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remove ports/teensy

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This commit is contained in:
Dan Halbert 2019-10-13 11:09:03 -04:00
parent fc033bd954
commit 8f792127da
56 changed files with 0 additions and 13575 deletions
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236
ports/teensy/Makefile
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@ -1,236 +0,0 @@
include ../../py/mkenv.mk
# qstr definitions (must come before including py.mk)
QSTR_DEFS = qstrdefsport.h $(BUILD)/pins_qstr.h
# include py core make definitions
include $(TOP)/py/py.mk
# If you set USE_ARDUINO_TOOLCHAIN=1 then this makefile will attempt to use
# the toolchain that comes with Teensyduino
ifeq ($(USE_ARDUINO_TOOLCHAIN),)
USE_ARDUINO_TOOLCHAIN = 0
endif
ifeq ($(USE_ARDUINO_TOOLCHAIN),1)
ifeq ($(ARDUINO),)
$(error USE_ARDUINO_TOOLCHAIN requires that ARDUINO be set)
endif
endif
ifeq ($(USE_ARDUINO_TOOLCHAIN),1)
$(info Using ARDUINO toolchain)
CROSS_COMPILE = $(ARDUINO)/hardware/tools/arm-none-eabi/bin/arm-none-eabi-
else
$(info Using toolchain from PATH)
CROSS_COMPILE = arm-none-eabi-
endif
CFLAGS_TEENSY = -DF_CPU=96000000 -DUSB_SERIAL -D__MK20DX256__
CFLAGS_CORTEX_M4 = -mthumb -mtune=cortex-m4 -mcpu=cortex-m4 -msoft-float -mfloat-abi=soft -fsingle-precision-constant -Wdouble-promotion $(CFLAGS_TEENSY)
INC += -I.
INC += -I$(TOP)
INC += -I$(TOP)/ports/stm32
INC += -I$(BUILD)
INC += -Icore
CFLAGS = $(INC) -Wall -Wpointer-arith -std=gnu99 -nostdlib $(CFLAGS_CORTEX_M4)
LDFLAGS = -nostdlib -T mk20dx256.ld -msoft-float -mfloat-abi=soft
ifeq ($(USE_ARDUINO_TOOLCHAIN),1)
LIBGCC_FILE_NAME = $(ARDUINO)/hardware/tools/arm-none-eabi/lib/gcc/arm-none-eabi/4.7.2/thumb2/libgcc.a
LIBM_FILE_NAME = $(ARDUINO)/hardware/tools/arm-none-eabi/arm-none-eabi/lib/thumb2/libm.a
LIBC_FILE_NAME = $(ARDUINO)/hardware/tools/arm-none-eabi/arm-none-eabi/lib/thumb2/libc.a
else
LIBGCC_FILE_NAME = $(shell $(CC) $(CFLAGS) -print-libgcc-file-name)
LIBM_FILE_NAME = $(shell $(CC) $(CFLAGS) -print-file-name=libm.a)
LIBC_FILE_NAME = $(shell $(CC) $(CFLAGS) -print-file-name=libc.a)
endif
#$(info %%%%% LIBGCC_FILE_NAME = $(LIBGCC_FILE_NAME))
#$(info %%%%% LIBM_FILE_NAME = $(LIBM_FILE_NAME))
#$(info %%%%% LIBC_FILE_NAME = $(LIBC_FILE_NAME))
#$(info %%%%% dirname LIBGCC_FILE_NAME = $(dir $(LIBGCC_FILE_NAME)))
#$(info %%%%% dirname LIBM_FILE_NAME = $(dir $(LIBM_FILE_NAME)))
#$(info %%%%% dirname LIBC_FILE_NAME = $(dir $(LIBC_FILE_NAME)))
LIBS = -L $(dir $(LIBM_FILE_NAME)) -lm
LIBS += -L $(dir $(LIBC_FILE_NAME)) -lc
LIBS += -L $(dir $(LIBGCC_FILE_NAME)) -lgcc
#Debugging/Optimization
ifdef DEBUG
CFLAGS += -Og -ggdb
else
CFLAGS += -Os #-DNDEBUG
endif
CFLAGS += -fdata-sections -ffunction-sections
LDFLAGS += -Wl,--gc-sections
USE_FROZEN = 1
USE_MEMZIP = 0
SRC_C = \
hal_ftm.c \
hal_gpio.c \
help.c \
main.c \
lcd.c \
led.c \
modpyb.c \
pin_defs_teensy.c \
reg.c \
teensy_hal.c \
timer.c \
uart.c \
usb.c \
STM_SRC_C = $(addprefix ports/stm32/,\
gccollect.c \
irq.c \
pin.c \
pin_named_pins.c \
)
STM_SRC_S = $(addprefix ports/stm32/,\
gchelper.s \
)
LIB_SRC_C = $(addprefix lib/,\
libc/string0.c \
mp-readline/builtin_input.c \
mp-readline/readline.c \
utils/pyexec.c \
utils/sys_stdio_mphal.c \
)
SRC_TEENSY = $(addprefix core/,\
mk20dx128.c \
pins_teensy.c \
analog.c \
usb_desc.c \
usb_dev.c \
usb_mem.c \
usb_serial.c \
yield.c \
)
OBJ = $(PY_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o) $(STM_SRC_C:.c=.o) $(STM_SRC_S:.s=.o) $(SRC_TEENSY:.c=.o))
OBJ += $(addprefix $(BUILD)/, $(LIB_SRC_C:.c=.o))
OBJ += $(BUILD)/pins_gen.o
all: hex
hex: $(BUILD)/micropython.hex
ifeq ($(USE_MEMZIP),1)
SRC_C += \
lib/memzip/import.c \
lib/memzip/lexermemzip.c \
lib/memzip/memzip.c \
OBJ += $(BUILD)/memzip-files.o
MAKE_MEMZIP = $(TOP)/lib/memzip/make-memzip.py
ifeq ($(MEMZIP_DIR),)
MEMZIP_DIR = memzip_files
endif
$(BUILD)/memzip-files.o: $(BUILD)/memzip-files.c
$(call compile_c)
$(BUILD)/memzip-files.c: $(shell find ${MEMZIP_DIR} -type f)
@$(ECHO) "Creating $@"
$(Q)$(PYTHON) $(MAKE_MEMZIP) --zip-file $(BUILD)/memzip-files.zip --c-file $@ $(MEMZIP_DIR)
endif # USE_MEMZIP
ifeq ($(USE_FROZEN),1)
ifeq ($(FROZEN_DIR),)
FROZEN_DIR = memzip_files
endif
CFLAGS += -DMICROPY_MODULE_FROZEN_STR
SRC_C += \
lexerfrozen.c \
$(BUILD)/frozen.c
endif # USE_FROZEN
ifeq ($(ARDUINO),)
post_compile: $(BUILD)/micropython.hex
$(ECHO) "Please define ARDUINO (where TeensyDuino is installed)"
exit 1
reboot:
$(ECHO) "Please define ARDUINO (where TeensyDuino is installed)"
exit 1
else
TOOLS_PATH = $(ARDUINO)/hardware/tools
post_compile: $(BUILD)/micropython.hex
$(ECHO) "Preparing $@ for upload"
$(Q)$(TOOLS_PATH)/teensy_post_compile -file="$(basename $(<F))" -path="$(abspath $(<D))" -tools="$(TOOLS_PATH)"
reboot:
$(ECHO) "REBOOT"
-$(Q)$(TOOLS_PATH)/teensy_reboot
endif
.PHONY: deploy
deploy: post_compile reboot
$(BUILD)/micropython.elf: $(OBJ)
$(ECHO) "LINK $@"
$(Q)$(CC) $(LDFLAGS) -o "$@" -Wl,-Map,$(@:.elf=.map) $^ $(LIBS)
$(Q)$(SIZE) $@
$(BUILD)/%.hex: $(BUILD)/%.elf
$(ECHO) "HEX $<"
$(Q)$(OBJCOPY) -O ihex -R .eeprom "$<" "$@"
MAKE_PINS = make-pins.py
BOARD_PINS = teensy_pins.csv
AF_FILE = mk20dx256_af.csv
PREFIX_FILE = mk20dx256_prefix.c
GEN_PINS_SRC = $(BUILD)/pins_gen.c
GEN_PINS_HDR = $(HEADER_BUILD)/pins.h
GEN_PINS_QSTR = $(BUILD)/pins_qstr.h
GEN_PINS_AF_CONST = $(HEADER_BUILD)/pins_af_const.h
GEN_PINS_AF_PY = $(BUILD)/pins_af.py
# List of sources for qstr extraction
SRC_QSTR += $(SRC_C) $(STM_SRC_C) $(LIB_SRC_C)
# Append any auto-generated sources that are needed by sources listed in
# SRC_QSTR
SRC_QSTR_AUTO_DEPS +=
# Making OBJ use an order-only depenedency on the generated pins.h file
# has the side effect of making the pins.h file before we actually compile
# any of the objects. The normal dependency generation will deal with the
# case when pins.h is modified. But when it doesn't exist, we don't know
# which source files might need it.
$(OBJ): | $(HEADER_BUILD)/pins.h
# Use a pattern rule here so that make will only call make-pins.py once to make
# both pins_$(BOARD).c and pins.h
$(BUILD)/%_gen.c $(HEADER_BUILD)/%.h $(HEADER_BUILD)/%_af_const.h $(BUILD)/%_qstr.h: teensy_%.csv $(MAKE_PINS) $(AF_FILE) $(PREFIX_FILE) | $(HEADER_BUILD)
$(ECHO) "Create $@"
$(Q)$(PYTHON) $(MAKE_PINS) --board $(BOARD_PINS) --af $(AF_FILE) --prefix $(PREFIX_FILE) --hdr $(GEN_PINS_HDR) --qstr $(GEN_PINS_QSTR) --af-const $(GEN_PINS_AF_CONST) --af-py $(GEN_PINS_AF_PY) > $(GEN_PINS_SRC)
$(BUILD)/pins_gen.o: $(BUILD)/pins_gen.c
$(call compile_c)
$(BUILD)/%.pp: $(BUILD)/%.c
$(ECHO) "PreProcess $<"
$(Q)$(CC) $(CFLAGS) -E -Wp,-C,-dD,-dI -o $@ $<
include $(TOP)/py/mkrules.mk

72
ports/teensy/README.md
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# Build Instructions for Teensy 3.1
Currently the Teensy 3.1 port of MicroPython builds under Linux and not under Windows.
The tool chain required for the build can be found at <https://launchpad.net/gcc-arm-embedded>.
Download the current Linux *.tar.bz2 file. Instructions regarding unpacking the file and moving it to the correct location
as well as adding the extracted folders to the enviroment variable can be found at
<http://eliaselectronics.com/stm32f4-tutorials/setting-up-the-stm32f4-arm-development-toolchain/>
In order to download the firmware image to the teensy, you'll need to use the
downloader included with TeensyDuino. The following assumes that you have
TeensyDuino installed and set the ARDUINO environment variable pointing to the
where Arduino with TeensyDuino is installed.
```bash
cd teensy
ARDUINO=~/arduino-1.0.5 make
```
To upload MicroPython to the Teensy 3.1.
Press the Program button on the Teensy 3.1
```bash
sudo ARDUINO=~/arduino-1.0.5/ make deploy
```
Currently, the Python prompt is through the USB serial interface, i.e.
```bash
minicom -D /dev/ttyACM0
```
## TIPS
### Install 49-teensy.rules into /etc/udev/rules.d
If you install the 49-teensy.rules file from http://www.pjrc.com/teensy/49-teensy.rules
into your ```/etc/udev/rules.d``` folder then you won't need to use sudo:
```bash
sudo cp ~/Downloads/49-teensy.rules /etc/udev/rules.d
sudo udevadm control --reload-rules
```
Unplug and replug the teensy board, and then you can use: ```ARDUINO=~/arduino-1.0.5/ make deploy```
### Create a GNUmakefile to hold your ARDUINO setting.
Create a file call GNUmakefile (note the lowercase m) in the teensy folder
with the following contents:
```make
$(info Executing GNUmakefile)
ARDUINO=${HOME}/arduino-1.0.5
$(info ARDUINO=${ARDUINO})
include Makefile
```
GNUmakefile is not checked into the source code control system, so it will
retain your settings when updating your source tree. You can also add
additional Makefile customizations this way.
### Tips for OSX
Set the ARDUINO environment variable to the location where Arduino with TeensyDuino is installed.
```bash
export ARDUINO=~/Downloads/Arduino.app/Contents/Java/
```
Search /dev/ for USB port name, which will be cu.usbmodem followed by a few numbers. The name of the port maybe different depending on the version of OSX.
To access the Python prompt type:
```bash
screen <devicename> 115200
```

27
ports/teensy/add-memzip.sh
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#!/bin/bash
if [ "$#" != 3 ]; then
echo "Usage: add-memzip.sh input.hex output.hex file-directory"
exit 1
fi
#set -x
input_hex=$1
output_hex=$2
memzip_src_dir=$3
input_bin=${input_hex}.bin
output_bin=${output_hex}.bin
zip_file=${output_hex}.zip
zip_base=$(basename ${zip_file})
zip_dir=$(dirname ${zip_file})
abs_zip_dir=$(realpath ${zip_dir})
rm -f ${zip_file}
(cd ${memzip_src_dir}; zip -0 -r -D ${abs_zip_dir}/${zip_base} .)
objcopy -I ihex -O binary ${input_hex} ${input_bin}
cat ${input_bin} ${zip_file} > ${output_bin}
objcopy -I binary -O ihex ${output_bin} ${output_hex}
echo "Added ${memzip_src_dir} to ${input_hex} creating ${output_hex}"

3
ports/teensy/core/Arduino.h
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//#include "WProgram.h"
#include "core_pins.h"
#include "pins_arduino.h"

227
ports/teensy/core/HardwareSerial.h
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#ifndef HardwareSerial_h
#define HardwareSerial_h
#include "mk20dx128.h"
#include <inttypes.h>
// uncomment to enable 9 bit formats
//#define SERIAL_9BIT_SUPPORT
#define SERIAL_7E1 0x02
#define SERIAL_7O1 0x03
#define SERIAL_8N1 0x00
#define SERIAL_8N2 0x04
#define SERIAL_8E1 0x06
#define SERIAL_8O1 0x07
#define SERIAL_7E1_RXINV 0x12
#define SERIAL_7O1_RXINV 0x13
#define SERIAL_8N1_RXINV 0x10
#define SERIAL_8N2_RXINV 0x14
#define SERIAL_8E1_RXINV 0x16
#define SERIAL_8O1_RXINV 0x17
#define SERIAL_7E1_TXINV 0x22
#define SERIAL_7O1_TXINV 0x23
#define SERIAL_8N1_TXINV 0x20
#define SERIAL_8N2_TXINV 0x24
#define SERIAL_8E1_TXINV 0x26
#define SERIAL_8O1_TXINV 0x27
#define SERIAL_7E1_RXINV_TXINV 0x32
#define SERIAL_7O1_RXINV_TXINV 0x33
#define SERIAL_8N1_RXINV_TXINV 0x30
#define SERIAL_8N2_RXINV_TXINV 0x34
#define SERIAL_8E1_RXINV_TXINV 0x36
#define SERIAL_8O1_RXINV_TXINV 0x37
#ifdef SERIAL_9BIT_SUPPORT
#define SERIAL_9N1 0x84
#define SERIAL_9E1 0x8E
#define SERIAL_9O1 0x8F
#define SERIAL_9N1_RXINV 0x94
#define SERIAL_9E1_RXINV 0x9E
#define SERIAL_9O1_RXINV 0x9F
#define SERIAL_9N1_TXINV 0xA4
#define SERIAL_9E1_TXINV 0xAE
#define SERIAL_9O1_TXINV 0xAF
#define SERIAL_9N1_RXINV_TXINV 0xB4
#define SERIAL_9E1_RXINV_TXINV 0xBE
#define SERIAL_9O1_RXINV_TXINV 0xBF
#endif
// bit0: parity, 0=even, 1=odd
// bit1: parity, 0=disable, 1=enable
// bit2: mode, 1=9bit, 0=8bit
// bit3: mode10: 1=10bit, 0=8bit
// bit4: rxinv, 0=normal, 1=inverted
// bit5: txinv, 0=normal, 1=inverted
// bit6: unused
// bit7: actual data goes into 9th bit
#define BAUD2DIV(baud) (((F_CPU * 2) + ((baud) >> 1)) / (baud))
#define BAUD2DIV3(baud) (((F_BUS * 2) + ((baud) >> 1)) / (baud))
// C language implementation
//
#ifdef __cplusplus
extern "C" {
#endif
void serial_begin(uint32_t divisor);
void serial_format(uint32_t format);
void serial_end(void);
void serial_set_transmit_pin(uint8_t pin);
void serial_putchar(uint32_t c);
void serial_write(const void *buf, unsigned int count);
void serial_flush(void);
int serial_available(void);
int serial_getchar(void);
int serial_peek(void);
void serial_clear(void);
void serial_print(const char *p);
void serial_phex(uint32_t n);
void serial_phex16(uint32_t n);
void serial_phex32(uint32_t n);
void serial2_begin(uint32_t divisor);
void serial2_format(uint32_t format);
void serial2_end(void);
void serial2_putchar(uint32_t c);
void serial2_write(const void *buf, unsigned int count);
void serial2_flush(void);
int serial2_available(void);
int serial2_getchar(void);
int serial2_peek(void);
void serial2_clear(void);
void serial3_begin(uint32_t divisor);
void serial3_format(uint32_t format);
void serial3_end(void);
void serial3_putchar(uint32_t c);
void serial3_write(const void *buf, unsigned int count);
void serial3_flush(void);
int serial3_available(void);
int serial3_getchar(void);
int serial3_peek(void);
void serial3_clear(void);
#ifdef __cplusplus
}
#endif
// C++ interface
//
#ifdef __cplusplus
#include "Stream.h"
class HardwareSerial : public Stream
{
public:
virtual void begin(uint32_t baud) { serial_begin(BAUD2DIV(baud)); }
virtual void begin(uint32_t baud, uint32_t format) {
serial_begin(BAUD2DIV(baud));
serial_format(format); }
virtual void end(void) { serial_end(); }
virtual void transmitterEnable(uint8_t pin) { serial_set_transmit_pin(pin); }
virtual int available(void) { return serial_available(); }
virtual int peek(void) { return serial_peek(); }
virtual int read(void) { return serial_getchar(); }
virtual void flush(void) { serial_flush(); }
virtual void clear(void) { serial_clear(); }
virtual size_t write(uint8_t c) { serial_putchar(c); return 1; }
virtual size_t write(unsigned long n) { return write((uint8_t)n); }
virtual size_t write(long n) { return write((uint8_t)n); }
virtual size_t write(unsigned int n) { return write((uint8_t)n); }
virtual size_t write(int n) { return write((uint8_t)n); }
virtual size_t write(const uint8_t *buffer, size_t size)
{ serial_write(buffer, size); return size; }
virtual size_t write(const char *str) { size_t len = strlen(str);
serial_write((const uint8_t *)str, len);
return len; }
virtual size_t write9bit(uint32_t c) { serial_putchar(c); return 1; }
};
extern HardwareSerial Serial1;
class HardwareSerial2 : public HardwareSerial
{
public:
virtual void begin(uint32_t baud) { serial2_begin(BAUD2DIV(baud)); }
virtual void begin(uint32_t baud, uint32_t format) {
serial2_begin(BAUD2DIV(baud));
serial2_format(format); }
virtual void end(void) { serial2_end(); }
virtual int available(void) { return serial2_available(); }
virtual int peek(void) { return serial2_peek(); }
virtual int read(void) { return serial2_getchar(); }
virtual void flush(void) { serial2_flush(); }
virtual void clear(void) { serial2_clear(); }
virtual size_t write(uint8_t c) { serial2_putchar(c); return 1; }
virtual size_t write(unsigned long n) { return write((uint8_t)n); }
virtual size_t write(long n) { return write((uint8_t)n); }
virtual size_t write(unsigned int n) { return write((uint8_t)n); }
virtual size_t write(int n) { return write((uint8_t)n); }
virtual size_t write(const uint8_t *buffer, size_t size)
{ serial2_write(buffer, size); return size; }
virtual size_t write(const char *str) { size_t len = strlen(str);
serial2_write((const uint8_t *)str, len);
return len; }
virtual size_t write9bit(uint32_t c) { serial2_putchar(c); return 1; }
};
extern HardwareSerial2 Serial2;
class HardwareSerial3 : public HardwareSerial
{
public:
virtual void begin(uint32_t baud) { serial3_begin(BAUD2DIV3(baud)); }
virtual void begin(uint32_t baud, uint32_t format) {
serial3_begin(BAUD2DIV3(baud));
serial3_format(format); }
virtual void end(void) { serial3_end(); }
virtual int available(void) { return serial3_available(); }
virtual int peek(void) { return serial3_peek(); }
virtual int read(void) { return serial3_getchar(); }
virtual void flush(void) { serial3_flush(); }
virtual void clear(void) { serial3_clear(); }
virtual size_t write(uint8_t c) { serial3_putchar(c); return 1; }
virtual size_t write(unsigned long n) { return write((uint8_t)n); }
virtual size_t write(long n) { return write((uint8_t)n); }
virtual size_t write(unsigned int n) { return write((uint8_t)n); }
virtual size_t write(int n) { return write((uint8_t)n); }
virtual size_t write(const uint8_t *buffer, size_t size)
{ serial3_write(buffer, size); return size; }
virtual size_t write(const char *str) { size_t len = strlen(str);
serial3_write((const uint8_t *)str, len);
return len; }
virtual size_t write9bit(uint32_t c) { serial3_putchar(c); return 1; }
};
extern HardwareSerial3 Serial3;
#endif
#endif

