void nRF24L01::isrHandler() {
uint8_t isrstat = 0;
uint8_t fifostat = 0;
regRead(REG_STATUS, &isrstat, 1);
regRead(REG_FIFO_STATUS, &fifostat, 1);
// TX done
if (isrstat & (1<<5)) {
selectRX();
enablePipe(0, _bc, false);
enablePipe(1, _addr, true);
}
// Did we receive data?
if (isrstat & (1<<6)) {
// We're not actually going to do anything here.
}
if (isrstat & (1<<4)) {
// Too many retries
selectRX();
enablePipe(0, _bc, false);
enablePipe(1, _addr, true);
uint32_t s = disableInterrupts();
digitalWrite(_csn, LOW);
_status = _spi->transfer(CMD_TX_FLUSH);
digitalWrite(_csn, HIGH);
restoreInterrupts(s);
}
// Clear interrupts
isrstat = 0x70;
regWrite(REG_STATUS, &isrstat, 1);
}
void nRF24L01::unicastPacket(uint8_t *addr, uint8_t *packet) {
uint8_t stat = 0;
regRead(REG_FIFO_STATUS, &stat, 1);
uint32_t timeout = millis();
while (_mode == 1 && millis() - timeout < 1000); // Wait for it to not be transmitting
if (_mode == 1) {
selectRX();
}
regWrite(REG_TX_ADDR, addr, 5);
enablePipe(0, addr, true);
enablePipe(1, _addr, true);
selectTX();
uint32_t s = disableInterrupts();
digitalWrite(_csn, LOW);
_status = _spi->transfer(CMD_TX);
for (int i = 0; i < _pipeWidth; i++) {
_spi->transfer(packet[i]);
}
digitalWrite(_csn, HIGH);
restoreInterrupts(s);
digitalWrite(_ce, HIGH);
delayMicroseconds(20);
digitalWrite(_ce, LOW);
}
/** Fill up transmit packet buffer with bytes obtained from the transmit
* FIFO buffer, then queue the packet for transmission, if necessary.
*/
static void fillTransmitPacketBufferAndTransmit(void)
{
uint32_t status;
uint32_t count;
uint32_t i;
// Put everything in a critical section so that bytes are either in
// the transmit FIFO or in interrupt_packet_buffer.
status = disableInterrupts();
i = 1;
while ((i < sizeof(interrupt_packet_buffer)) && !isCircularBufferEmpty(&transmit_fifo))
{
// Note that is_irq is set because interrupts are disabled; that's
// equivalent to an interrupt request handler context.
interrupt_packet_buffer[i] = circularBufferRead(&transmit_fifo, 1);
i++;
}
count = i - 1;
interrupt_packet_buffer[0] = (uint8_t)count;
if (count > 0)
{
// Set transmit_queued before queueing transmit to avoid race
// condition where packet is transmitted just after
// usbQueueTransmitPacket() call.
interrupt_transmit_queued = 1;
usbQueueTransmitPacket(interrupt_packet_buffer, count + 1, TRANSMIT_ENDPOINT_NUMBER, 0);
}
else
{
interrupt_transmit_queued = 0;
}
restoreInterrupts(status);
}
/** Begin collecting #ADC_SAMPLE_BUFFER_SIZE samples, filling
* up #adc_sample_buffer. This will return before all the samples have been
* collected, allowing the caller to do something else while samples are
* collected in the background. isADCBufferFull() can be used to determine
* when #adc_sample_buffer is full.
*
* It is okay to call this while the sample buffer is still being filled up.
* In that case, calling this will abort the current fill and commence
* filling from the start.
*/
void beginFillingADCBuffer(void)
{
uint32_t status;
status = disableInterrupts();
DCH0CONbits.CHEN = 0; // disable channel
asm("nop"); // just to be safe
DCH0ECONbits.CABORT = 1; // abort any existing transfer and reset pointers
// Delay a couple of cycles, just to be safe. DMA transfers are observed
// to require up to 7 cycles (depending on source/destination alignment).
asm("nop");
asm("nop");
asm("nop");
asm("nop");
asm("nop");
asm("nop");
asm("nop");
asm("nop");
DCH0ECONbits.CABORT = 0;
DCH0INTCLR = 0x00ff00ff; // clear existing events, disable all interrupts
DCH0SSA = VIRTUAL_TO_PHYSICAL(&ADC1BUF0); // transfer source physical address
DCH0DSA = VIRTUAL_TO_PHYSICAL(&adc_sample_buffer); // transfer destination physical address
DCH0SSIZ = sizeof(uint16_t); // source size
DCH0DSIZ = sizeof(adc_sample_buffer); // destination size
DCH0CSIZ = sizeof(uint16_t); // cell size (bytes transferred per event)
DCH0CONbits.CHEN = 1; // enable channel
restoreInterrupts(status);
}
/*** uint32_t WS2812TimerService(uint32_t curTime)
*
* Parameters:
* The current core timer time
*
* Return Values:
* The next core timer time to be called
*
* Description:
* This is the CoreTimer routine to handle refreshing the
* WS2812. This gets called every TICKSPERREFRESH
* unless it is behind on a refresh because of external factors
* then it is called every TICKSPERSHORTCHECK until it is refreshed.
