pio_type platform_pio_op( unsigned port, pio_type pinmask, int op )
{
Pin* pin;
pio_type retval = 1;
pin = pio_port_desc + port;
pin->mask = pinmask;
switch( op )
{
case PLATFORM_IO_PORT_SET_VALUE:
case PLATFORM_IO_PIN_SET:
PIO_Set( pin );
break;
case PLATFORM_IO_PIN_CLEAR:
PIO_Clear( pin );
break;
case PLATFORM_IO_PORT_DIR_INPUT:
pin->mask = 0x7FFFFFFF;
case PLATFORM_IO_PIN_DIR_INPUT:
pin->type = PIO_INPUT;
PIO_Configure( pin, 1 );
break;
case PLATFORM_IO_PORT_DIR_OUTPUT:
pin->mask = 0x7FFFFFFF;
case PLATFORM_IO_PIN_DIR_OUTPUT:
pin->type = PIO_OUTPUT_0;
PIO_Configure( pin, 1 );
break;
case PLATFORM_IO_PORT_GET_VALUE:
pin->mask = 0x7FFFFFFF;
pin->type = PIO_INPUT;
retval = PIO_Get( pin );
break;
case PLATFORM_IO_PIN_GET:
retval = PIO_Get( pin ) & pinmask ? 1 : 0;
break;
case PLATFORM_IO_PIN_PULLUP:
pin->pio->PIO_PPUER = pinmask;
break;
case PLATFORM_IO_PIN_NOPULL:
pin->pio->PIO_PPUDR = pinmask;
break;
default:
retval = 0;
break;
}
return retval;
}
/**
* @brief Interrupt handler for Button 2 - decrements the counter value
*/
static void ISR_Bp2(void)
{
// Check if the button has been pressed
if (!PIO_Get(&pinPB2))
{
//wait until button gets released
while (!PIO_Get(&pinPB2))
;
counter = ((counter-1)%8);
}
}
uint8_t stepper_get_step_mode(void) {
bool usm[2] = {PIO_Get(&pin_usm[0]), PIO_Get(&pin_usm[1])};
if(!usm[0] && !usm[1]) {
return STEP_MODE_FULL;
} else if(usm[0] && !usm[1]) {
return STEP_MODE_HALF;
} else if(!usm[0] && usm[1]) {
return STEP_MODE_QUARTER;
} else {
return STEP_MODE_EIGTH;
}
}
static void prvConfigureVBus( void )
{
const Pin xVBusPin = PIN_USB_VBUS;
const uint32_t ulPriority = 7; /* Highest. */
/* Configure PIO to generate an interrupt on status change. */
PIO_Configure( &xVBusPin, 1 );
PIO_ConfigureIt( &xVBusPin );
/* Ensure interrupt is disabled before setting the mode and installing the
handler. The priority of the tick interrupt should always be set to the
lowest possible. */
AIC->AIC_SSR = ID_PIOE;
AIC->AIC_IDCR = AIC_IDCR_INTD;
AIC->AIC_SMR = AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE | ulPriority;
AIC->AIC_SVR = ( uint32_t ) prvVBusISRHandler;
/* Start with the interrupt clear. */
AIC->AIC_ICCR = AIC_ICCR_INTCLR;
PIO_EnableIt( &xVBusPin );
AIC_EnableIT( ID_PIOE );
/* Check current level on VBus */
if( PIO_Get( &xVBusPin ) != pdFALSE )
{
/* If VBUS present, force the connect */
USBD_Connect();
}
else
{
USBD_Disconnect();
}
}
//------------------------------------------------------------------------------
/// Interrupt service routine for the PIT. Debounces the wake-up pin input.
//------------------------------------------------------------------------------
static void ISR_Pit(void)
{
static unsigned long debounceCounter = DEBOUNCE_TIME;
unsigned long pisr = 0;
// Read the PISR
pisr = PIT_GetStatus() & AT91C_PITC_PITS;
if (pisr != 0) {
// Read the PIVR. It acknowledges the IT
PIT_GetPIVR();
}
// Button released
if (PIO_Get(&pinWakeUp)) {
debounceCounter = DEBOUNCE_TIME;
}
// Button still pressed
else {
debounceCounter--;
}
// End of debounce time
if (debounceCounter == 0) {
debounceCounter = DEBOUNCE_TIME;
PIT_DisableIT();
AT91C_BASE_PITC->PITC_PIMR &= ~AT91C_PITC_PITEN;
COMPOSITEDDriver_RemoteWakeUp();
}
}
//------------------------------------------------------------------------------
/// Interrupt service routine for the system tick. Debounces the wake-up pin input.
