/**
* Configure the MCI SDCBUS in the MCI_SDCR register. Only two modes available
*
* \param pMci Pointer to the low level MCI driver.
* \param busWidth MCI bus width mode. 00: 1-bit, 10: 4-bit, 11: 8-bit.
*/
uint32_t MCI_SetBusWidth(Mcid*pMci, uint32_t busWidth)
{
Hsmci *pMciHw = pMci->pMciHw;
uint32_t mciSdcr;
uint8_t mciDis;
assert(pMci);
assert(pMci->pMciHw);
if( (busWidth != HSMCI_SDCR_SDCBUS_1) && (busWidth != HSMCI_SDCR_SDCBUS_4) && (busWidth != HSMCI_SDCR_SDCBUS_8) )
{
return (uint32_t)-1;
}
busWidth &= HSMCI_SDCR_SDCBUS_Msk ;
PMC_EnablePeripheral(pMci->mciId);
mciDis = PMC_IsPeriphEnabled(pMci->mciId);
mciSdcr = (pMciHw->HSMCI_SDCR & ~(uint32_t)(HSMCI_SDCR_SDCBUS_Msk));
pMciHw->HSMCI_SDCR = mciSdcr | busWidth;
if (mciDis)
{
PMC_DisablePeripheral(pMci->mciId);
}
return 0;
}
unsigned char AccelInit(void)
{
PIO_Configure(accIntPins, PIO_LISTSIZE(accIntPins));
if(PMC_IsPeriphEnabled(AT91C_ID_TWI) == 0){
PIO_Configure(twiPins, PIO_LISTSIZE(twiPins));
PMC_EnablePeripheral(AT91C_ID_TWI);
TWI_ConfigureMaster(AT91C_BASE_TWI,TWCK,MCK);
}
usleep(10000);
#ifdef STACCEL
// ST Accelerometer
char setup[4];
setup[0] = (1<<5)|(2<<3)|7; // Normal power, data rate = 400Hz, ZYX axis enabled
setup[1] = 0; // Do not add filter stuff
setup[2] = (2<<0); // Data ready interrupt on INT 2 pad
setup[3] = (0<<4); // do update between reads, and set scale to +/- 2g's
WriteAccelData(0x20|(1<<7),setup,4);
#else
// Freescale Accelerometer
//AccelCalibration();
AccelSetScale(2);
AccelSetCalibration();
#endif
SetPitCallback(AccelCallback,3);
return 0;
}
void SensorsTestInit()
{
char pinDirection = 0;
int i;
PIO_Configure(aDigitalOuts, PIO_LISTSIZE(aDigitalOuts));
PIO_Configure(digitalIns, PIO_LISTSIZE(digitalIns));
PIO_Configure(sensorsPower, PIO_LISTSIZE(sensorsPower));
PMC_EnablePeripheral(AT91C_ID_PIOB);
PMC_EnablePeripheral(AT91C_ID_PIOA);
SelectAng0(); // select analog port 0 to be mesured instead of BattVoltage
SensorPowerOn(); // turn on the Vcc line
if(PMC_IsPeriphEnabled(AT91C_ID_TWI) == 0){
PIO_Configure(twiPortPins, PIO_LISTSIZE(twiPortPins));
PMC_EnablePeripheral(AT91C_ID_TWI);
TWI_ConfigureMaster(AT91C_BASE_TWI,TWCK,MCK);
}
// set all pins on pullup chip to output
WritePullupData(0x00,&pinDirection,1);
WritePullupData(0x01,&pinDirection,1);
for(i = 0;i < 8;i++){
if(i>1) AnalogPullup(i,0); // disable Analog pullups for output test
DigitalPullup(i,1); // enable all digital pullups
}
}
/**
* Configure the MCI CLKDIV in the MCI_MR register. The max. for MCI clock is
* MCK/2 and corresponds to CLKDIV = 0
* \param pMci Pointer to the low level MCI driver.
* \param mciSpeed MCI clock speed in Hz, 0 will not change current speed.
* \param mck MCK to generate MCI Clock, in Hz
* \return The actual speed used, 0 for fail.
*/
uint32_t MCI_SetSpeed( Mcid* pMci, uint32_t mciSpeed, uint32_t mck )
{
Hsmci *pMciHw = pMci->pMciHw;
uint32_t mciMr;
uint32_t clkdiv;
uint8_t mciDis;
assert(pMci);
assert(pMciHw);
PMC_EnablePeripheral(pMci->mciId);
mciDis = PMC_IsPeriphEnabled(pMci->mciId);
mciMr = pMciHw->HSMCI_MR & (~(uint32_t)HSMCI_MR_CLKDIV_Msk);
/* Multimedia Card Interface clock (MCCK or MCI_CK) is Master Clock (MCK)
* divided by (2*(CLKDIV+1))
* mciSpeed = MCK / (2*(CLKDIV+1)) */
if (mciSpeed > 0)
{
clkdiv = (mck / 2 / mciSpeed);
/* Speed should not bigger than expired one */
if (mciSpeed < mck/2/clkdiv)
{
clkdiv ++;
}
if ( clkdiv > 0 )
{
clkdiv -= 1;
}
assert( (clkdiv & 0xFFFFFF00) == 0 ) ; /* "mciSpeed too small" */
}
else
{
clkdiv = 0 ;
}
/* Actual MCI speed */
mciSpeed = mck / 2 / (clkdiv + 1);
/* Modify MR */
pMciHw->HSMCI_MR = mciMr | clkdiv;
if ( mciDis )
{
PMC_DisablePeripheral( pMci->mciId ) ;
}
return (mciSpeed);
}
/**
* Configure the MCI_CFG to enable the HS mode
* \param pMci Pointer to the low level MCI driver.
