Minor Loop Link
+#define DMA_TCD10_BITER_ELINKNO (*(volatile uint16_t *)0x4000915E) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD11_SADDR (*(volatile const void * volatile *)0x40009160) // TCD Source Addr
+#define DMA_TCD11_SOFF (*(volatile int16_t *)0x40009164) // TCD Signed Source Address Offset
+#define DMA_TCD11_ATTR (*(volatile uint16_t *)0x40009166) // TCD Transfer Attributes
+#define DMA_TCD11_NBYTES_MLNO (*(volatile uint32_t *)0x40009168) // TCD Minor Byte Count
+#define DMA_TCD11_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009168) // TCD Signed Minor Loop Offset
+#define DMA_TCD11_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009168) // TCD Signed Minor Loop Offset
+#define DMA_TCD11_SLAST (*(volatile int32_t *)0x4000916C) // TCD Last Source Addr Adj.
+#define DMA_TCD11_DADDR (*(volatile void * volatile *)0x40009170) // TCD Destination Address
+#define DMA_TCD11_DOFF (*(volatile int16_t *)0x40009174) // TCD Signed Dest Address Offset
+#define DMA_TCD11_CITER_ELINKYES (*(volatile uint16_t *)0x40009176) // TCD Current Minor Loop Link
+#define DMA_TCD11_CITER_ELINKNO (*(volatile uint16_t *)0x40009176) // ??
+#define DMA_TCD11_DLASTSGA (*(volatile int32_t *)0x40009178) // TCD Last Destination Addr Adj
+#define DMA_TCD11_CSR (*(volatile uint16_t *)0x4000917C) // TCD Control and Status
+#define DMA_TCD11_BITER_ELINKYES (*(volatile uint16_t *)0x4000917E) // TCD Beginning Minor Loop Link
+#define DMA_TCD11_BITER_ELINKNO (*(volatile uint16_t *)0x4000917E) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD12_SADDR (*(volatile const void * volatile *)0x40009180) // TCD Source Addr
+#define DMA_TCD12_SOFF (*(volatile int16_t *)0x40009184) // TCD Signed Source Address Offset
+#define DMA_TCD12_ATTR (*(volatile uint16_t *)0x40009186) // TCD Transfer Attributes
+#define DMA_TCD12_NBYTES_MLNO (*(volatile uint32_t *)0x40009188) // TCD Minor Byte Count
+#define DMA_TCD12_NBYTES_MLOFFNO (*(volatile uint32_t *)0x40009188) // TCD Signed Minor Loop Offset
+#define DMA_TCD12_NBYTES_MLOFFYES (*(volatile uint32_t *)0x40009188) // TCD Signed Minor Loop Offset
+#define DMA_TCD12_SLAST (*(volatile int32_t *)0x4000918C) // TCD Last Source Addr Adj.
+#define DMA_TCD12_DADDR (*(volatile void * volatile *)0x40009190) // TCD Destination Address
+#define DMA_TCD12_DOFF (*(volatile int16_t *)0x40009194) // TCD Signed Dest Address Offset
+#define DMA_TCD12_CITER_ELINKYES (*(volatile uint16_t *)0x40009196) // TCD Current Minor Loop Link
+#define DMA_TCD12_CITER_ELINKNO (*(volatile uint16_t *)0x40009196) // ??
+#define DMA_TCD12_DLASTSGA (*(volatile int32_t *)0x40009198) // TCD Last Destination Addr Adj
+#define DMA_TCD12_CSR (*(volatile uint16_t *)0x4000919C) // TCD Control and Status
+#define DMA_TCD12_BITER_ELINKYES (*(volatile uint16_t *)0x4000919E) // TCD Beginning Minor Loop Link
+#define DMA_TCD12_BITER_ELINKNO (*(volatile uint16_t *)0x4000919E) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD13_SADDR (*(volatile const void * volatile *)0x400091A0) // TCD Source Addr
+#define DMA_TCD13_SOFF (*(volatile int16_t *)0x400091A4) // TCD Signed Source Address Offset
+#define DMA_TCD13_ATTR (*(volatile uint16_t *)0x400091A6) // TCD Transfer Attributes
+#define DMA_TCD13_NBYTES_MLNO (*(volatile uint32_t *)0x400091A8) // TCD Minor Byte Count
+#define DMA_TCD13_NBYTES_MLOFFNO (*(volatile uint32_t *)0x400091A8) // TCD Signed Minor Loop Offset
+#define DMA_TCD13_NBYTES_MLOFFYES (*(volatile uint32_t *)0x400091A8) // TCD Signed Minor Loop Offset
+#define DMA_TCD13_SLAST (*(volatile int32_t *)0x400091AC) // TCD Last Source Addr Adj.
+#define DMA_TCD13_DADDR (*(volatile void * volatile *)0x400091B0) // TCD Destination Address
+#define DMA_TCD13_DOFF (*(volatile int16_t *)0x400091B4) // TCD Signed Dest Address Offset
+#define DMA_TCD13_CITER_ELINKYES (*(volatile uint16_t *)0x400091B6) // TCD Current Minor Loop Link
+#define DMA_TCD13_CITER_ELINKNO (*(volatile uint16_t *)0x400091B6) // ??
+#define DMA_TCD13_DLASTSGA (*(volatile int32_t *)0x400091B8) // TCD Last Destination Addr Adj
+#define DMA_TCD13_CSR (*(volatile uint16_t *)0x400091BC) // TCD Control and Status
+#define DMA_TCD13_BITER_ELINKYES (*(volatile uint16_t *)0x400091BE) // TCD Beginning Minor Loop Link
+#define DMA_TCD13_BITER_ELINKNO (*(volatile uint16_t *)0x400091BE) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD14_SADDR (*(volatile const void * volatile *)0x400091C0) // TCD Source Addr
+#define DMA_TCD14_SOFF (*(volatile int16_t *)0x400091C4) // TCD Signed Source Address Offset
+#define DMA_TCD14_ATTR (*(volatile uint16_t *)0x400091C6) // TCD Transfer Attributes
+#define DMA_TCD14_NBYTES_MLNO (*(volatile uint32_t *)0x400091C8) // TCD Minor Byte Count
+#define DMA_TCD14_NBYTES_MLOFFNO (*(volatile uint32_t *)0x400091C8) // TCD Signed Minor Loop Offset
+#define DMA_TCD14_NBYTES_MLOFFYES (*(volatile uint32_t *)0x400091C8) // TCD Signed Minor Loop Offset
+#define DMA_TCD14_SLAST (*(volatile int32_t *)0x400091CC) // TCD Last Source Addr Adj.
+#define DMA_TCD14_DADDR (*(volatile void * volatile *)0x400091D0) // TCD Destination Address
+#define DMA_TCD14_DOFF (*(volatile int16_t *)0x400091D4) // TCD Signed Dest Address Offset
+#define DMA_TCD14_CITER_ELINKYES (*(volatile uint16_t *)0x400091D6) // TCD Current Minor Loop Link
+#define DMA_TCD14_CITER_ELINKNO (*(volatile uint16_t *)0x400091D6) // ??
+#define DMA_TCD14_DLASTSGA (*(volatile int32_t *)0x400091D8) // TCD Last Destination Addr Adj
+#define DMA_TCD14_CSR (*(volatile uint16_t *)0x400091DC) // TCD Control and Status
+#define DMA_TCD14_BITER_ELINKYES (*(volatile uint16_t *)0x400091DE) // TCD Beginning Minor Loop Link
+#define DMA_TCD14_BITER_ELINKNO (*(volatile uint16_t *)0x400091DE) // TCD Beginning Minor Loop Link
+
+#define DMA_TCD15_SADDR (*(volatile const void * volatile *)0x400091E0) // TCD Source Addr
+#define DMA_TCD15_SOFF (*(volatile int16_t *)0x400091E4) // TCD Signed Source Address Offset
+#define DMA_TCD15_ATTR (*(volatile uint16_t *)0x400091E6) // TCD Transfer Attributes
+#define DMA_TCD15_NBYTES_MLNO (*(volatile uint32_t *)0x400091E8) // TCD Minor Byte Count
+#define DMA_TCD15_NBYTES_MLOFFNO (*(volatile uint32_t *)0x400091E8) // TCD Signed Minor Loop Offset
+#define DMA_TCD15_NBYTES_MLOFFYES (*(volatile uint32_t *)0x400091E8) // TCD Signed Minor Loop Offset
+#define DMA_TCD15_SLAST (*(volatile int32_t *)0x400091EC) // TCD Last Source Addr Adj.
+#define DMA_TCD15_DADDR (*(volatile void * volatile *)0x400091F0) // TCD Destination Address
+#define DMA_TCD15_DOFF (*(volatile int16_t *)0x400091F4) // TCD Signed Dest Address Offset
+#define DMA_TCD15_CITER_ELINKYES (*(volatile uint16_t *)0x400091F6) // TCD Current Minor Loop Link
+#define DMA_TCD15_CITER_ELINKNO (*(volatile uint16_t *)0x400091F6) // ??
+#define DMA_TCD15_DLASTSGA (*(volatile int32_t *)0x400091F8) // TCD Last Destination Addr Adj
+#define DMA_TCD15_CSR (*(volatile uint16_t *)0x400091FC) // TCD Control and Status
+#define DMA_TCD15_BITER_ELINKYES (*(volatile uint16_t *)0x400091FE) // TCD Beginning Minor Loop Link
+#define DMA_TCD15_BITER_ELINKNO (*(volatile uint16_t *)0x400091FE) // TCD Beginning Minor Loop Link
+
+
+// Chapter 22: External Watchdog Monitor (EWM)
+#define EWM_CTRL (*(volatile uint8_t *)0x40061000) // Control Register
+#define EWM_SERV (*(volatile uint8_t *)0x40061001) // Service Register
+#define EWM_CMPL (*(volatile uint8_t *)0x40061002) // Compare Low Register
+#define EWM_CMPH (*(volatile uint8_t *)0x40061003) // Compare High Register
+
+// Chapter 23: Watchdog Timer (WDOG)
+#define WDOG_STCTRLH (*(volatile uint16_t *)0x40052000) // Watchdog Status and Control Register High
+#define WDOG_STCTRLH_DISTESTWDOG ((uint16_t)0x4000) // Allows the WDOG's functional test mode to be disabled permanently.
+#define WDOG_STCTRLH_BYTESEL(n) ((uint16_t)(((n) & 3) << 12)) // selects the byte to be tested when the watchdog is in the byte test mode.
+#define WDOG_STCTRLH_TESTSEL ((uint16_t)0x0800)
+#define WDOG_STCTRLH_TESTWDOG ((uint16_t)0x0400)
+#define WDOG_STCTRLH_WAITEN ((uint16_t)0x0080)
+#define WDOG_STCTRLH_STOPEN ((uint16_t)0x0040)
+#define WDOG_STCTRLH_DBGEN ((uint16_t)0x0020)
+#define WDOG_STCTRLH_ALLOWUPDATE ((uint16_t)0x0010)
+#define WDOG_STCTRLH_WINEN ((uint16_t)0x0008)
+#define WDOG_STCTRLH_IRQRSTEN ((uint16_t)0x0004)
+#define WDOG_STCTRLH_CLKSRC ((uint16_t)0x0002)
+#define WDOG_STCTRLH_WDOGEN ((uint16_t)0x0001)
+#define WDOG_STCTRLL (*(volatile uint16_t *)0x40052002) // Watchdog Status and Control Register Low
+#define WDOG_TOVALH (*(volatile uint16_t *)0x40052004) // Watchdog Time-out Value Register High
+#define WDOG_TOVALL (*(volatile uint16_t *)0x40052006) // Watchdog Time-out Value Register Low
+#define WDOG_WINH (*(volatile uint16_t *)0x40052008) // Watchdog Window Register High
+#define WDOG_WINL (*(volatile uint16_t *)0x4005200A) // Watchdog Window Register Low
+#define WDOG_REFRESH (*(volatile uint16_t *)0x4005200C) // Watchdog Refresh register
+#define WDOG_UNLOCK (*(volatile uint16_t *)0x4005200E) // Watchdog Unlock register
+#define WDOG_UNLOCK_SEQ1 ((uint16_t)0xC520)
+#define WDOG_UNLOCK_SEQ2 ((uint16_t)0xD928)
+#define WDOG_TMROUTH (*(volatile uint16_t *)0x40052010) // Watchdog Timer Output Register High
+#define WDOG_TMROUTL (*(volatile uint16_t *)0x40052012) // Watchdog Timer Output Register Low
+#define WDOG_RSTCNT (*(volatile uint16_t *)0x40052014) // Watchdog Reset Count register
+#define WDOG_PRESC (*(volatile uint16_t *)0x40052016) // Watchdog Prescaler register
+
+// Chapter 24: Multipurpose Clock Generator (MCG)
+#define MCG_C1 (*(volatile uint8_t *)0x40064000) // MCG Control 1 Register
+#define MCG_C1_IREFSTEN ((uint8_t)0x01) // Internal Reference Stop Enable, Controls whether or not the internal reference clock remains enabled when the MCG enters Stop mode.
+#define MCG_C1_IRCLKEN ((uint8_t)0x02) // Internal Reference Clock Enable, Enables the internal reference clock for use as MCGIRCLK.
+#define MCG_C1_IREFS ((uint8_t)0x04) // Internal Reference Select, Selects the reference clock source for the FLL.
+#define MCG_C1_FRDIV(n) ((uint8_t)(((n) & 0x07) << 3)) // FLL External Reference Divider, Selects the amount to divide down the external reference clock for the FLL
+#define MCG_C1_CLKS(n) ((uint8_t)(((n) & 0x03) << 6)) // Clock Source Select, Selects the clock source for MCGOUTCLK
+#define MCG_C2 (*(volatile uint8_t *)0x40064001) // MCG Control 2 Register
+#define MCG_C2_IRCS ((uint8_t)0x01) // Internal Reference Clock Select, Selects between the fast or slow internal reference clock source.
+#define MCG_C2_LP ((uint8_t)0x02) // Low Power Select, Controls whether the FLL or PLL is disabled in BLPI and BLPE modes.
+#define MCG_C2_EREFS ((uint8_t)0x04) // External Reference Select, Selects the source for the external reference clock.
+#define MCG_C2_HGO0 ((uint8_t)0x08) // High Gain Oscillator Select, Controls the crystal oscillator mode of operation
+#define MCG_C2_RANGE0(n) ((uint8_t)(((n) & 0x03) << 4)) // Frequency Range Select, Selects the frequency range for the crystal oscillator
+#define MCG_C2_LOCRE0 ((uint8_t)0x80) // Loss of Clock Reset Enable, Determines whether an interrupt or a reset request is made following a loss of OSC0
+#define MCG_C3 (*(volatile uint8_t *)0x40064002) // MCG Control 3 Register
+#define MCG_C3_SCTRIM(n) ((uint8_t)(n)) // Slow Internal Reference Clock Trim Setting
+#define MCG_C4 (*(volatile uint8_t *)0x40064003) // MCG Control 4 Register
+#define MCG_C4_SCFTRIM ((uint8_t)0x01) // Slow Internal Reference Clock Fine Trim
+#define MCG_C4_FCTRIM(n) ((uint8_t)(((n) & 0x0F) << 1)) // Fast Internal Reference Clock Trim Setting
+#define MCG_C4_DRST_DRS(n) ((uint8_t)(((n) & 0x03) << 5)) // DCO Range Select
+#define MCG_C4_DMX32 ((uint8_t)0x80) // DCO Maximum Frequency with 32.768 kHz Reference, controls whether the DCO frequency range is narrowed
+#define MCG_C5 (*(volatile uint8_t *)0x40064004) // MCG Control 5 Register
+#define MCG_C5_PRDIV0(n) ((uint8_t)((n) & 0x1F)) // PLL External Reference Divider
+#define MCG_C5_PLLSTEN0 ((uint8_t)0x20) // PLL Stop Enable
+#define MCG_C5_PLLCLKEN0 ((uint8_t)0x40) // PLL Clock Enable
+#define MCG_C6 (*(volatile uint8_t *)0x40064005) // MCG Control 6 Register
+#define MCG_C6_VDIV0(n) ((uint8_t)((n) & 0x1F)) // VCO 0 Divider
+#define MCG_C6_CME0 ((uint8_t)0x20) // Clock Monitor Enable
+#define MCG_C6_PLLS ((uint8_t)0x40) // PLL Select, Controls whether the PLL or FLL output is selected as the MCG source when CLKS[1:0]=00.
+#define MCG_C6_LOLIE0 ((uint8_t)0x80) // Loss of Lock Interrrupt Enable
+#define MCG_S (*(volatile uint8_t *)0x40064006) // MCG Status Register
+#define MCG_S_IRCST ((uint8_t)0x01) // Internal Reference Clock Status
+#define MCG_S_OSCINIT0 ((uint8_t)0x02) // OSC Initialization, resets to 0, is set to 1 after the initialization cycles of the crystal oscillator
+#define MCG_S_CLKST(n) ((uint8_t)(((n) & 0x03) << 2)) // Clock Mode Status, 0=FLL is selected, 1= Internal ref, 2=External ref, 3=PLL
+#define MCG_S_CLKST_MASK ((uint8_t)0x0C)
+#define MCG_S_IREFST ((uint8_t)0x10) // Internal Reference Status
+#define MCG_S_PLLST ((uint8_t)0x20) // PLL Select Status
+#define MCG_S_LOCK0 ((uint8_t)0x40) // Lock Status, 0=PLL Unlocked, 1=PLL Locked
+#define MCG_S_LOLS0 ((uint8_t)0x80) // Loss of Lock Status
+#define MCG_SC (*(volatile uint8_t *)0x40064008) // MCG Status and Control Register
+#define MCG_SC_LOCS0 ((uint8_t)0x01) // OSC0 Loss of Clock Status
+#define MCG_SC_FCRDIV(n) ((uint8_t)(((n) & 0x07) << 1)) // Fast Clock Internal Reference Divider
+#define MCG_SC_FLTPRSRV ((uint8_t)0x10) // FLL Filter Preserve Enable
+#define MCG_SC_ATMF ((uint8_t)0x20) // Automatic Trim Machine Fail Flag
+#define MCG_SC_ATMS ((uint8_t)0x40) // Automatic Trim Machine Select
+#define MCG_SC_ATME ((uint8_t)0x80) // Automatic Trim Machine Enable
+#define MCG_ATCVH (*(volatile uint8_t *)0x4006400A) // MCG Auto Trim Compare Value High Register
+#define MCG_ATCVL (*(volatile uint8_t *)0x4006400B) // MCG Auto Trim Compare Value Low Register
+#define MCG_C7 (*(volatile uint8_t *)0x4006400C) // MCG Control 7 Register
+#define MCG_C8 (*(volatile uint8_t *)0x4006400D) // MCG Control 8 Register
+
+// Chapter 25: Oscillator (OSC)
+#define OSC0_CR (*(volatile uint8_t *)0x40065000) // OSC Control Register
+#define OSC_SC16P ((uint8_t)0x01) // Oscillator 16 pF Capacitor Load Configure
+#define OSC_SC8P ((uint8_t)0x02) // Oscillator 8 pF Capacitor Load Configure
+#define OSC_SC4P ((uint8_t)0x04) // Oscillator 4 pF Capacitor Load Configure
+#define OSC_SC2P ((uint8_t)0x08) // Oscillator 2 pF Capacitor Load Configure
+#define OSC_EREFSTEN ((uint8_t)0x20) // External Reference Stop Enable, Controls whether or not the external reference clock (OSCERCLK) remains enabled when MCU enters Stop mode.
+#define OSC_ERCLKEN ((uint8_t)0x80) // External Reference Enable, Enables external reference clock (OSCERCLK).
+
+// Chapter 27: Flash Memory Controller (FMC)
+#define FMC_PFAPR (*(volatile uint32_t *)0x4001F000) // Flash Access Protection
+#define FMC_PFB0CR (*(volatile uint32_t *)0x4001F004) // Flash Control
+#define FMC_TAGVDW0S0 (*(volatile uint32_t *)0x4001F100) // Cache Tag Storage
+#define FMC_TAGVDW0S1 (*(volatile uint32_t *)0x4001F104) // Cache Tag Storage
+#define FMC_TAGVDW1S0 (*(volatile uint32_t *)0x4001F108)// Cache Tag Storage
+#define FMC_TAGVDW1S1 (*(volatile uint32_t *)0x4001F10C)// Cache Tag Storage
+#define FMC_TAGVDW2S0 (*(volatile uint32_t *)0x4001F110)// Cache Tag Storage
+#define FMC_TAGVDW2S1 (*(volatile uint32_t *)0x4001F114)// Cache Tag Storage
+#define FMC_TAGVDW3S0 (*(volatile uint32_t *)0x4001F118)// Cache Tag Storage
+#define FMC_TAGVDW3S1 (*(volatile uint32_t *)0x4001F11C)// Cache Tag Storage
+#define FMC_DATAW0S0 (*(volatile uint32_t *)0x4001F200)// Cache Data Storage
+#define FMC_DATAW0S1 (*(volatile uint32_t *)0x4001F204)// Cache Data Storage
+#define FMC_DATAW1S0 (*(volatile uint32_t *)0x4001F208)// Cache Data Storage
+#define FMC_DATAW1S1 (*(volatile uint32_t *)0x4001F20C)// Cache Data Storage
+#define FMC_DATAW2S0 (*(volatile uint32_t *)0x4001F210)// Cache Data Storage
+#define FMC_DATAW2S1 (*(volatile uint32_t *)0x4001F214)// Cache Data Storage
+#define FMC_DATAW3S0 (*(volatile uint32_t *)0x4001F218)// Cache Data Storage
+#define FMC_DATAW3S1 (*(volatile uint32_t *)0x4001F21C)// Cache Data Storage
+
+// Chapter 28: Flash Memory Module (FTFL)
+#define FTFL_FSTAT (*(volatile uint8_t *)0x40020000) // Flash Status Register
+#define FTFL_FSTAT_CCIF ((uint8_t)0x80) // Command Complete Interrupt Flag
+#define FTFL_FSTAT_RDCOLERR ((uint8_t)0x40) // Flash Read Collision Error Flag
+#define FTFL_FSTAT_ACCERR ((uint8_t)0x20) // Flash Access Error Flag
+#define FTFL_FSTAT_FPVIOL ((uint8_t)0x10) // Flash Protection Violation Flag
+#define FTFL_FSTAT_MGSTAT0 ((uint8_t)0x01) // Memory Controller Command Completion Status Flag
+#define FTFL_FCNFG (*(volatile uint8_t *)0x40020001) // Flash Configuration Register
+#define FTFL_FCNFG_CCIE ((uint8_t)0x80) // Command Complete Interrupt Enable
+#define FTFL_FCNFG_RDCOLLIE ((uint8_t)0x40) // Read Collision Error Interrupt Enable
+#define FTFL_FCNFG_ERSAREQ ((uint8_t)0x20) // Erase All Request
+#define FTFL_FCNFG_ERSSUSP ((uint8_t)0x10) // Erase Suspend
+#define FTFL_FCNFG_PFLSH ((uint8_t)0x04) // Flash memory configuration
+#define FTFL_FCNFG_RAMRDY ((uint8_t)0x02) // RAM Ready
+#define FTFL_FCNFG_EEERDY ((uint8_t)0x01) // EEPROM Ready
+#define FTFL_FSEC (*(const uint8_t *)0x40020002) // Flash Security Register
+#define FTFL_FOPT (*(const uint8_t *)0x40020003) // Flash Option Register
+#define FTFL_FCCOB3 (*(volatile uint8_t *)0x40020004) // Flash Common Command Object Registers
+#define FTFL_FCCOB2 (*(volatile uint8_t *)0x40020005)
+#define FTFL_FCCOB1 (*(volatile uint8_t *)0x40020006)
+#define FTFL_FCCOB0 (*(volatile uint8_t *)0x40020007)
+#define FTFL_FCCOB7 (*(volatile uint8_t *)0x40020008)
+#define FTFL_FCCOB6 (*(volatile uint8_t *)0x40020009)
+#define FTFL_FCCOB5 (*(volatile uint8_t *)0x4002000A)
+#define FTFL_FCCOB4 (*(volatile uint8_t *)0x4002000B)
+#define FTFL_FCCOBB (*(volatile uint8_t *)0x4002000C)
+#define FTFL_FCCOBA (*(volatile uint8_t *)0x4002000D)
+#define FTFL_FCCOB9 (*(volatile uint8_t *)0x4002000E)
+#define FTFL_FCCOB8 (*(volatile uint8_t *)0x4002000F)
+#define FTFL_FPROT3 (*(volatile uint8_t *)0x40020010) // Program Flash Protection Registers
+#define FTFL_FPROT2 (*(volatile uint8_t *)0x40020011) // Program Flash Protection Registers
+#define FTFL_FPROT1 (*(volatile uint8_t *)0x40020012) // Program Flash Protection Registers
+#define FTFL_FPROT0 (*(volatile uint8_t *)0x40020013) // Program Flash Protection Registers
+#define FTFL_FEPROT (*(volatile uint8_t *)0x40020016) // EEPROM Protection Register
+#define FTFL_FDPROT (*(volatile uint8_t *)0x40020017) // Data Flash Protection Register
+
+// Chapter 30: Cyclic Redundancy Check (CRC)
+#define CRC_CRC (*(volatile uint32_t *)0x40032000) // CRC Data register
+#define CRC_GPOLY (*(volatile uint32_t *)0x40032004) // CRC Polynomial register
+#define CRC_CTRL (*(volatile uint32_t *)0x40032008) // CRC Control register
+
+// Chapter 31: Analog-to-Digital Converter (ADC)
+#define ADC0_SC1A (*(volatile uint32_t *)0x4003B000) // ADC status and control registers 1
+#define ADC0_SC1B (*(volatile uint32_t *)0x4003B004) // ADC status and control registers 1
+#define ADC_SC1_COCO ((uint32_t)0x80) // Conversion complete flag
+#define ADC_SC1_AIEN ((uint32_t)0x40) // Interrupt enable
+#define ADC_SC1_DIFF ((uint32_t)0x20) // Differential mode enable
+#define ADC_SC1_ADCH(n) ((uint32_t)((n) & 0x1F)) // Input channel select
+#define ADC0_CFG1 (*(volatile uint32_t *)0x4003B008) // ADC configuration register 1
+#define ADC_CFG1_ADLPC ((uint32_t)0x80) // Low-power configuration
+#define ADC_CFG1_ADIV(n) ((uint32_t)(((n) & 3) << 5)) // Clock divide select, 0=direct, 1=div2, 2=div4, 3=div8
+#define ADC_CFG1_ADLSMP ((uint32_t)0x10) // Sample time configuration, 0=Short, 1=Long
+#define ADC_CFG1_MODE(n) ((uint32_t)(((n) & 3) << 2)) // Conversion mode, 0=8 bit, 1=12 bit, 2=10 bit, 3=16 bit
+#define ADC_CFG1_ADICLK(n) ((uint32_t)(((n) & 3) << 0)) // Input clock, 0=bus, 1=bus/2, 2=OSCERCLK, 3=async
+#define ADC0_CFG2 (*(volatile uint32_t *)0x4003B00C) // Configuration register 2
+#define ADC_CFG2_MUXSEL ((uint32_t)0x10) // 0=a channels, 1=b channels
+#define ADC_CFG2_ADACKEN ((uint32_t)0x08) // async clock enable
+#define ADC_CFG2_ADHSC ((uint32_t)0x04) // High speed configuration
+#define ADC_CFG2_ADLSTS(n) ((uint32_t)(((n) & 3) << 0)) // Sample time, 0=24 cycles, 1=12 cycles, 2=6 cycles, 3=2 cycles
+#define ADC0_RA (*(volatile uint32_t *)0x4003B010) // ADC data result register
+#define ADC0_RB (*(volatile uint32_t *)0x4003B014) // ADC data result register
+#define ADC0_CV1 (*(volatile uint32_t *)0x4003B018) // Compare value registers
+#define ADC0_CV2 (*(volatile uint32_t *)0x4003B01C) // Compare value registers
+#define ADC0_SC2 (*(volatile uint32_t *)0x4003B020) // Status and control register 2
+#define ADC_SC2_ADACT ((uint32_t)0x80) // Conversion active
+#define ADC_SC2_ADTRG ((uint32_t)0x40) // Conversion trigger select, 0=software, 1=hardware
+#define ADC_SC2_ACFE ((uint32_t)0x20) // Compare function enable
+#define ADC_SC2_ACFGT ((uint32_t)0x10) // Compare function greater than enable
+#define ADC_SC2_ACREN ((uint32_t)0x08) // Compare function range enable
+#define ADC_SC2_DMAEN ((uint32_t)0x04) // DMA enable
+#define ADC_SC2_REFSEL(n) ((uint32_t)(((n) & 3) << 0)) // Voltage reference, 0=vcc/external, 1=1.2 volts
+#define ADC0_SC3 (*(volatile uint32_t *)0x4003B024) // Status and control register 3
+#define ADC_SC3_CAL ((uint32_t)0x80) // Calibration, 1=begin, stays set while cal in progress
+#define ADC_SC3_CALF ((uint32_t)0x40) // Calibration failed flag
+#define ADC_SC3_ADCO ((uint32_t)0x08) // Continuous conversion enable
+#define ADC_SC3_AVGE ((uint32_t)0x04) // Hardware average enable
+#define ADC_SC3_AVGS(n) ((uint32_t)(((n) & 3) << 0)) // avg select, 0=4 samples, 1=8 samples, 2=16 samples, 3=32 samples
+#define ADC0_OFS (*(volatile uint32_t *)0x4003B028) // ADC offset correction register
+#define ADC0_PG (*(volatile uint32_t *)0x4003B02C) // ADC plus-side gain register
+#define ADC0_MG (*(volatile uint32_t *)0x4003B030) // ADC minus-side gain register
+#define ADC0_CLPD (*(volatile uint32_t *)0x4003B034) // ADC plus-side general calibration value register
+#define ADC0_CLPS (*(volatile uint32_t *)0x4003B038) // ADC plus-side general calibration value register
+#define ADC0_CLP4 (*(volatile uint32_t *)0x4003B03C) // ADC plus-side general calibration value register
+#define ADC0_CLP3 (*(volatile uint32_t *)0x4003B040) // ADC plus-side general calibration value register
+#define ADC0_CLP2 (*(volatile uint32_t *)0x4003B044) // ADC plus-side general calibration value register
+#define ADC0_CLP1 (*(volatile uint32_t *)0x4003B048) // ADC plus-side general calibration value register
+#define ADC0_CLP0 (*(volatile uint32_t *)0x4003B04C) // ADC plus-side general calibration value register
+#define ADC0_PGA (*(volatile uint32_t *)0x4003B050) // ADC Programmable Gain Amplifier
+#define ADC_PGA_PGAEN ((uint32_t)0x00800000) // Enable
+#define ADC_PGA_PGALPB ((uint32_t)0x00100000) // Low-Power Mode Control, 0=low power, 1=normal
+#define ADC_PGA_PGAG(n) ((uint32_t)(((n) & 15) << 16)) // Gain, 0=1X, 1=2X, 2=4X, 3=8X, 4=16X, 5=32X, 6=64X
+#define ADC0_CLMD (*(volatile uint32_t *)0x4003B054) // ADC minus-side general calibration value register
+#define ADC0_CLMS (*(volatile uint32_t *)0x4003B058) // ADC minus-side general calibration value register
+#define ADC0_CLM4 (*(volatile uint32_t *)0x4003B05C) // ADC minus-side general calibration value register
+#define ADC0_CLM3 (*(volatile uint32_t *)0x4003B060) // ADC minus-side general calibration value register
+#define ADC0_CLM2 (*(volatile uint32_t *)0x4003B064) // ADC minus-side general calibration value register
+#define ADC0_CLM1 (*(volatile uint32_t *)0x4003B068) // ADC minus-side general calibration value register
+#define ADC0_CLM0 (*(volatile uint32_t *)0x4003B06C) // ADC minus-side general calibration value register
+
+#define ADC1_SC1A (*(volatile uint32_t *)0x400BB000) // ADC status and control registers 1
+#define ADC1_SC1B (*(volatile uint32_t *)0x400BB004) // ADC status and control registers 1
+#define ADC1_CFG1 (*(volatile uint32_t *)0x400BB008) // ADC configuration register 1
+#define ADC1_CFG2 (*(volatile uint32_t *)0x400BB00C) // Configuration register 2
+#define ADC1_RA (*(volatile uint32_t *)0x400BB010) // ADC data result register
+#define ADC1_RB (*(volatile uint32_t *)0x400BB014) // ADC data result register
+#define ADC1_CV1 (*(volatile uint32_t *)0x400BB018) // Compare value registers
+#define ADC1_CV2 (*(volatile uint32_t *)0x400BB01C) // Compare value registers
+#define ADC1_SC2 (*(volatile uint32_t *)0x400BB020) // Status and control register 2
+#define ADC1_SC3 (*(volatile uint32_t *)0x400BB024) // Status and control register 3
+#define ADC1_OFS (*(volatile uint32_t *)0x400BB028) // ADC offset correction register
+#define ADC1_PG (*(volatile uint32_t *)0x400BB02C) // ADC plus-side gain register
+#define ADC1_MG (*(volatile uint32_t *)0x400BB030) // ADC minus-side gain register
+#define ADC1_CLPD (*(volatile uint32_t *)0x400BB034) // ADC plus-side general calibration value register
+#define ADC1_CLPS (*(volatile uint32_t *)0x400BB038) // ADC plus-side general calibration value register
+#define ADC1_CLP4 (*(volatile uint32_t *)0x400BB03C) // ADC plus-side general calibration value register
+#define ADC1_CLP3 (*(volatile uint32_t *)0x400BB040) // ADC plus-side general calibration value register
+#define ADC1_CLP2 (*(volatile uint32_t *)0x400BB044) // ADC plus-side general calibration value register
+#define ADC1_CLP1 (*(volatile uint32_t *)0x400BB048) // ADC plus-side general calibration value register
+#define ADC1_CLP0 (*(volatile uint32_t *)0x400BB04C) // ADC plus-side general calibration value register
+#define ADC1_PGA (*(volatile uint32_t *)0x400BB050) // ADC Programmable Gain Amplifier
+#define ADC1_CLMD (*(volatile uint32_t *)0x400BB054) // ADC minus-side general calibration value register
+#define ADC1_CLMS (*(volatile uint32_t *)0x400BB058) // ADC minus-side general calibration value register
+#define ADC1_CLM4 (*(volatile uint32_t *)0x400BB05C) // ADC minus-side general calibration value register
+#define ADC1_CLM3 (*(volatile uint32_t *)0x400BB060) // ADC minus-side general calibration value register
+#define ADC1_CLM2 (*(volatile uint32_t *)0x400BB064) // ADC minus-side general calibration value register
+#define ADC1_CLM1 (*(volatile uint32_t *)0x400BB068) // ADC minus-side general calibration value register
+#define ADC1_CLM0 (*(volatile uint32_t *)0x400BB06C) // ADC minus-side general calibration value register
+
+#define DAC0_DAT0L (*(volatile uint8_t *)0x400CC000) // DAC Data Low Register
+#define DAC0_DATH (*(volatile uint8_t *)0x400CC001) // DAC Data High Register
+#define DAC0_DAT1L (*(volatile uint8_t *)0x400CC002) // DAC Data Low Register
+#define DAC0_DAT2L (*(volatile uint8_t *)0x400CC004) // DAC Data Low Register
+#define DAC0_DAT3L (*(volatile uint8_t *)0x400CC006) // DAC Data Low Register
+#define DAC0_DAT4L (*(volatile uint8_t *)0x400CC008) // DAC Data Low Register
+#define DAC0_DAT5L (*(volatile uint8_t *)0x400CC00A) // DAC Data Low Register
+#define DAC0_DAT6L (*(volatile uint8_t *)0x400CC00C) // DAC Data Low Register
+#define DAC0_DAT7L (*(volatile uint8_t *)0x400CC00E) // DAC Data Low Register
+#define DAC0_DAT8L (*(volatile uint8_t *)0x400CC010) // DAC Data Low Register
+#define DAC0_DAT9L (*(volatile uint8_t *)0x400CC012) // DAC Data Low Register
+#define DAC0_DAT10L (*(volatile uint8_t *)0x400CC014) // DAC Data Low Register
+#define DAC0_DAT11L (*(volatile uint8_t *)0x400CC016) // DAC Data Low Register
+#define DAC0_DAT12L (*(volatile uint8_t *)0x400CC018) // DAC Data Low Register
+#define DAC0_DAT13L (*(volatile uint8_t *)0x400CC01A) // DAC Data Low Register
+#define DAC0_DAT14L (*(volatile uint8_t *)0x400CC01C) // DAC Data Low Register
+#define DAC0_DAT15L (*(volatile uint8_t *)0x400CC01E) // DAC Data Low Register
+#define DAC0_SR (*(volatile uint8_t *)0x400CC020) // DAC Status Register
+#define DAC0_C0 (*(volatile uint8_t *)0x400CC021) // DAC Control Register
+#define DAC_C0_DACEN 0x80 // DAC Enable
+#define DAC_C0_DACRFS 0x40 // DAC Reference Select
+#define DAC_C0_DACTRGSEL 0x20 // DAC Trigger Select
+#define DAC_C0_DACSWTRG 0x10 // DAC Software Trigger
+#define DAC_C0_LPEN 0x08 // DAC Low Power Control
+#define DAC_C0_DACBWIEN 0x04 // DAC Buffer Watermark Interrupt Enable
+#define DAC_C0_DACBTIEN 0x02 // DAC Buffer Read Pointer Top Flag Interrupt Enable
+#define DAC_C0_DACBBIEN 0x01 // DAC Buffer Read Pointer Bottom Flag Interrupt Enable
+#define DAC0_C1 (*(volatile uint8_t *)0x400CC022) // DAC Control Register 1
+#define DAC_C1_DMAEN 0x80 // DMA Enable Select
+#define DAC_C1_DACBFWM(n) ((((n) & 3) << 3)) // DAC Buffer Watermark Select
+#define DAC_C1_DACBFMD(n) ((((n) & 3) << 1)) // DAC Buffer Work Mode Select
+#define DAC_C1_DACBFEN 0x01 // DAC Buffer Enable
+
+#define DAC0_C2 (*(volatile uint8_t *)0x400CC023) // DAC Control Register 2
+#define DAC_C2_DACBFRP(n) ((((n) & 15) << 4)) // DAC Buffer Read Pointer
+#define DAC_C2_DACBFUP(n) ((((n) & 15) << 0)) // DAC Buffer Upper Limit
+
+
+//#define MCG_C2_RANGE0(n) (uint8_t)(((n) & 0x03) << 4) // Frequency Range Select, Selects the frequency range for the crystal oscillator
+//#define MCG_C2_LOCRE0 (uint8_t)0x80 // Loss of Clock Reset Enable, Determines whether an interrupt or a reset request is made following a loss of OSC0
+
+// Chapter 32: Comparator (CMP)
+#define CMP0_CR0 (*(volatile uint8_t *)0x40073000) // CMP Control Register 0
+#define CMP0_CR1 (*(volatile uint8_t *)0x40073001) // CMP Control Register 1
+#define CMP0_FPR (*(volatile uint8_t *)0x40073002) // CMP Filter Period Register
+#define CMP0_SCR (*(volatile uint8_t *)0x40073003) // CMP Status and Control Register
+#define CMP0_DACCR (*(volatile uint8_t *)0x40073004) // DAC Control Register
+#define CMP0_MUXCR (*(volatile uint8_t *)0x40073005) // MUX Control Register
+#define CMP1_CR0 (*(volatile uint8_t *)0x40073008) // CMP Control Register 0
+#define CMP1_CR1 (*(volatile uint8_t *)0x40073009) // CMP Control Register 1
+#define CMP1_FPR (*(volatile uint8_t *)0x4007300A) // CMP Filter Period Register
+#define CMP1_SCR (*(volatile uint8_t *)0x4007300B) // CMP Status and Control Register
+#define CMP1_DACCR (*(volatile uint8_t *)0x4007300C) // DAC Control Register
+#define CMP1_MUXCR (*(volatile uint8_t *)0x4007300D) // MUX Control Register
+
+// Chapter 33: Voltage Reference (VREFV1)
+#define VREF_TRM (*(volatile uint8_t *)0x40074000) // VREF Trim Register
+#define VREF_TRM_CHOPEN ((uint8_t)0x40) // Chop oscillator enable
+#define VREF_TRM_TRIM(n) ((n) & 0x3F) // Trim bits
+#define VREF_SC (*(volatile uint8_t *)0x40074001) // VREF Status and Control Register
+#define VREF_SC_VREFEN ((uint8_t)0x80) // Internal Voltage Reference enable
+#define VREF_SC_REGEN ((uint8_t)0x40) // Regulator enable
+#define VREF_SC_ICOMPEN ((uint8_t)0x20) // Second order curvature compensation enable
+#define VREF_SC_VREFST ((uint8_t)0x04) // Internal Voltage Reference stable flag
+#define VREF_SC_MODE_LV(n) (uint8_t)(((n) & 3) << 0) // Buffer Mode selection: 0=Bandgap on only
+ // 1=High power buffer mode,
+ // 2=Low-power buffer mode
+
+// Chapter 34: Programmable Delay Block (PDB)
+#define PDB0_SC (*(volatile uint32_t *)0x40036000) // Status and Control Register
+#define PDB_SC_LDMOD(n) (((n) & 3) << 18) // Load Mode Select
+#define PDB_SC_PDBEIE 0x00020000 // Sequence Error Interrupt Enable
+#define PDB_SC_SWTRIG 0x00010000 // Software Trigger
+#define PDB_SC_DMAEN 0x00008000 // DMA Enable
+#define PDB_SC_PRESCALER(n) (((n) & 7) << 12) // Prescaler Divider Select
+#define PDB_SC_TRGSEL(n) (((n) & 15) << 8) // Trigger Input Source Select
+#define PDB_SC_PDBEN 0x00000080 // PDB Enable
+#define PDB_SC_PDBIF 0x00000040 // PDB Interrupt Flag
+#define PDB_SC_PDBIE 0x00000020 // PDB Interrupt Enable.