//------------------------------------------------------------------------------
void SysTick_Handler(void)
{
// Button released
if (PIO_Get(&pinWakeUp))
{
debounceCounter = DEBOUNCE_TIME;
}
// Button still pressed
else
{
debounceCounter--;
}
// End of debounce time
if (debounceCounter == 0)
{
// Disable debounce timer
SysTick_Configure(1, BOARD_MCK/1000, 0);
debounceCounter = DEBOUNCE_TIME;
HIDDMouseDriver_RemoteWakeUp();
}
}
//updates position value if turning clockwise
void ENCODER_ISR_UP (const Pin *encoder_pin_cw )
{
//only updates on change from high to low
if(!PIO_Get(encoder_pin_cw)){
encoder_position_output++;
}
}
void wifi_data_poll(void) {
while((PIO_Get(&extension_pins[WIFI_DATA_RDY]) ||
(!wifi_ringbuffer_is_empty())) &&
(wifi_buffer_size_recv == 0)) {
wifi_data_next(WIFI_LOW_LEVEL_SPI_IDLE_CHAR, true);
}
}
int Accel_Z_ST(void)
{
char value[2];
while(!PIO_Get(&(accIntPins[0]))){nop();} // wait for data ready pin
ReadAccelData(0x2C|(1<<7), value, 2); // ST chip
return ((signed char)value[1]<<8)|value[0];
}
void usb_isr_vbus(const Pin *pin) {
// Check current level on VBus
if (PIO_Get(&pin_usb_detect)) {
USBD_Connect();
} else {
USBD_Disconnect();
}
}
void TC0_IrqHandler(void) {
// acknowledge interrupt
tc_channel_interrupt_ack(&ENCODER_TC_CHANNEL);
if(led_is_on(LED_STD_RED)) {
led_off(LED_STD_RED);
} else {
led_on(LED_STD_RED);
}
uint8_t encoder_value = PIO_Get(&pin_encoder_a);
encoder_value |= (PIO_Get(&pin_encoder_b) << 1);
int8_t add = encoder_table[encoder_value_last][encoder_value];
encoder_count += add;
encoder_count_external += add;
encoder_value_last = encoder_value;
}
bool wifi_data_next_handle_ringbuffer(char *ndata, bool transceive) {
if(transceive) {
if(wifi_buffer_size_recv != 0) {
if(PIO_Get(&extension_pins[WIFI_DATA_RDY])) {
if(!wifi_ringbuffer_is_full()) {
*ndata = wifi_low_level_write_byte(WIFI_LOW_LEVEL_SPI_IDLE_CHAR);
wifi_ringbuffer_add(*ndata);
}
}
return false;
} else {
if(wifi_ringbuffer_is_empty()) {
if(PIO_Get(&extension_pins[WIFI_DATA_RDY])) {
*ndata = wifi_low_level_write_byte(WIFI_LOW_LEVEL_SPI_IDLE_CHAR);
return true;
} else {
return false;
}
} else {
wifi_ringbuffer_get(ndata);
return true;
}
}
} else {
if(wifi_buffer_size_recv != 0) {
// What should we do if ringbuffer is full here?
if(wifi_ringbuffer_is_full()) {
logwifie("Ringbuffer full, possibly overflow\n\r");
}
wifi_ringbuffer_add(*ndata);
return false;
}
// We can handle new data now, but we first have to use up ringbuffer
if(!wifi_ringbuffer_is_empty()) {
char tmp;
wifi_ringbuffer_get(&tmp);
wifi_ringbuffer_add(*ndata);
*ndata = tmp;
}
return true;
}
return true;
}
//------------------------------------------------------------------------------
/// Interrupt service routine for the remote wake-up pin. Starts the debouncing
/// sequence.
