void GPIO_mode(GPIO_pin_type pin, GPIO_mode_type mode) {
// ignore unimplemented pins
if (pin < 0 || pin >= SIZE_OF_ARRAY(gpio_info) || NULL == gpio_info[pin].name) {
return;
}
switch (mode) {
default:
case GPIO_INPUT:
if (gpio_info[pin].fd < 0 && !GPIO_enable(pin)) {
return;
}
write_file(gpio_info[pin].direction, DIRECTION_in "\n", CONST_STRLEN(DIRECTION_in "\n"));
write_file(gpio_info[pin].active_low, "0\n", 2);
write_file(gpio_info[pin].state, STATE_rxEnable_pullNone "\n", CONST_STRLEN(STATE_rxEnable_pullNone "\n"));
break;
case GPIO_OUTPUT:
if (gpio_info[pin].fd < 0 && !GPIO_enable(pin)) {
return;
}
write_file(gpio_info[pin].direction, DIRECTION_out "\n", CONST_STRLEN(DIRECTION_out "\n"));
write_file(gpio_info[pin].active_low, "0\n", 2);
write_file(gpio_info[pin].state, STATE_rxDisable_pullNone "\n", CONST_STRLEN(STATE_rxDisable_pullNone "\n"));
break;
case GPIO_PWM: // only certain pins allowed
switch (pin) {
case GPIO_P9_14: // EHRPWM1A
PWM_enable(0, "P9_14");
break;
case GPIO_P9_16: // EHRPWM1B
PWM_enable(1, "P9_16");
break;
case GPIO_P8_19: // EHRPWM2A
PWM_enable(2, "P8_19");
break;
case GPIO_P8_13: // EHRPWM2B
PWM_enable(3, "P8_13");
break;
default:
break;
}
break;
}
}
void GPIO_mode(GPIO_pin_type pin, GPIO_mode_type mode) {
int bank = (pin >> 8) & 0xff;
int pin32 = pin & 0xff;
if (bank < 0 || bank > 3 || pin32 < 0 || pin32 > 31) {
return;
}
if (NULL == gpio_map[bank]) {
return;
}
volatile uint32_t *oe = &gpio_map[bank][GPIO_OE];
switch (mode) {
default:
case GPIO_INPUT:
*oe |= 1 << pin32;
break;
case GPIO_OUTPUT:
*oe &= ~(1 << pin32);
break;
case GPIO_PWM: // only certain pins allowed
switch (pin) {
case GPIO_P9_14: // EHRPWM1A
PWM_enable(0, "P9_14");
break;
case GPIO_P9_16: // EHRPWM1B
PWM_enable(1, "P9_16");
break;
case GPIO_P8_19: // EHRPWM2A
PWM_enable(2, "P8_19");
break;
case GPIO_P8_13: // EHRPWM2B
PWM_enable(3, "P8_13");
break;
default:
break;
}
break;
}
}
void wheel3(int pwm){
//REQUIRES: pwm_init() has been called
// Takes a number from -255 to 255 where 0 is stopped and
// 255 is full speed ahead
//EFFECTS: Modifies the speed of wheel3
if (pwm == 0){
PWM_disable(&motors, PWM_5);
PWM_disable(&motors, PWM_6);
}
else if (pwm > 0){
PWM_set_duty_cycle(&motors, PWM_5, pwm);
PWM_enable(&motors, PWM_5);
PWM_disable(&motors, PWM_6);
}
else {
pwm = pwm * -1;
PWM_set_duty_cycle(&motors, PWM_6, pwm);
PWM_enable(&motors, PWM_6);
PWM_disable(&motors, PWM_5);
}
return;
}
void main(){
WDT_DISABLE;
BC16MSET;
PWM_enable(PWM0, SMCLK, UP, BIT0, 0xff);
P1DIR = 0xff;
P1SEL = 0xff;
unsigned int i;
while (1){
i++;
PWM_setter(PWM0, 1, 100 + (SPWM_DATA[(i << 2) & 1023]>>9), POUT);
//PWM_setter(PWM0, 1, 0x80, POUT);
}
_BIS_SR(CPUOFF);
}
void GPIO_mode(GPIO_pin_type pin, GPIO_mode_type mode) {
// ignore unimplemented pins
if (pin < 0 || pin >= SIZE_OF_ARRAY(gpio_info) || NULL == gpio_info[pin].name) {
return;
}
switch (mode) {
default:
case GPIO_INPUT:
if (gpio_info[pin].fd < 0 && !GPIO_enable(pin)) {
return;
}
write_pin_file(GPIO_DIRECTION, pin, GPIO_DIRECTION_in "\n", CONST_STRLEN(GPIO_DIRECTION_in "\n"));
write_pin_file(GPIO_ACTIVE_LOW, pin, "0\n", 2);
write_pin_file(GPIO_EDGE, pin, GPIO_EDGE_none "\n", CONST_STRLEN(GPIO_EDGE_none "\n"));
//write_pin_file(GPIO_STATE, pin, STATE_rxEnable_pullNone "\n", CONST_STRLEN(STATE_rxEnable_pullNone "\n"));
break;
case GPIO_OUTPUT:
if (gpio_info[pin].fd < 0 && !GPIO_enable(pin)) {
return;
}
write_pin_file(GPIO_DIRECTION, pin, GPIO_DIRECTION_out "\n", CONST_STRLEN(GPIO_DIRECTION_out "\n"));
write_pin_file(GPIO_ACTIVE_LOW, pin, "0\n", 2);
write_pin_file(GPIO_EDGE, pin, GPIO_EDGE_none "\n", CONST_STRLEN(GPIO_EDGE_none "\n"));
//write_pin_file(GPIO_STATE, pin, STATE_rxDisable_pullNone "\n", CONST_STRLEN(STATE_rxDisable_pullNone "\n"));
break;
case GPIO_PWM: // only certain pins allowed
if (gpio_info[pin].fd < 0 && !PWM_enable(pin)) {
return;
}
break;
}
}
// Set the PWM pulse width
void PWM_width(uint16_t width) {
PWM_disable();
// Timer counter match value for pulse width (sec 18.7.7)
LPC_TMR16B0->MR0 = LPC_TMR16B0->MR1 - width;
PWM_enable();
}
