void setup()
{
Serial.begin(38400);
pinMode(ledPin, OUTPUT);
pinMode(analogOutPin, OUTPUT);
analogWriteResolution(8);
}
bool PololuMC33926::init()
{
pinMode(_in1, OUTPUT);
pinMode(_in2, OUTPUT);
if((_D1&_D2)==0xFF){
#ifdef CORE_TEENSY
//increase pwm frequency to 20kHz
analogWriteFrequency(_in1, 20000); //only works when compiling for teensy... TODO: set teensy flag
analogWriteFrequency(_in2, 20000); //only works when compiling for teensy... TODO: set teensy flag
#endif
}
if(_D1!=0xFF){
pinMode(_D1, OUTPUT);
#ifdef CORE_TEENSY
analogWriteFrequency(_D1, 20000);
#endif
}
else if(_D2!=0xFF){
pinMode(_D2, OUTPUT);
#ifdef CORE_TEENSY
analogWriteFrequency(_D2, 20000);
#endif
}
#ifdef CORE_TEENSY
analogWriteResolution(8);
#endif
return _battery_voltage_sensor->init();
}
void RGBWLamp::begin(void) {
for (std::vector<int>::iterator i=_pins.begin(); i != _pins.end(); ++i) {
pinMode(*i, OUTPUT);
analogWrite(*i, 0);
analogWriteFrequency(*i, _PWMfrequency);
}
analogWriteResolution(_resolution);
}
void FPR_control::set_precision(int pwmBits, int adcBits)
{
_pwmBits = pwmBits;
_adcBits = adcBits;
//ADC and PWM precision
analogWriteResolution(_pwmBits);
analogReadResolution(_adcBits);
}
static void startAudioStandard()
{
//backupPreMozziTimer1(); // not for Teensy 3.1
analogWriteResolution(12);
adc->setAveraging(0);
adc->setConversionSpeed(ADC_MED_SPEED); // could be ADC_HIGH_SPEED, noisier
timer1.begin(teensyAudioOutput, 1000000UL/AUDIO_RATE);
//backupMozziTimer1(); // // not for Teensy 3.1
}
void setupFlags() {
analogWriteResolution(PWM_BITS);
for(uint8_t i = 0; i < FLAG_COUNT; ++i) {
setupFlagPins(flags[0]);
}
//TODO: how to deal with other flags?
attachFlag0Interrupts(flags[0]);
//TODO: move flags to correct position
}
AudioDestinationNode_T3DAC::AudioDestinationNode_T3DAC()
: AudioNode(), AudioDestinationNode() {
_outputSample = 0;
analogWriteResolution(12);
cli();
synthTimer.begin(synth_isr, 1000000.0 / SAMPLE_RATE);
sei();
}
Motor::Motor(int pin1, int pin2) : pin1(pin1), pin2(pin2)
{
pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT);
// Set up PWM
analogWriteFrequency(pin1, 20000);
analogWriteFrequency(pin2, 20000);
analogWriteResolution(16);
analogWrite(pin1, 0);
analogWrite(pin2, 0);
}
Motor::Motor() {
digitalWrite(MOTOR_DRIVER_ENABLE, LOW);
digitalWrite(MOTOR_DRIVER_GROUND, LOW);
digitalWrite(MOTOR_DRIVER_LEFT_PWM, LOW);
digitalWrite(MOTOR_DRIVER_RIGHT_PWM, LOW);
pinMode(MOTOR_DRIVER_ENABLE, OUTPUT);
pinMode(MOTOR_DRIVER_GROUND, OUTPUT);
pinMode(MOTOR_DRIVER_LEFT_PWM, OUTPUT);
pinMode(MOTOR_DRIVER_RIGHT_PWM, OUTPUT);
analogWriteFrequency(MOTOR_DRIVER_LEFT_PWM, MOTOR_PWM_FREQUENCY);
analogWriteFrequency(MOTOR_DRIVER_RIGHT_PWM, MOTOR_PWM_FREQUENCY);
analogWriteResolution(MOTOR_PWM_RESOLUTION);
}
void setup()
{
// Configure PWM
analogWriteResolution(13);
for (int i = 0; i < 4; i++) {
pinMode(PINS[i], OUTPUT);
