/**
* \brief Configures one or more pin(s) of a PIO controller as outputs, with the
* given default value. Optionally, the multi-drive feature can be enabled
* on the pin(s).
*
* \param pPio Pointer to a PIO controller.
* \param dwMask Bitmask indicating which pin(s) to configure.
* \param defaultValue Default level on the pin(s).
* \param enableMultiDrive Indicates if the pin(s) shall be configured as open-drain.
* \param enablePullUp Indicates if the pin shall have its pull-up activated.
*/
extern void PIO_SetOutput( Pio* pPio, uint32_t dwMask, uint32_t dwDefaultValue,
uint32_t dwMultiDriveEnable, uint32_t dwPullUpEnable )
{
PIO_DisableInterrupt( pPio, dwMask ) ;
PIO_PullUp( pPio, dwMask, dwPullUpEnable ) ;
/* Enable multi-drive if necessary */
if ( dwMultiDriveEnable )
{
pPio->PIO_MDER = dwMask ;
}
else
{
pPio->PIO_MDDR = dwMask ;
}
/* Set default value */
if ( dwDefaultValue )
{
pPio->PIO_SODR = dwMask ;
}
else
{
pPio->PIO_CODR = dwMask ;
}
/* Configure pin(s) as output(s) */
pPio->PIO_OER = dwMask ;
pPio->PIO_PER = dwMask ;
}
/**
* \brief Configures one or more pin(s) or a PIO controller as inputs. Optionally,
* the corresponding internal pull-up(s) and glitch filter(s) can be enabled.
*
* \param pPio Pointer to a PIO controller.
* \param dwMask Bitmask indicating which pin(s) to configure as input(s).
* \param dwAttribute .
*/
extern void PIO_SetInput( Pio* pPio, uint32_t dwMask, uint32_t dwAttribute )
{
PIO_DisableInterrupt( pPio, dwMask ) ;
PIO_PullUp( pPio, dwMask, dwAttribute & PIO_PULLUP ) ;
/* Enable Input Filter if necessary */
if ( dwAttribute & (PIO_DEGLITCH | PIO_DEBOUNCE) )
{
pPio->PIO_IFER = dwMask ;
}
else
{
pPio->PIO_IFDR = dwMask ;
}
/* Enable de-glitch or de-bounce if necessary */
if ( dwAttribute & PIO_DEGLITCH )
{
pPio->PIO_SCIFSR = dwMask ;
}
else
{
if ( dwAttribute & PIO_DEBOUNCE )
{
pPio->PIO_SCIFSR = dwMask ;
}
}
/* Configure pin as input */
pPio->PIO_ODR = dwMask ;
pPio->PIO_PER = dwMask ;
}
/**
* \brief Configures one or more pin(s) or a PIO controller as inputs. Optionally,
* the corresponding internal pull-up(s) and glitch filter(s) can be enabled.
*
* \param pPio Pointer to a PIO controller.
* \param dwMask Bitmask indicating which pin(s) to configure as input(s).
* \param dwAttribute .
*/
extern void PIO_SetInput( Pio* pPio, uint32_t dwMask, uint32_t dwAttribute )
{
PIO_DisableInterrupt( pPio, dwMask ) ;
PIO_PullUp( pPio, dwMask, dwAttribute & PIO_PULLUP ) ;
/* Enable Input Filter if necessary */
if ( dwAttribute & (PIO_DEGLITCH | PIO_DEBOUNCE) )
{
pPio->PIO_IFER = dwMask ;
}
else
{
pPio->PIO_IFDR = dwMask ;
}
/* Enable de-glitch or de-bounce if necessary */
#if (defined _SAM3S_) || (defined _SAM3S8_) || (defined _SAM3N_)
if ( dwAttribute & PIO_DEGLITCH )
{
pPio->PIO_IFSCDR = dwMask ;
}
else
{
if ( dwAttribute & PIO_DEBOUNCE )
{
pPio->PIO_IFSCER = dwMask ;
}
}
#elif (defined _SAM3U_) || (defined _SAM3XA_)
if ( dwAttribute & PIO_DEGLITCH )
{
pPio->PIO_SCIFSR = dwMask ;
}
else
{
if ( dwAttribute & PIO_DEBOUNCE )
{
pPio->PIO_SCIFSR = dwMask ;
}
}
#else
#error "The specified chip is not supported."
