/**
* Read the sampleas, write them to {link}samples.
*/
void read_samples()
{
// don't smaple slider, value is set by interrupt handler ...
// samples.slider.value = 0;
int s;
if(enable_sound) {
s = pin_pulselength_read_dhf(SOUND);
while(s > 1023) s = s / 2;
samples.sound.value = s;
}
samples.light.value = (pin_digital_read(LIGHT) ? 0xFFFF : 0);
samples.button.value = (pin_digital_read(BUTTON) ? 0xFFFF : 0);
samples.resa.value = pin_analog_read(RESA);
samples.resb.value = pin_analog_read(RESB);
samples.resc.value = pin_analog_read(RESC);
samples.resd.value = pin_analog_read(RESD);
}
int pin_pulselength_read(unsigned char pin)
{
unsigned char pf = pin_function(pin);
if(pf != PIN_FUNCTION_INPUT_FLOAT && pf != PIN_FUNCTION_INPUT_PULLUP &&
pf != PIN_FUNCTION_INPUT_PULLDOWN) {
return PIN_STAT_ERR_UNSUPFUNC;
}
int to = 32767;
int t = 0;
// 1. check current state s of pin
int s = pin_digital_read(pin);
// 2. wait until pin toggeles to ~s
int ds = s;
if(s < 0) return s;
while(ds == s) {
ds = pin_digital_read(pin);
if(ds < 0) return ds;
// if max-t is reached, return (timeout)
if(t++ == to) return to;
}
// 3. wait until pin toggles back to s, measure time
t = 0;
while(ds != s) {
ds = pin_digital_read(pin);
if(ds < 0) return ds;
// if max-t is reached, return (timeout)
if(t++ == to) return to;
}
return t;
}
/**
* Setup the ports.
*/
void setup()
{
// COMM led
pin_setup(COMM, PIN_FUNCTION_OUTPUT);
// READY led
pin_setup(READY, PIN_FUNCTION_OUTPUT);
// BUTTON
pin_setup(BUTTON, PIN_FUNCTION_INPUT_PULLUP);
// RESA
pin_setup(RESA, PIN_FUNCTION_ANALOG_IN);
// RESB
pin_setup(RESB, PIN_FUNCTION_ANALOG_IN);
// RESC
pin_setup(RESC, PIN_FUNCTION_ANALOG_IN);
// RESC
pin_setup(RESD, PIN_FUNCTION_ANALOG_IN);
// SLIDER-UP
pin_setup(SLIDER_UP, PIN_FUNCTION_INPUT_PULLUP);
pin_exti_function(SLIDER_UP, PIN_FUNCTION_EXTI_HIGHLOW, 0);
// SLIDER-DOWN
pin_setup(SLIDER_DWN, PIN_FUNCTION_INPUT_PULLUP);
pin_exti_function(SLIDER_DWN, PIN_FUNCTION_EXTI_HIGHLOW, 0);
// 1st check if sensors are available (not av. when high)
pin_setup(SOUND, PIN_FUNCTION_INPUT_PULLDOWN);
enable_sound = (pin_digital_read(SOUND) ? 0 : 1);
if(enable_sound) {
// SOUND
pin_setup(SOUND, PIN_FUNCTION_INPUT_FLOAT);
}
pin_setup(LIGHT, PIN_FUNCTION_INPUT_PULLDOWN);
// show that mcu is ready
pin_set(READY);
}
int main(void)
{
clock_init();
pin_reserve(PIN_1_1);
pin_reserve(PIN_1_2);
serial_init(9600);
cio_print("** ROCKETuC - librocketcore PIN test **\n\r");
dump_regs("initial");
// invalid port
if(pin_setup(0x30, PIN_FUNCTION_OUTPUT) == PIN_STAT_ERR_INVALPORT) {
cio_print("0x30 is an invalid port\n\r");
}
// invalid pin
if(pin_setup(0x2A, PIN_FUNCTION_OUTPUT) == PIN_STAT_ERR_INVALPIN) {
cio_print("0x2A is an invalid pin\n\r");
}
// P1.1 + P1.2 are reserved for UART1
if(pin_setup(PIN_1_1, PIN_FUNCTION_OUTPUT) == PIN_STAT_ERR_INVALPIN) {
cio_print("0x11 is an invalid (reserved) pin\n\r");
}
if(pin_setup(PIN_1_2, PIN_FUNCTION_OUTPUT) == PIN_STAT_ERR_INVALPIN) {
cio_print("0x12 is an invalid (reserved) pin\n\r");
}
// pins on port 2 do not support ADC
int p;
for(p = 0; p < 8; p++) {
if(pin_setup(PIN_2_0 + p, PIN_FUNCTION_ANALOG_IN) == PIN_STAT_ERR_UNSUPFUNC) {