* \param hsEnable 1 to enable, 0 to disable HS mode.
*/
uint8_t MCI_EnableHsMode(Mcid* pMci, uint8_t hsEnable)
{
Hsmci *pMciHw = pMci->pMciHw;
uint32_t cfgr;
uint8_t mciDis;
uint8_t rc = 0;
assert(pMci);
assert(pMci->pMciHw);
PMC_EnablePeripheral(pMci->mciId);
mciDis = PMC_IsPeriphEnabled(pMci->mciId);
cfgr = pMciHw->HSMCI_CFG;
if (hsEnable == 1)
{
cfgr |= HSMCI_CFG_HSMODE;
}
else
{
if (hsEnable == 0)
{
cfgr &= ~(uint32_t)HSMCI_CFG_HSMODE;
}
else
{
rc = ((cfgr & HSMCI_CFG_HSMODE) != 0);
}
}
pMciHw->HSMCI_CFG = cfgr;
if (mciDis)
{
PMC_DisablePeripheral(pMci->mciId);
}
return rc;
}
void SensorsInit()
{
char pinDirection = 0;
int i;
PIO_Configure(analogs, PIO_LISTSIZE(analogs));
PIO_Configure(digitalIns, PIO_LISTSIZE(digitalIns));
PIO_Configure(sensorsPower, PIO_LISTSIZE(sensorsPower));
PMC_EnablePeripheral(AT91C_ID_PIOB);
PMC_EnablePeripheral(AT91C_ID_PIOA);
PMC_EnablePeripheral(AT91C_ID_ADC1);
ADC_Initialize(AT91C_BASE_ADC1, AT91C_ID_ADC1, AT91C_ADC_TRGEN_DIS, \
0, AT91C_ADC_SLEEP_NORMAL_MODE, AT91C_ADC_LOWRES_10_BIT, \
MCK, BOARD_ADC_FREQ, 10, 3000);
for(i = 0;i < 8;i++) ADC_EnableChannel(AT91C_BASE_ADC1, i);
SetPitCallback(SensorsCallback,1);
SelectAng0(); // select analog port 0 to be mesured instead of BattVoltage
SensorPowerOn(); // turn on the Vcc line
if(PMC_IsPeriphEnabled(AT91C_ID_TWI) == 0){
PIO_Configure(twiPortPins, PIO_LISTSIZE(twiPortPins));
PMC_EnablePeripheral(AT91C_ID_TWI);
TWI_ConfigureMaster(AT91C_BASE_TWI,TWCK,MCK);
}
// set all pins on pullup chip to output
WritePullupData(0x00,&pinDirection,1);
WritePullupData(0x01,&pinDirection,1);
for(i = 0;i < 8;i++){
if(i>1) AnalogPullup(i,1); // enable pullups if needed
DigitalPullup(i,1); // enable all digital pullups
}
}
/**
* Reset MCI HW interface and disable it.
* \param keepSettings Keep old register settings, including
* _MR, _SDCR, _DTOR, _CSTOR, _DMA and _CFG.
*/
void MCI_Reset(Mcid *pMci, uint8_t keepSettings)
{
Hsmci *pMciHw = pMci->pMciHw;
uint8_t mciDis;
assert(pMci);
assert(pMci->pMciHw);
PMC_EnablePeripheral(pMci->mciId);
mciDis = PMC_IsPeriphEnabled(pMci->mciId);
if (keepSettings)
{
uint32_t mr, sdcr, dtor, cstor;
uint32_t cfg;
mr = pMciHw->HSMCI_MR;
sdcr = pMciHw->HSMCI_SDCR;
dtor = pMciHw->HSMCI_DTOR;
cstor = pMciHw->HSMCI_CSTOR;
cfg = pMciHw->HSMCI_CFG;
MCI_RESET(pMciHw);
MCI_Disable(pMciHw);
pMciHw->HSMCI_MR = mr;
pMciHw->HSMCI_SDCR = sdcr;
pMciHw->HSMCI_DTOR = dtor;
pMciHw->HSMCI_CSTOR = cstor;
pMciHw->HSMCI_CFG = cfg;
}
else
{
MCI_RESET(pMciHw);
MCI_Disable(pMciHw);
}
if ( mciDis )
{
PMC_DisablePeripheral( pMci->mciId ) ;
}
}
/**
* Enable MCI peripheral access clock
*/
static uint8_t _PeripheralEnable(uint32_t id)
{
if (PMC_IsPeriphEnabled(id)) return 0;
PMC_EnablePeripheral(id);
return 1;
}