*
* ------------------------------------------------------------ */
uint32_t WS2812TimerService(uint32_t curTime)
{
uint32_t deltaTime = curTime - tWS2812LastRun;
// it is time to refresh
if(!fWS2812Updating && !DCH0CONbits.CHEN && deltaTime >= TICKSPERREFRESH)
{
uint32_t intState = disableInterrupts();
DCH1CONbits.CHEN = 0;
DCH0CONbits.CHEN = 1;
restoreInterrupts(intState);
tWS2812LastRun += (deltaTime / TICKSPERREFRESH) * TICKSPERREFRESH;
return(tWS2812LastRun + TICKSPERREFRESH);
}
// if this is in a holding pattern for a really long time
// don't let delta get too big and wrap the uint32_t counter
if(deltaTime >= (2 * TICKSPERREFRESH))
{
tWS2812LastRun += TICKSPERREFRESH;
deltaTime -= TICKSPERREFRESH;
}
// if we get here, we are trying to refresh and are running behind
// check more often to get the refresh done.
return(tWS2812LastRun + (((deltaTime / TICKSPERSHORTCHECK) + 1) * TICKSPERSHORTCHECK));
}
void LowPower_::sleepWithTheDog() {
WDTCONSET = 1<<15; // Turn on
WDTCONSET = 0x01; // Kick the dog!
int r = disableInterrupts();
enterSleepMode();
restoreInterrupts(r);
WDTCONCLR = 1<<15; // Turn off
}
// Set a new PWM value for a given pin
// Primarily this consists of updating the PWMValue and then
// re-sorting the list of active pins by removing and then adding
// the pin to the linked list.
int32_t SoftPWMServoRawWrite(uint32_t Pin, uint32_t Value, bool PinType)
{
int i;
int32_t intr;
// Insert our ISR handler, if it's not already there
if (!Initalized)
{
SoftPWMServoInit();
}
// Limit check the inputs
if (Value > FrameTime)
{
Value = FrameTime;
}
if (Pin > SOFTPWMSERVO_MAX_PINS)
{
return SOFTPWMSERVO_ERROR;
}
// And if this pin already has this PWM Value, then don't do anything.
if (Value == Chan[ActiveBuffer][Pin].PWMValue)
{
return SOFTPWMSERVO_OK;
}
// The easy way to prevent the ISR from doing a buffer swap while
// we're in the middle of this is to disable interrupts during
// the time that we're mucking with the list.
// TODO: Switch to using 3 buffers - one 'active' that the ISR
// is currently using, one 'primed' that the mainline code doesn't
// touch but has updates and is ready to be swapped before the
// next rising edge, and then 'inactive' which is the one we modify
// with here. Maybe we wouldn't need to disable interrupts then.
intr = disableInterrupts();
// If needed, copy the values from the previously active buffer
// into the inactive buffer before we begin work on it.
