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-rw-r--r--wirish/HardwareTimer.cpp39
-rw-r--r--wirish/HardwareTimer.h14
-rw-r--r--wirish/boards.h99
-rw-r--r--wirish/comm/HardwareSerial.cpp1
-rw-r--r--wirish/comm/HardwareSerial.h1
-rw-r--r--wirish/time.c1
-rw-r--r--wirish/time.h4
-rw-r--r--wirish/wirish.c12
-rw-r--r--wirish/wirish.h2
-rw-r--r--wirish/wirish_analog.c3
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);
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-22 20:44:59 +0000