void EVShield::initLEDTimers()
{
#if defined(__AVR__)
MsTimer2::set(3, callbackLED);
MsTimer2::start();
#elif defined(__PIC32MX__)
attachCoreTimerService(callbackLED);
#endif
}
// Inialize all static variables to default state
// Insert SoftPWM ISR into Core Timer ISR
int32_t SoftPWMServoInit(void)
{
uint32_t i, j;
// Inialize all of our static arrays
for (j = 0; j < 2; j++)
{
for (i = 0; i < SOFTPWMSERVO_MAX_PINS; i++)
{
Chan[j][i].NextEdgeTime = 0;
Chan[j][i].SetPort = NULL;
Chan[j][i].ClearPort = NULL;
Chan[j][i].Port = 0;
Chan[j][i].Bit = 0;
Chan[j][i].PWMValue = 0;
Chan[j][i].IsServo = false;
Chan[j][i].NextChanP = NULL;
}
FirstChanP[j] = NULL;
}
RisingEdge = true;
CurrentTime = 0;
InactiveBuffer = 1;
ActiveBuffer = 0;
ISRFirstChanP = NULL;
InactiveBufferReady = false;
FrameTime = SOFTPWMSERVO_DEFAULT_FRAME_TIME; // Start out with default 2ms frame time
ServoFrames = SOFTPWMSERVO_DEFAULT_SERVO_FRAMES; // Start out with default of 10 frames (20ms)
// Insert our ISR handler, if it's not already there
if (attachCoreTimerService(HandlePWMServo))
{
Initalized = true;
return SOFTPWMSERVO_OK;
}
else
{
Initalized = false;
return SOFTPWMSERVO_ERROR;
}
}
/*** InitWS2812(uint8_t * pPatternBuffer, uint32_t cbPatternBuffer, uint32_t fInvert)
*
* Parameters:
* pPatternBuffer: A pointer to the pattern buffer for the DMA to use
* The application allocates this and should be
* CBWS2812PATBUF(__cDevices) bytes long.
*
* cbPatternBuffer: This should be CBWS2812PATBUF(__cDevices) or larger
*
* fInvert: Because the WS2812 does not have a VinH <= 3.3 when Vcc >= 4.7v
* External hardware may be needed to level shift the 3.3v SDO output
* to a higher Data in signal to the WS2812. This level shifter may
* be a simple transistor tied to 5v - 7v. The transistor will invert
* the SDO output signal and to maintain the correct signal polarity
* to the WS2812 you would need to invert the signal coming out of SDO.
* If fInvert is true, the SDO output signal will be inverted from what
* the WS2812 would normally take. By default, the is "false".
*
* Return Values:
* True if the core timer can be aquired and initialization succeeded.
*
* Description:
*
* Initialize the SPI to 20MHz which is a 50ns clock
* This will enable .35us pattern resolution in the SPI
* shift register.
*
* Also, initialize 2 DMA channels, one to shift out
* the pattern buffer, the other to maintain zeros
* for the restart / reset patteren (RES).