463
ports/teensy/core/analog.c
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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 "HardwareSerial.h"
static uint8_t calibrating;
static uint8_t analog_right_shift = 0;
static uint8_t analog_config_bits = 10;
static uint8_t analog_num_average = 4;
static uint8_t analog_reference_internal = 0;
// the alternate clock is connected to OSCERCLK (16 MHz).
// datasheet says ADC clock should be 2 to 12 MHz for 16 bit mode
// datasheet says ADC clock should be 1 to 18 MHz for 8-12 bit mode
#if F_BUS == 60000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(2) + ADC_CFG1_ADICLK(1) // 7.5 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 15 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 15 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 15 MHz
#elif F_BUS == 56000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(2) + ADC_CFG1_ADICLK(1) // 7 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 14 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 14 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 14 MHz
#elif F_BUS == 48000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 12 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 12 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 12 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(1) // 24 MHz
#elif F_BUS == 40000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 10 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 10 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 10 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(1) // 20 MHz
#elif F_BUS == 36000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(1) // 9 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(1) // 18 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(1) // 18 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(1) // 18 MHz
#elif F_BUS == 24000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(0) // 12 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(0) // 12 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(1) + ADC_CFG1_ADICLK(0) // 12 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 24 MHz
#elif F_BUS == 16000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 8 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 8 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 8 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 16 MHz
#elif F_BUS == 8000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 8 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 8 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 8 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 8 MHz
#elif F_BUS == 4000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 4 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 4 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 4 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 4 MHz
#elif F_BUS == 2000000
#define ADC_CFG1_16BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 2 MHz
#define ADC_CFG1_12BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 2 MHz
#define ADC_CFG1_10BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 2 MHz
#define ADC_CFG1_8BIT ADC_CFG1_ADIV(0) + ADC_CFG1_ADICLK(0) // 2 MHz
#else
#error "F_BUS must be 60, 56, 48, 40, 36, 24, 4 or 2 MHz"
#endif
void analog_init(void)
{
uint32_t num;
VREF_TRM = 0x60;
VREF_SC = 0xE1; // enable 1.2 volt ref
if (analog_config_bits == 8) {
ADC0_CFG1 = ADC_CFG1_8BIT + ADC_CFG1_MODE(0);
ADC0_CFG2 = ADC_CFG2_MUXSEL + ADC_CFG2_ADLSTS(3);
#if defined(__MK20DX256__)
ADC1_CFG1 = ADC_CFG1_8BIT + ADC_CFG1_MODE(0);
ADC1_CFG2 = ADC_CFG2_MUXSEL + ADC_CFG2_ADLSTS(3);
#endif
} else if (analog_config_bits == 10) {
ADC0_CFG1 = ADC_CFG1_10BIT + ADC_CFG1_MODE(2) + ADC_CFG1_ADLSMP;
ADC0_CFG2 = ADC_CFG2_MUXSEL + ADC_CFG2_ADLSTS(3);
#if defined(__MK20DX256__)
ADC1_CFG1 = ADC_CFG1_10BIT + ADC_CFG1_MODE(2) + ADC_CFG1_ADLSMP;
ADC1_CFG2 = ADC_CFG2_MUXSEL + ADC_CFG2_ADLSTS(3);
#endif
} else if (analog_config_bits == 12) {
ADC0_CFG1 = ADC_CFG1_12BIT + ADC_CFG1_MODE(1) + ADC_CFG1_ADLSMP;
ADC0_CFG2 = ADC_CFG2_MUXSEL + ADC_CFG2_ADLSTS(2);
#if defined(__MK20DX256__)
ADC1_CFG1 = ADC_CFG1_12BIT + ADC_CFG1_MODE(1) + ADC_CFG1_ADLSMP;
ADC1_CFG2 = ADC_CFG2_MUXSEL + ADC_CFG2_ADLSTS(2);
#endif
} else {
ADC0_CFG1 = ADC_CFG1_16BIT + ADC_CFG1_MODE(3) + ADC_CFG1_ADLSMP;
ADC0_CFG2 = ADC_CFG2_MUXSEL + ADC_CFG2_ADLSTS(2);
#if defined(__MK20DX256__)
ADC1_CFG1 = ADC_CFG1_16BIT + ADC_CFG1_MODE(3) + ADC_CFG1_ADLSMP;
ADC1_CFG2 = ADC_CFG2_MUXSEL + ADC_CFG2_ADLSTS(2);
#endif
}
if (analog_reference_internal) {
ADC0_SC2 = ADC_SC2_REFSEL(1); // 1.2V ref
#if defined(__MK20DX256__)
ADC1_SC2 = ADC_SC2_REFSEL(1); // 1.2V ref
#endif
} else {
ADC0_SC2 = ADC_SC2_REFSEL(0); // vcc/ext ref
#if defined(__MK20DX256__)
ADC1_SC2 = ADC_SC2_REFSEL(0); // vcc/ext ref
#endif
}
num = analog_num_average;
if (num <= 1) {
ADC0_SC3 = ADC_SC3_CAL; // begin cal
#if defined(__MK20DX256__)
ADC1_SC3 = ADC_SC3_CAL; // begin cal
#endif
} else if (num <= 4) {
ADC0_SC3 = ADC_SC3_CAL + ADC_SC3_AVGE + ADC_SC3_AVGS(0);
#if defined(__MK20DX256__)
ADC1_SC3 = ADC_SC3_CAL + ADC_SC3_AVGE + ADC_SC3_AVGS(0);
#endif
} else if (num <= 8) {
ADC0_SC3 = ADC_SC3_CAL + ADC_SC3_AVGE + ADC_SC3_AVGS(1);
#if defined(__MK20DX256__)
ADC1_SC3 = ADC_SC3_CAL + ADC_SC3_AVGE + ADC_SC3_AVGS(1);
#endif
} else if (num <= 16) {
ADC0_SC3 = ADC_SC3_CAL + ADC_SC3_AVGE + ADC_SC3_AVGS(2);
#if defined(__MK20DX256__)
ADC1_SC3 = ADC_SC3_CAL + ADC_SC3_AVGE + ADC_SC3_AVGS(2);
#endif
} else {
ADC0_SC3 = ADC_SC3_CAL + ADC_SC3_AVGE + ADC_SC3_AVGS(3);
#if defined(__MK20DX256__)
ADC1_SC3 = ADC_SC3_CAL + ADC_SC3_AVGE + ADC_SC3_AVGS(3);
#endif
}
calibrating = 1;
}
static void wait_for_cal(void)
{
uint16_t sum;
//serial_print("wait_for_cal\n");
#if defined(__MK20DX128__)
while (ADC0_SC3 & ADC_SC3_CAL) {
// wait
}
#elif defined(__MK20DX256__)
while ((ADC0_SC3 & ADC_SC3_CAL) || (ADC1_SC3 & ADC_SC3_CAL)) {
// wait
}
#endif
__disable_irq();
if (calibrating) {
//serial_print("\n");
sum = ADC0_CLPS + ADC0_CLP4 + ADC0_CLP3 + ADC0_CLP2 + ADC0_CLP1 + ADC0_CLP0;
sum = (sum / 2) | 0x8000;
ADC0_PG = sum;
//serial_print("ADC0_PG = ");
//serial_phex16(sum);
//serial_print("\n");
sum = ADC0_CLMS + ADC0_CLM4 + ADC0_CLM3 + ADC0_CLM2 + ADC0_CLM1 + ADC0_CLM0;
sum = (sum / 2) | 0x8000;
ADC0_MG = sum;
//serial_print("ADC0_MG = ");
//serial_phex16(sum);
//serial_print("\n");
#if defined(__MK20DX256__)
sum = ADC1_CLPS + ADC1_CLP4 + ADC1_CLP3 + ADC1_CLP2 + ADC1_CLP1 + ADC1_CLP0;
sum = (sum / 2) | 0x8000;
ADC1_PG = sum;
sum = ADC1_CLMS + ADC1_CLM4 + ADC1_CLM3 + ADC1_CLM2 + ADC1_CLM1 + ADC1_CLM0;
sum = (sum / 2) | 0x8000;
ADC1_MG = sum;
#endif
calibrating = 0;
}
__enable_irq();
}
// ADCx_SC2[REFSEL] bit selects the voltage reference sources for ADC.
// VREFH/VREFL - connected as the primary reference option
// 1.2 V VREF_OUT - connected as the VALT reference option
#define DEFAULT 0
#define INTERNAL 2
#define INTERNAL1V2 2
#define INTERNAL1V1 2
#define EXTERNAL 0
void analogReference(uint8_t type)
{
if (type) {
// internal reference requested
if (!analog_reference_internal) {
analog_reference_internal = 1;
if (calibrating) {
ADC0_SC3 = 0; // cancel cal
#if defined(__MK20DX256__)
ADC1_SC3 = 0; // cancel cal
#endif
}
analog_init();
}
} else {
// vcc or external reference requested
if (analog_reference_internal) {
analog_reference_internal = 0;
if (calibrating) {
ADC0_SC3 = 0; // cancel cal
#if defined(__MK20DX256__)
ADC1_SC3 = 0; // cancel cal
#endif
}
analog_init();
}
}
}
void analogReadRes(unsigned int bits)
{
unsigned int config;
if (bits >= 13) {
if (bits > 16) bits = 16;
config = 16;
} else if (bits >= 11) {
config = 12;
} else if (bits >= 9) {
config = 10;
} else {
config = 8;
}
analog_right_shift = config - bits;
if (config != analog_config_bits) {
analog_config_bits = config;
if (calibrating) ADC0_SC3 = 0; // cancel cal
analog_init();
}
}
void analogReadAveraging(unsigned int num)
{
if (calibrating) wait_for_cal();
if (num <= 1) {
num = 0;
ADC0_SC3 = 0;
} else if (num <= 4) {
num = 4;
ADC0_SC3 = ADC_SC3_AVGE + ADC_SC3_AVGS(0);
} else if (num <= 8) {
num = 8;
ADC0_SC3 = ADC_SC3_AVGE + ADC_SC3_AVGS(1);
} else if (num <= 16) {
num = 16;
ADC0_SC3 = ADC_SC3_AVGE + ADC_SC3_AVGS(2);
} else {
num = 32;
ADC0_SC3 = ADC_SC3_AVGE + ADC_SC3_AVGS(3);
}
analog_num_average = num;
}
// The SC1A register is used for both software and hardware trigger modes of operation.
#if defined(__MK20DX128__)
static const uint8_t channel2sc1a[] = {
5, 14, 8, 9, 13, 12, 6, 7, 15, 4,
0, 19, 3, 21, 26, 22, 23
};
#elif defined(__MK20DX256__)
static const uint8_t channel2sc1a[] = {
5, 14, 8, 9, 13, 12, 6, 7, 15, 4,
0, 19, 3, 19+128, 26, 18+128, 23,
5+192, 5+128, 4+128, 6+128, 7+128, 4+192
// A15 26 E1 ADC1_SE5a 5+64
// A16 27 C9 ADC1_SE5b 5
// A17 28 C8 ADC1_SE4b 4
// A18 29 C10 ADC1_SE6b 6
// A19 30 C11 ADC1_SE7b 7
// A20 31 E0 ADC1_SE4a 4+64
};
#endif
// TODO: perhaps this should store the NVIC priority, so it works recursively?
static volatile uint8_t analogReadBusyADC0 = 0;
#if defined(__MK20DX256__)
static volatile uint8_t analogReadBusyADC1 = 0;
#endif
int analogRead(uint8_t pin)
{
int result;
uint8_t index, channel;
//serial_phex(pin);
//serial_print(" ");
if (pin <= 13) {
index = pin; // 0-13 refer to A0-A13
} else if (pin <= 23) {
index = pin - 14; // 14-23 are A0-A9
#if defined(__MK20DX256__)
} else if (pin >= 26 && pin <= 31) {
index = pin - 9; // 26-31 are A15-A20
#endif
} else if (pin >= 34 && pin <= 40) {
index = pin - 24; // 34-37 are A10-A13, 38 is temp sensor,
// 39 is vref, 40 is unused (A14 on Teensy 3.1)
} else {
return 0; // all others are invalid
}
//serial_phex(index);
//serial_print(" ");
channel = channel2sc1a[index];
//serial_phex(channel);
//serial_print(" ");
//serial_print("analogRead");
//return 0;
if (calibrating) wait_for_cal();
//pin = 5; // PTD1/SE5b, pin 14, analog 0
#if defined(__MK20DX256__)
if (channel & 0x80) goto beginADC1;
#endif
__disable_irq();
startADC0:
//serial_print("startADC0\n");
ADC0_SC1A = channel;
analogReadBusyADC0 = 1;
__enable_irq();
while (1) {
__disable_irq();
if ((ADC0_SC1A & ADC_SC1_COCO)) {
result = ADC0_RA;
analogReadBusyADC0 = 0;
__enable_irq();
result >>= analog_right_shift;
return result;
}
// detect if analogRead was used from an interrupt
// if so, our analogRead got canceled, so it must
// be restarted.
if (!analogReadBusyADC0) goto startADC0;
__enable_irq();
yield();
}
#if defined(__MK20DX256__)
beginADC1:
__disable_irq();
startADC1:
//serial_print("startADC0\n");
// ADC1_CFG2[MUXSEL] bit selects between ADCx_SEn channels a and b.
if (channel & 0x40) {
ADC1_CFG2 &= ~ADC_CFG2_MUXSEL;
} else {
ADC1_CFG2 |= ADC_CFG2_MUXSEL;
}
ADC1_SC1A = channel & 0x3F;
analogReadBusyADC1 = 1;
__enable_irq();
while (1) {
__disable_irq();
if ((ADC1_SC1A & ADC_SC1_COCO)) {
result = ADC1_RA;
analogReadBusyADC1 = 0;
__enable_irq();
result >>= analog_right_shift;
return result;
}
// detect if analogRead was used from an interrupt
// if so, our analogRead got canceled, so it must
// be restarted.
if (!analogReadBusyADC1) goto startADC1;
__enable_irq();
yield();
}
#endif
}
void analogWriteDAC0(int val)
{
#if defined(__MK20DX256__)
SIM_SCGC2 |= SIM_SCGC2_DAC0;
if (analog_reference_internal) {
DAC0_C0 = DAC_C0_DACEN; // 1.2V ref is DACREF_1
} else {
DAC0_C0 = DAC_C0_DACEN | DAC_C0_DACRFS; // 3.3V VDDA is DACREF_2
}
if (val < 0) val = 0; // TODO: saturate instruction?
else if (val > 4095) val = 4095;
*(int16_t *)&(DAC0_DAT0L) = val;
#endif
}

107
ports/teensy/core/avr_functions.h
View File

@ -1,107 +0,0 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#ifndef _avr_functions_h_
#define _avr_functions_h_
#include <inttypes.h>
#ifdef __cplusplus
extern "C" {
#endif
void eeprom_initialize(void);
uint8_t eeprom_read_byte(const uint8_t *addr) __attribute__ ((pure));
uint16_t eeprom_read_word(const uint16_t *addr) __attribute__ ((pure));
uint32_t eeprom_read_dword(const uint32_t *addr) __attribute__ ((pure));
void eeprom_read_block(void *buf, const void *addr, uint32_t len);
void eeprom_write_byte(uint8_t *addr, uint8_t value);
void eeprom_write_word(uint16_t *addr, uint16_t value);
void eeprom_write_dword(uint32_t *addr, uint32_t value);
void eeprom_write_block(const void *buf, void *addr, uint32_t len);
int eeprom_is_ready(void);
#define eeprom_busy_wait() do {} while (!eeprom_is_ready())
static inline float eeprom_read_float(const float *addr) __attribute__((pure, always_inline, unused));
static inline float eeprom_read_float(const float *addr)
{
union {float f; uint32_t u32;} u;
u.u32 = eeprom_read_dword((const uint32_t *)addr);
return u.f;
}
static inline void eeprom_write_float(float *addr, float value) __attribute__((always_inline, unused));
static inline void eeprom_write_float(float *addr, float value)
{
union {float f; uint32_t u32;} u;
u.f = value;
eeprom_write_dword((uint32_t *)addr, u.u32);
}
static inline void eeprom_update_byte(uint8_t *addr, uint8_t value) __attribute__((always_inline, unused));
static inline void eeprom_update_byte(uint8_t *addr, uint8_t value)
{
eeprom_write_byte(addr, value);
}
static inline void eeprom_update_word(uint16_t *addr, uint16_t value) __attribute__((always_inline, unused));
static inline void eeprom_update_word(uint16_t *addr, uint16_t value)
{
eeprom_write_word(addr, value);
}
static inline void eeprom_update_dword(uint32_t *addr, uint32_t value) __attribute__((always_inline, unused));
static inline void eeprom_update_dword(uint32_t *addr, uint32_t value)
{
eeprom_write_dword(addr, value);
}
static inline void eeprom_update_float(float *addr, float value) __attribute__((always_inline, unused));
static inline void eeprom_update_float(float *addr, float value)
{
union {float f; uint32_t u32;} u;
u.f = value;
eeprom_write_dword((uint32_t *)addr, u.u32);
}
static inline void eeprom_update_block(const void *buf, void *addr, uint32_t len) __attribute__((always_inline, unused));
static inline void eeprom_update_block(const void *buf, void *addr, uint32_t len)
{
eeprom_write_block(buf, addr, len);
}
char * ultoa(unsigned long val, char *buf, int radix);
char * ltoa(long val, char *buf, int radix);
static inline char * utoa(unsigned int val, char *buf, int radix) __attribute__((always_inline, unused));
static inline char * utoa(unsigned int val, char *buf, int radix) { return ultoa(val, buf, radix); }
static inline char * itoa(int val, char *buf, int radix) __attribute__((always_inline, unused));
static inline char * itoa(int val, char *buf, int radix) { return ltoa(val, buf, radix); }
char * dtostrf(float val, int width, unsigned int precision, char *buf);
#ifdef __cplusplus
}
#endif
#endif

