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Teensy 4.1 core updated for C++20
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teensy-core-4.1/teensy3/pins_teensy.c

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  1. /* Teensyduino Core Library

  2.  * http://www.pjrc.com/teensy/

  3.  * Copyright (c) 2013 PJRC.COM, LLC.

  4.  *

  5.  * Permission is hereby granted, free of charge, to any person obtaining

  6.  * a copy of this software and associated documentation files (the

  7.  * "Software"), to deal in the Software without restriction, including

  8.  * without limitation the rights to use, copy, modify, merge, publish,

  9.  * distribute, sublicense, and/or sell copies of the Software, and to

  10.  * permit persons to whom the Software is furnished to do so, subject to

  11.  * the following conditions:

  12.  *

  13.  * 1. The above copyright notice and this permission notice shall be 

  14.  * included in all copies or substantial portions of the Software.

  15.  *

  16.  * 2. If the Software is incorporated into a build system that allows 

  17.  * selection among a list of target devices, then similar target

  18.  * devices manufactured by PJRC.COM must be included in the list of

  19.  * target devices and selectable in the same manner.

  20.  *

  21.  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

  22.  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF

  23.  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

  24.  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS

  25.  * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN

  26.  * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN

  27.  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE

  28.  * SOFTWARE.

  29.  */

  30. 

  31. #include "core_pins.h"

  32. #include "pins_arduino.h"

  33. #include "HardwareSerial.h"

  34. 

  35. #if 0

  36. // moved to pins_arduino.h

  37. struct digital_pin_bitband_and_config_table_struct {

  38. 	volatile uint32_t *reg;

  39. 	volatile uint32_t *config;

  40. };

  41. const struct digital_pin_bitband_and_config_table_struct digital_pin_to_info_PGM[];

  42. 

  43. // compatibility macros

  44. #define digitalPinToPort(pin) (pin)

  45. #define digitalPinToBitMask(pin) (1)

  46. #define portOutputRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 0))

  47. #define portSetRegister(pin)    ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 32))

  48. #define portClearRegister(pin)  ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 64))

  49. #define portToggleRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 96))

  50. #define portInputRegister(pin)  ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 128))

  51. #define portModeRegister(pin)   ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 160))

  52. #define portConfigRegister(pin) ((volatile uint32_t *)(digital_pin_to_info_PGM[(pin)].config))

  53. #endif

  54. 

  55. //#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )

  56. //#define analogInPinToBit(P) (P)

  57. 

  58. #define GPIO_BITBAND_ADDR(reg, bit) (((uint32_t)&(reg) - 0x40000000) * 32 + (bit) * 4 + 0x42000000)

  59. #define GPIO_BITBAND_PTR(reg, bit) ((uint32_t *)GPIO_BITBAND_ADDR((reg), (bit)))

  60. //#define GPIO_SET_BIT(reg, bit) (*GPIO_BITBAND_PTR((reg), (bit)) = 1)

  61. //#define GPIO_CLR_BIT(reg, bit) (*GPIO_BITBAND_PTR((reg), (bit)) = 0)

  62. 

  63. const struct digital_pin_bitband_and_config_table_struct digital_pin_to_info_PGM[] = {

