/* Teensyduino Core Library * http://www.pjrc.com/teensy/ * Copyright (c) 2017 PJRC.COM, LLC. * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the * "Software"), to deal in the Software without restriction, including * without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to * permit persons to whom the Software is furnished to do so, subject to * the following conditions: * * 1. The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * 2. If the Software is incorporated into a build system that allows * selection among a list of target devices, then similar target * devices manufactured by PJRC.COM must be included in the list of * target devices and selectable in the same manner. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ #include "core_pins.h" #include "pins_arduino.h" #include "HardwareSerial.h" #if defined(KINETISK) #define GPIO_BITBAND_ADDR(reg, bit) (((uint32_t)&(reg) - 0x40000000) * 32 + (bit) * 4 + 0x42000000) #define GPIO_BITBAND_PTR(reg, bit) ((uint32_t *)GPIO_BITBAND_ADDR((reg), (bit))) //#define GPIO_SET_BIT(reg, bit) (*GPIO_BITBAND_PTR((reg), (bit)) = 1) //#define GPIO_CLR_BIT(reg, bit) (*GPIO_BITBAND_PTR((reg), (bit)) = 0) const struct digital_pin_bitband_and_config_table_struct digital_pin_to_info_PGM[] = { {GPIO_BITBAND_PTR(CORE_PIN0_PORTREG, CORE_PIN0_BIT), &CORE_PIN0_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN1_PORTREG, CORE_PIN1_BIT), &CORE_PIN1_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN2_PORTREG, CORE_PIN2_BIT), &CORE_PIN2_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN3_PORTREG, CORE_PIN3_BIT), &CORE_PIN3_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN4_PORTREG, CORE_PIN4_BIT), &CORE_PIN4_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN5_PORTREG, CORE_PIN5_BIT), &CORE_PIN5_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN6_PORTREG, CORE_PIN6_BIT), &CORE_PIN6_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN7_PORTREG, CORE_PIN7_BIT), &CORE_PIN7_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN8_PORTREG, CORE_PIN8_BIT), &CORE_PIN8_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN9_PORTREG, CORE_PIN9_BIT), &CORE_PIN9_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN10_PORTREG, CORE_PIN10_BIT), &CORE_PIN10_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN11_PORTREG, CORE_PIN11_BIT), &CORE_PIN11_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN12_PORTREG, CORE_PIN12_BIT), &CORE_PIN12_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN13_PORTREG, CORE_PIN13_BIT), &CORE_PIN13_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN14_PORTREG, CORE_PIN14_BIT), &CORE_PIN14_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN15_PORTREG, CORE_PIN15_BIT), &CORE_PIN15_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN16_PORTREG, CORE_PIN16_BIT), &CORE_PIN16_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN17_PORTREG, CORE_PIN17_BIT), &CORE_PIN17_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN18_PORTREG, CORE_PIN18_BIT), &CORE_PIN18_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN19_PORTREG, CORE_PIN19_BIT), &CORE_PIN19_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN20_PORTREG, CORE_PIN20_BIT), &CORE_PIN20_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN21_PORTREG, CORE_PIN21_BIT), &CORE_PIN21_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN22_PORTREG, CORE_PIN22_BIT), &CORE_PIN22_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN23_PORTREG, CORE_PIN23_BIT), &CORE_PIN23_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN24_PORTREG, CORE_PIN24_BIT), &CORE_PIN24_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN25_PORTREG, CORE_PIN25_BIT), &CORE_PIN25_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN26_PORTREG, CORE_PIN26_BIT), &CORE_PIN26_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN27_PORTREG, CORE_PIN27_BIT), &CORE_PIN27_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN28_PORTREG, CORE_PIN28_BIT), &CORE_PIN28_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN29_PORTREG, CORE_PIN29_BIT), &CORE_PIN29_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN30_PORTREG, CORE_PIN30_BIT), &CORE_PIN30_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN31_PORTREG, CORE_PIN31_BIT), &CORE_PIN31_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN32_PORTREG, CORE_PIN32_BIT), &CORE_PIN32_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN33_PORTREG, CORE_PIN33_BIT), &CORE_PIN33_CONFIG}, #ifdef CORE_PIN34_PORTREG {GPIO_BITBAND_PTR(CORE_PIN34_PORTREG, CORE_PIN34_BIT), &CORE_PIN34_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN35_PORTREG, CORE_PIN35_BIT), &CORE_PIN35_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN36_PORTREG, CORE_PIN36_BIT), &CORE_PIN36_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN37_PORTREG, CORE_PIN37_BIT), &CORE_PIN37_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN38_PORTREG, CORE_PIN38_BIT), &CORE_PIN38_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN39_PORTREG, CORE_PIN39_BIT), &CORE_PIN39_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN40_PORTREG, CORE_PIN40_BIT), &CORE_PIN40_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN41_PORTREG, CORE_PIN41_BIT), &CORE_PIN41_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN42_PORTREG, CORE_PIN42_BIT), &CORE_PIN42_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN43_PORTREG, CORE_PIN43_BIT), &CORE_PIN43_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN44_PORTREG, CORE_PIN44_BIT), &CORE_PIN44_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN45_PORTREG, CORE_PIN45_BIT), &CORE_PIN45_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN46_PORTREG, CORE_PIN46_BIT), &CORE_PIN46_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN47_PORTREG, CORE_PIN47_BIT), &CORE_PIN47_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN48_PORTREG, CORE_PIN48_BIT), &CORE_PIN48_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN49_PORTREG, CORE_PIN49_BIT), &CORE_PIN49_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN50_PORTREG, CORE_PIN50_BIT), &CORE_PIN50_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN51_PORTREG, CORE_PIN51_BIT), &CORE_PIN51_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN52_PORTREG, CORE_PIN52_BIT), &CORE_PIN52_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN53_PORTREG, CORE_PIN53_BIT), &CORE_PIN53_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN54_PORTREG, CORE_PIN54_BIT), &CORE_PIN54_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN55_PORTREG, CORE_PIN55_BIT), &CORE_PIN55_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN56_PORTREG, CORE_PIN56_BIT), &CORE_PIN56_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN57_PORTREG, CORE_PIN57_BIT), &CORE_PIN57_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN58_PORTREG, CORE_PIN58_BIT), &CORE_PIN58_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN59_PORTREG, CORE_PIN59_BIT), &CORE_PIN59_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN60_PORTREG, CORE_PIN60_BIT), &CORE_PIN60_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN61_PORTREG, CORE_PIN61_BIT), &CORE_PIN61_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN62_PORTREG, CORE_PIN62_BIT), &CORE_PIN62_CONFIG}, {GPIO_BITBAND_PTR(CORE_PIN63_PORTREG, CORE_PIN63_BIT), &CORE_PIN63_CONFIG}, #endif }; #elif defined(KINETISL) const struct digital_pin_bitband_and_config_table_struct digital_pin_to_info_PGM[] = { {((volatile uint8_t *)&CORE_PIN0_PORTREG + (CORE_PIN0_BIT >> 3)), &CORE_PIN0_CONFIG, (1<<(CORE_PIN0_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN1_PORTREG + (CORE_PIN1_BIT >> 3)), &CORE_PIN1_CONFIG, (1<<(CORE_PIN1_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN2_PORTREG + (CORE_PIN2_BIT >> 3)), &CORE_PIN2_CONFIG, (1<<(CORE_PIN2_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN3_PORTREG + (CORE_PIN3_BIT >> 3)), &CORE_PIN3_CONFIG, (1<<(CORE_PIN3_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN4_PORTREG + (CORE_PIN4_BIT >> 3)), &CORE_PIN4_CONFIG, (1<<(CORE_PIN4_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN5_PORTREG + (CORE_PIN5_BIT >> 3)), &CORE_PIN5_CONFIG, (1<<(CORE_PIN5_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN6_PORTREG + (CORE_PIN6_BIT >> 3)), &CORE_PIN6_CONFIG, (1<<(CORE_PIN6_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN7_PORTREG + (CORE_PIN7_BIT >> 3)), &CORE_PIN7_CONFIG, (1<<(CORE_PIN7_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN8_PORTREG + (CORE_PIN8_BIT >> 3)), &CORE_PIN8_CONFIG, (1<<(CORE_PIN8_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN9_PORTREG + (CORE_PIN9_BIT >> 3)), &CORE_PIN9_CONFIG, (1<<(CORE_PIN9_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN10_PORTREG + (CORE_PIN10_BIT >> 3)), &CORE_PIN10_CONFIG, (1<<(CORE_PIN10_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN11_PORTREG + (CORE_PIN11_BIT >> 3)), &CORE_PIN11_CONFIG, (1<<(CORE_PIN11_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN12_PORTREG + (CORE_PIN12_BIT >> 3)), &CORE_PIN12_CONFIG, (1<<(CORE_PIN12_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN13_PORTREG + (CORE_PIN13_BIT >> 3)), &CORE_PIN13_CONFIG, (1<<(CORE_PIN13_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN14_PORTREG + (CORE_PIN14_BIT >> 3)), &CORE_PIN14_CONFIG, (1<<(CORE_PIN14_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN15_PORTREG + (CORE_PIN15_BIT >> 3)), &CORE_PIN15_CONFIG, (1<<(CORE_PIN15_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN16_PORTREG + (CORE_PIN16_BIT >> 3)), &CORE_PIN16_CONFIG, (1<<(CORE_PIN16_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN17_PORTREG + (CORE_PIN17_BIT >> 3)), &CORE_PIN17_CONFIG, (1<<(CORE_PIN17_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN18_PORTREG + (CORE_PIN18_BIT >> 3)), &CORE_PIN18_CONFIG, (1<<(CORE_PIN18_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN19_PORTREG + (CORE_PIN19_BIT >> 3)), &CORE_PIN19_CONFIG, (1<<(CORE_PIN19_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN20_PORTREG + (CORE_PIN20_BIT >> 3)), &CORE_PIN20_CONFIG, (1<<(CORE_PIN20_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN21_PORTREG + (CORE_PIN21_BIT >> 3)), &CORE_PIN21_CONFIG, (1<<(CORE_PIN21_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN22_PORTREG + (CORE_PIN22_BIT >> 3)), &CORE_PIN22_CONFIG, (1<<(CORE_PIN22_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN23_PORTREG + (CORE_PIN23_BIT >> 