841
ports/teensy/core/core_pins.h
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@ -1,841 +0,0 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#ifndef _core_pins_h_
#define _core_pins_h_
#include "mk20dx128.h"
#include "pins_arduino.h"
#define HIGH 1
#define LOW 0
#define INPUT 0
#define OUTPUT 1
#define INPUT_PULLUP 2
#define LSBFIRST 0
#define MSBFIRST 1
#define _BV(n) (1<<(n))
#define CHANGE 4
#define FALLING 2
#define RISING 3
// Pin Arduino
// 0 B16 RXD
// 1 B17 TXD
// 2 D0
// 3 A12 FTM1_CH0
// 4 A13 FTM1_CH1
// 5 D7 FTM0_CH7 OC0B/T1
// 6 D4 FTM0_CH4 OC0A
// 7 D2
// 8 D3 ICP1
// 9 C3 FTM0_CH2 OC1A
// 10 C4 FTM0_CH3 SS/OC1B
// 11 C6 MOSI/OC2A
// 12 C7 MISO
// 13 C5 SCK
// 14 D1
// 15 C0
// 16 B0 (FTM1_CH0)
// 17 B1 (FTM1_CH1)
// 18 B3 SDA
// 19 B2 SCL
// 20 D5 FTM0_CH5
// 21 D6 FTM0_CH6
// 22 C1 FTM0_CH0
// 23 C2 FTM0_CH1
// 24 A5 (FTM0_CH2)
// 25 B19
// 26 E1
// 27 C9
// 28 C8
// 29 C10
// 30 C11
// 31 E0
// 32 B18
// 33 A4 (FTM0_CH1)
// (34) analog only
// (35) analog only
// (36) analog only
// (37) analog only
// not available to user:
// A0 FTM0_CH5 SWD Clock
// A1 FTM0_CH6 USB ID
// A2 FTM0_CH7 SWD Trace
// A3 FTM0_CH0 SWD Data
#define CORE_NUM_TOTAL_PINS 34
#define CORE_NUM_DIGITAL 34
#define CORE_NUM_INTERRUPT 34
#if defined(__MK20DX128__)
#define CORE_NUM_ANALOG 14
#define CORE_NUM_PWM 10
#elif defined(__MK20DX256__)
#define CORE_NUM_ANALOG 21
#define CORE_NUM_PWM 12
#endif
#define CORE_PIN0_BIT 16
#define CORE_PIN1_BIT 17
#define CORE_PIN2_BIT 0
#define CORE_PIN3_BIT 12
#define CORE_PIN4_BIT 13
#define CORE_PIN5_BIT 7
#define CORE_PIN6_BIT 4
#define CORE_PIN7_BIT 2
#define CORE_PIN8_BIT 3
#define CORE_PIN9_BIT 3
#define CORE_PIN10_BIT 4
#define CORE_PIN11_BIT 6
#define CORE_PIN12_BIT 7
#define CORE_PIN13_BIT 5
#define CORE_PIN14_BIT 1
#define CORE_PIN15_BIT 0
#define CORE_PIN16_BIT 0
#define CORE_PIN17_BIT 1
#define CORE_PIN18_BIT 3
#define CORE_PIN19_BIT 2
#define CORE_PIN20_BIT 5
#define CORE_PIN21_BIT 6
#define CORE_PIN22_BIT 1
#define CORE_PIN23_BIT 2
#define CORE_PIN24_BIT 5
#define CORE_PIN25_BIT 19
#define CORE_PIN26_BIT 1
#define CORE_PIN27_BIT 9
#define CORE_PIN28_BIT 8
#define CORE_PIN29_BIT 10
#define CORE_PIN30_BIT 11
#define CORE_PIN31_BIT 0
#define CORE_PIN32_BIT 18
#define CORE_PIN33_BIT 4
#define CORE_PIN0_BITMASK (1<<(CORE_PIN0_BIT))
#define CORE_PIN1_BITMASK (1<<(CORE_PIN1_BIT))
#define CORE_PIN2_BITMASK (1<<(CORE_PIN2_BIT))
#define CORE_PIN3_BITMASK (1<<(CORE_PIN3_BIT))
#define CORE_PIN4_BITMASK (1<<(CORE_PIN4_BIT))
#define CORE_PIN5_BITMASK (1<<(CORE_PIN5_BIT))
#define CORE_PIN6_BITMASK (1<<(CORE_PIN6_BIT))
#define CORE_PIN7_BITMASK (1<<(CORE_PIN7_BIT))
#define CORE_PIN8_BITMASK (1<<(CORE_PIN8_BIT))
#define CORE_PIN9_BITMASK (1<<(CORE_PIN9_BIT))
#define CORE_PIN10_BITMASK (1<<(CORE_PIN10_BIT))
#define CORE_PIN11_BITMASK (1<<(CORE_PIN11_BIT))
#define CORE_PIN12_BITMASK (1<<(CORE_PIN12_BIT))
#define CORE_PIN13_BITMASK (1<<(CORE_PIN13_BIT))
#define CORE_PIN14_BITMASK (1<<(CORE_PIN14_BIT))
#define CORE_PIN15_BITMASK (1<<(CORE_PIN15_BIT))
#define CORE_PIN16_BITMASK (1<<(CORE_PIN16_BIT))
#define CORE_PIN17_BITMASK (1<<(CORE_PIN17_BIT))
#define CORE_PIN18_BITMASK (1<<(CORE_PIN18_BIT))
#define CORE_PIN19_BITMASK (1<<(CORE_PIN19_BIT))
#define CORE_PIN20_BITMASK (1<<(CORE_PIN20_BIT))
#define CORE_PIN21_BITMASK (1<<(CORE_PIN21_BIT))
#define CORE_PIN22_BITMASK (1<<(CORE_PIN22_BIT))
#define CORE_PIN23_BITMASK (1<<(CORE_PIN23_BIT))
#define CORE_PIN24_BITMASK (1<<(CORE_PIN24_BIT))
#define CORE_PIN25_BITMASK (1<<(CORE_PIN25_BIT))
#define CORE_PIN26_BITMASK (1<<(CORE_PIN26_BIT))
#define CORE_PIN27_BITMASK (1<<(CORE_PIN27_BIT))
#define CORE_PIN28_BITMASK (1<<(CORE_PIN28_BIT))
#define CORE_PIN29_BITMASK (1<<(CORE_PIN29_BIT))
#define CORE_PIN30_BITMASK (1<<(CORE_PIN30_BIT))
#define CORE_PIN31_BITMASK (1<<(CORE_PIN31_BIT))
#define CORE_PIN32_BITMASK (1<<(CORE_PIN32_BIT))
#define CORE_PIN33_BITMASK (1<<(CORE_PIN33_BIT))
#define CORE_PIN0_PORTREG GPIOB_PDOR
#define CORE_PIN1_PORTREG GPIOB_PDOR
#define CORE_PIN2_PORTREG GPIOD_PDOR
#define CORE_PIN3_PORTREG GPIOA_PDOR
#define CORE_PIN4_PORTREG GPIOA_PDOR
#define CORE_PIN5_PORTREG GPIOD_PDOR
#define CORE_PIN6_PORTREG GPIOD_PDOR
#define CORE_PIN7_PORTREG GPIOD_PDOR
#define CORE_PIN8_PORTREG GPIOD_PDOR
#define CORE_PIN9_PORTREG GPIOC_PDOR
#define CORE_PIN10_PORTREG GPIOC_PDOR
#define CORE_PIN11_PORTREG GPIOC_PDOR
#define CORE_PIN12_PORTREG GPIOC_PDOR
#define CORE_PIN13_PORTREG GPIOC_PDOR
#define CORE_PIN14_PORTREG GPIOD_PDOR
#define CORE_PIN15_PORTREG GPIOC_PDOR
#define CORE_PIN16_PORTREG GPIOB_PDOR
#define CORE_PIN17_PORTREG GPIOB_PDOR
#define CORE_PIN18_PORTREG GPIOB_PDOR
#define CORE_PIN19_PORTREG GPIOB_PDOR
#define CORE_PIN20_PORTREG GPIOD_PDOR
#define CORE_PIN21_PORTREG GPIOD_PDOR
#define CORE_PIN22_PORTREG GPIOC_PDOR
#define CORE_PIN23_PORTREG GPIOC_PDOR
#define CORE_PIN24_PORTREG GPIOA_PDOR
#define CORE_PIN25_PORTREG GPIOB_PDOR
#define CORE_PIN26_PORTREG GPIOE_PDOR
#define CORE_PIN27_PORTREG GPIOC_PDOR
#define CORE_PIN28_PORTREG GPIOC_PDOR
#define CORE_PIN29_PORTREG GPIOC_PDOR
#define CORE_PIN30_PORTREG GPIOC_PDOR
#define CORE_PIN31_PORTREG GPIOE_PDOR
#define CORE_PIN32_PORTREG GPIOB_PDOR
#define CORE_PIN33_PORTREG GPIOA_PDOR
#define CORE_PIN0_PORTSET GPIOB_PSOR
#define CORE_PIN1_PORTSET GPIOB_PSOR
#define CORE_PIN2_PORTSET GPIOD_PSOR
#define CORE_PIN3_PORTSET GPIOA_PSOR
#define CORE_PIN4_PORTSET GPIOA_PSOR
#define CORE_PIN5_PORTSET GPIOD_PSOR
#define CORE_PIN6_PORTSET GPIOD_PSOR
#define CORE_PIN7_PORTSET GPIOD_PSOR
#define CORE_PIN8_PORTSET GPIOD_PSOR
#define CORE_PIN9_PORTSET GPIOC_PSOR
#define CORE_PIN10_PORTSET GPIOC_PSOR
#define CORE_PIN11_PORTSET GPIOC_PSOR
#define CORE_PIN12_PORTSET GPIOC_PSOR
#define CORE_PIN13_PORTSET GPIOC_PSOR
#define CORE_PIN14_PORTSET GPIOD_PSOR
#define CORE_PIN15_PORTSET GPIOC_PSOR
#define CORE_PIN16_PORTSET GPIOB_PSOR
#define CORE_PIN17_PORTSET GPIOB_PSOR
#define CORE_PIN18_PORTSET GPIOB_PSOR
#define CORE_PIN19_PORTSET GPIOB_PSOR
#define CORE_PIN20_PORTSET GPIOD_PSOR
#define CORE_PIN21_PORTSET GPIOD_PSOR
#define CORE_PIN22_PORTSET GPIOC_PSOR
#define CORE_PIN23_PORTSET GPIOC_PSOR
#define CORE_PIN24_PORTSET GPIOA_PSOR
#define CORE_PIN25_PORTSET GPIOB_PSOR
#define CORE_PIN26_PORTSET GPIOE_PSOR
#define CORE_PIN27_PORTSET GPIOC_PSOR
#define CORE_PIN28_PORTSET GPIOC_PSOR
#define CORE_PIN29_PORTSET GPIOC_PSOR
#define CORE_PIN30_PORTSET GPIOC_PSOR
#define CORE_PIN31_PORTSET GPIOE_PSOR
#define CORE_PIN32_PORTSET GPIOB_PSOR
#define CORE_PIN33_PORTSET GPIOA_PSOR
#define CORE_PIN0_PORTCLEAR GPIOB_PCOR
#define CORE_PIN1_PORTCLEAR GPIOB_PCOR
#define CORE_PIN2_PORTCLEAR GPIOD_PCOR
#define CORE_PIN3_PORTCLEAR GPIOA_PCOR
#define CORE_PIN4_PORTCLEAR GPIOA_PCOR
#define CORE_PIN5_PORTCLEAR GPIOD_PCOR
#define CORE_PIN6_PORTCLEAR GPIOD_PCOR
#define CORE_PIN7_PORTCLEAR GPIOD_PCOR
#define CORE_PIN8_PORTCLEAR GPIOD_PCOR
#define CORE_PIN9_PORTCLEAR GPIOC_PCOR
#define CORE_PIN10_PORTCLEAR GPIOC_PCOR
#define CORE_PIN11_PORTCLEAR GPIOC_PCOR
#define CORE_PIN12_PORTCLEAR GPIOC_PCOR
#define CORE_PIN13_PORTCLEAR GPIOC_PCOR
#define CORE_PIN14_PORTCLEAR GPIOD_PCOR
#define CORE_PIN15_PORTCLEAR GPIOC_PCOR
#define CORE_PIN16_PORTCLEAR GPIOB_PCOR
#define CORE_PIN17_PORTCLEAR GPIOB_PCOR
#define CORE_PIN18_PORTCLEAR GPIOB_PCOR
#define CORE_PIN19_PORTCLEAR GPIOB_PCOR
#define CORE_PIN20_PORTCLEAR GPIOD_PCOR
#define CORE_PIN21_PORTCLEAR GPIOD_PCOR
#define CORE_PIN22_PORTCLEAR GPIOC_PCOR
#define CORE_PIN23_PORTCLEAR GPIOC_PCOR
#define CORE_PIN24_PORTCLEAR GPIOA_PCOR
#define CORE_PIN25_PORTCLEAR GPIOB_PCOR
#define CORE_PIN26_PORTCLEAR GPIOE_PCOR
#define CORE_PIN27_PORTCLEAR GPIOC_PCOR
#define CORE_PIN28_PORTCLEAR GPIOC_PCOR
#define CORE_PIN29_PORTCLEAR GPIOC_PCOR
#define CORE_PIN30_PORTCLEAR GPIOC_PCOR
#define CORE_PIN31_PORTCLEAR GPIOE_PCOR
#define CORE_PIN32_PORTCLEAR GPIOB_PCOR
#define CORE_PIN33_PORTCLEAR GPIOA_PCOR
#define CORE_PIN0_DDRREG GPIOB_PDDR
#define CORE_PIN1_DDRREG GPIOB_PDDR
#define CORE_PIN2_DDRREG GPIOD_PDDR
#define CORE_PIN3_DDRREG GPIOA_PDDR
#define CORE_PIN4_DDRREG GPIOA_PDDR
#define CORE_PIN5_DDRREG GPIOD_PDDR
#define CORE_PIN6_DDRREG GPIOD_PDDR
#define CORE_PIN7_DDRREG GPIOD_PDDR
#define CORE_PIN8_DDRREG GPIOD_PDDR
#define CORE_PIN9_DDRREG GPIOC_PDDR
#define CORE_PIN10_DDRREG GPIOC_PDDR
#define CORE_PIN11_DDRREG GPIOC_PDDR
#define CORE_PIN12_DDRREG GPIOC_PDDR
#define CORE_PIN13_DDRREG GPIOC_PDDR
#define CORE_PIN14_DDRREG GPIOD_PDDR
#define CORE_PIN15_DDRREG GPIOC_PDDR
#define CORE_PIN16_DDRREG GPIOB_PDDR
#define CORE_PIN17_DDRREG GPIOB_PDDR
#define CORE_PIN18_DDRREG GPIOB_PDDR
#define CORE_PIN19_DDRREG GPIOB_PDDR
#define CORE_PIN20_DDRREG GPIOD_PDDR
#define CORE_PIN21_DDRREG GPIOD_PDDR
#define CORE_PIN22_DDRREG GPIOC_PDDR
#define CORE_PIN23_DDRREG GPIOC_PDDR
#define CORE_PIN24_DDRREG GPIOA_PDDR
#define CORE_PIN25_DDRREG GPIOB_PDDR
#define CORE_PIN26_DDRREG GPIOE_PDDR
#define CORE_PIN27_DDRREG GPIOC_PDDR
#define CORE_PIN28_DDRREG GPIOC_PDDR
#define CORE_PIN29_DDRREG GPIOC_PDDR
#define CORE_PIN30_DDRREG GPIOC_PDDR
#define CORE_PIN31_DDRREG GPIOE_PDDR
#define CORE_PIN32_DDRREG GPIOB_PDDR
#define CORE_PIN33_DDRREG GPIOA_PDDR
#define CORE_PIN0_PINREG GPIOB_PDIR
#define CORE_PIN1_PINREG GPIOB_PDIR
#define CORE_PIN2_PINREG GPIOD_PDIR
#define CORE_PIN3_PINREG GPIOA_PDIR
#define CORE_PIN4_PINREG GPIOA_PDIR
#define CORE_PIN5_PINREG GPIOD_PDIR
#define CORE_PIN6_PINREG GPIOD_PDIR
#define CORE_PIN7_PINREG GPIOD_PDIR
#define CORE_PIN8_PINREG GPIOD_PDIR
#define CORE_PIN9_PINREG GPIOC_PDIR
#define CORE_PIN10_PINREG GPIOC_PDIR
#define CORE_PIN11_PINREG GPIOC_PDIR
#define CORE_PIN12_PINREG GPIOC_PDIR
#define CORE_PIN13_PINREG GPIOC_PDIR
#define CORE_PIN14_PINREG GPIOD_PDIR
#define CORE_PIN15_PINREG GPIOC_PDIR
#define CORE_PIN16_PINREG GPIOB_PDIR
#define CORE_PIN17_PINREG GPIOB_PDIR
#define CORE_PIN18_PINREG GPIOB_PDIR
#define CORE_PIN19_PINREG GPIOB_PDIR
#define CORE_PIN20_PINREG GPIOD_PDIR
#define CORE_PIN21_PINREG GPIOD_PDIR
#define CORE_PIN22_PINREG GPIOC_PDIR
#define CORE_PIN23_PINREG GPIOC_PDIR
#define CORE_PIN24_PINREG GPIOA_PDIR
#define CORE_PIN25_PINREG GPIOB_PDIR
#define CORE_PIN26_PINREG GPIOE_PDIR
#define CORE_PIN27_PINREG GPIOC_PDIR
#define CORE_PIN28_PINREG GPIOC_PDIR
#define CORE_PIN29_PINREG GPIOC_PDIR
#define CORE_PIN30_PINREG GPIOC_PDIR
#define CORE_PIN31_PINREG GPIOE_PDIR
#define CORE_PIN32_PINREG GPIOB_PDIR
#define CORE_PIN33_PINREG GPIOA_PDIR
#define CORE_PIN0_CONFIG PORTB_PCR16
#define CORE_PIN1_CONFIG PORTB_PCR17
#define CORE_PIN2_CONFIG PORTD_PCR0
#define CORE_PIN3_CONFIG PORTA_PCR12
#define CORE_PIN4_CONFIG PORTA_PCR13
#define CORE_PIN5_CONFIG PORTD_PCR7
#define CORE_PIN6_CONFIG PORTD_PCR4
#define CORE_PIN7_CONFIG PORTD_PCR2
#define CORE_PIN8_CONFIG PORTD_PCR3
#define CORE_PIN9_CONFIG PORTC_PCR3
#define CORE_PIN10_CONFIG PORTC_PCR4
#define CORE_PIN11_CONFIG PORTC_PCR6
#define CORE_PIN12_CONFIG PORTC_PCR7
#define CORE_PIN13_CONFIG PORTC_PCR5
#define CORE_PIN14_CONFIG PORTD_PCR1
#define CORE_PIN15_CONFIG PORTC_PCR0
#define CORE_PIN16_CONFIG PORTB_PCR0
#define CORE_PIN17_CONFIG PORTB_PCR1
#define CORE_PIN18_CONFIG PORTB_PCR3
#define CORE_PIN19_CONFIG PORTB_PCR2
#define CORE_PIN20_CONFIG PORTD_PCR5
#define CORE_PIN21_CONFIG PORTD_PCR6
#define CORE_PIN22_CONFIG PORTC_PCR1
#define CORE_PIN23_CONFIG PORTC_PCR2
#define CORE_PIN24_CONFIG PORTA_PCR5
#define CORE_PIN25_CONFIG PORTB_PCR19
#define CORE_PIN26_CONFIG PORTE_PCR1
#define CORE_PIN27_CONFIG PORTC_PCR9
#define CORE_PIN28_CONFIG PORTC_PCR8
#define CORE_PIN29_CONFIG PORTC_PCR10
#define CORE_PIN30_CONFIG PORTC_PCR11
#define CORE_PIN31_CONFIG PORTE_PCR0
#define CORE_PIN32_CONFIG PORTB_PCR18
#define CORE_PIN33_CONFIG PORTA_PCR4
#define CORE_ADC0_PIN 14
#define CORE_ADC1_PIN 15
#define CORE_ADC2_PIN 16
#define CORE_ADC3_PIN 17
#define CORE_ADC4_PIN 18
#define CORE_ADC5_PIN 19
#define CORE_ADC6_PIN 20
#define CORE_ADC7_PIN 21
#define CORE_ADC8_PIN 22
#define CORE_ADC9_PIN 23
#define CORE_ADC10_PIN 34
#define CORE_ADC11_PIN 35
#define CORE_ADC12_PIN 36
#define CORE_ADC13_PIN 37
#define CORE_RXD0_PIN 0
#define CORE_TXD0_PIN 1
#define CORE_RXD1_PIN 9
#define CORE_TXD1_PIN 10
#define CORE_RXD2_PIN 7
#define CORE_TXD2_PIN 8
#define CORE_INT0_PIN 0
#define CORE_INT1_PIN 1
#define CORE_INT2_PIN 2
#define CORE_INT3_PIN 3
#define CORE_INT4_PIN 4
#define CORE_INT5_PIN 5
#define CORE_INT6_PIN 6
#define CORE_INT7_PIN 7
#define CORE_INT8_PIN 8
#define CORE_INT9_PIN 9
#define CORE_INT10_PIN 10
#define CORE_INT11_PIN 11
#define CORE_INT12_PIN 12
#define CORE_INT13_PIN 13
#define CORE_INT14_PIN 14
#define CORE_INT15_PIN 15