+#define PDB_SC_MULT(n) (((n) & 3) << 2) // Multiplication Factor
+#define PDB_SC_CONT 0x00000002 // Continuous Mode Enable
+#define PDB_SC_LDOK 0x00000001 // Load OK
+#define PDB0_MOD (*(volatile uint32_t *)0x40036004) // Modulus Register
+#define PDB0_CNT (*(volatile uint32_t *)0x40036008) // Counter Register
+#define PDB0_IDLY (*(volatile uint32_t *)0x4003600C) // Interrupt Delay Register
+#define PDB0_CH0C1 (*(volatile uint32_t *)0x40036010) // Channel n Control Register 1
+#define PDB0_CH0S (*(volatile uint32_t *)0x40036014) // Channel n Status Register
+#define PDB0_CH0DLY0 (*(volatile uint32_t *)0x40036018) // Channel n Delay 0 Register
+#define PDB0_CH0DLY1 (*(volatile uint32_t *)0x4003601C) // Channel n Delay 1 Register
+#define PDB0_POEN (*(volatile uint32_t *)0x40036190) // Pulse-Out n Enable Register
+#define PDB0_PO0DLY (*(volatile uint32_t *)0x40036194) // Pulse-Out n Delay Register
+#define PDB0_PO1DLY (*(volatile uint32_t *)0x40036198) // Pulse-Out n Delay Register
+
+// Chapter 35: FlexTimer Module (FTM)
+#define FTM0_SC (*(volatile uint32_t *)0x40038000) // Status And Control
+#define FTM_SC_TOF 0x80 // Timer Overflow Flag
+#define FTM_SC_TOIE 0x40 // Timer Overflow Interrupt Enable
+#define FTM_SC_CPWMS 0x20 // Center-Aligned PWM Select
+#define FTM_SC_CLKS(n) (((n) & 3) << 3) // Clock Source Selection
+#define FTM_SC_CLKS_MASK 0x18
+#define FTM_SC_PS(n) (((n) & 7) << 0) // Prescale Factor Selection
+#define FTM_SC_PS_MASK 0x07
+#define FTM0_CNT (*(volatile uint32_t *)0x40038004) // Counter
+#define FTM0_MOD (*(volatile uint32_t *)0x40038008) // Modulo
+#define FTM0_C0SC (*(volatile uint32_t *)0x4003800C) // Channel 0 Status And Control
+#define FTM_CSC_CHF 0x80 // Channel Flag
+#define FTM_CSC_CHIE 0x40 // Channel Interrupt Enable
+#define FTM_CSC_MSB 0x20 // Channel Mode Select
+#define FTM_CSC_MSA 0x10 // Channel Mode Select
+#define FTM_CSC_ELSB 0x08 // Edge or Level Select
+#define FTM_CSC_ELSA 0x04 // Edge or Level Select
+#define FTM_CSC_DMA 0x01 // DMA Enable
+#define FTM0_C0V (*(volatile uint32_t *)0x40038010) // Channel 0 Value
+#define FTM0_C1SC (*(volatile uint32_t *)0x40038014) // Channel 1 Status And Control
+#define FTM0_C1V (*(volatile uint32_t *)0x40038018) // Channel 1 Value
+#define FTM0_C2SC (*(volatile uint32_t *)0x4003801C) // Channel 2 Status And Control
+#define FTM0_C2V (*(volatile uint32_t *)0x40038020) // Channel 2 Value
+#define FTM0_C3SC (*(volatile uint32_t *)0x40038024) // Channel 3 Status And Control
+#define FTM0_C3V (*(volatile uint32_t *)0x40038028) // Channel 3 Value
+#define FTM0_C4SC (*(volatile uint32_t *)0x4003802C) // Channel 4 Status And Control
+#define FTM0_C4V (*(volatile uint32_t *)0x40038030) // Channel 4 Value
+#define FTM0_C5SC (*(volatile uint32_t *)0x40038034) // Channel 5 Status And Control
+#define FTM0_C5V (*(volatile uint32_t *)0x40038038) // Channel 5 Value
+#define FTM0_C6SC (*(volatile uint32_t *)0x4003803C) // Channel 6 Status And Control
+#define FTM0_C6V (*(volatile uint32_t *)0x40038040) // Channel 6 Value
+#define FTM0_C7SC (*(volatile uint32_t *)0x40038044) // Channel 7 Status And Control
+#define FTM0_C7V (*(volatile uint32_t *)0x40038048) // Channel 7 Value
+#define FTM0_CNTIN (*(volatile uint32_t *)0x4003804C) // Counter Initial Value
+#define FTM0_STATUS (*(volatile uint32_t *)0x40038050) // Capture And Compare Status
+#define FTM_STATUS_CH7F 0x80 //
+#define FTM_STATUS_CH6F 0x40 //
+#define FTM_STATUS_CH5F 0x20 //
+#define FTM_STATUS_CH4F 0x10 //
+#define FTM_STATUS_CH3F 0x08 //
+#define FTM_STATUS_CH2F 0x04 //
+#define FTM_STATUS_CH1F 0x02 //
+#define FTM_STATUS_CH0F 0x01 //
+#define FTM0_MODE (*(volatile uint32_t *)0x40038054) // Features Mode Selection
+#define FTM_MODE_FAULTIE 0x80 // Fault Interrupt Enable
+#define FTM_MODE_FAULTM(n) (((n) & 3) << 5) // Fault Control Mode
+#define FTM_MODE_FAULTM_MASK 0x60
+#define FTM_MODE_CAPTEST 0x10 // Capture Test Mode Enable
+#define FTM_MODE_PWMSYNC 0x08 // PWM Synchronization Mode
+#define FTM_MODE_WPDIS 0x04 // Write Protection Disable
+#define FTM_MODE_INIT 0x02 // Initialize The Channels Output
+#define FTM_MODE_FTMEN 0x01 // FTM Enable
+#define FTM0_SYNC (*(volatile uint32_t *)0x40038058) // Synchronization
+#define FTM_SYNC_SWSYNC 0x80 //
+#define FTM_SYNC_TRIG2 0x40 //
+#define FTM_SYNC_TRIG1 0x20 //
+#define FTM_SYNC_TRIG0 0x10 //
+#define FTM_SYNC_SYNCHOM 0x08 //
+#define FTM_SYNC_REINIT 0x04 //
+#define FTM_SYNC_CNTMAX 0x02 //
+#define FTM_SYNC_CNTMIN 0x01 //
+#define FTM0_OUTINIT (*(volatile uint32_t *)0x4003805C) // Initial State For Channels Output
+#define FTM_OUTINIT_CH7OI 0x80 //
+#define FTM_OUTINIT_CH6OI 0x40 //
+#define FTM_OUTINIT_CH5OI 0x20 //
+#define FTM_OUTINIT_CH4OI 0x10 //
+#define FTM_OUTINIT_CH3OI 0x08 //
+#define FTM_OUTINIT_CH2OI 0x04 //
+#define FTM_OUTINIT_CH1OI 0x02 //
+#define FTM_OUTINIT_CH0OI 0x01 //
+#define FTM0_OUTMASK (*(volatile uint32_t *)0x40038060) // Output Mask
+#define FTM_OUTMASK_CH7OM 0x80 //
+#define FTM_OUTMASK_CH6OM 0x40 //
+#define FTM_OUTMASK_CH5OM 0x20 //
+#define FTM_OUTMASK_CH4OM 0x10 //
+#define FTM_OUTMASK_CH3OM 0x08 //
+#define FTM_OUTMASK_CH2OM 0x04 //
+#define FTM_OUTMASK_CH1OM 0x02 //
+#define FTM_OUTMASK_CH0OM 0x01 //
+#define FTM0_COMBINE (*(volatile uint32_t *)0x40038064) // Function For Linked Channels
+#define FTM_COMBINE_FAULTEN3 0x40000000 // Enable the fault control, ch #6 & #7
+#define FTM_COMBINE_SYNCEN3 0x20000000 // Enable PWM sync of C6V & C7V
+#define FTM_COMBINE_DTEN3 0x10000000 // Enable deadtime insertion, ch #6 & #7
+#define FTM_COMBINE_DECAP3 0x08000000 // Dual Edge Capture Mode
+#define FTM_COMBINE_DECAPEN3 0x04000000 // Dual Edge Capture Mode Enable
+#define FTM_COMBINE_COMP3 0x02000000 // Complement Of Channel #6 & #7
+#define FTM_COMBINE_COMBINE3 0x01000000 // Combine Channels #6 & #7
+#define FTM_COMBINE_FAULTEN2 0x00400000 // Enable the fault control, ch #4 & #5
+#define FTM_COMBINE_SYNCEN2 0x00200000 // Enable PWM sync of C4V & C5V
+#define FTM_COMBINE_DTEN2 0x00100000 // Enable deadtime insertion, ch #4 & #5
+#define FTM_COMBINE_DECAP2 0x00080000 // Dual Edge Capture Mode
+#define FTM_COMBINE_DECAPEN2 0x00040000 // Dual Edge Capture Mode Enable
+#define FTM_COMBINE_COMP2 0x00020000 // Complement Of Channel #4 & #5
+#define FTM_COMBINE_COMBINE2 0x00010000 // Combine Channels #4 & #5
+#define FTM_COMBINE_FAULTEN1 0x00004000 // Enable the fault control, ch #2 & #3
+#define FTM_COMBINE_SYNCEN1 0x00002000 // Enable PWM sync of C2V & C3V
+#define FTM_COMBINE_DTEN1 0x00001000 // Enable deadtime insertion, ch #2 & #3
+#define FTM_COMBINE_DECAP1 0x00000800 // Dual Edge Capture Mode
+#define FTM_COMBINE_DECAPEN1 0x00000400 // Dual Edge Capture Mode Enable
+#define FTM_COMBINE_COMP1 0x00000200 // Complement Of Channel #2 & #3
+#define FTM_COMBINE_COMBINE1 0x00000100 // Combine Channels #2 & #3
+#define FTM_COMBINE_FAULTEN0 0x00000040 // Enable the fault control, ch #0 & #1
+#define FTM_COMBINE_SYNCEN0 0x00000020 // Enable PWM sync of C0V & C1V
+#define FTM_COMBINE_DTEN0 0x00000010 // Enable deadtime insertion, ch #0 & #1
+#define FTM_COMBINE_DECAP0 0x00000008 // Dual Edge Capture Mode
+#define FTM_COMBINE_DECAPEN0 0x00000004 // Dual Edge Capture Mode Enable
+#define FTM_COMBINE_COMP0 0x00000002 // Complement Of Channel #0 & #1
+#define FTM_COMBINE_COMBINE0 0x00000001 // Combine Channels #0 & #1
+#define FTM0_DEADTIME (*(volatile uint32_t *)0x40038068) // Deadtime Insertion Control
+#define FTM_DEADTIME_DTPS(n) (((n) & 3) << 6) // Prescaler Value, 0=1x, 2=4x, 3=16x
+#define FTM_DEADTIME_DTPS_MASK 0xC0
+#define FTM_DEADTIME_DTVAL(n) (((n) & 63) << 0) // Deadtime Value
+#define FTM_DEADTIME_DTVAL_MASK 0x3F
+#define FTM0_EXTTRIG (*(volatile uint32_t *)0x4003806C) // FTM External Trigger
+#define FTM_EXTTRIG_TRIGF 0x80 // Channel Trigger Flag
+#define FTM_EXTTRIG_INITTRIGEN 0x40 // Initialization Trigger Enable
+#define FTM_EXTTRIG_CH1TRIG 0x20 // Channel 1 Trigger Enable
+#define FTM_EXTTRIG_CH0TRIG 0x10 // Channel 0 Trigger Enable
+#define FTM_EXTTRIG_CH5TRIG 0x08 // Channel 5 Trigger Enable
+#define FTM_EXTTRIG_CH4TRIG 0x04 // Channel 4 Trigger Enable
+#define FTM_EXTTRIG_CH3TRIG 0x02 // Channel 3 Trigger Enable
+#define FTM_EXTTRIG_CH2TRIG 0x01 // Channel 2 Trigger Enable
+#define FTM0_POL (*(volatile uint32_t *)0x40038070) // Channels Polarity
+#define FTM_POL_POL7 0x80 // Channel 7 Polarity, 0=active high, 1=active low
+#define FTM_POL_POL6 0x40 // Channel 6 Polarity, 0=active high, 1=active low
+#define FTM_POL_POL5 0x20 // Channel 5 Polarity, 0=active high, 1=active low
+#define FTM_POL_POL4 0x10 // Channel 4 Polarity, 0=active high, 1=active low
+#define FTM_POL_POL3 0x08 // Channel 3 Polarity, 0=active high, 1=active low
+#define FTM_POL_POL2 0x04 // Channel 2 Polarity, 0=active high, 1=active low
+#define FTM_POL_POL1 0x02 // Channel 1 Polarity, 0=active high, 1=active low
+#define FTM_POL_POL0 0x01 // Channel 0 Polarity, 0=active high, 1=active low
+#define FTM0_FMS (*(volatile uint32_t *)0x40038074) // Fault Mode Status
+#define FTM_FMS_FAULTF 0x80 // Fault Detection Flag
+#define FTM_FMS_WPEN 0x40 // Write Protection Enable
+#define FTM_FMS_FAULTIN 0x20 // Fault Inputs
+#define FTM_FMS_FAULTF3 0x08 // Fault Detection Flag 3
+#define FTM_FMS_FAULTF2 0x04 // Fault Detection Flag 2
+#define FTM_FMS_FAULTF1 0x02 // Fault Detection Flag 1
+#define FTM_FMS_FAULTF0 0x01 // Fault Detection Flag 0
+#define FTM0_FILTER (*(volatile uint32_t *)0x40038078) // Input Capture Filter Control
+#define FTM_FILTER_CH3FVAL(n) (((n) & 15) << 12) // Channel 3 Input Filter
+#define FTM_FILTER_CH2FVAL(n) (((n) & 15) << 8) // Channel 2 Input Filter
+#define FTM_FILTER_CH1FVAL(n) (((n) & 15) << 4) // Channel 1 Input Filter
+#define FTM_FILTER_CH0FVAL(n) (((n) & 15) << 0) // Channel 0 Input Filter
+#define FTM_FILTER_CH3FVAL_MASK 0xF000
+#define FTM_FILTER_CH2FVAL_MASK 0x0F00
+#define FTM_FILTER_CH1FVAL_MASK 0x00F0
+#define FTM_FILTER_CH0FVAL_MASK 0x000F
+#define FTM0_FLTCTRL (*(volatile uint32_t *)0x4003807C) // Fault Control
+#define FTM_FLTCTRL_FFVAL(n) (((n) & 15) << 8) // Fault Input Filter Value, 0=disable
+#define FTM_FLTCTRL_FFVAL_MASK 0xF00
+#define FTM_FLTCTRL_FFLTR3EN 0x80 // Fault Input 3 Filter Enable
+#define FTM_FLTCTRL_FFLTR2EN 0x40 // Fault Input 2 Filter Enable
+#define FTM_FLTCTRL_FFLTR1EN 0x20 // Fault Input 1 Filter Enable
+#define FTM_FLTCTRL_FFLTR0EN 0x10 // Fault Input 0 Filter Enable
+#define FTM_FLTCTRL_FAULT3EN 0x08 // Fault Input 3 Enable
+#define FTM_FLTCTRL_FAULT2EN 0x04 // Fault Input 2 Enable
+#define FTM_FLTCTRL_FAULT1EN 0x02 // Fault Input 1 Enable
+#define FTM_FLTCTRL_FAULT0EN 0x01 // Fault Input 0 Enable
+#define FTM0_QDCTRL (*(volatile uint32_t *)0x40038080) // Quadrature Decoder Control And Status
+#define FTM_QDCTRL_PHAFLTREN 0x80 // Phase A Input Filter Enable
+#define FTM_QDCTRL_PHBFLTREN 0x40 // Phase B Input Filter Enable
+#define FTM_QDCTRL_PHAPOL 0x20 // Phase A Input Polarity
+#define FTM_QDCTRL_PHBPOL 0x10 // Phase B Input Polarity
+#define FTM_QDCTRL_QUADMODE 0x08 // Quadrature Decoder Mode
+#define FTM_QDCTRL_QUADIR 0x04 // FTM Counter Direction In Quadrature Decoder Mode
+#define FTM_QDCTRL_TOFDIR 0x02 // Timer Overflow Direction In Quadrature Decoder Mode
+#define FTM_QDCTRL_QUADEN 0x01 // Quadrature Decoder Mode Enable
+#define FTM0_CONF (*(volatile uint32_t *)0x40038084) // Configuration
+#define FTM_CONF_GTBEOUT 0x400 // Global Time Base Output
+#define FTM_CONF_GTBEEN 0x200 // Global Time Base Enable
+#define FTM_CONF_BDMMODE (((n) & 3) << 6) // Behavior when in debug mode
+#define FTM_CONF_NUMTOF (((n) & 31) << 0) // ratio of counter overflows to TOF bit set
+#define FTM0_FLTPOL (*(volatile uint32_t *)0x40038088) // FTM Fault Input Polarity
+#define FTM_FLTPOL_FLT3POL 0x08 // Fault Input 3 Polarity
+#define FTM_FLTPOL_FLT2POL 0x04 // Fault Input 2 Polarity
+#define FTM_FLTPOL_FLT1POL 0x02 // Fault Input 1 Polarity
+#define FTM_FLTPOL_FLT0POL 0x01 // Fault Input 0 Polarity
+#define FTM0_SYNCONF (*(volatile uint32_t *)0x4003808C) // Synchronization Configuration
+#define FTM_SYNCONF_HWSOC 0x100000 // Software output control synchronization is activated by a hardware trigger.
+#define FTM_SYNCONF_HWINVC 0x080000 // Inverting control synchronization is activated by a hardware trigger.
+#define FTM_SYNCONF_HWOM 0x040000 // Output mask synchronization is activated by a hardware trigger.
+#define FTM_SYNCONF_HWWRBUF 0x020000 // MOD, CNTIN, and CV registers synchronization is activated by a hardware trigger.
+#define FTM_SYNCONF_HWRSTCNT 0x010000 // FTM counter synchronization is activated by a hardware trigger.
+#define FTM_SYNCONF_SWSOC 0x001000 // Software output control synchronization is activated by the software trigger.
+#define FTM_SYNCONF_SWINVC 0x000800 // Inverting control synchronization is activated by the software trigger.
+#define FTM_SYNCONF_SWOM 0x000400 // Output mask synchronization is activated by the software trigger.
+#define FTM_SYNCONF_SWWRBUF 0x000200 // MOD, CNTIN, and CV registers synchronization is activated by the software trigger.
+#define FTM_SYNCONF_SWRSTCNT 0x000100 // FTM counter synchronization is activated by the software trigger.
+#define FTM_SYNCONF_SYNCMODE 0x000080 // Synchronization Mode, 0=Legacy, 1=Enhanced PWM
+#define FTM_SYNCONF_SWOC 0x000020 // SWOCTRL Register Synchronization
+#define FTM_SYNCONF_INVC 0x000010 // INVCTRL Register Synchronization
+#define FTM_SYNCONF_CNTINC 0x000004 // CNTIN Register Synchronization
+#define FTM_SYNCONF_HWTRIGMODE 0x000001 // Hardware Trigger Mode
+#define FTM0_INVCTRL (*(volatile uint32_t *)0x40038090) // FTM Inverting Control
+#define FTM_INVCTRL_INV3EN 0x08 // Pair Channels 3 Inverting Enable
+#define FTM_INVCTRL_INV2EN 0x04 // Pair Channels 2 Inverting Enable
+#define FTM_INVCTRL_INV1EN 0x02 // Pair Channels 1 Inverting Enable
+#define FTM_INVCTRL_INV0EN 0x01 // Pair Channels 0 Inverting Enable
+#define FTM0_SWOCTRL (*(volatile uint32_t *)0x40038094) // FTM Software Output Control
+#define FTM_SWOCTRL_CH7OCV 0x8000 // Channel 7 Software Output Control Value
+#define FTM_SWOCTRL_CH6OCV 0x4000 // Channel 6 Software Output Control Value
+#define FTM_SWOCTRL_CH5OCV 0x2000 // Channel 5 Software Output Control Value
+#define FTM_SWOCTRL_CH4OCV 0x1000 // Channel 4 Software Output Control Value
+#define FTM_SWOCTRL_CH3OCV 0x0800 // Channel 3 Software Output Control Value
+#define FTM_SWOCTRL_CH2OCV 0x0400 // Channel 2 Software Output Control Value
+#define FTM_SWOCTRL_CH1OCV 0x0200 // Channel 1 Software Output Control Value
+#define FTM_SWOCTRL_CH0OCV 0x0100 // Channel 0 Software Output Control Value
+#define FTM_SWOCTRL_CH7OC 0x0080 // Channel 7 Software Output Control Enable
+#define FTM_SWOCTRL_CH6OC 0x0040 // Channel 6 Software Output Control Enable
+#define FTM_SWOCTRL_CH5OC 0x0020 // Channel 5 Software Output Control Enable
+#define FTM_SWOCTRL_CH4OC 0x0010 // Channel 4 Software Output Control Enable
+#define FTM_SWOCTRL_CH3OC 0x0008 // Channel 3 Software Output Control Enable
+#define FTM_SWOCTRL_CH2OC 0x0004 // Channel 2 Software Output Control Enable
+#define FTM_SWOCTRL_CH1OC 0x0002 // Channel 1 Software Output Control Enable
+#define FTM_SWOCTRL_CH0OC 0x0001 // Channel 0 Software Output Control Enable
+#define FTM0_PWMLOAD (*(volatile uint32_t *)0x40038098) // FTM PWM Load
+#define FTM_PWMLOAD_LDOK 0x200 // Enables the loading of the MOD, CNTIN, and CV registers with the values of their write buffers
+#define FTM_PWMLOAD_CH7SEL 0x80 // Channel 7 Select
+#define FTM_PWMLOAD_CH6SEL 0x40 // Channel 6 Select
+#define FTM_PWMLOAD_CH5SEL 0x20 // Channel 5 Select
+#define FTM_PWMLOAD_CH4SEL 0x10 // Channel 4 Select
+#define FTM_PWMLOAD_CH3SEL 0x08 // Channel 4 Select
+#define FTM_PWMLOAD_CH2SEL 0x04 // Channel 3 Select
+#define FTM_PWMLOAD_CH1SEL 0x02 // Channel 2 Select
+#define FTM_PWMLOAD_CH0SEL 0x01 // Channel 1 Select
+#define FTM1_SC (*(volatile uint32_t *)0x40039000) // Status And Control
+#define FTM1_CNT (*(volatile uint32_t *)0x40039004) // Counter
+#define FTM1_MOD (*(volatile uint32_t *)0x40039008) // Modulo
+#define FTM1_C0SC (*(volatile uint32_t *)0x4003900C) // Channel 0 Status And Control
+#define FTM1_C0V (*(volatile uint32_t *)0x40039010) // Channel 0 Value
+#define FTM1_C1SC (*(volatile uint32_t *)0x40039014) // Channel 1 Status And Control
+#define FTM1_C1V (*(volatile uint32_t *)0x40039018) // Channel 1 Value
+#define FTM1_CNTIN (*(volatile uint32_t *)0x4003904C) // Counter Initial Value
+#define FTM1_STATUS (*(volatile uint32_t *)0x40039050) // Capture And Compare Status
+#define FTM1_MODE (*(volatile uint32_t *)0x40039054) // Features Mode Selection
+#define FTM1_SYNC (*(volatile uint32_t *)0x40039058) // Synchronization
+#define FTM1_OUTINIT (*(volatile uint32_t *)0x4003905C) // Initial State For Channels Output
+#define FTM1_OUTMASK (*(volatile uint32_t *)0x40039060) // Output Mask
+#define FTM1_COMBINE (*(volatile uint32_t *)0x40039064) // Function For Linked Channels
+#define FTM1_DEADTIME (*(volatile uint32_t *)0x40039068) // Deadtime Insertion Control
+#define FTM1_EXTTRIG (*(volatile uint32_t *)0x4003906C) // FTM External Trigger
+#define FTM1_POL (*(volatile uint32_t *)0x40039070) // Channels Polarity
+#define FTM1_FMS (*(volatile uint32_t *)0x40039074) // Fault Mode Status
+#define FTM1_FILTER (*(volatile uint32_t *)0x40039078) // Input Capture Filter Control
+#define FTM1_FLTCTRL (*(volatile uint32_t *)0x4003907C) // Fault Control
+#define FTM1_QDCTRL (*(volatile uint32_t *)0x40039080) // Quadrature Decoder Control And Status
+#define FTM1_CONF (*(volatile uint32_t *)0x40039084) // Configuration
+#define FTM1_FLTPOL (*(volatile uint32_t *)0x40039088) // FTM Fault Input Polarity
+#define FTM1_SYNCONF (*(volatile uint32_t *)0x4003908C) // Synchronization Configuration
+#define FTM1_INVCTRL (*(volatile uint32_t *)0x40039090) // FTM Inverting Control
+#define FTM1_SWOCTRL (*(volatile uint32_t *)0x40039094) // FTM Software Output Control
+#define FTM1_PWMLOAD (*(volatile uint32_t *)0x40039098) // FTM PWM Load
+#define FTM2_SC (*(volatile uint32_t *)0x400B8000) // Status And Control
+#define FTM2_CNT (*(volatile uint32_t *)0x400B8004) // Counter
+#define FTM2_MOD (*(volatile uint32_t *)0x400B8008) // Modulo
+#define FTM2_C0SC (*(volatile uint32_t *)0x400B800C) // Channel 0 Status And Control
+#define FTM2_C0V (*(volatile uint32_t *)0x400B8010) // Channel 0 Value
+#define FTM2_C1SC (*(volatile uint32_t *)0x400B8014) // Channel 1 Status And Control
+#define FTM2_C1V (*(volatile uint32_t *)0x400B8018) // Channel 1 Value
+#define FTM2_CNTIN (*(volatile uint32_t *)0x400B804C) // Counter Initial Value
+#define FTM2_STATUS (*(volatile uint32_t *)0x400B8050) // Capture And Compare Status
+#define FTM2_MODE (*(volatile uint32_t *)0x400B8054) // Features Mode Selection
+#define FTM2_SYNC (*(volatile uint32_t *)0x400B8058) // Synchronization
+#define FTM2_OUTINIT (*(volatile uint32_t *)0x400B805C) // Initial State For Channels Output
+#define FTM2_OUTMASK (*(volatile uint32_t *)0x400B8060) // Output Mask
+#define FTM2_COMBINE (*(volatile uint32_t *)0x400B8064) // Function For Linked Channels
+#define FTM2_DEADTIME (*(volatile uint32_t *)0x400B8068) // Deadtime Insertion Control
+#define FTM2_EXTTRIG (*(volatile uint32_t *)0x400B806C) // FTM External Trigger
+#define FTM2_POL (*(volatile uint32_t *)0x400B8070) // Channels Polarity
+#define FTM2_FMS (*(volatile uint32_t *)0x400B8074) // Fault Mode Status
+#define FTM2_FILTER (*(volatile uint32_t *)0x400B8078) // Input Capture Filter Control
+#define FTM2_FLTCTRL (*(volatile uint32_t *)0x400B807C) // Fault Control
+#define FTM2_QDCTRL (*(volatile uint32_t *)0x400B8080) // Quadrature Decoder Control And Status
+#define FTM2_CONF (*(volatile uint32_t *)0x400B8084) // Configuration
+#define FTM2_FLTPOL (*(volatile uint32_t *)0x400B8088) // FTM Fault Input Polarity
+#define FTM2_SYNCONF (*(volatile uint32_t *)0x400B808C) // Synchronization Configuration
+#define FTM2_INVCTRL (*(volatile uint32_t *)0x400B8090) // FTM Inverting Control
+#define FTM2_SWOCTRL (*(volatile uint32_t *)0x400B8094) // FTM Software Output Control
+#define FTM2_PWMLOAD (*(volatile uint32_t *)0x400B8098) // FTM PWM Load
+
+// Chapter 36: Periodic Interrupt Timer (PIT)
+#define PIT_MCR (*(volatile uint32_t *)0x40037000) // PIT Module Control Register
+#define PIT_LDVAL0 (*(volatile uint32_t *)0x40037100) // Timer Load Value Register
+#define PIT_CVAL0 (*(volatile uint32_t *)0x40037104) // Current Timer Value Register
+#define PIT_TCTRL0 (*(volatile uint32_t *)0x40037108) // Timer Control Register
+#define PIT_TFLG0 (*(volatile uint32_t *)0x4003710C) // Timer Flag Register
+#define PIT_LDVAL1 (*(volatile uint32_t *)0x40037110) // Timer Load Value Register
+#define PIT_CVAL1 (*(volatile uint32_t *)0x40037114) // Current Timer Value Register
+#define PIT_TCTRL1 (*(volatile uint32_t *)0x40037118) // Timer Control Register
+#define PIT_TFLG1 (*(volatile uint32_t *)0x4003711C) // Timer Flag Register
+#define PIT_LDVAL2 (*(volatile uint32_t *)0x40037120) // Timer Load Value Register
+#define PIT_CVAL2 (*(volatile uint32_t *)0x40037124) // Current Timer Value Register
+#define PIT_TCTRL2 (*(volatile uint32_t *)0x40037128) // Timer Control Register
+#define PIT_TFLG2 (*(volatile uint32_t *)0x4003712C) // Timer Flag Register
+#define PIT_LDVAL3 (*(volatile uint32_t *)0x40037130) // Timer Load Value Register
+#define PIT_CVAL3 (*(volatile uint32_t *)0x40037134) // Current Timer Value Register
+#define PIT_TCTRL3 (*(volatile uint32_t *)0x40037138) // Timer Control Register
+#define PIT_TFLG3 (*(volatile uint32_t *)0x4003713C) // Timer Flag Register
+
+// Chapter 37: Low-Power Timer (LPTMR)
+#define LPTMR0_CSR (*(volatile uint32_t *)0x40040000) // Low Power Timer Control Status Register
+#define LPTMR_CSR_TCF 0x80 // Compare Flag
+#define LPTMR_CSR_TIE 0x40 // Interrupt Enable
+#define LPTMR_CSR_TPS(n) (((n) & 3) << 4) // Pin: 0=CMP0, 1=xtal, 2=pin13
+#define LPTMR_CSR_TPP 0x08 // Pin Polarity
+#define LPTMR_CSR_TFC 0x04 // Free-Running Counter
+#define LPTMR_CSR_TMS 0x02 // Mode Select, 0=timer, 1=counter
+#define LPTMR_CSR_TEN 0x01 // Enable
+#define LPTMR0_PSR (*(volatile uint32_t *)0x40040004) // Low Power Timer Prescale Register
+#define LPTMR_PSR_PRESCALE(n) (((n) & 15) << 3) // Prescaler value
+#define LPTMR_PSR_PBYP 0x04 // Prescaler bypass
+#define LPTMR_PSR_PCS(n) (((n) & 3) << 0) // Clock: 0=MCGIRCLK, 1=LPO(1kHz), 2=ERCLK32K, 3=OSCERCLK
+#define LPTMR0_CMR (*(volatile uint32_t *)0x40040008) // Low Power Timer Compare Register
+#define LPTMR0_CNR (*(volatile uint32_t *)0x4004000C) // Low Power Timer Counter Register
+
+// Chapter 38: Carrier Modulator Transmitter (CMT)
+#define CMT_CGH1 (*(volatile uint8_t *)0x40062000) // CMT Carrier Generator High Data Register 1
+#define CMT_CGL1 (*(volatile uint8_t *)0x40062001) // CMT Carrier Generator Low Data Register 1
+#define CMT_CGH2 (*(volatile uint8_t *)0x40062002) // CMT Carrier Generator High Data Register 2
+#define CMT_CGL2 (*(volatile uint8_t *)0x40062003) // CMT Carrier Generator Low Data Register 2
+#define CMT_OC (*(volatile uint8_t *)0x40062004) // CMT Output Control Register
+#define CMT_MSC (*(volatile uint8_t *)0x40062005) // CMT Modulator Status and Control Register
+#define CMT_CMD1 (*(volatile uint8_t *)0x40062006) // CMT Modulator Data Register Mark High
+#define CMT_CMD2 (*(volatile uint8_t *)0x40062007) // CMT Modulator Data Register Mark Low
+#define CMT_CMD3 (*(volatile uint8_t *)0x40062008) // CMT Modulator Data Register Space High
+#define CMT_CMD4 (*(volatile uint8_t *)0x40062009) // CMT Modulator Data Register Space Low
+#define CMT_PPS (*(volatile uint8_t *)0x4006200A) // CMT Primary Prescaler Register
+#define CMT_DMA (*(volatile uint8_t *)0x4006200B) // CMT Direct Memory Access Register
+
+// Chapter 39: Real Time Clock (RTC)
+#define RTC_TSR (*(volatile uint32_t *)0x4003D000) // RTC Time Seconds Register
+#define RTC_TPR (*(volatile uint32_t *)0x4003D004) // RTC Time Prescaler Register
+#define RTC_TAR (*(volatile uint32_t *)0x4003D008) // RTC Time Alarm Register
+#define RTC_TCR (*(volatile uint32_t *)0x4003D00C) // RTC Time Compensation Register
+#define RTC_TCR_CIC(n) (((n) & 255) << 24) // Compensation Interval Counter
+#define RTC_TCR_TCV(n) (((n) & 255) << 16) // Time Compensation Value
+#define RTC_TCR_CIR(n) (((n) & 255) << 8) // Compensation Interval Register
+#define RTC_TCR_TCR(n) (((n) & 255) << 0) // Time Compensation Register
+#define RTC_CR (*(volatile uint32_t *)0x4003D010) // RTC Control Register
+#define RTC_CR_SC2P ((uint32_t)0x00002000) //
+#define RTC_CR_SC4P ((uint32_t)0x00001000) //
+#define RTC_CR_SC8P ((uint32_t)0x00000800) //
+#define RTC_CR_SC16P ((uint32_t)0x00000400) //
+#define RTC_CR_CLKO ((uint32_t)0x00000200) //
+#define RTC_CR_OSCE ((uint32_t)0x00000100) //
+#define RTC_CR_UM ((uint32_t)0x00000008) //
+#define RTC_CR_SUP ((uint32_t)0x00000004) //
+#define RTC_CR_WPE ((uint32_t)0x00000002) //
+#define RTC_CR_SWR ((uint32_t)0x00000001) //
+#define RTC_SR (*(volatile uint32_t *)0x4003D014) // RTC Status Register
+#define RTC_SR_TCE ((uint32_t)0x00000010) //
+#define RTC_SR_TAF ((uint32_t)0x00000004) //
+#define RTC_SR_TOF ((uint32_t)0x00000002) //
+#define RTC_SR_TIF ((uint32_t)0x00000001) //