  64. 	{GPIO_BITBAND_PTR(CORE_PIN0_PORTREG, CORE_PIN0_BIT), &CORE_PIN0_CONFIG},

  65. 	{GPIO_BITBAND_PTR(CORE_PIN1_PORTREG, CORE_PIN1_BIT), &CORE_PIN1_CONFIG},

  66. 	{GPIO_BITBAND_PTR(CORE_PIN2_PORTREG, CORE_PIN2_BIT), &CORE_PIN2_CONFIG},

  67. 	{GPIO_BITBAND_PTR(CORE_PIN3_PORTREG, CORE_PIN3_BIT), &CORE_PIN3_CONFIG},

  68. 	{GPIO_BITBAND_PTR(CORE_PIN4_PORTREG, CORE_PIN4_BIT), &CORE_PIN4_CONFIG},

  69. 	{GPIO_BITBAND_PTR(CORE_PIN5_PORTREG, CORE_PIN5_BIT), &CORE_PIN5_CONFIG},

  70. 	{GPIO_BITBAND_PTR(CORE_PIN6_PORTREG, CORE_PIN6_BIT), &CORE_PIN6_CONFIG},

  71. 	{GPIO_BITBAND_PTR(CORE_PIN7_PORTREG, CORE_PIN7_BIT), &CORE_PIN7_CONFIG},

  72. 	{GPIO_BITBAND_PTR(CORE_PIN8_PORTREG, CORE_PIN8_BIT), &CORE_PIN8_CONFIG},

  73. 	{GPIO_BITBAND_PTR(CORE_PIN9_PORTREG, CORE_PIN9_BIT), &CORE_PIN9_CONFIG},

  74. 	{GPIO_BITBAND_PTR(CORE_PIN10_PORTREG, CORE_PIN10_BIT), &CORE_PIN10_CONFIG},

  75. 	{GPIO_BITBAND_PTR(CORE_PIN11_PORTREG, CORE_PIN11_BIT), &CORE_PIN11_CONFIG},

  76. 	{GPIO_BITBAND_PTR(CORE_PIN12_PORTREG, CORE_PIN12_BIT), &CORE_PIN12_CONFIG},

  77. 	{GPIO_BITBAND_PTR(CORE_PIN13_PORTREG, CORE_PIN13_BIT), &CORE_PIN13_CONFIG},

  78. 	{GPIO_BITBAND_PTR(CORE_PIN14_PORTREG, CORE_PIN14_BIT), &CORE_PIN14_CONFIG},

  79. 	{GPIO_BITBAND_PTR(CORE_PIN15_PORTREG, CORE_PIN15_BIT), &CORE_PIN15_CONFIG},

  80. 	{GPIO_BITBAND_PTR(CORE_PIN16_PORTREG, CORE_PIN16_BIT), &CORE_PIN16_CONFIG},

  81. 	{GPIO_BITBAND_PTR(CORE_PIN17_PORTREG, CORE_PIN17_BIT), &CORE_PIN17_CONFIG},

  82. 	{GPIO_BITBAND_PTR(CORE_PIN18_PORTREG, CORE_PIN18_BIT), &CORE_PIN18_CONFIG},

  83. 	{GPIO_BITBAND_PTR(CORE_PIN19_PORTREG, CORE_PIN19_BIT), &CORE_PIN19_CONFIG},

  84. 	{GPIO_BITBAND_PTR(CORE_PIN20_PORTREG, CORE_PIN20_BIT), &CORE_PIN20_CONFIG},

  85. 	{GPIO_BITBAND_PTR(CORE_PIN21_PORTREG, CORE_PIN21_BIT), &CORE_PIN21_CONFIG},

  86. 	{GPIO_BITBAND_PTR(CORE_PIN22_PORTREG, CORE_PIN22_BIT), &CORE_PIN22_CONFIG},

  87. 	{GPIO_BITBAND_PTR(CORE_PIN23_PORTREG, CORE_PIN23_BIT), &CORE_PIN23_CONFIG},

  88. 	{GPIO_BITBAND_PTR(CORE_PIN24_PORTREG, CORE_PIN24_BIT), &CORE_PIN24_CONFIG},

  89. 	{GPIO_BITBAND_PTR(CORE_PIN25_PORTREG, CORE_PIN25_BIT), &CORE_PIN25_CONFIG},

  90. 	{GPIO_BITBAND_PTR(CORE_PIN26_PORTREG, CORE_PIN26_BIT), &CORE_PIN26_CONFIG},

  91. 	{GPIO_BITBAND_PTR(CORE_PIN27_PORTREG, CORE_PIN27_BIT), &CORE_PIN27_CONFIG},

  92. 	{GPIO_BITBAND_PTR(CORE_PIN28_PORTREG, CORE_PIN28_BIT), &CORE_PIN28_CONFIG},

  93. 	{GPIO_BITBAND_PTR(CORE_PIN29_PORTREG, CORE_PIN29_BIT), &CORE_PIN29_CONFIG},

  94. 	{GPIO_BITBAND_PTR(CORE_PIN30_PORTREG, CORE_PIN30_BIT), &CORE_PIN30_CONFIG},

  95. 	{GPIO_BITBAND_PTR(CORE_PIN31_PORTREG, CORE_PIN31_BIT), &CORE_PIN31_CONFIG},

  96. 	{GPIO_BITBAND_PTR(CORE_PIN32_PORTREG, CORE_PIN32_BIT), &CORE_PIN32_CONFIG},

  97. 	{GPIO_BITBAND_PTR(CORE_PIN33_PORTREG, CORE_PIN33_BIT), &CORE_PIN33_CONFIG}

  98. };

  99. 

  100. 

  101. 

  102. 

  103. typedef void (*voidFuncPtr)(void);

  104. volatile static voidFuncPtr intFunc[CORE_NUM_DIGITAL];

  105. 

  106. void init_pin_interrupts(void)

  107. {

  108. 	//SIM_SCGC5 = 0x00043F82;		// clocks active to all GPIO

  109. 	NVIC_ENABLE_IRQ(IRQ_PORTA);

  110. 	NVIC_ENABLE_IRQ(IRQ_PORTB);

  111. 	NVIC_ENABLE_IRQ(IRQ_PORTC);

  112. 	NVIC_ENABLE_IRQ(IRQ_PORTD);

  113. 	NVIC_ENABLE_IRQ(IRQ_PORTE);

  114. 	// TODO: maybe these should be set to a lower priority

  115. 	// so if the user puts lots of slow code on attachInterrupt

  116. 	// fast interrupts will still be serviced quickly?