cio_printf("0x2%i does not support ADC\n\r", p);
}
}
// set P1.0 + P1.6 + P2.5 to output (the build in LEDs)
pin_setup(PIN_1_0, PIN_FUNCTION_OUTPUT);
pin_setup(PIN_1_6, PIN_FUNCTION_OUTPUT);
pin_setup(PIN_2_5, PIN_FUNCTION_OUTPUT);
dump_regs("p1.0+p1.6+p2.5 output");
// set P1.0 + P1.6 + P2.5 to HIGH
pin_set(PIN_1_0);
pin_set(PIN_1_6);
pin_set(PIN_2_5);
dump_regs("p1.0+p1.6+p2.5 set");
// read P1.0 + P1.6 + p2.5 states
cio_printf("P1.0 is %x\n\r", pin_digital_read(PIN_1_0));
cio_printf("P1.6 is %x\n\r", pin_digital_read(PIN_1_6));
cio_printf("P2.5 is %x\n\r", pin_digital_read(PIN_2_5));
// clear P1.0 + p1.6 + p2.5 to LOW
pin_clear(PIN_1_0);
pin_clear(PIN_1_6);
pin_clear(PIN_2_5);
dump_regs("p1.0+p1.6+p2.5 clear");
// read P1.0 + P1.6 + 2.5 states
cio_printf("P1.0 is %x\n\r", pin_digital_read(PIN_1_0));
cio_printf("P1.6 is %x\n\r", pin_digital_read(PIN_1_6));
cio_printf("P2.5 is %x\n\r", pin_digital_read(PIN_2_5));
// toggle P1.0 + P1.6 + P2.5
pin_toggle(PIN_1_0);
pin_toggle(PIN_1_6);
pin_toggle(PIN_2_5);
dump_regs("p1.0+p1.6+p2.5 toggle");
// read P1.0 + P1.6 states
cio_printf("P1.0 is %x\n\r", pin_digital_read(PIN_1_0));
cio_printf("P1.6 is %x\n\r", pin_digital_read(PIN_1_6));
cio_printf("P2.5 is %x\n\r", pin_digital_read(PIN_2_5));
// toggle P1.0 + P1.6 + P2.5
pin_toggle(PIN_1_0);
pin_toggle(PIN_1_6);
pin_toggle(PIN_2_5);
dump_regs("p1.0+p1.6+p2.5 toggle");
// read P1.0 + P1.6 states
cio_printf("P1.0 is %x\n\r", pin_digital_read(PIN_1_0));
cio_printf("P1.6 is %x\n\r", pin_digital_read(PIN_1_6));
cio_printf("P2.5 is %x\n\r", pin_digital_read(PIN_2_5));
// set P1.3 to input float
pin_setup(PIN_1_3, PIN_FUNCTION_INPUT_FLOAT);
dump_regs("p1.3 input float");
cio_print("Press button on P1.3 to continue ...");
while(pin_digital_read(PIN_1_3)) __asm__("nop");
cio_print(" OK\n\r");
// set P2.3 to input pull-down
pin_setup(PIN_2_3, PIN_FUNCTION_INPUT_PULLDOWN);
dump_regs("p2.3 input pull-down");
cio_print("Press button on P2.3 to continue ...");
while(!pin_digital_read(PIN_2_3)) __asm__("nop");
cio_print(" OK\n\r");
// set P2.4 to input pull-down
pin_setup(PIN_2_4, PIN_FUNCTION_INPUT_PULLUP);
dump_regs("p2.4 input pull-up");
cio_print("Press button on P2.4 to continue ...");
while(pin_digital_read(PIN_2_4)) __asm__("nop");
cio_print(" OK\n\r");
int pl = 0;
cio_print("Press button on P1.3 for pulselength read ...");
delay(50000);
pl = pin_pulselength_read(PIN_1_3);
cio_printf(" OK, pl=%i\n\r", pl);
cio_print("Press button on P2.3 for pulselength read ...");
delay(50000);
pl = pin_pulselength_read(PIN_2_3);
cio_printf(" OK, pl=%i\n\r", pl);
cio_print("Press button on P2.4 for pulselength read ...");
delay(50000);
pl = pin_pulselength_read(PIN_2_4);
cio_printf(" OK, pl=%i\n\r", pl);
pin_set(PIN_1_0);
pin_clear(PIN_1_6);
pin_clear(PIN_2_5);
// set P1.5 to analog in
int i = 0;
cio_printf("setup 1.5 for analog in: %i\n\r", pin_setup(PIN_1_5, PIN_FUNCTION_ANALOG_IN));
dump_regs("p1.5 analog in");
int adcin1 = pin_analog_read(PIN_1_5);
int adcin2 = 0;
cio_printf("Analog read p1.5: %x\n\r", adcin1);
// set P2.2 to PWM with period of 20ms and duty cycle of 7.5%
cio_printf("setup 2.2 for PWM: %i\n\r", pin_setup(PIN_2_2, PIN_FUNCTION_PWM));
