Further wirish portability progress

Sort of ugly changes. Compiles but untested.

10 files changed, 147 insertions, 29 deletions

diff --git a/wirish/HardwareTimer.cpp b/wirish/HardwareTimer.cpp
index 3c8e9f4..5675948 100644
--- a/wirish/HardwareTimer.cpp
+++ b/wirish/HardwareTimer.cpp
@@ -32,10 +32,7 @@
 #include "HardwareTimer.h"
 
 HardwareTimer::HardwareTimer(uint8 timerNum) {
-    ASSERT(timerNum == 1 ||
-           timerNum == 2 ||
-           timerNum == 3 ||
-           timerNum == 4);
+    ASSERT(timerNum < NR_TIMERS);
     this->timerNum = timerNum;
     // Need to remember over flow for bounds checking
     this->overflow = 0xFFFF;
@@ -141,9 +138,43 @@ void HardwareTimer::detachCompare3Interrupt(void) {
 void HardwareTimer::detachCompare4Interrupt(void) {
     timer_detach_interrupt(this->timerNum,4);
 }
+#if NR_TIMERS >= 8
+void HardwareTimer::setChannel5Mode(uint8 mode) {
+    timer_set_mode(this->timerNum,5,mode);
+}
+void HardwareTimer::setChannel8Mode(uint8 mode) {
+    timer_set_mode(this->timerNum,8,mode);
+}
+void HardwareTimer::setCompare5(uint16 val) {
+    if(val > this->overflow)
+        val = this->overflow;
+    timer_set_compare_value(this->timerNum,5,val);
+}
+void HardwareTimer::setCompare8(uint16 val) {
+    if(val > this->overflow)
+        val = this->overflow;
+    timer_set_compare_value(this->timerNum,8,val);
+}
+void HardwareTimer::attachCompare5Interrupt(voidFuncPtr handler) {
+    timer_attach_interrupt(this->timerNum,5,handler);
+}
+void HardwareTimer::attachCompare8Interrupt(voidFuncPtr handler) {
+    timer_attach_interrupt(this->timerNum,8,handler);
+}
+void HardwareTimer::detachCompare5Interrupt(void) {
+    timer_detach_interrupt(this->timerNum,5);
+}
+void HardwareTimer::detachCompare8Interrupt(void) {
+    timer_detach_interrupt(this->timerNum,8);
+}
+#endif
 
 HardwareTimer Timer1(1);
 HardwareTimer Timer2(2);
 HardwareTimer Timer3(3);
 HardwareTimer Timer4(4);
+#if NR_TIMERS >= 8
+HardwareTimer Timer5(5);    // High-density devices only
+HardwareTimer Timer8(8);    // High-density devices only
+#endif
 
diff --git a/wirish/HardwareTimer.h b/wirish/HardwareTimer.h
index c79f54f..3f986e4 100644
--- a/wirish/HardwareTimer.h
+++ b/wirish/HardwareTimer.h
@@ -62,12 +62,26 @@ class HardwareTimer {
         void detachCompare2Interrupt(void);
         void detachCompare3Interrupt(void);
         void detachCompare4Interrupt(void);
+        #if NR_TIMERS >= 8
+        void setChannel5Mode(uint8 mode);
+        void setChannel8Mode(uint8 mode);
+        void setCompare5(uint16 val); // truncates to overflow
+        void setCompare8(uint16 val); // truncates to overflow
+        void attachCompare5Interrupt(voidFuncPtr handler);
+        void attachCompare8Interrupt(voidFuncPtr handler);
+        void detachCompare5Interrupt(void);
+        void detachCompare8Interrupt(void);
+        #endif
 };
 
 extern HardwareTimer Timer1;
 extern HardwareTimer Timer2;
 extern HardwareTimer Timer3;
 extern HardwareTimer Timer4;
+#if NR_TIMERS >= 8
+extern HardwareTimer Timer5;
+extern HardwareTimer Timer8;
+#endif
 
 #endif
 
diff --git a/wirish/boards.h b/wirish/boards.h
index 6e24c51..035868a 100644
--- a/wirish/boards.h
+++ b/wirish/boards.h
@@ -39,26 +39,21 @@
 extern "C"{
 #endif
 
