struct Max31855Data readMax31855Data()
{
union {
uint32_t dword;
struct Max31855Data data;
} u;
GPIO_PinClear(p_cs);
for (int i = 0; i < 32; i++)
{
u.dword <<= 1;
GPIO_PinSet(p_clk); /* Set CLK to sample value */
WAIT_Waitus(1);
if ( GPIO_Read(GPIOB) & (1l << (p_miso - 32)) )
u.dword |= 1; /* Read value from MISO */
GPIO_PinClear(p_clk); /* Set CLK to shift value */
}
GPIO_PinSet(p_cs);
return u.data;
}
static void sensorUnplug4( void )
{
#if ENABLE_UART_PRINTF
UARTprintf ( "Sensor 4 Unplug Task\n" );
#endif
// Wait a few milliseconds to debounce the port interrupt
Delay_MS( SENSOR_UNPLUG_DELAY );
// If the sensor has been re-connected, abort the unplug routine.
if( 1 == GPIO_Read( SensorPort4.int_port, SensorPort4.int_pin ) )
{
GPIO_EnableInterrupts( SensorPort4.int_port, SensorPort4.int_pin );
}
else
{
// Remove this sensor from the sensor task scheduler
ActiveSensor[3] = -1;
NumActiveSensors--;
SensorSampRate[3] = 0;
SampRateChanged = 1;
#if ENABLE_TRANSCEIVER
// Remove sensor id
Transceiver_UnregisterSensor ( SensorPort4.port_number );
#endif
// Change the interrupt to detect when a sensor is plugged into this port
GPIO_SetInterruptTask( SensorPort4.int_port, SensorPort4.int_pin, GPIO_RISING_EDGE,
2, sensorDetect4 );
}
// Kill this task
vTaskDelete( NULL );
}
// *************** InitializeSensorPorts **************
// Initilizes all sensor ports. Enables the INT pin and initializes the rx and tx
// fifos for each port.
static void InitializeSensorPorts( void )
{
unsigned long i;
// Populate the array of sensor task function pointers
SensorTask[0] = (int (*)(PORT_T *))&SensorTask1;
SensorTask[1] = (int (*)(PORT_T *))&SensorTask2;
SensorTask[2] = (int (*)(PORT_T *))&SensorTask3;
SensorTask[3] = (int (*)(PORT_T *))&SensorTask4;
for( i = 0; i < NUM_SENSOR_PORTS; i++ )
{
// Enable the INT interrupt for each sensor port
GPIO_Init( SensorPort[i]->int_port, SensorPort[i]->int_pin, GPIO_DIR_MODE_IN,
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD );
GPIO_SetInterruptTask( SensorPort[i]->int_port, SensorPort[i]->int_pin,
GPIO_RISING_EDGE, 2, SensorDetect[i] );
// Initialize and set high the ROM_CS pin high for each sensor port
GPIO_Init( SensorPort[i]->rom_cs_port, SensorPort[i]->rom_cs_pin, GPIO_DIR_MODE_OUT,
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
GPIO_Set( SensorPort[i]->rom_cs_port, SensorPort[i]->rom_cs_pin );
// Intialize the RX and TX queues (FIFOs) for each port
SensorPort[i]->rx_fifo = (void *)xQueueCreate( SENSOR_RX_QUEUE_SIZE,
sizeof( SENSOR_MSG_T ) );
SensorPort[i]->tx_fifo = (void *)xQueueCreate( SENSOR_TX_QUEUE_SIZE,
sizeof( SENSOR_MSG_T ) );
}
// If any sensors are already plugged in, trigger the detection routine.
// No rising edge interrupt can happen because the pin is high before the
// interrupt is enabled.