3)), &CORE_PIN23_CONFIG, (1<<(CORE_PIN23_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN24_PORTREG + (CORE_PIN24_BIT >> 3)), &CORE_PIN24_CONFIG, (1<<(CORE_PIN24_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN25_PORTREG + (CORE_PIN25_BIT >> 3)), &CORE_PIN25_CONFIG, (1<<(CORE_PIN25_BIT & 7))}, {((volatile uint8_t *)&CORE_PIN26_PORTREG + (CORE_PIN26_BIT >> 3)), &CORE_PIN26_CONFIG, (1<<(CORE_PIN26_BIT & 7))} }; #endif static void dummy_isr() {}; typedef void (*voidFuncPtr)(void); #if defined(KINETISK) #ifdef NO_PORT_ISR_FASTRUN static void port_A_isr(void); static void port_B_isr(void); static void port_C_isr(void); static void port_D_isr(void); static void port_E_isr(void); #else static void port_A_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone )); static void port_B_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone )); static void port_C_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone )); static void port_D_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone )); static void port_E_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone )); #endif voidFuncPtr isr_table_portA[CORE_MAX_PIN_PORTA+1] = { [0 ... CORE_MAX_PIN_PORTA] = dummy_isr }; voidFuncPtr isr_table_portB[CORE_MAX_PIN_PORTB+1] = { [0 ... CORE_MAX_PIN_PORTB] = dummy_isr }; voidFuncPtr isr_table_portC[CORE_MAX_PIN_PORTC+1] = { [0 ... CORE_MAX_PIN_PORTC] = dummy_isr }; voidFuncPtr isr_table_portD[CORE_MAX_PIN_PORTD+1] = { [0 ... CORE_MAX_PIN_PORTD] = dummy_isr }; voidFuncPtr isr_table_portE[CORE_MAX_PIN_PORTE+1] = { [0 ... CORE_MAX_PIN_PORTE] = dummy_isr }; // The Pin Config Register is used to look up the correct interrupt table // for the corresponding port. static inline voidFuncPtr* getIsrTable(volatile uint32_t *config) { voidFuncPtr* isr_table = NULL; if(&PORTA_PCR0 <= config && config <= &PORTA_PCR31) isr_table = isr_table_portA; else if(&PORTB_PCR0 <= config && config <= &PORTB_PCR31) isr_table = isr_table_portB; else if(&PORTC_PCR0 <= config && config <= &PORTC_PCR31) isr_table = isr_table_portC; else if(&PORTD_PCR0 <= config && config <= &PORTD_PCR31) isr_table = isr_table_portD; else if(&PORTE_PCR0 <= config && config <= &PORTE_PCR31) isr_table = isr_table_portE; return isr_table; } inline uint32_t getPinIndex(volatile uint32_t *config) { uintptr_t v = (uintptr_t) config; // There are 32 pin config registers for each port, each port starting at a round address. // They are spaced 4 bytes apart. return (v % 128) / 4; } #elif defined(KINETISL) volatile static voidFuncPtr intFunc[CORE_NUM_DIGITAL] = { [0 ... CORE_NUM_DIGITAL-1] = dummy_isr }; static void porta_interrupt(void); static void portcd_interrupt(void); #endif void attachInterruptVector(enum IRQ_NUMBER_t irq, void (*function)(void)) { _VectorsRam[irq + 16] = function; } void attachInterrupt(uint8_t pin, void (*function)(void), int mode) { volatile uint32_t *config; uint32_t cfg, mask; if (pin >= CORE_NUM_DIGITAL) return; switch (mode) { case CHANGE: mask = 0x0B; break; case RISING: mask = 0x09; break; case FALLING: mask = 0x0A; break; case LOW: mask = 0x08; break; case HIGH: mask = 0x0C; break; default: return; } mask = (mask << 16) | 0x01000000; config = portConfigRegister(pin); if ((*config & 0x00000700) == 0) { // for compatibility with programs which depend // on AVR hardware default to input mode. pinMode(pin, INPUT); } #if defined(KINETISK) attachInterruptVector(IRQ_PORTA, port_A_isr); attachInterruptVector(IRQ_PORTB, port_B_isr); attachInterruptVector(IRQ_PORTC, port_C_isr); attachInterruptVector(IRQ_PORTD, port_D_isr); attachInterruptVector(IRQ_PORTE, port_E_isr); voidFuncPtr* isr_table = getIsrTable(config); if(!isr_table) return; uint32_t pin_index = getPinIndex(config); __disable_irq(); cfg = *config; cfg &= ~0x000F0000; // disable any previous interrupt *config = cfg; isr_table[pin_index] = function; // set the function pointer cfg |= mask; *config = cfg; // enable the new interrupt __enable_irq(); #elif defined(KINETISL) attachInterruptVector(IRQ_PORTA, porta_interrupt); attachInterruptVector(IRQ_PORTCD, portcd_interrupt); __disable_irq(); cfg = *config; cfg &= ~0x000F0000; // disable any previous interrupt *config = cfg; intFunc[pin] = function; // set the function pointer cfg |= mask; *config = cfg; // enable the new interrupt __enable_irq(); #endif } void detachInterrupt(uint8_t pin) { volatile uint32_t *config; config = portConfigRegister(pin); #if defined(KINETISK) voidFuncPtr* isr_table = getIsrTable(config); if(!isr_table) return; uint32_t pin_index = getPinIndex(config); __disable_irq(); *config = ((*config & ~0x000F0000) | 0x01000000); isr_table[pin_index] = dummy_isr; __enable_irq(); #elif defined(KINETISL) __disable_irq(); *config = ((*config & ~0x000F0000) | 0x01000000); intFunc[pin] = dummy_isr; __enable_irq(); #endif } typedef void (*voidFuncPtr)(void); // Using CTZ instead of CLZ is faster, since it allows more efficient bit // clearing and fast indexing into the pin ISR table. #define PORT_ISR_FUNCTION_CLZ(port_name) \ static void port_ ## port_name ## _isr(void) { \ uint32_t isfr = PORT ## port_name ##_ISFR; \ PORT ## port_name ##_ISFR = isfr; \ voidFuncPtr* isr_table = isr_table_port ## port_name; \ uint32_t bit_nr; \ while(isfr) { \ bit_nr = __builtin_ctz(isfr); \ isr_table[bit_nr](); \ isfr = isfr & (isfr-1); \ if(!isfr) return; \ } \ } // END PORT_ISR_FUNCTION_CLZ #if defined(KINETISK) PORT_ISR_FUNCTION_CLZ(A) PORT_ISR_FUNCTION_CLZ(B) PORT_ISR_FUNCTION_CLZ(C) PORT_ISR_FUNCTION_CLZ(D) PORT_ISR_FUNCTION_CLZ(E) #elif defined(KINETISL) // Kinetis L (Teensy LC) is based on Cortex M0 and doesn't have hardware // support for CLZ. #define DISPATCH_PIN_ISR(pin_nr) { voidFuncPtr pin_isr = intFunc[pin_nr]; \ if(isfr & CORE_PIN ## pin_nr ## _BITMASK) pin_isr(); } static void porta_interrupt(void) { uint32_t isfr = PORTA_ISFR; PORTA_ISFR = isfr; DISPATCH_PIN_ISR(3); DISPATCH_PIN_ISR(4); } static void portcd_interrupt(void) { uint32_t isfr = PORTC_ISFR; PORTC_ISFR = isfr; DISPATCH_PIN_ISR(9); DISPATCH_PIN_ISR(10); DISPATCH_PIN_ISR(11); DISPATCH_PIN_ISR(12); DISPATCH_PIN_ISR(13); DISPATCH_PIN_ISR(15); DISPATCH_PIN_ISR(22); DISPATCH_PIN_ISR(23); isfr = PORTD_ISFR; PORTD_ISFR = isfr; DISPATCH_PIN_ISR(2); DISPATCH_PIN_ISR(5); DISPATCH_PIN_ISR(6); DISPATCH_PIN_ISR(7); DISPATCH_PIN_ISR(8); DISPATCH_PIN_ISR(14); DISPATCH_PIN_ISR(20); DISPATCH_PIN_ISR(21); } #undef DISPATCH_PIN_ISR #endif #if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) unsigned long rtc_get(void) { return RTC_TSR; } void rtc_set(unsigned long t) { RTC_SR = 0; RTC_TPR = 0; RTC_TSR = t; RTC_SR = RTC_SR_TCE; } // adjust is the amount of crystal error to compensate, 1 = 0.1192 ppm // For example, adjust = -100 is slows the clock by 11.92 ppm // void rtc_compensate(int adjust) { uint32_t comp, interval, tcr; // This simple approach tries to maximize the interval. // Perhaps minimizing TCR would be better, so the // compensation is distributed more evenly across // many seconds, rather than saving it all up and then // altering one second up to +/- 0.38% if (adjust >= 0) { comp = adjust; interval = 256; while (1) { tcr = comp * interval; if (tcr < 128*256) break; if (--interval == 1) break; } tcr = tcr >> 8; } else { comp = -adjust; interval = 256; while (1) { tcr = comp * interval; if (tcr < 129*256) break; if (--interval == 1) break; } tcr = tcr >> 8; tcr = 256 - tcr; } RTC_TCR = ((interval - 1) << 8) | tcr; } #else unsigned long rtc_get(void) { return 0; } void rtc_set(unsigned long t) { } void rtc_compensate(int adjust) { } #endif #if 0 // TODO: build system should define this // so RTC is automatically initialized to approx correct time // at least when the program begins running right after upload #ifndef TIME_T #define TIME_T 1350160272 #endif void init_rtc(void) { serial_print("init_rtc\n"); //SIM_SCGC6 |= SIM_SCGC6_RTC; // enable the RTC crystal oscillator, for approx 12pf crystal if (!(RTC_CR & RTC_CR_OSCE)) { serial_print("start RTC oscillator\n"); RTC_SR = 0; RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE; } // should wait for crystal to stabilize..... serial_print("SR="); serial_phex32(RTC_SR); serial_print("\n"); serial_print("CR="); serial_phex32(RTC_CR); serial_print("\n"); serial_print("TSR="); serial_phex32(RTC_TSR); serial_print("\n"); serial_print("TCR="); serial_phex32(RTC_TCR); serial_print("\n"); if (RTC_SR & RTC_SR_TIF) { // enable the RTC RTC_SR = 0; RTC_TPR = 0; RTC_TSR = TIME_T; RTC_SR = RTC_SR_TCE; } } #endif extern void usb_init(void); // create a default PWM at the same 488.28 Hz as Arduino Uno #if defined(KINETISK) #define F_TIMER F_BUS #elif defined(KINETISL) #if F_CPU > 16000000 #define F_TIMER (F_PLL/2) #else #define F_TIMER (F_PLL) #endif//Low Power #endif #if F_TIMER == 120000000 #define DEFAULT_FTM_MOD (61440 - 1) #define DEFAULT_FTM_PRESCALE 2 #elif F_TIMER == 108000000 #define DEFAULT_FTM_MOD (55296 - 1) #define DEFAULT_FTM_PRESCALE 2 #elif F_TIMER == 96000000 #define DEFAULT_FTM_MOD (49152 - 1) #define DEFAULT_FTM_PRESCALE 2 #elif F_TIMER == 90000000 #define DEFAULT_FTM_MOD (46080 - 1) #define DEFAULT_FTM_PRESCALE 2 #elif F_TIMER == 80000000 #define DEFAULT_FTM_MOD (40960 - 1) #define DEFAULT_FTM_PRESCALE 2 #elif F_TIMER == 72000000 #define DEFAULT_FTM_MOD (36864 - 1) #define DEFAULT_FTM_PRESCALE 2 #elif F_TIMER == 64000000 #define DEFAULT_FTM_MOD (65536 - 1) #define DEFAULT_FTM_PRESCALE 1 #elif F_TIMER == 60000000 #define DEFAULT_FTM_MOD (61440 - 1) #define DEFAULT_FTM_PRESCALE 1 #elif F_TIMER == 56000000 #define DEFAULT_FTM_MOD (57344 - 1) #define DEFAULT_FTM_PRESCALE 1 #elif F_TIMER == 54000000 #define DEFAULT_FTM_MOD (55296 - 1) #define DEFAULT_FTM_PRESCALE 1 #elif F_TIMER == 48000000 #define DEFAULT_FTM_MOD (49152 - 1) #define DEFAULT_FTM_PRESCALE 1 #elif F_TIMER == 40000000 #define DEFAULT_FTM_MOD (40960 - 1) #define DEFAULT_FTM_PRESCALE 1 #elif F_TIMER == 36000000 #define DEFAULT_FTM_MOD (36864 - 1) #define DEFAULT_FTM_PRESCALE 1 #elif F_TIMER == 24000000 #define DEFAULT_FTM_MOD (49152 - 1) #define DEFAULT_FTM_PRESCALE 0 #elif F_TIMER == 16000000 #define DEFAULT_FTM_MOD (32768 - 1) #define DEFAULT_FTM_PRESCALE 0 #elif F_TIMER == 8000000 #define DEFAULT_FTM_MOD (16384 - 1) #define DEFAULT_FTM_PRESCALE 0 #elif F_TIMER == 4000000 #define DEFAULT_FTM_MOD (8192 - 1) #define DEFAULT_FTM_PRESCALE 0 #elif F_TIMER == 2000000 #define DEFAULT_FTM_MOD (4096 - 