#define CORE_INT16_PIN 16
#define CORE_INT17_PIN 17
#define CORE_INT18_PIN 18
#define CORE_INT19_PIN 19
#define CORE_INT20_PIN 20
#define CORE_INT21_PIN 21
#define CORE_INT22_PIN 22
#define CORE_INT23_PIN 23
#define CORE_INT24_PIN 24
#define CORE_INT25_PIN 25
#define CORE_INT26_PIN 26
#define CORE_INT27_PIN 27
#define CORE_INT28_PIN 28
#define CORE_INT29_PIN 29
#define CORE_INT30_PIN 30
#define CORE_INT31_PIN 31
#define CORE_INT32_PIN 32
#define CORE_INT33_PIN 33
#define CORE_INT_EVERY_PIN 1
#ifdef __cplusplus
extern "C" {
#endif
void digitalWrite(uint8_t pin, uint8_t val);
static inline void digitalWriteFast(uint8_t pin, uint8_t val) __attribute__((always_inline, unused));
static inline void digitalWriteFast(uint8_t pin, uint8_t val)
{
if (__builtin_constant_p(pin)) {
if (val) {
if (pin == 0) {
CORE_PIN0_PORTSET = CORE_PIN0_BITMASK;
} else if (pin == 1) {
CORE_PIN1_PORTSET = CORE_PIN1_BITMASK;
} else if (pin == 2) {
CORE_PIN2_PORTSET = CORE_PIN2_BITMASK;
} else if (pin == 3) {
CORE_PIN3_PORTSET = CORE_PIN3_BITMASK;
} else if (pin == 4) {
CORE_PIN4_PORTSET = CORE_PIN4_BITMASK;
} else if (pin == 5) {
CORE_PIN5_PORTSET = CORE_PIN5_BITMASK;
} else if (pin == 6) {
CORE_PIN6_PORTSET = CORE_PIN6_BITMASK;
} else if (pin == 7) {
CORE_PIN7_PORTSET = CORE_PIN7_BITMASK;
} else if (pin == 8) {
CORE_PIN8_PORTSET = CORE_PIN8_BITMASK;
} else if (pin == 9) {
CORE_PIN9_PORTSET = CORE_PIN9_BITMASK;
} else if (pin == 10) {
CORE_PIN10_PORTSET = CORE_PIN10_BITMASK;
} else if (pin == 11) {
CORE_PIN11_PORTSET = CORE_PIN11_BITMASK;
} else if (pin == 12) {
CORE_PIN12_PORTSET = CORE_PIN12_BITMASK;
} else if (pin == 13) {
CORE_PIN13_PORTSET = CORE_PIN13_BITMASK;
} else if (pin == 14) {
CORE_PIN14_PORTSET = CORE_PIN14_BITMASK;
} else if (pin == 15) {
CORE_PIN15_PORTSET = CORE_PIN15_BITMASK;
} else if (pin == 16) {
CORE_PIN16_PORTSET = CORE_PIN16_BITMASK;
} else if (pin == 17) {
CORE_PIN17_PORTSET = CORE_PIN17_BITMASK;
} else if (pin == 18) {
CORE_PIN18_PORTSET = CORE_PIN18_BITMASK;
} else if (pin == 19) {
CORE_PIN19_PORTSET = CORE_PIN19_BITMASK;
} else if (pin == 20) {
CORE_PIN20_PORTSET = CORE_PIN20_BITMASK;
} else if (pin == 21) {
CORE_PIN21_PORTSET = CORE_PIN21_BITMASK;
} else if (pin == 22) {
CORE_PIN22_PORTSET = CORE_PIN22_BITMASK;
} else if (pin == 23) {
CORE_PIN23_PORTSET = CORE_PIN23_BITMASK;
} else if (pin == 24) {
CORE_PIN24_PORTSET = CORE_PIN24_BITMASK;
} else if (pin == 25) {
CORE_PIN25_PORTSET = CORE_PIN25_BITMASK;
} else if (pin == 26) {
CORE_PIN26_PORTSET = CORE_PIN26_BITMASK;
} else if (pin == 27) {
CORE_PIN27_PORTSET = CORE_PIN27_BITMASK;
} else if (pin == 28) {
CORE_PIN28_PORTSET = CORE_PIN28_BITMASK;
} else if (pin == 29) {
CORE_PIN29_PORTSET = CORE_PIN29_BITMASK;
} else if (pin == 30) {
CORE_PIN30_PORTSET = CORE_PIN30_BITMASK;
} else if (pin == 31) {
CORE_PIN31_PORTSET = CORE_PIN31_BITMASK;
} else if (pin == 32) {
CORE_PIN32_PORTSET = CORE_PIN32_BITMASK;
} else if (pin == 33) {
CORE_PIN33_PORTSET = CORE_PIN33_BITMASK;
}
} else {
if (pin == 0) {
CORE_PIN0_PORTCLEAR = CORE_PIN0_BITMASK;
} else if (pin == 1) {
CORE_PIN1_PORTCLEAR = CORE_PIN1_BITMASK;
} else if (pin == 2) {
CORE_PIN2_PORTCLEAR = CORE_PIN2_BITMASK;
} else if (pin == 3) {
CORE_PIN3_PORTCLEAR = CORE_PIN3_BITMASK;
} else if (pin == 4) {
CORE_PIN4_PORTCLEAR = CORE_PIN4_BITMASK;
} else if (pin == 5) {
CORE_PIN5_PORTCLEAR = CORE_PIN5_BITMASK;
} else if (pin == 6) {
CORE_PIN6_PORTCLEAR = CORE_PIN6_BITMASK;
} else if (pin == 7) {
CORE_PIN7_PORTCLEAR = CORE_PIN7_BITMASK;
} else if (pin == 8) {
CORE_PIN8_PORTCLEAR = CORE_PIN8_BITMASK;
} else if (pin == 9) {
CORE_PIN9_PORTCLEAR = CORE_PIN9_BITMASK;
} else if (pin == 10) {
CORE_PIN10_PORTCLEAR = CORE_PIN10_BITMASK;
} else if (pin == 11) {
CORE_PIN11_PORTCLEAR = CORE_PIN11_BITMASK;
} else if (pin == 12) {
CORE_PIN12_PORTCLEAR = CORE_PIN12_BITMASK;
} else if (pin == 13) {
CORE_PIN13_PORTCLEAR = CORE_PIN13_BITMASK;
} else if (pin == 14) {
CORE_PIN14_PORTCLEAR = CORE_PIN14_BITMASK;
} else if (pin == 15) {
CORE_PIN15_PORTCLEAR = CORE_PIN15_BITMASK;
} else if (pin == 16) {
CORE_PIN16_PORTCLEAR = CORE_PIN16_BITMASK;
} else if (pin == 17) {
CORE_PIN17_PORTCLEAR = CORE_PIN17_BITMASK;
} else if (pin == 18) {
CORE_PIN18_PORTCLEAR = CORE_PIN18_BITMASK;
} else if (pin == 19) {
CORE_PIN19_PORTCLEAR = CORE_PIN19_BITMASK;
} else if (pin == 20) {
CORE_PIN20_PORTCLEAR = CORE_PIN20_BITMASK;
} else if (pin == 21) {
CORE_PIN21_PORTCLEAR = CORE_PIN21_BITMASK;
} else if (pin == 22) {
CORE_PIN22_PORTCLEAR = CORE_PIN22_BITMASK;
} else if (pin == 23) {
CORE_PIN23_PORTCLEAR = CORE_PIN23_BITMASK;
} else if (pin == 24) {
CORE_PIN24_PORTCLEAR = CORE_PIN24_BITMASK;
} else if (pin == 25) {
CORE_PIN25_PORTCLEAR = CORE_PIN25_BITMASK;
} else if (pin == 26) {
CORE_PIN26_PORTCLEAR = CORE_PIN26_BITMASK;
} else if (pin == 27) {
CORE_PIN27_PORTCLEAR = CORE_PIN27_BITMASK;
} else if (pin == 28) {
CORE_PIN28_PORTCLEAR = CORE_PIN28_BITMASK;
} else if (pin == 29) {
CORE_PIN29_PORTCLEAR = CORE_PIN29_BITMASK;
} else if (pin == 30) {
CORE_PIN30_PORTCLEAR = CORE_PIN30_BITMASK;
} else if (pin == 31) {
CORE_PIN31_PORTCLEAR = CORE_PIN31_BITMASK;
} else if (pin == 32) {
CORE_PIN32_PORTCLEAR = CORE_PIN32_BITMASK;
} else if (pin == 33) {
CORE_PIN33_PORTCLEAR = CORE_PIN33_BITMASK;
}
}
} else {
if (val) {
*portSetRegister(pin) = 1;
} else {
*portClearRegister(pin) = 1;
}
}
}
uint8_t digitalRead(uint8_t pin);
static inline uint8_t digitalReadFast(uint8_t pin) __attribute__((always_inline, unused));
static inline uint8_t digitalReadFast(uint8_t pin)
{
if (__builtin_constant_p(pin)) {
if (pin == 0) {
return (CORE_PIN0_PINREG & CORE_PIN0_BITMASK) ? 1 : 0;
} else if (pin == 1) {
return (CORE_PIN1_PINREG & CORE_PIN1_BITMASK) ? 1 : 0;
} else if (pin == 2) {
return (CORE_PIN2_PINREG & CORE_PIN2_BITMASK) ? 1 : 0;
} else if (pin == 3) {
return (CORE_PIN3_PINREG & CORE_PIN3_BITMASK) ? 1 : 0;
} else if (pin == 4) {
return (CORE_PIN4_PINREG & CORE_PIN4_BITMASK) ? 1 : 0;
} else if (pin == 5) {
return (CORE_PIN5_PINREG & CORE_PIN5_BITMASK) ? 1 : 0;
} else if (pin == 6) {
return (CORE_PIN6_PINREG & CORE_PIN6_BITMASK) ? 1 : 0;
} else if (pin == 7) {
return (CORE_PIN7_PINREG & CORE_PIN7_BITMASK) ? 1 : 0;
} else if (pin == 8) {
return (CORE_PIN8_PINREG & CORE_PIN8_BITMASK) ? 1 : 0;
} else if (pin == 9) {
return (CORE_PIN9_PINREG & CORE_PIN9_BITMASK) ? 1 : 0;
} else if (pin == 10) {
return (CORE_PIN10_PINREG & CORE_PIN10_BITMASK) ? 1 : 0;
} else if (pin == 11) {
return (CORE_PIN11_PINREG & CORE_PIN11_BITMASK) ? 1 : 0;
} else if (pin == 12) {
return (CORE_PIN12_PINREG & CORE_PIN12_BITMASK) ? 1 : 0;
} else if (pin == 13) {
return (CORE_PIN13_PINREG & CORE_PIN13_BITMASK) ? 1 : 0;
} else if (pin == 14) {
return (CORE_PIN14_PINREG & CORE_PIN14_BITMASK) ? 1 : 0;
} else if (pin == 15) {
return (CORE_PIN15_PINREG & CORE_PIN15_BITMASK) ? 1 : 0;
} else if (pin == 16) {
return (CORE_PIN16_PINREG & CORE_PIN16_BITMASK) ? 1 : 0;
} else if (pin == 17) {
return (CORE_PIN17_PINREG & CORE_PIN17_BITMASK) ? 1 : 0;
} else if (pin == 18) {
return (CORE_PIN18_PINREG & CORE_PIN18_BITMASK) ? 1 : 0;
} else if (pin == 19) {
return (CORE_PIN19_PINREG & CORE_PIN19_BITMASK) ? 1 : 0;
} else if (pin == 20) {
return (CORE_PIN20_PINREG & CORE_PIN20_BITMASK) ? 1 : 0;
} else if (pin == 21) {
return (CORE_PIN21_PINREG & CORE_PIN21_BITMASK) ? 1 : 0;
} else if (pin == 22) {
return (CORE_PIN22_PINREG & CORE_PIN22_BITMASK) ? 1 : 0;
} else if (pin == 23) {
return (CORE_PIN23_PINREG & CORE_PIN23_BITMASK) ? 1 : 0;
} else if (pin == 24) {
return (CORE_PIN24_PINREG & CORE_PIN24_BITMASK) ? 1 : 0;
} else if (pin == 25) {
return (CORE_PIN25_PINREG & CORE_PIN25_BITMASK) ? 1 : 0;
} else if (pin == 26) {
return (CORE_PIN26_PINREG & CORE_PIN26_BITMASK) ? 1 : 0;
} else if (pin == 27) {
return (CORE_PIN27_PINREG & CORE_PIN27_BITMASK) ? 1 : 0;
} else if (pin == 28) {
return (CORE_PIN28_PINREG & CORE_PIN28_BITMASK) ? 1 : 0;
} else if (pin == 29) {
return (CORE_PIN29_PINREG & CORE_PIN29_BITMASK) ? 1 : 0;
} else if (pin == 30) {
return (CORE_PIN30_PINREG & CORE_PIN30_BITMASK) ? 1 : 0;
} else if (pin == 31) {
return (CORE_PIN31_PINREG & CORE_PIN31_BITMASK) ? 1 : 0;
} else if (pin == 32) {
return (CORE_PIN32_PINREG & CORE_PIN32_BITMASK) ? 1 : 0;
} else if (pin == 33) {
return (CORE_PIN33_PINREG & CORE_PIN33_BITMASK) ? 1 : 0;
} else {
return 0;
}
} else {
return *portInputRegister(pin);
}
}
void pinMode(uint8_t pin, uint8_t mode);
void init_pins(void);
void analogWrite(uint8_t pin, int val);
void analogWriteRes(uint32_t bits);
static inline void analogWriteResolution(uint32_t bits) { analogWriteRes(bits); }
void analogWriteFrequency(uint8_t pin, uint32_t frequency);
void analogWriteDAC0(int val);
void attachInterrupt(uint8_t pin, void (*function)(void), int mode);
void detachInterrupt(uint8_t pin);
void _init_Teensyduino_internal_(void);
int analogRead(uint8_t pin);
void analogReference(uint8_t type);
void analogReadRes(unsigned int bits);
static inline void analogReadResolution(unsigned int bits) { analogReadRes(bits); }
void analogReadAveraging(unsigned int num);
void analog_init(void);
#define DEFAULT 0
#define INTERNAL 2
#define INTERNAL1V2 2
#define INTERNAL1V1 2
#define EXTERNAL 0
int touchRead(uint8_t pin);
static inline void shiftOut(uint8_t, uint8_t, uint8_t, uint8_t) __attribute__((always_inline, unused));
extern void _shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t value) __attribute__((noinline));
extern void shiftOut_lsbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value) __attribute__((noinline));
extern void shiftOut_msbFirst(uint8_t dataPin, uint8_t clockPin, uint8_t value) __attribute__((noinline));
static inline void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t value)
{
if (__builtin_constant_p(bitOrder)) {
if (bitOrder == LSBFIRST) {
shiftOut_lsbFirst(dataPin, clockPin, value);
} else {
shiftOut_msbFirst(dataPin, clockPin, value);
}
} else {
_shiftOut(dataPin, clockPin, bitOrder, value);
}
}
static inline uint8_t shiftIn(uint8_t, uint8_t, uint8_t) __attribute__((always_inline, unused));
extern uint8_t _shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder) __attribute__((noinline));
extern uint8_t shiftIn_lsbFirst(uint8_t dataPin, uint8_t clockPin) __attribute__((noinline));
extern uint8_t shiftIn_msbFirst(uint8_t dataPin, uint8_t clockPin) __attribute__((noinline));
static inline uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder)
{
if (__builtin_constant_p(bitOrder)) {
if (bitOrder == LSBFIRST) {
return shiftIn_lsbFirst(dataPin, clockPin);
} else {
return shiftIn_msbFirst(dataPin, clockPin);
}
} else {
return _shiftIn(dataPin, clockPin, bitOrder);
}
}
void _reboot_Teensyduino_(void) __attribute__((noreturn));
void _restart_Teensyduino_(void) __attribute__((noreturn));
void yield(void);
void delay(uint32_t msec);
extern volatile uint32_t systick_millis_count;
static inline uint32_t millis(void) __attribute__((always_inline, unused));
static inline uint32_t millis(void)
{
volatile uint32_t ret = systick_millis_count; // single aligned 32 bit is atomic;
return ret;
}
uint32_t micros(void);
static inline void delayMicroseconds(uint32_t) __attribute__((always_inline, unused));
static inline void delayMicroseconds(uint32_t usec)
{
#if F_CPU == 168000000
uint32_t n = usec * 56;
#elif F_CPU == 144000000
uint32_t n = usec * 48;
#elif F_CPU == 120000000
uint32_t n = usec * 40;
#elif F_CPU == 96000000
uint32_t n = usec << 5;
#elif F_CPU == 72000000
uint32_t n = usec * 24;
#elif F_CPU == 48000000
uint32_t n = usec << 4;
#elif F_CPU == 24000000
uint32_t n = usec << 3;
#elif F_CPU == 16000000
uint32_t n = usec << 2;
#elif F_CPU == 8000000
uint32_t n = usec << 1;
#elif F_CPU == 4000000
uint32_t n = usec;
#elif F_CPU == 2000000
uint32_t n = usec >> 1;
#endif
// changed because a delay of 1 micro Sec @ 2MHz will be 0
if (n == 0) return;
__asm__ volatile(
"L_%=_delayMicroseconds:" "\n\t"
#if F_CPU < 24000000
"nop" "\n\t"
#endif
"subs %0, #1" "\n\t"
"bne L_%=_delayMicroseconds" "\n"
: "+r" (n) :
);
}
#ifdef __cplusplus
}
#endif
#ifdef __cplusplus
extern "C" {
#endif
unsigned long rtc_get(void);
void rtc_set(unsigned long t);
void rtc_compensate(int adjust);
#ifdef __cplusplus
}
class teensy3_clock_class
{
public:
static unsigned long get(void) __attribute__((always_inline)) { return rtc_get(); }
static void set(unsigned long t) __attribute__((always_inline)) { rtc_set(t); }
static void compensate(int adj) __attribute__((always_inline)) { rtc_compensate(adj); }
};
extern teensy3_clock_class Teensy3Clock;
#endif
#endif