  117. }

  118. 

  119. void attachInterrupt(uint8_t pin, void (*function)(void), int mode)

  120. {

  121. 	volatile uint32_t *config;

  122. 	uint32_t cfg, mask;

  123. 

  124. 	if (pin >= CORE_NUM_DIGITAL) return;

  125. 	switch (mode) {

  126. 	  case CHANGE:	mask = 0x0B; break;

  127. 	  case RISING:	mask = 0x09; break;

  128. 	  case FALLING:	mask = 0x0A; break;

  129. 	  case LOW:	mask = 0x08; break;

  130. 	  case HIGH:	mask = 0x0C; break;

  131. 	  default: return;

  132. 	}

  133. 	mask = (mask << 16) | 0x01000000;

  134. 	config = portConfigRegister(pin);

  135. 

  136. 	__disable_irq();

  137. 	cfg = *config;

  138. 	cfg &= ~0x000F0000;		// disable any previous interrupt

  139. 	*config = cfg;

  140. 	intFunc[pin] = function;	// set the function pointer

  141. 	cfg |= mask;

  142. 	*config = cfg;			// enable the new interrupt

  143. 	__enable_irq();

  144. }

  145. 

  146. void detachInterrupt(uint8_t pin)

  147. {

  148. 	volatile uint32_t *config;

  149. 

  150. 	config = portConfigRegister(pin);

  151. 	__disable_irq();

  152. 	*config = ((*config & ~0x000F0000) | 0x01000000);

  153. 	intFunc[pin] = NULL;

  154. 	__enable_irq();

  155. }

  156. 

  157. 

  158. void porta_isr(void)

  159. {

  160. 	uint32_t isfr = PORTA_ISFR;

  161. 	PORTA_ISFR = isfr;

  162. 	if ((isfr & CORE_PIN3_BITMASK) && intFunc[3]) intFunc[3]();

  163. 	if ((isfr & CORE_PIN4_BITMASK) && intFunc[4]) intFunc[4]();

  164. 	if ((isfr & CORE_PIN24_BITMASK) && intFunc[24]) intFunc[24]();

  165. 	if ((isfr & CORE_PIN33_BITMASK) && intFunc[33]) intFunc[33]();

  166. }

  167. 

  168. void portb_isr(void)

  169. {

  170. 	uint32_t isfr = PORTB_ISFR;

  171. 	PORTB_ISFR = isfr;

  172. 	if ((isfr & CORE_PIN0_BITMASK) && intFunc[0]) intFunc[0]();

  173. 	if ((isfr & CORE_PIN1_BITMASK) && intFunc[1]) intFunc[1]();

  174. 	if ((isfr & CORE_PIN16_BITMASK) && intFunc[16]) intFunc[16]();

  175. 	if ((isfr & CORE_PIN17_BITMASK) && intFunc[17]) intFunc[17]();

  176. 	if ((isfr & CORE_PIN18_BITMASK) && intFunc[18]) intFunc[18]();

  177. 	if ((isfr & CORE_PIN19_BITMASK) && intFunc[19]) intFunc[19]();

  178. 	if ((isfr & CORE_PIN25_BITMASK) && intFunc[25]) intFunc[25]();

  179. 	if ((isfr & CORE_PIN32_BITMASK) && intFunc[32]) intFunc[32]();

  180. }

  181. 

  182. void portc_isr(void)

  183. {

  184. 	// TODO: these are inefficent.  Use CLZ somehow....

  185. 	uint32_t isfr = PORTC_ISFR;

  186. 	PORTC_ISFR = isfr;

  187. 	if ((isfr & CORE_PIN9_BITMASK) && intFunc[9]) intFunc[9]();

  188. 	if ((isfr & CORE_PIN10_BITMASK) && intFunc[10]) intFunc[10]();

  189. 	if ((isfr & CORE_PIN11_BITMASK) && intFunc[11]) intFunc[11]();

  190. 	if ((isfr & CORE_PIN12_BITMASK) && intFunc[12]) intFunc[12]();

  191. 	if ((isfr & CORE_PIN13_BITMASK) && intFunc[13]) intFunc[13]();

  192. 	if ((isfr & CORE_PIN15_BITMASK) && intFunc[15]) intFunc[15]();

  193. 	if ((isfr & CORE_PIN22_BITMASK) && intFunc[22]) intFunc[22]();

  194. 	if ((isfr & CORE_PIN23_BITMASK) && intFunc[23]) intFunc[23]();

  195. 	if ((isfr & CORE_PIN27_BITMASK) && intFunc[27]) intFunc[27]();

  196. 	if ((isfr & CORE_PIN28_BITMASK) && intFunc[28]) intFunc[28]();

  197. 	if ((isfr & CORE_PIN29_BITMASK) && intFunc[29]) intFunc[29]();

  198. 	if ((isfr & CORE_PIN30_BITMASK) && intFunc[30]) intFunc[30]();

  199. }

  200. 