+#define RTC_LR (*(volatile uint32_t *)0x4003D018) // RTC Lock Register
+#define RTC_IER (*(volatile uint32_t *)0x4003D01C) // RTC Interrupt Enable Register
+#define RTC_WAR (*(volatile uint32_t *)0x4003D800) // RTC Write Access Register
+#define RTC_RAR (*(volatile uint32_t *)0x4003D804) // RTC Read Access Register
+
+// Chapter 40: Universal Serial Bus OTG Controller (USBOTG)
+#define USB0_PERID (*(const uint8_t *)0x40072000) // Peripheral ID register
+#define USB0_IDCOMP (*(const uint8_t *)0x40072004) // Peripheral ID Complement register
+#define USB0_REV (*(const uint8_t *)0x40072008) // Peripheral Revision register
+#define USB0_ADDINFO (*(volatile uint8_t *)0x4007200C) // Peripheral Additional Info register
+#define USB0_OTGISTAT (*(volatile uint8_t *)0x40072010) // OTG Interrupt Status register
+#define USB_OTGISTAT_IDCHG ((uint8_t)0x80) //
+#define USB_OTGISTAT_ONEMSEC ((uint8_t)0x40) //
+#define USB_OTGISTAT_LINE_STATE_CHG ((uint8_t)0x20) //
+#define USB_OTGISTAT_SESSVLDCHG ((uint8_t)0x08) //
+#define USB_OTGISTAT_B_SESS_CHG ((uint8_t)0x04) //
+#define USB_OTGISTAT_AVBUSCHG ((uint8_t)0x01) //
+#define USB0_OTGICR (*(volatile uint8_t *)0x40072014) // OTG Interrupt Control Register
+#define USB_OTGICR_IDEN ((uint8_t)0x80) //
+#define USB_OTGICR_ONEMSECEN ((uint8_t)0x40) //
+#define USB_OTGICR_LINESTATEEN ((uint8_t)0x20) //
+#define USB_OTGICR_SESSVLDEN ((uint8_t)0x08) //
+#define USB_OTGICR_BSESSEN ((uint8_t)0x04) //
+#define USB_OTGICR_AVBUSEN ((uint8_t)0x01) //
+#define USB0_OTGSTAT (*(volatile uint8_t *)0x40072018) // OTG Status register
+#define USB_OTGSTAT_ID ((uint8_t)0x80) //
+#define USB_OTGSTAT_ONEMSECEN ((uint8_t)0x40) //
+#define USB_OTGSTAT_LINESTATESTABLE ((uint8_t)0x20) //
+#define USB_OTGSTAT_SESS_VLD ((uint8_t)0x08) //
+#define USB_OTGSTAT_BSESSEND ((uint8_t)0x04) //
+#define USB_OTGSTAT_AVBUSVLD ((uint8_t)0x01) //
+#define USB0_OTGCTL (*(volatile uint8_t *)0x4007201C) // OTG Control Register
+#define USB_OTGCTL_DPHIGH ((uint8_t)0x80) //
+#define USB_OTGCTL_DPLOW ((uint8_t)0x20) //
+#define USB_OTGCTL_DMLOW ((uint8_t)0x10) //
+#define USB_OTGCTL_OTGEN ((uint8_t)0x04) //
+#define USB0_ISTAT (*(volatile uint8_t *)0x40072080) // Interrupt Status Register
+#define USB_ISTAT_STALL ((uint8_t)0x80) //
+#define USB_ISTAT_ATTACH ((uint8_t)0x40) //
+#define USB_ISTAT_RESUME ((uint8_t)0x20) //
+#define USB_ISTAT_SLEEP ((uint8_t)0x10) //
+#define USB_ISTAT_TOKDNE ((uint8_t)0x08) //
+#define USB_ISTAT_SOFTOK ((uint8_t)0x04) //
+#define USB_ISTAT_ERROR ((uint8_t)0x02) //
+#define USB_ISTAT_USBRST ((uint8_t)0x01) //
+#define USB0_INTEN (*(volatile uint8_t *)0x40072084) // Interrupt Enable Register
+#define USB_INTEN_STALLEN ((uint8_t)0x80) //
+#define USB_INTEN_ATTACHEN ((uint8_t)0x40) //
+#define USB_INTEN_RESUMEEN ((uint8_t)0x20) //
+#define USB_INTEN_SLEEPEN ((uint8_t)0x10) //
+#define USB_INTEN_TOKDNEEN ((uint8_t)0x08) //
+#define USB_INTEN_SOFTOKEN ((uint8_t)0x04) //
+#define USB_INTEN_ERROREN ((uint8_t)0x02) //
+#define USB_INTEN_USBRSTEN ((uint8_t)0x01) //
+#define USB0_ERRSTAT (*(volatile uint8_t *)0x40072088) // Error Interrupt Status Register
+#define USB_ERRSTAT_BTSERR ((uint8_t)0x80) //
+#define USB_ERRSTAT_DMAERR ((uint8_t)0x20) //
+#define USB_ERRSTAT_BTOERR ((uint8_t)0x10) //
+#define USB_ERRSTAT_DFN8 ((uint8_t)0x08) //
+#define USB_ERRSTAT_CRC16 ((uint8_t)0x04) //
+#define USB_ERRSTAT_CRC5EOF ((uint8_t)0x02) //
+#define USB_ERRSTAT_PIDERR ((uint8_t)0x01) //
+#define USB0_ERREN (*(volatile uint8_t *)0x4007208C) // Error Interrupt Enable Register
+#define USB_ERREN_BTSERREN ((uint8_t)0x80) //
+#define USB_ERREN_DMAERREN ((uint8_t)0x20) //
+#define USB_ERREN_BTOERREN ((uint8_t)0x10) //
+#define USB_ERREN_DFN8EN ((uint8_t)0x08) //
+#define USB_ERREN_CRC16EN ((uint8_t)0x04) //
+#define USB_ERREN_CRC5EOFEN ((uint8_t)0x02) //
+#define USB_ERREN_PIDERREN ((uint8_t)0x01) //
+#define USB0_STAT (*(volatile uint8_t *)0x40072090) // Status Register
+#define USB_STAT_TX ((uint8_t)0x08) //
+#define USB_STAT_ODD ((uint8_t)0x04) //
+#define USB_STAT_ENDP(n) ((uint8_t)((n) >> 4)) //
+#define USB0_CTL (*(volatile uint8_t *)0x40072094) // Control Register
+#define USB_CTL_JSTATE ((uint8_t)0x80) //
+#define USB_CTL_SE0 ((uint8_t)0x40) //
+#define USB_CTL_TXSUSPENDTOKENBUSY ((uint8_t)0x20) //
+#define USB_CTL_RESET ((uint8_t)0x10) //
+#define USB_CTL_HOSTMODEEN ((uint8_t)0x08) //
+#define USB_CTL_RESUME ((uint8_t)0x04) //
+#define USB_CTL_ODDRST ((uint8_t)0x02) //
+#define USB_CTL_USBENSOFEN ((uint8_t)0x01) //
+#define USB0_ADDR (*(volatile uint8_t *)0x40072098) // Address Register
+#define USB0_BDTPAGE1 (*(volatile uint8_t *)0x4007209C) // BDT Page Register 1
+#define USB0_FRMNUML (*(volatile uint8_t *)0x400720A0) // Frame Number Register Low
+#define USB0_FRMNUMH (*(volatile uint8_t *)0x400720A4) // Frame Number Register High
+#define USB0_TOKEN (*(volatile uint8_t *)0x400720A8) // Token Register
+#define USB0_SOFTHLD (*(volatile uint8_t *)0x400720AC) // SOF Threshold Register
+#define USB0_BDTPAGE2 (*(volatile uint8_t *)0x400720B0) // BDT Page Register 2
+#define USB0_BDTPAGE3 (*(volatile uint8_t *)0x400720B4) // BDT Page Register 3
+#define USB0_ENDPT0 (*(volatile uint8_t *)0x400720C0) // Endpoint Control Register
+#define USB_ENDPT_HOSTWOHUB ((uint8_t)0x80) // host only, enable low speed
+#define USB_ENDPT_RETRYDIS ((uint8_t)0x40) // host only, set to disable NAK retry
+#define USB_ENDPT_EPCTLDIS ((uint8_t)0x10) // 0=control, 1=bulk, interrupt, isync
+#define USB_ENDPT_EPRXEN ((uint8_t)0x08) // enables the endpoint for RX transfers.
+#define USB_ENDPT_EPTXEN ((uint8_t)0x04) // enables the endpoint for TX transfers.
+#define USB_ENDPT_EPSTALL ((uint8_t)0x02) // set to stall endpoint
+#define USB_ENDPT_EPHSHK ((uint8_t)0x01) // enable handshaking during a transaction, generally set unless Isochronous
+#define USB0_ENDPT1 (*(volatile uint8_t *)0x400720C4) // Endpoint Control Register
+#define USB0_ENDPT2 (*(volatile uint8_t *)0x400720C8) // Endpoint Control Register
+#define USB0_ENDPT3 (*(volatile uint8_t *)0x400720CC) // Endpoint Control Register
+#define USB0_ENDPT4 (*(volatile uint8_t *)0x400720D0) // Endpoint Control Register
+#define USB0_ENDPT5 (*(volatile uint8_t *)0x400720D4) // Endpoint Control Register
+#define USB0_ENDPT6 (*(volatile uint8_t *)0x400720D8) // Endpoint Control Register
+#define USB0_ENDPT7 (*(volatile uint8_t *)0x400720DC) // Endpoint Control Register
+#define USB0_ENDPT8 (*(volatile uint8_t *)0x400720E0) // Endpoint Control Register
+#define USB0_ENDPT9 (*(volatile uint8_t *)0x400720E4) // Endpoint Control Register
+#define USB0_ENDPT10 (*(volatile uint8_t *)0x400720E8) // Endpoint Control Register
+#define USB0_ENDPT11 (*(volatile uint8_t *)0x400720EC) // Endpoint Control Register
+#define USB0_ENDPT12 (*(volatile uint8_t *)0x400720F0) // Endpoint Control Register
+#define USB0_ENDPT13 (*(volatile uint8_t *)0x400720F4) // Endpoint Control Register
+#define USB0_ENDPT14 (*(volatile uint8_t *)0x400720F8) // Endpoint Control Register
+#define USB0_ENDPT15 (*(volatile uint8_t *)0x400720FC) // Endpoint Control Register
+#define USB0_USBCTRL (*(volatile uint8_t *)0x40072100) // USB Control Register
+#define USB_USBCTRL_SUSP ((uint8_t)0x80) // Places the USB transceiver into the suspend state.
+#define USB_USBCTRL_PDE ((uint8_t)0x40) // Enables the weak pulldowns on the USB transceiver.
+#define USB0_OBSERVE (*(volatile uint8_t *)0x40072104) // USB OTG Observe Register
+#define USB_OBSERVE_DPPU ((uint8_t)0x80) //
+#define USB_OBSERVE_DPPD ((uint8_t)0x40) //
+#define USB_OBSERVE_DMPD ((uint8_t)0x10) //
+#define USB0_CONTROL (*(volatile uint8_t *)0x40072108) // USB OTG Control Register
+#define USB_CONTROL_DPPULLUPNONOTG ((uint8_t)0x10) // Provides control of the DP PULLUP in the USB OTG module, if USB is configured in non-OTG device mode.
+#define USB0_USBTRC0 (*(volatile uint8_t *)0x4007210C) // USB Transceiver Control Register 0
+#define USB_USBTRC_USBRESET ((uint8_t)0x80) //
+#define USB_USBTRC_USBRESMEN ((uint8_t)0x20) //
+#define USB_USBTRC_SYNC_DET ((uint8_t)0x02) //
+#define USB_USBTRC_USB_RESUME_INT ((uint8_t)0x01) //
+#define USB0_USBFRMADJUST (*(volatile uint8_t *)0x40072114) // Frame Adjust Register
+
+// Chapter 41: USB Device Charger Detection Module (USBDCD)
+#define USBDCD_CONTROL (*(volatile uint32_t *)0x40035000) // Control register
+#define USBDCD_CLOCK (*(volatile uint32_t *)0x40035004) // Clock register
+#define USBDCD_STATUS (*(volatile uint32_t *)0x40035008) // Status register
+#define USBDCD_TIMER0 (*(volatile uint32_t *)0x40035010) // TIMER0 register
+#define USBDCD_TIMER1 (*(volatile uint32_t *)0x40035014) // TIMER1 register
+#define USBDCD_TIMER2 (*(volatile uint32_t *)0x40035018) // TIMER2 register
+
+// Chapter 43: SPI (DSPI)
+typedef struct __attribute__((packed)) {
+ volatile uint32_t MCR; // 0
+ volatile uint32_t unused1;// 4
+ volatile uint32_t TCR; // 8
+ volatile uint32_t CTAR0; // c
+ volatile uint32_t CTAR1; // 10
+ volatile uint32_t CTAR2; // 14
+ volatile uint32_t CTAR3; // 18
+ volatile uint32_t CTAR4; // 1c
+ volatile uint32_t CTAR5; // 20
+ volatile uint32_t CTAR6; // 24
+ volatile uint32_t CTAR7; // 28
+ volatile uint32_t SR; // 2c
+ volatile uint32_t RSER; // 30
+ volatile uint32_t PUSHR; // 34
+ volatile uint32_t POPR; // 38
+ volatile uint32_t TXFR[16]; // 3c
+ volatile uint32_t RXFR[16]; // 7c
+} KINETISK_SPI_t;
+#define SPI0 (*(KINETISK_SPI_t *)0x4002C000)
+#define SPI0_MCR (*(volatile uint32_t *)0x4002C000) // DSPI Module Configuration Register
+#define SPI_MCR_MSTR ((uint32_t)0x80000000) // Master/Slave Mode Select
+#define SPI_MCR_CONT_SCKE ((uint32_t)0x40000000) //
+#define SPI_MCR_DCONF(n) (((n) & 3) << 28) //
+#define SPI_MCR_FRZ ((uint32_t)0x08000000) //
+#define SPI_MCR_MTFE ((uint32_t)0x04000000) //
+#define SPI_MCR_ROOE ((uint32_t)0x01000000) //
+#define SPI_MCR_PCSIS(n) (((n) & 0x1F) << 16) //
+#define SPI_MCR_DOZE ((uint32_t)0x00008000) //
+#define SPI_MCR_MDIS ((uint32_t)0x00004000) //
+#define SPI_MCR_DIS_TXF ((uint32_t)0x00002000) //
+#define SPI_MCR_DIS_RXF ((uint32_t)0x00001000) //
+#define SPI_MCR_CLR_TXF ((uint32_t)0x00000800) //
+#define SPI_MCR_CLR_RXF ((uint32_t)0x00000400) //
+#define SPI_MCR_SMPL_PT(n) (((n) & 3) << 8) //
+#define SPI_MCR_HALT ((uint32_t)0x00000001) //
+#define SPI0_TCR (*(volatile uint32_t *)0x4002C008) // DSPI Transfer Count Register
+#define SPI0_CTAR0 (*(volatile uint32_t *)0x4002C00C) // DSPI Clock and Transfer Attributes Register, In Master Mode
+#define SPI_CTAR_DBR ((uint32_t)0x80000000) // Double Baud Rate
+#define SPI_CTAR_FMSZ(n) (((n) & 15) << 27) // Frame Size (+1)
+#define SPI_CTAR_CPOL ((uint32_t)0x04000000) // Clock Polarity
+#define SPI_CTAR_CPHA ((uint32_t)0x02000000) // Clock Phase
+#define SPI_CTAR_LSBFE ((uint32_t)0x01000000) // LSB First
+#define SPI_CTAR_PCSSCK(n) (((n) & 3) << 22) // PCS to SCK Delay Prescaler
+#define SPI_CTAR_PASC(n) (((n) & 3) << 20) // After SCK Delay Prescaler
+#define SPI_CTAR_PDT(n) (((n) & 3) << 18) // Delay after Transfer Prescaler
+#define SPI_CTAR_PBR(n) (((n) & 3) << 16) // Baud Rate Prescaler
+#define SPI_CTAR_CSSCK(n) (((n) & 15) << 12) // PCS to SCK Delay Scaler
+#define SPI_CTAR_ASC(n) (((n) & 15) << 8) // After SCK Delay Scaler
+#define SPI_CTAR_DT(n) (((n) & 15) << 4) // Delay After Transfer Scaler
+#define SPI_CTAR_BR(n) (((n) & 15) << 0) // Baud Rate Scaler
+#define SPI0_CTAR0_SLAVE (*(volatile uint32_t *)0x4002C00C) // DSPI Clock and Transfer Attributes Register, In Slave Mode
+#define SPI0_CTAR1 (*(volatile uint32_t *)0x4002C010) // DSPI Clock and Transfer Attributes Register, In Master Mode
+#define SPI0_SR (*(volatile uint32_t *)0x4002C02C) // DSPI Status Register
+#define SPI_SR_TCF ((uint32_t)0x80000000) // Transfer Complete Flag
+#define SPI_SR_TXRXS ((uint32_t)0x40000000) // TX and RX Status
+#define SPI_SR_EOQF ((uint32_t)0x10000000) // End of Queue Flag
+#define SPI_SR_TFUF ((uint32_t)0x08000000) // Transmit FIFO Underflow Flag
+#define SPI_SR_TFFF ((uint32_t)0x02000000) // Transmit FIFO Fill Flag
+#define SPI_SR_RFOF ((uint32_t)0x00080000) // Receive FIFO Overflow Flag
+#define SPI_SR_RFDF ((uint32_t)0x00020000) // Receive FIFO Drain Flag
+#define SPI0_RSER (*(volatile uint32_t *)0x4002C030) // DSPI DMA/Interrupt Request Select and Enable Register
+#define SPI_RSER_TCF_RE ((uint32_t)0x80000000) // Transmission Complete Request Enable
+#define SPI_RSER_EOQF_RE ((uint32_t)0x10000000) // DSPI Finished Request Request Enable
+#define SPI_RSER_TFUF_RE ((uint32_t)0x08000000) // Transmit FIFO Underflow Request Enable
+#define SPI_RSER_TFFF_RE ((uint32_t)0x02000000) // Transmit FIFO Fill Request Enable
+#define SPI_RSER_TFFF_DIRS ((uint32_t)0x01000000) // Transmit FIFO FIll Dma or Interrupt Request Select
+#define SPI_RSER_RFOF_RE ((uint32_t)0x00080000) // Receive FIFO Overflow Request Enable
+#define SPI_RSER_RFDF_RE ((uint32_t)0x00020000) // Receive FIFO Drain Request Enable
+#define SPI_RSER_RFDF_DIRS ((uint32_t)0x00010000) // Receive FIFO Drain DMA or Interrupt Request Select
+#define SPI0_PUSHR (*(volatile uint32_t *)0x4002C034) // DSPI PUSH TX FIFO Register In Master Mode
+#define SPI_PUSHR_CONT ((uint32_t)0x80000000) //
+#define SPI_PUSHR_CTAS(n) (((n) & 7) << 28) //
+#define SPI_PUSHR_EOQ ((uint32_t)0x08000000) //
+#define SPI_PUSHR_CTCNT ((uint32_t)0x04000000) //
+#define SPI_PUSHR_PCS(n) (((n) & 31) << 16) //
+#define SPI0_PUSHR_SLAVE (*(volatile uint32_t *)0x4002C034) // DSPI PUSH TX FIFO Register In Slave Mode
+#define SPI0_POPR (*(volatile uint32_t *)0x4002C038) // DSPI POP RX FIFO Register
+#define SPI0_TXFR0 (*(volatile uint32_t *)0x4002C03C) // DSPI Transmit FIFO Registers
+#define SPI0_TXFR1 (*(volatile uint32_t *)0x4002C040) // DSPI Transmit FIFO Registers
+#define SPI0_TXFR2 (*(volatile uint32_t *)0x4002C044) // DSPI Transmit FIFO Registers
+#define SPI0_TXFR3 (*(volatile uint32_t *)0x4002C048) // DSPI Transmit FIFO Registers
+#define SPI0_RXFR0 (*(volatile uint32_t *)0x4002C07C) // DSPI Receive FIFO Registers
+#define SPI0_RXFR1 (*(volatile uint32_t *)0x4002C080) // DSPI Receive FIFO Registers
+#define SPI0_RXFR2 (*(volatile uint32_t *)0x4002C084) // DSPI Receive FIFO Registers
+#define SPI0_RXFR3 (*(volatile uint32_t *)0x4002C088) // DSPI Receive FIFO Registers
+
+// Chapter 44: Inter-Integrated Circuit (I2C)
+#define I2C0_A1 (*(volatile uint8_t *)0x40066000) // I2C Address Register 1
+#define I2C0_F (*(volatile uint8_t *)0x40066001) // I2C Frequency Divider register
+#define I2C0_C1 (*(volatile uint8_t *)0x40066002) // I2C Control Register 1
+#define I2C_C1_IICEN ((uint8_t)0x80) // I2C Enable
+#define I2C_C1_IICIE ((uint8_t)0x40) // I2C Interrupt Enable
+#define I2C_C1_MST ((uint8_t)0x20) // Master Mode Select
+#define I2C_C1_TX ((uint8_t)0x10) // Transmit Mode Select
+#define I2C_C1_TXAK ((uint8_t)0x08) // Transmit Acknowledge Enable
+#define I2C_C1_RSTA ((uint8_t)0x04) // Repeat START
+#define I2C_C1_WUEN ((uint8_t)0x02) // Wakeup Enable
+#define I2C_C1_DMAEN ((uint8_t)0x01) // DMA Enable
+#define I2C0_S (*(volatile uint8_t *)0x40066003) // I2C Status register
+#define I2C_S_TCF ((uint8_t)0x80) // Transfer Complete Flag
+#define I2C_S_IAAS ((uint8_t)0x40) // Addressed As A Slave
+#define I2C_S_BUSY ((uint8_t)0x20) // Bus Busy
+#define I2C_S_ARBL ((uint8_t)0x10) // Arbitration Lost
+#define I2C_S_RAM ((uint8_t)0x08) // Range Address Match
+#define I2C_S_SRW ((uint8_t)0x04) // Slave Read/Write
+#define I2C_S_IICIF ((uint8_t)0x02) // Interrupt Flag
+#define I2C_S_RXAK ((uint8_t)0x01) // Receive Acknowledge
+#define I2C0_D (*(volatile uint8_t *)0x40066004) // I2C Data I/O register
+#define I2C0_C2 (*(volatile uint8_t *)0x40066005) // I2C Control Register 2
+#define I2C_C2_GCAEN ((uint8_t)0x80) // General Call Address Enable
+#define I2C_C2_ADEXT ((uint8_t)0x40) // Address Extension
+#define I2C_C2_HDRS ((uint8_t)0x20) // High Drive Select
+#define I2C_C2_SBRC ((uint8_t)0x10) // Slave Baud Rate Control
+#define I2C_C2_RMEN ((uint8_t)0x08) // Range Address Matching Enable
+#define I2C_C2_AD(n) ((n) & 7) // Slave Address, upper 3 bits
+#define I2C0_FLT (*(volatile uint8_t *)0x40066006) // I2C Programmable Input Glitch Filter register
+#define I2C0_RA (*(volatile uint8_t *)0x40066007) // I2C Range Address register
+#define I2C0_SMB (*(volatile uint8_t *)0x40066008) // I2C SMBus Control and Status register
+#define I2C0_A2 (*(volatile uint8_t *)0x40066009) // I2C Address Register 2
+#define I2C0_SLTH (*(volatile uint8_t *)0x4006600A) // I2C SCL Low Timeout Register High
+#define I2C0_SLTL (*(volatile uint8_t *)0x4006600B) // I2C SCL Low Timeout Register Low
+
+#define I2C1_A1 (*(volatile uint8_t *)0x40067000) // I2C Address Register 1
+#define I2C1_F (*(volatile uint8_t *)0x40067001) // I2C Frequency Divider register
+#define I2C1_C1 (*(volatile uint8_t *)0x40067002) // I2C Control Register 1
+#define I2C1_S (*(volatile uint8_t *)0x40067003) // I2C Status register
+#define I2C1_D (*(volatile uint8_t *)0x40067004) // I2C Data I/O register
+#define I2C1_C2 (*(volatile uint8_t *)0x40067005) // I2C Control Register 2
+#define I2C1_FLT (*(volatile uint8_t *)0x40067006) // I2C Programmable Input Glitch Filter register
+#define I2C1_RA (*(volatile uint8_t *)0x40067007) // I2C Range Address register
+#define I2C1_SMB (*(volatile uint8_t *)0x40067008) // I2C SMBus Control and Status register
+#define I2C1_A2 (*(volatile uint8_t *)0x40067009) // I2C Address Register 2
+#define I2C1_SLTH (*(volatile uint8_t *)0x4006700A) // I2C SCL Low Timeout Register High
+#define I2C1_SLTL (*(volatile uint8_t *)0x4006700B) // I2C SCL Low Timeout Register Low
+
+// Chapter 45: Universal Asynchronous Receiver/Transmitter (UART)
+typedef struct __attribute__((packed)) {
+ volatile uint8_t BDH;
+ volatile uint8_t BDL;
+ volatile uint8_t C1;
+ volatile uint8_t C2;
+ volatile uint8_t S1;
+ volatile uint8_t S2;
+ volatile uint8_t C3;
+ volatile uint8_t D;
+ volatile uint8_t MA1;
+ volatile uint8_t MA2;
+ volatile uint8_t C4;
+ volatile uint8_t C5;
+ volatile uint8_t ED;
+ volatile uint8_t MODEM;
+ volatile uint8_t IR;
+ volatile uint8_t unused1;
+ volatile uint8_t PFIFO;
+ volatile uint8_t CFIFO;
+ volatile uint8_t SFIFO;
+ volatile uint8_t TWFIFO;
+ volatile uint8_t TCFIFO;
+ volatile uint8_t RWFIFO;
+ volatile uint8_t RCFIFO;
+ volatile uint8_t unused2;
+ volatile uint8_t C7816;
+ volatile uint8_t IE7816;
+ volatile uint8_t IS7816;
+ union { volatile uint8_t WP7816T0; volatile uint8_t WP7816T1; };
+ volatile uint8_t WN7816;
+ volatile uint8_t WF7816;
+ volatile uint8_t ET7816;
+ volatile uint8_t TL7816;
+ volatile uint8_t unused3;
+ volatile uint8_t C6;
+ volatile uint8_t PCTH;
+ volatile uint8_t PCTL;
+ volatile uint8_t B1T;
+ volatile uint8_t SDTH;
+ volatile uint8_t SDTL;
+ volatile uint8_t PRE;
+ volatile uint8_t TPL;
+ volatile uint8_t IE;
+ volatile uint8_t WB;
+ volatile uint8_t S3;
+ volatile uint8_t S4;
+ volatile uint8_t RPL;
+ volatile uint8_t RPREL;
+ volatile uint8_t CPW;
+ volatile uint8_t RIDT;
+ volatile uint8_t TIDT;
+} KINETISK_UART_t;
+#define UART0 (*(KINETISK_UART_t *)0x4006A000)
+#define UART0_BDH (UART0.BDH) // UART Baud Rate Registers: High
+#define UART0_BDL (UART0.BDL) // UART Baud Rate Registers: Low
+#define UART0_C1 (UART0.C1) // UART Control Register 1
+#define UART_C1_LOOPS 0x80 // When LOOPS is set, the RxD pin is disconnected from the UART and the transmitter output is internally connected to the receiver input
+#define UART_C1_UARTSWAI 0x40 // UART Stops in Wait Mode
+#define UART_C1_RSRC 0x20 // When LOOPS is set, the RSRC field determines the source for the receiver shift register input
+#define UART_C1_M 0x10 // 9-bit or 8-bit Mode Select
+#define UART_C1_WAKE 0x08 // Determines which condition wakes the UART
+#define UART_C1_ILT 0x04 // Idle Line Type Select
+#define UART_C1_PE 0x02 // Parity Enable
+#define UART_C1_PT 0x01 // Parity Type, 0=even, 1=odd
+#define UART0_C2 (UART0.C2) // UART Control Register 2
+#define UART_C2_TIE 0x80 // Transmitter Interrupt or DMA Transfer Enable.
+#define UART_C2_TCIE 0x40 // Transmission Complete Interrupt Enable
+#define UART_C2_RIE 0x20 // Receiver Full Interrupt or DMA Transfer Enable
+#define UART_C2_ILIE 0x10 // Idle Line Interrupt Enable
+#define UART_C2_TE 0x08 // Transmitter Enable
+#define UART_C2_RE 0x04 // Receiver Enable
+#define UART_C2_RWU 0x02 // Receiver Wakeup Control
+#define UART_C2_SBK 0x01 // Send Break
+#define UART0_S1 (UART0.S1) // UART Status Register 1
+#define UART_S1_TDRE 0x80 // Transmit Data Register Empty Flag
+#define UART_S1_TC 0x40 // Transmit Complete Flag
+#define UART_S1_RDRF 0x20 // Receive Data Register Full Flag
+#define UART_S1_IDLE 0x10 // Idle Line Flag
+#define UART_S1_OR 0x08 // Receiver Overrun Flag
+#define UART_S1_NF 0x04 // Noise Flag
+#define UART_S1_FE 0x02 // Framing Error Flag
+#define UART_S1_PF 0x01 // Parity Error Flag
+#define UART0_S2 (UART0.S2) // UART Status Register 2
+#define UART0_C3 (UART0.C3) // UART Control Register 3
+#define UART0_D (UART0.D) // UART Data Register
+#define UART0_MA1 (UART0.MA1) // UART Match Address Registers 1
+#define UART0_MA2 (UART0.MA2) // UART Match Address Registers 2
+#define UART0_C4 (UART0.C4) // UART Control Register 4
+#define UART0_C5 (UART0.C5) // UART Control Register 5
+#define UART0_ED (UART0.ED) // UART Extended Data Register
+#define UART0_MODEM (UART0.MODEM) // UART Modem Register
+#define UART0_IR (UART0.IR) // UART Infrared Register
+#define UART0_PFIFO (UART0.PFIFO) // UART FIFO Parameters
+#define UART_PFIFO_TXFE 0x80 // Transmit FIFO Enable
+#define UART_PFIFO_TXFIFOSIZE(n) (((n) & 7) << 4) // Transmit FIFO Size, 0=1, 1=4, 2=8, 3=16, 4=32, 5=64, 6=128
+#define UART_PFIFO_RXFE 0x08 // Receive FIFO Enable
+#define UART_PFIFO_RXFIFOSIZE(n) (((n) & 7) << 0) // Transmit FIFO Size, 0=1, 1=4, 2=8, 3=16, 4=32, 5=64, 6=128
+#define UART0_CFIFO (UART0.CFIFO) // UART FIFO Control Register
+#define UART_CFIFO_TXFLUSH 0x80 // Transmit FIFO/Buffer Flush
+#define UART_CFIFO_RXFLUSH 0x40 // Receive FIFO/Buffer Flush
+#define UART_CFIFO_RXOFE 0x04 // Receive FIFO Overflow Interrupt Enable
+#define UART_CFIFO_TXOFE 0x02 // Transmit FIFO Overflow Interrupt Enable
+#define UART_CFIFO_RXUFE 0x01 // Receive FIFO Underflow Interrupt Enable
+#define UART0_SFIFO (UART0.SFIFO) // UART FIFO Status Register
+#define UART_SFIFO_TXEMPT 0x80 // Transmit Buffer/FIFO Empty
+#define UART_SFIFO_RXEMPT 0x40 // Receive Buffer/FIFO Empty
+#define UART_SFIFO_RXOF 0x04 // Receiver Buffer Overflow Flag
+#define UART_SFIFO_TXOF 0x02 // Transmitter Buffer Overflow Flag
+#define UART_SFIFO_RXUF 0x01 // Receiver Buffer Underflow Flag
+#define UART0_TWFIFO (UART0.TWFIFO) // UART FIFO Transmit Watermark
+#define UART0_TCFIFO (UART0.TCFIFO) // UART FIFO Transmit Count
+#define UART0_RWFIFO (UART0.RWFIFO) // UART FIFO Receive Watermark
+#define UART0_RCFIFO (UART0.RCFIFO) // UART FIFO Receive Count
+#define UART0_C7816 (UART0.C7816) // UART 7816 Control Register
+#define UART_C7816_ONACK 0x10 // Generate NACK on Overflow
+#define UART_C7816_ANACK 0x08 // Generate NACK on Error
+#define UART_C7816_INIT 0x04 // Detect Initial Character
+#define UART_C7816_TTYPE 0x02 // Transfer Type
+#define UART_C7816_ISO_7816E 0x01 // ISO-7816 Functionality Enabled
+#define UART0_IE7816 (UART0.IE7816) // UART 7816 Interrupt Enable Register
+#define UART_IE7816_WTE 0x80 // Wait Timer Interrupt Enable
+#define UART_IE7816_CWTE 0x40 // Character Wait Timer Interrupt Enable
+#define UART_IE7816_BWTE 0x20 // Block Wait Timer Interrupt Enable
+#define UART_IE7816_INITDE 0x10 // Initial Character Detected Interrupt Enable
+#define UART_IE7816_GTVE 0x04 // Guard Timer Violated Interrupt Enable
+#define UART_IE7816_TXTE 0x02 // Transmit Threshold Exceeded Interrupt Enable
+#define UART_IE7816_RXTE 0x01 // Receive Threshold Exceeded Interrupt Enable
+#define UART0_IS7816 (UART0.IS7816) // UART 7816 Interrupt Status Register
+#define UART_IS7816_WT 0x80 // Wait Timer Interrupt
+#define UART_IS7816_CWT 0x40 // Character Wait Timer Interrupt
+#define UART_IS7816_BWT 0x20 // Block Wait Timer Interrupt
+#define UART_IS7816_INITD 0x10 // Initial Character Detected Interrupt
+#define UART_IS7816_GTV 0x04 // Guard Timer Violated Interrupt
+#define UART_IS7816_TXT 0x02 // Transmit Threshold Exceeded Interrupt
+#define UART_IS7816_RXT 0x01 // Receive Threshold Exceeded Interrupt
+#define UART0_WP7816T0 (UART0.WP7816T0) // UART 7816 Wait Parameter Register
+#define UART0_WP7816T1 (UART0.WP7816T1) // UART 7816 Wait Parameter Register
+#define UART_WP7816T1_CWI(n) (((n) & 15) << 4) // Character Wait Time Integer (C7816[TTYPE] = 1)
+#define UART_WP7816T1_BWI(n) (((n) & 15) << 0) // Block Wait Time Integer(C7816[TTYPE] = 1)
+#define UART0_WN7816 (UART0.WN7816) // UART 7816 Wait N Register
+#define UART0_WF7816 (UART0.WF7816) // UART 7816 Wait FD Register
+#define UART0_ET7816 (UART0.ET7816) // UART 7816 Error Threshold Register
+#define UART_ET7816_TXTHRESHOLD(n) (((n) & 15) << 4) // Transmit NACK Threshold
+#define UART_ET7816_RXTHRESHOLD(n) (((n) & 15) << 0) // Receive NACK Threshold
+#define UART0_TL7816 (UART0.TL7816) // UART 7816 Transmit Length Register
+#define UART0_C6 (UART0.C6) // UART CEA709.1-B Control Register 6
+#define UART_C6_EN709 0x80 // Enables the CEA709.1-B feature.