analogWriteFrequency(PINS[i], ESC_FREQ);
analogWrite(PINS[i], MIN);
}
// Configure Max sonar
pinMode(MAX_SONAR_PIN, INPUT);
attachInterrupt(MAX_SONAR_PIN, max_sonar_pin_change, CHANGE);
// Configure Serial
Serial.begin(9600);
}
static void startAudioStandard()
{
//backupPreMozziTimer1(); // not for arm
#if IS_TEENSY3()
adc->setAveraging(0);
adc->setConversionSpeed(ADC_CONVERSION_SPEED::MED_SPEED); // could be HIGH_SPEED, noisier
analogWriteResolution(12);
timer1.begin(teensyAudioOutput, 1000000UL/AUDIO_RATE);
#elif IS_STM32()
audio_update_timer.pause();
audio_update_timer.setPeriod(1000000UL/AUDIO_RATE);
audio_update_timer.setChannel1Mode(TIMER_OUTPUT_COMPARE);
audio_update_timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
audio_update_timer.attachCompare1Interrupt(pwmAudioOutput);
audio_update_timer.refresh();
audio_update_timer.resume();
pinMode(AUDIO_CHANNEL_1_PIN, PWM);
#if (AUDIO_MODE == HIFI)
pinMode(AUDIO_CHANNEL_1_PIN_HIGH, PWM);
#endif
#define MAX_CARRIER_FREQ (F_CPU/(1<<AUDIO_BITS_PER_CHANNEL))
#if MAX_CARRIER_FREQ < AUDIO_RATE
#error Configured audio resolution is definitely too high at the configured audio rate (and the given CPU speed)
#elif MAX_CARRIER_FREQ < (AUDIO_RATE * 3)
#warning Configured audio resolution may be higher than optimal at the configured audio rate (and the given CPU speed)
#endif
#if MAX_CARRIER_FREQ < (AUDIO_RATE * 5)
// Generate as fast a carrier as possible
audio_pwm_timer.setPrescaleFactor(1);
#else
// No point in generating arbitrarily high carrier frequencies. In fact, if there _is_ any headroom, give the PWM pin more time to swing from HIGH to LOW and BACK, cleanly
audio_pwm_timer.setPrescaleFactor((int) MAX_CARRIER_FREQ / (AUDIO_RATE * 5));
#endif
audio_pwm_timer.setOverflow(1 << AUDIO_BITS_PER_CHANNEL); // Allocate enough room to write all intended bits
#endif
//backupMozziTimer1(); // // not for arm
}
// pwm setup function
void pwmSetup(){
// set output pins
pinMode(PWMA, OUTPUT);
pinMode(DIRA, OUTPUT);
pinMode(SLPA, OUTPUT);
pinMode(PWMB, OUTPUT);
pinMode(DIRB, OUTPUT);
pinMode(SLPB, OUTPUT);
// change pwm frequency, PWMA and PWMB are on the same timer
analogWriteFrequency(PWMA, 20000);
// set resolution to 10 bits
analogWriteResolution(10);
// set pwm to 0
analogWrite(PWMA, 0);
analogWrite(PWMB, 0);
}
void setup()
{
pinMode(IO13, OUTPUT); /* LED fixed on board */
analogReadResolution(10);
analogWriteResolution(8);
#ifdef ENABLE_GROVE_KIT
Wire.begin();
lcd.begin(16,2); /* set LCD to 16 columns, 2 lines */
lcd.setRGB(0x10, 0x10, 0xe0); /* LCD backlight goes blue */
#endif /* ENABLE_GROVE_KIT */
#ifdef ENABLE_BLUEMIX
/* Connect to IBM Watson IoT */
BluemixClient.connect();
#ifndef ENABLE_BLUEMIX_REGISTERED
Serial.println((char *)"Connected to IBM Watson IoT (Quickstart mode)");
#else
Serial.println((char *)"Connected to IBM Watson IoT (Registered mode)");
#endif /* ENABLE_BLUEMIX_REGISTERED */