*
* ------------------------------------------------------------ */
uint32_t InitWS2812(uint8_t * pPatternBuffer, uint32_t cbPatternBuffer, uint32_t fInvert)
{
// Disable SPI and DMA
SPI2CON = 0;
DMACON = 0;
// set up SPI2
SPI2CONbits.MSTEN = 1; // SPI in master mode
SPI2CONbits.ENHBUF = 1; // enable 16 byte transfer buffer
SPI2CONbits.STXISEL = 0b10; // trigger DMA event when the ENBUF is half empty
// SPI2CONbits.DISSDI = 1; // Disable the SDI pin, allow it to be used for GPIO (not implemented on an MX6)
SPI2STAT = 0; // clear status register
SPI2BRG = (__PIC32_pbClk / (2 * 20000000)) - 1; // 20MHz, 50ns
IEC1bits.SPI2RXIE = 0; // disable SPI interrupts
IEC1bits.SPI2TXIE = 0; // disable SPI interrupts
IEC1bits.SPI2EIE = 0; // disable SPI interrupts
IFS1bits.SPI2RXIF = 0; // disable SPI interrupts
IFS1bits.SPI2TXIF = 0; // disable SPI interrupts
IFS1bits.SPI2EIF = 0; // disable SPI interrupts
IEC1bits.DMA0IE = 0;
IFS1bits.DMA0IF = 0;
IEC1bits.DMA1IE = 0;
IFS1bits.DMA1IF = 0;
DMACONbits.ON = 1; // turn on the DMA controller
IEC1CLR=0x00010000; // disable DMA channel 0 interrupts
IFS1CLR=0x00010000; // clear existing DMA channel 0 interrupt flag
// Set up DMA channel 0
DCH0CON = 0; // clear it
DCH0CONbits.CHAED = 0; // do not allow events to be remembered when disabled
DCH0CONbits.CHAEN = 0; // do not Allow continuous operation
DCH0CONbits.CHPRI = 0b11; // highest priority
DCH0ECON = 0; // clear it
DCH0ECONbits.CHSIRQ = _SPI2_TX_IRQ; // SPI2TX 1/2 empty notification
DCH0ECONbits.SIRQEN = 1; // enable IRQ transfer enables
DCH0INT = 0; // do not trigger any events
DCH0INTbits.CHBCIF = 0; // clear IF bit
IPC9bits.DMA0IP = 7; // priority 7
IPC9bits.DMA1IS = 0; // sub priority 0
DCH0SSA = KVA_2_PA(pPatternBuffer); // source address of transfer
DCH0SSIZ = cbPatternBuffer; // number of bytes in source
DCH0DSA = KVA_2_PA(&SPI2BUF); // destination address is the SPI2 buffer
DCH0DSIZ = 1; // 1 byte at the destination
DCH0CSIZ = 1; // only transfer 1 byte per event
// Set up DMA channel 1
DCH1CON = 0; // clear it
DCH1CONbits.CHCHNS = 0; // allow chaining to the next higher priority DMA channel 0
DCH1CONbits.CHCHN = 1; // Turn on chaining
DCH1CONbits.CHAED = 0; // do not allow events to be remembered when disabled
DCH1CONbits.CHAEN = 1; // turn on continuous operation
DCH1CONbits.CHPRI = 0b11; // highest priority
DCH1ECON = 0; // clear it
DCH1ECONbits.CHSIRQ = _SPI2_TX_IRQ; // SPI2TX 1/2 empty notification
DCH1ECONbits.SIRQEN = 1; // enable IRQ transfer enables
DCH1INT = 0; // do not trigger any events
if(fInvert)
{
DCH1SSA = KVA_2_PA(&ones); // refresh cycle is inverted streaming 1s
}
else
{
DCH1SSA = KVA_2_PA(&zeros); // normal refresh cycle streaming 0s
}
DCH1SSIZ = 1; // number of bytes in source
DCH1DSA = KVA_2_PA(&SPI2BUF); // destination address is the SPI2 buffer
DCH1DSIZ = 1; // 1 byte at the destination
DCH1CSIZ = 1; // only transfer 1 byte per event
// initial time for the core serivce routine
read_count(tWS2812LastRun);
// attach the core service routine
if(attachCoreTimerService(WS2812TimerService))
{
// Enable DMA channel 1 and SPI 2
// we enable in the refresh cycle until a pattern
// is loaded in the main sketch.
fWS2812Updating = true;
IFS1bits.DMA0IF = 0;
IEC1bits.DMA0IE = 1;
DCH1CONbits.CHEN = 1; // turn DMA channel 1 ON; just zero output
SPI2CONbits.ON = 1;
return(1); // success
}
// Things are not good, disable SPI and DMA
SPI2CON = 0;
DMACON = 0;
// error out
return(0);
}
