int main (void)
{
// Insert system clock initialization code here (sysclk_init()).
sysclk_init();
board_init();
// Insert application code here, after the board has been initialized.
pmc_enable_periph_clk(ID_PIOA);
pio_set_input(PIOA, PIO_PA16, PIO_DEFAULT);
pio_pull_down(PIOA, (PIO_PA16), ENABLE);
pio_handler_set(PIOA, ID_PIOA, PIO_PA16, PIO_IT_RISE_EDGE, pin_riseedge_handler);
pio_enable_interrupt(PIOA,PIO_PA16);
pio_set_input(PIOA, PIO_PA17, PIO_DEFAULT);
pio_pull_down(PIOA, (PIO_PA17), ENABLE);
pio_handler_set(PIOA, ID_PIOA, PIO_PA17, PIO_IT_RISE_EDGE, pin_riseedge_handler);
pio_enable_interrupt(PIOA,PIO_PA17);
NVIC_EnableIRQ(PIOA_IRQn);
gpio_set_pin_low(LED0_GPIO);
gpio_set_pin_high(LED1_GPIO);
while(1){
}
}
void config_hall_interrupt (void){
pmc_enable_periph_clk(ID_HALL);
pio_set_input(PIOA, GPIO_HALLB, PIO_DEFAULT);
pio_pull_down(PIOA, GPIO_HALLB, ENABLE);
pio_handler_set(PIOA, ID_HALL, GPIO_HALLB, PIO_IT_RISE_EDGE, pin_riseedge_handler);
pio_enable_interrupt(PIOA, GPIO_HALLB);
pio_set_input(PIOA, GPIO_HALLC, PIO_DEFAULT);
pio_pull_down(PIOA, GPIO_HALLC, ENABLE);
pio_handler_set(PIOA, ID_HALL, GPIO_HALLC, PIO_IT_FALL_EDGE, pin_riseedge_handler);
pio_enable_interrupt(PIOA, GPIO_HALLC);
NVIC_DisableIRQ(PIOA_IRQn);
NVIC_ClearPendingIRQ(PIOA_IRQn);
NVIC_SetPriority(PIOA_IRQn, PRIORITY_MEASURE);
NVIC_EnableIRQ(PIOA_IRQn);
}
static void irq_init(void) {
pio_configure_pin(DW_IRQ_IDX, DW_IRQ_FLAGS);
pio_pull_down(DW_IRQ_PIO, DW_IRQ_MASK, true);
pio_handler_set(DW_IRQ_PIO, DW_IRQ_PIO_ID, DW_IRQ_MASK, DW_IRQ_ATTR, irq_handler);
pio_enable_interrupt(DW_IRQ_PIO, DW_IRQ_MASK);
pio_handler_set_priority(DW_IRQ_PIO, DW_IRQ_IRQ, 0);
pmc_enable_periph_clk(DW_IRQ_PIO_ID);
}
int main (void)
{
/* Insert system clock initialization code here (sysclk_init()). */
sysclk_init();
board_init();
/* Insert application code here, after the board has been initialized. */
if (SysTick_Config(sysclk_get_cpu_hz() / 1000)) {
puts("-E- Systick configuration error\r");
while (1) {
/* Capture error */
gpio_set_pin_low(LED2_GPIO);
}
}
config_lcd();
pmc_enable_periph_clk(ID_ENC);
//Interrupt for A:
pio_set_input(PIOA, GPIO_A, PIO_DEFAULT);
pio_pull_down(PIOA, GPIO_A, ENABLE);
pio_handler_set(PIOA, ID_ENC, GPIO_A, PIO_IT_RISE_EDGE, pin_handler);
pio_enable_interrupt(PIOA, GPIO_A);
//Interrupt for B:
pio_set_input(PIOA, GPIO_B, PIO_DEFAULT);
pio_pull_down(PIOA, GPIO_B, ENABLE);
pio_handler_set(PIOA, ID_ENC, GPIO_B, PIO_IT_RISE_EDGE, pin_handler);
pio_enable_interrupt(PIOA, GPIO_B);
//Interrupt for C:
pio_set_input(PIOA, GPIO_C, PIO_DEFAULT);
pio_pull_down(PIOA, GPIO_C, ENABLE);
//pio_handler_set(PIOA, ID_ENC, GPIO_C, PIO_IT_RISE_EDGE, pin_handler);
pio_handler_set(PIOA, ID_ENC, GPIO_C, PIO_IT_FALL_EDGE, pin_handler);
pio_enable_interrupt(PIOA, GPIO_C);
//Enable Interrupt GPIO:
NVIC_DisableIRQ(PIOA_IRQn);
NVIC_ClearPendingIRQ(PIOA_IRQn);
NVIC_SetPriority(PIOA_IRQn, 0);
NVIC_EnableIRQ(PIOA_IRQn);
ili9225_set_foreground_color(COLOR_BLACK);
ili9225_draw_string(10,10, (uint8_t *)"Encoder Test");
while (1){
ili9225_set_foreground_color(COLOR_WHITE);
ili9225_draw_filled_rectangle(0,30,ILI9225_LCD_WIDTH,ILI9225_LCD_HEIGHT);
ili9225_set_foreground_color(COLOR_BLACK);
graus = ((float)round/ENC_RES)*VOLTA_COMP;
snprintf(buf, sizeof(buf), "Graus:%.3f", graus );
ili9225_draw_string(10,50, buf);
snprintf(buf, sizeof(buf), "Round:%d", round );
ili9225_draw_string(10,80, buf);
mdelay(500);
}
}
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;
}
}