1) #define DEFAULT_FTM_PRESCALE 0 #endif //void init_pins(void) __attribute__((noinline)) void _init_Teensyduino_internal_(void) { #if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) NVIC_ENABLE_IRQ(IRQ_PORTA); NVIC_ENABLE_IRQ(IRQ_PORTB); NVIC_ENABLE_IRQ(IRQ_PORTC); NVIC_ENABLE_IRQ(IRQ_PORTD); NVIC_ENABLE_IRQ(IRQ_PORTE); #elif defined(__MKL26Z64__) NVIC_ENABLE_IRQ(IRQ_PORTA); NVIC_ENABLE_IRQ(IRQ_PORTCD); #endif //SIM_SCGC6 |= SIM_SCGC6_FTM0; // TODO: use bitband for atomic read-mod-write //SIM_SCGC6 |= SIM_SCGC6_FTM1; FTM0_CNT = 0; FTM0_MOD = DEFAULT_FTM_MOD; FTM0_C0SC = 0x28; // MSnB:MSnA = 10, ELSnB:ELSnA = 10 FTM0_C1SC = 0x28; FTM0_C2SC = 0x28; FTM0_C3SC = 0x28; FTM0_C4SC = 0x28; FTM0_C5SC = 0x28; #if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) FTM0_C6SC = 0x28; FTM0_C7SC = 0x28; #endif #if defined(__MK64FX512__) || defined(__MK66FX1M0__) FTM3_C0SC = 0x28; FTM3_C1SC = 0x28; FTM3_C2SC = 0x28; FTM3_C3SC = 0x28; FTM3_C4SC = 0x28; FTM3_C5SC = 0x28; FTM3_C6SC = 0x28; FTM3_C7SC = 0x28; #endif FTM0_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE); FTM1_CNT = 0; FTM1_MOD = DEFAULT_FTM_MOD; FTM1_C0SC = 0x28; FTM1_C1SC = 0x28; FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE); #if defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) || defined(__MKL26Z64__) FTM2_CNT = 0; FTM2_MOD = DEFAULT_FTM_MOD; FTM2_C0SC = 0x28; FTM2_C1SC = 0x28; FTM2_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE); #endif #if defined(__MK64FX512__) || defined(__MK66FX1M0__) FTM3_CNT = 0; FTM3_MOD = DEFAULT_FTM_MOD; FTM3_C0SC = 0x28; FTM3_C1SC = 0x28; FTM3_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE); #endif #if defined(__MK66FX1M0__) SIM_SCGC2 |= SIM_SCGC2_TPM1; SIM_SOPT2 |= SIM_SOPT2_TPMSRC(2); TPM1_CNT = 0; TPM1_MOD = 32767; TPM1_C0SC = 0x28; TPM1_C1SC = 0x28; TPM1_SC = FTM_SC_CLKS(1) | FTM_SC_PS(0); #endif analog_init(); // for background about this startup delay, please see these conversations // https://forum.pjrc.com/threads/36606-startup-time-(400ms)?p=113980&viewfull=1#post113980 // https://forum.pjrc.com/threads/31290-Teensey-3-2-Teensey-Loader-1-24-Issues?p=87273&viewfull=1#post87273 #if TEENSYDUINO >= 142 delay(25); usb_init(); delay(275); #else delay(50); usb_init(); delay(350); #endif } #if defined(__MK20DX128__) #define FTM0_CH0_PIN 22 #define FTM0_CH1_PIN 23 #define FTM0_CH2_PIN 9 #define FTM0_CH3_PIN 10 #define FTM0_CH4_PIN 6 #define FTM0_CH5_PIN 20 #define FTM0_CH6_PIN 21 #define FTM0_CH7_PIN 5 #define FTM1_CH0_PIN 3 #define FTM1_CH1_PIN 4 #elif defined(__MK20DX256__) #define FTM0_CH0_PIN 22 #define FTM0_CH1_PIN 23 #define FTM0_CH2_PIN 9 #define FTM0_CH3_PIN 10 #define FTM0_CH4_PIN 6 #define FTM0_CH5_PIN 20 #define FTM0_CH6_PIN 21 #define FTM0_CH7_PIN 5 #define FTM1_CH0_PIN 3 #define FTM1_CH1_PIN 4 #define FTM2_CH0_PIN 32 #define FTM2_CH1_PIN 25 #elif defined(__MKL26Z64__) #define FTM0_CH0_PIN 22 #define FTM0_CH1_PIN 23 #define FTM0_CH2_PIN 9 #define FTM0_CH3_PIN 10 #define FTM0_CH4_PIN 6 #define FTM0_CH5_PIN 20 #define FTM1_CH0_PIN 16 #define FTM1_CH1_PIN 17 #define FTM2_CH0_PIN 3 #define FTM2_CH1_PIN 4 #elif defined(__MK64FX512__) #define FTM0_CH0_PIN 22 #define FTM0_CH1_PIN 23 #define FTM0_CH2_PIN 9 #define FTM0_CH3_PIN 10 #define FTM0_CH4_PIN 6 #define FTM0_CH5_PIN 20 #define FTM0_CH6_PIN 21 #define FTM0_CH7_PIN 5 #define FTM1_CH0_PIN 3 #define FTM1_CH1_PIN 4 #define FTM2_CH0_PIN 29 #define FTM2_CH1_PIN 30 #define FTM3_CH0_PIN 2 #define FTM3_CH1_PIN 14 #define FTM3_CH2_PIN 7 #define FTM3_CH3_PIN 8 #define FTM3_CH4_PIN 35 #define FTM3_CH5_PIN 36 #define FTM3_CH6_PIN 37 #define FTM3_CH7_PIN 38 #elif defined(__MK66FX1M0__) #define FTM0_CH0_PIN 22 #define FTM0_CH1_PIN 23 #define FTM0_CH2_PIN 9 #define FTM0_CH3_PIN 10 #define FTM0_CH4_PIN 6 #define FTM0_CH5_PIN 20 #define FTM0_CH6_PIN 21 #define FTM0_CH7_PIN 5 #define FTM1_CH0_PIN 3 #define FTM1_CH1_PIN 4 #define FTM2_CH0_PIN 29 #define FTM2_CH1_PIN 30 #define FTM3_CH0_PIN 2 #define FTM3_CH1_PIN 14 #define FTM3_CH2_PIN 7 #define FTM3_CH3_PIN 8 #define FTM3_CH4_PIN 35 #define FTM3_CH5_PIN 36 #define FTM3_CH6_PIN 37 #define FTM3_CH7_PIN 38 #define TPM1_CH0_PIN 16 #define TPM1_CH1_PIN 17 #endif #define FTM_PINCFG(pin) FTM_PINCFG2(pin) #define FTM_PINCFG2(pin) CORE_PIN ## pin ## _CONFIG static uint8_t analog_write_res = 8; // SOPT4 is SIM select clocks? // FTM is clocked by the bus clock, either 24 or 48 MHz // input capture can be FTM1_CH0, CMP0 or CMP1 or USB start of frame // 24 MHz with reload 49152 to match Arduino's speed = 488.28125 Hz void analogWrite(uint8_t pin, int val) { uint32_t cval, max; #if defined(__MK20DX256__) if (pin == A14) { uint8_t res = analog_write_res; if (res < 12) { val <<= 12 - res; } else if (res > 12) { val >>= res - 12; } analogWriteDAC0(val); return; } #elif defined(__MKL26Z64__) if (pin == A12) { uint8_t res = analog_write_res; if (res < 12) { val <<= 12 - res; } else if (res > 12) { val >>= res - 12; } analogWriteDAC0(val); return; } #elif defined(__MK64FX512__) || defined(__MK66FX1M0__) if (pin == A21 || pin == A22) { uint8_t res = analog_write_res; if (res < 12) { val <<= 12 - res; } else if (res > 12) { val >>= res - 12; } if (pin == A21) analogWriteDAC0(val); else