  201. void portd_isr(void)

  202. {

  203. 	uint32_t isfr = PORTD_ISFR;

  204. 	PORTD_ISFR = isfr;

  205. 	if ((isfr & CORE_PIN2_BITMASK) && intFunc[2]) intFunc[2]();

  206. 	if ((isfr & CORE_PIN5_BITMASK) && intFunc[5]) intFunc[5]();

  207. 	if ((isfr & CORE_PIN6_BITMASK) && intFunc[6]) intFunc[6]();

  208. 	if ((isfr & CORE_PIN7_BITMASK) && intFunc[7]) intFunc[7]();

  209. 	if ((isfr & CORE_PIN8_BITMASK) && intFunc[8]) intFunc[8]();

  210. 	if ((isfr & CORE_PIN14_BITMASK) && intFunc[14]) intFunc[14]();

  211. 	if ((isfr & CORE_PIN20_BITMASK) && intFunc[20]) intFunc[20]();

  212. 	if ((isfr & CORE_PIN21_BITMASK) && intFunc[21]) intFunc[21]();

  213. }

  214. 

  215. void porte_isr(void)

  216. {

  217. 	uint32_t isfr = PORTE_ISFR;

  218. 	PORTE_ISFR = isfr;

  219. 	if ((isfr & CORE_PIN26_BITMASK) && intFunc[26]) intFunc[26]();

  220. 	if ((isfr & CORE_PIN31_BITMASK) && intFunc[31]) intFunc[31]();

  221. }

  222. 

  223. 

  224. 

  225. 

  226. unsigned long rtc_get(void)

  227. {

  228. 	return RTC_TSR;

  229. }

  230. 

  231. void rtc_set(unsigned long t)

  232. {

  233. 	RTC_SR = 0;

  234. 	RTC_TPR = 0;

  235. 	RTC_TSR = t;

  236. 	RTC_SR = RTC_SR_TCE;

  237. }

  238. 

  239. 

  240. // adjust is the amount of crystal error to compensate, 1 = 0.1192 ppm

  241. // For example, adjust = -100 is slows the clock by 11.92 ppm

  242. //

  243. void rtc_compensate(int adjust)

  244. {

  245. 	uint32_t comp, interval, tcr;

  246. 

  247. 	// This simple approach tries to maximize the interval.

  248. 	// Perhaps minimizing TCR would be better, so the

  249. 	// compensation is distributed more evenly across

  250. 	// many seconds, rather than saving it all up and then

  251. 	// altering one second up to +/- 0.38%

  252. 	if (adjust >= 0) {

  253. 		comp = adjust;

  254. 		interval = 256;

  255. 		while (1) {

  256. 			tcr = comp * interval;

  257. 			if (tcr < 128*256) break;

  258. 			if (--interval == 1) break;

  259. 		}

  260. 		tcr = tcr >> 8;

  261. 	} else {

  262. 		comp = -adjust;

  263. 		interval = 256;

  264. 		while (1) {

  265. 			tcr = comp * interval;

  266. 			if (tcr < 129*256) break;

  267. 			if (--interval == 1) break;

  268. 		}

  269. 		tcr = tcr >> 8;

  270. 		tcr = 256 - tcr;

  271. 	}

  272. 	RTC_TCR = ((interval - 1) << 8) | tcr;

  273. }

  274. 

  275. #if 0

  276. // TODO: build system should define this

  277. // so RTC is automatically initialized to approx correct time

  278. // at least when the program begins running right after upload

  279. #ifndef TIME_T

  280. #define TIME_T 1350160272

  281. #endif

  282. 

  283. void init_rtc(void)

  284. {

  285. 	serial_print("init_rtc\n");

  286. 	//SIM_SCGC6 |= SIM_SCGC6_RTC;

  287. 

  288. 	// enable the RTC crystal oscillator, for approx 12pf crystal

  289. 	if (!(RTC_CR & RTC_CR_OSCE)) {

  290. 		serial_print("start RTC oscillator\n");

  291. 		RTC_SR = 0;

  292. 		RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE;

  293. 	}

  294. 	// should wait for crystal to stabilize.....

  295. 