dump_regs("p2.2 PWM");
// only one of the two possible pins on port two are allowed to be set to PWM
cio_printf("setup 2.1 for PWM: %i\n\r", pin_setup(PIN_2_1, PIN_FUNCTION_PWM));
// period
pin_pwm_function(PIN_2_2, 20000);
pin_pwm_control(PIN_2_2, adc2dc(adcin1));
while (1) {
delay();
pin_toggle(PIN_1_0);
pin_toggle(PIN_1_6);
if(i++ % 2 == 0) {
pin_toggle(PIN_2_5);
}
if(!pin_digital_read(PIN_1_3)) {
pin_toggle(PIN_1_6);
while(!pin_digital_read(PIN_1_3)) __asm__("nop");
}
adcin2 = pin_analog_read(PIN_1_5);
// only output ADC value if delta was more then 5
if(adcin2 - adcin1 > 5 || adcin1 - adcin2 > 5) {
adcin1 = adcin2;
cio_printf("Analog read at p1.5: %x (%i)\n\r", adcin2, adcin2);
pin_pwm_control(PIN_2_2, adc2dc(adcin1));
}
}
return 0;
}
int handle_packet_pin_control(unsigned char length, unsigned char *data)
{
int s = PACKET_STAT_OK;
// check if length matches for packet-data
if(length != 2) {
send_status_packet(PACKET_RETURN_INAVLID_DATA);
return PACKET_STAT_ERR_DATA;
}
packet_data_in_pin_control *pd = (packet_data_in_pin_control *)&data[0];
switch(pd->control) {
case PIN_CONTROL_CLEAR:
if((s = pin_clear(pd->pin)) != PACKET_STAT_OK) {
send_status_packet(PACKET_RETURN_INVALID_PIN_COMMAND);
}
else {
send_status_packet(PACKET_RETURN_ACK);
}
break;
case PIN_CONTROL_SET:
if((s = pin_set(pd->pin)) != PACKET_STAT_OK) {
send_status_packet(PACKET_RETURN_INVALID_PIN_COMMAND);
}
else {
send_status_packet(PACKET_RETURN_ACK);
}
break;
case PIN_CONTROL_TOGGLE:
if((s = pin_toggle(pd->pin)) != PACKET_STAT_OK) {
send_status_packet(PACKET_RETURN_INVALID_PIN_COMMAND);
}
else {
send_status_packet(PACKET_RETURN_ACK);
}
break;
case PIN_CONTROL_DIGITAL_READ:
if((s = pin_digital_read(pd->pin)) < 0) {
send_status_packet(PACKET_RETURN_INVALID_PIN_COMMAND);
}
else {
packet_data_out_digital_pin_read *pdo = (packet_data_out_digital_pin_read *)&outp.data[0];
outp.start = PACKET_OUTBOUND_START;
outp.length = 6;
outp.type = PACKET_OUT_DIGITAL_PIN_READ;
pdo->pin = pd->pin;
pdo->state = s;
outp.crc = packet_calc_crc(&outp);
packet_send(&outp);
}
break;
case PIN_CONTROL_ANALOG_READ:
if((s = pin_analog_read(pd->pin)) < 0) {
send_status_packet(PACKET_RETURN_INVALID_PIN_COMMAND);
}
else {
packet_data_out_analog_pin_read *pdo = (packet_data_out_analog_pin_read *)&outp.data[0];
outp.start = PACKET_OUTBOUND_START;
outp.length = 7;
outp.type = PACKET_OUT_ANALOG_PIN_READ;
pdo->pin = pd->pin;
pdo->value_lsb = (0x00FF & s);
pdo->value_msb = (0x0F00 & s) >> 8;
outp.crc = packet_calc_crc(&outp);
packet_send(&outp);
}
break;
case PIN_CONTROL_PULSELENGTH_READ:
if((s = pin_pulselength_read(pd->pin)) < 0) {
send_status_packet(PACKET_RETURN_INVALID_PIN_COMMAND);
}
else {
packet_data_out_pulselength_read *pdo =
( packet_data_out_pulselength_read *)&outp.data[0];
outp.start = PACKET_OUTBOUND_START;
outp.length = 7;
outp.type = PACKET_OUT_PULSELENGHT_READ;
pdo->pin = pd->pin;
pdo->value_lsb = (0x00FF & s);
pdo->value_msb = (0x7F00 & s) >> 8;
outp.crc = packet_calc_crc(&outp);
packet_send(&outp);
}
break;
default:
send_status_packet(PACKET_RETURN_INVALID_PIN_COMMAND);
s = PACKET_STAT_ERR_DATA;
}
return s;
}
