void Init()
{
// Set up the USART pins for SPI mode
// The pins are already set up for SPI in the pins table
ConfigurePin(GetPinDescription(DotStarMosiPin));
ConfigurePin(GetPinDescription(DotStarSclkPin));
// Enable the clock to the USART
pmc_enable_periph_clk(DotStarUsartId);
// Set the USART in SPI mode, with the clock high when inactive, data changing on the falling edge of the clock
DotStarUsart->US_IDR = ~0u;
DotStarUsart->US_CR = US_CR_RSTRX | US_CR_RSTTX | US_CR_RXDIS | US_CR_TXDIS;
DotStarUsart->US_MR = US_MR_USART_MODE_SPI_MASTER
| US_MR_USCLKS_MCK
| US_MR_CHRL_8_BIT
| US_MR_CHMODE_NORMAL
| US_MR_CPOL
| US_MR_CLKO;
DotStarUsart->US_BRGR = VARIANT_MCK/DotStarSpiClockFrequency; // set SPI clock frequency
DotStarUsart->US_CR = US_CR_RSTRX | US_CR_RSTTX | US_CR_RXDIS | US_CR_TXDIS | US_CR_RSTSTA;
// Initialise variables
numRemaining = totalSent = 0;
needStartFrame = true;
busy = false;
}
extern "C" void init( void )
{
SystemInit();
// Set Systick to 1ms interval, common to all SAM3 variants
if (SysTick_Config(SystemCoreClock / 1000))
{
// Capture error
while (true);
}
UrgentInit(); // initialise anything in the main application that can't wait
// Initialize C library
__libc_init_array();
// Initialize Serial port U(S)ART pins
ConfigurePin(g_APinDescription[APINS_USART0]);
setPullup(APIN_USART0_RXD, true); // Enable pullup for RXD
// Initialize USB pins
ConfigurePin(g_APinDescription[APINS_USB]);
// Initialize Analog Controller
AnalogInInit();
// Initialize analogOutput module
AnalogOutInit();
// Initialize TRNG
pmc_enable_periph_clk(ID_TRNG);
TRNG->TRNG_IDR = TRNG_IDR_DATRDY; // Disable all interrupts
TRNG->TRNG_CR = TRNG_CR_KEY(0x524e47) | TRNG_CR_ENABLE; // Enable TRNG with security key (required)
}
static void Wire1_Init(void) {
pmc_enable_periph_clk(WIRE1_INTERFACE_ID);
ConfigurePin(g_APinDescription[APIN_WIRE1_SDA]);
ConfigurePin(g_APinDescription[APIN_WIRE1_SCL]);
NVIC_DisableIRQ(TWI0_IRQn);
NVIC_ClearPendingIRQ(TWI0_IRQn);
NVIC_EnableIRQ(TWI0_IRQn);
}
extern "C" void init( void )
{
SystemInit();
// Set Systick to 1ms interval, common to all SAM3 variants
if (SysTick_Config(SystemCoreClock / 1000))
{
// Capture error
while (true);
}
UrgentInit(); // initialise anything in the main application that can't wait
// Initialize C library (I think this calls C++ constructors for static data too)
__libc_init_array();
// We no longer disable pullups on all pins here, better to leave them enabled until the port is initialised
// Initialize Serial port U(S)ART pins
ConfigurePin(g_APinDescription[APINS_UART0]);
setPullup(APIN_UART0_RXD, true); // Enable pullup for RX0
ConfigurePin(g_APinDescription[APINS_UART1]);
setPullup(APIN_UART1_RXD, true); // Enable pullup for RX1
// No need to initialize the USB pins on the SAM4E because they are USB by default
// Initialize Analog Controller
AnalogInInit();
// Initialize analogOutput module
AnalogOutInit();
// Initialize HSMCI pins
ConfigurePin(g_APinDescription[APIN_HSMCI_CLOCK]);
ConfigurePin(g_APinDescription[APINS_HSMCI_DATA]);
// Start the USB
udc_start();
}
extern "C" void init( void )
{
SystemInit();
// Set Systick to 1ms interval, common to all SAM3 variants
if (SysTick_Config(SystemCoreClock / 1000))
{
// Capture error
while (true);
}
// Initialize C library
__libc_init_array();
// Disable pull-up on every pin
for (size_t i = 0; i <= MaxPinNumber; i++)
{
setPullup(i, false);
}
// Enable parallel access on PIO output data registers
// PIOA->PIO_OWER = 0xFFFFFFFF;
// PIOB->PIO_OWER = 0xFFFFFFFF;
// PIOC->PIO_OWER = 0xFFFFFFFF;
// PIOD->PIO_OWER = 0xFFFFFFFF;
// Initialize Serial port U(S)ART pins
ConfigurePin(g_APinDescription[APINS_UART]);
setPullup(APIN_UART_RXD, true); // Enable pullup for RX0
ConfigurePin(g_APinDescription[APINS_USART0]);