-// Set of all possible digital pin names
+// Set of all possible digital pin names; not all boards have all these
 enum {
     D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, D15, D16,
     D17, D18, D19, D20, D21, D22, D23, D24, D25, D26, D27, D28, D29, D30, D31,
-    D32, D33, D34, D35, D36, D37, D38, D39, 
-    // Maple Native only:
-    D40, D41, D42, D43, D44, D45, D46, D47, D48, D49, D50, D51, D52, D53, D54,
-    D55, D56, D57, D58, D59, D60, D61, D62, D63, D64, D65, D66, D67, D68, D69,
-    D70, D71, D72, D73, D74, D75, D76, D77, D78, D79, D80, D81, D82, D83, D84,
-    D85, D86, D87, D88, D89, D90, D91, D92, D93, D94, D95, D96, D97, D98, D99,
-    D100, D101, D102, D103, D104, D105, D106, D107, D108, D109, D110, D111,
-};
-
-// Set of all possible analog pin names
+    D32, D33, D34, D35, D36, D37, D38, D39, D40, D41, D42, D43, D44, D45, D46,
+    D47, D48, D49, D50, D51, D52, D53, D54, D55, D56, D57, D58, D59, D60, D61,
+    D62, D63, D64, D65, D66, D67, D68, D69, D70, D71, D72, D73, D74, D75, D76,
+    D77, D78, D79, D80, D81, D82, D83, D84, D85, D86, D87, D88, D89, D90, D91,
+    D92, D93, D94, D95, D96, D97, D98, D99, D100, D101, D102, D103, D104, D105,
+    D106, D107, D108, D109, D110, D111, };
+
+// Set of all possible analog pin names; not all boards have all these
 enum {
     ADC0, ADC1, ADC2, ADC3, ADC4, ADC5, ADC6, ADC7, ADC8, ADC9, ADC10, ADC11,
-    ADC12, ADC13, ADC14, ADC15, ADC16,
-    // Maple Native only:
-    ADC17, ADC18, ADC19, ADC20,
-};
+    ADC12, ADC13, ADC14, ADC15, ADC16, ADC17, ADC18, ADC19, ADC20, };
 
 #define ADC_INVALID       0xFFFFFFFF
 #define TIMER_INVALID     (TimerCCR)0xFFFFFFFF
@@ -79,6 +74,8 @@ typedef struct ExtiInfo {
 // LeafLabs Maple rev3, rev4
 #ifdef BOARD_maple  
 
+    #define CYCLES_PER_MICROSECOND  72
+
     static PinMapping PIN_MAP[NR_GPIO_PINS] = {
         {GPIOA_BASE,  3,        ADC3, TIMER2_CH4_CCR}, // D0/PA3
         {GPIOA_BASE,  2,        ADC2, TIMER2_CH3_CCR}, // D1/PA2
@@ -143,8 +140,76 @@ typedef struct ExtiInfo {
 #endif
 