analogWriteDAC1(val); return; } #endif max = 1 << analog_write_res; if (val <= 0) { digitalWrite(pin, LOW); pinMode(pin, OUTPUT); // TODO: implement OUTPUT_LOW return; } else if (val >= max) { digitalWrite(pin, HIGH); pinMode(pin, OUTPUT); // TODO: implement OUTPUT_HIGH return; } //serial_print("analogWrite\n"); //serial_print("val = "); //serial_phex32(val); //serial_print("\n"); //serial_print("analog_write_res = "); //serial_phex(analog_write_res); //serial_print("\n"); if (pin == FTM1_CH0_PIN || pin == FTM1_CH1_PIN) { cval = ((uint32_t)val * (uint32_t)(FTM1_MOD + 1)) >> analog_write_res; #if defined(FTM2_CH0_PIN) } else if (pin == FTM2_CH0_PIN || pin == FTM2_CH1_PIN) { cval = ((uint32_t)val * (uint32_t)(FTM2_MOD + 1)) >> analog_write_res; #endif #if defined(FTM3_CH0_PIN) } else if (pin == FTM3_CH0_PIN || pin == FTM3_CH1_PIN || pin == FTM3_CH2_PIN || pin == FTM3_CH3_PIN || pin == FTM3_CH4_PIN || pin == FTM3_CH5_PIN || pin == FTM3_CH6_PIN || pin == FTM3_CH7_PIN) { cval = ((uint32_t)val * (uint32_t)(FTM3_MOD + 1)) >> analog_write_res; #endif #if defined(TPM1_CH0_PIN) } else if (pin == TPM1_CH0_PIN || pin == TPM1_CH1_PIN) { cval = ((uint32_t)val * (uint32_t)(TPM1_MOD + 1)) >> analog_write_res; #endif } else { cval = ((uint32_t)val * (uint32_t)(FTM0_MOD + 1)) >> analog_write_res; } //serial_print("cval = "); //serial_phex32(cval); //serial_print("\n"); switch (pin) { #ifdef FTM0_CH0_PIN case FTM0_CH0_PIN: // PTC1, FTM0_CH0 FTM0_C0V = cval; FTM_PINCFG(FTM0_CH0_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM0_CH1_PIN case FTM0_CH1_PIN: // PTC2, FTM0_CH1 FTM0_C1V = cval; FTM_PINCFG(FTM0_CH1_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM0_CH2_PIN case FTM0_CH2_PIN: // PTC3, FTM0_CH2 FTM0_C2V = cval; FTM_PINCFG(FTM0_CH2_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM0_CH3_PIN case FTM0_CH3_PIN: // PTC4, FTM0_CH3 FTM0_C3V = cval; FTM_PINCFG(FTM0_CH3_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM0_CH4_PIN case FTM0_CH4_PIN: // PTD4, FTM0_CH4 FTM0_C4V = cval; FTM_PINCFG(FTM0_CH4_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM0_CH5_PIN case FTM0_CH5_PIN: // PTD5, FTM0_CH5 FTM0_C5V = cval; FTM_PINCFG(FTM0_CH5_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM0_CH6_PIN case FTM0_CH6_PIN: // PTD6, FTM0_CH6 FTM0_C6V = cval; FTM_PINCFG(FTM0_CH6_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM0_CH7_PIN case FTM0_CH7_PIN: // PTD7, FTM0_CH7 FTM0_C7V = cval; FTM_PINCFG(FTM0_CH7_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM1_CH0_PIN case FTM1_CH0_PIN: // PTA12, FTM1_CH0 FTM1_C0V = cval; FTM_PINCFG(FTM1_CH0_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM1_CH1_PIN case FTM1_CH1_PIN: // PTA13, FTM1_CH1 FTM1_C1V = cval; FTM_PINCFG(FTM1_CH1_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM2_CH0_PIN case FTM2_CH0_PIN: // PTB18, FTM2_CH0 FTM2_C0V = cval; FTM_PINCFG(FTM2_CH0_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM2_CH1_PIN case FTM2_CH1_PIN: // PTB19, FTM1_CH1 FTM2_C1V = cval; FTM_PINCFG(FTM2_CH1_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM3_CH0_PIN case FTM3_CH0_PIN: FTM3_C0V = cval; FTM_PINCFG(FTM3_CH0_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM3_CH1_PIN case FTM3_CH1_PIN: FTM3_C1V = cval; FTM_PINCFG(FTM3_CH1_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM3_CH2_PIN case FTM3_CH2_PIN: FTM3_C2V = cval; FTM_PINCFG(FTM3_CH2_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM3_CH3_PIN case FTM3_CH3_PIN: FTM3_C3V = cval; FTM_PINCFG(FTM3_CH3_PIN) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM3_CH4_PIN case FTM3_CH4_PIN: FTM3_C4V = cval; FTM_PINCFG(FTM3_CH4_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM3_CH5_PIN case FTM3_CH5_PIN: FTM3_C5V = cval; FTM_PINCFG(FTM3_CH5_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM3_CH6_PIN case FTM3_CH6_PIN: FTM3_C6V = cval; FTM_PINCFG(FTM3_CH6_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef FTM3_CH7_PIN case FTM3_CH7_PIN: FTM3_C7V = cval; FTM_PINCFG(FTM3_CH7_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef TPM1_CH0_PIN case TPM1_CH0_PIN: TPM1_C0V = cval; FTM_PINCFG(TPM1_CH0_PIN) = PORT_PCR_MUX(6) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif #ifdef TPM1_CH1_PIN case TPM1_CH1_PIN: TPM1_C1V = cval; FTM_PINCFG(TPM1_CH1_PIN) = PORT_PCR_MUX(6) | PORT_PCR_DSE | PORT_PCR_SRE; break; #endif default: digitalWrite(pin, (val > 127) ? HIGH : LOW); pinMode(pin, OUTPUT); } } uint32_t analogWriteRes(uint32_t bits) { uint32_t prior_res; if (bits < 1) { bits = 1; } else if (bits > 16) { bits = 16; } prior_res = analog_write_res; analog_write_res = bits; return prior_res; } void analogWriteFrequency(uint8_t pin, float frequency) { uint32_t prescale, mod, ftmClock, ftmClockSource; float minfreq; //serial_print("analogWriteFrequency: pin = "); //serial_phex(pin); //serial_print(", freq = "); //serial_phex32((uint32_t)frequency); //serial_print("\n"); #ifdef TPM1_CH0_PIN if (pin == TPM1_CH0_PIN || pin == TPM1_CH1_PIN) { ftmClockSource = 1; ftmClock = 16000000; } else #endif #if defined(__MKL26Z64__) // Teensy LC does not support slow clock source (ftmClockSource = 2) ftmClockSource = 1; // Use default F_TIMER clock source ftmClock = F_TIMER; // Set