+#define UART_C6_TX709 0x40 // Starts CEA709.1-B transmission.
+#define UART_C6_CE 0x20 // Collision Enable
+#define UART_C6_CP 0x10 // Collision Signal Polarity
+#define UART0_PCTH (UART0.PCTH) // UART CEA709.1-B Packet Cycle Time Counter High
+#define UART0_PCTL (UART0.PCTL) // UART CEA709.1-B Packet Cycle Time Counter Low
+#define UART0_B1T (UART0.B1T) // UART CEA709.1-B Beta1 Timer
+#define UART0_SDTH (UART0.SDTH) // UART CEA709.1-B Secondary Delay Timer High
+#define UART0_SDTL (UART0.SDTL) // UART CEA709.1-B Secondary Delay Timer Low
+#define UART0_PRE (UART0.PRE) // UART CEA709.1-B Preamble
+#define UART0_TPL (UART0.TPL) // UART CEA709.1-B Transmit Packet Length
+#define UART0_IE (UART0.IE) // UART CEA709.1-B Interrupt Enable Register
+#define UART_IE_WBEIE 0x40 // WBASE Expired Interrupt Enable
+#define UART_IE_ISDIE 0x20 // Initial Sync Detection Interrupt Enable
+#define UART_IE_PRXIE 0x10 // Packet Received Interrupt Enable
+#define UART_IE_PTXIE 0x08 // Packet Transmitted Interrupt Enable
+#define UART_IE_PCTEIE 0x04 // Packet Cycle Timer Interrupt Enable
+#define UART_IE_PSIE 0x02 // Preamble Start Interrupt Enable
+#define UART_IE_TXFIE 0x01 // Transmission Fail Interrupt Enable
+#define UART0_WB (UART0.WB) // UART CEA709.1-B WBASE
+#define UART0_S3 (UART0.S3) // UART CEA709.1-B Status Register
+#define UART_S3_PEF 0x80 // Preamble Error Flag
+#define UART_S3_WBEF 0x40 // Wbase Expired Flag
+#define UART_S3_ISD 0x20 // Initial Sync Detect
+#define UART_S3_PRXF 0x10 // Packet Received Flag
+#define UART_S3_PTXF 0x08 // Packet Transmitted Flag
+#define UART_S3_PCTEF 0x04 // Packet Cycle Timer Expired Flag
+#define UART_S3_PSF 0x02 // Preamble Start Flag
+#define UART_S3_TXFF 0x01 // Transmission Fail Flag
+#define UART0_S4 (UART0.S4) // UART CEA709.1-B Status Register
+#define UART_S4_INITF 0x10 // Initial Synchronization Fail Flag
+#define UART_S4_CDET(n) (((n) & 3) << 2) // Indicates collision: 0=none, 1=preamble, 2=data, 3=line code violation
+#define UART_S4_ILCV 0x02 // Improper Line Code Violation
+#define UART_S4_FE 0x01 // Framing Error
+#define UART0_RPL (UART0.RPL) // UART CEA709.1-B Received Packet Length
+#define UART0_RPREL (UART0.RPREL) // UART CEA709.1-B Received Preamble Length
+#define UART0_CPW (UART0.CPW) // UART CEA709.1-B Collision Pulse Width
+#define UART0_RIDT (UART0.RIDT) // UART CEA709.1-B Receive Indeterminate Time
+#define UART0_TIDT (UART0.TIDT) // UART CEA709.1-B Transmit Indeterminate Time
+#define UART1 (*(KINETISK_UART_t *)0x4006B000)
+#define UART1_BDH (UART1.BDH) // UART Baud Rate Registers: High
+#define UART1_BDL (UART1.BDL) // UART Baud Rate Registers: Low
+#define UART1_C1 (UART1.C1) // UART Control Register 1
+#define UART1_C2 (UART1.C2) // UART Control Register 2
+#define UART1_S1 (UART1.S1) // UART Status Register 1
+#define UART1_S2 (UART1.S2) // UART Status Register 2
+#define UART1_C3 (UART1.C3) // UART Control Register 3
+#define UART1_D (UART1.D) // UART Data Register
+#define UART1_MA1 (UART1.MA1) // UART Match Address Registers 1
+#define UART1_MA2 (UART1.MA2) // UART Match Address Registers 2
+#define UART1_C4 (UART1.C4) // UART Control Register 4
+#define UART1_C5 (UART1.C5) // UART Control Register 5
+#define UART1_ED (UART1.ED) // UART Extended Data Register
+#define UART1_MODEM (UART1.MODEM) // UART Modem Register
+#define UART1_IR (UART1.IR) // UART Infrared Register
+#define UART1_PFIFO (UART1.PFIFO) // UART FIFO Parameters
+#define UART1_CFIFO (UART1.CFIFO) // UART FIFO Control Register
+#define UART1_SFIFO (UART1.SFIFO) // UART FIFO Status Register
+#define UART1_TWFIFO (UART1.TWFIFO) // UART FIFO Transmit Watermark
+#define UART1_TCFIFO (UART1.TCFIFO) // UART FIFO Transmit Count
+#define UART1_RWFIFO (UART1.RWFIFO) // UART FIFO Receive Watermark
+#define UART1_RCFIFO (UART1.RCFIFO) // UART FIFO Receive Count
+#define UART1_C7816 (UART1.C7816) // UART 7816 Control Register
+#define UART1_IE7816 (UART1.IE7816) // UART 7816 Interrupt Enable Register
+#define UART1_IS7816 (UART1.IS7816) // UART 7816 Interrupt Status Register
+#define UART1_WP7816T0 (UART1.WP7816T0) // UART 7816 Wait Parameter Register
+#define UART1_WP7816T1 (UART1.WP7816T1) // UART 7816 Wait Parameter Register
+#define UART1_WN7816 (UART1.WN7816) // UART 7816 Wait N Register
+#define UART1_WF7816 (UART1.WF7816) // UART 7816 Wait FD Register
+#define UART1_ET7816 (UART1.ET7816) // UART 7816 Error Threshold Register
+#define UART1_TL7816 (UART1.TL7816) // UART 7816 Transmit Length Register
+#define UART1_C6 (UART1.C6) // UART CEA709.1-B Control Register 6
+#define UART1_PCTH (UART1.PCTH) // UART CEA709.1-B Packet Cycle Time Counter High
+#define UART1_PCTL (UART1.PCTL) // UART CEA709.1-B Packet Cycle Time Counter Low
+#define UART1_B1T (UART1.B1T) // UART CEA709.1-B Beta1 Timer
+#define UART1_SDTH (UART1.SDTH) // UART CEA709.1-B Secondary Delay Timer High
+#define UART1_SDTL (UART1.SDTL) // UART CEA709.1-B Secondary Delay Timer Low
+#define UART1_PRE (UART1.PRE) // UART CEA709.1-B Preamble
+#define UART1_TPL (UART1.TPL) // UART CEA709.1-B Transmit Packet Length
+#define UART1_IE (UART1.IE) // UART CEA709.1-B Interrupt Enable Register
+#define UART1_WB (UART1.WB) // UART CEA709.1-B WBASE
+#define UART1_S3 (UART1.S3) // UART CEA709.1-B Status Register
+#define UART1_S4 (UART1.S4) // UART CEA709.1-B Status Register
+#define UART1_RPL (UART1.RPL) // UART CEA709.1-B Received Packet Length
+#define UART1_RPREL (UART1.RPREL) // UART CEA709.1-B Received Preamble Length
+#define UART1_CPW (UART1.CPW) // UART CEA709.1-B Collision Pulse Width
+#define UART1_RIDT (UART1.RIDT) // UART CEA709.1-B Receive Indeterminate Time
+#define UART1_TIDT (UART1.TIDT) // UART CEA709.1-B Transmit Indeterminate Time
+#define UART2 (*(KINETISK_UART_t *)0x4006C000)
+#define UART2_BDH (UART2.BDH) // UART Baud Rate Registers: High
+#define UART2_BDL (UART2.BDL) // UART Baud Rate Registers: Low
+#define UART2_C1 (UART2.C1) // UART Control Register 1
+#define UART2_C2 (UART2.C2) // UART Control Register 2
+#define UART2_S1 (UART2.S1) // UART Status Register 1
+#define UART2_S2 (UART2.S2) // UART Status Register 2
+#define UART2_C3 (UART2.C3) // UART Control Register 3
+#define UART2_D (UART2.D) // UART Data Register
+#define UART2_MA1 (UART2.MA1) // UART Match Address Registers 1
+#define UART2_MA2 (UART2.MA2) // UART Match Address Registers 2
+#define UART2_C4 (UART2.C4) // UART Control Register 4
+#define UART2_C5 (UART2.C5) // UART Control Register 5
+#define UART2_ED (UART2.ED) // UART Extended Data Register
+#define UART2_MODEM (UART2.MODEM) // UART Modem Register
+#define UART2_IR (UART2.IR) // UART Infrared Register
+#define UART2_PFIFO (UART2.PFIFO) // UART FIFO Parameters
+#define UART2_CFIFO (UART2.CFIFO) // UART FIFO Control Register
+#define UART2_SFIFO (UART2.SFIFO) // UART FIFO Status Register
+#define UART2_TWFIFO (UART2.TWFIFO) // UART FIFO Transmit Watermark
+#define UART2_TCFIFO (UART2.TCFIFO) // UART FIFO Transmit Count
+#define UART2_RWFIFO (UART2.RWFIFO) // UART FIFO Receive Watermark
+#define UART2_RCFIFO (UART2.RCFIFO) // UART FIFO Receive Count
+#define UART2_C7816 (UART2.C7816) // UART 7816 Control Register
+#define UART2_IE7816 (UART2.IE7816) // UART 7816 Interrupt Enable Register
+#define UART2_IS7816 (UART2.IS7816) // UART 7816 Interrupt Status Register
+#define UART2_WP7816T0 (UART2.WP7816T0) // UART 7816 Wait Parameter Register
+#define UART2_WP7816T1 (UART2.WP7816T1) // UART 7816 Wait Parameter Register
+#define UART2_WN7816 (UART2.WN7816) // UART 7816 Wait N Register
+#define UART2_WF7816 (UART2.WF7816) // UART 7816 Wait FD Register
+#define UART2_ET7816 (UART2.ET7816) // UART 7816 Error Threshold Register
+#define UART2_TL7816 (UART2.TL7816) // UART 7816 Transmit Length Register
+#define UART2_C6 (UART2.C6) // UART CEA709.1-B Control Register 6
+#define UART2_PCTH (UART2.PCTH) // UART CEA709.1-B Packet Cycle Time Counter High
+#define UART2_PCTL (UART2.PCTL) // UART CEA709.1-B Packet Cycle Time Counter Low
+#define UART2_B1T (UART2.B1T) // UART CEA709.1-B Beta1 Timer
+#define UART2_SDTH (UART2.SDTH) // UART CEA709.1-B Secondary Delay Timer High
+#define UART2_SDTL (UART2.SDTL) // UART CEA709.1-B Secondary Delay Timer Low
+#define UART2_PRE (UART2.PRE) // UART CEA709.1-B Preamble
+#define UART2_TPL (UART2.TPL) // UART CEA709.1-B Transmit Packet Length
+#define UART2_IE (UART2.IE) // UART CEA709.1-B Interrupt Enable Register
+#define UART2_WB (UART2.WB) // UART CEA709.1-B WBASE
+#define UART2_S3 (UART2.S3) // UART CEA709.1-B Status Register
+#define UART2_S4 (UART2.S4) // UART CEA709.1-B Status Register
+#define UART2_RPL (UART2.RPL) // UART CEA709.1-B Received Packet Length
+#define UART2_RPREL (UART2.RPREL) // UART CEA709.1-B Received Preamble Length
+#define UART2_CPW (UART2.CPW) // UART CEA709.1-B Collision Pulse Width
+#define UART2_RIDT (UART2.RIDT) // UART CEA709.1-B Receive Indeterminate Time
+#define UART2_TIDT (UART2.TIDT) // UART CEA709.1-B Transmit Indeterminate Time
+
+// Chapter 46: Synchronous Audio Interface (SAI)
+#define I2S0_TCSR (*(volatile uint32_t *)0x4002F000) // SAI Transmit Control Register
+#define I2S_TCSR_TE ((uint32_t)0x80000000) // Transmitter Enable
+#define I2S_TCSR_STOPE ((uint32_t)0x40000000) // Transmitter Enable in Stop mode
+#define I2S_TCSR_DBGE ((uint32_t)0x20000000) // Transmitter Enable in Debug mode
+#define I2S_TCSR_BCE ((uint32_t)0x10000000) // Bit Clock Enable
+#define I2S_TCSR_FR ((uint32_t)0x02000000) // FIFO Reset
+#define I2S_TCSR_SR ((uint32_t)0x01000000) // Software Reset
+#define I2S_TCSR_WSF ((uint32_t)0x00100000) // Word Start Flag
+#define I2S_TCSR_SEF ((uint32_t)0x00080000) // Sync Error Flag
+#define I2S_TCSR_FEF ((uint32_t)0x00040000) // FIFO Error Flag (underrun)
+#define I2S_TCSR_FWF ((uint32_t)0x00020000) // FIFO Warning Flag (empty)
+#define I2S_TCSR_FRF ((uint32_t)0x00010000) // FIFO Request Flag (Data Ready)
+#define I2S_TCSR_WSIE ((uint32_t)0x00001000) // Word Start Interrupt Enable
+#define I2S_TCSR_SEIE ((uint32_t)0x00000800) // Sync Error Interrupt Enable
+#define I2S_TCSR_FEIE ((uint32_t)0x00000400) // FIFO Error Interrupt Enable
+#define I2S_TCSR_FWIE ((uint32_t)0x00000200) // FIFO Warning Interrupt Enable
+#define I2S_TCSR_FRIE ((uint32_t)0x00000100) // FIFO Request Interrupt Enable
+#define I2S_TCSR_FWDE ((uint32_t)0x00000002) // FIFO Warning DMA Enable
+#define I2S_TCSR_FRDE ((uint32_t)0x00000001) // FIFO Request DMA Enable
+#define I2S0_TCR1 (*(volatile uint32_t *)0x4002F004) // SAI Transmit Configuration 1 Register
+#define I2S_TCR1_TFW(n) ((uint32_t)n & 0x03) // Transmit FIFO watermark
+#define I2S0_TCR2 (*(volatile uint32_t *)0x4002F008) // SAI Transmit Configuration 2 Register
+#define I2S_TCR2_DIV(n) ((uint32_t)n & 0xff) // Bit clock divide by (DIV+1)*2
+#define I2S_TCR2_BCD ((uint32_t)1<<24) // Bit clock direction
+#define I2S_TCR2_BCP ((uint32_t)1<<25) // Bit clock polarity
+#define I2S_TCR2_MSEL(n) ((uint32_t)(n & 3)<<26) // MCLK select, 0=bus clock, 1=I2S0_MCLK
+#define I2S_TCR2_BCI ((uint32_t)1<<28) // Bit clock input
+#define I2S_TCR2_BCS ((uint32_t)1<<29) // Bit clock swap
+#define I2S_TCR2_SYNC(n) ((uint32_t)(n & 3)<<30) // 0=async 1=sync with receiver
+#define I2S0_TCR3 (*(volatile uint32_t *)0x4002F00C) // SAI Transmit Configuration 3 Register
+#define I2S_TCR3_WDFL(n) ((uint32_t)n & 0x0f) // word flag configuration
+#define I2S_TCR3_TCE ((uint32_t)0x10000) // transmit channel enable
+#define I2S0_TCR4 (*(volatile uint32_t *)0x4002F010) // SAI Transmit Configuration 4 Register
+#define I2S_TCR4_FSD ((uint32_t)1) // Frame Sync Direction
+#define I2S_TCR4_FSP ((uint32_t)2) // Frame Sync Polarity
+#define I2S_TCR4_FSE ((uint32_t)8) // Frame Sync Early
+#define I2S_TCR4_MF ((uint32_t)0x10) // MSB First
+#define I2S_TCR4_SYWD(n) ((uint32_t)(n & 0x1f)<<8) // Sync Width
+#define I2S_TCR4_FRSZ(n) ((uint32_t)(n & 0x0f)<<16) // Frame Size
+#define I2S0_TCR5 (*(volatile uint32_t *)0x4002F014) // SAI Transmit Configuration 5 Register
+#define I2S_TCR5_FBT(n) ((uint32_t)(n & 0x1f)<<8) // First Bit Shifted
+#define I2S_TCR5_W0W(n) ((uint32_t)(n & 0x1f)<<16) // Word 0 Width
+#define I2S_TCR5_WNW(n) ((uint32_t)(n & 0x1f)<<24) // Word N Width
+#define I2S0_TDR0 (*(volatile uint32_t *)0x4002F020) // SAI Transmit Data Register
+#define I2S0_TDR1 (*(volatile uint32_t *)0x4002F024) // SAI Transmit Data Register
+#define I2S0_TFR0 (*(volatile uint32_t *)0x4002F040) // SAI Transmit FIFO Register
+#define I2S0_TFR1 (*(volatile uint32_t *)0x4002F044) // SAI Transmit FIFO Register
+#define I2S_TFR_RFP(n) ((uint32_t)n & 7) // read FIFO pointer
+#define I2S_TFR_WFP(n) ((uint32_t)(n & 7)<<16) // write FIFO pointer
+#define I2S0_TMR (*(volatile uint32_t *)0x4002F060) // SAI Transmit Mask Register
+#define I2S_TMR_TWM(n) ((uint32_t)n & 0xFFFFFFFF) //
+#define I2S0_RCSR (*(volatile uint32_t *)0x4002F080) // SAI Receive Control Register
+#define I2S_RCSR_RE ((uint32_t)0x80000000) // Receiver Enable
+#define I2S_RCSR_STOPE ((uint32_t)0x40000000) // Receiver Enable in Stop mode
+#define I2S_RCSR_DBGE ((uint32_t)0x20000000) // Receiver Enable in Debug mode
+#define I2S_RCSR_BCE ((uint32_t)0x10000000) // Bit Clock Enable
+#define I2S_RCSR_FR ((uint32_t)0x02000000) // FIFO Reset
+#define I2S_RCSR_SR ((uint32_t)0x01000000) // Software Reset
+#define I2S_RCSR_WSF ((uint32_t)0x00100000) // Word Start Flag
+#define I2S_RCSR_SEF ((uint32_t)0x00080000) // Sync Error Flag
+#define I2S_RCSR_FEF ((uint32_t)0x00040000) // FIFO Error Flag (underrun)
+#define I2S_RCSR_FWF ((uint32_t)0x00020000) // FIFO Warning Flag (empty)
+#define I2S_RCSR_FRF ((uint32_t)0x00010000) // FIFO Request Flag (Data Ready)
+#define I2S_RCSR_WSIE ((uint32_t)0x00001000) // Word Start Interrupt Enable
+#define I2S_RCSR_SEIE ((uint32_t)0x00000800) // Sync Error Interrupt Enable
+#define I2S_RCSR_FEIE ((uint32_t)0x00000400) // FIFO Error Interrupt Enable
+#define I2S_RCSR_FWIE ((uint32_t)0x00000200) // FIFO Warning Interrupt Enable
+#define I2S_RCSR_FRIE ((uint32_t)0x00000100) // FIFO Request Interrupt Enable
+#define I2S_RCSR_FWDE ((uint32_t)0x00000002) // FIFO Warning DMA Enable
+#define I2S_RCSR_FRDE ((uint32_t)0x00000001) // FIFO Request DMA Enable
+#define I2S0_RCR1 (*(volatile uint32_t *)0x4002F084) // SAI Receive Configuration 1 Register
+#define I2S_RCR1_RFW(n) ((uint32_t)n & 0x03) // Receive FIFO watermark
+#define I2S0_RCR2 (*(volatile uint32_t *)0x4002F088) // SAI Receive Configuration 2 Register
+#define I2S_RCR2_DIV(n) ((uint32_t)n & 0xff) // Bit clock divide by (DIV+1)*2
+#define I2S_RCR2_BCD ((uint32_t)1<<24) // Bit clock direction
+#define I2S_RCR2_BCP ((uint32_t)1<<25) // Bit clock polarity
+#define I2S_RCR2_MSEL(n) ((uint32_t)(n & 3)<<26) // MCLK select, 0=bus clock, 1=I2S0_MCLK
+#define I2S_RCR2_BCI ((uint32_t)1<<28) // Bit clock input
+#define I2S_RCR2_BCS ((uint32_t)1<<29) // Bit clock swap
+#define I2S_RCR2_SYNC(n) ((uint32_t)(n & 3)<<30) // 0=async 1=sync with receiver
+#define I2S0_RCR3 (*(volatile uint32_t *)0x4002F08C) // SAI Receive Configuration 3 Register
+#define I2S_RCR3_WDFL(n) ((uint32_t)n & 0x0f) // word flag configuration
+#define I2S_RCR3_RCE ((uint32_t)0x10000) // receive channel enable
+#define I2S0_RCR4 (*(volatile uint32_t *)0x4002F090) // SAI Receive Configuration 4 Register
+#define I2S_RCR4_FSD ((uint32_t)1) // Frame Sync Direction
+#define I2S_RCR4_FSP ((uint32_t)2) // Frame Sync Polarity
+#define I2S_RCR4_FSE ((uint32_t)8) // Frame Sync Early
+#define I2S_RCR4_MF ((uint32_t)0x10) // MSB First
+#define I2S_RCR4_SYWD(n) ((uint32_t)(n & 0x1f)<<8) // Sync Width
+#define I2S_RCR4_FRSZ(n) ((uint32_t)(n & 0x0f)<<16) // Frame Size
+#define I2S0_RCR5 (*(volatile uint32_t *)0x4002F094) // SAI Receive Configuration 5 Register
+#define I2S_RCR5_FBT(n) ((uint32_t)(n & 0x1f)<<8) // First Bit Shifted
+#define I2S_RCR5_W0W(n) ((uint32_t)(n & 0x1f)<<16) // Word 0 Width
+#define I2S_RCR5_WNW(n) ((uint32_t)(n & 0x1f)<<24) // Word N Width
+#define I2S0_RDR0 (*(volatile uint32_t *)0x4002F0A0) // SAI Receive Data Register
+#define I2S0_RDR1 (*(volatile uint32_t *)0x4002F0A4) // SAI Receive Data Register
+#define I2S0_RFR0 (*(volatile uint32_t *)0x4002F0C0) // SAI Receive FIFO Register
+#define I2S0_RFR1 (*(volatile uint32_t *)0x4002F0C4) // SAI Receive FIFO Register
+#define I2S_RFR_RFP(n) ((uint32_t)n & 7) // read FIFO pointer
+#define I2S_RFR_WFP(n) ((uint32_t)(n & 7)<<16) // write FIFO pointer
+#define I2S0_RMR (*(volatile uint32_t *)0x4002F0E0) // SAI Receive Mask Register
+#define I2S_RMR_RWM(n) ((uint32_t)n & 0xFFFFFFFF) //
+#define I2S0_MCR (*(volatile uint32_t *)0x4002F100) // SAI MCLK Control Register
+#define I2S_MCR_DUF ((uint32_t)1<<31) // Divider Update Flag
+#define I2S_MCR_MOE ((uint32_t)1<<30) // MCLK Output Enable
+#define I2S_MCR_MICS(n) ((uint32_t)(n & 3)<<24) // MCLK Input Clock Select
+#define I2S0_MDR (*(volatile uint32_t *)0x4002F104) // SAI MCLK Divide Register
+#define I2S_MDR_FRACT(n) ((uint32_t)(n & 0xff)<<12) // MCLK Fraction
+#define I2S_MDR_DIVIDE(n) ((uint32_t)(n & 0xfff)) // MCLK Divide
+
+// Chapter 47: General-Purpose Input/Output (GPIO)
+#define GPIOA_PDOR (*(volatile uint32_t *)0x400FF000) // Port Data Output Register
+#define GPIOA_PSOR (*(volatile uint32_t *)0x400FF004) // Port Set Output Register
+#define GPIOA_PCOR (*(volatile uint32_t *)0x400FF008) // Port Clear Output Register
+#define GPIOA_PTOR (*(volatile uint32_t *)0x400FF00C) // Port Toggle Output Register
+#define GPIOA_PDIR (*(volatile uint32_t *)0x400FF010) // Port Data Input Register
+#define GPIOA_PDDR (*(volatile uint32_t *)0x400FF014) // Port Data Direction Register
+#define GPIOB_PDOR (*(volatile uint32_t *)0x400FF040) // Port Data Output Register
+#define GPIOB_PSOR (*(volatile uint32_t *)0x400FF044) // Port Set Output Register
+#define GPIOB_PCOR (*(volatile uint32_t *)0x400FF048) // Port Clear Output Register
+#define GPIOB_PTOR (*(volatile uint32_t *)0x400FF04C) // Port Toggle Output Register
+#define GPIOB_PDIR (*(volatile uint32_t *)0x400FF050) // Port Data Input Register
+#define GPIOB_PDDR (*(volatile uint32_t *)0x400FF054) // Port Data Direction Register
+#define GPIOC_PDOR (*(volatile uint32_t *)0x400FF080) // Port Data Output Register
+#define GPIOC_PSOR (*(volatile uint32_t *)0x400FF084) // Port Set Output Register
+#define GPIOC_PCOR (*(volatile uint32_t *)0x400FF088) // Port Clear Output Register
+#define GPIOC_PTOR (*(volatile uint32_t *)0x400FF08C) // Port Toggle Output Register
+#define GPIOC_PDIR (*(volatile uint32_t *)0x400FF090) // Port Data Input Register
+#define GPIOC_PDDR (*(volatile uint32_t *)0x400FF094) // Port Data Direction Register
+#define GPIOD_PDOR (*(volatile uint32_t *)0x400FF0C0) // Port Data Output Register
+#define GPIOD_PSOR (*(volatile uint32_t *)0x400FF0C4) // Port Set Output Register
+#define GPIOD_PCOR (*(volatile uint32_t *)0x400FF0C8) // Port Clear Output Register
+#define GPIOD_PTOR (*(volatile uint32_t *)0x400FF0CC) // Port Toggle Output Register
+#define GPIOD_PDIR (*(volatile uint32_t *)0x400FF0D0) // Port Data Input Register
+#define GPIOD_PDDR (*(volatile uint32_t *)0x400FF0D4) // Port Data Direction Register
+#define GPIOE_PDOR (*(volatile uint32_t *)0x400FF100) // Port Data Output Register
+#define GPIOE_PSOR (*(volatile uint32_t *)0x400FF104) // Port Set Output Register
+#define GPIOE_PCOR (*(volatile uint32_t *)0x400FF108) // Port Clear Output Register
+#define GPIOE_PTOR (*(volatile uint32_t *)0x400FF10C) // Port Toggle Output Register
+#define GPIOE_PDIR (*(volatile uint32_t *)0x400FF110) // Port Data Input Register
+#define GPIOE_PDDR (*(volatile uint32_t *)0x400FF114) // Port Data Direction Register
+
+// Chapter 48: Touch sense input (TSI)
+#define TSI0_GENCS (*(volatile uint32_t *)0x40045000) // General Control and Status Register
+#define TSI_GENCS_LPCLKS ((uint32_t)0x10000000) //
+#define TSI_GENCS_LPSCNITV(n) (((n) & 15) << 24) //
+#define TSI_GENCS_NSCN(n) (((n) & 31) << 19) //
+#define TSI_GENCS_PS(n) (((n) & 7) << 16) //
+#define TSI_GENCS_EOSF ((uint32_t)0x00008000) //
+#define TSI_GENCS_OUTRGF ((uint32_t)0x00004000) //
+#define TSI_GENCS_EXTERF ((uint32_t)0x00002000) //
+#define TSI_GENCS_OVRF ((uint32_t)0x00001000) //
+#define TSI_GENCS_SCNIP ((uint32_t)0x00000200) //
+#define TSI_GENCS_SWTS ((uint32_t)0x00000100) //
+#define TSI_GENCS_TSIEN ((uint32_t)0x00000080) //
+#define TSI_GENCS_TSIIE ((uint32_t)0x00000040) //
+#define TSI_GENCS_ERIE ((uint32_t)0x00000020) //
+#define TSI_GENCS_ESOR ((uint32_t)0x00000010) //
+#define TSI_GENCS_STM ((uint32_t)0x00000002) //
+#define TSI_GENCS_STPE ((uint32_t)0x00000001) //
+#define TSI0_SCANC (*(volatile uint32_t *)0x40045004) // SCAN Control Register
+#define TSI_SCANC_REFCHRG(n) (((n) & 15) << 24) //
+#define TSI_SCANC_EXTCHRG(n) (((n) & 7) << 16) //
+#define TSI_SCANC_SMOD(n) (((n) & 255) << 8) //
+#define TSI_SCANC_AMCLKS(n) (((n) & 3) << 3) //
+#define TSI_SCANC_AMPSC(n) (((n) & 7) << 0) //
+#define TSI0_PEN (*(volatile uint32_t *)0x40045008) // Pin Enable Register
+#define TSI0_WUCNTR (*(volatile uint32_t *)0x4004500C) // Wake-Up Channel Counter Register
+#define TSI0_CNTR1 (*(volatile uint32_t *)0x40045100) // Counter Register
+#define TSI0_CNTR3 (*(volatile uint32_t *)0x40045104) // Counter Register
+#define TSI0_CNTR5 (*(volatile uint32_t *)0x40045108) // Counter Register
+#define TSI0_CNTR7 (*(volatile uint32_t *)0x4004510C) // Counter Register
+#define TSI0_CNTR9 (*(volatile uint32_t *)0x40045110) // Counter Register
+#define TSI0_CNTR11 (*(volatile uint32_t *)0x40045114) // Counter Register
+#define TSI0_CNTR13 (*(volatile uint32_t *)0x40045118) // Counter Register
+#define TSI0_CNTR15 (*(volatile uint32_t *)0x4004511C) // Counter Register
+#define TSI0_THRESHOLD (*(volatile uint32_t *)0x40045120) // Low Power Channel Threshold Register
+
+// Nested Vectored Interrupt Controller, Table 3-4 & ARMv7 ref, appendix B3.4 (page 750)
+#define NVIC_ENABLE_IRQ(n) (*((volatile uint32_t *)0xE000E100 + ((n) >> 5)) = (1 << ((n) & 31)))
+#define NVIC_DISABLE_IRQ(n) (*((volatile uint32_t *)0xE000E180 + ((n) >> 5)) = (1 << ((n) & 31)))
+#define NVIC_SET_PENDING(n) (*((volatile uint32_t *)0xE000E200 + ((n) >> 5)) = (1 << ((n) & 31)))
+#define NVIC_CLEAR_PENDING(n) (*((volatile uint32_t *)0xE000E280 + ((n) >> 5)) = (1 << ((n) & 31)))
+
+#define NVIC_ISER0 (*(volatile uint32_t *)0xE000E100)
+#define NVIC_ISER1 (*(volatile uint32_t *)0xE000E104)
+#define NVIC_ISER2 (*(volatile uint32_t *)0xE000E108)
+#define NVIC_ISER3 (*(volatile uint32_t *)0xE000E10C)
+#define NVIC_ICER0 (*(volatile uint32_t *)0xE000E180)
+#define NVIC_ICER1 (*(volatile uint32_t *)0xE000E184)
+#define NVIC_ICER2 (*(volatile uint32_t *)0xE000E188)
+#define NVIC_ICER3 (*(volatile uint32_t *)0xE000E18C)
+
+// 0 = highest priority
+// Cortex-M4: 0,16,32,48,64,80,96,112,128,144,160,176,192,208,224,240
+// Cortex-M0: 0,64,128,192
+#define NVIC_SET_PRIORITY(irqnum, priority) (*((volatile uint8_t *)0xE000E400 + (irqnum)) = (uint8_t)(priority))
+#define NVIC_GET_PRIORITY(irqnum) (*((uint8_t *)0xE000E400 + (irqnum)))
+
+
+
+
+#define __disable_irq() __asm__ volatile("CPSID i");
+#define __enable_irq() __asm__ volatile("CPSIE i");
+
+/* only mask default irqs, see NVIC_SET_PRIORITY users
+ * note: usb code uses 112 priority */
+#define __mask_irq() do { \
+ int basepri_ = 128 - 16; \
+ __asm__ volatile("msr BASEPRI, %0" :: "r"(basepri_)); \
+} while (0)
+#define __unmask_irq() do { \
+ int basepri_ = 0; \
+ __asm__ volatile("msr BASEPRI, %0" :: "r"(basepri_)); \
+} while (0)
+
+// System Control Space (SCS), ARMv7 ref manual, B3.2, page 708
+#define SCB_CPUID (*(const uint32_t *)0xE000ED00) // CPUID Base Register
+#define SCB_ICSR (*(volatile uint32_t *)0xE000ED04) // Interrupt Control and State
+#define SCB_ICSR_PENDSTSET ((uint32_t)0x04000000)
+#define SCB_VTOR (*(volatile uint32_t *)0xE000ED08) // Vector Table Offset
+#define SCB_AIRCR (*(volatile uint32_t *)0xE000ED0C) // Application Interrupt and Reset Control
+#define SCB_SCR (*(volatile uint32_t *)0xE000ED10) // System Control Register
+#define SCB_CCR (*(volatile uint32_t *)0xE000ED14) // Configuration and Control
+#define SCB_SHPR1 (*(volatile uint32_t *)0xE000ED18) // System Handler Priority Register 1
+#define SCB_SHPR2 (*(volatile uint32_t *)0xE000ED1C) // System Handler Priority Register 2
+#define SCB_SHPR3 (*(volatile uint32_t *)0xE000ED20) // System Handler Priority Register 3
+#define SCB_SHCSR (*(volatile uint32_t *)0xE000ED24) // System Handler Control and State
+#define SCB_CFSR (*(volatile uint32_t *)0xE000ED28) // Configurable Fault Status Register
+#define SCB_HFSR (*(volatile uint32_t *)0xE000ED2C) // HardFault Status
+#define SCB_DFSR (*(volatile uint32_t *)0xE000ED30) // Debug Fault Status
+#define SCB_MMFAR (*(volatile uint32_t *)0xE000ED34) // MemManage Fault Address
+
+#define SYST_CSR (*(volatile uint32_t *)0xE000E010) // SysTick Control and Status
+#define SYST_CSR_COUNTFLAG ((uint32_t)0x00010000)
+#define SYST_CSR_CLKSOURCE ((uint32_t)0x00000004)
+#define SYST_CSR_TICKINT ((uint32_t)0x00000002)
+#define SYST_CSR_ENABLE ((uint32_t)0x00000001)
+#define SYST_RVR (*(volatile uint32_t *)0xE000E014) // SysTick Reload Value Register
+#define SYST_CVR (*(volatile uint32_t *)0xE000E018) // SysTick Current Value Register
+#define SYST_CALIB (*(const uint32_t *)0xE000E01C) // SysTick Calibration Value
+
+
+#define ARM_DEMCR (*(volatile uint32_t *)0xE000EDFC) // Debug Exception and Monitor Control
+#define ARM_DEMCR_TRCENA (1 << 24) // Enable debugging & monitoring blocks
+#define ARM_DWT_CTRL (*(volatile uint32_t *)0xE0001000) // DWT control register
+#define ARM_DWT_CTRL_CYCCNTENA (1 << 0) // Enable cycle count
+#define ARM_DWT_CYCCNT (*(volatile uint32_t *)0xE0001004) // Cycle count register
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+extern int nvic_execution_priority(void);
+
+extern void nmi_isr(void);
+extern void hard_fault_isr(void);
+extern void memmanage_fault_isr(void);
+extern void bus_fault_isr(void);
+extern void usage_fault_isr(void);
+extern void svcall_isr(void);
+extern void debugmonitor_isr(void);
+extern void pendablesrvreq_isr(void);
+extern void systick_isr(void);
+extern void dma_ch0_isr(void);
+extern void dma_ch1_isr(void);
+extern void dma_ch2_isr(void);
+extern void dma_ch3_isr(void);
+extern void dma_ch4_isr(void);
+extern void dma_ch5_isr(void);
+extern void dma_ch6_isr(void);
+extern void dma_ch7_isr(void);
+extern void dma_ch8_isr(void);
+extern void dma_ch9_isr(void);
+extern void dma_ch10_isr(void);
+extern void dma_ch11_isr(void);
+extern void dma_ch12_isr(void);
+extern void dma_ch13_isr(void);
+extern void dma_ch14_isr(void);
+extern void dma_ch15_isr(void);
+extern void dma_error_isr(void);
+extern void mcm_isr(void);
+extern void flash_cmd_isr(void);
+extern void flash_error_isr(void);
+extern void low_voltage_isr(void);
+extern void wakeup_isr(void);
+extern void watchdog_isr(void);
+extern void i2c0_isr(void);
+extern void i2c1_isr(void);
+extern void i2c2_isr(void);
+extern void spi0_isr(void);
+extern void spi1_isr(void);
+extern void spi2_isr(void);
+extern void sdhc_isr(void);
+extern void can0_message_isr(void);
+extern void can0_bus_off_isr(void);
+extern void can0_error_isr(void);
+extern void can0_tx_warn_isr(void);
+extern void can0_rx_warn_isr(void);
+extern void can0_wakeup_isr(void);
+extern void i2s0_tx_isr(void);
+extern void i2s0_rx_isr(void);
+extern void uart0_lon_isr(void);
+extern void uart0_status_isr(void);
+extern void uart0_error_isr(void);
+extern void uart1_status_isr(void);
+extern void uart1_error_isr(void);
+extern void uart2_status_isr(void);
+extern void uart2_error_isr(void);
+extern void uart3_status_isr(void);
+extern void uart3_error_isr(void);
+extern void uart4_status_isr(void);
+extern void uart4_error_isr(void);
+extern void uart5_status_isr(void);
+extern void uart5_error_isr(void);
+extern void adc0_isr(void);
+extern void adc1_isr(void);
+extern void cmp0_isr(void);
+extern void cmp1_isr(void);
+extern void cmp2_isr(void);
+extern void ftm0_isr(void);
+extern void ftm1_isr(void);
+extern void ftm2_isr(void);
+extern void ftm3_isr(void);
+extern void cmt_isr(void);
+extern void rtc_alarm_isr(void);
+extern void rtc_seconds_isr(void);
+extern void pit0_isr(void);
+extern void pit1_isr(void);
+extern void pit2_isr(void);
+extern void pit3_isr(void);
+extern void pdb_isr(void);
+extern void usb_isr(void);
+extern void usb_charge_isr(void);
+extern void dac0_isr(void);
+extern void dac1_isr(void);
+extern void tsi0_isr(void);
+extern void mcg_isr(void);
+extern void lptmr_isr(void);
+extern void porta_isr(void);
+extern void portb_isr(void);
+extern void portc_isr(void);
+extern void portd_isr(void);
+extern void porte_isr(void);
+extern void software_isr(void);
+
+extern void (* _VectorsRam[NVIC_NUM_INTERRUPTS+16])(void);
+extern void (* const _VectorsFlash[NVIC_NUM_INTERRUPTS+16])(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#undef BEGIN_ENUM
+#undef END_ENUM
+#endif
--- /dev/null
+/* 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 "kinetis.h"
+
+
+extern unsigned long _stext;
+extern unsigned long _etext;
+extern unsigned long _sdata;
+extern unsigned long _edata;
+extern unsigned long _sbss;
+extern unsigned long _ebss;
+extern unsigned long _estack;
+//extern void __init_array_start(void);
+//extern void __init_array_end(void);
+
+
+
+extern int main (void);
+void ResetHandler(void);
+void _init_Teensyduino_internal_(void);
+void __libc_init_array(void);
+
+
+void fault_isr(void)
+{
+ while (1) {
+ // keep polling some communication while in fault
+ // mode, so we don't completely die.