 // LeafLabs Maple Native (prototype)
-//#ifdef BOARD_maple-native  
-//#endif
+#ifdef BOARD_maple_native  
+
+    #define CYCLES_PER_MICROSECOND  72
+
+    // TODO:
+    static PinMapping PIN_MAP[NR_GPIO_PINS] = {
+        {GPIOA_BASE,  3,        ADC3, TIMER2_CH4_CCR}, // D0/PA3
+        {GPIOA_BASE,  2,        ADC2, TIMER2_CH3_CCR}, // D1/PA2
+        {GPIOA_BASE,  0,        ADC0, TIMER2_CH1_CCR}, // D2/PA0
+        {GPIOA_BASE,  1,        ADC1, TIMER2_CH2_CCR}, // D3/PA1
+        {GPIOB_BASE,  5, ADC_INVALID,  TIMER_INVALID}, // D4/PB5
+        {GPIOB_BASE,  6, ADC_INVALID, TIMER4_CH1_CCR}, // D5/PB6
+        {GPIOA_BASE,  8, ADC_INVALID, TIMER1_CH1_CCR}, // D6/PA8
+        {GPIOA_BASE,  9, ADC_INVALID, TIMER1_CH2_CCR}, // D7/PA9
+        {GPIOA_BASE, 10, ADC_INVALID, TIMER1_CH3_CCR}, // D8/PA10
+        {GPIOB_BASE,  7, ADC_INVALID, TIMER4_CH2_CCR}, // D9/PB7
+        {GPIOA_BASE,  4,        ADC4,  TIMER_INVALID}, // D10/PA4
+        {GPIOA_BASE,  7,        ADC7, TIMER3_CH2_CCR}, // D11/PA7
+        {GPIOA_BASE,  6,        ADC6, TIMER3_CH1_CCR}, // D12/PA6
+        {GPIOA_BASE,  5,        ADC5,  TIMER_INVALID}, // D13/PA5
+        {GPIOB_BASE,  8, ADC_INVALID, TIMER4_CH3_CCR}, // D14/PB8
+        /* Little header  */
+        {GPIOC_BASE,  0,       ADC10,  TIMER_INVALID}, // D15/PC0
+        {GPIOC_BASE,  1,       ADC11,  TIMER_INVALID}, // D16/PC1
+        {GPIOC_BASE,  2,       ADC12,  TIMER_INVALID}, // D17/PC2
+        {GPIOC_BASE,  3,       ADC13,  TIMER_INVALID}, // D18/PC3
+        {GPIOC_BASE,  4,       ADC14,  TIMER_INVALID}, // D19/PC4
+        {GPIOC_BASE,  5,       ADC15,  TIMER_INVALID}, // D20/PC5
+        /* External header  */
+        {GPIOC_BASE, 13, ADC_INVALID,  TIMER_INVALID}, // D21/PC13
+        {GPIOC_BASE, 14, ADC_INVALID,  TIMER_INVALID}, // D22/PC14
+        {GPIOC_BASE, 15, ADC_INVALID,  TIMER_INVALID}, // D23/PC15
+        {GPIOB_BASE,  9, ADC_INVALID, TIMER4_CH4_CCR}, // D24/PB9
+        {GPIOD_BASE,  2, ADC_INVALID,  TIMER_INVALID}, // D25/PD2
+        {GPIOC_BASE, 10, ADC_INVALID,  TIMER_INVALID}, // D26/PC10
+        {GPIOB_BASE,  0,        ADC8,  TIMER3_CH3_CCR}, // D27/PB0
+        {GPIOB_BASE,  1,        ADC9,  TIMER3_CH4_CCR}, // D28/PB1
+        {GPIOB_BASE, 10, ADC_INVALID,  TIMER_INVALID}, // D29/PB10
+        {GPIOB_BASE, 11, ADC_INVALID,  TIMER_INVALID}, // D30/PB11
+        {GPIOB_BASE, 12, ADC_INVALID,  TIMER_INVALID}, // D31/PB12
+        {GPIOB_BASE, 13, ADC_INVALID,  TIMER_INVALID}, // D32/PB13
+        {GPIOB_BASE, 14, ADC_INVALID,  TIMER_INVALID}, // D33/PB14
+        {GPIOB_BASE, 15, ADC_INVALID,  TIMER_INVALID}, // D34/PB15
+        {GPIOC_BASE,  6, ADC_INVALID,  TIMER_INVALID}, // D35/PC6
+        {GPIOC_BASE,  7, ADC_INVALID,  TIMER_INVALID}, // D36/PC7
+        {GPIOC_BASE,  8, ADC_INVALID,  TIMER_INVALID}, // D37/PC8
+        {GPIOC_BASE,  9, ADC_INVALID,  TIMER_INVALID}  // D38/PC9 (BUT)
+    };
+
+    static ExtiInfo PIN_TO_EXTI_CHANNEL[NR_GPIO_PINS] = {
+        {EXTI3,  EXTI_CONFIG_PORTA},      // D0/PA3
+        {EXTI2,  EXTI_CONFIG_PORTA},      // D1/PA2
+        {EXTI0,  EXTI_CONFIG_PORTA},      // D2/PA0
+        {EXTI1,  EXTI_CONFIG_PORTA},      // D3/PA1
+        {EXTI5,  EXTI_CONFIG_PORTB},      // D4/PB5
+        {EXTI6,  EXTI_CONFIG_PORTB},      // D5/PB6
+        {EXTI8,  EXTI_CONFIG_PORTA},      // D6/PA8
+        {EXTI9,  EXTI_CONFIG_PORTA},      // D7/PA9
+        {EXTI10, EXTI_CONFIG_PORTA},      // D8/PA10
+        {EXTI7,  EXTI_CONFIG_PORTB},      // D9/PB7
+        {EXTI4,  EXTI_CONFIG_PORTA},      // D10/PA4
+        {EXTI7,  EXTI_CONFIG_PORTA},      // D11/PA7
+        {EXTI6,  EXTI_CONFIG_PORTA},      // D12/PA6
+        {EXTI5,  EXTI_CONFIG_PORTA},      // D13/PA5
+    };
+#endif
+
+#ifndef CYCLES_PER_MICROSECOND
+#error Board type has not been selected correctly.
+#endif
 