662
ports/teensy/core/mk20dx128.c
View File

@ -1,662 +0,0 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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 "mk20dx128.h"
extern unsigned long _stext;
extern unsigned long _etext;
extern unsigned long _sdata;
extern unsigned long _edata;
extern unsigned long _sbss;
extern unsigned long _ebss;
extern unsigned long _estack;
//extern void __init_array_start(void);
//extern void __init_array_end(void);
extern int main (void);
void ResetHandler(void);
void _init_Teensyduino_internal_(void);
void __libc_init_array(void);
void fault_isr(void)
{
while (1) {
// keep polling some communication while in fault
// mode, so we don't completely die.
if (SIM_SCGC4 & SIM_SCGC4_USBOTG) usb_isr();
if (SIM_SCGC4 & SIM_SCGC4_UART0) uart0_status_isr();
if (SIM_SCGC4 & SIM_SCGC4_UART1) uart1_status_isr();
if (SIM_SCGC4 & SIM_SCGC4_UART2) uart2_status_isr();
}
}
void unused_isr(void)
{
fault_isr();
}
extern volatile uint32_t systick_millis_count;
void systick_default_isr(void)
{
systick_millis_count++;
}
void nmi_isr(void) __attribute__ ((weak, alias("unused_isr")));
void hard_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
void memmanage_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
void bus_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
void usage_fault_isr(void) __attribute__ ((weak, alias("unused_isr")));
void svcall_isr(void) __attribute__ ((weak, alias("unused_isr")));
void debugmonitor_isr(void) __attribute__ ((weak, alias("unused_isr")));
void pendablesrvreq_isr(void) __attribute__ ((weak, alias("unused_isr")));
void systick_isr(void) __attribute__ ((weak, alias("systick_default_isr")));
void dma_ch0_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch1_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch2_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch3_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch4_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch5_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch6_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch7_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch8_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch9_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch10_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch11_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch12_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch13_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch14_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_ch15_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dma_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
void mcm_isr(void) __attribute__ ((weak, alias("unused_isr")));
void flash_cmd_isr(void) __attribute__ ((weak, alias("unused_isr")));
void flash_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
void low_voltage_isr(void) __attribute__ ((weak, alias("unused_isr")));
void wakeup_isr(void) __attribute__ ((weak, alias("unused_isr")));
void watchdog_isr(void) __attribute__ ((weak, alias("unused_isr")));
void i2c0_isr(void) __attribute__ ((weak, alias("unused_isr")));
void i2c1_isr(void) __attribute__ ((weak, alias("unused_isr")));
void i2c2_isr(void) __attribute__ ((weak, alias("unused_isr")));
void spi0_isr(void) __attribute__ ((weak, alias("unused_isr")));
void spi1_isr(void) __attribute__ ((weak, alias("unused_isr")));
void spi2_isr(void) __attribute__ ((weak, alias("unused_isr")));
void sdhc_isr(void) __attribute__ ((weak, alias("unused_isr")));
void can0_message_isr(void) __attribute__ ((weak, alias("unused_isr")));
void can0_bus_off_isr(void) __attribute__ ((weak, alias("unused_isr")));
void can0_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
void can0_tx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
void can0_rx_warn_isr(void) __attribute__ ((weak, alias("unused_isr")));
void can0_wakeup_isr(void) __attribute__ ((weak, alias("unused_isr")));
void i2s0_tx_isr(void) __attribute__ ((weak, alias("unused_isr")));
void i2s0_rx_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart0_lon_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart0_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart0_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart1_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart1_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart2_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart2_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart3_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart3_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart4_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart4_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart5_status_isr(void) __attribute__ ((weak, alias("unused_isr")));
void uart5_error_isr(void) __attribute__ ((weak, alias("unused_isr")));
void adc0_isr(void) __attribute__ ((weak, alias("unused_isr")));
void adc1_isr(void) __attribute__ ((weak, alias("unused_isr")));
void cmp0_isr(void) __attribute__ ((weak, alias("unused_isr")));
void cmp1_isr(void) __attribute__ ((weak, alias("unused_isr")));
void cmp2_isr(void) __attribute__ ((weak, alias("unused_isr")));
void ftm0_isr(void) __attribute__ ((weak, alias("unused_isr")));
void ftm1_isr(void) __attribute__ ((weak, alias("unused_isr")));
void ftm2_isr(void) __attribute__ ((weak, alias("unused_isr")));
void ftm3_isr(void) __attribute__ ((weak, alias("unused_isr")));
void cmt_isr(void) __attribute__ ((weak, alias("unused_isr")));
void rtc_alarm_isr(void) __attribute__ ((weak, alias("unused_isr")));
void rtc_seconds_isr(void) __attribute__ ((weak, alias("unused_isr")));
void pit0_isr(void) __attribute__ ((weak, alias("unused_isr")));
void pit1_isr(void) __attribute__ ((weak, alias("unused_isr")));
void pit2_isr(void) __attribute__ ((weak, alias("unused_isr")));
void pit3_isr(void) __attribute__ ((weak, alias("unused_isr")));
void pdb_isr(void) __attribute__ ((weak, alias("unused_isr")));
void usb_isr(void) __attribute__ ((weak, alias("unused_isr")));
void usb_charge_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dac0_isr(void) __attribute__ ((weak, alias("unused_isr")));
void dac1_isr(void) __attribute__ ((weak, alias("unused_isr")));
void tsi0_isr(void) __attribute__ ((weak, alias("unused_isr")));
void mcg_isr(void) __attribute__ ((weak, alias("unused_isr")));
void lptmr_isr(void) __attribute__ ((weak, alias("unused_isr")));
void porta_isr(void) __attribute__ ((weak, alias("unused_isr")));
void portb_isr(void) __attribute__ ((weak, alias("unused_isr")));
void portc_isr(void) __attribute__ ((weak, alias("unused_isr")));
void portd_isr(void) __attribute__ ((weak, alias("unused_isr")));
void porte_isr(void) __attribute__ ((weak, alias("unused_isr")));
void software_isr(void) __attribute__ ((weak, alias("unused_isr")));
// TODO: create AVR-stype ISR() macro, with default linkage to undefined handler
//
__attribute__ ((section(".vectors"), used))
void (* const gVectors[])(void) =
{
(void (*)(void))((unsigned long)&_estack), // 0 ARM: Initial Stack Pointer
ResetHandler, // 1 ARM: Initial Program Counter
nmi_isr, // 2 ARM: Non-maskable Interrupt (NMI)
hard_fault_isr, // 3 ARM: Hard Fault
memmanage_fault_isr, // 4 ARM: MemManage Fault
bus_fault_isr, // 5 ARM: Bus Fault
usage_fault_isr, // 6 ARM: Usage Fault
fault_isr, // 7 --
fault_isr, // 8 --
fault_isr, // 9 --
fault_isr, // 10 --
svcall_isr, // 11 ARM: Supervisor call (SVCall)
debugmonitor_isr, // 12 ARM: Debug Monitor
fault_isr, // 13 --
pendablesrvreq_isr, // 14 ARM: Pendable req serv(PendableSrvReq)
systick_isr, // 15 ARM: System tick timer (SysTick)
#if defined(__MK20DX128__)
dma_ch0_isr, // 16 DMA channel 0 transfer complete
dma_ch1_isr, // 17 DMA channel 1 transfer complete
dma_ch2_isr, // 18 DMA channel 2 transfer complete
dma_ch3_isr, // 19 DMA channel 3 transfer complete
dma_error_isr, // 20 DMA error interrupt channel
unused_isr, // 21 DMA --
flash_cmd_isr, // 22 Flash Memory Command complete
flash_error_isr, // 23 Flash Read collision
low_voltage_isr, // 24 Low-voltage detect/warning
wakeup_isr, // 25 Low Leakage Wakeup
watchdog_isr, // 26 Both EWM and WDOG interrupt
i2c0_isr, // 27 I2C0
spi0_isr, // 28 SPI0
i2s0_tx_isr, // 29 I2S0 Transmit
i2s0_rx_isr, // 30 I2S0 Receive
uart0_lon_isr, // 31 UART0 CEA709.1-B (LON) status
uart0_status_isr, // 32 UART0 status
uart0_error_isr, // 33 UART0 error
uart1_status_isr, // 34 UART1 status
uart1_error_isr, // 35 UART1 error
uart2_status_isr, // 36 UART2 status
uart2_error_isr, // 37 UART2 error
adc0_isr, // 38 ADC0
cmp0_isr, // 39 CMP0
cmp1_isr, // 40 CMP1
ftm0_isr, // 41 FTM0
ftm1_isr, // 42 FTM1
cmt_isr, // 43 CMT
rtc_alarm_isr, // 44 RTC Alarm interrupt
rtc_seconds_isr, // 45 RTC Seconds interrupt
pit0_isr, // 46 PIT Channel 0
pit1_isr, // 47 PIT Channel 1
pit2_isr, // 48 PIT Channel 2
pit3_isr, // 49 PIT Channel 3
pdb_isr, // 50 PDB Programmable Delay Block
usb_isr, // 51 USB OTG
usb_charge_isr, // 52 USB Charger Detect
tsi0_isr, // 53 TSI0
mcg_isr, // 54 MCG
lptmr_isr, // 55 Low Power Timer
porta_isr, // 56 Pin detect (Port A)
portb_isr, // 57 Pin detect (Port B)
portc_isr, // 58 Pin detect (Port C)
portd_isr, // 59 Pin detect (Port D)
porte_isr, // 60 Pin detect (Port E)
software_isr, // 61 Software interrupt
#elif defined(__MK20DX256__)
dma_ch0_isr, // 16 DMA channel 0 transfer complete
dma_ch1_isr, // 17 DMA channel 1 transfer complete
dma_ch2_isr, // 18 DMA channel 2 transfer complete
dma_ch3_isr, // 19 DMA channel 3 transfer complete
dma_ch4_isr, // 20 DMA channel 4 transfer complete
dma_ch5_isr, // 21 DMA channel 5 transfer complete
dma_ch6_isr, // 22 DMA channel 6 transfer complete
dma_ch7_isr, // 23 DMA channel 7 transfer complete
dma_ch8_isr, // 24 DMA channel 8 transfer complete
dma_ch9_isr, // 25 DMA channel 9 transfer complete
dma_ch10_isr, // 26 DMA channel 10 transfer complete
dma_ch11_isr, // 27 DMA channel 10 transfer complete
dma_ch12_isr, // 28 DMA channel 10 transfer complete
dma_ch13_isr, // 29 DMA channel 10 transfer complete
dma_ch14_isr, // 30 DMA channel 10 transfer complete
dma_ch15_isr, // 31 DMA channel 10 transfer complete
dma_error_isr, // 32 DMA error interrupt channel
unused_isr, // 33 --
flash_cmd_isr, // 34 Flash Memory Command complete
flash_error_isr, // 35 Flash Read collision
low_voltage_isr, // 36 Low-voltage detect/warning
wakeup_isr, // 37 Low Leakage Wakeup
watchdog_isr, // 38 Both EWM and WDOG interrupt
unused_isr, // 39 --
i2c0_isr, // 40 I2C0
i2c1_isr, // 41 I2C1
spi0_isr, // 42 SPI0
spi1_isr, // 43 SPI1
unused_isr, // 44 --
can0_message_isr, // 45 CAN OR'ed Message buffer (0-15)
can0_bus_off_isr, // 46 CAN Bus Off
can0_error_isr, // 47 CAN Error
can0_tx_warn_isr, // 48 CAN Transmit Warning
can0_rx_warn_isr, // 49 CAN Receive Warning
can0_wakeup_isr, // 50 CAN Wake Up
i2s0_tx_isr, // 51 I2S0 Transmit
i2s0_rx_isr, // 52 I2S0 Receive
unused_isr, // 53 --
unused_isr, // 54 --
unused_isr, // 55 --
unused_isr, // 56 --
unused_isr, // 57 --
unused_isr, // 58 --
unused_isr, // 59 --
uart0_lon_isr, // 60 UART0 CEA709.1-B (LON) status
uart0_status_isr, // 61 UART0 status
uart0_error_isr, // 62 UART0 error
uart1_status_isr, // 63 UART1 status
uart1_error_isr, // 64 UART1 error
uart2_status_isr, // 65 UART2 status
uart2_error_isr, // 66 UART2 error
unused_isr, // 67 --
unused_isr, // 68 --
unused_isr, // 69 --
unused_isr, // 70 --
unused_isr, // 71 --
unused_isr, // 72 --
adc0_isr, // 73 ADC0
adc1_isr, // 74 ADC1
cmp0_isr, // 75 CMP0
cmp1_isr, // 76 CMP1
cmp2_isr, // 77 CMP2
ftm0_isr, // 78 FTM0
ftm1_isr, // 79 FTM1
ftm2_isr, // 80 FTM2
cmt_isr, // 81 CMT
rtc_alarm_isr, // 82 RTC Alarm interrupt
rtc_seconds_isr, // 83 RTC Seconds interrupt
pit0_isr, // 84 PIT Channel 0
pit1_isr, // 85 PIT Channel 1
pit2_isr, // 86 PIT Channel 2
pit3_isr, // 87 PIT Channel 3
pdb_isr, // 88 PDB Programmable Delay Block
usb_isr, // 89 USB OTG
usb_charge_isr, // 90 USB Charger Detect
unused_isr, // 91 --
unused_isr, // 92 --
unused_isr, // 93 --
unused_isr, // 94 --
unused_isr, // 95 --
unused_isr, // 96 --
dac0_isr, // 97 DAC0
unused_isr, // 98 --
tsi0_isr, // 99 TSI0
mcg_isr, // 100 MCG
lptmr_isr, // 101 Low Power Timer
unused_isr, // 102 --
porta_isr, // 103 Pin detect (Port A)
portb_isr, // 104 Pin detect (Port B)
portc_isr, // 105 Pin detect (Port C)
portd_isr, // 106 Pin detect (Port D)
porte_isr, // 107 Pin detect (Port E)
unused_isr, // 108 --
unused_isr, // 109 --
software_isr, // 110 Software interrupt
#endif
};
//void usb_isr(void)
//{
//}
__attribute__ ((section(".flashconfig"), used))
const uint8_t flashconfigbytes[16] = {
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF
};
// Automatically initialize the RTC. When the build defines the compile
// time, and the user has added a crystal, the RTC will automatically
// begin at the time of the first upload.
#ifndef TIME_T
#define TIME_T 1349049600 // default 1 Oct 2012 (never used, Arduino sets this)
#endif
extern void rtc_set(unsigned long t);
static void startup_default_early_hook(void) { WDOG_STCTRLH = WDOG_STCTRLH_ALLOWUPDATE; }
static void startup_default_late_hook(void) {}
void startup_early_hook(void) __attribute__ ((weak, alias("startup_default_early_hook")));
void startup_late_hook(void) __attribute__ ((weak, alias("startup_default_late_hook")));
__attribute__ ((section(".startup")))
void ResetHandler(void)
{
uint32_t *src = &_etext;
uint32_t *dest = &_sdata;
unsigned int i;
#if F_CPU <= 2000000
volatile int n;
#endif
WDOG_UNLOCK = WDOG_UNLOCK_SEQ1;
WDOG_UNLOCK = WDOG_UNLOCK_SEQ2;
__asm__ volatile ("nop");
__asm__ volatile ("nop");
// programs using the watchdog timer or needing to initialize hardware as
// early as possible can implement startup_early_hook()
startup_early_hook();
// enable clocks to always-used peripherals
#if defined(__MK20DX128__)
SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
#elif defined(__MK20DX256__)
SIM_SCGC3 = SIM_SCGC3_ADC1 | SIM_SCGC3_FTM2;
SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
SIM_SCGC6 = SIM_SCGC6_RTC | SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1 | SIM_SCGC6_ADC0 | SIM_SCGC6_FTFL;
#endif
// if the RTC oscillator isn't enabled, get it started early
if (!(RTC_CR & RTC_CR_OSCE)) {
RTC_SR = 0;
RTC_CR = RTC_CR_SC16P | RTC_CR_SC4P | RTC_CR_OSCE;
}
// release I/O pins hold, if we woke up from VLLS mode
if (PMC_REGSC & PMC_REGSC_ACKISO) PMC_REGSC |= PMC_REGSC_ACKISO;
// since this is a write once register, make it visible to all F_CPU's
// so we can into other sleep modes in the future at any speed
SMC_PMPROT = SMC_PMPROT_AVLP | SMC_PMPROT_ALLS | SMC_PMPROT_AVLLS;
// TODO: do this while the PLL is waiting to lock....
while (dest < &_edata) *dest++ = *src++;
dest = &_sbss;
while (dest < &_ebss) *dest++ = 0;
SCB_VTOR = 0; // use vector table in flash
// default all interrupts to medium priority level
for (i=0; i < NVIC_NUM_INTERRUPTS; i++) NVIC_SET_PRIORITY(i, 128);
// hardware always starts in FEI mode
// C1[CLKS] bits are written to 00
// C1[IREFS] bit is written to 1
// C6[PLLS] bit is written to 0
// MCG_SC[FCDIV] defaults to divide by two for internal ref clock
// I tried changing MSG_SC to divide by 1, it didn't work for me
#if F_CPU <= 2000000
// use the internal oscillator
MCG_C1 = MCG_C1_CLKS(1) | MCG_C1_IREFS;
// wait for MCGOUT to use oscillator
while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(1)) ;
for (n=0; n<10; n++) ; // TODO: why do we get 2 mA extra without this delay?
MCG_C2 = MCG_C2_IRCS;
while (!(MCG_S & MCG_S_IRCST)) ;
// now in FBI mode:
// C1[CLKS] bits are written to 01
// C1[IREFS] bit is written to 1
// C6[PLLS] is written to 0
// C2[LP] is written to 0
MCG_C2 = MCG_C2_IRCS | MCG_C2_LP;
// now in BLPI mode:
// C1[CLKS] bits are written to 01
// C1[IREFS] bit is written to 1
// C6[PLLS] bit is written to 0
// C2[LP] bit is written to 1
#else
// enable capacitors for crystal
OSC0_CR = OSC_SC8P | OSC_SC2P;
// enable osc, 8-32 MHz range, low power mode
MCG_C2 = MCG_C2_RANGE0(2) | MCG_C2_EREFS;
// switch to crystal as clock source, FLL input = 16 MHz / 512
MCG_C1 = MCG_C1_CLKS(2) | MCG_C1_FRDIV(4);
// wait for crystal oscillator to begin
while ((MCG_S & MCG_S_OSCINIT0) == 0) ;
// wait for FLL to use oscillator
while ((MCG_S & MCG_S_IREFST) != 0) ;
// wait for MCGOUT to use oscillator
while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(2)) ;
// now in FBE mode
// C1[CLKS] bits are written to 10
// C1[IREFS] bit is written to 0
// C1[FRDIV] must be written to divide xtal to 31.25-39 kHz
// C6[PLLS] bit is written to 0
// C2[LP] is written to 0
#if F_CPU <= 16000000
// if the crystal is fast enough, use it directly (no FLL or PLL)
MCG_C2 = MCG_C2_RANGE0(2) | MCG_C2_EREFS | MCG_C2_LP;
// BLPE mode:
// C1[CLKS] bits are written to 10
// C1[IREFS] bit is written to 0
// C2[LP] bit is written to 1
#else
// if we need faster than the crystal, turn on the PLL
#if F_CPU == 72000000
MCG_C5 = MCG_C5_PRDIV0(5); // config PLL input for 16 MHz Crystal / 6 = 2.667 Hz
#else
MCG_C5 = MCG_C5_PRDIV0(3); // config PLL input for 16 MHz Crystal / 4 = 4 MHz
#endif
#if F_CPU == 168000000
MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(18); // config PLL for 168 MHz output
#elif F_CPU == 144000000
MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(12); // config PLL for 144 MHz output
#elif F_CPU == 120000000
MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(6); // config PLL for 120 MHz output
#elif F_CPU == 72000000
MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(3); // config PLL for 72 MHz output
#else
MCG_C6 = MCG_C6_PLLS | MCG_C6_VDIV0(0); // config PLL for 96 MHz output
#endif
// wait for PLL to start using xtal as its input
while (!(MCG_S & MCG_S_PLLST)) ;
// wait for PLL to lock
while (!(MCG_S & MCG_S_LOCK0)) ;
// now we're in PBE mode
#endif
#endif
// now program the clock dividers
#if F_CPU == 168000000
// config divisors: 168 MHz core, 56 MHz bus, 33.6 MHz flash, USB = 168 * 2 / 7
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(4);
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(6) | SIM_CLKDIV2_USBFRAC;
#elif F_CPU == 144000000
// config divisors: 144 MHz core, 48 MHz bus, 28.8 MHz flash, USB = 144 / 3
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(2) | SIM_CLKDIV1_OUTDIV4(4);
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(2);
#elif F_CPU == 120000000
// config divisors: 120 MHz core, 60 MHz bus, 24 MHz flash, USB = 128 * 2 / 5
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(4);
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(4) | SIM_CLKDIV2_USBFRAC;
#elif F_CPU == 96000000
// config divisors: 96 MHz core, 48 MHz bus, 24 MHz flash, USB = 96 / 2
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(3);
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1);
#elif F_CPU == 72000000
// config divisors: 72 MHz core, 36 MHz bus, 24 MHz flash, USB = 72 * 2 / 3
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(2);
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(2) | SIM_CLKDIV2_USBFRAC;
#elif F_CPU == 48000000
// config divisors: 48 MHz core, 48 MHz bus, 24 MHz flash, USB = 96 / 2
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(1) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(3);
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1);
#elif F_CPU == 24000000
// config divisors: 24 MHz core, 24 MHz bus, 24 MHz flash, USB = 96 / 2
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(3) | SIM_CLKDIV1_OUTDIV2(3) | SIM_CLKDIV1_OUTDIV4(3);
SIM_CLKDIV2 = SIM_CLKDIV2_USBDIV(1);
#elif F_CPU == 16000000
// config divisors: 16 MHz core, 16 MHz bus, 16 MHz flash
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(0) | SIM_CLKDIV1_OUTDIV4(0);
#elif F_CPU == 8000000
// config divisors: 8 MHz core, 8 MHz bus, 8 MHz flash
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(1) | SIM_CLKDIV1_OUTDIV2(1) | SIM_CLKDIV1_OUTDIV4(1);
#elif F_CPU == 4000000
// config divisors: 4 MHz core, 4 MHz bus, 2 MHz flash
// since we are running from external clock 16MHz
// fix outdiv too -> cpu 16/4, bus 16/4, flash 16/4
// here we can go into vlpr?
// config divisors: 4 MHz core, 4 MHz bus, 4 MHz flash
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(3) | SIM_CLKDIV1_OUTDIV2(3) | SIM_CLKDIV1_OUTDIV4(3);
#elif F_CPU == 2000000
// since we are running from the fast internal reference clock 4MHz
// but is divided down by 2 so we actually have a 2MHz, MCG_SC[FCDIV] default is 2
// fix outdiv -> cpu 2/1, bus 2/1, flash 2/2
// config divisors: 2 MHz core, 2 MHz bus, 1 MHz flash
SIM_CLKDIV1 = SIM_CLKDIV1_OUTDIV1(0) | SIM_CLKDIV1_OUTDIV2(0) | SIM_CLKDIV1_OUTDIV4(1);
#else
#error "Error, F_CPU must be 168, 144, 120, 96, 72, 48, 24, 16, 8, 4, or 2 MHz"
#endif
#if F_CPU > 16000000
// switch to PLL as clock source, FLL input = 16 MHz / 512
MCG_C1 = MCG_C1_CLKS(0) | MCG_C1_FRDIV(4);
// wait for PLL clock to be used
while ((MCG_S & MCG_S_CLKST_MASK) != MCG_S_CLKST(3)) ;
// now we're in PEE mode
// USB uses PLL clock, trace is CPU clock, CLKOUT=OSCERCLK0
SIM_SOPT2 = SIM_SOPT2_USBSRC | SIM_SOPT2_PLLFLLSEL | SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL(6);
#else
SIM_SOPT2 = SIM_SOPT2_TRACECLKSEL | SIM_SOPT2_CLKOUTSEL(3);
#endif
#if F_CPU <= 2000000
// since we are not going into "stop mode" i removed it
SMC_PMCTRL = SMC_PMCTRL_RUNM(2); // VLPR mode :-)
#endif
// initialize the SysTick counter
SYST_RVR = (F_CPU / 1000) - 1;
SYST_CSR = SYST_CSR_CLKSOURCE | SYST_CSR_TICKINT | SYST_CSR_ENABLE;
//init_pins();
__enable_irq();
_init_Teensyduino_internal_();
if (RTC_SR & RTC_SR_TIF) {
// TODO: this should probably set the time more agressively, if
// we could reliably detect the first reboot after programming.
rtc_set(TIME_T);
}
__libc_init_array();
startup_late_hook();
main();
while (1) ;
}
char *__brkval = (char *)&_ebss;
void * _sbrk(int incr)
{
char *prev = __brkval;
__brkval += incr;
return prev;
}
__attribute__((weak))
int _read(int file, char *ptr, int len)
{
return 0;
}
__attribute__((weak))
int _close(int fd)
{
return -1;
}
#include <sys/stat.h>
__attribute__((weak))
int _fstat(int fd, struct stat *st)
{
st->st_mode = S_IFCHR;
return 0;
}
__attribute__((weak))
int _isatty(int fd)
{
return 1;
}
__attribute__((weak))
int _lseek(int fd, long long offset, int whence)
{
return -1;
}
__attribute__((weak))
void _exit(int status)
{
while (1);
}
__attribute__((weak))
void __cxa_pure_virtual()
{
while (1);
}
__attribute__((weak))
int __cxa_guard_acquire (char *g)
{
return !(*g);
}
__attribute__((weak))
void __cxa_guard_release(char *g)
{
*g = 1;
}
int nvic_execution_priority(void)
{
int priority=256;
uint32_t primask, faultmask, basepri, ipsr;
// full algorithm in ARM DDI0403D, page B1-639
// this isn't quite complete, but hopefully good enough
__asm__ volatile("mrs %0, faultmask\n" : "=r" (faultmask)::);
if (faultmask) return -1;
__asm__ volatile("mrs %0, primask\n" : "=r" (primask)::);
if (primask) return 0;
__asm__ volatile("mrs %0, ipsr\n" : "=r" (ipsr)::);
if (ipsr) {
if (ipsr < 16) priority = 0; // could be non-zero
else priority = NVIC_GET_PRIORITY(ipsr - 16);
}
__asm__ volatile("mrs %0, basepri\n" : "=r" (basepri)::);
if (basepri > 0 && basepri < priority) priority = basepri;
return priority;
}