+ if (SIM_SCGC4 & SIM_SCGC4_USBOTG) usb_isr();
+ if (SIM_SCGC4 & SIM_SCGC4_UART0) uart0_status_isr();
+ if (SIM_SCGC4 & SIM_SCGC4_UART1) uart1_status_isr();
+ if (SIM_SCGC4 & SIM_SCGC4_UART2) uart2_status_isr();
+ }
+}
+
+void unused_isr(void)
+{
+ fault_isr();
+}
+
+extern volatile uint32_t systick_millis_count;
+void systick_default_isr(void)
+{
+ systick_millis_count++;
+}
+
+void nmi_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void hard_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void memmanage_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void bus_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void usage_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void svcall_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void debugmonitor_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void pendablesrvreq_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void systick_isr(void) __attribute__ ((weak, alias("systick_default_isr")));
+
+void dma_ch0_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch1_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch2_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch3_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch4_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch5_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch6_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch7_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch8_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch9_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch10_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch11_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch12_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch13_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch14_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_ch15_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dma_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void mcm_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void flash_cmd_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void flash_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void low_voltage_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void wakeup_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void watchdog_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void i2c0_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void i2c1_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void i2c2_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void spi0_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void spi1_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void spi2_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void sdhc_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void can0_message_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void can0_bus_off_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void can0_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void can0_tx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void can0_rx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void can0_wakeup_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void i2s0_tx_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void i2s0_rx_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart0_lon_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart0_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart0_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart1_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart1_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart2_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart2_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart3_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart3_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart4_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart4_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart5_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void uart5_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void adc0_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void adc1_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void cmp0_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void cmp1_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void cmp2_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void ftm0_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void ftm1_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void ftm2_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void ftm3_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void cmt_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void rtc_alarm_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void rtc_seconds_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void pit0_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void pit1_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void pit2_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void pit3_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void pdb_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void usb_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void usb_charge_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dac0_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void dac1_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void tsi0_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void mcg_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void lptmr_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void porta_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void portb_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void portc_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void portd_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void porte_isr(void) __attribute__ ((weak, alias("unused_isr")));
+void software_isr(void) __attribute__ ((weak, alias("unused_isr")));
+
+#if defined(__MK20DX128__)
+__attribute__ ((section(".dmabuffers"), used, aligned(256)))
+#else
+__attribute__ ((section(".dmabuffers"), used, aligned(512)))
+#endif
+void (* _VectorsRam[NVIC_NUM_INTERRUPTS+16])(void);
+
+__attribute__ ((section(".vectors"), used))
+void (* const _VectorsFlash[NVIC_NUM_INTERRUPTS+16])(void) =
+{
+ (void (*)(void))((unsigned long)&_estack), // 0 ARM: Initial Stack Pointer
+ ResetHandler, // 1 ARM: Initial Program Counter
+ nmi_isr, // 2 ARM: Non-maskable Interrupt (NMI)
+ hard_fault_isr, // 3 ARM: Hard Fault
+ memmanage_fault_isr, // 4 ARM: MemManage Fault
+ bus_fault_isr, // 5 ARM: Bus Fault
+ usage_fault_isr, // 6 ARM: Usage Fault
+ fault_isr, // 7 --
+ fault_isr, // 8 --
+ fault_isr, // 9 --
+ fault_isr, // 10 --
+ svcall_isr, // 11 ARM: Supervisor call (SVCall)
+ debugmonitor_isr, // 12 ARM: Debug Monitor
+ fault_isr, // 13 --
+ pendablesrvreq_isr, // 14 ARM: Pendable req serv(PendableSrvReq)
+ systick_isr, // 15 ARM: System tick timer (SysTick)
+#if defined(__MK20DX128__)
+ dma_ch0_isr, // 16 DMA channel 0 transfer complete
+ dma_ch1_isr, // 17 DMA channel 1 transfer complete
+ dma_ch2_isr, // 18 DMA channel 2 transfer complete
+ dma_ch3_isr, // 19 DMA channel 3 transfer complete
+ dma_error_isr, // 20 DMA error interrupt channel
+ unused_isr, // 21 DMA --
+ flash_cmd_isr, // 22 Flash Memory Command complete
+ flash_error_isr, // 23 Flash Read collision
+ low_voltage_isr, // 24 Low-voltage detect/warning
+ wakeup_isr, // 25 Low Leakage Wakeup
+ watchdog_isr, // 26 Both EWM and WDOG interrupt
+ i2c0_isr, // 27 I2C0
+ spi0_isr, // 28 SPI0
+ i2s0_tx_isr, // 29 I2S0 Transmit
+ i2s0_rx_isr, // 30 I2S0 Receive
+ uart0_lon_isr, // 31 UART0 CEA709.1-B (LON) status
+ uart0_status_isr, // 32 UART0 status
+ uart0_error_isr, // 33 UART0 error
+ uart1_status_isr, // 34 UART1 status
+ uart1_error_isr, // 35 UART1 error
+ uart2_status_isr, // 36 UART2 status
+ uart2_error_isr, // 37 UART2 error
+ adc0_isr, // 38 ADC0
+ cmp0_isr, // 39 CMP0
+ cmp1_isr, // 40 CMP1
+ ftm0_isr, // 41 FTM0
+ ftm1_isr, // 42 FTM1
+ cmt_isr, // 43 CMT
+ rtc_alarm_isr, // 44 RTC Alarm interrupt
+ rtc_seconds_isr, // 45 RTC Seconds interrupt
+ pit0_isr, // 46 PIT Channel 0
+ pit1_isr, // 47 PIT Channel 1
+ pit2_isr, // 48 PIT Channel 2
+ pit3_isr, // 49 PIT Channel 3
+ pdb_isr, // 50 PDB Programmable Delay Block
+ usb_isr, // 51 USB OTG
+ usb_charge_isr, // 52 USB Charger Detect
+ tsi0_isr, // 53 TSI0
+ mcg_isr, // 54 MCG
+ lptmr_isr, // 55 Low Power Timer
+ porta_isr, // 56 Pin detect (Port A)
+ portb_isr, // 57 Pin detect (Port B)
+ portc_isr, // 58 Pin detect (Port C)
+ portd_isr, // 59 Pin detect (Port D)
+ porte_isr, // 60 Pin detect (Port E)
+ software_isr, // 61 Software interrupt
+#elif defined(__MK20DX256__)
+ dma_ch0_isr, // 16 DMA channel 0 transfer complete
+ dma_ch1_isr, // 17 DMA channel 1 transfer complete
+ dma_ch2_isr, // 18 DMA channel 2 transfer complete
+ dma_ch3_isr, // 19 DMA channel 3 transfer complete
+ dma_ch4_isr, // 20 DMA channel 4 transfer complete
+ dma_ch5_isr, // 21 DMA channel 5 transfer complete
+ dma_ch6_isr, // 22 DMA channel 6 transfer complete
+ dma_ch7_isr, // 23 DMA channel 7 transfer complete
+ dma_ch8_isr, // 24 DMA channel 8 transfer complete
+ dma_ch9_isr, // 25 DMA channel 9 transfer complete
+ dma_ch10_isr, // 26 DMA channel 10 transfer complete
+ dma_ch11_isr, // 27 DMA channel 10 transfer complete
+ dma_ch12_isr, // 28 DMA channel 10 transfer complete
+ dma_ch13_isr, // 29 DMA channel 10 transfer complete
+ dma_ch14_isr, // 30 DMA channel 10 transfer complete
+ dma_ch15_isr, // 31 DMA channel 10 transfer complete
+ dma_error_isr, // 32 DMA error interrupt channel
+ unused_isr, // 33 --
+ flash_cmd_isr, // 34 Flash Memory Command complete
+ flash_error_isr, // 35 Flash Read collision
+ low_voltage_isr, // 36 Low-voltage detect/warning
+ wakeup_isr, // 37 Low Leakage Wakeup
+ watchdog_isr, // 38 Both EWM and WDOG interrupt
+ unused_isr, // 39 --
+ i2c0_isr, // 40 I2C0
+ i2c1_isr, // 41 I2C1
+ spi0_isr, // 42 SPI0
+ spi1_isr, // 43 SPI1
+ unused_isr, // 44 --
+ can0_message_isr, // 45 CAN OR'ed Message buffer (0-15)
+ can0_bus_off_isr, // 46 CAN Bus Off
+ can0_error_isr, // 47 CAN Error
+ can0_tx_warn_isr, // 48 CAN Transmit Warning
+ can0_rx_warn_isr, // 49 CAN Receive Warning
+ can0_wakeup_isr, // 50 CAN Wake Up
+ i2s0_tx_isr, // 51 I2S0 Transmit
+ i2s0_rx_isr, // 52 I2S0 Receive
+ unused_isr, // 53 --
+ unused_isr, // 54 --
+ unused_isr, // 55 --
+ unused_isr, // 56 --
+ unused_isr, // 57 --
+ unused_isr, // 58 --
+ unused_isr, // 59 --
+ uart0_lon_isr, // 60 UART0 CEA709.1-B (LON) status
+ uart0_status_isr, // 61 UART0 status
+ uart0_error_isr, // 62 UART0 error
+ uart1_status_isr, // 63 UART1 status
+ uart1_error_isr, // 64 UART1 error
+ uart2_status_isr, // 65 UART2 status
+ uart2_error_isr, // 66 UART2 error
+ unused_isr, // 67 --
+ unused_isr, // 68 --
+ unused_isr, // 69 --
+ unused_isr, // 70 --
+ unused_isr, // 71 --
+ unused_isr, // 72 --
+ adc0_isr, // 73 ADC0
+ adc1_isr, // 74 ADC1
+ cmp0_isr, // 75 CMP0
+ cmp1_isr, // 76 CMP1
+ cmp2_isr, // 77 CMP2
+ ftm0_isr, // 78 FTM0
+ ftm1_isr, // 79 FTM1
+ ftm2_isr, // 80 FTM2
+ cmt_isr, // 81 CMT
+ rtc_alarm_isr, // 82 RTC Alarm interrupt
+ rtc_seconds_isr, // 83 RTC Seconds interrupt
+ pit0_isr, // 84 PIT Channel 0
+ pit1_isr, // 85 PIT Channel 1
+ pit2_isr, // 86 PIT Channel 2
+ pit3_isr, // 87 PIT Channel 3
+ pdb_isr, // 88 PDB Programmable Delay Block
+ usb_isr, // 89 USB OTG
+ usb_charge_isr, // 90 USB Charger Detect
+ unused_isr, // 91 --
+ unused_isr, // 92 --
+ unused_isr, // 93 --
+ unused_isr, // 94 --
+ unused_isr, // 95 --
+ unused_isr, // 96 --
+ dac0_isr, // 97 DAC0
+ unused_isr, // 98 --
+ tsi0_isr, // 99 TSI0
+ mcg_isr, // 100 MCG
+ lptmr_isr, // 101 Low Power Timer
+ unused_isr, // 102 --
+ porta_isr, // 103 Pin detect (Port A)
+ portb_isr, // 104 Pin detect (Port B)
+ portc_isr, // 105 Pin detect (Port C)
+ portd_isr, // 106 Pin detect (Port D)
+ porte_isr, // 107 Pin detect (Port E)
+ unused_isr, // 108 --
+ unused_isr, // 109 --
+ software_isr, // 110 Software interrupt
+#endif
+};
+
+//void usb_isr(void)
+//{
+//}
+
+__attribute__ ((section(".flashconfig"), used))
+const uint8_t flashconfigbytes[16] = {
+ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+ 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF
+};
+
+
+// Automatically initialize the RTC. When the build defines the compile
+// time, and the user has added a crystal, the RTC will automatically
+// begin at the time of the first upload.
+#ifndef TIME_T
+#define TIME_T 1349049600 // default 1 Oct 2012 (never used, Arduino sets this)
+#endif
+extern void rtc_set(unsigned long t);
+
+
+static void startup_default_early_hook(void) { WDOG_STCTRLH = WDOG_STCTRLH_ALLOWUPDATE; }
+static void startup_default_late_hook(void) {}
+void startup_early_hook(void) __attribute__ ((weak, alias("startup_default_early_hook")));
+void startup_late_hook(void) __attribute__ ((weak, alias("startup_default_late_hook")));
+
+__attribute__ ((section(".startup")))
+void ResetHandler(void)
+{
+ uint32_t *src = &_etext;
+ uint32_t *dest = &_sdata;
+ unsigned int i;
+#if F_CPU <= 2000000
+ volatile int n;
+#endif
+
+ WDOG_UNLOCK = WDOG_UNLOCK_SEQ1;
+ WDOG_UNLOCK = WDOG_UNLOCK_SEQ2;
+ __asm__ volatile ("nop");
+ __asm__ volatile ("nop");
+ // programs using the watchdog timer or needing to initialize hardware as
+ // early as possible can implement startup_early_hook()
+ startup_early_hook();
+
+ // enable clocks to always-used peripherals
+#if defined(__MK20DX128__)
+ SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
+ SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
+#elif defined(__MK20DX256__)
+ SIM_SCGC3 = SIM_SCGC3_ADC1 | SIM_SCGC3_FTM2;
+ SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
+ SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
+#endif
+ // if the RTC oscillator isn't enabled, get it started early
+ if (!(RTC_CR & RTC_CR_OSCE)) {
+ RTC_SR = 0;
+ RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE;
+ }
+
+ // release I/O pins hold, if we woke up from VLLS mode
+ if (PMC_REGSC & PMC_REGSC_ACKISO) PMC_REGSC |= PMC_REGSC_ACKISO;
+
+ // since this is a write once register, make it visible to all F_CPU's
+ // so we can into other sleep modes in the future at any speed
+ SMC_PMPROT = SMC_PMPROT_AVLP | SMC_PMPROT_ALLS | SMC_PMPROT_AVLLS;
+
+ // TODO: do this while the PLL is waiting to lock....
+ while (dest < &_edata) *dest++ = *src++;
+ dest = &_sbss;
+ while (dest < &_ebss) *dest++ = 0;
+
+ // default all interrupts to medium priority level
+ for (i=0; i < NVIC_NUM_INTERRUPTS + 16; i++) _VectorsRam[i] = _VectorsFlash[i];
+ for (i=0; i < NVIC_NUM_INTERRUPTS; i++) NVIC_SET_PRIORITY(i, 128);
+ SCB_VTOR = (uint32_t)_VectorsRam; // use vector table in RAM
+
+ // hardware always starts in FEI mode
+ // C1[CLKS] bits are written to 00
+ // C1[IREFS] bit is written to 1
+ // C6[PLLS] bit is written to 0
+// MCG_SC[FCDIV] defaults to divide by two for internal ref clock
+// I tried changing MSG_SC to divide by 1, it didn't work for me
+#if F_CPU <= 2000000
+ // use the internal oscillator
+ MCG_C1 = MCG_C1_CLKS(1) | MCG_C1_IREFS;
+ // wait for MCGOUT to use oscillator
+ while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(1)) ;
+ for (n=0; n<10; n++) ; // TODO: why do we get 2 mA extra without this delay?
+ MCG_C2 = MCG_C2_IRCS;
+ while (!(MCG_S & MCG_S_IRCST)) ;
+ // now in FBI mode:
+ // C1[CLKS] bits are written to 01
+ // C1[IREFS] bit is written to 1
+ // C6[PLLS] is written to 0
+ // C2[LP] is written to 0
+ MCG_C2 = MCG_C2_IRCS | MCG_C2_LP;
+ // now in BLPI mode:
+ // C1[CLKS] bits are written to 01
+ // C1[IREFS] bit is written to 1
+ // C6[PLLS] bit is written to 0
+ // C2[LP] bit is written to 1
+#else
+ // enable capacitors for crystal
+ OSC0_CR = OSC_SC8P | OSC_SC2P;
+ // enable osc, 8-32 MHz range, low power mode
+ MCG_C2 = MCG_C2_RANGE0(2) | MCG_C2_EREFS;
+ // switch to crystal as clock source, FLL input = 16 MHz / 512
+ MCG_C1 = MCG_C1_CLKS(2) | MCG_C1_FRDIV(4);
+ // wait for crystal oscillator to begin
+ while ((MCG_S & MCG_S_OSCINIT0) == 0) ;
+ // wait for FLL to use oscillator
+ while ((MCG_S & MCG_S_IREFST) != 0) ;
+ // wait for MCGOUT to use oscillator
+ while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(2)) ;
+ // now in FBE mode
+ // C1[CLKS] bits are written to 10
+ // C1[IREFS] bit is written to 0
+ // C1[FRDIV] must be written to divide xtal to 31.25-39 kHz
+ // C6[PLLS] bit is written to 0
+ // C2[LP] is written to 0
+ #if F_CPU <= 16000000
+ // if the crystal is fast enough, use it directly (no FLL or PLL)
+ MCG_C2 = MCG_C2_RANGE0(2) | MCG_C2_EREFS | MCG_C2_LP;
+ // BLPE mode:
+ // C1[CLKS] bits are written to 10
+ // C1[IREFS] bit is written to 0
+ // C2[LP] bit is written to 1
+ #else
+ // if we need faster than the crystal, turn on the PLL
+ #if F_CPU == 72000000
+ MCG_C5 = MCG_C5_PRDIV0(5); // config PLL input for 16 MHz Crystal / 6 = 2.667 Hz
+ #else
+ MCG_C5 = MCG_C5_PRDIV0(3); // config PLL input for 16 MHz Crystal / 4 = 4 MHz
+ #endif
+ #if F_CPU == 168000000
+ MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(18); // config PLL for 168 MHz output
+ #elif F_CPU == 144000000
+ MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(12); // config PLL for 144 MHz output
+ #elif F_CPU == 120000000
+ MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(6); // config PLL for 120 MHz output
+ #elif F_CPU == 72000000
+ MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(3); // config PLL for 72 MHz output
+ #else
+ MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(0); // config PLL for 96 MHz output
+ #endif
+ // wait for PLL to start using xtal as its input
+ while (!(MCG_S & MCG_S_PLLST)) ;
+ // wait for PLL to lock
+ while (!(MCG_S & MCG_S_LOCK0)) ;
+ // now we're in PBE mode
+ #endif
+#endif
+
+ // now program the clock dividers
+#if F_CPU == 168000000
+ // config divisors: 168 MHz core, 56 MHz bus, 33.6 MHz flash, USB = 168 * 2 / 7
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(4);
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(6) | SIM_CLKDIV2_USBFRAC;
+#elif F_CPU == 144000000
+ // config divisors: 144 MHz core, 48 MHz bus, 28.8 MHz flash, USB = 144 / 3
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(4);
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(2);
+#elif F_CPU == 120000000
+ // config divisors: 120 MHz core, 60 MHz bus, 24 MHz flash, USB = 128 * 2 / 5
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(4);
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(4) | SIM_CLKDIV2_USBFRAC;
+#elif F_CPU == 96000000
+ // config divisors: 96 MHz core, 48 MHz bus, 24 MHz flash, USB = 96 / 2
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(3);
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1);
+#elif F_CPU == 72000000
+ // config divisors: 72 MHz core, 36 MHz bus, 24 MHz flash, USB = 72 * 2 / 3
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(2);
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(2) | SIM_CLKDIV2_USBFRAC;
+#elif F_CPU == 48000000
+ // config divisors: 48 MHz core, 48 MHz bus, 24 MHz flash, USB = 96 / 2
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(1) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(3);
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1);
+#elif F_CPU == 24000000
+ // config divisors: 24 MHz core, 24 MHz bus, 24 MHz flash, USB = 96 / 2
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(3) | SIM_CLKDIV1_OUTDIV2(3) | SIM_CLKDIV1_OUTDIV4(3);
+ SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1);
+#elif F_CPU == 16000000
+ // config divisors: 16 MHz core, 16 MHz bus, 16 MHz flash
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(0) | SIM_CLKDIV1_OUTDIV4(0);
+#elif F_CPU == 8000000
+ // config divisors: 8 MHz core, 8 MHz bus, 8 MHz flash
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(1) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(1);
+#elif F_CPU == 4000000
+ // config divisors: 4 MHz core, 4 MHz bus, 2 MHz flash
+ // since we are running from external clock 16MHz
+ // fix outdiv too -> cpu 16/4, bus 16/4, flash 16/4
+ // here we can go into vlpr?
+ // config divisors: 4 MHz core, 4 MHz bus, 4 MHz flash
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(3) | SIM_CLKDIV1_OUTDIV2(3) | SIM_CLKDIV1_OUTDIV4(3);
+#elif F_CPU == 2000000
+ // since we are running from the fast internal reference clock 4MHz
+ // but is divided down by 2 so we actually have a 2MHz, MCG_SC[FCDIV] default is 2
+ // fix outdiv -> cpu 2/1, bus 2/1, flash 2/2
+ // config divisors: 2 MHz core, 2 MHz bus, 1 MHz flash
+ SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(0) | SIM_CLKDIV1_OUTDIV4(1);
+#else
+#error "Error, F_CPU must be 168, 144, 120, 96, 72, 48, 24, 16, 8, 4, or 2 MHz"
+#endif
+
+#if F_CPU > 16000000
+ // switch to PLL as clock source, FLL input = 16 MHz / 512
+ MCG_C1 = MCG_C1_CLKS(0) | MCG_C1_FRDIV(4);
+ // wait for PLL clock to be used
+ while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(3)) ;
+ // now we're in PEE mode
+ // USB uses PLL clock, trace is CPU clock, CLKOUT=OSCERCLK0
+ SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL(6);
+#else
+ SIM_SOPT2 = SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL(3);
+#endif
+
+#if F_CPU <= 2000000
+ // since we are not going into "stop mode" i removed it
+ SMC_PMCTRL = SMC_PMCTRL_RUNM(2); // VLPR mode :-)
+#endif
+
+ // initialize the SysTick counter
+ SYST_RVR = (F_CPU / 1000) - 1;
+ SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE;
+
+ //init_pins();
+ __enable_irq();
+
+ _init_Teensyduino_internal_();
+ if (RTC_SR & RTC_SR_TIF) {
+ // TODO: this should probably set the time more agressively, if
+ // we could reliably detect the first reboot after programming.
+ rtc_set(TIME_T);
+ }
+
+ __libc_init_array();
+
+ startup_late_hook();
+ main();
+ while (1) ;
+}
+
+char *__brkval = (char *)&_ebss;
+
+void * _sbrk(int incr)
+{
+ char *prev = __brkval;
+ __brkval += incr;
+ return prev;
+}
+
+__attribute__((weak))
+int _read(int file, char *ptr, int len)
+{
+ return 0;
+}
+
+__attribute__((weak))
+int _close(int fd)
+{
+ return -1;
+}
+
+#include <sys/stat.h>
+
+__attribute__((weak))
+int _fstat(int fd, struct stat *st)
+{
+ st->st_mode = S_IFCHR;
+ return 0;
+}
+
+__attribute__((weak))
+int _isatty(int fd)
+{
+ return 1;
+}
+
+__attribute__((weak))
+int _lseek(int fd, long long offset, int whence)
+{
+ return -1;
+}
+
+__attribute__((weak))
+void _exit(int status)
+{
+ while (1);
+}
+
+__attribute__((weak))
+void __cxa_pure_virtual()
+{
+ while (1);
+}
+
+__attribute__((weak))
+int __cxa_guard_acquire (char *g)
+{
+ return !(*g);
+}
+
+__attribute__((weak))
+void __cxa_guard_release(char *g)
+{
+ *g = 1;
+}
+
+int nvic_execution_priority(void)
+{
+ int priority=256;
+ uint32_t primask, faultmask, basepri, ipsr;
+
+ // full algorithm in ARM DDI0403D, page B1-639
+ // this isn't quite complete, but hopefully good enough
+ __asm__ volatile("mrs %0, faultmask\n" : "=r" (faultmask)::);
+ if (faultmask) return -1;
+ __asm__ volatile("mrs %0, primask\n" : "=r" (primask)::);
+ if (primask) return 0;
+ __asm__ volatile("mrs %0, ipsr\n" : "=r" (ipsr)::);
+ if (ipsr) {
+ if (ipsr < 16) priority = 0; // could be non-zero
+ else priority = NVIC_GET_PRIORITY(ipsr - 16);
+ }
+ __asm__ volatile("mrs %0, basepri\n" : "=r" (basepri)::);
+ if (basepri > 0 && basepri < priority) priority = basepri;
+ return priority;
+}
+
--- /dev/null
+#ifndef _mk20dx128_h_
+#define _mk20dx128_h_
+#include "kinetis.h" // mk20dx128.h renamed to kinetis.h
+#endif
--- /dev/null
+/* 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.
+ */
+
+MEMORY
+{
+ FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 128K
+ RAM (rwx) : ORIGIN = 0x1FFFE000, LENGTH = 16K
+}
+
+
+SECTIONS
+{
+ .text : {
+ . = 0;
+ KEEP(*(.vectors))
+ *(.startup*)
+ /* TODO: does linker detect startup overflow onto flashconfig? */
+ . = 0x400;
+ KEEP(*(.flashconfig*))
+ *(.text*)
+ *(.rodata*)
+ . = ALIGN(4);
+ KEEP(*(.init))
+ . = ALIGN(4);
+ __preinit_array_start = .;
+ KEEP (*(.preinit_array))
+ __preinit_array_end = .;
+ __init_array_start = .;
+ KEEP (*(SORT(.init_array.*)))
+ KEEP (*(.init_array))
+ __init_array_end = .;
+ } > FLASH = 0xFF
+
+ .ARM.exidx : {
+ __exidx_start = .;
+ *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+ __exidx_end = .;
+ } > FLASH
+ _etext = .;
+
+ .usbdescriptortable (NOLOAD) : {
+ /* . = ORIGIN(RAM); */
+ . = ALIGN(512);
+ *(.usbdescriptortable*)
+ } > RAM
+
+ .dmabuffers (NOLOAD) : {
+ . = ALIGN(4);
+ *(.dmabuffers*)
+ } > RAM
+
+ .usbbuffers (NOLOAD) : {
+ . = ALIGN(4);
+ *(.usbbuffers*)
+ } > RAM
+
+ .data : AT (_etext) {
+ . = ALIGN(4);
+ _sdata = .;
+ *(.fastrun*)
+ *(.data*)
+ . = ALIGN(4);
+ _edata = .;
+ } > RAM
+
+ .noinit (NOLOAD) : {
+ *(.noinit*)
+ } > RAM
+
+ .bss : {
+ . = ALIGN(4);
+ _sbss = .;
+ *(.bss*)
+ *(COMMON)
+ . = ALIGN(4);
+ _ebss = .;
+ __bss_end = .;
+ } > RAM
+
+ _estack = ORIGIN(RAM) + LENGTH(RAM);
+}
+
+
--- /dev/null
+/* 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.
+ */
+
+MEMORY
+{
+ FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 256K
+ RAM (rwx) : ORIGIN = 0x1FFF8000, LENGTH = 64K
+}
+
+
+/* INCLUDE common.ld */
+
+
+/* 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.
+ */
+
+
+
+SECTIONS
+{
+ .text : {
+ . = 0;
+ KEEP(*(.vectors))
+ *(.startup*)
+ /* TODO: does linker detect startup overflow onto flashconfig? */
+ . = 0x400;
+ KEEP(*(.flashconfig*))
+ *(.text*)
+ *(.rodata*)
+ . = ALIGN(4);
+ KEEP(*(.init))
+ . = ALIGN(4);
+ __preinit_array_start = .;
+ KEEP (*(.preinit_array))
+ __preinit_array_end = .;
+ __init_array_start = .;
+ KEEP (*(SORT(.init_array.*)))
+ KEEP (*(.init_array))
+ __init_array_end = .;
+ } > FLASH = 0xFF
+
+ .ARM.exidx : {
+ __exidx_start = .;
+ *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+ __exidx_end = .;
+ } > FLASH
+ _etext = .;
+
+ .usbdescriptortable (NOLOAD) : {
+ /* . = ORIGIN(RAM); */
+ . = ALIGN(512);
+ *(.usbdescriptortable*)
+ } > RAM
+
+ .dmabuffers (NOLOAD) : {
+ . = ALIGN(4);
+ *(.dmabuffers*)
+ } > RAM
+
+ .usbbuffers (NOLOAD) : {
+ . = ALIGN(4);
+ *(.usbbuffers*)
+ } > RAM
+
+ .data : AT (_etext) {
+ . = ALIGN(4);
+ _sdata = .;
+ *(.fastrun*)
+ *(.data*)
+ . = ALIGN(4);
+ _edata = .;
+ } > RAM
+
+ .noinit (NOLOAD) : {
+ *(.noinit*)
+ } > RAM
+
+ .bss : {
+ . = ALIGN(4);
+ _sbss = .;
+ *(.bss*)
+ *(COMMON)
+ . = ALIGN(4);
+ _ebss = .;
+ __bss_end = .;
+ } > RAM
+
+ _estack = ORIGIN(RAM) + LENGTH(RAM);
+}
+
+
+
+
--- /dev/null
+/* 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 "avr_functions.h"
+#include <string.h>
+#include <stdio.h>
+
+size_t strlen(const char *s)
+{
+ size_t n=0;
+
+ while (*s++) n++;
+ return n;
+}
+
+
+char * ultoa(unsigned long val, char *buf, int radix)
+{
+ unsigned digit;
+ int i=0, j;
+ char t;
+
+ while (1) {
+ digit = val % radix;
+ buf[i] = ((digit < 10) ? '0' + digit : 'A' + digit - 10);
+ val /= radix;
+ if (val == 0) break;
+ i++;
+ }
+ buf[i + 1] = 0;
+ for (j=0; j < i; j++, i--) {
+ t = buf[j];
+ buf[j] = buf[i];
+ buf[i] = t;
+ }
+ return buf;
+}
+
+char * ltoa(long val, char *buf, int radix)
+{
+ if (val >= 0) {
+ return ultoa(val, buf, radix);
+ } else {
+ buf[0] = '-';
+ ultoa(-val, buf + 1, radix);
+ return buf;
+ }
+}
+
+// TODO: actually write an efficient dtostrf()....
+char * dtostrf(float val, int width, unsigned int precision, char *buf)
+{
+ char format[20];
+ sprintf(format, "%%%d.%df", width, precision);
+ sprintf(buf, format, val);
+ return buf;
+}
+
--- /dev/null
+/* 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.