#endif
/* Configure pin as input */
pPio->PIO_ODR = dwMask ;
pPio->PIO_PER = dwMask ;
}
extern void digitalWrite( uint32_t ulPin, uint32_t ulVal )
{
/* Handle */
if ( g_APinDescription[ulPin].ulPinType == PIO_NOT_A_PIN )
{
return ;
}
if ((g_pinStatus[ulPin] & 0xF) == PIN_STATUS_PWM) {
pinMode(ulPin, OUTPUT);
}
g_pinStatus[ulPin] = (g_pinStatus[ulPin] & 0x0F) | (ulVal << 4) ;
if ( PIO_GetOutputDataStatus( g_APinDescription[ulPin].pPort, g_APinDescription[ulPin].ulPin ) == 0 )
{
PIO_PullUp( g_APinDescription[ulPin].pPort, g_APinDescription[ulPin].ulPin, ulVal ) ;
}
else
{
PIO_SetOutput( g_APinDescription[ulPin].pPort, g_APinDescription[ulPin].ulPin, ulVal, 0, PIO_PULLUP ) ;
}
}
extern void digitalWrite( uint32_t ulPin, uint32_t ulVal )
{
/* Handle */
if ( g_APinDescription[ulPin].ulPinType == PIO_NOT_A_PIN )
{
return ;
}
/* Added by Y.Ishioka */
if( ulPin == 13 ) {
led_set( ulVal & 0x01 ) ;
return ;
}
if ( PIO_GetOutputDataStatus( g_APinDescription[ulPin].pPort, g_APinDescription[ulPin].ulPin ) == 0 )
{
PIO_PullUp( g_APinDescription[ulPin].pPort, g_APinDescription[ulPin].ulPin, ulVal ) ;
}
else
{
PIO_SetOutput( g_APinDescription[ulPin].pPort, g_APinDescription[ulPin].ulPin, ulVal, 0, PIO_PULLUP ) ;
}
}
/**
*
* \return 1 if the pins have been configured properly; otherwise 0.
*/
extern uint32_t PIO_Configure( Pio* pPio, const EPioType dwType, const uint32_t dwMask, const uint32_t dwAttribute )
{
/* Configure pins */
switch ( dwType )
{
case PIO_PERIPH_A :
case PIO_PERIPH_B :
#if (defined _SAM3S_) || (defined _SAM3S8_) || (defined _SAM3N_)
case PIO_PERIPH_C :
case PIO_PERIPH_D :
#endif /* (defined _SAM3S_) || (defined _SAM3S8_) || (defined _SAM3N_) */
/* Put the pin under control of peripheral */
PIO_SetPeripheral( pPio, dwType, dwMask ) ;
/* Disable interrupts on the pin(s) */
PIO_DisableInterrupt( pPio, dwMask ) ;
/* Enable Pullup */
PIO_PullUp( pPio, dwMask, (dwAttribute & PIO_PULLUP) ) ;
break;
case PIO_INPUT :
PIO_SetInput( pPio, dwMask, dwAttribute ) ;
break;
case PIO_OUTPUT_0 :
case PIO_OUTPUT_1 :
PIO_SetOutput( pPio, dwMask, (dwType == PIO_OUTPUT_1),
(dwAttribute & PIO_OPENDRAIN) ? 1 : 0,
(dwAttribute & PIO_PULLUP) ? 1 : 0);
break ;
default :
return 0 ;
}
return 1 ;
}
//Set up the PWM on the pin specified with the alignment and polarity specified
customPWM::customPWM(int channel, bool alignment, bool polarity)
{
period = globPeriod;
_lowFreq = period/3; //Calculate the low duty cycle setting, for the motor controller
currentDuty = DUTY;
motorDuty = DUTY;
//Get the appropriate number if a pin is given
switch(channel)
{
case 34:
_channel = 0;
break;
case 36:
_channel = 1;
break;
case 38:
_channel = 2;
break;
case 40:
_channel = 3;
break;
case 9:
_channel = 4;
break;
case 8:
_channel = 5;
break;
case 7:
_channel = 6;
break;
case 6:
_channel = 7;
break;
default:
assert(0); //You didn't give it a correct pin
}
//If its not enabled yet, then enable it with the default settings
if(!isEnabled)
{
customPWMinit(globFrequency, globPeriod);
}
//Arduino code to set the correct settings on the pins
PIO_SetPeripheral(port[_channel], type[_channel], pin[_channel]); //Set the peripheral of the pin and remove control from PIO
PIO_DisableInterrupt(port[_channel], pin[_channel]); //Disable the interupt on the pin, not needed since it is disabled in SetPeripheral
PIO_PullUp(port[_channel], pin[_channel], (conf[_channel] & PIO_PULLUP)); //Enables the pullup resistor on the pin
//Configure the channels
//Needed to access the registers because the Arduino code disables the changing of alignment or polarity
unsigned int holder = (0xBu & 0xF) | (polarity<<9) | (alignment<<8);
point->PWM_CH_NUM[_channel].PWM_CMR = holder;
//Set the period (max value)
PWMC_SetPeriod(point, _channel, period);
//Set the default duty cycle
PWMC_SetDutyCycle(point, _channel, DUTY);
//Enable the pin and make it go
PWMC_EnableChannel(point, _channel);
}