#endif /* ENABLE_BLUEMIX */
}
TeensyUnit::TeensyUnit(): Wire(0),
FPWM_pin {FPWM_1_pin, FPWM_2_pin, FPWM_3_pin, FPWM_4_pin, FPWM_5_pin, FPWM_6_pin},
SPWM_pin {SPWM_1_pin, SPWM_2_pin, SPWM_3_pin, SPWM_4_pin, SPWM_5_pin, SPWM_6_pin},
Analog_pin {Analog_1_pin, Analog_2_pin, Analog_3_pin, Analog_4_pin, Analog_5_pin, Analog_6_pin},
sound0(*this, 0),
sound1(*this, 1),
sound2(*this, 2),
sound3(*this, 3),
sound4(*this, 4),
sound5(*this, 5),
sound{sound0, sound1, sound2, sound3, sound4, sound5}
{
//===============================================
//==== pin initialization ====
//===============================================
uint8_t num_ports = 0;
uint8_t num_pins = 0;
//--- Teensy On-Board ---
pinMode(indicator_led_pin, OUTPUT);
//--- Programming Pin ---
pinMode(PGM_DO_pin, OUTPUT);
//--- FPWM pins ---
num_ports = sizeof(FPWM_pin)/sizeof(FPWM_pin[0]);
for (uint8_t j = 0; j<num_ports; j++){
num_pins = sizeof(FPWM_pin[j])/sizeof(FPWM_pin[j][0]);
for (uint8_t i = 0; i<num_pins; i++){
pinMode(FPWM_pin[j][i], OUTPUT);
}
}
//--- Analogue pins ---
num_ports = sizeof(Analog_pin)/sizeof(Analog_pin[0]);
for (uint8_t j = 0; j<num_ports; j++){
num_pins = sizeof(Analog_pin[j])/sizeof(Analog_pin[j][0]);
for (uint8_t i = 0; i<num_pins; i++){
pinMode(Analog_pin[j][i], INPUT);
}
}
//--- Analogue settings ---
analogReadResolution(12);
analogReadAveraging(32);
analogWriteResolution(8);
analogWriteFrequency(0, 1600);
analogWriteFrequency(1, 1600);
analogWriteFrequency(2, 1600);
//--- Slow PWM driver ----
spwm = PWMDriver(0x40);
//--- Multiplexer pins ---
num_pins = sizeof(I2C_MUL_ADR_pin)/sizeof(I2C_MUL_ADR_pin[0]);
for (uint8_t i = 0; i<num_pins; i++){
pinMode(I2C_MUL_ADR_pin[i], OUTPUT);
}
//--- I2C initialization ----
Wire.begin(I2C_MASTER,0x00, I2C_PINS_18_19, I2C_PULLUP_EXT, I2C_RATE_400);
}
/**
* Configures the DAC in event triggered mode.
*
* Configures the DAC to use the module's default configuration, with output
* channel mode configured for event triggered conversions.
*/
void ZerodioClass::dacConfigure(void){
analogWriteResolution(10);
analogWrite(A0, 0);
}
void OctoWS2811::begin(void)
{
uint32_t frequency;
// set up the buffers
memset(frameBuffer[0], 0, bufSize);
memset(frameBuffer[1], 0, bufSize);
// configure the 8 output pins
GPIOD_PCOR = 0xFF;
pinMode(2, OUTPUT); // strip #1
pinMode(14, OUTPUT); // strip #2
pinMode(7, OUTPUT); // strip #3
pinMode(8, OUTPUT); // strip #4
pinMode(6, OUTPUT); // strip #5
pinMode(20, OUTPUT); // strip #6
pinMode(21, OUTPUT); // strip #7
pinMode(5, OUTPUT); // strip #8
#ifdef TWOPORT
#ifdef C8SYNC //don't use pin 15-16 loopback, use something else. You still pretty much need to use pin16 as it has FTM1_CH0 muxed on it. Instead of B0 you could also use A12 (see datasheet)
GPIOC_PCOR = 0xFF;
pinMode(28, OUTPUT); // C8(pin28) -> B0 for sync instead of C0-B0 to free up C0 for an extra LED strip.