if( 0 != GPIO_Read( SensorPort1.int_port, SensorPort1.int_pin ) )
sensorDetect1();
if( 0 != GPIO_Read( SensorPort2.int_port, SensorPort2.int_pin ) )
sensorDetect2();
if( 0 != GPIO_Read( SensorPort3.int_port, SensorPort3.int_pin ) )
sensorDetect3();
if( 0 != GPIO_Read( SensorPort4.int_port, SensorPort4.int_pin ) )
sensorDetect4();
}
pio_type platform_pio_op( unsigned port, pio_type pinmask, int op )
{
GPIO_TypeDef* base = ( GPIO_TypeDef* )port_data[ port ];
GPIO_InitTypeDef data;
pio_type retval = 1;
GPIO_StructInit( &data );
switch( op )
{
case PLATFORM_IO_PORT_SET_VALUE:
GPIO_Write( base, ( u8 )pinmask );
break;
case PLATFORM_IO_PIN_SET:
GPIO_WriteBit( base, ( u8 )pinmask, Bit_SET );
break;
case PLATFORM_IO_PIN_CLEAR:
GPIO_WriteBit( base, ( u8 )pinmask, Bit_RESET );
break;
case PLATFORM_IO_PORT_DIR_OUTPUT:
pinmask = 0xFF;
case PLATFORM_IO_PIN_DIR_OUTPUT:
data.GPIO_Direction = GPIO_PinOutput;
data.GPIO_Type = GPIO_Type_PushPull ;
data.GPIO_Alternate=GPIO_OutputAlt1;
data.GPIO_Pin = ( u8 )pinmask;
GPIO_Init(base, &data);
break;
case PLATFORM_IO_PORT_DIR_INPUT:
pinmask = 0xFF;
case PLATFORM_IO_PIN_DIR_INPUT:
data.GPIO_Pin = ( u8 )pinmask;
GPIO_Init(base, &data);
break;
case PLATFORM_IO_PORT_GET_VALUE:
retval = GPIO_Read( base );
break;
case PLATFORM_IO_PIN_GET:
retval = GPIO_ReadBit( base, ( u8 )pinmask );
break;
default:
retval = 0;
break;
}
return retval;
}
static void sensorInit4( void )
{
unsigned short eeprom_addr = 0x1800;
unsigned short driver_size = 0x700;
unsigned char *node_addr = NULL;
#if ENABLE_UART_PRINTF
UARTprintf( "Sensor 4 Init\n" );
#endif
// Wait a few milliseconds to debounce the port interrupt
Delay_MS(SENSOR_INIT_DELAY);
// If a sensor is no longer plugged in, abort the initialization.
if( 0 == GPIO_Read( SensorPort4.int_port, SensorPort4.int_pin ) )
{
GPIO_EnableInterrupts( SensorPort4.int_port, SensorPort4.int_pin );
}
else
{
// Read in the sensor driver from this sensor's EEPROM
node_addr = (unsigned char *)SensorDriver4Ptr;
EEPROM_Open( SensorPort4.rom_cs_port, SensorPort4.rom_cs_pin );
EEPROM_ReadBurst( eeprom_addr, node_addr, driver_size );
EEPROM_Close( SensorPort4.rom_cs_port, SensorPort4.rom_cs_pin );
// Call the sensor_init routine
SensorInit4( (PORT_T *)&SensorPort4 );
// Call the sensor_config routine
SensorConfig4( (PORT_T *)&SensorPort4 );
#if ENABLE_TRANSCEIVER
// Send sensor id to transceiver
Transceiver_RegisterSensor ( SensorPort4.port_number, SensorPort4.sensor_id );
#endif
taskENTER_CRITICAL();
SensorSampRate[3] = 1;
SampRateChanged = 1;
ActiveSensor[3] = 1;
NumActiveSensors++;
taskEXIT_CRITICAL();
GPIO_SetInterruptTask( SensorPort4.int_port, SensorPort4.int_pin, GPIO_FALLING_EDGE,
2, sensorDetectUnplug4 );
}
// Kill this task
vTaskDelete( NULL );
}
int main(void)
{
SIM_COPC = 0x00; //Deshabilito el watchdog
CLK_init(); //Activo relojes de PORTA y PORTB, Core Clock = 47.972.352 Hz, Bus Clock = 23.986.176 Hz, desactivo WDOG
GPIO_Init(PORT_A, 11, IO_MUX | PULL_UP | PULL_EN); //Selecciono MUX de IO para PTA11
GPIO_Init(PORT_A, 9, IO_MUX | PULL_UP | PULL_EN); //Selecciono MUX de IO para PTA9
GPIO_Init(PORT_A, 10, IO_MUX); //Selecciono MUX de IO para PTA10