+ */
+
+#ifndef pins_macros_for_arduino_compatibility_h
+#define pins_macros_for_arduino_compatibility_h
+
+#include <stdint.h>
+
+const static uint8_t A0 = 14;
+const static uint8_t A1 = 15;
+const static uint8_t A2 = 16;
+const static uint8_t A3 = 17;
+const static uint8_t A4 = 18;
+const static uint8_t A5 = 19;
+const static uint8_t A6 = 20;
+const static uint8_t A7 = 21;
+const static uint8_t A8 = 22;
+const static uint8_t A9 = 23;
+const static uint8_t A10 = 34;
+const static uint8_t A11 = 35;
+const static uint8_t A12 = 36;
+const static uint8_t A13 = 37;
+const static uint8_t A14 = 40;
+
+const static uint8_t A15 = 26;
+const static uint8_t A16 = 27;
+const static uint8_t A17 = 28;
+const static uint8_t A18 = 29;
+const static uint8_t A19 = 30;
+const static uint8_t A20 = 31;
+
+const static uint8_t SS = 10;
+const static uint8_t MOSI = 11;
+const static uint8_t MISO = 12;
+const static uint8_t SCK = 13;
+const static uint8_t LED_BUILTIN = 13;
+const static uint8_t SDA = 18;
+const static uint8_t SCL = 19;
+
+
+#define NUM_DIGITAL_PINS 34
+#define NUM_ANALOG_INPUTS 14
+
+#define analogInputToDigitalPin(p) (((p) < 10) ? (p) + 14 : -1)
+#define digitalPinHasPWM(p) (((p) >= 3 && (p) <= 6) || (p) == 9 || (p) == 10 || ((p) >= 20 && (p) <= 23))
+
+#define NOT_AN_INTERRUPT -1
+#define digitalPinToInterrupt(p) ((p) < NUM_DIGITAL_PINS ? (p) : -1)
+
+
+struct digital_pin_bitband_and_config_table_struct {
+ volatile uint32_t *reg;
+ volatile uint32_t *config;
+};
+extern 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))
+
+
+#define digitalPinToPortReg(pin) (portOutputRegister(pin))
+#define digitalPinToBit(pin) (1)
+
+
+#define NOT_ON_TIMER 0
+static inline uint8_t digitalPinToTimer(uint8_t) __attribute__((always_inline, unused));
+static inline uint8_t digitalPinToTimer(uint8_t pin)
+{
+ if (pin >= 3 && pin <= 6) return pin - 2;
+ if (pin >= 9 && pin <= 10) return pin - 4;
+ if (pin >= 20 && pin <= 23) return pin - 13;
+ return NOT_ON_TIMER;
+}
+
+// These serial port names are intended to allow libraries and architecture-neutral
+// sketches to automatically default to the correct port name for a particular type
+// of use. For example, a GPS module would normally connect to SERIAL_PORT_HARDWARE_OPEN,
+// the first hardware serial port whose RX/TX pins are not dedicated to another use.
+//
+// SERIAL_PORT_MONITOR Port which normally prints to the Arduino Serial Monitor
+//
+// SERIAL_PORT_USBVIRTUAL Port which is USB virtual serial
+//
+// SERIAL_PORT_LINUXBRIDGE Port which connects to a Linux system via Bridge library
+//
+// SERIAL_PORT_HARDWARE Hardware serial port, physical RX & TX pins.
+//
+// SERIAL_PORT_HARDWARE_OPEN Hardware serial ports which are open for use. Their RX & TX
+// pins are NOT connected to anything by default.
+//
+#define SERIAL_PORT_MONITOR Serial
+#define SERIAL_PORT_USBVIRTUAL Serial
+#define SERIAL_PORT_HARDWARE Serial1
+#define SERIAL_PORT_HARDWARE1 Serial2
+#define SERIAL_PORT_HARDWARE2 Serial3
+#define SERIAL_PORT_HARDWARE_OPEN Serial1
+#define SERIAL_PORT_HARDWARE_OPEN1 Serial2
+#define SERIAL_PORT_HARDWARE_OPEN2 Serial3
+
+
+#endif
--- /dev/null
+/* 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
+
+static uint32_t micros_mask(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);
+}
+
+uint32_t micros(void)
+{
+ uint32_t count, current, istatus;
+
+ if (nvic_execution_priority() <= (SCB_SHPR3 >> 24))
+ return micros_mask();
+
+ do {
+ current = SYST_CVR;
+ count = systick_millis_count;
+ istatus = SCB_ICSR; // bit 26 indicates if systick exception pending
+ }
+ while (istatus & SCB_ICSR_PENDSTSET);
+
+ 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);;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
--- /dev/null
+/* 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.
+ */
+
+#if F_CPU >= 20000000
+
+#include "usb_desc.h"
+#ifdef NUM_ENDPOINTS
+#include "usb_names.h"
+#include "kinetis.h"
+#include "avr_functions.h"
+
+// USB Descriptors are binary data which the USB host reads to
+// automatically detect a USB device's capabilities. The format
+// and meaning of every field is documented in numerous USB
+// standards. When working with USB descriptors, despite the
+// complexity of the standards and poor writing quality in many
+// of those documents, remember descriptors are nothing more
+// than constant binary data that tells the USB host what the
+// device can do. Computers will load drivers based on this data.
+// Those drivers then communicate on the endpoints specified by
+// the descriptors.
+
+// To configure a new combination of interfaces or make minor
+// changes to existing configuration (eg, change the name or ID
+// numbers), usually you would edit "usb_desc.h". This file
+// is meant to be configured by the header, so generally it is
+// only edited to add completely new USB interfaces or features.
+
+
+
+// **************************************************************
+// USB Device
+// **************************************************************
+
+#define LSB(n) ((n) & 255)
+#define MSB(n) (((n) >> 8) & 255)
+
+// USB Device Descriptor. The USB host reads this first, to learn
+// what type of device is connected.
+static uint8_t device_descriptor[] = {
+ 18, // bLength
+ 1, // bDescriptorType
+ 0x00, 0x02, // bcdUSB
+#ifdef DEVICE_CLASS
+ DEVICE_CLASS, // bDeviceClass
+#else
+ 0,
+#endif
+#ifdef DEVICE_SUBCLASS
+ DEVICE_SUBCLASS, // bDeviceSubClass
+#else
+ 0,
+#endif
+#ifdef DEVICE_PROTOCOL
+ DEVICE_PROTOCOL, // bDeviceProtocol
+#else
+ 0,
+#endif
+ EP0_SIZE, // bMaxPacketSize0
+ LSB(VENDOR_ID), MSB(VENDOR_ID), // idVendor
+ LSB(PRODUCT_ID), MSB(PRODUCT_ID), // idProduct
+ 0x00, 0x01, // bcdDevice
+ 1, // iManufacturer
+ 2, // iProduct
+ 3, // iSerialNumber
+ 1 // bNumConfigurations
+};
+
+// These descriptors must NOT be "const", because the USB DMA
+// has trouble accessing flash memory with enough bandwidth
+// while the processor is executing from flash.
+
+
+
+// **************************************************************
+// HID Report Descriptors
+// **************************************************************
+
+// Each HID interface needs a special report descriptor that tells
+// the meaning and format of the data.
+
+#ifdef KEYBOARD_INTERFACE
+// Keyboard Protocol 1, HID 1.11 spec, Appendix B, page 59-60
+static uint8_t keyboard_report_desc[] = {
+ 0x05, 0x01, // Usage Page (Generic Desktop),
+ 0x09, 0x06, // Usage (Keyboard),
+ 0xA1, 0x01, // Collection (Application),
+ 0x75, 0x01, // Report Size (1),
+ 0x95, 0x08, // Report Count (8),
+ 0x05, 0x07, // Usage Page (Key Codes),
+ 0x19, 0xE0, // Usage Minimum (224),
+ 0x29, 0xE7, // Usage Maximum (231),
+ 0x15, 0x00, // Logical Minimum (0),
+ 0x25, 0x01, // Logical Maximum (1),
+ 0x81, 0x02, // Input (Data, Variable, Absolute), ;Modifier byte
+ 0x95, 0x08, // Report Count (8),
+ 0x75, 0x01, // Report Size (1),
+ 0x15, 0x00, // Logical Minimum (0),
+ 0x25, 0x01, // Logical Maximum (1),
+ 0x05, 0x0C, // Usage Page (Consumer),
+ 0x09, 0xE9, // Usage (Volume Increment),
+ 0x09, 0xEA, // Usage (Volume Decrement),
+ 0x09, 0xE2, // Usage (Mute),
+ 0x09, 0xCD, // Usage (Play/Pause),
+ 0x09, 0xB5, // Usage (Scan Next Track),
+ 0x09, 0xB6, // Usage (Scan Previous Track),
+ 0x09, 0xB7, // Usage (Stop),
+ 0x09, 0xB8, // Usage (Eject),
+ 0x81, 0x02, // Input (Data, Variable, Absolute), ;Media keys
+ 0x95, 0x05, // Report Count (5),
+ 0x75, 0x01, // Report Size (1),
+ 0x05, 0x08, // Usage Page (LEDs),
+ 0x19, 0x01, // Usage Minimum (1),
+ 0x29, 0x05, // Usage Maximum (5),
+ 0x91, 0x02, // Output (Data, Variable, Absolute), ;LED report
+ 0x95, 0x01, // Report Count (1),
+ 0x75, 0x03, // Report Size (3),
+ 0x91, 0x03, // Output (Constant), ;LED report padding
+ 0x95, 0x06, // Report Count (6),
+ 0x75, 0x08, // Report Size (8),
+ 0x15, 0x00, // Logical Minimum (0),
+ 0x25, 0x7F, // Logical Maximum(104),
+ 0x05, 0x07, // Usage Page (Key Codes),
+ 0x19, 0x00, // Usage Minimum (0),
+ 0x29, 0x7F, // Usage Maximum (104),
+ 0x81, 0x00, // Input (Data, Array), ;Normal keys
+ 0xc0 // End Collection
+};
+#endif
+
+#ifdef MOUSE_INTERFACE
+// Mouse Protocol 1, HID 1.11 spec, Appendix B, page 59-60, with wheel extension
+static uint8_t mouse_report_desc[] = {
+ 0x05, 0x01, // Usage Page (Generic Desktop)
+ 0x09, 0x02, // Usage (Mouse)
+ 0xA1, 0x01, // Collection (Application)
+ 0x85, 0x01, // REPORT_ID (1)
+ 0x05, 0x09, // Usage Page (Button)
+ 0x19, 0x01, // Usage Minimum (Button #1)
+ 0x29, 0x08, // Usage Maximum (Button #8)
+ 0x15, 0x00, // Logical Minimum (0)
+ 0x25, 0x01, // Logical Maximum (1)
+ 0x95, 0x08, // Report Count (8)
+ 0x75, 0x01, // Report Size (1)
+ 0x81, 0x02, // Input (Data, Variable, Absolute)
+ 0x05, 0x01, // Usage Page (Generic Desktop)
+ 0x09, 0x30, // Usage (X)
+ 0x09, 0x31, // Usage (Y)
+ 0x09, 0x38, // Usage (Wheel)
+ 0x15, 0x81, // Logical Minimum (-127)
+ 0x25, 0x7F, // Logical Maximum (127)
+ 0x75, 0x08, // Report Size (8),
+ 0x95, 0x03, // Report Count (3),
+ 0x81, 0x06, // Input (Data, Variable, Relative)
+ 0xC0, // End Collection
+ 0x05, 0x01, // Usage Page (Generic Desktop)
+ 0x09, 0x02, // Usage (Mouse)
+ 0xA1, 0x01, // Collection (Application)
+ 0x85, 0x02, // REPORT_ID (2)
+ 0x05, 0x01, // Usage Page (Generic Desktop)
+ 0x09, 0x30, // Usage (X)
+ 0x09, 0x31, // Usage (Y)
+ 0x15, 0x00, // Logical Minimum (0)
+ 0x26, 0xFF, 0x7F, // Logical Maximum (32767)
+ 0x75, 0x10, // Report Size (16),
+ 0x95, 0x02, // Report Count (2),
+ 0x81, 0x02, // Input (Data, Variable, Absolute)
+ 0xC0 // End Collection
+};
+#endif
+
+#ifdef JOYSTICK_INTERFACE
+static uint8_t joystick_report_desc[] = {
+ 0x05, 0x01, // Usage Page (Generic Desktop)
+ 0x09, 0x04, // Usage (Joystick)
+ 0xA1, 0x01, // Collection (Application)
+ 0x15, 0x00, // Logical Minimum (0)
+ 0x25, 0x01, // Logical Maximum (1)
+ 0x75, 0x01, // Report Size (1)
+ 0x95, 0x20, // Report Count (32)
+ 0x05, 0x09, // Usage Page (Button)
+ 0x19, 0x01, // Usage Minimum (Button #1)
+ 0x29, 0x20, // Usage Maximum (Button #32)
+ 0x81, 0x02, // Input (variable,absolute)
+ 0x15, 0x00, // Logical Minimum (0)
+ 0x25, 0x07, // Logical Maximum (7)
+ 0x35, 0x00, // Physical Minimum (0)
+ 0x46, 0x3B, 0x01, // Physical Maximum (315)
+ 0x75, 0x04, // Report Size (4)
+ 0x95, 0x01, // Report Count (1)
+ 0x65, 0x14, // Unit (20)
+ 0x05, 0x01, // Usage Page (Generic Desktop)
+ 0x09, 0x39, // Usage (Hat switch)
+ 0x81, 0x42, // Input (variable,absolute,null_state)
+ 0x05, 0x01, // Usage Page (Generic Desktop)
+ 0x09, 0x01, // Usage (Pointer)
+ 0xA1, 0x00, // Collection ()
+ 0x15, 0x00, // Logical Minimum (0)
+ 0x26, 0xFF, 0x03, // Logical Maximum (1023)
+ 0x75, 0x0A, // Report Size (10)
+ 0x95, 0x04, // Report Count (4)
+ 0x09, 0x30, // Usage (X)
+ 0x09, 0x31, // Usage (Y)
+ 0x09, 0x32, // Usage (Z)
+ 0x09, 0x35, // Usage (Rz)
+ 0x81, 0x02, // Input (variable,absolute)
+ 0xC0, // End Collection
+ 0x15, 0x00, // Logical Minimum (0)
+ 0x26, 0xFF, 0x03, // Logical Maximum (1023)
+ 0x75, 0x0A, // Report Size (10)
+ 0x95, 0x02, // Report Count (2)
+ 0x09, 0x36, // Usage (Slider)
+ 0x09, 0x36, // Usage (Slider)
+ 0x81, 0x02, // Input (variable,absolute)
+ 0xC0 // End Collection
+};
+#endif
+
+#ifdef SEREMU_INTERFACE
+static uint8_t seremu_report_desc[] = {
+ 0x06, 0xC9, 0xFF, // Usage Page 0xFFC9 (vendor defined)
+ 0x09, 0x04, // Usage 0x04
+ 0xA1, 0x5C, // Collection 0x5C
+ 0x75, 0x08, // report size = 8 bits (global)
+ 0x15, 0x00, // logical minimum = 0 (global)
+ 0x26, 0xFF, 0x00, // logical maximum = 255 (global)
+ 0x95, SEREMU_TX_SIZE, // report count (global)
+ 0x09, 0x75, // usage (local)
+ 0x81, 0x02, // Input
+ 0x95, SEREMU_RX_SIZE, // report count (global)
+ 0x09, 0x76, // usage (local)
+ 0x91, 0x02, // Output
+ 0x95, 0x04, // report count (global)
+ 0x09, 0x76, // usage (local)
+ 0xB1, 0x02, // Feature
+ 0xC0 // end collection
+};
+#endif
+
+#ifdef RAWHID_INTERFACE
+static uint8_t rawhid_report_desc[] = {
+ 0x06, LSB(RAWHID_USAGE_PAGE), MSB(RAWHID_USAGE_PAGE),
+ 0x0A, LSB(RAWHID_USAGE), MSB(RAWHID_USAGE),
+ 0xA1, 0x01, // Collection 0x01
+ 0x75, 0x08, // report size = 8 bits
+ 0x15, 0x00, // logical minimum = 0
+ 0x26, 0xFF, 0x00, // logical maximum = 255
+ 0x95, RAWHID_TX_SIZE, // report count
+ 0x09, 0x01, // usage
+ 0x81, 0x02, // Input (array)
+ 0x95, RAWHID_RX_SIZE, // report count
+ 0x09, 0x02, // usage
+ 0x91, 0x02, // Output (array)
+ 0xC0 // end collection
+};
+#endif
+
+#ifdef FLIGHTSIM_INTERFACE
+static uint8_t flightsim_report_desc[] = {
+ 0x06, 0x1C, 0xFF, // Usage page = 0xFF1C
+ 0x0A, 0x39, 0xA7, // Usage = 0xA739
+ 0xA1, 0x01, // Collection 0x01
+ 0x75, 0x08, // report size = 8 bits
+ 0x15, 0x00, // logical minimum = 0
+ 0x26, 0xFF, 0x00, // logical maximum = 255
+ 0x95, FLIGHTSIM_TX_SIZE, // report count
+ 0x09, 0x01, // usage
+ 0x81, 0x02, // Input (array)
+ 0x95, FLIGHTSIM_RX_SIZE, // report count
+ 0x09, 0x02, // usage
+ 0x91, 0x02, // Output (array)
+ 0xC0 // end collection
+};
+#endif
+
+
+
+// **************************************************************
+// USB Configuration
+// **************************************************************
+
+// USB Configuration Descriptor. This huge descriptor tells all
+// of the devices capbilities.
+static uint8_t config_descriptor[CONFIG_DESC_SIZE] = {
+ // configuration descriptor, USB spec 9.6.3, page 264-266, Table 9-10
+ 9, // bLength;
+ 2, // bDescriptorType;
+ LSB(CONFIG_DESC_SIZE), // wTotalLength
+ MSB(CONFIG_DESC_SIZE),
+ NUM_INTERFACE, // bNumInterfaces
+ 1, // bConfigurationValue
+ 0, // iConfiguration
+ 0xC0, // bmAttributes
+ 50, // bMaxPower
+
+#ifdef CDC_IAD_DESCRIPTOR
+ // interface association descriptor, USB ECN, Table 9-Z
+ 8, // bLength
+ 11, // bDescriptorType
+ CDC_STATUS_INTERFACE, // bFirstInterface
+ 2, // bInterfaceCount
+ 0x02, // bFunctionClass
+ 0x02, // bFunctionSubClass
+ 0x01, // bFunctionProtocol
+ 4, // iFunction
+#endif
+
+#ifdef CDC_DATA_INTERFACE
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ CDC_STATUS_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 1, // bNumEndpoints
+ 0x02, // bInterfaceClass
+ 0x02, // bInterfaceSubClass
+ 0x01, // bInterfaceProtocol
+ 0, // iInterface
+ // CDC Header Functional Descriptor, CDC Spec 5.2.3.1, Table 26
+ 5, // bFunctionLength
+ 0x24, // bDescriptorType
+ 0x00, // bDescriptorSubtype
+ 0x10, 0x01, // bcdCDC
+ // Call Management Functional Descriptor, CDC Spec 5.2.3.2, Table 27
+ 5, // bFunctionLength
+ 0x24, // bDescriptorType
+ 0x01, // bDescriptorSubtype
+ 0x01, // bmCapabilities
+ 1, // bDataInterface
+ // Abstract Control Management Functional Descriptor, CDC Spec 5.2.3.3, Table 28
+ 4, // bFunctionLength
+ 0x24, // bDescriptorType
+ 0x02, // bDescriptorSubtype
+ 0x06, // bmCapabilities
+ // Union Functional Descriptor, CDC Spec 5.2.3.8, Table 33
+ 5, // bFunctionLength
+ 0x24, // bDescriptorType
+ 0x06, // bDescriptorSubtype
+ CDC_STATUS_INTERFACE, // bMasterInterface
+ CDC_DATA_INTERFACE, // bSlaveInterface0
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ CDC_ACM_ENDPOINT | 0x80, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ CDC_ACM_SIZE, 0, // wMaxPacketSize
+ 64, // bInterval
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ CDC_DATA_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 2, // bNumEndpoints
+ 0x0A, // bInterfaceClass
+ 0x00, // bInterfaceSubClass
+ 0x00, // bInterfaceProtocol
+ 0, // iInterface
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ CDC_RX_ENDPOINT, // bEndpointAddress
+ 0x02, // bmAttributes (0x02=bulk)
+ CDC_RX_SIZE, 0, // wMaxPacketSize
+ 0, // bInterval
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ CDC_TX_ENDPOINT | 0x80, // bEndpointAddress
+ 0x02, // bmAttributes (0x02=bulk)
+ CDC_TX_SIZE, 0, // wMaxPacketSize
+ 0, // bInterval
+#endif // CDC_DATA_INTERFACE
+
+#ifdef MIDI_INTERFACE
+ // Standard MS Interface Descriptor,
+ 9, // bLength
+ 4, // bDescriptorType
+ MIDI_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 2, // bNumEndpoints
+ 0x01, // bInterfaceClass (0x01 = Audio)
+ 0x03, // bInterfaceSubClass (0x03 = MIDI)
+ 0x00, // bInterfaceProtocol (unused for MIDI)
+ 0, // iInterface
+ // MIDI MS Interface Header, USB MIDI 6.1.2.1, page 21, Table 6-2
+ 7, // bLength
+ 0x24, // bDescriptorType = CS_INTERFACE
+ 0x01, // bDescriptorSubtype = MS_HEADER
+ 0x00, 0x01, // bcdMSC = revision 01.00
+ 0x41, 0x00, // wTotalLength
+ // MIDI IN Jack Descriptor, B.4.3, Table B-7 (embedded), page 40
+ 6, // bLength
+ 0x24, // bDescriptorType = CS_INTERFACE
+ 0x02, // bDescriptorSubtype = MIDI_IN_JACK
+ 0x01, // bJackType = EMBEDDED
+ 1, // bJackID, ID = 1
+ 0, // iJack
+ // MIDI IN Jack Descriptor, B.4.3, Table B-8 (external), page 40
+ 6, // bLength
+ 0x24, // bDescriptorType = CS_INTERFACE
+ 0x02, // bDescriptorSubtype = MIDI_IN_JACK
+ 0x02, // bJackType = EXTERNAL
+ 2, // bJackID, ID = 2
+ 0, // iJack
+ // MIDI OUT Jack Descriptor, B.4.4, Table B-9, page 41
+ 9,
+ 0x24, // bDescriptorType = CS_INTERFACE
+ 0x03, // bDescriptorSubtype = MIDI_OUT_JACK
+ 0x01, // bJackType = EMBEDDED
+ 3, // bJackID, ID = 3
+ 1, // bNrInputPins = 1 pin
+ 2, // BaSourceID(1) = 2
+ 1, // BaSourcePin(1) = first pin
+ 0, // iJack
+ // MIDI OUT Jack Descriptor, B.4.4, Table B-10, page 41
+ 9,
+ 0x24, // bDescriptorType = CS_INTERFACE
+ 0x03, // bDescriptorSubtype = MIDI_OUT_JACK
+ 0x02, // bJackType = EXTERNAL
+ 4, // bJackID, ID = 4
+ 1, // bNrInputPins = 1 pin
+ 1, // BaSourceID(1) = 1
+ 1, // BaSourcePin(1) = first pin
+ 0, // iJack
+ // Standard Bulk OUT Endpoint Descriptor, B.5.1, Table B-11, pae 42
+ 9, // bLength
+ 5, // bDescriptorType = ENDPOINT
+ MIDI_RX_ENDPOINT, // bEndpointAddress
+ 0x02, // bmAttributes (0x02=bulk)
+ MIDI_RX_SIZE, 0, // wMaxPacketSize
+ 0, // bInterval
+ 0, // bRefresh
+ 0, // bSynchAddress
+ // Class-specific MS Bulk OUT Endpoint Descriptor, B.5.2, Table B-12, page 42
+ 5, // bLength
+ 0x25, // bDescriptorSubtype = CS_ENDPOINT
+ 0x01, // bJackType = MS_GENERAL
+ 1, // bNumEmbMIDIJack = 1 jack
+ 1, // BaAssocJackID(1) = jack ID #1
+ // Standard Bulk IN Endpoint Descriptor, B.5.1, Table B-11, pae 42
+ 9, // bLength
+ 5, // bDescriptorType = ENDPOINT
+ MIDI_TX_ENDPOINT | 0x80, // bEndpointAddress
+ 0x02, // bmAttributes (0x02=bulk)
+ MIDI_TX_SIZE, 0, // wMaxPacketSize
+ 0, // bInterval
+ 0, // bRefresh
+ 0, // bSynchAddress
+ // Class-specific MS Bulk IN Endpoint Descriptor, B.5.2, Table B-12, page 42
+ 5, // bLength
+ 0x25, // bDescriptorSubtype = CS_ENDPOINT
+ 0x01, // bJackType = MS_GENERAL
+ 1, // bNumEmbMIDIJack = 1 jack
+ 3, // BaAssocJackID(1) = jack ID #3
+#endif // MIDI_INTERFACE
+
+#ifdef KEYBOARD_INTERFACE
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ KEYBOARD_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 1, // bNumEndpoints
+ 0x03, // bInterfaceClass (0x03 = HID)
+ 0x01, // bInterfaceSubClass (0x01 = Boot)
+ 0x01, // bInterfaceProtocol (0x01 = Keyboard)
+ 0, // iInterface
+ // HID interface descriptor, HID 1.11 spec, section 6.2.1
+ 9, // bLength
+ 0x21, // bDescriptorType
+ 0x11, 0x01, // bcdHID
+ 0, // bCountryCode
+ 1, // bNumDescriptors
+ 0x22, // bDescriptorType
+ LSB(sizeof(keyboard_report_desc)), // wDescriptorLength
+ MSB(sizeof(keyboard_report_desc)),
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ KEYBOARD_ENDPOINT | 0x80, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ KEYBOARD_SIZE, 0, // wMaxPacketSize
+ KEYBOARD_INTERVAL, // bInterval
+#endif // KEYBOARD_INTERFACE
+
+#ifdef MOUSE_INTERFACE
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ MOUSE_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 1, // bNumEndpoints
+ 0x03, // bInterfaceClass (0x03 = HID)
+ 0x00, // bInterfaceSubClass (0x01 = Boot)
+ 0x00, // bInterfaceProtocol (0x02 = Mouse)
+ 0, // iInterface
+ // HID interface descriptor, HID 1.11 spec, section 6.2.1
+ 9, // bLength
+ 0x21, // bDescriptorType
+ 0x11, 0x01, // bcdHID
+ 0, // bCountryCode
+ 1, // bNumDescriptors
+ 0x22, // bDescriptorType
+ LSB(sizeof(mouse_report_desc)), // wDescriptorLength
+ MSB(sizeof(mouse_report_desc)),
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ MOUSE_ENDPOINT | 0x80, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ MOUSE_SIZE, 0, // wMaxPacketSize
+ MOUSE_INTERVAL, // bInterval
+#endif // MOUSE_INTERFACE
+
+#ifdef RAWHID_INTERFACE
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ RAWHID_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 2, // bNumEndpoints
+ 0x03, // bInterfaceClass (0x03 = HID)
+ 0x00, // bInterfaceSubClass
+ 0x00, // bInterfaceProtocol
+ 0, // iInterface
+ // HID interface descriptor, HID 1.11 spec, section 6.2.1
+ 9, // bLength
+ 0x21, // bDescriptorType
+ 0x11, 0x01, // bcdHID
+ 0, // bCountryCode
+ 1, // bNumDescriptors
+ 0x22, // bDescriptorType
+ LSB(sizeof(rawhid_report_desc)), // wDescriptorLength
+ MSB(sizeof(rawhid_report_desc)),
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ RAWHID_TX_ENDPOINT | 0x80, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ RAWHID_TX_SIZE, 0, // wMaxPacketSize
+ RAWHID_TX_INTERVAL, // bInterval
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ RAWHID_RX_ENDPOINT, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ RAWHID_RX_SIZE, 0, // wMaxPacketSize
+ RAWHID_RX_INTERVAL, // bInterval
+#endif // RAWHID_INTERFACE
+
+#ifdef FLIGHTSIM_INTERFACE
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ FLIGHTSIM_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 2, // bNumEndpoints
+ 0x03, // bInterfaceClass (0x03 = HID)
+ 0x00, // bInterfaceSubClass
+ 0x00, // bInterfaceProtocol
+ 0, // iInterface
+ // HID interface descriptor, HID 1.11 spec, section 6.2.1
+ 9, // bLength
+ 0x21, // bDescriptorType
+ 0x11, 0x01, // bcdHID
+ 0, // bCountryCode
+ 1, // bNumDescriptors
+ 0x22, // bDescriptorType
+ LSB(sizeof(flightsim_report_desc)), // wDescriptorLength
+ MSB(sizeof(flightsim_report_desc)),
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ FLIGHTSIM_TX_ENDPOINT | 0x80, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ FLIGHTSIM_TX_SIZE, 0, // wMaxPacketSize
+ FLIGHTSIM_TX_INTERVAL, // bInterval
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ FLIGHTSIM_RX_ENDPOINT, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ FLIGHTSIM_RX_SIZE, 0, // wMaxPacketSize
+ FLIGHTSIM_RX_INTERVAL, // bInterval
+#endif // FLIGHTSIM_INTERFACE
+
+#ifdef SEREMU_INTERFACE
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ SEREMU_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 2, // bNumEndpoints
+ 0x03, // bInterfaceClass (0x03 = HID)
+ 0x00, // bInterfaceSubClass
+ 0x00, // bInterfaceProtocol
+ 0, // iInterface
+ // HID interface descriptor, HID 1.11 spec, section 6.2.1
+ 9, // bLength
+ 0x21, // bDescriptorType
+ 0x11, 0x01, // bcdHID
+ 0, // bCountryCode
+ 1, // bNumDescriptors
+ 0x22, // bDescriptorType
+ LSB(sizeof(seremu_report_desc)), // wDescriptorLength
+ MSB(sizeof(seremu_report_desc)),
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ SEREMU_TX_ENDPOINT | 0x80, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ SEREMU_TX_SIZE, 0, // wMaxPacketSize
+ SEREMU_TX_INTERVAL, // bInterval
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ SEREMU_RX_ENDPOINT, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ SEREMU_RX_SIZE, 0, // wMaxPacketSize
+ SEREMU_RX_INTERVAL, // bInterval
+#endif // SEREMU_INTERFACE
+
+#ifdef JOYSTICK_INTERFACE
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ JOYSTICK_INTERFACE, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 1, // bNumEndpoints
+ 0x03, // bInterfaceClass (0x03 = HID)
+ 0x00, // bInterfaceSubClass
+ 0x00, // bInterfaceProtocol
+ 0, // iInterface
+ // HID interface descriptor, HID 1.11 spec, section 6.2.1
+ 9, // bLength
+ 0x21, // bDescriptorType
+ 0x11, 0x01, // bcdHID
+ 0, // bCountryCode
+ 1, // bNumDescriptors
+ 0x22, // bDescriptorType
+ LSB(sizeof(joystick_report_desc)), // wDescriptorLength
+ MSB(sizeof(joystick_report_desc)),
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ JOYSTICK_ENDPOINT | 0x80, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ JOYSTICK_SIZE, 0, // wMaxPacketSize
+ JOYSTICK_INTERVAL, // bInterval
+#endif // JOYSTICK_INTERFACE
+
+};
+
+
+// **************************************************************
+// String Descriptors
+// **************************************************************
+
+// The descriptors above can provide human readable strings,
+// referenced by index numbers. These descriptors are the
+// actual string data
+
+/* defined in usb_names.h
+struct usb_string_descriptor_struct {
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint16_t wString[];
+};
+*/
+
+extern struct usb_string_descriptor_struct usb_string_manufacturer_name
+ __attribute__ ((weak, alias("usb_string_manufacturer_name_default")));
+extern struct usb_string_descriptor_struct usb_string_product_name
+ __attribute__ ((weak, alias("usb_string_product_name_default")));
+extern struct usb_string_descriptor_struct usb_string_serial_number
+ __attribute__ ((weak, alias("usb_string_serial_number_default")));
+
+struct usb_string_descriptor_struct string0 = {
+ 4,
+ 3,
+ {0x0409}
+};
+
+struct usb_string_descriptor_struct usb_string_manufacturer_name_default = {
+ 2 + MANUFACTURER_NAME_LEN * 2,
+ 3,
+ MANUFACTURER_NAME
+};
+struct usb_string_descriptor_struct usb_string_product_name_default = {
+ 2 + PRODUCT_NAME_LEN * 2,
+ 3,
+ PRODUCT_NAME
+};
+struct usb_string_descriptor_struct usb_string_serial_number_default = {
+ 12,
+ 3,
+ {0,0,0,0,0,0,0,0,0,0}
+};
+
+void usb_init_serialnumber(void)
+{
+ char buf[11];
+ uint32_t i, num;
+
+ __disable_irq();
+ FTFL_FSTAT = FTFL_FSTAT_RDCOLERR | FTFL_FSTAT_ACCERR | FTFL_FSTAT_FPVIOL;
+ FTFL_FCCOB0 = 0x41;
+ FTFL_FCCOB1 = 15;
+ FTFL_FSTAT = FTFL_FSTAT_CCIF;
+ while (!(FTFL_FSTAT & FTFL_FSTAT_CCIF)) ; // wait
+ num = *(uint32_t *)&FTFL_FCCOB7;
+ __enable_irq();
+ // add extra zero to work around OS-X CDC-ACM driver bug
+ if (num < 10000000) num = num * 10;
+ ultoa(num, buf, 10);
+ for (i=0; i<10; i++) {
+ char c = buf[i];
+ if (!c) break;
+ usb_string_serial_number_default.wString[i] = c;
+ }
+ usb_string_serial_number_default.bLength = i * 2 + 2;
+}
+
+
+// **************************************************************
+// Descriptors List
+// **************************************************************
+
+// This table provides access to all the descriptor data above.
+
+const usb_descriptor_list_t usb_descriptor_list[] = {
+ //wValue, wIndex, address, length
+ {0x0100, 0x0000, device_descriptor, sizeof(device_descriptor)},
+ {0x0200, 0x0000, config_descriptor, sizeof(config_descriptor)},
+#ifdef SEREMU_INTERFACE
+ {0x2200, SEREMU_INTERFACE, seremu_report_desc, sizeof(seremu_report_desc)},
+ {0x2100, SEREMU_INTERFACE, config_descriptor+SEREMU_DESC_OFFSET, 9},
+#endif
+#ifdef KEYBOARD_INTERFACE
+ {0x2200, KEYBOARD_INTERFACE, keyboard_report_desc, sizeof(keyboard_report_desc)},
+ {0x2100, KEYBOARD_INTERFACE, config_descriptor+KEYBOARD_DESC_OFFSET, 9},
+#endif
+#ifdef MOUSE_INTERFACE
+ {0x2200, MOUSE_INTERFACE, mouse_report_desc, sizeof(mouse_report_desc)},
+ {0x2100, MOUSE_INTERFACE, config_descriptor+MOUSE_DESC_OFFSET, 9},
+#endif
+#ifdef JOYSTICK_INTERFACE
+ {0x2200, JOYSTICK_INTERFACE, joystick_report_desc, sizeof(joystick_report_desc)},
+ {0x2100, JOYSTICK_INTERFACE, config_descriptor+JOYSTICK_DESC_OFFSET, 9},
+#endif
+#ifdef RAWHID_INTERFACE
+ {0x2200, RAWHID_INTERFACE, rawhid_report_desc, sizeof(rawhid_report_desc)},
+ {0x2100, RAWHID_INTERFACE, config_descriptor+RAWHID_DESC_OFFSET, 9},
+#endif
+#ifdef FLIGHTSIM_INTERFACE
+ {0x2200, FLIGHTSIM_INTERFACE, flightsim_report_desc, sizeof(flightsim_report_desc)},
+ {0x2100, FLIGHTSIM_INTERFACE, config_descriptor+FLIGHTSIM_DESC_OFFSET, 9},
+#endif
+ {0x0300, 0x0000, (const uint8_t *)&string0, 0},
+ {0x0301, 0x0409, (const uint8_t *)&usb_string_manufacturer_name, 0},
+ {0x0302, 0x0409, (const uint8_t *)&usb_string_product_name, 0},
+ {0x0303, 0x0409, (const uint8_t *)&usb_string_serial_number, 0},
+ //{0x0301, 0x0409, (const uint8_t *)&string1, 0},
+ //{0x0302, 0x0409, (const uint8_t *)&string2, 0},
+ //{0x0303, 0x0409, (const uint8_t *)&string3, 0},
+ {0, 0, NULL, 0}
+};
+
+
+// **************************************************************
+// Endpoint Configuration
+// **************************************************************
+
+#if 0
+// 0x00 = not used
+// 0x19 = Recieve only
+// 0x15 = Transmit only
+// 0x1D = Transmit & Recieve
+//
+const uint8_t usb_endpoint_config_table[NUM_ENDPOINTS] =
+{
+ 0x00, 0x15, 0x19, 0x15, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+};
+#endif
+
+
+const uint8_t usb_endpoint_config_table[NUM_ENDPOINTS] =
+{
+#if (defined(ENDPOINT1_CONFIG) && NUM_ENDPOINTS >= 1)
+ ENDPOINT1_CONFIG,
+#elif (NUM_ENDPOINTS >= 1)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT2_CONFIG) && NUM_ENDPOINTS >= 2)
+ ENDPOINT2_CONFIG,
+#elif (NUM_ENDPOINTS >= 2)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT3_CONFIG) && NUM_ENDPOINTS >= 3)
+ ENDPOINT3_CONFIG,
+#elif (NUM_ENDPOINTS >= 3)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT4_CONFIG) && NUM_ENDPOINTS >= 4)
+ ENDPOINT4_CONFIG,
+#elif (NUM_ENDPOINTS >= 4)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT5_CONFIG) && NUM_ENDPOINTS >= 5)
+ ENDPOINT5_CONFIG,
+#elif (NUM_ENDPOINTS >= 5)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT6_CONFIG) && NUM_ENDPOINTS >= 6)
+ ENDPOINT6_CONFIG,
+#elif (NUM_ENDPOINTS >= 6)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT7_CONFIG) && NUM_ENDPOINTS >= 7)
+ ENDPOINT7_CONFIG,
+#elif (NUM_ENDPOINTS >= 7)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT8_CONFIG) && NUM_ENDPOINTS >= 8)
+ ENDPOINT8_CONFIG,
+#elif (NUM_ENDPOINTS >= 8)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT9_CONFIG) && NUM_ENDPOINTS >= 9)
+ ENDPOINT9_CONFIG,
+#elif (NUM_ENDPOINTS >= 9)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT10_CONFIG) && NUM_ENDPOINTS >= 10)
+ ENDPOINT10_CONFIG,
+#elif (NUM_ENDPOINTS >= 10)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT11_CONFIG) && NUM_ENDPOINTS >= 11)
+ ENDPOINT11_CONFIG,
+#elif (NUM_ENDPOINTS >= 11)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT12_CONFIG) && NUM_ENDPOINTS >= 12)
+ ENDPOINT12_CONFIG,
+#elif (NUM_ENDPOINTS >= 12)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT13_CONFIG) && NUM_ENDPOINTS >= 13)
+ ENDPOINT13_CONFIG,
+#elif (NUM_ENDPOINTS >= 13)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT14_CONFIG) && NUM_ENDPOINTS >= 14)
+ ENDPOINT14_CONFIG,
+#elif (NUM_ENDPOINTS >= 14)
+ ENDPOINT_UNUSED,
+#endif
+#if (defined(ENDPOINT15_CONFIG) && NUM_ENDPOINTS >= 15)
+ ENDPOINT15_CONFIG,
+#elif (NUM_ENDPOINTS >= 15)
+ ENDPOINT_UNUSED,
+#endif
+};
+
+
+#endif // NUM_ENDPOINTS
+#endif // F_CPU >= 20 MHz
--- /dev/null
+/* 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.
