void
vexSonarAdd( tVexSonarChannel channel, tVexDigitalPin pa, tVexDigitalPin pb )
{
if( channel >= kVexSonar_Num )
return;
if(pa > kVexDigital_12)
return;
if(pb > kVexDigital_12)
return;
// zero variables
// setup first pin as output
vexDigitalModeSet( pa, kVexDigitalOutput);
vexSonars[channel].pa = pa;
vexSonars[channel].pa_port = vexioDefinition[pa].port;
vexSonars[channel].pa_pad = vexioDefinition[pa].pad;
// setup second pin as input
vexDigitalModeSet( pb, kVexDigitalInput);
vexSonars[channel].pb = pb;
vexSonars[channel].pb_port = vexioDefinition[pb].port;
vexSonars[channel].pb_pad = vexioDefinition[pb].pad;
vexExtSet( vexSonars[channel].pb_port, vexSonars[channel].pb_pad, EXT_CH_MODE_BOTH_EDGES, _vs_echo_cb );
// installed and enabled
vexSonars[channel].flags = (SONAR_INSTALLED | SONAR_ENABLED);
}
void
vexDigitalIntrSet( tVexDigitalPin pin )
{
vexDigitalModeSet( pin, kVexDigitalInput );
vexExtSet( vexioDefinition[pin].port, vexioDefinition[pin].pad, EXT_CH_MODE_BOTH_EDGES, _vi_cb );
// Fixed screwed up port4/port10 conflict
if( vexioDefinition[pin].pad == 7 )
{
if( pin == kVexDigital_4 )
vexioDefinition[kVexDigital_10].intrCount = -1;
if( pin == kVexDigital_10 )
vexioDefinition[kVexDigital_4].intrCount = -1;
}
vexioDefinition[pin].intrCount = 0;
}
void
vexDigitalConfigure( vexDigiCfg *cfg, int16_t cfg_num )
{
vexDigiCfg *_cfg, *_cfg1, *_cfg2;
tVexDigitalPin i;
tVexDigitalPin j;
int16_t len;
if( cfg == NULL ){
_cfg = vexDefConfig;
len = DIG_CONFIG_SIZE( vexDefConfig );
}
else {
_cfg = cfg;
len = cfg_num;
}
for(i=0,_cfg1=_cfg;i<len;i++,_cfg1++)
{
// An input ?
if( _cfg1->cfg == kVexConfigInput )
vexDigitalModeSet(_cfg1->pin, kVexDigitalInput );
// An output ?
if( _cfg1->cfg == kVexConfigOutput )
vexDigitalModeSet(_cfg1->pin, kVexDigitalOutput );
// An encoder ?
if( _cfg1->cfg == kVexConfigQuadEnc1 )
{
// find other encoder pin
for(j=0, _cfg2=_cfg;j<len;j++,_cfg2++)
{
if( (_cfg2->cfg == kVexConfigQuadEnc2) && (_cfg1->chan == _cfg2->chan ) )
vexEncoderAdd( _cfg1->chan, _cfg1->pin, _cfg2->pin );
}
}
// A sonar ?
if( _cfg1->cfg == kVexConfigSonarOut )
{
// find other encoder pin
for(j=0, _cfg2=_cfg;j<len;j++,_cfg2++)
{
if( (_cfg2->cfg == kVexConfigSonarIn) && (_cfg1->chan == _cfg2->chan ) )
vexSonarAdd( _cfg1->chan, _cfg1->pin, _cfg2->pin );
}
}
// Interrupt (experimental)
if( _cfg1->cfg == kVexConfigInterrupt )
{
vexDigitalIntrSet( _cfg1->pin );
}
// A bit messy here
// use the default config to save the user config.
// obviously if there is no user config then this is superfluous.
vexDefConfig[ _cfg1->pin ].type = _cfg1->type;
vexDefConfig[ _cfg1->pin ].cfg = _cfg1->cfg;
vexDefConfig[ _cfg1->pin ].chan = _cfg1->chan;
}
}