#else
//reserve C0 for pwm (this is default setup of the Octo2811 buffer board, but you can't use C0 for strip output so you only get 15 usable channels)
GPIOC_PCOR = 0xFE;
#endif
pinMode(22, OUTPUT); // PC1 strip #9
pinMode(23, OUTPUT); // PC2 strip #10
pinMode(9, OUTPUT); // PC3 strip #11
pinMode(10, OUTPUT); // PC4 strip #12
pinMode(13, OUTPUT); // PC5 strip #13
pinMode(11, OUTPUT); // PC6 strip #14
pinMode(12, OUTPUT); // PC7 strip #15
#endif
#ifdef DEBUGSYNC
pinMode(0, OUTPUT); // B16 sync for scope testing
#endif
// create the two waveforms for WS2811 low and high bits
frequency = 800000;
analogWriteResolution(8);
analogWriteFrequency(3, frequency);
analogWriteFrequency(4, frequency);
analogWrite(3, WS2811_TIMING_T0H);
analogWrite(4, WS2811_TIMING_T1H);
#ifdef C8SYNCxxxxx
// Optionally use A12 (pin 3) instead of B0 - triggers DMA(port B) on rising edge (configure for pin 3's waveform)
#else
// pin 16 (b0) is FTM1_CH0, triggers DMA(port B) on rising edge (configure mux to output pin 3's waveform)
CORE_PIN16_CONFIG = PORT_PCR_IRQC(1)|PORT_PCR_MUX(3);
//pin35 (B0) , mux to FTM1_CH0 IRQC0001 = DMA on rising edge
pinMode(3, INPUT_PULLUP); // pin 3 (A12, configured by the AnalogWrite(3..) above is no longer needed for PWM so set as input or whatever you like
#endif
#ifdef C8SYNC
// pin 28 (C8) triggers DMA(port C) on falling edge of low duty waveform
// pin 28 and 25 must be connected by the user: 25 is output, 28 is input
pinMode(28, INPUT); //c8
//PTC8 input, IRQC0010 = DMA on rising edge
CORE_PIN28_CONFIG = PORT_PCR_IRQC(2)|PORT_PCR_MUX(1);
#else
// pin 15 (C0) triggers DMA(port C) on falling edge of low duty waveform
// pin 15 and 16 must be connected by the user: 16 is output, 15 is input
pinMode(15, INPUT); //c0
//pin43 = PTC0 input, IRQC0010 = DMA on rising edge
CORE_PIN15_CONFIG = PORT_PCR_IRQC(2)|PORT_PCR_MUX(1);
#endif
// pin 4 triggers DMA(port A) on falling edge of high duty waveform
//pin29 = (A13) mux to FTM1_CH1 IRQC0010=DMA on falling edge
CORE_PIN4_CONFIG = PORT_PCR_IRQC(2)|PORT_PCR_MUX(3);
// enable clocks to the DMA controller and DMAMUX
SIM_SCGC7 |= SIM_SCGC7_DMA;
SIM_SCGC6 |= SIM_SCGC6_DMAMUX;
DMA_CR = 0;
DMA_ERQ = 0;
// DMA channel #1 sets WS2811 high at the beginning of each cycle
#ifndef TWOPORT
//original octo2811 8-channel DMA setup
DMA_TCD1_SADDR = &ones;
DMA_TCD1_SOFF = 0;
DMA_TCD1_ATTR = DMA_TCD_ATTR_SSIZE(0) | DMA_TCD_ATTR_DSIZE(0);
DMA_TCD1_NBYTES_MLNO = 1;
DMA_TCD1_SLAST = 0;
DMA_TCD1_DADDR = &GPIOD_PSOR;
DMA_TCD1_DOFF = 0;
DMA_TCD1_CITER_ELINKNO = bufSize;
DMA_TCD1_DLASTSGA = 0;
DMA_TCD1_CSR = DMA_TCD_CSR_DREQ;
DMA_TCD1_BITER_ELINKNO = bufSize;
// DMA channel #2 writes the pixel data at 20% of the cycle
DMA_TCD2_SADDR = frameBuffer[1];
DMA_TCD2_SOFF = 1;
DMA_TCD2_ATTR = DMA_TCD_ATTR_SSIZE(0) | DMA_TCD_ATTR_DSIZE(0);
DMA_TCD2_NBYTES_MLNO = 1;
DMA_TCD2_SLAST = -bufSize;
DMA_TCD2_DADDR = &GPIOD_PDOR;
DMA_TCD2_DOFF = 0;
DMA_TCD2_CITER_ELINKNO = bufSize;
DMA_TCD2_DLASTSGA = 0;