+ */
+
+#ifndef _usb_desc_h_
+#define _usb_desc_h_
+
+#if F_CPU >= 20000000
+
+// This header is NOT meant to be included when compiling
+// user sketches in Arduino. The low-level functions
+// provided by usb_dev.c are meant to be called only by
+// code which provides higher-level interfaces to the user.
+
+#include <stdint.h>
+#include <stddef.h>
+
+#define ENDPOINT_UNUSED 0x00
+#define ENDPOINT_TRANSIMIT_ONLY 0x15
+#define ENDPOINT_RECEIVE_ONLY 0x19
+#define ENDPOINT_TRANSMIT_AND_RECEIVE 0x1D
+
+/*
+To modify a USB Type to have different interfaces, start in this
+file. Delete the XYZ_INTERFACE lines for any interfaces you
+wish to remove, and copy them from another USB Type for any you
+want to add.
+
+Give each interface a unique number, and edit NUM_INTERFACE to
+reflect the number of interfaces.
+
+Within each interface, make sure it uses a unique set of endpoints.
+Edit NUM_ENDPOINTS to be at least the largest endpoint number used.
+Then edit the ENDPOINT*_CONFIG lines so each endpoint is configured
+the proper way (transmit, receive, or both).
+
+The CONFIG_DESC_SIZE and any XYZ_DESC_OFFSET numbers must be
+edited to the correct sizes. See usb_desc.c for the giant array
+of bytes. Someday these may be done automatically..... (but how?)
+
+If you are using existing interfaces, the code in each file should
+automatically adapt to the changes you specify. If you need to
+create a new type of interface, you'll need to write the code which
+sends and receives packets, and presents an API to the user.
+
+Finally, edit usb_inst.cpp, which creats instances of the C++
+objects for each combination.
+
+Some operating systems, especially Windows, may cache USB device
+info. Changes to the device name may not update on the same
+computer unless the vendor or product ID numbers change, or the
+"bcdDevice" revision code is increased.
+
+If these instructions are missing steps or could be improved, please
+let me know? http://forum.pjrc.com/forums/4-Suggestions-amp-Bug-Reports
+*/
+
+
+
+#if defined(USB_SERIAL)
+ #define VENDOR_ID 0x16C0
+ #define PRODUCT_ID 0x0483
+ #define DEVICE_CLASS 2 // 2 = Communication Class
+ #define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
+ #define MANUFACTURER_NAME_LEN 11
+ #define PRODUCT_NAME {'U','S','B',' ','S','e','r','i','a','l'}
+ #define PRODUCT_NAME_LEN 10
+ #define EP0_SIZE 64
+ #define NUM_ENDPOINTS 4
+ #define NUM_USB_BUFFERS 12
+ #define NUM_INTERFACE 2
+ #define CDC_STATUS_INTERFACE 0
+ #define CDC_DATA_INTERFACE 1
+ #define CDC_ACM_ENDPOINT 2
+ #define CDC_RX_ENDPOINT 3
+ #define CDC_TX_ENDPOINT 4
+ #define CDC_ACM_SIZE 16
+ #define CDC_RX_SIZE 64
+ #define CDC_TX_SIZE 64
+ #define CONFIG_DESC_SIZE (9+9+5+5+4+5+7+9+7+7)
+ #define ENDPOINT2_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT3_CONFIG ENDPOINT_RECEIVE_ONLY
+ #define ENDPOINT4_CONFIG ENDPOINT_TRANSIMIT_ONLY
+
+#elif defined(USB_HID)
+ #define VENDOR_ID 0x16C0
+ #define PRODUCT_ID 0x0482
+ #define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
+ #define MANUFACTURER_NAME_LEN 11
+ #define PRODUCT_NAME {'K','e','y','b','o','a','r','d','/','M','o','u','s','e','/','J','o','y','s','t','i','c','k'}
+ #define PRODUCT_NAME_LEN 23
+ #define EP0_SIZE 64
+ #define NUM_ENDPOINTS 5
+ #define NUM_USB_BUFFERS 24
+ #define NUM_INTERFACE 4
+ #define SEREMU_INTERFACE 2 // Serial emulation
+ #define SEREMU_TX_ENDPOINT 1
+ #define SEREMU_TX_SIZE 64
+ #define SEREMU_TX_INTERVAL 1
+ #define SEREMU_RX_ENDPOINT 2
+ #define SEREMU_RX_SIZE 32
+ #define SEREMU_RX_INTERVAL 2
+ #define KEYBOARD_INTERFACE 0 // Keyboard
+ #define KEYBOARD_ENDPOINT 3
+ #define KEYBOARD_SIZE 8
+ #define KEYBOARD_INTERVAL 1
+ #define MOUSE_INTERFACE 1 // Mouse
+ #define MOUSE_ENDPOINT 5
+ #define MOUSE_SIZE 8
+ #define MOUSE_INTERVAL 1
+ #define JOYSTICK_INTERFACE 3 // Joystick
+ #define JOYSTICK_ENDPOINT 4
+ #define JOYSTICK_SIZE 16
+ #define JOYSTICK_INTERVAL 2
+ #define KEYBOARD_DESC_OFFSET (9 + 9)
+ #define MOUSE_DESC_OFFSET (9 + 9+9+7 + 9)
+ #define SEREMU_DESC_OFFSET (9 + 9+9+7 + 9+9+7 + 9)
+ #define JOYSTICK_DESC_OFFSET (9 + 9+9+7 + 9+9+7 + 9+9+7+7 + 9)
+ #define CONFIG_DESC_SIZE (9 + 9+9+7 + 9+9+7 + 9+9+7+7 + 9+9+7)
+ #define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
+ #define ENDPOINT3_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT4_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT5_CONFIG ENDPOINT_TRANSIMIT_ONLY
+
+#elif defined(USB_SERIAL_HID)
+ #define VENDOR_ID 0x16C0
+ #define PRODUCT_ID 0x0487
+ #define DEVICE_CLASS 0xEF
+ #define DEVICE_SUBCLASS 0x02
+ #define DEVICE_PROTOCOL 0x01
+ #define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
+ #define MANUFACTURER_NAME_LEN 11
+ #define PRODUCT_NAME {'S','e','r','i','a','l','/','K','e','y','b','o','a','r','d','/','M','o','u','s','e','/','J','o','y','s','t','i','c','k'}
+ #define PRODUCT_NAME_LEN 30
+ #define EP0_SIZE 64
+ #define NUM_ENDPOINTS 6
+ #define NUM_USB_BUFFERS 30
+ #define NUM_INTERFACE 5
+ #define CDC_IAD_DESCRIPTOR 1
+ #define CDC_STATUS_INTERFACE 0
+ #define CDC_DATA_INTERFACE 1 // Serial
+ #define CDC_ACM_ENDPOINT 2
+ #define CDC_RX_ENDPOINT 3
+ #define CDC_TX_ENDPOINT 4
+ #define CDC_ACM_SIZE 16
+ #define CDC_RX_SIZE 64
+ #define CDC_TX_SIZE 64
+ #define KEYBOARD_INTERFACE 2 // Keyboard
+ #define KEYBOARD_ENDPOINT 1
+ #define KEYBOARD_SIZE 8
+ #define KEYBOARD_INTERVAL 1
+ #define MOUSE_INTERFACE 3 // Mouse
+ #define MOUSE_ENDPOINT 5
+ #define MOUSE_SIZE 8
+ #define MOUSE_INTERVAL 2
+ #define JOYSTICK_INTERFACE 4 // Joystick
+ #define JOYSTICK_ENDPOINT 6
+ #define JOYSTICK_SIZE 16
+ #define JOYSTICK_INTERVAL 1
+ #define KEYBOARD_DESC_OFFSET (9+8 + 9+5+5+4+5+7+9+7+7 + 9)
+ #define MOUSE_DESC_OFFSET (9+8 + 9+5+5+4+5+7+9+7+7 + 9+9+7 + 9)
+ #define JOYSTICK_DESC_OFFSET (9+8 + 9+5+5+4+5+7+9+7+7 + 9+9+7 + 9+9+7 + 9)
+ #define CONFIG_DESC_SIZE (9+8 + 9+5+5+4+5+7+9+7+7 + 9+9+7 + 9+9+7 + 9+9+7)
+ #define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT2_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT3_CONFIG ENDPOINT_RECEIVE_ONLY
+ #define ENDPOINT4_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT5_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT6_CONFIG ENDPOINT_TRANSIMIT_ONLY
+
+#elif defined(USB_MIDI)
+ #define VENDOR_ID 0x16C0
+ #define PRODUCT_ID 0x0485
+ #define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
+ #define MANUFACTURER_NAME_LEN 11
+ #define PRODUCT_NAME {'T','e','e','n','s','y',' ','M','I','D','I'}
+ #define PRODUCT_NAME_LEN 11
+ #define EP0_SIZE 64
+ #define NUM_ENDPOINTS 4
+ #define NUM_USB_BUFFERS 16
+ #define NUM_INTERFACE 2
+ #define SEREMU_INTERFACE 1 // Serial emulation
+ #define SEREMU_TX_ENDPOINT 1
+ #define SEREMU_TX_SIZE 64
+ #define SEREMU_TX_INTERVAL 1
+ #define SEREMU_RX_ENDPOINT 2
+ #define SEREMU_RX_SIZE 32
+ #define SEREMU_RX_INTERVAL 2
+ #define MIDI_INTERFACE 0 // MIDI
+ #define MIDI_TX_ENDPOINT 3
+ #define MIDI_TX_SIZE 64
+ #define MIDI_RX_ENDPOINT 4
+ #define MIDI_RX_SIZE 64
+ #define SEREMU_DESC_OFFSET (9 + 9+7+6+6+9+9+9+5+9+5 + 9)
+ #define CONFIG_DESC_SIZE (9 + 9+7+6+6+9+9+9+5+9+5 + 9+9+7+7)
+ #define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
+ #define ENDPOINT3_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT4_CONFIG ENDPOINT_RECEIVE_ONLY
+
+#elif defined(USB_RAWHID)
+ #define VENDOR_ID 0x16C0
+ #define PRODUCT_ID 0x0486
+ #define RAWHID_USAGE_PAGE 0xFFAB // recommended: 0xFF00 to 0xFFFF
+ #define RAWHID_USAGE 0x0200 // recommended: 0x0100 to 0xFFFF
+ #define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
+ #define MANUFACTURER_NAME_LEN 11
+ #define PRODUCT_NAME {'T','e','e','n','s','y','d','u','i','n','o',' ','R','a','w','H','I','D'}
+ #define PRODUCT_NAME_LEN 18
+ #define EP0_SIZE 64
+ #define NUM_ENDPOINTS 6
+ #define NUM_USB_BUFFERS 12
+ #define NUM_INTERFACE 2
+ #define RAWHID_INTERFACE 0 // RawHID
+ #define RAWHID_TX_ENDPOINT 3
+ #define RAWHID_TX_SIZE 64
+ #define RAWHID_TX_INTERVAL 1
+ #define RAWHID_RX_ENDPOINT 4
+ #define RAWHID_RX_SIZE 64
+ #define RAWHID_RX_INTERVAL 1
+ #define SEREMU_INTERFACE 1 // Serial emulation
+ #define SEREMU_TX_ENDPOINT 1
+ #define SEREMU_TX_SIZE 64
+ #define SEREMU_TX_INTERVAL 1
+ #define SEREMU_RX_ENDPOINT 2
+ #define SEREMU_RX_SIZE 32
+ #define SEREMU_RX_INTERVAL 2
+ #define RAWHID_DESC_OFFSET (9 + 9)
+ #define SEREMU_DESC_OFFSET (9 + 9+9+7+7 + 9)
+ #define CONFIG_DESC_SIZE (9 + 9+9+7+7 + 9+9+7+7)
+ #define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
+ #define ENDPOINT3_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT4_CONFIG ENDPOINT_RECEIVE_ONLY
+
+#elif defined(USB_FLIGHTSIM)
+ #define VENDOR_ID 0x16C0
+ #define PRODUCT_ID 0x0488
+ #define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
+ #define MANUFACTURER_NAME_LEN 11
+ #define PRODUCT_NAME {'T','e','e','n','s','y',' ','F','l','i','g','h','t',' ','S','i','m',' ','C','o','n','t','r','o','l','s'}
+ #define PRODUCT_NAME_LEN 26
+ #define EP0_SIZE 64
+ #define NUM_ENDPOINTS 4
+ #define NUM_USB_BUFFERS 20
+ #define NUM_INTERFACE 2
+ #define FLIGHTSIM_INTERFACE 0 // Flight Sim Control
+ #define FLIGHTSIM_TX_ENDPOINT 3
+ #define FLIGHTSIM_TX_SIZE 64
+ #define FLIGHTSIM_TX_INTERVAL 1
+ #define FLIGHTSIM_RX_ENDPOINT 4
+ #define FLIGHTSIM_RX_SIZE 64
+ #define FLIGHTSIM_RX_INTERVAL 1
+ #define SEREMU_INTERFACE 1 // Serial emulation
+ #define SEREMU_TX_ENDPOINT 1
+ #define SEREMU_TX_SIZE 64
+ #define SEREMU_TX_INTERVAL 1
+ #define SEREMU_RX_ENDPOINT 2
+ #define SEREMU_RX_SIZE 32
+ #define SEREMU_RX_INTERVAL 2
+ #define FLIGHTSIM_DESC_OFFSET (9 + 9)
+ #define SEREMU_DESC_OFFSET (9 + 9+9+7+7 + 9)
+ #define CONFIG_DESC_SIZE (9 + 9+9+7+7 + 9+9+7+7)
+ #define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
+ #define ENDPOINT3_CONFIG ENDPOINT_TRANSIMIT_ONLY
+ #define ENDPOINT4_CONFIG ENDPOINT_RECEIVE_ONLY
+
+#endif
+
+#ifdef NUM_ENDPOINTS
+// NUM_ENDPOINTS = number of non-zero endpoints (0 to 15)
+extern const uint8_t usb_endpoint_config_table[NUM_ENDPOINTS];
+
+typedef struct {
+ uint16_t wValue;
+ uint16_t wIndex;
+ const uint8_t *addr;
+ uint16_t length;
+} usb_descriptor_list_t;
+
+extern const usb_descriptor_list_t usb_descriptor_list[];
+#endif // NUM_ENDPOINTS
+
+#endif // F_CPU >= 20 MHz
+
+#endif
--- /dev/null
+/* 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 "usb_dev.h"
+#if F_CPU >= 20000000 && defined(NUM_ENDPOINTS)
+
+#include "kinetis.h"
+//#include "HardwareSerial.h"
+#include "usb_mem.h"
+
+// buffer descriptor table
+
+typedef struct {
+ uint32_t desc;
+ void * addr;
+} bdt_t;
+
+__attribute__ ((section(".usbdescriptortable"), used))
+static bdt_t table[(NUM_ENDPOINTS+1)*4];
+
+static usb_packet_t *rx_first[NUM_ENDPOINTS];
+static usb_packet_t *rx_last[NUM_ENDPOINTS];
+static usb_packet_t *tx_first[NUM_ENDPOINTS];
+static usb_packet_t *tx_last[NUM_ENDPOINTS];
+uint16_t usb_rx_byte_count_data[NUM_ENDPOINTS];
+
+static uint8_t tx_state[NUM_ENDPOINTS];
+#define TX_STATE_BOTH_FREE_EVEN_FIRST 0
+#define TX_STATE_BOTH_FREE_ODD_FIRST 1
+#define TX_STATE_EVEN_FREE 2
+#define TX_STATE_ODD_FREE 3
+#define TX_STATE_NONE_FREE_EVEN_FIRST 4
+#define TX_STATE_NONE_FREE_ODD_FIRST 5
+
+#define BDT_OWN 0x80
+#define BDT_DATA1 0x40
+#define BDT_DATA0 0x00
+#define BDT_DTS 0x08
+#define BDT_STALL 0x04
+#define BDT_PID(n) (((n) >> 2) & 15)
+
+#define BDT_DESC(count, data) (BDT_OWN | BDT_DTS \
+ | ((data) ? BDT_DATA1 : BDT_DATA0) \
+ | ((count) << 16))
+
+#define TX 1
+#define RX 0
+#define ODD 1
+#define EVEN 0
+#define DATA0 0
+#define DATA1 1
+#define index(endpoint, tx, odd) (((endpoint) << 2) | ((tx) << 1) | (odd))
+#define stat2bufferdescriptor(stat) (table + ((stat) >> 2))
+
+
+static union {
+ struct {
+ union {
+ struct {
+ uint8_t bmRequestType;
+ uint8_t bRequest;
+ };
+ uint16_t wRequestAndType;
+ };
+ uint16_t wValue;
+ uint16_t wIndex;
+ uint16_t wLength;
+ };
+ struct {
+ uint32_t word1;
+ uint32_t word2;
+ };
+} setup;
+
+
+#define GET_STATUS 0
+#define CLEAR_FEATURE 1
+#define SET_FEATURE 3
+#define SET_ADDRESS 5
+#define GET_DESCRIPTOR 6
+#define SET_DESCRIPTOR 7
+#define GET_CONFIGURATION 8
+#define SET_CONFIGURATION 9
+#define GET_INTERFACE 10
+#define SET_INTERFACE 11
+#define SYNCH_FRAME 12
+
+// SETUP always uses a DATA0 PID for the data field of the SETUP transaction.
+// transactions in the data phase start with DATA1 and toggle (figure 8-12, USB1.1)
+// Status stage uses a DATA1 PID.
+
+static uint8_t ep0_rx0_buf[EP0_SIZE] __attribute__ ((aligned (4)));
+static uint8_t ep0_rx1_buf[EP0_SIZE] __attribute__ ((aligned (4)));
+static const uint8_t *ep0_tx_ptr = NULL;
+static uint16_t ep0_tx_len;
+static uint8_t ep0_tx_bdt_bank = 0;
+static uint8_t ep0_tx_data_toggle = 0;
+uint8_t usb_rx_memory_needed = 0;
+
+volatile uint8_t usb_configuration = 0;
+volatile uint8_t usb_reboot_timer = 0;
+
+
+static void endpoint0_stall(void)
+{
+ USB0_ENDPT0 = USB_ENDPT_EPSTALL | USB_ENDPT_EPRXEN | USB_ENDPT_EPTXEN | USB_ENDPT_EPHSHK;
+}
+
+
+static void endpoint0_transmit(const void *data, uint32_t len)
+{
+#if 0
+ serial_print("tx0:");
+ serial_phex32((uint32_t)data);
+ serial_print(",");
+ serial_phex16(len);
+ serial_print(ep0_tx_bdt_bank ? ", odd" : ", even");
+ serial_print(ep0_tx_data_toggle ? ", d1\n" : ", d0\n");
+#endif
+ table[index(0, TX, ep0_tx_bdt_bank)].addr = (void *)data;
+ table[index(0, TX, ep0_tx_bdt_bank)].desc = BDT_DESC(len, ep0_tx_data_toggle);
+ ep0_tx_data_toggle ^= 1;
+ ep0_tx_bdt_bank ^= 1;
+}
+
+static uint8_t reply_buffer[8];
+
+static void usb_setup(void)
+{
+ const uint8_t *data = NULL;
+ uint32_t datalen = 0;
+ const usb_descriptor_list_t *list;
+ uint32_t size;
+ volatile uint8_t *reg;
+ uint8_t epconf;
+ const uint8_t *cfg;
+ int i;
+
+ switch (setup.wRequestAndType) {
+ case 0x0500: // SET_ADDRESS
+ break;
+ case 0x0900: // SET_CONFIGURATION
+ //serial_print("configure\n");
+ usb_configuration = setup.wValue;
+ reg = &USB0_ENDPT1;
+ cfg = usb_endpoint_config_table;
+ // clear all BDT entries, free any allocated memory...
+ for (i=4; i < (NUM_ENDPOINTS+1)*4; i++) {
+ if (table[i].desc & BDT_OWN) {
+ usb_free((usb_packet_t *)((uint8_t *)(table[i].addr) - 8));
+ }
+ }
+ // free all queued packets
+ for (i=0; i < NUM_ENDPOINTS; i++) {
+ usb_packet_t *p, *n;
+ p = rx_first[i];
+ while (p) {
+ n = p->next;
+ usb_free(p);
+ p = n;
+ }
+ rx_first[i] = NULL;
+ rx_last[i] = NULL;
+ p = tx_first[i];
+ while (p) {
+ n = p->next;
+ usb_free(p);
+ p = n;
+ }
+ tx_first[i] = NULL;
+ tx_last[i] = NULL;
+ usb_rx_byte_count_data[i] = 0;
+ switch (tx_state[i]) {
+ case TX_STATE_EVEN_FREE:
+ case TX_STATE_NONE_FREE_EVEN_FIRST:
+ tx_state[i] = TX_STATE_BOTH_FREE_EVEN_FIRST;
+ break;
+ case TX_STATE_ODD_FREE:
+ case TX_STATE_NONE_FREE_ODD_FIRST:
+ tx_state[i] = TX_STATE_BOTH_FREE_ODD_FIRST;
+ break;
+ default:
+ break;
+ }
+ }
+ usb_rx_memory_needed = 0;
+ for (i=1; i <= NUM_ENDPOINTS; i++) {
+ epconf = *cfg++;
+ *reg = epconf;
+ reg += 4;
+ if (epconf & USB_ENDPT_EPRXEN) {
+ usb_packet_t *p;
+ p = usb_malloc();
+ if (p) {
+ table[index(i, RX, EVEN)].addr = p->buf;
+ table[index(i, RX, EVEN)].desc = BDT_DESC(64, 0);
+ } else {
+ table[index(i, RX, EVEN)].desc = 0;
+ usb_rx_memory_needed++;
+ }
+ p = usb_malloc();
+ if (p) {
+ table[index(i, RX, ODD)].addr = p->buf;
+ table[index(i, RX, ODD)].desc = BDT_DESC(64, 1);
+ } else {
+ table[index(i, RX, ODD)].desc = 0;
+ usb_rx_memory_needed++;
+ }
+ }
+ table[index(i, TX, EVEN)].desc = 0;
+ table[index(i, TX, ODD)].desc = 0;
+ }
+ break;
+ case 0x0880: // GET_CONFIGURATION
+ reply_buffer[0] = usb_configuration;
+ datalen = 1;
+ data = reply_buffer;
+ break;
+ case 0x0080: // GET_STATUS (device)
+ reply_buffer[0] = 0;
+ reply_buffer[1] = 0;
+ datalen = 2;
+ data = reply_buffer;
+ break;
+ case 0x0082: // GET_STATUS (endpoint)
+ if (setup.wIndex > NUM_ENDPOINTS) {
+ // TODO: do we need to handle IN vs OUT here?
+ endpoint0_stall();
+ return;
+ }
+ reply_buffer[0] = 0;
+ reply_buffer[1] = 0;
+ if (*(uint8_t *)(&USB0_ENDPT0 + setup.wIndex * 4) & 0x02) reply_buffer[0] = 1;
+ data = reply_buffer;
+ datalen = 2;
+ break;
+ case 0x0102: // CLEAR_FEATURE (endpoint)
+ i = setup.wIndex & 0x7F;
+ if (i > NUM_ENDPOINTS || setup.wValue != 0) {
+ // TODO: do we need to handle IN vs OUT here?
+ endpoint0_stall();
+ return;
+ }
+ (*(uint8_t *)(&USB0_ENDPT0 + setup.wIndex * 4)) &= ~0x02;
+ // TODO: do we need to clear the data toggle here?
+ break;
+ case 0x0302: // SET_FEATURE (endpoint)
+ i = setup.wIndex & 0x7F;
+ if (i > NUM_ENDPOINTS || setup.wValue != 0) {
+ // TODO: do we need to handle IN vs OUT here?
+ endpoint0_stall();
+ return;
+ }
+ (*(uint8_t *)(&USB0_ENDPT0 + setup.wIndex * 4)) |= 0x02;
+ // TODO: do we need to clear the data toggle here?
+ break;
+ case 0x0680: // GET_DESCRIPTOR
+ case 0x0681:
+ //serial_print("desc:");
+ //serial_phex16(setup.wValue);
+ //serial_print("\n");
+ for (list = usb_descriptor_list; 1; list++) {
+ if (list->addr == NULL) break;
+ //if (setup.wValue == list->wValue &&
+ //(setup.wIndex == list->wIndex) || ((setup.wValue >> 8) == 3)) {
+ if (setup.wValue == list->wValue && setup.wIndex == list->wIndex) {
+ data = list->addr;
+ if ((setup.wValue >> 8) == 3) {
+ // for string descriptors, use the descriptor's
+ // length field, allowing runtime configured
+ // length.
+ datalen = *(list->addr);
+ } else {
+ datalen = list->length;
+ }
+#if 0
+ serial_print("Desc found, ");
+ serial_phex32((uint32_t)data);
+ serial_print(",");
+ serial_phex16(datalen);
+ serial_print(",");
+ serial_phex(data[0]);
+ serial_phex(data[1]);
+ serial_phex(data[2]);
+ serial_phex(data[3]);
+ serial_phex(data[4]);
+ serial_phex(data[5]);
+ serial_print("\n");
+#endif
+ goto send;
+ }
+ }
+ //serial_print("desc: not found\n");
+ endpoint0_stall();
+ return;
+#if defined(CDC_STATUS_INTERFACE)
+ case 0x2221: // CDC_SET_CONTROL_LINE_STATE
+ usb_cdc_line_rtsdtr = setup.wValue;
+ //serial_print("set control line state\n");
+ break;
+ case 0x2321: // CDC_SEND_BREAK
+ break;
+ case 0x2021: // CDC_SET_LINE_CODING
+ //serial_print("set coding, waiting...\n");
+ return;
+#endif
+
+// TODO: this does not work... why?
+#if defined(SEREMU_INTERFACE) || defined(KEYBOARD_INTERFACE)
+ case 0x0921: // HID SET_REPORT
+ //serial_print(":)\n");
+ return;
+ case 0x0A21: // HID SET_IDLE
+ break;
+ // case 0xC940:
+#endif
+ default:
+ endpoint0_stall();
+ return;
+ }
+ send:
+ //serial_print("setup send ");
+ //serial_phex32(data);
+ //serial_print(",");
+ //serial_phex16(datalen);
+ //serial_print("\n");
+
+ if (datalen > setup.wLength) datalen = setup.wLength;
+ size = datalen;
+ if (size > EP0_SIZE) size = EP0_SIZE;
+ endpoint0_transmit(data, size);
+ data += size;
+ datalen -= size;
+ if (datalen == 0 && size < EP0_SIZE) return;
+
+ size = datalen;
+ if (size > EP0_SIZE) size = EP0_SIZE;
+ endpoint0_transmit(data, size);
+ data += size;
+ datalen -= size;
+ if (datalen == 0 && size < EP0_SIZE) return;
+
+ ep0_tx_ptr = data;
+ ep0_tx_len = datalen;
+}
+
+
+
+//A bulk endpoint's toggle sequence is initialized to DATA0 when the endpoint
+//experiences any configuration event (configuration events are explained in
+//Sections 9.1.1.5 and 9.4.5).
+
+//Configuring a device or changing an alternate setting causes all of the status
+//and configuration values associated with endpoints in the affected interfaces
+//to be set to their default values. This includes setting the data toggle of
+//any endpoint using data toggles to the value DATA0.
+
+//For endpoints using data toggle, regardless of whether an endpoint has the
+//Halt feature set, a ClearFeature(ENDPOINT_HALT) request always results in the
+//data toggle being reinitialized to DATA0.
+
+
+
+// #define stat2bufferdescriptor(stat) (table + ((stat) >> 2))
+
+static void usb_control(uint32_t stat)
+{
+ bdt_t *b;
+ uint32_t pid, size;
+ uint8_t *buf;
+ const uint8_t *data;
+
+ b = stat2bufferdescriptor(stat);
+ pid = BDT_PID(b->desc);
+ //count = b->desc >> 16;
+ buf = b->addr;
+ //serial_print("pid:");
+ //serial_phex(pid);
+ //serial_print(", count:");
+ //serial_phex(count);
+ //serial_print("\n");
+
+ switch (pid) {
+ case 0x0D: // Setup received from host
+ //serial_print("PID=Setup\n");
+ //if (count != 8) ; // panic?
+ // grab the 8 byte setup info
+ setup.word1 = *(uint32_t *)(buf);
+ setup.word2 = *(uint32_t *)(buf + 4);
+
+ // give the buffer back
+ b->desc = BDT_DESC(EP0_SIZE, DATA1);
+ //table[index(0, RX, EVEN)].desc = BDT_DESC(EP0_SIZE, 1);
+ //table[index(0, RX, ODD)].desc = BDT_DESC(EP0_SIZE, 1);
+
+ // clear any leftover pending IN transactions
+ ep0_tx_ptr = NULL;
+ if (ep0_tx_data_toggle) {
+ }
+ //if (table[index(0, TX, EVEN)].desc & 0x80) {
+ //serial_print("leftover tx even\n");
+ //}
+ //if (table[index(0, TX, ODD)].desc & 0x80) {
+ //serial_print("leftover tx odd\n");
+ //}
+ table[index(0, TX, EVEN)].desc = 0;
+ table[index(0, TX, ODD)].desc = 0;
+ // first IN after Setup is always DATA1
+ ep0_tx_data_toggle = 1;
+
+#if 0
+ serial_print("bmRequestType:");
+ serial_phex(setup.bmRequestType);
+ serial_print(", bRequest:");
+ serial_phex(setup.bRequest);
+ serial_print(", wValue:");
+ serial_phex16(setup.wValue);
+ serial_print(", wIndex:");
+ serial_phex16(setup.wIndex);
+ serial_print(", len:");
+ serial_phex16(setup.wLength);
+ serial_print("\n");
+#endif
+ // actually "do" the setup request
+ usb_setup();
+ // unfreeze the USB, now that we're ready
+ USB0_CTL = USB_CTL_USBENSOFEN; // clear TXSUSPENDTOKENBUSY bit
+ break;
+ case 0x01: // OUT transaction received from host
+ case 0x02:
+ //serial_print("PID=OUT\n");
+#ifdef CDC_STATUS_INTERFACE
+ if (setup.wRequestAndType == 0x2021 /*CDC_SET_LINE_CODING*/) {
+ int i;
+ uint8_t *dst = (uint8_t *)usb_cdc_line_coding;
+ //serial_print("set line coding ");
+ for (i=0; i<7; i++) {
+ //serial_phex(*buf);
+ *dst++ = *buf++;
+ }
+ //serial_phex32(usb_cdc_line_coding[0]);
+ //serial_print("\n");
+ if (usb_cdc_line_coding[0] == 134) usb_reboot_timer = 15;
+ endpoint0_transmit(NULL, 0);
+ }
+#endif
+#ifdef KEYBOARD_INTERFACE
+ if (setup.word1 == 0x02000921 && setup.word2 == ((1<<16)|KEYBOARD_INTERFACE)) {
+ keyboard_leds = buf[0];
+ endpoint0_transmit(NULL, 0);
+ }
+#endif
+#ifdef SEREMU_INTERFACE
+ if (setup.word1 == 0x03000921 && setup.word2 == ((4<<16)|SEREMU_INTERFACE)
+ && buf[0] == 0xA9 && buf[1] == 0x45 && buf[2] == 0xC2 && buf[3] == 0x6B) {
+ usb_reboot_timer = 5;
+ endpoint0_transmit(NULL, 0);
+ }
+#endif
+ // give the buffer back
+ b->desc = BDT_DESC(EP0_SIZE, DATA1);
+ break;
+
+ case 0x09: // IN transaction completed to host
+ //serial_print("PID=IN:");
+ //serial_phex(stat);
+ //serial_print("\n");
+
+ // send remaining data, if any...
+ data = ep0_tx_ptr;
+ if (data) {
+ size = ep0_tx_len;
+ if (size > EP0_SIZE) size = EP0_SIZE;
+ endpoint0_transmit(data, size);
+ data += size;
+ ep0_tx_len -= size;
+ ep0_tx_ptr = (ep0_tx_len > 0 || size == EP0_SIZE) ? data : NULL;
+ }
+
+ if (setup.bRequest == 5 && setup.bmRequestType == 0) {
+ setup.bRequest = 0;
+ //serial_print("set address: ");
+ //serial_phex16(setup.wValue);
+ //serial_print("\n");
+ USB0_ADDR = setup.wValue;
+ }
+
+ break;
+ //default:
+ //serial_print("PID=unknown:");
+ //serial_phex(pid);
+ //serial_print("\n");
+ }
+ USB0_CTL = USB_CTL_USBENSOFEN; // clear TXSUSPENDTOKENBUSY bit
+}
+
+
+
+
+
+
+usb_packet_t *usb_rx(uint32_t endpoint)
+{
+ usb_packet_t *ret;
+ endpoint--;
+ if (endpoint >= NUM_ENDPOINTS) return NULL;
+ __mask_irq();
+ ret = rx_first[endpoint];
+ if (ret) {
+ rx_first[endpoint] = ret->next;
+ usb_rx_byte_count_data[endpoint] -= ret->len;
+ }
+ __unmask_irq();
+ //serial_print("rx, epidx=");
+ //serial_phex(endpoint);
+ //serial_print(", packet=");
+ //serial_phex32(ret);
+ //serial_print("\n");
+ return ret;
+}
+
+static uint32_t usb_queue_byte_count(const usb_packet_t *p)
+{
+ uint32_t count=0;
+
+ __mask_irq();
+ for ( ; p; p = p->next) {
+ count += p->len;
+ }
+ __unmask_irq();
+ return count;
+}
+
+// TODO: make this an inline function...