2385
ports/teensy/core/mk20dx128.h
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113
ports/teensy/core/pins_arduino.h
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@ -1,113 +0,0 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#ifndef pins_macros_for_arduino_compatibility_h
#define pins_macros_for_arduino_compatibility_h
#include <stdint.h>
const static uint8_t A0 = 14;
const static uint8_t A1 = 15;
const static uint8_t A2 = 16;
const static uint8_t A3 = 17;
const static uint8_t A4 = 18;
const static uint8_t A5 = 19;
const static uint8_t A6 = 20;
const static uint8_t A7 = 21;
const static uint8_t A8 = 22;
const static uint8_t A9 = 23;
const static uint8_t A10 = 34;
const static uint8_t A11 = 35;
const static uint8_t A12 = 36;
const static uint8_t A13 = 37;
const static uint8_t A14 = 40;
const static uint8_t A15 = 26;
const static uint8_t A16 = 27;
const static uint8_t A17 = 28;
const static uint8_t A18 = 29;
const static uint8_t A19 = 30;
const static uint8_t A20 = 31;
const static uint8_t SS = 10;
const static uint8_t MOSI = 11;
const static uint8_t MISO = 12;
const static uint8_t SCK = 13;
const static uint8_t LED_BUILTIN = 13;
const static uint8_t SDA = 18;
const static uint8_t SCL = 19;
#define NUM_DIGITAL_PINS 34
#define NUM_ANALOG_INPUTS 14
#define analogInputToDigitalPin(p) (((p) < 10) ? (p) + 14 : -1)
#define digitalPinHasPWM(p) (((p) >= 3 && (p) <= 6) || (p) == 9 || (p) == 10 || ((p) >= 20 && (p) <= 23))
#define NOT_AN_INTERRUPT -1
#define digitalPinToInterrupt(p) ((p) < NUM_DIGITAL_PINS ? (p) : -1)
struct digital_pin_bitband_and_config_table_struct {
volatile uint32_t *reg;
volatile uint32_t *config;
};
extern const struct digital_pin_bitband_and_config_table_struct digital_pin_to_info_PGM[];
// compatibility macros
#define digitalPinToPort(pin) (pin)
#define digitalPinToBitMask(pin) (1)
#define portOutputRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 0))
#define portSetRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 32))
#define portClearRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 64))
#define portToggleRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 96))
#define portInputRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 128))
#define portModeRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 160))
#define portConfigRegister(pin) ((volatile uint32_t *)(digital_pin_to_info_PGM[(pin)].config))
#define digitalPinToPortReg(pin) (portOutputRegister(pin))
#define digitalPinToBit(pin) (1)
#define NOT_ON_TIMER 0
static inline uint8_t digitalPinToTimer(uint8_t) __attribute__((always_inline, unused));
static inline uint8_t digitalPinToTimer(uint8_t pin)
{
if (pin >= 3 && pin <= 6) return pin - 2;
if (pin >= 9 && pin <= 10) return pin - 4;
if (pin >= 20 && pin <= 23) return pin - 13;
return NOT_ON_TIMER;
}
#endif

817
ports/teensy/core/pins_teensy.c
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@ -1,817 +0,0 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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 0
// moved to pins_arduino.h
struct digital_pin_bitband_and_config_table_struct {
volatile uint32_t *reg;
volatile uint32_t *config;
};
const struct digital_pin_bitband_and_config_table_struct digital_pin_to_info_PGM[];
// compatibility macros
#define digitalPinToPort(pin) (pin)
#define digitalPinToBitMask(pin) (1)
#define portOutputRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 0))
#define portSetRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 32))
#define portClearRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 64))
#define portToggleRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 96))
#define portInputRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 128))
#define portModeRegister(pin) ((volatile uint8_t *)(digital_pin_to_info_PGM[(pin)].reg + 160))
#define portConfigRegister(pin) ((volatile uint32_t *)(digital_pin_to_info_PGM[(pin)].config))
#endif
//#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
//#define analogInPinToBit(P) (P)
#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}
};
typedef void (*voidFuncPtr)(void);
volatile static voidFuncPtr intFunc[CORE_NUM_DIGITAL];
void init_pin_interrupts(void)
{
//SIM_SCGC5 = 0x00043F82; // clocks active to all GPIO
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);
// TODO: maybe these should be set to a lower priority
// so if the user puts lots of slow code on attachInterrupt
// fast interrupts will still be serviced quickly?
}
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);
__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();
}
void detachInterrupt(uint8_t pin)
{
volatile uint32_t *config;
config = portConfigRegister(pin);
__disable_irq();
*config = ((*config & ~0x000F0000) | 0x01000000);
intFunc[pin] = NULL;
__enable_irq();
}
void porta_isr(void)
{
uint32_t isfr = PORTA_ISFR;
PORTA_ISFR = isfr;
if ((isfr & CORE_PIN3_BITMASK) && intFunc[3]) intFunc[3]();
if ((isfr & CORE_PIN4_BITMASK) && intFunc[4]) intFunc[4]();
if ((isfr & CORE_PIN24_BITMASK) && intFunc[24]) intFunc[24]();
if ((isfr & CORE_PIN33_BITMASK) && intFunc[33]) intFunc[33]();
}
void portb_isr(void)
{
uint32_t isfr = PORTB_ISFR;
PORTB_ISFR = isfr;
if ((isfr & CORE_PIN0_BITMASK) && intFunc[0]) intFunc[0]();
if ((isfr & CORE_PIN1_BITMASK) && intFunc[1]) intFunc[1]();
if ((isfr & CORE_PIN16_BITMASK) && intFunc[16]) intFunc[16]();
if ((isfr & CORE_PIN17_BITMASK) && intFunc[17]) intFunc[17]();
if ((isfr & CORE_PIN18_BITMASK) && intFunc[18]) intFunc[18]();
if ((isfr & CORE_PIN19_BITMASK) && intFunc[19]) intFunc[19]();
if ((isfr & CORE_PIN25_BITMASK) && intFunc[25]) intFunc[25]();
if ((isfr & CORE_PIN32_BITMASK) && intFunc[32]) intFunc[32]();
}
void portc_isr(void)
{
// TODO: these are inefficent. Use CLZ somehow....
uint32_t isfr = PORTC_ISFR;
PORTC_ISFR = isfr;
if ((isfr & CORE_PIN9_BITMASK) && intFunc[9]) intFunc[9]();
if ((isfr & CORE_PIN10_BITMASK) && intFunc[10]) intFunc[10]();
if ((isfr & CORE_PIN11_BITMASK) && intFunc[11]) intFunc[11]();
if ((isfr & CORE_PIN12_BITMASK) && intFunc[12]) intFunc[12]();
if ((isfr & CORE_PIN13_BITMASK) && intFunc[13]) intFunc[13]();
if ((isfr & CORE_PIN15_BITMASK) && intFunc[15]) intFunc[15]();
if ((isfr & CORE_PIN22_BITMASK) && intFunc[22]) intFunc[22]();
if ((isfr & CORE_PIN23_BITMASK) && intFunc[23]) intFunc[23]();
if ((isfr & CORE_PIN27_BITMASK) && intFunc[27]) intFunc[27]();
if ((isfr & CORE_PIN28_BITMASK) && intFunc[28]) intFunc[28]();
if ((isfr & CORE_PIN29_BITMASK) && intFunc[29]) intFunc[29]();
if ((isfr & CORE_PIN30_BITMASK) && intFunc[30]) intFunc[30]();
}
void portd_isr(void)
{
uint32_t isfr = PORTD_ISFR;
PORTD_ISFR = isfr;
if ((isfr & CORE_PIN2_BITMASK) && intFunc[2]) intFunc[2]();
if ((isfr & CORE_PIN5_BITMASK) && intFunc[5]) intFunc[5]();
if ((isfr & CORE_PIN6_BITMASK) && intFunc[6]) intFunc[6]();
if ((isfr & CORE_PIN7_BITMASK) && intFunc[7]) intFunc[7]();
if ((isfr & CORE_PIN8_BITMASK) && intFunc[8]) intFunc[8]();
if ((isfr & CORE_PIN14_BITMASK) && intFunc[14]) intFunc[14]();
if ((isfr & CORE_PIN20_BITMASK) && intFunc[20]) intFunc[20]();
if ((isfr & CORE_PIN21_BITMASK) && intFunc[21]) intFunc[21]();
}
void porte_isr(void)
{
uint32_t isfr = PORTE_ISFR;
PORTE_ISFR = isfr;
if ((isfr & CORE_PIN26_BITMASK) && intFunc[26]) intFunc[26]();
if ((isfr & CORE_PIN31_BITMASK) && intFunc[31]) intFunc[31]();
}
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;
}
#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 F_BUS == 60000000
#define DEFAULT_FTM_MOD (61440 - 1)
#define DEFAULT_FTM_PRESCALE 1
#elif F_BUS == 56000000
#define DEFAULT_FTM_MOD (57344 - 1)
#define DEFAULT_FTM_PRESCALE 1
#elif F_BUS == 48000000
#define DEFAULT_FTM_MOD (49152 - 1)
#define DEFAULT_FTM_PRESCALE 1
#elif F_BUS == 40000000
#define DEFAULT_FTM_MOD (40960 - 1)
#define DEFAULT_FTM_PRESCALE 1
#elif F_BUS == 36000000
#define DEFAULT_FTM_MOD (36864 - 1)
#define DEFAULT_FTM_PRESCALE 1
#elif F_BUS == 24000000
#define DEFAULT_FTM_MOD (49152 - 1)
#define DEFAULT_FTM_PRESCALE 0
#elif F_BUS == 16000000
#define DEFAULT_FTM_MOD (32768 - 1)
#define DEFAULT_FTM_PRESCALE 0
#elif F_BUS == 8000000
#define DEFAULT_FTM_MOD (16384 - 1)
#define DEFAULT_FTM_PRESCALE 0
#elif F_BUS == 4000000
#define DEFAULT_FTM_MOD (8192 - 1)
#define DEFAULT_FTM_PRESCALE 0
#elif F_BUS == 2000000
#define DEFAULT_FTM_MOD (4096 - 1)
#define DEFAULT_FTM_PRESCALE 0
#endif
//void init_pins(void)
void _init_Teensyduino_internal_(void)
{
init_pin_interrupts();
//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;
FTM0_C6SC = 0x28;
FTM0_C7SC = 0x28;
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__)
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
analog_init();
//delay(100); // TODO: this is not necessary, right?
delay(4);
usb_init();
}
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;
}
#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 == 3 || pin == 4) {
cval = ((uint32_t)val * (uint32_t)(FTM1_MOD + 1)) >> analog_write_res;
#if defined(__MK20DX256__)
} else if (pin == 25 || pin == 32) {
cval = ((uint32_t)val * (uint32_t)(FTM2_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) {
case 3: // PTA12, FTM1_CH0
FTM1_C0V = cval;
CORE_PIN3_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 4: // PTA13, FTM1_CH1
FTM1_C1V = cval;
CORE_PIN4_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 5: // PTD7, FTM0_CH7
FTM0_C7V = cval;
CORE_PIN5_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 6: // PTD4, FTM0_CH4
FTM0_C4V = cval;
CORE_PIN6_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 9: // PTC3, FTM0_CH2
FTM0_C2V = cval;
CORE_PIN9_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 10: // PTC4, FTM0_CH3
FTM0_C3V = cval;
CORE_PIN10_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 20: // PTD5, FTM0_CH5
FTM0_C5V = cval;
CORE_PIN20_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 21: // PTD6, FTM0_CH6
FTM0_C6V = cval;
CORE_PIN21_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 22: // PTC1, FTM0_CH0
FTM0_C0V = cval;
CORE_PIN22_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 23: // PTC2, FTM0_CH1
FTM0_C1V = cval;
CORE_PIN23_CONFIG = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
#if defined(__MK20DX256__)
case 32: // PTB18, FTM2_CH0
FTM2_C0V = cval;
CORE_PIN32_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
case 25: // PTB19, FTM1_CH1
FTM2_C1V = cval;
CORE_PIN25_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
break;
#endif
default:
digitalWrite(pin, (val > 127) ? HIGH : LOW);
pinMode(pin, OUTPUT);
}
}
void analogWriteRes(uint32_t bits)
{
if (bits < 1) {
bits = 1;
} else if (bits > 16) {
bits = 16;
}
analog_write_res = bits;
}
void analogWriteFrequency(uint8_t pin, uint32_t frequency)
{
uint32_t minfreq, prescale, mod;
//serial_print("analogWriteFrequency: pin = ");
//serial_phex(pin);
//serial_print(", freq = ");
//serial_phex32(frequency);
//serial_print("\n");
for (prescale = 0; prescale < 7; prescale++) {
minfreq = (F_BUS >> 16) >> prescale;
if (frequency > minfreq) break;
}
//serial_print("F_BUS = ");
//serial_phex32(F_BUS >> prescale);
//serial_print("\n");
//serial_print("prescale = ");
//serial_phex(prescale);
//serial_print("\n");
//mod = ((F_BUS >> prescale) / frequency) - 1;
mod = (((F_BUS >> prescale) + (frequency >> 1)) / frequency) - 1;
if (mod > 65535) mod = 65535;
//serial_print("mod = ");
//serial_phex32(mod);
//serial_print("\n");
if (pin == 3 || pin == 4) {
FTM1_SC = 0;
FTM1_CNT = 0;
FTM1_MOD = mod;
FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_PS(prescale);
} else if (pin == 5 || pin == 6 || pin == 9 || pin == 10 ||
(pin >= 20 && pin <= 23)) {
FTM0_SC = 0;
FTM0_CNT = 0;
FTM0_MOD = mod;
FTM0_SC = FTM_SC_CLKS(1) | FTM_SC_PS(prescale);
}
}
// 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;
if (*portModeRegister(pin)) {
if (val) {
*portSetRegister(pin) = 1;
} else {
*portClearRegister(pin) = 1;
}
} 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;
return *portInputRegister(pin);
}
void pinMode(uint8_t pin, uint8_t mode)
{
volatile uint32_t *config;
if (pin >= CORE_NUM_DIGITAL) return;
config = portConfigRegister(pin);
if (mode == OUTPUT) {
*portModeRegister(pin) = 1;
*config = PORT_PCR_SRE | PORT_PCR_DSE | PORT_PCR_MUX(1);
} else {
*portModeRegister(pin) = 0;
if (mode == INPUT) {
*config = PORT_PCR_MUX(1);
} else {
*config = PORT_PCR_MUX(1) | PORT_PCR_PE | PORT_PCR_PS; // pullup
}
}
}
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;
return count * 1000 + current / (F_CPU / 1000000);
}
void delay(uint32_t ms)
{
uint32_t start = micros();
if (ms > 0) {
while (1) {
if ((micros() - start) >= 1000) {
ms--;
if (ms == 0) return;
start += 1000;
}
yield();
}
}
}
// TODO: verify these result in correct timeouts...
#if 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
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);;
}