CopyBuffers();
// Always make sure this pin's enabled
SoftPWMServoPinEnable(Pin, PinType);
// Update the PWM value for this pin
Chan[InactiveBuffer][Pin].PWMValue = Value;
Chan[InactiveBuffer][Pin].IsServo = PinType;
// Remove it from the list
Remove(Pin);
// And add it back in the list, in the right place (in time)
Add(Pin);
restoreInterrupts(intr);
return SOFTPWMSERVO_OK;
}
void nRF24L01::regWrite(uint8_t reg, uint8_t *buffer, uint8_t len) {
uint32_t s = disableInterrupts();
digitalWrite(_csn, LOW);
_status = _spi->transfer((reg & 0x1F) | 0x20);
for (int i = 0; i < len; i++) {
_spi->transfer(buffer[i]);
}
digitalWrite(_csn, HIGH);
restoreInterrupts(s);
}
void LowPower_::restoreSystemClock() {
int i = disableInterrupts();
SYSKEY = 0x0;
SYSKEY = 0xAA996655;
SYSKEY = 0x556699AA;
OSCCONbits.NOSC = _originalClockSettings;
OSCCONbits.OSWEN = 1;
SYSKEY = 0x0;
restoreInterrupts(i);
while (OSCCONbits.OSWEN == 1);
}
bool LowPower_::switchToLPRC() {
int i = disableInterrupts();
_originalClockSettings = OSCCONbits.COSC;
SYSKEY = 0x0;
SYSKEY = 0xAA996655;
SYSKEY = 0x556699AA;
OSCCONbits.NOSC = 0b101;
OSCCONbits.OSWEN = 1;
SYSKEY = 0x0;
restoreInterrupts(i);
while (OSCCONbits.OSWEN == 1);
return (OSCCONbits.COSC == 0b101);
}
void nRF24L01::readPacket(uint8_t *buffer) {
uint32_t s = disableInterrupts();
digitalWrite(_ce, LOW);
digitalWrite(_csn, LOW);
_status = _spi->transfer(CMD_RX);
for (int i = 0; i < _pipeWidth; i++) {
buffer[i] = _spi->transfer(0xFF);
}
digitalWrite(_csn, HIGH);
digitalWrite(_ce, HIGH);
restoreInterrupts(s);
}
// Disable the SoftPWM functionality on a particular pin number
int32_t SoftPWMServoPinDisable(uint32_t Pin)
{
int32_t intr;
intr = disableInterrupts();
CopyBuffers();
// Pull this one out of the linked list of active channels
Remove(Pin);
// Mark it as unused
Chan[InactiveBuffer][Pin].SetPort = NULL;
Chan[InactiveBuffer][Pin].ClearPort = NULL;
restoreInterrupts(intr);
return SOFTPWMSERVO_OK;
}
//************************************************************************
void Servo::writeMicroseconds(int value)
{
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if ( (channel >= 0) && (channel < MAX_SERVOS) ) // ensure channel is valid
{
if ( value < SERVO_MIN() ) // ensure pulse width is valid
value = SERVO_MIN();
else if ( value > SERVO_MAX() )
value = SERVO_MAX();
value = value - TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead
unsigned int status;
status = disableInterrupts();
servos[channel].ticks = value;
restoreInterrupts(status);
}
}
void nRF24L01::begin(uint8_t ad0, uint8_t ad1, uint8_t ad2, uint8_t ad3, uint8_t ad4, uint8_t chan, uint8_t width) {
_spi->begin();
_spi->setSpeed(10000000UL);
_addr[0] = ad0;
_addr[1] = ad1;
_addr[2] = ad2;
_addr[3] = ad3;
_addr[4] = ad4;
_pipeWidth = width;
pinMode(_csn, OUTPUT);
pinMode(_ce, OUTPUT);
pinMode(_intr, INPUT);
digitalWrite(_csn, HIGH);
digitalWrite(_ce, HIGH);
setChannel(chan);
regSet(REG_CONFIG, 2);
uint8_t zero = 0x00;
regWrite(REG_EN_AA, &zero, 1);
_bc[0] = 0xFF;
_bc[1] = 0xFF;
_bc[2] = 0xFF;
_bc[3] = 0xFF;
_bc[4] = 0xFF;
enablePipe(0, _bc, false);
enablePipe(1, _addr, true);
selectRX();
switch (isrHandlerCounter) {
case 0:
isrObject0 = this;
attachInterrupt(_intr, nRF24L01_isrHandler0, FALLING);
break;
case 1:
isrObject1 = this;
attachInterrupt(_intr, nRF24L01_isrHandler1, FALLING);
break;
case 2:
isrObject2 = this;
attachInterrupt(_intr, nRF24L01_isrHandler2, FALLING);
break;
case 3:
isrObject3 = this;
attachInterrupt(_intr, nRF24L01_isrHandler3, FALLING);
break;
case 4:
isrObject4 = this;
attachInterrupt(_intr, nRF24L01_isrHandler4, FALLING);
break;
case 5:
isrObject5 = this;
attachInterrupt(_intr, nRF24L01_isrHandler5, FALLING);
break;
case 6:
isrObject6 = this;
attachInterrupt(_intr, nRF24L01_isrHandler6, FALLING);
break;
case 7:
isrObject7 = this;
attachInterrupt(_intr, nRF24L01_isrHandler7, FALLING);
break;
}
isrHandlerCounter++;
uint32_t s = disableInterrupts();
digitalWrite(_csn, LOW);
_status = _spi->transfer(CMD_TX_FLUSH);
digitalWrite(_csn, HIGH);
digitalWrite(_csn, LOW);
_status = _spi->transfer(CMD_RX_FLUSH);
digitalWrite(_csn, HIGH);
restoreInterrupts(s);
uint8_t isrstat = 0x70;
regWrite(REG_STATUS, &isrstat, 1);
isrstat = 0xFF;
regWrite(REG_SETUP_RETR, &isrstat, 1);
enablePower();
}