void RC::Start(char UsePPM)
{
data.Pins[0] = Scale * 2000; // Throttle is "off"
for( int i=1; i<8; i++ ) {
data.Pins[i] = Scale * 3000; // All other values are centered
}
if( UsePPM ) {
data.PinMask = PIN_RC_0_MASK; // Elev8-FC pins are defined in pins.h
use_cog_driver(rc_driver_ppm);
Cog = load_cog_driver(rc_driver_ppm, &data) + 1;
}
else {
// Input pins are P0,1,2,3,4,5,26,27
data.PinMask = PIN_RC_MASK; // Elev8-FC pins are defined in pins.h
#if defined( __PINS_V2_H__ )
use_cog_driver(rc_driver_v2);
Cog = load_cog_driver(rc_driver_v2, &data) + 1;
#endif
#if defined( __PINS_V3_H__ )
use_cog_driver(rc_driver_v3);
Cog = load_cog_driver(rc_driver_v3, &data) + 1;
#endif
}
}
I2C *i2cOpen(I2C_COGDRIVER *dev, int scl, int sda, int freq)
{
use_cog_driver(i2c_driver);
I2C_INIT init;
int id;
// only allow speeds up to 400khz for now
if (freq > 400000)
return NULL;
init.scl = scl;
init.sda = sda;
init.ticks_per_cycle = CLKFREQ / freq;
init.mailbox = &dev->mailbox;
dev->mailbox.cmd = I2C_CMD_INIT;
if ((id = load_cog_driver(i2c_driver, &init)) < 0)
return NULL;
dev->cog = id;
while (dev->mailbox.cmd != I2C_CMD_IDLE)
;
dev->i2c.ops = &cog_i2c_ops;
return (I2C *)dev;
}
void SBUS::Start( int InputPin )
{
data.InputMask = 1 << InputPin;
data.BaudDelay = Const_ClockFreq / 100000; // SBUS is 100,000 bps
data.Channels[0] = 0; // Throttle is zero'd
for( int i=1; i<18; i++ ) {
data.Channels[i] = 1024; // All other channels are centered
}
use_cog_driver(sbus_driver);
Cog = load_cog_driver(sbus_driver, &data) + 1;
}
/**
* start initializes and starts native assembly driver in a cog.
* @param rxpin is pin number for receive input
* @param txpin is pin number for transmit output
* @param mode is interface mode. see header FDSERIAL_MODE_...
* @param baudrate is frequency of bits ... 115200, 57600, etc...
* @returns non-zero on success
*/
int FdSerial_start(FdSerial_t *data, int rxpin, int txpin, int mode, int baudrate)
{
use_cog_driver(FullDuplexSerial);
memset(data, 0, sizeof(FdSerial_t));
data->rx_pin = rxpin; // receive pin
data->tx_pin = txpin; // transmit pin
data->mode = mode; // interface mode
data->ticks = _clkfreq / baudrate; // baud
data->buffptr = (int)&data->rxbuff[0];
data->cogId = load_cog_driver(FullDuplexSerial, data) + 1;
return data->cogId;
}
int F32::Start(void)
{
// Start start floating point engine in a new cog.
// Returns: True (non-zero) if cog started, or False (0) if no cog is available.
F32::Stop();
v.f32_cmd = 0;
use_cog_driver(F32_driver);
uint32_t * driverMem = get_cog_driver(F32_driver);
int i=0;
while( driverMem[i] != 0x12345678 )
i++;
cmdCallTableAddr = (int *)driverMem + i + 1;
load_cog_driver(F32_driver, &v.f32_cmd);
return cog;
}
/**
* XbeeFrame_start - initializes and starts the xbee frame driver in a cog.
* @param init is the initialization structure
* @param mailbox is the mailbox structure
* @param rxpin is pin number for receive input
* @param txpin is pin number for transmit output
* @param rtspin is pin number for rts
* @param baudrate is frequency of bits ... 115200, 57600, etc...
* @returns COG ID on success and -1 on failure
*/
int XbeeFrame_start(XbeeFrame_t *mailbox, int rxpin, int txpin, int rtspin, int baudrate)
{
volatile XbeeFrameInit_t init;
use_cog_driver(xbeeframe_driver);
init.mailbox = mailbox; // mailbox
init.rx_pin = rxpin; // receive pin
init.tx_pin = txpin; // transmit pin
init.rts_pin = rtspin; // rts pin
init.ticks = _clkfreq / baudrate; // baud
init.rxlength = XBEEFRAME_RXSIZE; // receive buffer length
init.buffers = mailbox->buffers; // receive buffers
memset(mailbox, 0, sizeof(XbeeFrame_t));
mailbox->cogId = load_cog_driver(xbeeframe_driver, &init);
while (init.mailbox)
;
return mailbox->cogId;
}