895
ports/teensy/core/usb_desc.c
View File

@ -1,895 +0,0 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#if F_CPU >= 20000000
#include "usb_desc.h"
#include "usb_names.h"
#include "mk20dx128.h"
#include "avr_functions.h"
// USB Descriptors are binary data which the USB host reads to
// automatically detect a USB device's capabilities. The format
// and meaning of every field is documented in numerous USB
// standards. When working with USB descriptors, despite the
// complexity of the standards and poor writing quality in many
// of those documents, remember descriptors are nothing more
// than constant binary data that tells the USB host what the
// device can do. Computers will load drivers based on this data.
// Those drivers then communicate on the endpoints specified by
// the descriptors.
// To configure a new combination of interfaces or make minor
// changes to existing configuration (eg, change the name or ID
// numbers), usually you would edit "usb_desc.h". This file
// is meant to be configured by the header, so generally it is
// only edited to add completely new USB interfaces or features.
// **************************************************************
// USB Device
// **************************************************************
#define LSB(n) ((n) & 255)
#define MSB(n) (((n) >> 8) & 255)
// USB Device Descriptor. The USB host reads this first, to learn
// what type of device is connected.
static uint8_t device_descriptor[] = {
18, // bLength
1, // bDescriptorType
0x00, 0x02, // bcdUSB
#ifdef DEVICE_CLASS
DEVICE_CLASS, // bDeviceClass
#else
0,
#endif
#ifdef DEVICE_SUBCLASS
DEVICE_SUBCLASS, // bDeviceSubClass
#else
0,
#endif
#ifdef DEVICE_PROTOCOL
DEVICE_PROTOCOL, // bDeviceProtocol
#else
0,
#endif
EP0_SIZE, // bMaxPacketSize0
LSB(VENDOR_ID), MSB(VENDOR_ID), // idVendor
LSB(PRODUCT_ID), MSB(PRODUCT_ID), // idProduct
0x00, 0x01, // bcdDevice
1, // iManufacturer
2, // iProduct
3, // iSerialNumber
1 // bNumConfigurations
};
// These descriptors must NOT be "const", because the USB DMA
// has trouble accessing flash memory with enough bandwidth
// while the processor is executing from flash.
// **************************************************************
// HID Report Descriptors
// **************************************************************
// Each HID interface needs a special report descriptor that tells
// the meaning and format of the data.
#ifdef KEYBOARD_INTERFACE
// Keyboard Protocol 1, HID 1.11 spec, Appendix B, page 59-60
static uint8_t keyboard_report_desc[] = {
0x05, 0x01, // Usage Page (Generic Desktop),
0x09, 0x06, // Usage (Keyboard),
0xA1, 0x01, // Collection (Application),
0x75, 0x01, // Report Size (1),
0x95, 0x08, // Report Count (8),
0x05, 0x07, // Usage Page (Key Codes),
0x19, 0xE0, // Usage Minimum (224),
0x29, 0xE7, // Usage Maximum (231),
0x15, 0x00, // Logical Minimum (0),
0x25, 0x01, // Logical Maximum (1),
0x81, 0x02, // Input (Data, Variable, Absolute), ;Modifier byte
0x95, 0x08, // Report Count (8),
0x75, 0x01, // Report Size (1),
0x15, 0x00, // Logical Minimum (0),
0x25, 0x01, // Logical Maximum (1),
0x05, 0x0C, // Usage Page (Consumer),
0x09, 0xE9, // Usage (Volume Increment),
0x09, 0xEA, // Usage (Volume Decrement),
0x09, 0xE2, // Usage (Mute),
0x09, 0xCD, // Usage (Play/Pause),
0x09, 0xB5, // Usage (Scan Next Track),
0x09, 0xB6, // Usage (Scan Previous Track),
0x09, 0xB7, // Usage (Stop),
0x09, 0xB8, // Usage (Eject),
0x81, 0x02, // Input (Data, Variable, Absolute), ;Media keys
0x95, 0x05, // Report Count (5),
0x75, 0x01, // Report Size (1),
0x05, 0x08, // Usage Page (LEDs),
0x19, 0x01, // Usage Minimum (1),
0x29, 0x05, // Usage Maximum (5),
0x91, 0x02, // Output (Data, Variable, Absolute), ;LED report
0x95, 0x01, // Report Count (1),
0x75, 0x03, // Report Size (3),
0x91, 0x03, // Output (Constant), ;LED report padding
0x95, 0x06, // Report Count (6),
0x75, 0x08, // Report Size (8),
0x15, 0x00, // Logical Minimum (0),
0x25, 0x7F, // Logical Maximum(104),
0x05, 0x07, // Usage Page (Key Codes),
0x19, 0x00, // Usage Minimum (0),
0x29, 0x7F, // Usage Maximum (104),
0x81, 0x00, // Input (Data, Array), ;Normal keys
0xc0 // End Collection
};
#endif
#ifdef MOUSE_INTERFACE
// Mouse Protocol 1, HID 1.11 spec, Appendix B, page 59-60, with wheel extension
static uint8_t mouse_report_desc[] = {
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x02, // Usage (Mouse)
0xA1, 0x01, // Collection (Application)
0x85, 0x01, // REPORT_ID (1)
0x05, 0x09, // Usage Page (Button)
0x19, 0x01, // Usage Minimum (Button #1)
0x29, 0x08, // Usage Maximum (Button #8)
0x15, 0x00, // Logical Minimum (0)
0x25, 0x01, // Logical Maximum (1)
0x95, 0x08, // Report Count (8)
0x75, 0x01, // Report Size (1)
0x81, 0x02, // Input (Data, Variable, Absolute)
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x30, // Usage (X)
0x09, 0x31, // Usage (Y)
0x09, 0x38, // Usage (Wheel)
0x15, 0x81, // Logical Minimum (-127)
0x25, 0x7F, // Logical Maximum (127)
0x75, 0x08, // Report Size (8),
0x95, 0x03, // Report Count (3),
0x81, 0x06, // Input (Data, Variable, Relative)
0xC0, // End Collection
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x02, // Usage (Mouse)
0xA1, 0x01, // Collection (Application)
0x85, 0x02, // REPORT_ID (2)
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x30, // Usage (X)
0x09, 0x31, // Usage (Y)
0x15, 0x00, // Logical Minimum (0)
0x26, 0xFF, 0x7F, // Logical Maximum (32767)
0x75, 0x10, // Report Size (16),
0x95, 0x02, // Report Count (2),
0x81, 0x02, // Input (Data, Variable, Absolute)
0xC0 // End Collection
};
#endif
#ifdef JOYSTICK_INTERFACE
static uint8_t joystick_report_desc[] = {
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x04, // Usage (Joystick)
0xA1, 0x01, // Collection (Application)
0x15, 0x00, // Logical Minimum (0)
0x25, 0x01, // Logical Maximum (1)
0x75, 0x01, // Report Size (1)
0x95, 0x20, // Report Count (32)
0x05, 0x09, // Usage Page (Button)
0x19, 0x01, // Usage Minimum (Button #1)
0x29, 0x20, // Usage Maximum (Button #32)
0x81, 0x02, // Input (variable,absolute)
0x15, 0x00, // Logical Minimum (0)
0x25, 0x07, // Logical Maximum (7)
0x35, 0x00, // Physical Minimum (0)
0x46, 0x3B, 0x01, // Physical Maximum (315)
0x75, 0x04, // Report Size (4)
0x95, 0x01, // Report Count (1)
0x65, 0x14, // Unit (20)
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x39, // Usage (Hat switch)
0x81, 0x42, // Input (variable,absolute,null_state)
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x01, // Usage (Pointer)
0xA1, 0x00, // Collection ()
0x15, 0x00, // Logical Minimum (0)
0x26, 0xFF, 0x03, // Logical Maximum (1023)
0x75, 0x0A, // Report Size (10)
0x95, 0x04, // Report Count (4)
0x09, 0x30, // Usage (X)
0x09, 0x31, // Usage (Y)
0x09, 0x32, // Usage (Z)
0x09, 0x35, // Usage (Rz)
0x81, 0x02, // Input (variable,absolute)
0xC0, // End Collection
0x15, 0x00, // Logical Minimum (0)
0x26, 0xFF, 0x03, // Logical Maximum (1023)
0x75, 0x0A, // Report Size (10)
0x95, 0x02, // Report Count (2)
0x09, 0x36, // Usage (Slider)
0x09, 0x36, // Usage (Slider)
0x81, 0x02, // Input (variable,absolute)
0xC0 // End Collection
};
#endif
#ifdef SEREMU_INTERFACE
static uint8_t seremu_report_desc[] = {
0x06, 0xC9, 0xFF, // Usage Page 0xFFC9 (vendor defined)
0x09, 0x04, // Usage 0x04
0xA1, 0x5C, // Collection 0x5C
0x75, 0x08, // report size = 8 bits (global)
0x15, 0x00, // logical minimum = 0 (global)
0x26, 0xFF, 0x00, // logical maximum = 255 (global)
0x95, SEREMU_TX_SIZE, // report count (global)
0x09, 0x75, // usage (local)
0x81, 0x02, // Input
0x95, SEREMU_RX_SIZE, // report count (global)
0x09, 0x76, // usage (local)
0x91, 0x02, // Output
0x95, 0x04, // report count (global)
0x09, 0x76, // usage (local)
0xB1, 0x02, // Feature
0xC0 // end collection
};
#endif
#ifdef RAWHID_INTERFACE
static uint8_t rawhid_report_desc[] = {
0x06, LSB(RAWHID_USAGE_PAGE), MSB(RAWHID_USAGE_PAGE),
0x0A, LSB(RAWHID_USAGE), MSB(RAWHID_USAGE),
0xA1, 0x01, // Collection 0x01
0x75, 0x08, // report size = 8 bits
0x15, 0x00, // logical minimum = 0
0x26, 0xFF, 0x00, // logical maximum = 255
0x95, RAWHID_TX_SIZE, // report count
0x09, 0x01, // usage
0x81, 0x02, // Input (array)
0x95, RAWHID_RX_SIZE, // report count
0x09, 0x02, // usage
0x91, 0x02, // Output (array)
0xC0 // end collection
};
#endif
#ifdef FLIGHTSIM_INTERFACE
static uint8_t flightsim_report_desc[] = {
0x06, 0x1C, 0xFF, // Usage page = 0xFF1C
0x0A, 0x39, 0xA7, // Usage = 0xA739
0xA1, 0x01, // Collection 0x01
0x75, 0x08, // report size = 8 bits
0x15, 0x00, // logical minimum = 0
0x26, 0xFF, 0x00, // logical maximum = 255
0x95, FLIGHTSIM_TX_SIZE, // report count
0x09, 0x01, // usage
0x81, 0x02, // Input (array)
0x95, FLIGHTSIM_RX_SIZE, // report count
0x09, 0x02, // usage
0x91, 0x02, // Output (array)
0xC0 // end collection
};
#endif
// **************************************************************
// USB Configuration
// **************************************************************
// USB Configuration Descriptor. This huge descriptor tells all
// of the devices capbilities.
static uint8_t config_descriptor[CONFIG_DESC_SIZE] = {
// configuration descriptor, USB spec 9.6.3, page 264-266, Table 9-10
9, // bLength;
2, // bDescriptorType;
LSB(CONFIG_DESC_SIZE), // wTotalLength
MSB(CONFIG_DESC_SIZE),
NUM_INTERFACE, // bNumInterfaces
1, // bConfigurationValue
0, // iConfiguration
0xC0, // bmAttributes
50, // bMaxPower
#ifdef CDC_IAD_DESCRIPTOR
// interface association descriptor, USB ECN, Table 9-Z
8, // bLength
11, // bDescriptorType
CDC_STATUS_INTERFACE, // bFirstInterface
2, // bInterfaceCount
0x02, // bFunctionClass
0x02, // bFunctionSubClass
0x01, // bFunctionProtocol
4, // iFunction
#endif
#ifdef CDC_DATA_INTERFACE
// interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
9, // bLength
4, // bDescriptorType
CDC_STATUS_INTERFACE, // bInterfaceNumber
0, // bAlternateSetting
1, // bNumEndpoints
0x02, // bInterfaceClass
0x02, // bInterfaceSubClass
0x01, // bInterfaceProtocol
0, // iInterface
// CDC Header Functional Descriptor, CDC Spec 5.2.3.1, Table 26
5, // bFunctionLength
0x24, // bDescriptorType
0x00, // bDescriptorSubtype
0x10, 0x01, // bcdCDC
// Call Management Functional Descriptor, CDC Spec 5.2.3.2, Table 27
5, // bFunctionLength
0x24, // bDescriptorType
0x01, // bDescriptorSubtype
0x01, // bmCapabilities
1, // bDataInterface
// Abstract Control Management Functional Descriptor, CDC Spec 5.2.3.3, Table 28
4, // bFunctionLength
0x24, // bDescriptorType
0x02, // bDescriptorSubtype
0x06, // bmCapabilities
// Union Functional Descriptor, CDC Spec 5.2.3.8, Table 33
5, // bFunctionLength
0x24, // bDescriptorType
0x06, // bDescriptorSubtype
CDC_STATUS_INTERFACE, // bMasterInterface
CDC_DATA_INTERFACE, // bSlaveInterface0
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
CDC_ACM_ENDPOINT | 0x80, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
CDC_ACM_SIZE, 0, // wMaxPacketSize
64, // bInterval
// interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
9, // bLength
4, // bDescriptorType
CDC_DATA_INTERFACE, // bInterfaceNumber
0, // bAlternateSetting
2, // bNumEndpoints
0x0A, // bInterfaceClass
0x00, // bInterfaceSubClass
0x00, // bInterfaceProtocol
0, // iInterface
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
CDC_RX_ENDPOINT, // bEndpointAddress
0x02, // bmAttributes (0x02=bulk)
CDC_RX_SIZE, 0, // wMaxPacketSize
0, // bInterval
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
CDC_TX_ENDPOINT | 0x80, // bEndpointAddress
0x02, // bmAttributes (0x02=bulk)
CDC_TX_SIZE, 0, // wMaxPacketSize
0, // bInterval
#endif // CDC_DATA_INTERFACE
#ifdef MIDI_INTERFACE
// Standard MS Interface Descriptor,
9, // bLength
4, // bDescriptorType
MIDI_INTERFACE, // bInterfaceNumber
0, // bAlternateSetting
2, // bNumEndpoints
0x01, // bInterfaceClass (0x01 = Audio)
0x03, // bInterfaceSubClass (0x03 = MIDI)
0x00, // bInterfaceProtocol (unused for MIDI)
0, // iInterface
// MIDI MS Interface Header, USB MIDI 6.1.2.1, page 21, Table 6-2
7, // bLength
0x24, // bDescriptorType = CS_INTERFACE
0x01, // bDescriptorSubtype = MS_HEADER
0x00, 0x01, // bcdMSC = revision 01.00
0x41, 0x00, // wTotalLength
// MIDI IN Jack Descriptor, B.4.3, Table B-7 (embedded), page 40
6, // bLength
0x24, // bDescriptorType = CS_INTERFACE
0x02, // bDescriptorSubtype = MIDI_IN_JACK
0x01, // bJackType = EMBEDDED
1, // bJackID, ID = 1
0, // iJack
// MIDI IN Jack Descriptor, B.4.3, Table B-8 (external), page 40
6, // bLength
0x24, // bDescriptorType = CS_INTERFACE
0x02, // bDescriptorSubtype = MIDI_IN_JACK
0x02, // bJackType = EXTERNAL
2, // bJackID, ID = 2
0, // iJack
// MIDI OUT Jack Descriptor, B.4.4, Table B-9, page 41
9,
0x24, // bDescriptorType = CS_INTERFACE
0x03, // bDescriptorSubtype = MIDI_OUT_JACK
0x01, // bJackType = EMBEDDED
3, // bJackID, ID = 3
1, // bNrInputPins = 1 pin
2, // BaSourceID(1) = 2
1, // BaSourcePin(1) = first pin
0, // iJack
// MIDI OUT Jack Descriptor, B.4.4, Table B-10, page 41
9,
0x24, // bDescriptorType = CS_INTERFACE
0x03, // bDescriptorSubtype = MIDI_OUT_JACK
0x02, // bJackType = EXTERNAL
4, // bJackID, ID = 4
1, // bNrInputPins = 1 pin
1, // BaSourceID(1) = 1
1, // BaSourcePin(1) = first pin
0, // iJack
// Standard Bulk OUT Endpoint Descriptor, B.5.1, Table B-11, pae 42
9, // bLength
5, // bDescriptorType = ENDPOINT
MIDI_RX_ENDPOINT, // bEndpointAddress
0x02, // bmAttributes (0x02=bulk)
MIDI_RX_SIZE, 0, // wMaxPacketSize
0, // bInterval
0, // bRefresh
0, // bSynchAddress
// Class-specific MS Bulk OUT Endpoint Descriptor, B.5.2, Table B-12, page 42
5, // bLength
0x25, // bDescriptorSubtype = CS_ENDPOINT
0x01, // bJackType = MS_GENERAL
1, // bNumEmbMIDIJack = 1 jack
1, // BaAssocJackID(1) = jack ID #1
// Standard Bulk IN Endpoint Descriptor, B.5.1, Table B-11, pae 42
9, // bLength
5, // bDescriptorType = ENDPOINT
MIDI_TX_ENDPOINT | 0x80, // bEndpointAddress
0x02, // bmAttributes (0x02=bulk)
MIDI_TX_SIZE, 0, // wMaxPacketSize
0, // bInterval
0, // bRefresh
0, // bSynchAddress
// Class-specific MS Bulk IN Endpoint Descriptor, B.5.2, Table B-12, page 42
5, // bLength
0x25, // bDescriptorSubtype = CS_ENDPOINT
0x01, // bJackType = MS_GENERAL
1, // bNumEmbMIDIJack = 1 jack
3, // BaAssocJackID(1) = jack ID #3
#endif // MIDI_INTERFACE
#ifdef KEYBOARD_INTERFACE
// interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
9, // bLength
4, // bDescriptorType
KEYBOARD_INTERFACE, // bInterfaceNumber
0, // bAlternateSetting
1, // bNumEndpoints
0x03, // bInterfaceClass (0x03 = HID)
0x01, // bInterfaceSubClass (0x01 = Boot)
0x01, // bInterfaceProtocol (0x01 = Keyboard)
0, // iInterface
// HID interface descriptor, HID 1.11 spec, section 6.2.1
9, // bLength
0x21, // bDescriptorType
0x11, 0x01, // bcdHID
0, // bCountryCode
1, // bNumDescriptors
0x22, // bDescriptorType
LSB(sizeof(keyboard_report_desc)), // wDescriptorLength
MSB(sizeof(keyboard_report_desc)),
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
KEYBOARD_ENDPOINT | 0x80, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
KEYBOARD_SIZE, 0, // wMaxPacketSize
KEYBOARD_INTERVAL, // bInterval
#endif // KEYBOARD_INTERFACE
#ifdef MOUSE_INTERFACE
// interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
9, // bLength
4, // bDescriptorType
MOUSE_INTERFACE, // bInterfaceNumber
0, // bAlternateSetting
1, // bNumEndpoints
0x03, // bInterfaceClass (0x03 = HID)
0x00, // bInterfaceSubClass (0x01 = Boot)
0x00, // bInterfaceProtocol (0x02 = Mouse)
0, // iInterface
// HID interface descriptor, HID 1.11 spec, section 6.2.1
9, // bLength
0x21, // bDescriptorType
0x11, 0x01, // bcdHID
0, // bCountryCode
1, // bNumDescriptors
0x22, // bDescriptorType
LSB(sizeof(mouse_report_desc)), // wDescriptorLength
MSB(sizeof(mouse_report_desc)),
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
MOUSE_ENDPOINT | 0x80, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
MOUSE_SIZE, 0, // wMaxPacketSize
MOUSE_INTERVAL, // bInterval
#endif // MOUSE_INTERFACE
#ifdef RAWHID_INTERFACE
// interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
9, // bLength
4, // bDescriptorType
RAWHID_INTERFACE, // bInterfaceNumber
0, // bAlternateSetting
2, // bNumEndpoints
0x03, // bInterfaceClass (0x03 = HID)
0x00, // bInterfaceSubClass
0x00, // bInterfaceProtocol
0, // iInterface
// HID interface descriptor, HID 1.11 spec, section 6.2.1
9, // bLength
0x21, // bDescriptorType
0x11, 0x01, // bcdHID
0, // bCountryCode
1, // bNumDescriptors
0x22, // bDescriptorType
LSB(sizeof(rawhid_report_desc)), // wDescriptorLength
MSB(sizeof(rawhid_report_desc)),
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
RAWHID_TX_ENDPOINT | 0x80, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
RAWHID_TX_SIZE, 0, // wMaxPacketSize
RAWHID_TX_INTERVAL, // bInterval
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
RAWHID_RX_ENDPOINT, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
RAWHID_RX_SIZE, 0, // wMaxPacketSize
RAWHID_RX_INTERVAL, // bInterval
#endif // RAWHID_INTERFACE
#ifdef FLIGHTSIM_INTERFACE
// interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
9, // bLength
4, // bDescriptorType
FLIGHTSIM_INTERFACE, // bInterfaceNumber
0, // bAlternateSetting
2, // bNumEndpoints
0x03, // bInterfaceClass (0x03 = HID)
0x00, // bInterfaceSubClass
0x00, // bInterfaceProtocol
0, // iInterface
// HID interface descriptor, HID 1.11 spec, section 6.2.1
9, // bLength
0x21, // bDescriptorType
0x11, 0x01, // bcdHID
0, // bCountryCode
1, // bNumDescriptors
0x22, // bDescriptorType
LSB(sizeof(flightsim_report_desc)), // wDescriptorLength
MSB(sizeof(flightsim_report_desc)),
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
FLIGHTSIM_TX_ENDPOINT | 0x80, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
FLIGHTSIM_TX_SIZE, 0, // wMaxPacketSize
FLIGHTSIM_TX_INTERVAL, // bInterval
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
FLIGHTSIM_RX_ENDPOINT, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
FLIGHTSIM_RX_SIZE, 0, // wMaxPacketSize
FLIGHTSIM_RX_INTERVAL, // bInterval
#endif // FLIGHTSIM_INTERFACE
#ifdef SEREMU_INTERFACE
// interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
9, // bLength
4, // bDescriptorType
SEREMU_INTERFACE, // bInterfaceNumber
0, // bAlternateSetting
2, // bNumEndpoints
0x03, // bInterfaceClass (0x03 = HID)
0x00, // bInterfaceSubClass
0x00, // bInterfaceProtocol
0, // iInterface
// HID interface descriptor, HID 1.11 spec, section 6.2.1
9, // bLength
0x21, // bDescriptorType
0x11, 0x01, // bcdHID
0, // bCountryCode
1, // bNumDescriptors
0x22, // bDescriptorType
LSB(sizeof(seremu_report_desc)), // wDescriptorLength
MSB(sizeof(seremu_report_desc)),
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
SEREMU_TX_ENDPOINT | 0x80, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
SEREMU_TX_SIZE, 0, // wMaxPacketSize
SEREMU_TX_INTERVAL, // bInterval
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
SEREMU_RX_ENDPOINT, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
SEREMU_RX_SIZE, 0, // wMaxPacketSize
SEREMU_RX_INTERVAL, // bInterval
#endif // SEREMU_INTERFACE
#ifdef JOYSTICK_INTERFACE
// interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
9, // bLength
4, // bDescriptorType
JOYSTICK_INTERFACE, // bInterfaceNumber
0, // bAlternateSetting
1, // bNumEndpoints
0x03, // bInterfaceClass (0x03 = HID)
0x00, // bInterfaceSubClass
0x00, // bInterfaceProtocol
0, // iInterface
// HID interface descriptor, HID 1.11 spec, section 6.2.1
9, // bLength
0x21, // bDescriptorType
0x11, 0x01, // bcdHID
0, // bCountryCode
1, // bNumDescriptors
0x22, // bDescriptorType
LSB(sizeof(joystick_report_desc)), // wDescriptorLength
MSB(sizeof(joystick_report_desc)),
// endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
7, // bLength
5, // bDescriptorType
JOYSTICK_ENDPOINT | 0x80, // bEndpointAddress
0x03, // bmAttributes (0x03=intr)
JOYSTICK_SIZE, 0, // wMaxPacketSize
JOYSTICK_INTERVAL, // bInterval
#endif // JOYSTICK_INTERFACE
};
// **************************************************************
// String Descriptors
// **************************************************************
// The descriptors above can provide human readable strings,
// referenced by index numbers. These descriptors are the
// actual string data
/* defined in usb_names.h
struct usb_string_descriptor_struct {
uint8_t bLength;
uint8_t bDescriptorType;
uint16_t wString[];
};
*/
extern struct usb_string_descriptor_struct usb_string_manufacturer_name
__attribute__ ((weak, alias("usb_string_manufacturer_name_default")));
extern struct usb_string_descriptor_struct usb_string_product_name
__attribute__ ((weak, alias("usb_string_product_name_default")));
extern struct usb_string_descriptor_struct usb_string_serial_number
__attribute__ ((weak, alias("usb_string_serial_number_default")));
struct usb_string_descriptor_struct string0 = {
4,
3,
{0x0409}
};
struct usb_string_descriptor_struct usb_string_manufacturer_name_default = {
2 + MANUFACTURER_NAME_LEN * 2,
3,
MANUFACTURER_NAME
};
struct usb_string_descriptor_struct usb_string_product_name_default = {
2 + PRODUCT_NAME_LEN * 2,
3,
PRODUCT_NAME
};
struct usb_string_descriptor_struct usb_string_serial_number_default = {
12,
3,
{0,0,0,0,0,0,0,0,0,0}
};
void usb_init_serialnumber(void)
{
char buf[11];
uint32_t i, num;
__disable_irq();
FTFL_FSTAT = FTFL_FSTAT_RDCOLERR | FTFL_FSTAT_ACCERR | FTFL_FSTAT_FPVIOL;
FTFL_FCCOB0 = 0x41;
FTFL_FCCOB1 = 15;
FTFL_FSTAT = FTFL_FSTAT_CCIF;
while (!(FTFL_FSTAT & FTFL_FSTAT_CCIF)) ; // wait
num = *(uint32_t *)&FTFL_FCCOB7;
__enable_irq();
// add extra zero to work around OS-X CDC-ACM driver bug
if (num < 10000000) num = num * 10;
ultoa(num, buf, 10);
for (i=0; i<10; i++) {
char c = buf[i];
if (!c) break;
usb_string_serial_number_default.wString[i] = c;
}
usb_string_serial_number_default.bLength = i * 2 + 2;
}
// **************************************************************
// Descriptors List
// **************************************************************
// This table provides access to all the descriptor data above.
const usb_descriptor_list_t usb_descriptor_list[] = {
//wValue, wIndex, address, length
{0x0100, 0x0000, device_descriptor, sizeof(device_descriptor)},
{0x0200, 0x0000, config_descriptor, sizeof(config_descriptor)},
#ifdef SEREMU_INTERFACE
{0x2200, SEREMU_INTERFACE, seremu_report_desc, sizeof(seremu_report_desc)},
{0x2100, SEREMU_INTERFACE, config_descriptor+SEREMU_DESC_OFFSET, 9},
#endif
#ifdef KEYBOARD_INTERFACE
{0x2200, KEYBOARD_INTERFACE, keyboard_report_desc, sizeof(keyboard_report_desc)},
{0x2100, KEYBOARD_INTERFACE, config_descriptor+KEYBOARD_DESC_OFFSET, 9},
#endif
#ifdef MOUSE_INTERFACE
{0x2200, MOUSE_INTERFACE, mouse_report_desc, sizeof(mouse_report_desc)},
{0x2100, MOUSE_INTERFACE, config_descriptor+MOUSE_DESC_OFFSET, 9},
#endif
#ifdef JOYSTICK_INTERFACE
{0x2200, JOYSTICK_INTERFACE, joystick_report_desc, sizeof(joystick_report_desc)},
{0x2100, JOYSTICK_INTERFACE, config_descriptor+JOYSTICK_DESC_OFFSET, 9},
#endif
#ifdef RAWHID_INTERFACE
{0x2200, RAWHID_INTERFACE, rawhid_report_desc, sizeof(rawhid_report_desc)},
{0x2100, RAWHID_INTERFACE, config_descriptor+RAWHID_DESC_OFFSET, 9},
#endif
#ifdef FLIGHTSIM_INTERFACE
{0x2200, FLIGHTSIM_INTERFACE, flightsim_report_desc, sizeof(flightsim_report_desc)},
{0x2100, FLIGHTSIM_INTERFACE, config_descriptor+FLIGHTSIM_DESC_OFFSET, 9},
#endif
{0x0300, 0x0000, (const uint8_t *)&string0, 0},
{0x0301, 0x0409, (const uint8_t *)&usb_string_manufacturer_name, 0},
{0x0302, 0x0409, (const uint8_t *)&usb_string_product_name, 0},
{0x0303, 0x0409, (const uint8_t *)&usb_string_serial_number, 0},
//{0x0301, 0x0409, (const uint8_t *)&string1, 0},
//{0x0302, 0x0409, (const uint8_t *)&string2, 0},
//{0x0303, 0x0409, (const uint8_t *)&string3, 0},
{0, 0, NULL, 0}
};
// **************************************************************
// Endpoint Configuration
// **************************************************************
#if 0
// 0x00 = not used
// 0x19 = Recieve only
// 0x15 = Transmit only
// 0x1D = Transmit & Recieve
//
const uint8_t usb_endpoint_config_table[NUM_ENDPOINTS] =
{
0x00, 0x15, 0x19, 0x15, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
};
#endif
const uint8_t usb_endpoint_config_table[NUM_ENDPOINTS] =
{
#if (defined(ENDPOINT1_CONFIG) && NUM_ENDPOINTS >= 1)
ENDPOINT1_CONFIG,
#elif (NUM_ENDPOINTS >= 1)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT2_CONFIG) && NUM_ENDPOINTS >= 2)
ENDPOINT2_CONFIG,
#elif (NUM_ENDPOINTS >= 2)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT3_CONFIG) && NUM_ENDPOINTS >= 3)
ENDPOINT3_CONFIG,
#elif (NUM_ENDPOINTS >= 3)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT4_CONFIG) && NUM_ENDPOINTS >= 4)
ENDPOINT4_CONFIG,
#elif (NUM_ENDPOINTS >= 4)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT5_CONFIG) && NUM_ENDPOINTS >= 5)
ENDPOINT5_CONFIG,
#elif (NUM_ENDPOINTS >= 5)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT6_CONFIG) && NUM_ENDPOINTS >= 6)
ENDPOINT6_CONFIG,
#elif (NUM_ENDPOINTS >= 6)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT7_CONFIG) && NUM_ENDPOINTS >= 7)
ENDPOINT7_CONFIG,
#elif (NUM_ENDPOINTS >= 7)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT8_CONFIG) && NUM_ENDPOINTS >= 8)
ENDPOINT8_CONFIG,
#elif (NUM_ENDPOINTS >= 8)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT9_CONFIG) && NUM_ENDPOINTS >= 9)
ENDPOINT9_CONFIG,
#elif (NUM_ENDPOINTS >= 9)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT10_CONFIG) && NUM_ENDPOINTS >= 10)
ENDPOINT10_CONFIG,
#elif (NUM_ENDPOINTS >= 10)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT11_CONFIG) && NUM_ENDPOINTS >= 11)
ENDPOINT11_CONFIG,
#elif (NUM_ENDPOINTS >= 11)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT12_CONFIG) && NUM_ENDPOINTS >= 12)
ENDPOINT12_CONFIG,
#elif (NUM_ENDPOINTS >= 12)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT13_CONFIG) && NUM_ENDPOINTS >= 13)
ENDPOINT13_CONFIG,
#elif (NUM_ENDPOINTS >= 13)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT14_CONFIG) && NUM_ENDPOINTS >= 14)
ENDPOINT14_CONFIG,
#elif (NUM_ENDPOINTS >= 14)
ENDPOINT_UNUSED,
#endif
#if (defined(ENDPOINT15_CONFIG) && NUM_ENDPOINTS >= 15)
ENDPOINT15_CONFIG,
#elif (NUM_ENDPOINTS >= 15)
ENDPOINT_UNUSED,
#endif
};
#endif // F_CPU >= 20 MHz