// Initialize USB pins
ConfigurePin(g_APinDescription[APINS_USB]);
// Initialize Analog Controller
AnalogInInit();
// Initialize analogOutput module
AnalogOutInit();
// Initialize HSMCI pins
ConfigurePin(g_APinDescription[APIN_HSMCI_CLOCK]);
ConfigurePin(g_APinDescription[APINS_HSMCI_DATA]);
// Initialize Ethernet pins
ConfigurePin(g_APinDescription[APINS_EMAC]);
// Initialize TRNG
pmc_enable_periph_clk(ID_TRNG);
TRNG->TRNG_IDR = TRNG_IDR_DATRDY; // Disable all interrupts
TRNG->TRNG_CR = TRNG_CR_KEY(0x524e47) | TRNG_CR_ENABLE; // Enable TRNG with security key (required)
// Start the USB
udc_start();
}
extern "C" void pinModeDuet(Pin pin, enum PinMode ulMode, uint32_t debounceCutoff)
{
if (pin > MaxPinNumber)
{
return;
}
const PinDescription& pinDesc = g_APinDescription[pin];
if (pinDesc.ulPinType == PIO_NOT_A_PIN)
{
return;
}
switch (ulMode)
{
case INPUT:
/* Enable peripheral for clocking input */
pmc_enable_periph_clk(pinDesc.ulPeripheralId);
pio_pull_up(pinDesc.pPort, pinDesc.ulPin, 0); // turn off pullup
#if SAM4E
pio_pull_down(pinDesc.pPort, pinDesc.ulPin, 0); // turn off pulldown
#endif
pio_configure(
pinDesc.pPort,
PIO_INPUT,
pinDesc.ulPin,
(debounceCutoff == 0) ? 0 : PIO_DEBOUNCE);
if (debounceCutoff != 0)
{
pio_set_debounce_filter(pinDesc.pPort, pinDesc.ulPin, debounceCutoff); // enable debounce filer with specified cutoff frequency
}
break;
case INPUT_PULLUP:
/* Enable peripheral for clocking input */
pmc_enable_periph_clk(pinDesc.ulPeripheralId);
#if SAM4E
pio_pull_down(pinDesc.pPort, pinDesc.ulPin, 0); // turn off pulldown
#endif
pio_configure(
pinDesc.pPort,
PIO_INPUT,
pinDesc.ulPin,
(debounceCutoff == 0) ? PIO_PULLUP : PIO_PULLUP | PIO_DEBOUNCE);
if (debounceCutoff != 0)
{
pio_set_debounce_filter(pinDesc.pPort, pinDesc.ulPin, debounceCutoff); // enable debounce filer with specified cutoff frequency
}
break;
#if SAM4E
case INPUT_PULLDOWN:
/* Enable peripheral for clocking input */
pmc_enable_periph_clk(pinDesc.ulPeripheralId);
pio_pull_up(pinDesc.pPort, pinDesc.ulPin, 0);
pio_pull_down(pinDesc.pPort, pinDesc.ulPin, 1);
pio_configure(
pinDesc.pPort,
PIO_INPUT,
pinDesc.ulPin,
(debounceCutoff == 0) ? 0 : PIO_DEBOUNCE);
if (debounceCutoff != 0)
{
pio_set_debounce_filter(pinDesc.pPort, pinDesc.ulPin, debounceCutoff); // enable debounce filer with specified cutoff frequency
}
break;
#endif
case OUTPUT_LOW:
pio_configure(
pinDesc.pPort,
PIO_OUTPUT_0,
pinDesc.ulPin,
pinDesc.ulPinConfiguration);
/* if all pins are output, disable PIO Controller clocking, reduce power consumption */
if (pinDesc.pPort->PIO_OSR == 0xffffffff)
{
pmc_disable_periph_clk(pinDesc.ulPeripheralId);
}
break;
case OUTPUT_HIGH:
pio_configure(
pinDesc.pPort,
PIO_OUTPUT_1,
pinDesc.ulPin,
pinDesc.ulPinConfiguration);
/* if all pins are output, disable PIO Controller clocking, reduce power consumption */
if (pinDesc.pPort->PIO_OSR == 0xffffffff)
{
pmc_disable_periph_clk(pinDesc.ulPeripheralId);
}
break;
case OUTPUT_PWM_LOW:
if ((pinDesc.ulPinAttribute & (PIN_ATTR_PWM | PIN_ATTR_TIMER)) != 0)
{
AnalogOut(pin, 0.0, 0); // set it to zero frequency to force re-initialisation on next AnalogOut call
}
break;
case OUTPUT_PWM_HIGH:
if ((pinDesc.ulPinAttribute & (PIN_ATTR_PWM | PIN_ATTR_TIMER)) != 0)
{
AnalogOut(pin, 1.0, 0); // set it to zero frequency to force re-initialisation on next AnalogOut call
}
break;
case AIN:
pio_pull_up(pinDesc.pPort, pinDesc.ulPin, 0); // turn off pullup
#if SAM4E
pio_pull_down(pinDesc.pPort, pinDesc.ulPin, 0); // turn off pulldown
#endif
// Ideally we should record which pins are being used as analog inputs, then we can disable the clock
// on any PIO that is being used solely for outputs and ADC inputs. But for now we don't do that.
break;
case SPECIAL:
ConfigurePin(pinDesc);
break;
default:
break;
}
}