//------------------------------------------------------------------------------
static void WakeUpHandler(const Pin *pin)
{
TRACE_DEBUG("Wake-up handler\n\r");
// Check current level on the remote wake-up pin
if (!PIO_Get(&pinWakeUp)) {
ConfigurePit();
}
}
static void AccelCallback(void)
{
#ifdef STACCEL
char value[6];
while(!PIO_Get(&(accIntPins[0]))){nop();} // wait for data ready pin
ReadAccelData(0x28|(1<<7),value,6); // ST chip
g_AccelX = ((signed char)value[1]<<8)|value[0];
g_AccelY = ((signed char)value[3]<<8)|value[2];
g_AccelZ = ((signed char)value[5]<<8)|value[4];
#else
char value[3];
if(g_idle) return;
while(!PIO_Get(&(accIntPins[0]))){nop();} // wait for data ready pin
ReadAccelData(0x6,value,3);
g_AccelX = (signed char)value[0];
g_AccelY = (signed char)value[1];
g_AccelZ = (signed char)value[2];
#endif
}
//------------------------------------------------------------------------------
/// Configures the VBus pin to trigger an interrupt when the level on that pin
/// changes.
//------------------------------------------------------------------------------
static void VBus_Configure( void ) {
// Configure PIO
PIO_Configure(&pinVbus, 1);
PIO_ConfigureIt(&pinVbus, ISR_Vbus);
PIO_EnableIt(&pinVbus);
// Check current level on VBus
if (PIO_Get(&pinVbus))
// if VBUS present, force the connect
USBD_Connect();
}
/**
* PIO interrupt service routine. Checks if the smartcard has been connected
* or disconnected.
*/
static void ISR_PioSmartCard(const Pin *pPin)
{
/* Check all pending interrupts */
if ((pinSmartCard.pio->PIO_ISR & pinSmartCard.mask) != 0) {
/* Check current level on pin */
if (PIO_Get(&pinSmartCard ) == 0)
printf("-I- Smartcard inserted\n\r");
else
printf("-I- Smartcard removed\n\r");
}
}
static void prvVBusISRHandler( void )
{
const Pin xVBusPin = PIN_USB_VBUS;
/* Check current level on VBus to detect a connect/disconnect. */
if( PIO_Get( &xVBusPin ) != 0 ) {
USBD_Connect();
} else {
USBD_Disconnect();
}
}
//------------------------------------------------------------------------------
/// PIO interrupt service routine. Checks if the smartcard has been connected
/// or disconnected.
//------------------------------------------------------------------------------
static void ISR_PioSmartCard(const Pin *pPin)
{
// Check current level on pin
if (PIO_Get(&pinSmartCard) == 0) {
printf("-H- Insert\n\r");
CCID_Insertion();
} else {
printf("-H- Removal\n\r");
CCID_Removal();
}
}
void dc_check_error_callbacks(void) {
const uint16_t external_voltage = dc_get_external_voltage();
const uint16_t stack_voltage = dc_get_stack_voltage();
// Under Voltage if external voltage is below minimum voltage (regardless
// of stack voltage), or if external voltage is zero and stack voltage is
// below minimum voltage
if((dc_message_tick_counter % 1000 == 0 && dc_enabled) &&
((external_voltage > DC_VOLTAGE_EPSILON &&
external_voltage < dc_minimum_voltage) ||
(external_voltage < DC_VOLTAGE_EPSILON &&
stack_voltage > DC_VOLTAGE_EPSILON &&
stack_voltage < dc_minimum_voltage))) {
UnderVoltageCallback uvs;
com_make_default_header(&uvs, com_info.uid, sizeof(UnderVoltageCallback), FID_UNDER_VOLTAGE);
uvs.voltage = external_voltage < DC_VOLTAGE_EPSILON ? stack_voltage : external_voltage;
send_blocking_with_timeout(&uvs,
sizeof(UnderVoltageCallback),
com_info.current);
led_on(LED_STD_RED);
// If there is no under voltage, we are currently enabled and the
// status flag is low: There is a short-circuit or over-temperature
// -> Emergency Shutdown
} else if(!PIO_Get(&pin_status_flag) &&
dc_enabled &&
dc_mode == DC_MODE_DRIVE_BRAKE) {
dc_emergency_shutdown_counter++;
// Wait for DC_MAX_EMERGENCY_SHUTDOWN ms until callback is emitted