  296. 	serial_print("SR=");

  297. 	serial_phex32(RTC_SR);

  298. 	serial_print("\n");

  299. 	serial_print("CR=");

  300. 	serial_phex32(RTC_CR);

  301. 	serial_print("\n");

  302. 	serial_print("TSR=");

  303. 	serial_phex32(RTC_TSR);

  304. 	serial_print("\n");

  305. 	serial_print("TCR=");

  306. 	serial_phex32(RTC_TCR);

  307. 	serial_print("\n");

  308. 

  309. 	if (RTC_SR & RTC_SR_TIF) {

  310. 		// enable the RTC

  311. 		RTC_SR = 0;

  312. 		RTC_TPR = 0;

  313. 		RTC_TSR = TIME_T;

  314. 		RTC_SR = RTC_SR_TCE;

  315. 	}

  316. }

  317. #endif

  318. 

  319. extern void usb_init(void);

  320. 

  321. 

  322. // create a default PWM at the same 488.28 Hz as Arduino Uno

  323. #if F_BUS == 48000000

  324. #define DEFAULT_FTM_MOD (49152 - 1)

  325. #define DEFAULT_FTM_PRESCALE 1

  326. #else

  327. #define DEFAULT_FTM_MOD (49152 - 1)

  328. #define DEFAULT_FTM_PRESCALE 0

  329. #endif

  330. 

  331. //void init_pins(void)

  332. void _init_Teensyduino_internal_(void)

  333. {

  334. 	init_pin_interrupts();

  335. 

  336. 	//SIM_SCGC6 |= SIM_SCGC6_FTM0;	// TODO: use bitband for atomic read-mod-write

  337. 	//SIM_SCGC6 |= SIM_SCGC6_FTM1;

  338. 	FTM0_CNT = 0;

  339. 	FTM0_MOD = DEFAULT_FTM_MOD;

  340. 	FTM0_C0SC = 0x28; // MSnB:MSnA = 10, ELSnB:ELSnA = 10

  341. 	FTM0_C1SC = 0x28;

  342. 	FTM0_C2SC = 0x28;

  343. 	FTM0_C3SC = 0x28;

  344. 	FTM0_C4SC = 0x28;

  345. 	FTM0_C5SC = 0x28;

  346. 	FTM0_C6SC = 0x28;

  347. 	FTM0_C7SC = 0x28;

  348. 	FTM0_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE);

  349. 	FTM1_CNT = 0;

  350. 	FTM1_MOD = DEFAULT_FTM_MOD;

  351. 	FTM1_C0SC = 0x28;

  352. 	FTM1_C1SC = 0x28;

  353. 	FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE);

  354. #if defined(__MK20DX256__)

  355. 	FTM2_CNT = 0;

  356. 	FTM2_MOD = DEFAULT_FTM_MOD;

  357. 	FTM2_C0SC = 0x28;

  358. 	FTM2_C1SC = 0x28;

  359. 	FTM2_SC = FTM_SC_CLKS(1) | FTM_SC_PS(DEFAULT_FTM_PRESCALE);

  360. #endif

  361. 

  362. 	analog_init();

  363. 	//delay(100); // TODO: this is not necessary, right?

  364. 	usb_init();

  365. }

  366. 

  367. 

  368. 

  369. static uint8_t analog_write_res = 8;

  370. 

  371. // SOPT4 is SIM select clocks?

  372. // FTM is clocked by the bus clock, either 24 or 48 MHz

  373. // input capture can be FTM1_CH0, CMP0 or CMP1 or USB start of frame

  374. // 24 MHz with reload 49152 to match Arduino's speed = 488.28125 Hz

  375. 

  376. void analogWrite(uint8_t pin, int val)

  377. {

  378. 	uint32_t cval, max;

  379. 

  380. #if defined(__MK20DX256__)

  381. 	if (pin == A14) {

  382. 		uint8_t res = analog_write_res;

  383. 		if (res < 12) {

  384. 			val <<= 12 - res;

  385. 		} else if (res > 12) {

  386. 			val >>= res - 12;

  387. 		}

  388. 		analogWriteDAC0(val);

  389. 		return;

  390. 	}

  391. #endif

  392. 

  393. 	max = 1 << analog_write_res;

  394. 	if (val <= 0) {

  395. 		digitalWrite(pin, LOW);

  396. 		pinMode(pin, OUTPUT);	// TODO: implement OUTPUT_LOW

  397. 		return;

  398. 	} else if (val >= max) {

  399. 		digitalWrite(pin, HIGH);

  400. 		pinMode(pin, OUTPUT);	// TODO: implement OUTPUT_HIGH

  401. 		return;

  402. 	}

  403. 