DMA_TCD2_CSR = DMA_TCD_CSR_DREQ;
DMA_TCD2_BITER_ELINKNO = bufSize;
// DMA channel #3 clear all the pins low at 48% of the cycle
DMA_TCD3_SADDR = &ones;
DMA_TCD3_SOFF = 0;
DMA_TCD3_ATTR = DMA_TCD_ATTR_SSIZE(0) | DMA_TCD_ATTR_DSIZE(0);
DMA_TCD3_NBYTES_MLNO = 1;
DMA_TCD3_SLAST = 0;
DMA_TCD3_DADDR = &GPIOD_PCOR;
DMA_TCD3_DOFF = 0;
DMA_TCD3_CITER_ELINKNO = bufSize;
DMA_TCD3_DLASTSGA = 0;
DMA_TCD3_CSR = DMA_TCD_CSR_DREQ | DMA_TCD_CSR_INTMAJOR;
DMA_TCD3_BITER_ELINKNO = bufSize;
#else
//DrTune's 16-channel DMA setup
//0x40 byte address gap between sequential ports (a,b,c,d)
#define PORT_SPACING 0x40 /*between ports C and D */
#define MLOFFYES (1+1) // 2 byte tranfers per minor loop (port C then D)
#define FREEZE_DEST_ADDR_BITS 7 /*force dest address to alternate between ports C+D */
DMA_CR = (1<<7); //EMLM minor loop enabled;
//write port C and D in a minor loop
DMA_TCD1_SADDR = &ones;
DMA_TCD1_SOFF = 0;
DMA_TCD1_ATTR = DMA_TCD_ATTR_SSIZE(0) | DMA_TCD_ATTR_DSIZE(0) | (FREEZE_DEST_ADDR_BITS<<3);
DMA_TCD1_NBYTES_MLOFFYES = MLOFFYES;
DMA_TCD1_SLAST = 0;
DMA_TCD1_DADDR = &GPIOC_PSOR;
DMA_TCD1_DOFF = PORT_SPACING;
DMA_TCD1_CITER_ELINKNO = bufSize/2;
DMA_TCD1_DLASTSGA = 0;
DMA_TCD1_CSR = DMA_TCD_CSR_DREQ;
DMA_TCD1_BITER_ELINKNO = bufSize/2;
// DMA channel #2 writes the pixel data at 20% of the cycle
DMA_TCD2_SADDR = frameBuffer[1];
DMA_TCD2_SOFF = 1;
DMA_TCD2_ATTR = DMA_TCD_ATTR_SSIZE(0) | DMA_TCD_ATTR_DSIZE(0) | (FREEZE_DEST_ADDR_BITS<<3);;
DMA_TCD2_NBYTES_MLOFFYES = MLOFFYES;
DMA_TCD2_SLAST = -bufSize;
DMA_TCD2_DADDR = &GPIOC_PDOR;
DMA_TCD2_DOFF = PORT_SPACING;
DMA_TCD2_CITER_ELINKNO = bufSize/2;
DMA_TCD2_DLASTSGA = 0;
DMA_TCD2_CSR = DMA_TCD_CSR_DREQ;
DMA_TCD2_BITER_ELINKNO = bufSize/2;
// DMA channel #3 clear all the pins low at 48% of the cycle
DMA_TCD3_SADDR = &ones;
DMA_TCD3_SOFF = 0;
DMA_TCD3_ATTR = DMA_TCD_ATTR_SSIZE(0) | DMA_TCD_ATTR_DSIZE(0) | (FREEZE_DEST_ADDR_BITS<<3);;
DMA_TCD3_NBYTES_MLOFFYES = MLOFFYES;
DMA_TCD3_SLAST = 0;
DMA_TCD3_DADDR = &GPIOC_PCOR;
DMA_TCD3_DOFF = PORT_SPACING;
DMA_TCD3_CITER_ELINKNO = bufSize/2;
DMA_TCD3_DLASTSGA = 0;
DMA_TCD3_CSR = DMA_TCD_CSR_DREQ | DMA_TCD_CSR_INTMAJOR;
DMA_TCD3_BITER_ELINKNO = bufSize/2;
#endif
#ifdef __MK20DX256__
MCM_CR = MCM_CR_SRAMLAP(1) | MCM_CR_SRAMUAP(0);
AXBS_PRS0 = 0x1032;
#endif
// route the edge detect interrupts to trigger the 3 channels
DMAMUX0_CHCFG1 = 0;
DMAMUX0_CHCFG1 = DMAMUX_SOURCE_PORTB | DMAMUX_ENABLE;
DMAMUX0_CHCFG2 = 0;
DMAMUX0_CHCFG2 = DMAMUX_SOURCE_PORTC | DMAMUX_ENABLE;
DMAMUX0_CHCFG3 = 0;
DMAMUX0_CHCFG3 = DMAMUX_SOURCE_PORTA | DMAMUX_ENABLE;
// enable a done interrupts when channel #3 completes
NVIC_ENABLE_IRQ(IRQ_DMA_CH3);
//pinMode(1, OUTPUT); // testing: oscilloscope trigger
}
void OsciCanvasInt::init(int delPoint, int delLine)
{
analogWriteResolution(9); // set the analog output resolution to 12 bit (512 levels)
delayPoint = delPoint;
delayLine = delLine;
}
void STICK::init(){
analogWriteResolution(16); // analogWrite value 0 to 65535
}