if(dc_emergency_shutdown_counter >= DC_MAX_EMERGENCY_SHUTDOWN) {
EmergencyShutdownCallback ess;
com_make_default_header(&ess, com_info.uid, sizeof(EmergencyShutdownCallback), FID_EMERGENCY_SHUTDOWN);
send_blocking_with_timeout(&ess,
sizeof(EmergencyShutdownCallback),
com_info.current);
dc_disable();
dc_emergency_shutdown_counter = 0;
dc_led_error_reason |= DC_LED_ERROR_SHUTDOWN;
led_on(LED_STD_RED);
}
} else {
dc_emergency_shutdown_counter = 0;
if(!(dc_led_error_reason & DC_LED_ERROR_SHUTDOWN) &&
(dc_tick_counter % 1000 == 0)) {
led_off(LED_STD_RED);
}
}
}
//------------------------------------------------------------------------------
/// Detect if SD card is connected
//------------------------------------------------------------------------------
static unsigned char CardIsConnected(unsigned char slot)
{
if (slot == 0) {
#if defined(BOARD_SD_PIN_CD)
PIO_Configure(&pinCardDetect, 1);
return PIO_Get(&pinCardDetect) ? 0 : 1;
#else
return 1;
#endif
}
if (slot == 1) {
#if defined(BOARD_SD_MCI1_PIN_CD)
PIO_Configure(&pinCardDetect1, 1);
return PIO_Get(&pinCardDetect1) ? 0 : 1;
#else
return 1;
#endif
}
return 0;
}
void AccelCalibration(void)
{
#ifdef STACCEL
return;
#else
char value[9];
short avgOffset[3];
int i,j;
g_idle = 1; // put the callback funciton on idle so it doesn't interrupt
// set the Accelerometer to measurement mode
value[0] = 5;
WriteAccelData(0x16, value, 1);
// clear out the old calibration values first!!!!!!!!
g_calValues[0] = 0;
g_calValues[1] = 0;
g_calValues[2] = 0;
value[0] = value[1] = value[2] = value[3] = value[4] = value[5] = 0;
WriteAccelData(0x10, value, 6);
usleep(200);
for(j=0;j<10;j++){
// get a set of readings from the Accelerometer
while(!PIO_Get(&(accIntPins[0]))){nop();} // wait for data ready pin
ReadAccelData(0x0,value,9); // read in 9 bytes for both 10bit and 8bit
for(i=0;i<3;i++){
avgOffset[i] = value[i*2+1]<<8;
avgOffset[i] |= value[i*2];
if(avgOffset[i] > 512) avgOffset[i] -=1024;
g_calValues[i] += avgOffset[i]; // sum up values
}
usleep(100000);
}
// take the average
g_calValues[0] /= 10;
g_calValues[1] /= 10;
g_calValues[2] /= 10;
// multiply the offsets by 2, stated in the datasheet unsure why has to do with 1/2 LSB
g_calValues[0] = -g_calValues[0]*2;
g_calValues[1] = -g_calValues[1]*2;
g_calValues[2] = (64 - g_calValues[2])*2;
// write data to offset register
AccelSetCalibration();
g_idle = 0; // turn back on the callback
#endif
}
//------------------------------------------------------------------------------
/// Checks if the device is write protected.
/// \return 1 if protected.
//------------------------------------------------------------------------------
static unsigned char CardIsProtected(unsigned char slot)
{
if (slot == 0) {
#ifdef BOARD_SD_PIN_WP
PIO_Configure(&pinMciWriteProtect, 1);
return (PIO_Get(&pinMciWriteProtect) != 0);
#else
return 0;
#endif
}
if (slot == 1) {
#ifdef BOARD_SD_MCI1_PIN_WP
PIO_Configure(&pinMciWriteProtect1, 1);
return (PIO_Get(&pinMciWriteProtect1) != 0);
#else
return 0;
#endif
}
return 0;
}
//-----------------------------------------------------------------------------
/// Monitor keyboard buttons & Update key status in HID driver
//-----------------------------------------------------------------------------
static void HIDDKeyboardProcessKeys(void)
{
unsigned int i;
unsigned char pressedKeys[NUM_KEYS];
unsigned char pressedKeysSize = 0;
unsigned char releasedKeys[NUM_KEYS];
unsigned char releasedKeysSize = 0;
// Monitor buttons
for (i=0; i < PIO_LISTSIZE(pinsPushButtons); i++) {
// Check if button state has changed
unsigned char isButtonPressed = PIO_Get(&(pinsPushButtons[i]));