 #ifdef __cplusplus
 } // extern "C"
diff --git a/wirish/comm/HardwareSerial.cpp b/wirish/comm/HardwareSerial.cpp
index c1babff..6399ad5 100644
--- a/wirish/comm/HardwareSerial.cpp
+++ b/wirish/comm/HardwareSerial.cpp
@@ -37,6 +37,7 @@
 HardwareSerial Serial1(USART1, 4500000UL, GPIOA_BASE, 9, 10, 1, 2);
 HardwareSerial Serial2(USART2, 2250000UL, GPIOA_BASE, 2, 3,  2, 3);
 HardwareSerial Serial3(USART3, 2250000UL, GPIOB_BASE, 10, 11, 0, 0);
+// TODO: High density device ports
 
 HardwareSerial::HardwareSerial(uint8 usart_num,
                                uint32 max_baud,
diff --git a/wirish/comm/HardwareSerial.h b/wirish/comm/HardwareSerial.h
index c2209ce..df8d7bf 100644
--- a/wirish/comm/HardwareSerial.h
+++ b/wirish/comm/HardwareSerial.h
@@ -61,5 +61,6 @@ class HardwareSerial : public Print {
 extern HardwareSerial Serial1;
 extern HardwareSerial Serial2;
 extern HardwareSerial Serial3;
+// TODO: high density device ports
 #endif
 
diff --git a/wirish/time.c b/wirish/time.c
index c0fd03e..ea8ebe1 100644
--- a/wirish/time.c
+++ b/wirish/time.c
@@ -39,6 +39,7 @@ void delay(unsigned long ms)
 }
 
 void delayMicroseconds(uint32 us) {
+    // So (2^32)/12 micros max, or less than 6 minutes
     us *= 12;
 
     /* fudge for function call overhead  */
diff --git a/wirish/time.h b/wirish/time.h
index 45e82dc..33c04b4 100644
--- a/wirish/time.h
+++ b/wirish/time.h
@@ -35,10 +35,10 @@ extern "C"{
 
 #include "nvic.h"
 #include "systick.h"
+#include "boards.h"
 
-#define CYCLES_PER_MICROSECOND  72
 #define US_PER_MS               1000
-#define MAPLE_RELOAD_VAL        72000
+#define MAPLE_RELOAD_VAL        (CYCLES_PER_MICROSECOND * US_PER_MS)
 
 extern volatile uint32 systick_timer_millis;
 
diff --git a/wirish/wirish.c b/wirish/wirish.c
index d439b23..69bd63b 100644
--- a/wirish/wirish.c
+++ b/wirish/wirish.c
@@ -56,9 +56,13 @@ void init(void) {
    systick_init(MAPLE_RELOAD_VAL);
    gpio_init();
    adc_init();
-   short i = 1;
-   for(i = 1; i <= NR_TIMERS; i++) {
-    timer_init(i, 1);
-   }
+   timer_init(1, 1);
+   timer_init(2, 1);
+   timer_init(3, 1);
+   timer_init(4, 1);
+   #if NR_TIMERS >= 8
+   timer_init(5, 1);
+   timer_init(8, 1);
+   #endif
    setupUSB();
 }
diff --git a/wirish/wirish.h b/wirish/wirish.h
index dd99e5c..7ede77c 100644
--- a/wirish/wirish.h
+++ b/wirish/wirish.h
@@ -33,10 +33,10 @@
 
 #include "libmaple.h"
 #include "boards.h"
+#include "time.h"
 #include "timers.h"
 #include "io.h"
 #include "bits.h"
-#include "time.h"
 #include "pwm.h"
 #include "ext_interrupts.h"
 #include "wirish_math.h"
diff --git a/wirish/wirish_analog.c b/wirish/wirish_analog.c
index 2a8d662..1b911bc 100644
--- a/wirish/wirish_analog.c
+++ b/wirish/wirish_analog.c
@@ -33,8 +33,9 @@
 /* Assumes that the ADC has been initialized and
  * that the pin is set to ANALOG_INPUT */
 uint32 analogRead(uint8 pin) {
-    if (pin >= NR_ANALOG_PINS)
+    if(PIN_MAP[pin].adc == ADC_INVALID) {
         return 0;
+    } 
 
     return adc_read(PIN_MAP[pin].adc);
 }