GPIO_Init(PORT_A, 8, IO_MUX); //Selecciono MUX de IO para PTA8
GPIO_IO(PORT_A, 11, INPUT); //Configuro PTA11 como entrada
GPIO_IO(PORT_A, 9, INPUT); //Configuro PTA9 como entrada
GPIO_IO(PORT_A, 10, OUTPUT); //Configuro PTA10 como salida
GPIO_IO(PORT_A, 8, OUTPUT); //Configuro PTA8 como salida
for (;;) {
estado = GPIO_Read(PORT_A, 11);
if (!estado)
{
GPIO_Set(PORT_A, 10);
}
else if (estado)
{
GPIO_Clear(PORT_A, 10);
}
estado1 = GPIO_Read(PORT_A, 9);
if (!estado1)
{
GPIO_Set(PORT_A, 8);
}
else if (estado1)
{
GPIO_Clear(PORT_A, 8);
}
}
/* Never leave main */
return 0;
}
readByte(char *byte, int lastbyte)
{
int idx;
*byte = 0x0;
for(idx=7 ; idx >= 0 ; --idx)
{
GPIO_Set(SDA);
wait();
GPIO_Set(SCL);
wait();
char cs = (GPIO_Read()&SDA)>>SDA_OFFSET;
char myByte = ((GPIO_Read()&SDA)>>SDA_OFFSET)<<idx;
*byte |= ((GPIO_Read()&SDA)>>SDA_OFFSET)<<idx;
GPIO_Clr(SCL);
}
if(lastbyte == 1)
GPIO_Set(SDA);//NACK
else
GPIO_Clr(SDA);//ACK
giveClk();
}
unsigned int writeByte(char *byte)
{
int idx, count;
count = 0;
do{
for(idx=7 ; idx >= 0 ; idx--)
{
int c = ((*byte)>>idx)&0x1;
if(c==1)
GPIO_Set(SDA);
else
GPIO_Clr(SDA);
giveClk();
}
giveClk();
++count;
}while((count <= MAX_SEND) &&(GPIO_Read()&SDA == 0)); //Verifica se ainda é NACK, enquanto for tenta enviar os dados
//if(GPIO_Read()&SDA != 0) return 1; //Faz read ao ACK que vem do dispositivo para garantir que recebeu bem os dados
if(count > MAX_SEND) return -1;
return 1;
}
void Linesensor_Update(void){
++_counter;
switch(_counter){
case 1 :
GPIO_Set(_OutputPins[0],1);
GPIO_Set(_OutputPins[2],1);
GPIO_Set(_OutputPins[6],1);
GPIO_Set(_OutputPins[11],1);
break;
case 2 :
GPIO_Set(_OutputPins[0],0);
GPIO_Set(_OutputPins[2],0);
GPIO_Set(_OutputPins[6],0);
GPIO_Set(_OutputPins[11],0);
break;
case 3 :
_Readings[0] = GPIO_Read(_InputPins[0]);
_Readings[2] = GPIO_Read(_InputPins[2]);
_Readings[6] = GPIO_Read(_InputPins[6]);
_Readings[11] = GPIO_Read(_InputPins[11]);
GPIO_Set(_OutputPins[3],1);
GPIO_Set(_OutputPins[5],1);
GPIO_Set(_OutputPins[8],1);
GPIO_Set(_OutputPins[10],1);
break;
case 4 :
GPIO_Set(_OutputPins[3],0);
GPIO_Set(_OutputPins[5],0);
GPIO_Set(_OutputPins[8],0);
GPIO_Set(_OutputPins[10],0);
break;
case 5 :
_Readings[3] = GPIO_Read(_InputPins[3]);
_Readings[5] = GPIO_Read(_InputPins[5]);
_Readings[8] = GPIO_Read(_InputPins[8]);
_Readings[10] = GPIO_Read(_InputPins[10]);
GPIO_Set(_OutputPins[1],1);
GPIO_Set(_OutputPins[4],1);
GPIO_Set(_OutputPins[7],1);
GPIO_Set(_OutputPins[9],1);
break;
case 6 :
GPIO_Set(_OutputPins[1],0);
GPIO_Set(_OutputPins[4],0);
GPIO_Set(_OutputPins[7],0);
GPIO_Set(_OutputPins[9],0);
break;
case 7 :
_Readings[1] = GPIO_Read(_InputPins[1]);
_Readings[4] = GPIO_Read(_InputPins[4]);
_Readings[7] = GPIO_Read(_InputPins[7]);
_Readings[9] = GPIO_Read(_InputPins[9]);
break;
case 10 :
_counter = 0;
break;
}
return;
}
// *************** Sensor_ReadGPIO ***************
int Sensor_ReadGPIO( PORT_T *port, SENSOR_GPIO_T pin )
{
return GPIO_Read( port->gpio_port[pin], port->gpio_pin[pin] );
}
/* Devolve 0 se o LED está apagado e um valor diferente de zero no caso
contrário. */
int LED_GetState(){
return ledOutPut & GPIO_Read();
}