if (isButtonPressed != keyStatus[i]) {
// Update button state
if (!isButtonPressed) {
// Key has been pressed
TRACE_INFO("-I- Key %u has been pressed\n\r", i);
keyStatus[i] = 0;
pressedKeys[pressedKeysSize] = keyCodes[i];
pressedKeysSize++;
HIDDKeyboardDriver_RemoteWakeUp();
}
else {
// Key has been released
TRACE_INFO("-I- Key %u has been released\n\r", i);
keyStatus[i] = 1;
releasedKeys[releasedKeysSize] = keyCodes[i];
releasedKeysSize++;
}
}
}
// Update key status in the HID driver if necessary
if ((pressedKeysSize != 0) || (releasedKeysSize != 0)) {
unsigned char status;
do {
status = HIDDKeyboardDriver_ChangeKeys(pressedKeys,
pressedKeysSize,
releasedKeys,
releasedKeysSize);
}
while (status != USBD_STATUS_SUCCESS);
}
}
/**
* Monitor keyboard buttons & Update key status in HID driver
*/
static void HIDDKeyboardProcessKeys(void)
{
uint32_t i;
uint8_t pressedKeys[NUM_KEYS];
uint8_t pressedKeysSize = 0;
uint8_t releasedKeys[NUM_KEYS];
uint8_t releasedKeysSize = 0;
/* Monitor buttons */
for (i=0; i < PIO_LISTSIZE(pinsPushButtons); i++) {
/* Check if button state has changed */
uint8_t isButtonPressed = PIO_Get(&(pinsPushButtons[i]));
if (isButtonPressed != keyStatus[i]) {
/* Update button state */
if (!isButtonPressed) {
/* Key has been pressed */
TRACE_INFO("-I- Key %u has been pressed\n\r", (unsigned int)i);
keyStatus[i] = 0;
pressedKeys[pressedKeysSize] = keyCodes[i];
pressedKeysSize++;
HIDDKeyboard_RemoteWakeUp();
}
else {
/* Key has been released */
TRACE_INFO("-I- Key %u has been released\n\r", (unsigned int)i);
keyStatus[i] = 1;
releasedKeys[releasedKeysSize] = keyCodes[i];
releasedKeysSize++;
}
}
}
/* Update key status in the HID driver if necessary */
if ((pressedKeysSize != 0) || (releasedKeysSize != 0)) {
uint8_t status;
do {
status = HIDDKeyboard_ChangeKeys(pressedKeys,
pressedKeysSize,
releasedKeys,
releasedKeysSize);
}
while (status != USBD_STATUS_SUCCESS);
}
}
//------------------------------------------------------------------------------
/// Handles interrupts coming from PIO controllers.
//------------------------------------------------------------------------------
static void ISR_VBus(const Pin *pPin)
{
// Check current level on VBus
if (PIO_Get(&pinVbus)) {
TRACE_INFO("VBUS conn\n\r");
USBD_Connect();
}
else {
TRACE_INFO("VBUS discon\n\r");
USBD_Disconnect();
}
}
extern int digitalRead( uint32_t ulPin )
{
if ( g_APinDescription[ulPin].ulPinType == PIO_NOT_A_PIN )
{
return LOW ;
}
if ( PIO_Get( g_APinDescription[ulPin].pPort, PIO_INPUT, g_APinDescription[ulPin].ulPin ) == 1 )
{
return HIGH ;
}
return LOW ;
}
unsigned int Get_Port_Detect( void )
{
unsigned char i = 0 ;
unsigned int value = 0 ;
for( i=9; i<=12; i++ ) {
value <<= 1;
value +=PIO_Get( &pinsGpios[i] );
}
return value;
}
unsigned int Get_Switches( void )
{
unsigned char i = 0 ;
unsigned int value = 0 ;
for( i=0; i<PIO_LISTSIZE( pinsSwitches ); i++ ) {
value <<= 1;
value +=PIO_Get( &pinsSwitches[i] );
}
return value;
}
//------------------------------------------------------------------------------
/// Interrupt service routine for the remote wake-up pin. Starts the debouncing
/// sequence.
//------------------------------------------------------------------------------
static void WakeUpHandler(const Pin *pin)
{
TRACE_DEBUG("Wake-up handler\n\r");
// Check current level on the remote wake-up pin
if (!PIO_Get(&pinWakeUp))
{
#if defined(at91sam3uek)
ConfigureSysTick();
#else
ConfigurePit();
#endif
}
}
static void do_abort()
{
if (state_getState() == STOP) { // acknowledge error
const Pin stop = PIN_STOP;
if (PIO_Get(&stop)) {
state_reset();
OK();
}
else NOK();
}
else {
state_reset();
OK();
}
}
