// frequency (in hertz) and duration (in milliseconds).
void tone(uint8_t _pin, unsigned int frequency, unsigned long duration) {
_pin = esp8266_pinToGpio[_pin];
int8_t _index;
_index = toneBegin(_pin);
if (_index >= 0) {
// Set the pinMode as OUTPUT
pinMode(_pin, OUTPUT);
// Calculate the toggle count
if (duration > 0) {
toggle_counts[_index] = 2 * frequency * duration / 1000;
} else {
toggle_counts[_index] = -1;
}
// set up the interrupt frequency
switch (tone_timers[_index]) {
case 0:
// Not currently supported
break;
case 1:
timer1_disable();
timer1_isr_init();
timer1_attachInterrupt(t1IntHandler);
timer1_enable(TIM_DIV1, TIM_EDGE, TIM_LOOP);
timer1_write((clockCyclesPerMicrosecond() * 500000) / frequency);
break;
}
}
}
static void initTimer() {
timer1_disable();
timer1_isr_init();
timer1_attachInterrupt(timer1Interrupt);
lastCycleCount = GetCycleCount();
timer1_enable(TIM_DIV1, TIM_EDGE, TIM_SINGLE);
timerRunning = true;
}
void pwm_start_timer()
{
timer1_disable();
ETS_FRC_TIMER1_INTR_ATTACH(NULL, NULL);
ETS_FRC_TIMER1_NMI_INTR_ATTACH(pwm_timer_isr);
timer1_enable(TIM_DIV1, TIM_EDGE, TIM_SINGLE);
timer1_write(1);
}
/**
* MOTORSコマンドの送信
*/
int roomba_send_motors (int main_brush, int vacuum, int side_brush)
{
int size;
static char buff[64];
size = roi_set_motors (buff, main_brush, vacuum, side_brush);
timer1_disable ();
uart2_send_data (buff, size);
timer1_enable ();
}
/**
* DRIVEコマンドの設定
*/
void roomba_send_drive (short v, short r)
{
int size;
static char buff[64];
size = roi_set_drive (buff, v, r);
timer1_disable ();
uart2_send_data (buff, size);
timer1_enable ();
}
/**
* DRIVEコマンドの設定
*/
void roomba_set_drive (short v, short r)
{
/* タイマ割り込みの停止 */
timer1_disable ();
roomba_drive_v = v;
roomba_drive_r = r;
/* タイマ割り込みの開始 */
timer1_enable ();
}
/**
* CLEANコマンドの設定
*/
void roomba_send_clean (void)
{
int size;
static char buff[64];
size = roi_set_clean (buff);
timer1_disable ();
uart2_send_data (buff, size);
timer1_enable ();
}
/**
* SAFEコマンドの設定
*/
void roomba_send_safe (void)
{
int size;
char buff[64];
size = roi_set_safe (buff);
timer1_disable ();
uart2_send_data (buff, size);
timer1_enable ();
}
/**
* CONTROLコマンドの設定
*/
void roomba_send_control (void)
{
int size;
char buff[32];
size = roi_set_control (buff);
timer1_disable ();
uart2_send_data (buff, size);
timer1_enable ();
}
/**
* STREAMコマンドの設定
*/
int roomba_send_stream (void)
{
int size;
char buff[64];
size = roi_set_stream (buff, 6);
timer1_disable ();
uart2_send_data (buff, size);
timer1_enable ();
}
void ICACHE_RAM_ATTR pwm_stop_pin(uint8_t pin)
{
if(pwm_mask) {
pwm_mask &= ~(1 << pin);
if(pwm_mask == 0) {
ETS_FRC_TIMER1_NMI_INTR_ATTACH(NULL);
timer1_disable();
timer1_isr_init();
}
}
}
void rcOutputsInit(){
int i;
for(i=0; i<RC_OUTNUM; i++){
pinMode(rc_out_pins[i], OUTPUT);
digitalWrite(rc_out_pins[i], LOW);
}
//updates the screen every second
timer1_disable();
timer1_attachInterrupt(onRcTimer);
timer1_enable(TIM_DIV16, TIM_EDGE, TIM_SINGLE);
timer1_write(5000000);//1 second
}
void disableTimer(uint8_t _index) {
tone_pins[_index] = 255;
switch (tone_timers[_index]) {
case 0:
// Not currently supported
break;
case 1:
timer1_disable();
break;
}
}
extern void __analogWrite(uint8_t pin, int value) {
bool start_timer = false;
if(value == 0){
pwm_mask &= ~(1 << pin);
prep_pwm_steps();
digitalWrite(pin, LOW);
if(pwm_mask == 0) timer1_disable();
return;
}
if((pwm_mask & (1 << pin)) == 0){
if(pwm_mask == 0) start_timer = true;
pwm_mask |= (1 << pin);
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
}
pwm_values[pin] = value % (pwm_range + 1);
prep_pwm_steps();
if(start_timer){
pwm_start_timer();
}
}
static void deinitTimer() {
timer1_attachInterrupt(NULL);
timer1_disable();
timer1_isr_init();
timerRunning = false;
}
void pwm_start_timer(){
timer1_disable();
timer1_attachInterrupt(pwm_timer_isr);
timer1_enable(TIM_DIV1, TIM_EDGE, TIM_SINGLE);
timer1_write(1);
}
/**
* @brief get sensor stream from roomba
* @param buff buffer to receive stream data
* @param size size of the buffer
*/
void roomba_get_stream (char* buff, int size)
{
timer1_disable ();
memcpy (buff, roomba_stream_buff, size);
timer1_enable ();
}
