void Dynamixel::begin(int baud) {
//TxDString("[DXL]start begin\r\n");
afio_remap(AFIO_REMAP_USART1);//USART1 -> DXL
afio_cfg_debug_ports(AFIO_DEBUG_FULL_SWJ_NO_NJRST);
#ifdef BOARD_CM900 //Engineering version case
gpio_set_mode(PORT_ENABLE_TXD, PIN_ENABLE_TXD, GPIO_OUTPUT_PP);
gpio_set_mode(PORT_ENABLE_RXD, PIN_ENABLE_RXD, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_ENABLE_TXD, PIN_ENABLE_TXD, 0 );// TX Disable
gpio_write_bit(PORT_ENABLE_RXD, PIN_ENABLE_RXD, 1 );// RX Enable
#else
gpio_set_mode(PORT_TXRX_DIRECTION, PIN_TXRX_DIRECTION, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_TXRX_DIRECTION, PIN_TXRX_DIRECTION, 0 );// RX Enable
#endif
timer_set_mode(TIMER2, TIMER_CH1, TIMER_OUTPUT_COMPARE);
timer_pause(TIMER2);
uint16 ovf = timer_get_reload(TIMER2);
timer_set_count(TIMER2, min(0, ovf));
timer_set_reload(TIMER2, 30000);//set overflow
ovf = timer_get_reload(TIMER2);
timer_set_compare(TIMER2, TIMER_CH1, min(1000, ovf));
timer_attach_interrupt(TIMER2, TIMER_CH1, TIM2_IRQHandler);
timer_generate_update(TIMER2);
timer_resume(TIMER2);
dxl_initialize(0, baud);
}
/* Transmit the frambuffer with buffersize number of bytes to the LEDs
* buffersize = (#LEDs / 16) * 24 */
void neomaple_hard_send(uint8_t *buffer, uint32_t size)
{
// transmission complete flag, indicate that transmission is taking place
WS2812_TC = 0;
//WS2812_buffer = buffer;
// clear all relevant DMA flags
dma_clear_isr_bits(DMA1, DMA_CH2);
dma_clear_isr_bits(DMA1, DMA_CH5);
dma_clear_isr_bits(DMA1, DMA_CH7);
// configure the number of bytes to be transferred by the DMA controller
//dma_set_mem_addr(DMA1, DMA_CH5, WS2812_buffer);
dma_set_num_transfers(DMA1, DMA_CH2, size);
dma_set_num_transfers(DMA1, DMA_CH5, size);
dma_set_num_transfers(DMA1, DMA_CH7, size);
// clear all TIM2 flags
TIMER2->regs.gen->SR = 0;
// enable the corresponding DMA channels
dma_enable(DMA1, DMA_CH2);
dma_enable(DMA1, DMA_CH5);
dma_enable(DMA1, DMA_CH7);
// IMPORTANT: enable the TIM2 DMA requests AFTER enabling the DMA channels!
timer_dma_enable_req(TIMER2, 1);
timer_dma_enable_req(TIMER2, 2);
timer_dma_enable_req(TIMER2, 0); /* TIM_DMA_Update */
// preload counter with 29 so TIM2 generates UEV directly to start DMA transfer
timer_set_count(TIMER2, 29);
// start TIM2
timer_resume(TIMER2);
}
void speaker_setCount(uint16 val) {
uint16 ovf = speaker_getOverflow();
//Selects the minimum of the two
uint16 result = ((val)<(ovf)?(val):(ovf));
timer_set_count(SPEAKER_TIMER, result);
}
/*-------------------------------------------------------------------------
VBL timer callback.
Called every screen at y = 240
Input: Timer Pointer to the timer that triggered the callback.
Data Data associated with the timer.
---------------------------------------------------------------------------*/
void neogeo_VBL_callback ( TIMER *Timer, Uint32 Data )
{
/* Handle NEOGEO_HBL_CTRL_VBLANK_LOAD */
if ( neogeo_HIRQ_control & NEOGEO_HIRQ_CTRL_VBLANK_LOAD )
{
timer_set_count ( &neogeo_HIRQ_timer, neogeo_VBL_timer.Count + PIXEL_TO_REF ( neogeo_HIRQ_register + 1 ) );
timer_set_state ( &neogeo_HIRQ_timer, TIMER_ACTIVE );
}
/* Set / Clear full throttle mode according to disk activity */
if ( ( ( neogeo_cdrom_irq_mask & 0x500 ) == 0x500 ) &&
( neogeo_cdrom_read_in_progress ) &&
( !neogeo_cdrom_paused ) &&
( neogeo_cdrom_current_track == 1 ) &&
( neogeo_fullthrottle_enable ) )
{
if ( neogeo_run_mode == NEOGEO_RUN_NORMAL )
neogeo_set_runmode ( NEOGEO_RUN_FULL_THROTTLE );
}
else
{
if ( neogeo_run_mode == NEOGEO_RUN_FULL_THROTTLE )
{
/* If full throttle is enabled, flush the sound buffer to avoid a delay in the sound */
if ( neogeo_fullthrottle_enable )
{
SDL_mutexP ( audio_buffer_mutex );
audio_buffer_init ( &audio_buffer );
SDL_mutexV ( audio_buffer_mutex );
}
neogeo_set_runmode ( NEOGEO_RUN_NORMAL );
neogeo_speed_limiter_setup();
}
}
/* Set VBL IRQ to run */
neogeo_VBL_irq_pending = 1;
neogeo_update_interrupts();
timer_arm_relative ( &neogeo_VBL_timer, PIXEL_TO_REF ( NEOGEO_SCREEN_WIDTH * NEOGEO_SCREEN_HEIGHT ) );
}
void HardwareTimer::setCount(uint16 val) {
uint16 ovf = this->getOverflow();
timer_set_count(this->dev, min(val, ovf));
}
static void neogeo_controller1_write_word ( Uint32 Address, Uint32 Data )
{
timer_set_count ( &neogeo_watchdog_timer, M68K_TO_REF ( WATCHDOG_TIMER_DELAY ) );
}