+/*
+uint32_t usb_rx_byte_count(uint32_t endpoint)
+{
+ endpoint--;
+ if (endpoint >= NUM_ENDPOINTS) return 0;
+ return usb_rx_byte_count_data[endpoint];
+ //return usb_queue_byte_count(rx_first[endpoint]);
+}
+*/
+
+uint32_t usb_tx_byte_count(uint32_t endpoint)
+{
+ endpoint--;
+ if (endpoint >= NUM_ENDPOINTS) return 0;
+ return usb_queue_byte_count(tx_first[endpoint]);
+}
+
+uint32_t usb_tx_packet_count(uint32_t endpoint)
+{
+ const usb_packet_t *p;
+ uint32_t count=0;
+
+ endpoint--;
+ if (endpoint >= NUM_ENDPOINTS) return 0;
+ __mask_irq();
+ for (p = tx_first[endpoint]; p; p = p->next) count++;
+ __unmask_irq();
+ return count;
+}
+
+
+// Called from usb_free, but only when usb_rx_memory_needed > 0, indicating
+// receive endpoints are starving for memory. The intention is to give
+// endpoints needing receive memory priority over the user's code, which is
+// likely calling usb_malloc to obtain memory for transmitting. When the
+// user is creating data very quickly, their consumption could starve reception
+// without this prioritization. The packet buffer (input) is assigned to the
+// first endpoint needing memory.
+//
+void usb_rx_memory(usb_packet_t *packet)
+{
+ unsigned int i;
+ const uint8_t *cfg;
+
+ cfg = usb_endpoint_config_table;
+ //serial_print("rx_mem:");
+ __mask_irq();
+ for (i=1; i <= NUM_ENDPOINTS; i++) {
+ if (*cfg++ & USB_ENDPT_EPRXEN) {
+ if (table[index(i, RX, EVEN)].desc == 0) {
+ table[index(i, RX, EVEN)].addr = packet->buf;
+ table[index(i, RX, EVEN)].desc = BDT_DESC(64, 0);
+ usb_rx_memory_needed--;
+ __unmask_irq();
+ //serial_phex(i);
+ //serial_print(",even\n");
+ return;
+ }
+ if (table[index(i, RX, ODD)].desc == 0) {
+ table[index(i, RX, ODD)].addr = packet->buf;
+ table[index(i, RX, ODD)].desc = BDT_DESC(64, 1);
+ usb_rx_memory_needed--;
+ __unmask_irq();
+ //serial_phex(i);
+ //serial_print(",odd\n");
+ return;
+ }
+ }
+ }
+ __unmask_irq();
+ // we should never reach this point. If we get here, it means
+ // usb_rx_memory_needed was set greater than zero, but no memory
+ // was actually needed.
+ usb_rx_memory_needed = 0;
+ usb_free(packet);
+ return;
+}
+
+//#define index(endpoint, tx, odd) (((endpoint) << 2) | ((tx) << 1) | (odd))
+//#define stat2bufferdescriptor(stat) (table + ((stat) >> 2))
+
+void usb_tx(uint32_t endpoint, usb_packet_t *packet)
+{
+ bdt_t *b = &table[index(endpoint, TX, EVEN)];
+ uint8_t next;
+
+ endpoint--;
+ if (endpoint >= NUM_ENDPOINTS) return;
+ __mask_irq();
+ //serial_print("txstate=");
+ //serial_phex(tx_state[endpoint]);
+ //serial_print("\n");
+ switch (tx_state[endpoint]) {
+ case TX_STATE_BOTH_FREE_EVEN_FIRST:
+ next = TX_STATE_ODD_FREE;
+ break;
+ case TX_STATE_BOTH_FREE_ODD_FIRST:
+ b++;
+ next = TX_STATE_EVEN_FREE;
+ break;
+ case TX_STATE_EVEN_FREE:
+ next = TX_STATE_NONE_FREE_ODD_FIRST;
+ break;
+ case TX_STATE_ODD_FREE:
+ b++;
+ next = TX_STATE_NONE_FREE_EVEN_FIRST;
+ break;
+ default:
+ if (tx_first[endpoint] == NULL) {
+ tx_first[endpoint] = packet;
+ } else {
+ tx_last[endpoint]->next = packet;
+ }
+ tx_last[endpoint] = packet;
+ __unmask_irq();
+ return;
+ }
+ tx_state[endpoint] = next;
+ b->addr = packet->buf;
+ b->desc = BDT_DESC(packet->len, ((uint32_t)b & 8) ? DATA1 : DATA0);
+ __unmask_irq();
+}
+
+
+
+
+
+
+void _reboot_Teensyduino_(void)
+{
+ // TODO: initialize R0 with a code....
+ __asm__ volatile("bkpt");
+}
+
+
+
+void usb_isr(void)
+{
+ uint8_t status, stat, t;
+
+ //serial_print("isr");
+ //status = USB0_ISTAT;
+ //serial_phex(status);
+ //serial_print("\n");
+ restart:
+ status = USB0_ISTAT;
+
+ if ((status & USB_INTEN_SOFTOKEN /* 04 */ )) {
+ if (usb_configuration) {
+ t = usb_reboot_timer;
+ if (t) {
+ usb_reboot_timer = --t;
+ if (!t) _reboot_Teensyduino_();
+ }
+#ifdef CDC_DATA_INTERFACE
+ t = usb_cdc_transmit_flush_timer;
+ if (t) {
+ usb_cdc_transmit_flush_timer = --t;
+ if (t == 0) usb_serial_flush_callback();
+ }
+#endif
+#ifdef SEREMU_INTERFACE
+ t = usb_seremu_transmit_flush_timer;
+ if (t) {
+ usb_seremu_transmit_flush_timer = --t;
+ if (t == 0) usb_seremu_flush_callback();
+ }
+#endif
+#ifdef MIDI_INTERFACE
+ usb_midi_flush_output();
+#endif
+#ifdef FLIGHTSIM_INTERFACE
+ usb_flightsim_flush_callback();
+#endif
+ }
+ USB0_ISTAT = USB_INTEN_SOFTOKEN;
+ }
+
+ if ((status & USB_ISTAT_TOKDNE /* 08 */ )) {
+ uint8_t endpoint;
+ stat = USB0_STAT;
+ //serial_print("token: ep=");
+ //serial_phex(stat >> 4);
+ //serial_print(stat & 0x08 ? ",tx" : ",rx");
+ //serial_print(stat & 0x04 ? ",odd\n" : ",even\n");
+ endpoint = stat >> 4;
+ if (endpoint == 0) {
+ usb_control(stat);
+ } else {
+ bdt_t *b = stat2bufferdescriptor(stat);
+ usb_packet_t *packet = (usb_packet_t *)((uint8_t *)(b->addr) - 8);
+#if 0
+ serial_print("ep:");
+ serial_phex(endpoint);
+ serial_print(", pid:");
+ serial_phex(BDT_PID(b->desc));
+ serial_print(((uint32_t)b & 8) ? ", odd" : ", even");
+ serial_print(", count:");
+ serial_phex(b->desc >> 16);
+ serial_print("\n");
+#endif
+ endpoint--; // endpoint is index to zero-based arrays
+
+ if (stat & 0x08) { // transmit
+ usb_free(packet);
+ packet = tx_first[endpoint];
+ if (packet) {
+ //serial_print("tx packet\n");
+ tx_first[endpoint] = packet->next;
+ b->addr = packet->buf;
+ switch (tx_state[endpoint]) {
+ case TX_STATE_BOTH_FREE_EVEN_FIRST:
+ tx_state[endpoint] = TX_STATE_ODD_FREE;
+ break;
+ case TX_STATE_BOTH_FREE_ODD_FIRST:
+ tx_state[endpoint] = TX_STATE_EVEN_FREE;
+ break;
+ case TX_STATE_EVEN_FREE:
+ tx_state[endpoint] = TX_STATE_NONE_FREE_ODD_FIRST;
+ break;
+ case TX_STATE_ODD_FREE:
+ tx_state[endpoint] = TX_STATE_NONE_FREE_EVEN_FIRST;
+ break;
+ default:
+ break;
+ }
+ b->desc = BDT_DESC(packet->len, ((uint32_t)b & 8) ? DATA1 : DATA0);
+ } else {
+ //serial_print("tx no packet\n");
+ switch (tx_state[endpoint]) {
+ case TX_STATE_BOTH_FREE_EVEN_FIRST:
+ case TX_STATE_BOTH_FREE_ODD_FIRST:
+ break;
+ case TX_STATE_EVEN_FREE:
+ tx_state[endpoint] = TX_STATE_BOTH_FREE_EVEN_FIRST;
+ break;
+ case TX_STATE_ODD_FREE:
+ tx_state[endpoint] = TX_STATE_BOTH_FREE_ODD_FIRST;
+ break;
+ default:
+ tx_state[endpoint] = ((uint32_t)b & 8) ?
+ TX_STATE_ODD_FREE : TX_STATE_EVEN_FREE;
+ break;
+ }
+ }
+ } else { // receive
+ packet->len = b->desc >> 16;
+ if (packet->len > 0) {
+ packet->index = 0;
+ packet->next = NULL;
+ if (rx_first[endpoint] == NULL) {
+ //serial_print("rx 1st, epidx=");
+ //serial_phex(endpoint);
+ //serial_print(", packet=");
+ //serial_phex32((uint32_t)packet);
+ //serial_print("\n");
+ rx_first[endpoint] = packet;
+ } else {
+ //serial_print("rx Nth, epidx=");
+ //serial_phex(endpoint);
+ //serial_print(", packet=");
+ //serial_phex32((uint32_t)packet);
+ //serial_print("\n");
+ rx_last[endpoint]->next = packet;
+ }
+ rx_last[endpoint] = packet;
+ usb_rx_byte_count_data[endpoint] += packet->len;
+ // TODO: implement a per-endpoint maximum # of allocated packets
+ // so a flood of incoming data on 1 endpoint doesn't starve
+ // the others if the user isn't reading it regularly
+ packet = usb_malloc();
+ if (packet) {
+ b->addr = packet->buf;
+ b->desc = BDT_DESC(64, ((uint32_t)b & 8) ? DATA1 : DATA0);
+ } else {
+ //serial_print("starving ");
+ //serial_phex(endpoint + 1);
+ //serial_print(((uint32_t)b & 8) ? ",odd\n" : ",even\n");
+ b->desc = 0;
+ usb_rx_memory_needed++;
+ }
+ } else {
+ b->desc = BDT_DESC(64, ((uint32_t)b & 8) ? DATA1 : DATA0);
+ }
+ }
+
+
+
+
+ }
+ USB0_ISTAT = USB_ISTAT_TOKDNE;
+ goto restart;
+ }
+
+
+
+ if (status & USB_ISTAT_USBRST /* 01 */ ) {
+ //serial_print("reset\n");
+
+ // initialize BDT toggle bits
+ USB0_CTL = USB_CTL_ODDRST;
+ ep0_tx_bdt_bank = 0;
+
+ // set up buffers to receive Setup and OUT packets
+ table[index(0, RX, EVEN)].desc = BDT_DESC(EP0_SIZE, 0);
+ table[index(0, RX, EVEN)].addr = ep0_rx0_buf;
+ table[index(0, RX, ODD)].desc = BDT_DESC(EP0_SIZE, 0);
+ table[index(0, RX, ODD)].addr = ep0_rx1_buf;
+ table[index(0, TX, EVEN)].desc = 0;
+ table[index(0, TX, ODD)].desc = 0;
+
+ // activate endpoint 0
+ USB0_ENDPT0 = USB_ENDPT_EPRXEN | USB_ENDPT_EPTXEN | USB_ENDPT_EPHSHK;
+
+ // clear all ending interrupts
+ USB0_ERRSTAT = 0xFF;
+ USB0_ISTAT = 0xFF;
+
+ // set the address to zero during enumeration
+ USB0_ADDR = 0;
+
+ // enable other interrupts
+ USB0_ERREN = 0xFF;
+ USB0_INTEN = USB_INTEN_TOKDNEEN |
+ USB_INTEN_SOFTOKEN |
+ USB_INTEN_STALLEN |
+ USB_INTEN_ERROREN |
+ USB_INTEN_USBRSTEN |
+ USB_INTEN_SLEEPEN;
+
+ // is this necessary?
+ USB0_CTL = USB_CTL_USBENSOFEN;
+ return;
+ }
+
+
+ if ((status & USB_ISTAT_STALL /* 80 */ )) {
+ //serial_print("stall:\n");
+ USB0_ENDPT0 = USB_ENDPT_EPRXEN | USB_ENDPT_EPTXEN | USB_ENDPT_EPHSHK;
+ USB0_ISTAT = USB_ISTAT_STALL;
+ }
+ if ((status & USB_ISTAT_ERROR /* 02 */ )) {
+ uint8_t err = USB0_ERRSTAT;
+ USB0_ERRSTAT = err;
+ //serial_print("err:");
+ //serial_phex(err);
+ //serial_print("\n");
+ USB0_ISTAT = USB_ISTAT_ERROR;
+ }
+
+ if ((status & USB_ISTAT_SLEEP /* 10 */ )) {
+ //serial_print("sleep\n");
+ USB0_ISTAT = USB_ISTAT_SLEEP;
+ }
+
+}
+
+
+
+void usb_init(void)
+{
+ int i;
+
+ //serial_begin(BAUD2DIV(115200));
+ //serial_print("usb_init\n");
+
+ usb_init_serialnumber();
+
+ for (i=0; i <= NUM_ENDPOINTS*4; i++) {
+ table[i].desc = 0;
+ table[i].addr = 0;
+ }
+
+ // this basically follows the flowchart in the Kinetis
+ // Quick Reference User Guide, Rev. 1, 03/2012, page 141
+
+ // assume 48 MHz clock already running
+ // SIM - enable clock
+ SIM_SCGC4 |= SIM_SCGC4_USBOTG;
+
+ // reset USB module
+ USB0_USBTRC0 = USB_USBTRC_USBRESET;
+ while ((USB0_USBTRC0 & USB_USBTRC_USBRESET) != 0) ; // wait for reset to end
+
+ // set desc table base addr
+ USB0_BDTPAGE1 = ((uint32_t)table) >> 8;
+ USB0_BDTPAGE2 = ((uint32_t)table) >> 16;
+ USB0_BDTPAGE3 = ((uint32_t)table) >> 24;
+
+ // clear all ISR flags
+ USB0_ISTAT = 0xFF;
+ USB0_ERRSTAT = 0xFF;
+ USB0_OTGISTAT = 0xFF;
+
+ USB0_USBTRC0 |= 0x40; // undocumented bit
+
+ // enable USB
+ USB0_CTL = USB_CTL_USBENSOFEN;
+ USB0_USBCTRL = 0;
+
+ // enable reset interrupt
+ USB0_INTEN = USB_INTEN_USBRSTEN;
+
+ // enable interrupt in NVIC...
+ NVIC_SET_PRIORITY(IRQ_USBOTG, 112);
+ NVIC_ENABLE_IRQ(IRQ_USBOTG);
+
+ // enable d+ pullup
+ USB0_CONTROL = USB_CONTROL_DPPULLUPNONOTG;
+}
+
+
+#else // F_CPU < 20 MHz && defined(NUM_ENDPOINTS)
+
+void usb_init(void)
+{
+}
+
+#endif // F_CPU >= 20 MHz && defined(NUM_ENDPOINTS)
--- /dev/null
+/* 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.
+ */
+
+#ifndef _usb_dev_h_
+#define _usb_dev_h_
+
+#include "usb_desc.h"
+#if F_CPU >= 20000000 && defined(NUM_ENDPOINTS)
+
+// This header is NOT meant to be included when compiling
+// user sketches in Arduino. The low-level functions
+// provided by usb_dev.c are meant to be called only by
+// code which provides higher-level interfaces to the user.
+
+#include "usb_mem.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void usb_init(void);
+void usb_init_serialnumber(void);
+void usb_isr(void);
+usb_packet_t *usb_rx(uint32_t endpoint);
+uint32_t usb_tx_byte_count(uint32_t endpoint);
+uint32_t usb_tx_packet_count(uint32_t endpoint);
+void usb_tx(uint32_t endpoint, usb_packet_t *packet);
+void usb_tx_isr(uint32_t endpoint, usb_packet_t *packet);
+
+extern volatile uint8_t usb_configuration;
+
+extern uint16_t usb_rx_byte_count_data[NUM_ENDPOINTS];
+static inline uint32_t usb_rx_byte_count(uint32_t endpoint) __attribute__((always_inline));
+static inline uint32_t usb_rx_byte_count(uint32_t endpoint)
+{
+ endpoint--;
+ if (endpoint >= NUM_ENDPOINTS) return 0;
+ return usb_rx_byte_count_data[endpoint];
+}
+
+#ifdef CDC_DATA_INTERFACE
+extern uint32_t usb_cdc_line_coding[2];
+extern volatile uint8_t usb_cdc_line_rtsdtr;
+extern volatile uint8_t usb_cdc_transmit_flush_timer;
+extern void usb_serial_flush_callback(void);
+#endif
+
+#ifdef SEREMU_INTERFACE
+extern volatile uint8_t usb_seremu_transmit_flush_timer;
+extern void usb_seremu_flush_callback(void);
+#endif
+
+#ifdef KEYBOARD_INTERFACE
+extern uint8_t keyboard_modifier_keys;
+extern uint8_t keyboard_keys[6];
+extern uint8_t keyboard_protocol;
+extern uint8_t keyboard_idle_config;
+extern uint8_t keyboard_idle_count;
+extern volatile uint8_t keyboard_leds;
+#endif
+
+#ifdef MIDI_INTERFACE
+extern void usb_midi_flush_output(void);
+#endif
+
+#ifdef FLIGHTSIM_INTERFACE
+extern void usb_flightsim_flush_callback(void);
+#endif
+
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#else // F_CPU >= 20000000 && defined(NUM_ENDPOINTS)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void usb_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif // F_CPU >= 20000000 && defined(NUM_ENDPOINTS)
+
+#endif
--- /dev/null
+/* 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 "usb_dev.h"
+#if F_CPU >= 20000000 && defined(NUM_ENDPOINTS)
+
+#include "kinetis.h"
+//#include "HardwareSerial.h"
+#include "usb_mem.h"
+
+__attribute__ ((section(".usbbuffers"), used))
+unsigned char usb_buffer_memory[NUM_USB_BUFFERS * sizeof(usb_packet_t)];
+
+static uint32_t usb_buffer_available = 0xFFFFFFFF;
+
+// use bitmask and CLZ instruction to implement fast free list
+// http://www.archivum.info/gnu.gcc.help/2006-08/00148/Re-GCC-Inline-Assembly.html
+// http://gcc.gnu.org/ml/gcc/2012-06/msg00015.html
+// __builtin_clz()
+
+usb_packet_t * usb_malloc(void)
+{
+ unsigned int n, avail, avail_new;
+ uint8_t *p;
+
+ do {
+ avail = usb_buffer_available;
+ n = __builtin_clz(avail); // clz = count leading zeros
+ if (n >= NUM_USB_BUFFERS) return NULL;
+
+ //serial_print("malloc:");
+ //serial_phex(n);
+ //serial_print("\n");
+
+ avail_new = avail & ~(0x80000000 >> n);
+ }
+ while (!__sync_bool_compare_and_swap(&usb_buffer_available, avail, avail_new));
+
+ p = usb_buffer_memory + (n * sizeof(usb_packet_t));
+ //serial_print("malloc:");
+ //serial_phex32((int)p);
+ //serial_print("\n");
+ *(uint32_t *)p = 0;
+ *(uint32_t *)(p + 4) = 0;
+ return (usb_packet_t *)p;
+}
+
+// for the receive endpoints to request memory
+extern uint8_t usb_rx_memory_needed;
+extern void usb_rx_memory(usb_packet_t *packet);
+
+void usb_free(usb_packet_t *p)
+{
+ unsigned int n, mask;
+
+ //serial_print("free:");
+ n = ((uint8_t *)p - usb_buffer_memory) / sizeof(usb_packet_t);
+ if (n >= NUM_USB_BUFFERS) return;
+ //serial_phex(n);
+ //serial_print("\n");
+
+ // if any endpoints are starving for memory to receive
+ // packets, give this memory to them immediately!
+ if (usb_rx_memory_needed && usb_configuration) {
+ //serial_print("give to rx:");
+ //serial_phex32((int)p);
+ //serial_print("\n");
+ usb_rx_memory(p);
+ return;
+ }
+
+ mask = (0x80000000 >> n);
+ __sync_fetch_and_or(&usb_buffer_available, mask);
+
+ //serial_print("free:");
+ //serial_phex32((int)p);
+ //serial_print("\n");
+}
+
+#endif // F_CPU >= 20 MHz && defined(NUM_ENDPOINTS)
--- /dev/null
+/* 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.
+ */
+
+#ifndef _usb_mem_h_
+#define _usb_mem_h_
+
+#include <stdint.h>
+
+typedef struct usb_packet_struct {
+ uint16_t len;
+ uint16_t index;
+ struct usb_packet_struct *next;
+ uint8_t buf[64];
+} usb_packet_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+usb_packet_t * usb_malloc(void);
+void usb_free(usb_packet_t *p);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif
--- /dev/null
+/* 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.
+ */
+
+#ifndef _usb_names_h_
+#define _usb_names_h_
+
+// These definitions are intended to allow users to override the default
+// USB manufacturer, product and serial number strings.
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct usb_string_descriptor_struct {
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint16_t wString[];
+};
+
+extern struct usb_string_descriptor_struct usb_string_manufacturer_name;
+extern struct usb_string_descriptor_struct usb_string_product_name;
+extern struct usb_string_descriptor_struct usb_string_serial_number;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
--- /dev/null
+/* 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 "usb_dev.h"
+#include "usb_rawhid.h"
+#include "core_pins.h" // for yield(), millis()
+#include <string.h> // for memcpy()
+//#include "HardwareSerial.h"
+
+#ifdef RAWHID_INTERFACE // defined by usb_dev.h -> usb_desc.h
+
+int usb_rawhid_recv(void *buffer, uint32_t timeout)
+{
+ usb_packet_t *rx_packet;
+ uint32_t begin = millis();
+
+ while (1) {
+ if (!usb_configuration) return -1;
+ rx_packet = usb_rx(RAWHID_RX_ENDPOINT);
+ if (rx_packet) break;
+ if (millis() - begin > timeout || !timeout) return 0;
+ yield();
+ }
+ memcpy(buffer, rx_packet->buf, RAWHID_RX_SIZE);
+ usb_free(rx_packet);
+ return RAWHID_RX_SIZE;
+}
+
+int usb_rawhid_available(void)
+{
+ uint32_t count;
+
+ if (!usb_configuration) return 0;
+ count = usb_rx_byte_count(RAWHID_RX_ENDPOINT);
+ return count;
+}
+
+// Maximum number of transmit packets to queue so we don't starve other endpoints for memory
+#define TX_PACKET_LIMIT 4
+
+int usb_rawhid_send(const void *buffer, uint32_t timeout)
+{
+ usb_packet_t *tx_packet;
+ uint32_t begin = millis();
+
+ while (1) {
+ if (!usb_configuration) return -1;
+ if (usb_tx_packet_count(RAWHID_TX_ENDPOINT) < TX_PACKET_LIMIT) {
+ tx_packet = usb_malloc();
+ if (tx_packet) break;
+ }
+ if (millis() - begin > timeout) return 0;
+ yield();
+ }
+ memcpy(tx_packet->buf, buffer, RAWHID_TX_SIZE);
+ tx_packet->len = RAWHID_TX_SIZE;
+ usb_tx(RAWHID_TX_ENDPOINT, tx_packet);
+ return RAWHID_TX_SIZE;
+}
+
+#endif // RAWHID_INTERFACE
--- /dev/null
+/* 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.
+ */
+
+#ifndef USBrawhid_h_
+#define USBrawhid_h_
+
+#if defined(USB_RAWHID)
+
+#include <inttypes.h>
+
+// C language implementation
+#ifdef __cplusplus
+extern "C" {
+#endif
+int usb_rawhid_recv(void *buffer, uint32_t timeout);
+int usb_rawhid_available(void);
+int usb_rawhid_send(const void *buffer, uint32_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+
+// C++ interface
+#ifdef __cplusplus
+class usb_rawhid_class
+{
+public:
+ int available(void) {return usb_rawhid_available(); }
+ int recv(void *buffer, uint16_t timeout) { return usb_rawhid_recv(buffer, timeout); }
+ int send(const void *buffer, uint16_t timeout) { return usb_rawhid_send(buffer, timeout); }
+};
+
+extern usb_rawhid_class RawHID;
+
+#endif // __cplusplus
+
+#endif // USB_HID
+#endif // USBrawhid_h_
--- /dev/null
+/* 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.
+ */
+
+#if F_CPU >= 20000000
+
+#include "usb_dev.h"
+#include "usb_seremu.h"
+#include "core_pins.h" // for yield()
+//#include "HardwareSerial.h"
+
+#ifdef SEREMU_INTERFACE // defined by usb_dev.h -> usb_desc.h
+
+volatile uint8_t usb_seremu_transmit_flush_timer=0;
+
+static usb_packet_t *rx_packet=NULL;
+static usb_packet_t *tx_packet=NULL;
+static volatile uint8_t tx_noautoflush=0;
+
+#define TRANSMIT_FLUSH_TIMEOUT 5 /* in milliseconds */
+
+
+// get the next character, or -1 if nothing received
+int usb_seremu_getchar(void)
+{
+ unsigned int i;
+ int c;
+
+ while (1) {
+ if (!usb_configuration) return -1;
+ if (!rx_packet) rx_packet = usb_rx(SEREMU_RX_ENDPOINT);
+ if (!rx_packet) return -1;
+ i = rx_packet->index;
+ c = rx_packet->buf[i++];
+ if (c) {
+ if (i >= rx_packet->len) {
+ usb_free(rx_packet);
+ rx_packet = NULL;
+ } else {
+ rx_packet->index = i;
+ }
+ return c;
+ }
+ usb_free(rx_packet);
+ rx_packet = NULL;
+ }
+}
+
+// peek at the next character, or -1 if nothing received
+int usb_seremu_peekchar(void)
+{
+ int c;
+
+ while (1) {
+ if (!usb_configuration) return -1;
+ if (!rx_packet) rx_packet = usb_rx(SEREMU_RX_ENDPOINT);
+ if (!rx_packet) return -1;
+ c = rx_packet->buf[rx_packet->index];
+ if (c) return c;
+ usb_free(rx_packet);
+ rx_packet = NULL;
+ }
+}
+
+// number of bytes available in the receive buffer
+int usb_seremu_available(void)
+{
+ int i, len, count;
+
+ if (!rx_packet) {
+ if (usb_configuration) rx_packet = usb_rx(SEREMU_RX_ENDPOINT);
+ if (!rx_packet) return 0;
+ }
+ len = rx_packet->len;
+ i = rx_packet->index;
+ count = 0;
+ for (i = rx_packet->index; i < len; i++) {
+ if (rx_packet->buf[i] == 0) break;
+ count++;
+ }
+ if (count == 0) {
+ usb_free(rx_packet);
+ rx_packet = NULL;
+ }
+ return count;
+}
+
+
+// discard any buffered input
+void usb_seremu_flush_input(void)
+{
+ usb_packet_t *rx;
+
+ if (!usb_configuration) return;
+ if (rx_packet) {
+ usb_free(rx_packet);
+ rx_packet = NULL;
+ }
+ while (1) {
+ rx = usb_rx(SEREMU_RX_ENDPOINT);
+ if (!rx) break;
+ usb_free(rx);
+ }
+}
+
+
+
+// Maximum number of transmit packets to queue so we don't starve other endpoints for memory
+#define TX_PACKET_LIMIT 6
+
+// When the PC isn't listening, how long do we wait before discarding data? If this is
+// too short, we risk losing data during the stalls that are common with ordinary desktop
+// software. If it's too long, we stall the user's program when no software is running.
+#define TX_TIMEOUT_MSEC 30
+
+#if F_CPU == 168000000
+ #define TX_TIMEOUT (TX_TIMEOUT_MSEC * 1100)
+#elif F_CPU == 144000000
+ #define TX_TIMEOUT (TX_TIMEOUT_MSEC * 932)
+#elif F_CPU == 120000000
+ #define TX_TIMEOUT (TX_TIMEOUT_MSEC * 764)
+#elif F_CPU == 96000000
+ #define TX_TIMEOUT (TX_TIMEOUT_MSEC * 596)
+#elif F_CPU == 72000000
+ #define TX_TIMEOUT (TX_TIMEOUT_MSEC * 512)
+#elif F_CPU == 48000000
+ #define TX_TIMEOUT (TX_TIMEOUT_MSEC * 428)
+#elif F_CPU == 24000000
+ #define TX_TIMEOUT (TX_TIMEOUT_MSEC * 262)
+#endif
+
+
+// When we've suffered the transmit timeout, don't wait again until the computer
+// begins accepting data. If no software is running to receive, we'll just discard
+// data as rapidly as Serial.print() can generate it, until there's something to
+// actually receive it.
+static uint8_t transmit_previous_timeout=0;
+
+
+// transmit a character. 0 returned on success, -1 on error
+int usb_seremu_putchar(uint8_t c)
+{
+ return usb_seremu_write(&c, 1);
+}
+
+
+int usb_seremu_write(const void *buffer, uint32_t size)
+{
+#if 1
+ uint32_t len;
+ uint32_t wait_count;
+ const uint8_t *src = (const uint8_t *)buffer;
+ uint8_t *dest;
+
+ tx_noautoflush = 1;
+ while (size > 0) {
+ if (!tx_packet) {
+ wait_count = 0;
+ while (1) {
+ if (!usb_configuration) {
+ tx_noautoflush = 0;
+ return -1;
+ }
+ if (usb_tx_packet_count(SEREMU_TX_ENDPOINT) < TX_PACKET_LIMIT) {
+ tx_noautoflush = 1;
+ tx_packet = usb_malloc();
+ if (tx_packet) break;
+ }
+ if (++wait_count > TX_TIMEOUT || transmit_previous_timeout) {
+ transmit_previous_timeout = 1;
+ tx_noautoflush = 0;
+ return -1;
+ }
+ tx_noautoflush = 0;
+ yield();
+ tx_noautoflush = 1;
+ }
+ }
+ transmit_previous_timeout = 0;
+ len = SEREMU_TX_SIZE - tx_packet->index;
+ if (len > size) len = size;
+ dest = tx_packet->buf + tx_packet->index;
+ tx_packet->index += len;
+ size -= len;
+ while (len-- > 0) *dest++ = *src++;
+ if (tx_packet->index < SEREMU_TX_SIZE) {
+ usb_seremu_transmit_flush_timer = TRANSMIT_FLUSH_TIMEOUT;
+ } else {
+ tx_packet->len = SEREMU_TX_SIZE;
+ usb_seremu_transmit_flush_timer = 0;
+ usb_tx(SEREMU_TX_ENDPOINT, tx_packet);
+ tx_packet = NULL;
+ }
+ }
+ tx_noautoflush = 0;
+ return 0;
+#endif
+}
+
+int usb_seremu_write_buffer_free(void)
+{
+ uint32_t len;
+
+ tx_noautoflush = 1;
+ if (!tx_packet) {
+ if (!usb_configuration ||
+ usb_tx_packet_count(SEREMU_TX_ENDPOINT) >= TX_PACKET_LIMIT ||
+ (tx_packet = usb_malloc()) == NULL) {
+ tx_noautoflush = 0;
+ return 0;
+ }
+ }
+ len = SEREMU_TX_SIZE - tx_packet->index;
+ tx_noautoflush = 0;
+ return len;
+}
+
+void usb_seremu_flush_output(void)
+{
+ int i;
+
+ if (!usb_configuration) return;
+ //serial_print("usb_serial_flush_output\n");
+ if (tx_packet && tx_packet->index > 0) {
+ usb_seremu_transmit_flush_timer = 0;
+ for (i = tx_packet->index; i < SEREMU_TX_SIZE; i++) {
+ tx_packet->buf[i] = 0;
+ }
+ tx_packet->len = SEREMU_TX_SIZE;
+ usb_tx(SEREMU_TX_ENDPOINT, tx_packet);
+ tx_packet = NULL;
+ }
+ // while (usb_tx_byte_count(SEREMU_TX_ENDPOINT) > 0) ; // wait
+}
+
+void usb_seremu_flush_callback(void)
+{
+ int i;
+ //serial_print("C");
+ if (tx_noautoflush) return;
+ //serial_print("usb_flush_callback \n");
+ for (i = tx_packet->index; i < SEREMU_TX_SIZE; i++) {
+ tx_packet->buf[i] = 0;
+ }
+ tx_packet->len = SEREMU_TX_SIZE;
+ usb_tx(SEREMU_TX_ENDPOINT, tx_packet);
+ tx_packet = NULL;
+ //serial_print("usb_flush_callback end\n");
+}
+
+#endif // SEREMU_INTERFACE
+
+#endif // F_CPU >= 20 MHz
--- /dev/null
+/* 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.
+ */
+
+#ifndef USBseremu_h_
+#define USBseremu_h_
+
+#if defined(USB_HID) || defined(USB_MIDI) || defined(USB_RAWHID) || defined(USB_FLIGHTSIM)
+
+#include <inttypes.h>
+
+#if F_CPU >= 20000000
+
+// C language implementation
+#ifdef __cplusplus
+extern "C" {
+#endif
+int usb_seremu_getchar(void);
+int usb_seremu_peekchar(void);
+int usb_seremu_available(void);
+void usb_seremu_flush_input(void);
+int usb_seremu_putchar(uint8_t c);
+int usb_seremu_write(const void *buffer, uint32_t size);
+int usb_seremu_write_buffer_free(void);
+void usb_seremu_flush_output(void);
+void usb_seremu_flush_callback(void);
+extern volatile uint8_t usb_seremu_transmit_flush_timer;
+extern volatile uint8_t usb_configuration;
+#ifdef __cplusplus
+}
+#endif
+
+// C++ interface
+#ifdef __cplusplus
+#include "Stream.h"
+class usb_seremu_class : public Stream
+{
+public:
+ void begin(long) { /* TODO: call a function that tries to wait for enumeration */ };
+ void end() { /* TODO: flush output and shut down USB port */ };
+ virtual int available() { return usb_seremu_available(); }
+ virtual int read() { return usb_seremu_getchar(); }
+ virtual int peek() { return usb_seremu_peekchar(); }
+ virtual void flush() { usb_seremu_flush_output(); }
+ virtual size_t write(uint8_t c) { return usb_seremu_putchar(c); }
+ virtual size_t write(const uint8_t *buffer, size_t size) { return usb_seremu_write(buffer, size); }
+ size_t write(unsigned long n) { return write((uint8_t)n); }
+ size_t write(long n) { return write((uint8_t)n); }
+ size_t write(unsigned int n) { return write((uint8_t)n); }
+ size_t write(int n) { return write((uint8_t)n); }
+ int availableForWrite() { return usb_seremu_write_buffer_free(); }
+ using Print::write;
+ void send_now(void) { usb_seremu_flush_output(); };
+ uint32_t baud(void) { return 9600; }
+ uint8_t stopbits(void) { return 1; }
+ uint8_t paritytype(void) { return 0; }
+ uint8_t numbits(void) { return 8; }
+ uint8_t dtr(void) { return 1; }
+ uint8_t rts(void) { return 1; }
+ operator bool() { return usb_configuration; }
+};
+extern usb_seremu_class Serial;
+extern void serialEvent(void);
+#endif // __cplusplus
+
+
+
+#else // F_CPU < 20 MHz
+
+// Allow Arduino programs using Serial to compile, but Serial will do nothing.
+#ifdef __cplusplus
+#include "Stream.h"
+class usb_seremu_class : public Stream
+{
+public:
+ void begin(long) { };
+ void end() { };
+ virtual int available() { return 0; }
+ virtual int read() { return -1; }
+ virtual int peek() { return -1; }
+ virtual void flush() { }
+ virtual size_t write(uint8_t c) { return 1; }
+ virtual size_t write(const uint8_t *buffer, size_t size) { return size; }
+ size_t write(unsigned long n) { return 1; }
+ size_t write(long n) { return 1; }
+ size_t write(unsigned int n) { return 1; }
+ size_t write(int n) { return 1; }
+ int availableForWrite() { return 0; }
+ using Print::write;
+ void send_now(void) { }
+ uint32_t baud(void) { return 0; }
+ uint8_t stopbits(void) { return 1; }
+ uint8_t paritytype(void) { return 0; }
+ uint8_t numbits(void) { return 8; }
+ uint8_t dtr(void) { return 1; }
+ uint8_t rts(void) { return 1; }
+ operator bool() { return true; }
+};
+
+extern usb_seremu_class Serial;
+extern void serialEvent(void);
+#endif // __cplusplus
+
+
+#endif // F_CPU >= 20 MHz
+
+#endif // USB_HID
+
+#endif // USBseremu_h_
notaz.gp2x.de / megadrive.git / commitdiff