variable for the actual timer clock frequency #else if (frequency < (float)(F_TIMER >> 7) / 65536.0f) { // frequency is too low for working with F_TIMER: ftmClockSource = 2; // Use alternative 31250Hz clock source ftmClock = 31250; // Set variable for the actual timer clock frequency } else { ftmClockSource = 1; // Use default F_TIMER clock source ftmClock = F_TIMER; // Set variable for the actual timer clock frequency } #endif for (prescale = 0; prescale < 7; prescale++) { minfreq = (float)(ftmClock >> prescale) / 65536.0f; //Use ftmClock instead of F_TIMER if (frequency >= minfreq) break; } //serial_print("F_TIMER/ftm_Clock = "); //serial_phex32(ftmClock >> prescale); //serial_print("\n"); //serial_print("prescale = "); //serial_phex(prescale); //serial_print("\n"); mod = (float)(ftmClock >> prescale) / frequency - 0.5f; //Use ftmClock instead of F_TIMER if (mod > 65535) mod = 65535; //serial_print("mod = "); //serial_phex32(mod); //serial_print("\n"); if (pin == FTM1_CH0_PIN || pin == FTM1_CH1_PIN) { FTM1_SC = 0; FTM1_CNT = 0; FTM1_MOD = mod; FTM1_SC = FTM_SC_CLKS(ftmClockSource) | FTM_SC_PS(prescale); //Use ftmClockSource instead of 1 } else if (pin == FTM0_CH0_PIN || pin == FTM0_CH1_PIN || pin == FTM0_CH2_PIN || pin == FTM0_CH3_PIN || pin == FTM0_CH4_PIN || pin == FTM0_CH5_PIN #ifdef FTM0_CH6_PIN || pin == FTM0_CH6_PIN || pin == FTM0_CH7_PIN #endif ) { FTM0_SC = 0; FTM0_CNT = 0; FTM0_MOD = mod; FTM0_SC = FTM_SC_CLKS(ftmClockSource) | FTM_SC_PS(prescale); //Use ftmClockSource instead of 1 } #ifdef FTM2_CH0_PIN else if (pin == FTM2_CH0_PIN || pin == FTM2_CH1_PIN) { FTM2_SC = 0; FTM2_CNT = 0; FTM2_MOD = mod; FTM2_SC = FTM_SC_CLKS(ftmClockSource) | FTM_SC_PS(prescale); //Use ftmClockSource instead of 1 } #endif #ifdef FTM3_CH0_PIN else if (pin == FTM3_CH0_PIN || pin == FTM3_CH1_PIN || pin == FTM3_CH2_PIN || pin == FTM3_CH3_PIN || pin == FTM3_CH4_PIN || pin == FTM3_CH5_PIN || pin == FTM3_CH6_PIN || pin == FTM3_CH7_PIN) { FTM3_SC = 0; FTM3_CNT = 0; FTM3_MOD = mod; FTM3_SC = FTM_SC_CLKS(ftmClockSource) | FTM_SC_PS(prescale); //Use the new ftmClockSource instead of 1 } #endif #ifdef TPM1_CH0_PIN else if (pin == TPM1_CH0_PIN || pin == TPM1_CH1_PIN) { TPM1_SC = 0; TPM1_CNT = 0; TPM1_MOD = mod; TPM1_SC = FTM_SC_CLKS(ftmClockSource) | FTM_SC_PS(prescale); } #endif } // TODO: startup code needs to initialize all pins to GPIO mode, input by default void digitalWrite(uint8_t pin, uint8_t val) { if (pin >= CORE_NUM_DIGITAL) return; #ifdef KINETISK if (*portModeRegister(pin)) { if (val) { *portSetRegister(pin) = 1; } else { *portClearRegister(pin) = 1; } #else if (*portModeRegister(pin) & digitalPinToBitMask(pin)) { if (val) { *portSetRegister(pin) = digitalPinToBitMask(pin); } else { *portClearRegister(pin) = digitalPinToBitMask(pin); } #endif } else { volatile uint32_t *config = portConfigRegister(pin); if (val) { // TODO use bitband for atomic read-mod-write *config |= (PORT_PCR_PE | PORT_PCR_PS); //*config = PORT_PCR_MUX(1) | PORT_PCR_PE | PORT_PCR_PS; } else { // TODO use bitband for atomic read-mod-write *config &= ~(PORT_PCR_PE); //*config = PORT_PCR_MUX(1); } } } uint8_t digitalRead(uint8_t pin) { if (pin >= CORE_NUM_DIGITAL) return 0; #ifdef KINETISK return *portInputRegister(pin); #else return (*portInputRegister(pin) & digitalPinToBitMask(pin)) ? 1 : 0; #endif } void pinMode(uint8_t pin, uint8_t mode) { volatile uint32_t *config; if (pin >= CORE_NUM_DIGITAL) return; config = portConfigRegister(pin); if (mode == OUTPUT || mode == OUTPUT_OPENDRAIN) { #ifdef KINETISK *portModeRegister(pin) = 1; #else *portModeRegister(pin) |= digitalPinToBitMask(pin); // TODO: atomic #endif *config = PORT_PCR_SRE | PORT_PCR_DSE | PORT_PCR_MUX(1); if (mode == OUTPUT_OPENDRAIN) { *config |= PORT_PCR_ODE; } else { *config &= ~PORT_PCR_ODE; } } else { #ifdef KINETISK *portModeRegister(pin) = 0; #else *portModeRegister(pin) &= ~digitalPinToBitMask(pin); #endif if (mode == INPUT) { *config = PORT_PCR_MUX(1); } else if (mode == INPUT_PULLUP) { *config = PORT_PCR_MUX(1) | PORT_PCR_PE | PORT_PCR_PS; } else if (mode == INPUT_PULLDOWN) { *config = PORT_PCR_MUX(1) | PORT_PCR_PE; } else { // INPUT_DISABLE *config = 0; } } } void _shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t value) { if (bitOrder == LSBFIRST) { shiftOut_lsbFirst(dataPin, clockPin, value); } else { shiftOut_msbFirst(dataPin, clockPin, value); } } void shiftOut_lsbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value) { uint8_t mask; for (mask=0x01; mask; mask <<= 1) { digitalWrite(dataPin, value & mask); digitalWrite(clockPin, HIGH); digitalWrite(clockPin, LOW); } } void shiftOut_msbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value) { uint8_t mask; for (mask=0x80; mask; mask >>= 1) { digitalWrite(dataPin, value & mask); digitalWrite(clockPin, HIGH); digitalWrite(clockPin, LOW); } } uint8_t _shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder) { if (bitOrder == LSBFIRST) { return shiftIn_lsbFirst(dataPin, clockPin); } else { return shiftIn_msbFirst(dataPin, clockPin); } } uint8_t shiftIn_lsbFirst(uint8_t dataPin, uint8_t clockPin) { uint8_t mask, value=0; for (mask=0x01; mask; mask <<= 1) { digitalWrite(clockPin, HIGH); if (digitalRead(dataPin)) value |= mask; digitalWrite(clockPin, LOW); } return value; } uint8_t shiftIn_msbFirst(uint8_t dataPin, uint8_t clockPin) { uint8_t mask, value=0; for (mask=0x80; mask; mask >>= 1) { digitalWrite(clockPin, HIGH); if (digitalRead(dataPin)) value |= mask; digitalWrite(clockPin, LOW); } return value; } // the systick interrupt is supposed to increment this at 1 kHz rate volatile uint32_t systick_millis_count = 0; //uint32_t systick_current, systick_count, systick_istatus; // testing only uint32_t micros(void) { uint32_t count, current, istatus; __disable_irq(); current = SYST_CVR; count = systick_millis_count; istatus = SCB_ICSR; // bit 26 indicates if systick exception pending __enable_irq(); //systick_current = current; //systick_count = count; //systick_istatus = istatus & SCB_ICSR_PENDSTSET ? 1 : 0; if ((istatus & SCB_ICSR_PENDSTSET) && current > 50) count++; current = ((F_CPU / 1000) - 1) - current; #if defined(KINETISL) && F_CPU == 48000000 return count * 1000 + ((current * (uint32_t)87381) >> 22); #elif defined(KINETISL) && F_CPU == 24000000 return count * 1000 + ((current * (uint32_t)174763) >> 22); #endif return count * 1000 + current / (F_CPU / 1000000); } void delay(uint32_t ms) { uint32_t start = micros(); if (ms > 0) { while (1) { while ((micros() - start) >= 1000) { ms--; if (ms == 0) return; start += 1000; } yield(); } } } // TODO: verify these result in correct timeouts... #if F_CPU == 240000000 #define PULSEIN_LOOPS_PER_USEC 33 #elif F_CPU == 216000000 #define PULSEIN_LOOPS_PER_USEC 31 #elif F_CPU == 192000000 #define PULSEIN_LOOPS_PER_USEC 29 #elif F_CPU == 180000000 #define PULSEIN_LOOPS_PER_USEC 27 #elif F_CPU == 168000000 #define PULSEIN_LOOPS_PER_USEC 25 #elif F_CPU == 144000000 #define PULSEIN_LOOPS_PER_USEC 21 #elif F_CPU == 120000000 #define PULSEIN_LOOPS_PER_USEC 18 #elif F_CPU == 96000000 #define PULSEIN_LOOPS_PER_USEC 14 #elif F_CPU == 72000000 #define PULSEIN_LOOPS_PER_USEC 10 #elif F_CPU == 48000000 #define PULSEIN_LOOPS_PER_USEC 7 #elif F_CPU == 24000000 #define PULSEIN_LOOPS_PER_USEC 4 #elif F_CPU == 16000000 #define PULSEIN_LOOPS_PER_USEC 1 #elif F_CPU == 8000000 #define PULSEIN_LOOPS_PER_USEC 1 #elif F_CPU == 4000000 #define PULSEIN_LOOPS_PER_USEC 1 #elif F_CPU == 2000000 #define PULSEIN_LOOPS_PER_USEC 1 #endif #if defined(KINETISK) uint32_t pulseIn_high(volatile uint8_t *reg, uint32_t timeout) { uint32_t timeout_count = timeout * PULSEIN_LOOPS_PER_USEC; uint32_t usec_start, usec_stop; // wait for any previous pulse to end while (*reg) { if (--timeout_count == 0) return 0; } // wait for the pulse to start while (!*reg) { if (--timeout_count == 0) return 0; } usec_start = micros(); // wait for the pulse to stop while (*reg) { if (--timeout_count == 0) return 0; } usec_stop = micros(); return usec_stop - usec_start; } uint32_t pulseIn_low(volatile uint8_t *reg, uint32_t timeout) { uint32_t timeout_count = timeout * PULSEIN_LOOPS_PER_USEC; uint32_t usec_start, usec_stop; // wait for any previous pulse to end while (!*reg) { if (--timeout_count == 0) return 0; } // wait for the pulse to start while (*reg) { if (--timeout_count == 0) return 0; } usec_start = micros(); // wait for the pulse to stop while (!*reg) { if (--timeout_count == 0) return 0; } usec_stop = micros(); return usec_stop - usec_start; } // TODO: an inline version should handle the common case where state is const uint32_t pulseIn(uint8_t pin, uint8_t state, uint32_t timeout) { if (pin >= CORE_NUM_DIGITAL) return 0; if (state) return pulseIn_high(portInputRegister(pin), timeout); return pulseIn_low(portInputRegister(pin), timeout);; } #elif defined(KINETISL) // For TeencyLC need to use mask on the input register as the register is shared by several IO pins uint32_t pulseIn_high(volatile uint8_t *reg, uint8_t mask, uint32_t timeout) { uint32_t timeout_count = timeout * PULSEIN_LOOPS_PER_USEC; uint32_t usec_start, usec_stop; // wait for any previous pulse to end while (*reg & mask) { if (--timeout_count == 0) return -1; } // wait for the pulse to start while (!(*reg & mask)) { if (--timeout_count == 0) return 0; } usec_start = micros(); // wait for the pulse to stop while (*reg & mask) { if (--timeout_count == 0) return 0; } usec_stop = micros(); return usec_stop - usec_start; } uint32_t pulseIn_low(volatile uint8_t *reg, uint8_t mask, uint32_t timeout) { uint32_t timeout_count = timeout * PULSEIN_LOOPS_PER_USEC; uint32_t usec_start, usec_stop; // wait for any previous pulse to end while (!(*reg & mask)) { if (--timeout_count == 0) return 0; } // wait for the pulse to start while (*reg & mask) { if (--timeout_count == 0) return 0; } usec_start = micros(); // wait for the pulse to stop while (!(*reg & mask)) { if (--timeout_count == 0) return 0; } usec_stop = micros(); return usec_stop - usec_start; } // TODO: an inline version should handle the common case where state is const uint32_t pulseIn(uint8_t pin, uint8_t state, uint32_t timeout) { if (pin >= CORE_NUM_DIGITAL) return 0; if (state) return pulseIn_high(portInputRegister(pin), digitalPinToBitMask(pin), timeout); return pulseIn_low(portInputRegister(pin), digitalPinToBitMask(pin), timeout);; } #endif