  404. 	//serial_print("analogWrite\n");

  405. 	//serial_print("val = ");

  406. 	//serial_phex32(val);

  407. 	//serial_print("\n");

  408. 	//serial_print("analog_write_res = ");

  409. 	//serial_phex(analog_write_res);

  410. 	//serial_print("\n");

  411. 	if (pin == 3 || pin == 4) {

  412. 		cval = ((uint32_t)val * (uint32_t)(FTM1_MOD + 1)) >> analog_write_res;

  413. #if defined(__MK20DX256__)

  414. 	} else if (pin == 25 || pin == 32) {

  415. 		cval = ((uint32_t)val * (uint32_t)(FTM2_MOD + 1)) >> analog_write_res;

  416. #endif

  417. 	} else {

  418. 		cval = ((uint32_t)val * (uint32_t)(FTM0_MOD + 1)) >> analog_write_res;

  419. 	}

  420. 	//serial_print("cval = ");

  421. 	//serial_phex32(cval);

  422. 	//serial_print("\n");

  423. 	switch (pin) {

  424. 	  case 3: // PTA12, FTM1_CH0

  425. 		FTM1_C0V = cval;

  426. 		CORE_PIN3_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;

  427. 		break;

  428. 	  case 4: // PTA13, FTM1_CH1

  429. 		FTM1_C1V = cval;

  430. 		CORE_PIN4_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;

  431. 		break;

  432. 	  case 5: // PTD7, FTM0_CH7

  433. 		FTM0_C7V = cval;

  434. 		CORE_PIN5_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;

  435. 		break;

  436. 	  case 6: // PTD4, FTM0_CH4

  437. 		FTM0_C4V = cval;

  438. 		CORE_PIN6_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;

  439. 		break;

  440. 	  case 9: // PTC3, FTM0_CH2

  441. 		FTM0_C2V = cval;

  442. 		CORE_PIN9_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;

  443. 		break;

  444. 	  case 10: // PTC4, FTM0_CH3

  445. 		FTM0_C3V = cval;

  446. 		CORE_PIN10_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;

  447. 		break;

  448. 	  case 20: // PTD5, FTM0_CH5

  449. 		FTM0_C5V = cval;

  450. 		CORE_PIN20_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;

  451. 		break;

  452. 	  case 21: // PTD6, FTM0_CH6

  453. 		FTM0_C6V = cval;

  454. 		CORE_PIN21_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;

  455. 		break;

  456. 	  case 22: // PTC1, FTM0_CH0

  457. 		FTM0_C0V = cval;

  458. 		CORE_PIN22_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;

  459. 		break;

  460. 	  case 23: // PTC2, FTM0_CH1

  461. 		FTM0_C1V = cval;

  462. 		CORE_PIN23_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;

  463. 		break;

  464. #if defined(__MK20DX256__)

  465. 	  case 32: // PTB18, FTM2_CH0

  466. 		FTM2_C0V = cval;

  467. 		CORE_PIN32_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;

  468. 		break;

  469. 	  case 25: // PTB19, FTM1_CH1

  470. 		FTM2_C1V = cval;

  471. 		CORE_PIN25_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;

  472. 		break;

  473. #endif

  474. 	  default:

  475. 		digitalWrite(pin, (val > 127) ? HIGH : LOW);

  476. 		pinMode(pin, OUTPUT);

  477. 	}

  478. }

  479. 

  480. void analogWriteRes(uint32_t bits)

  481. {

  482. 	if (bits < 1) {

  483. 		bits = 1;

  484. 	} else if (bits > 16) {

  485. 		bits = 16;

  486. 	}

  487. 	analog_write_res = bits;

  488. }

  489. 

  490. void analogWriteFrequency(uint8_t pin, uint32_t frequency)

  491. {

  492. 	uint32_t minfreq, prescale, mod;

  493. 

  494. 	//serial_print("analogWriteFrequency: pin = ");

  495. 	//serial_phex(pin);

  496. 	//serial_print(", freq = ");

  497. 	//serial_phex32(frequency);

  498. 	//serial_print("\n");

  499. 	for (prescale = 0; prescale < 7; prescale++) {

  500. 		minfreq = (F_BUS >> 16) >> prescale;

  501. 		if (frequency > minfreq) break;

  502. 	}

  503. 	//serial_print("F_BUS = ");

  504. 	//serial_phex32(F_BUS >> prescale);

  505. 	//serial_print("\n");

  506. 	//serial_print("prescale = ");

  507. 	//serial_phex(prescale);

  508. 	//serial_print("\n");

  509. 	//mod = ((F_BUS >> prescale) / frequency) - 1;

  510. 	mod = (((F_BUS >> prescale) + (frequency >> 1)) / frequency) - 1;

  511. 	if (mod > 65535) mod = 65535;

  512. 	//serial_print("mod = ");

  513. 	//serial_phex32(mod);

  514. 	//serial_print("\n");

  515. 	if (pin == 3 || pin == 4) {

  516. 		FTM1_SC = 0;

  517. 		FTM1_CNT = 0;

  518. 		FTM1_MOD = mod;

  519. 		FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_PS(prescale);

  520. 	} else if (pin == 5 || pin == 6 || pin == 9 || pin == 10 ||

  521. 	  (pin >= 20 && pin <= 23)) {

  522. 		FTM0_SC = 0;

  523. 		FTM0_CNT = 0;

  524. 		FTM0_MOD = mod;

  525. 		FTM0_SC = FTM_SC_CLKS(1) | FTM_SC_PS(prescale);

  526. 	}

  527. }

  528. 

  529. 

  530. 

  531. 

  532. // TODO: startup code needs to initialize all pins to GPIO mode, input by default

  533. 

  534. void digitalWrite(uint8_t pin, uint8_t val)

  535. {

  536. 	if (pin >= CORE_NUM_DIGITAL) return;

  537. 	if (*portModeRegister(pin)) {

  538. 		if (val) {

  539. 			*portSetRegister(pin) = 1;

  540. 		} else {

  541. 			*portClearRegister(pin) = 1;

  542. 		}

  543. 	} else {

  544. 		volatile uint32_t *config = portConfigRegister(pin);

  545. 		if (val) {

  546. 			// TODO use bitband for atomic read-mod-write

  547. 			*config |= (PORT_PCR_PE | PORT_PCR_PS);

  548. 			//*config = PORT_PCR_MUX(1) | PORT_PCR_PE | PORT_PCR_PS;

  549. 		} else {

  550. 			// TODO use bitband for atomic read-mod-write

  551. 			*config &= ~(PORT_PCR_PE);

  552. 			//*config = PORT_PCR_MUX(1);

  553. 		}

  554. 	}

  555. 

  556. }

  557. 

  558. uint8_t digitalRead(uint8_t pin)

  559. {

  560. 	if (pin >= CORE_NUM_DIGITAL) return 0;

  561. 	return *portInputRegister(pin);

  562. }

  563. 

  564. 

  565. 

  566. void pinMode(uint8_t pin, uint8_t mode)

  567. {

  568. 	volatile uint32_t *config;

  569. 

  570. 	if (pin >= CORE_NUM_DIGITAL) return;

  571. 	config = portConfigRegister(pin);

  572. 

  573. 	if (mode == OUTPUT) {

  574. 		*portModeRegister(pin) = 1;

  575. 		*config = PORT_PCR_SRE | PORT_PCR_DSE | PORT_PCR_MUX(1);

  576. 	} else {

  577. 		*portModeRegister(pin) = 0;

  578. 		if (mode == INPUT) {

  579. 			*config = PORT_PCR_MUX(1);

  580. 		} else {

  581. 			*config = PORT_PCR_MUX(1) | PORT_PCR_PE | PORT_PCR_PS; // pullup

  582. 		}

  583. 	}

  584. }

  585. 

  586. 

  587. void _shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t value)

  588. {

  589.         if (bitOrder == LSBFIRST) {

  590.                 shiftOut_lsbFirst(dataPin, clockPin, value);

  591.         } else {

  592.                 shiftOut_msbFirst(dataPin, clockPin, value);

  593.         }

  594. }

  595. 

  596. void shiftOut_lsbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value)

  597. {

  598.         uint8_t mask;

  599.         for (mask=0x01; mask; mask <<= 1) {

  600.                 digitalWrite(dataPin, value & mask);

  601.                 digitalWrite(clockPin, HIGH);

  602.                 digitalWrite(clockPin, LOW);

  603.         }

  604. }

  605. 

  606. void shiftOut_msbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value)

  607. {

  608.         uint8_t mask;

  609.         for (mask=0x80; mask; mask >>= 1) {

  610.                 digitalWrite(dataPin, value & mask);

  611.                 digitalWrite(clockPin, HIGH);

  612.                 digitalWrite(clockPin, LOW);

  613.         }

  614. }

  615. 

  616. uint8_t _shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder)

  617. {

  618.         if (bitOrder == LSBFIRST) {

  619.                 return shiftIn_lsbFirst(dataPin, clockPin);

  620.         } else {

  621.                 return shiftIn_msbFirst(dataPin, clockPin);

  622.         }

  623. }

  624. 

  625. uint8_t shiftIn_lsbFirst(uint8_t dataPin, uint8_t clockPin)

  626. {

  627.         uint8_t mask, value=0;

  628.         for (mask=0x01; mask; mask <<= 1) {

  629.                 digitalWrite(clockPin, HIGH);

  630.                 if (digitalRead(dataPin)) value |= mask;

  631.                 digitalWrite(clockPin, LOW);

  632.         }

  633.         return value;

  634. }

  635. 

  636. uint8_t shiftIn_msbFirst(uint8_t dataPin, uint8_t clockPin)

  637. {

  638.         uint8_t mask, value=0;

  639.         for (mask=0x80; mask; mask >>= 1) {

  640.                 digitalWrite(clockPin, HIGH);

  641.                 if (digitalRead(dataPin)) value |= mask;

  642.                 digitalWrite(clockPin, LOW);

  643.         }

  644.         return value;

  645. }

  646. 

  647. 

  648. 

  649. // the systick interrupt is supposed to increment this at 1 kHz rate

  650. volatile uint32_t systick_millis_count = 0;

  651. 

  652. //uint32_t systick_current, systick_count, systick_istatus;  // testing only

  653. 

  654. uint32_t micros(void)

  655. {

  656. 	uint32_t count, current, istatus;

  657. 

  658. 	__disable_irq();

  659. 	current = SYST_CVR;

  660. 	count = systick_millis_count;

  661. 	istatus = SCB_ICSR;	// bit 26 indicates if systick exception pending

  662. 	__enable_irq();

  663. 	 //systick_current = current;

  664. 	 //systick_count = count;

  665. 	 //systick_istatus = istatus & SCB_ICSR_PENDSTSET ? 1 : 0;

  666. 	if ((istatus & SCB_ICSR_PENDSTSET) && current > 50) count++;

  667. 	current = ((F_CPU / 1000) - 1) - current;

  668. 	return count * 1000 + current / (F_CPU / 1000000);

  669. }

  670. 

  671. void delay(uint32_t ms)

  672. {

  673. 	uint32_t start = micros();

  674. 

  675. 	if (ms > 0) {

  676. 		while (1) {

  677. 			if ((micros() - start) >= 1000) {

  678. 				ms--;

  679. 				if (ms == 0) return;

  680. 				start += 1000;

  681. 			}

  682. 			yield();

  683. 		}

  684. 	}

  685. }

  686. 

  687. #if F_CPU == 96000000

  688. #define PULSEIN_LOOPS_PER_USEC 14

  689. #elif F_CPU == 48000000

  690. #define PULSEIN_LOOPS_PER_USEC 7

  691. #elif F_CPU == 24000000

  692. #define PULSEIN_LOOPS_PER_USEC 4

  693. #endif

  694. 

  695. 

  696. uint32_t pulseIn_high(volatile uint8_t *reg, uint32_t timeout)

  697. {

  698. 	uint32_t timeout_count = timeout * PULSEIN_LOOPS_PER_USEC;

  699. 	uint32_t usec_start, usec_stop;

  700. 	

  701. 	// wait for any previous pulse to end

  702. 	while (*reg) {

  703. 		if (--timeout_count == 0) return 0;

  704. 	}

  705. 	// wait for the pulse to start

  706. 	while (!*reg) {

  707. 		if (--timeout_count == 0) return 0;

  708. 	}

  709. 	usec_start = micros();

  710. 	// wait for the pulse to stop

  711. 	while (*reg) {

  712. 		if (--timeout_count == 0) return 0;

  713. 	}

  714. 	usec_stop = micros();

  715. 	return usec_stop - usec_start;

  716. }

  717. 

  718. uint32_t pulseIn_low(volatile uint8_t *reg, uint32_t timeout)

  719. {

  720. 	uint32_t timeout_count = timeout * PULSEIN_LOOPS_PER_USEC;

  721. 	uint32_t usec_start, usec_stop;

  722. 	

  723. 	// wait for any previous pulse to end

  724. 	while (!*reg) {

  725. 		if (--timeout_count == 0) return 0;

  726. 	}

  727. 	// wait for the pulse to start

  728. 	while (*reg) {

  729. 		if (--timeout_count == 0) return 0;

  730. 	}

  731. 	usec_start = micros();

  732. 	// wait for the pulse to stop

  733. 	while (!*reg) {

  734. 		if (--timeout_count == 0) return 0;

  735. 	}

  736. 	usec_stop = micros();

  737. 	return usec_stop - usec_start;

  738. }

  739. 

  740. // TODO: an inline version should handle the common case where state is const

  741. uint32_t pulseIn(uint8_t pin, uint8_t state, uint32_t timeout)

  742. {

  743. 	if (pin >= CORE_NUM_DIGITAL) return 0;

  744. 	if (state) return pulseIn_high(portInputRegister(pin), timeout);

  745. 	return pulseIn_low(portInputRegister(pin), timeout);;

  746. }

  747. 

  748. 

  749. 

  750. 

  751. 

  752. 

  753. 

  754. 

  755. 

  756. 

  757. 

  758. 

  759. 

  760. 

  761. 

  762. 

  763. 

  764. 

  765. 

  766. 

  767. 

  768. 

  769. 

  770. 

  771. 

  772. 

  773.