313
ports/teensy/core/usb_desc.h
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#ifndef _usb_desc_h_
#define _usb_desc_h_
#if F_CPU >= 20000000
// This header is NOT meant to be included when compiling
// user sketches in Arduino. The low-level functions
// provided by usb_dev.c are meant to be called only by
// code which provides higher-level interfaces to the user.
#include <stdint.h>
#include <stddef.h>
#define ENDPOINT_UNUSED 0x00
#define ENDPOINT_TRANSIMIT_ONLY 0x15
#define ENDPOINT_RECEIVE_ONLY 0x19
#define ENDPOINT_TRANSMIT_AND_RECEIVE 0x1D
/*
To modify a USB Type to have different interfaces, start in this
file. Delete the XYZ_INTERFACE lines for any interfaces you
wish to remove, and copy them from another USB Type for any you
want to add.
Give each interface a unique number, and edit NUM_INTERFACE to
reflect the number of interfaces.
Within each interface, make sure it uses a unique set of endpoints.
Edit NUM_ENDPOINTS to be at least the largest endpoint number used.
Then edit the ENDPOINT*_CONFIG lines so each endpoint is configured
the proper way (transmit, receive, or both).
The CONFIG_DESC_SIZE and any XYZ_DESC_OFFSET numbers must be
edited to the correct sizes. See usb_desc.c for the giant array
of bytes. Someday these may be done automatically..... (but how?)
If you are using existing interfaces, the code in each file should
automatically adapt to the changes you specify. If you need to
create a new type of interface, you'll need to write the code which
sends and receives packets, and presents an API to the user.
Finally, edit usb_inst.cpp, which creats instances of the C++
objects for each combination.
Some operating systems, especially Windows, may cache USB device
info. Changes to the device name may not update on the same
computer unless the vendor or product ID numbers change, or the
"bcdDevice" revision code is increased.
If these instructions are missing steps or could be improved, please
let me know? http://forum.pjrc.com/forums/4-Suggestions-amp-Bug-Reports
*/
#if defined(USB_SERIAL)
#define VENDOR_ID 0x16C0
#define PRODUCT_ID 0x0483
#define DEVICE_CLASS 2 // 2 = Communication Class
#define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
#define MANUFACTURER_NAME_LEN 11
#define PRODUCT_NAME {'U','S','B',' ','S','e','r','i','a','l'}
#define PRODUCT_NAME_LEN 10
#define EP0_SIZE 64
#define NUM_ENDPOINTS 4
#define NUM_USB_BUFFERS 12
#define NUM_INTERFACE 2
#define CDC_STATUS_INTERFACE 0
#define CDC_DATA_INTERFACE 1
#define CDC_ACM_ENDPOINT 2
#define CDC_RX_ENDPOINT 3
#define CDC_TX_ENDPOINT 4
#define CDC_ACM_SIZE 16
#define CDC_RX_SIZE 64
#define CDC_TX_SIZE 64
#define CONFIG_DESC_SIZE (9+9+5+5+4+5+7+9+7+7)
#define ENDPOINT2_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT3_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT4_CONFIG ENDPOINT_TRANSIMIT_ONLY
#elif defined(USB_HID)
#define VENDOR_ID 0x16C0
#define PRODUCT_ID 0x0482
#define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
#define MANUFACTURER_NAME_LEN 11
#define PRODUCT_NAME {'K','e','y','b','o','a','r','d','/','M','o','u','s','e','/','J','o','y','s','t','i','c','k'}
#define PRODUCT_NAME_LEN 23
#define EP0_SIZE 64
#define NUM_ENDPOINTS 5
#define NUM_USB_BUFFERS 24
#define NUM_INTERFACE 4
#define SEREMU_INTERFACE 2 // Serial emulation
#define SEREMU_TX_ENDPOINT 1
#define SEREMU_TX_SIZE 64
#define SEREMU_TX_INTERVAL 1
#define SEREMU_RX_ENDPOINT 2
#define SEREMU_RX_SIZE 32
#define SEREMU_RX_INTERVAL 2
#define KEYBOARD_INTERFACE 0 // Keyboard
#define KEYBOARD_ENDPOINT 3
#define KEYBOARD_SIZE 8
#define KEYBOARD_INTERVAL 1
#define MOUSE_INTERFACE 1 // Mouse
#define MOUSE_ENDPOINT 5
#define MOUSE_SIZE 8
#define MOUSE_INTERVAL 1
#define JOYSTICK_INTERFACE 3 // Joystick
#define JOYSTICK_ENDPOINT 4
#define JOYSTICK_SIZE 16
#define JOYSTICK_INTERVAL 2
#define KEYBOARD_DESC_OFFSET (9 + 9)
#define MOUSE_DESC_OFFSET (9 + 9+9+7 + 9)
#define SEREMU_DESC_OFFSET (9 + 9+9+7 + 9+9+7 + 9)
#define JOYSTICK_DESC_OFFSET (9 + 9+9+7 + 9+9+7 + 9+9+7+7 + 9)
#define CONFIG_DESC_SIZE (9 + 9+9+7 + 9+9+7 + 9+9+7+7 + 9+9+7)
#define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT3_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT4_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT5_CONFIG ENDPOINT_TRANSIMIT_ONLY
#elif defined(USB_SERIAL_HID)
#define VENDOR_ID 0x16C0
#define PRODUCT_ID 0x0487
#define DEVICE_CLASS 0xEF
#define DEVICE_SUBCLASS 0x02
#define DEVICE_PROTOCOL 0x01
#define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
#define MANUFACTURER_NAME_LEN 11
#define PRODUCT_NAME {'S','e','r','i','a','l','/','K','e','y','b','o','a','r','d','/','M','o','u','s','e','/','J','o','y','s','t','i','c','k'}
#define PRODUCT_NAME_LEN 30
#define EP0_SIZE 64
#define NUM_ENDPOINTS 6
#define NUM_USB_BUFFERS 30
#define NUM_INTERFACE 5
#define CDC_IAD_DESCRIPTOR 1
#define CDC_STATUS_INTERFACE 0
#define CDC_DATA_INTERFACE 1 // Serial
#define CDC_ACM_ENDPOINT 2
#define CDC_RX_ENDPOINT 3
#define CDC_TX_ENDPOINT 4
#define CDC_ACM_SIZE 16
#define CDC_RX_SIZE 64
#define CDC_TX_SIZE 64
#define KEYBOARD_INTERFACE 2 // Keyboard
#define KEYBOARD_ENDPOINT 1
#define KEYBOARD_SIZE 8
#define KEYBOARD_INTERVAL 1
#define MOUSE_INTERFACE 3 // Mouse
#define MOUSE_ENDPOINT 5
#define MOUSE_SIZE 8
#define MOUSE_INTERVAL 2
#define JOYSTICK_INTERFACE 4 // Joystick
#define JOYSTICK_ENDPOINT 6
#define JOYSTICK_SIZE 16
#define JOYSTICK_INTERVAL 1
#define KEYBOARD_DESC_OFFSET (9+8 + 9+5+5+4+5+7+9+7+7 + 9)
#define MOUSE_DESC_OFFSET (9+8 + 9+5+5+4+5+7+9+7+7 + 9+9+7 + 9)
#define JOYSTICK_DESC_OFFSET (9+8 + 9+5+5+4+5+7+9+7+7 + 9+9+7 + 9+9+7 + 9)
#define CONFIG_DESC_SIZE (9+8 + 9+5+5+4+5+7+9+7+7 + 9+9+7 + 9+9+7 + 9+9+7)
#define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT2_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT3_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT4_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT5_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT6_CONFIG ENDPOINT_TRANSIMIT_ONLY
#elif defined(USB_MIDI)
#define VENDOR_ID 0x16C0
#define PRODUCT_ID 0x0485
#define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
#define MANUFACTURER_NAME_LEN 11
#define PRODUCT_NAME {'T','e','e','n','s','y',' ','M','I','D','I'}
#define PRODUCT_NAME_LEN 11
#define EP0_SIZE 64
#define NUM_ENDPOINTS 4
#define NUM_USB_BUFFERS 16
#define NUM_INTERFACE 2
#define SEREMU_INTERFACE 1 // Serial emulation
#define SEREMU_TX_ENDPOINT 1
#define SEREMU_TX_SIZE 64
#define SEREMU_TX_INTERVAL 1
#define SEREMU_RX_ENDPOINT 2
#define SEREMU_RX_SIZE 32
#define SEREMU_RX_INTERVAL 2
#define MIDI_INTERFACE 0 // MIDI
#define MIDI_TX_ENDPOINT 3
#define MIDI_TX_SIZE 64
#define MIDI_RX_ENDPOINT 4
#define MIDI_RX_SIZE 64
#define SEREMU_DESC_OFFSET (9 + 9+7+6+6+9+9+9+5+9+5 + 9)
#define CONFIG_DESC_SIZE (9 + 9+7+6+6+9+9+9+5+9+5 + 9+9+7+7)
#define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT3_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT4_CONFIG ENDPOINT_RECEIVE_ONLY
#elif defined(USB_RAWHID)
#define VENDOR_ID 0x16C0
#define PRODUCT_ID 0x0486
#define RAWHID_USAGE_PAGE 0xFFAB // recommended: 0xFF00 to 0xFFFF
#define RAWHID_USAGE 0x0200 // recommended: 0x0100 to 0xFFFF
#define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
#define MANUFACTURER_NAME_LEN 11
#define PRODUCT_NAME {'T','e','e','n','s','y','d','u','i','n','o',' ','R','a','w','H','I','D'}
#define PRODUCT_NAME_LEN 18
#define EP0_SIZE 64
#define NUM_ENDPOINTS 6
#define NUM_USB_BUFFERS 12
#define NUM_INTERFACE 2
#define RAWHID_INTERFACE 0 // RawHID
#define RAWHID_TX_ENDPOINT 3
#define RAWHID_TX_SIZE 64
#define RAWHID_TX_INTERVAL 1
#define RAWHID_RX_ENDPOINT 4
#define RAWHID_RX_SIZE 64
#define RAWHID_RX_INTERVAL 1
#define SEREMU_INTERFACE 1 // Serial emulation
#define SEREMU_TX_ENDPOINT 1
#define SEREMU_TX_SIZE 64
#define SEREMU_TX_INTERVAL 1
#define SEREMU_RX_ENDPOINT 2
#define SEREMU_RX_SIZE 32
#define SEREMU_RX_INTERVAL 2
#define RAWHID_DESC_OFFSET (9 + 9)
#define SEREMU_DESC_OFFSET (9 + 9+9+7+7 + 9)
#define CONFIG_DESC_SIZE (9 + 9+9+7+7 + 9+9+7+7)
#define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT3_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT4_CONFIG ENDPOINT_RECEIVE_ONLY
#elif defined(USB_FLIGHTSIM)
#define VENDOR_ID 0x16C0
#define PRODUCT_ID 0x0488
#define MANUFACTURER_NAME {'T','e','e','n','s','y','d','u','i','n','o'}
#define MANUFACTURER_NAME_LEN 11
#define PRODUCT_NAME {'T','e','e','n','s','y',' ','F','l','i','g','h','t',' ','S','i','m',' ','C','o','n','t','r','o','l','s'}
#define PRODUCT_NAME_LEN 26
#define EP0_SIZE 64
#define NUM_ENDPOINTS 4
#define NUM_USB_BUFFERS 20
#define NUM_INTERFACE 2
#define FLIGHTSIM_INTERFACE 0 // Flight Sim Control
#define FLIGHTSIM_TX_ENDPOINT 3
#define FLIGHTSIM_TX_SIZE 64
#define FLIGHTSIM_TX_INTERVAL 1
#define FLIGHTSIM_RX_ENDPOINT 4
#define FLIGHTSIM_RX_SIZE 64
#define FLIGHTSIM_RX_INTERVAL 1
#define SEREMU_INTERFACE 1 // Serial emulation
#define SEREMU_TX_ENDPOINT 1
#define SEREMU_TX_SIZE 64
#define SEREMU_TX_INTERVAL 1
#define SEREMU_RX_ENDPOINT 2
#define SEREMU_RX_SIZE 32
#define SEREMU_RX_INTERVAL 2
#define FLIGHTSIM_DESC_OFFSET (9 + 9)
#define SEREMU_DESC_OFFSET (9 + 9+9+7+7 + 9)
#define CONFIG_DESC_SIZE (9 + 9+9+7+7 + 9+9+7+7)
#define ENDPOINT1_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT3_CONFIG ENDPOINT_TRANSIMIT_ONLY
#define ENDPOINT4_CONFIG ENDPOINT_RECEIVE_ONLY
#endif
// NUM_ENDPOINTS = number of non-zero endpoints (0 to 15)
extern const uint8_t usb_endpoint_config_table[NUM_ENDPOINTS];
typedef struct {
uint16_t wValue;
uint16_t wIndex;
const uint8_t *addr;
uint16_t length;
} usb_descriptor_list_t;
extern const usb_descriptor_list_t usb_descriptor_list[];
#endif // F_CPU >= 20 MHz
#endif

980
ports/teensy/core/usb_dev.c
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#if F_CPU >= 20000000
#include "mk20dx128.h"
//#include "HardwareSerial.h"
#include "usb_dev.h"
#include "usb_mem.h"
// buffer descriptor table
typedef struct {
uint32_t desc;
void * addr;
} bdt_t;
__attribute__ ((section(".usbdescriptortable"), used))
static bdt_t table[(NUM_ENDPOINTS+1)*4];
static usb_packet_t *rx_first[NUM_ENDPOINTS];
static usb_packet_t *rx_last[NUM_ENDPOINTS];
static usb_packet_t *tx_first[NUM_ENDPOINTS];
static usb_packet_t *tx_last[NUM_ENDPOINTS];
uint16_t usb_rx_byte_count_data[NUM_ENDPOINTS];
static uint8_t tx_state[NUM_ENDPOINTS];
#define TX_STATE_BOTH_FREE_EVEN_FIRST 0
#define TX_STATE_BOTH_FREE_ODD_FIRST 1
#define TX_STATE_EVEN_FREE 2
#define TX_STATE_ODD_FREE 3
#define TX_STATE_NONE_FREE_EVEN_FIRST 4
#define TX_STATE_NONE_FREE_ODD_FIRST 5
#define BDT_OWN 0x80
#define BDT_DATA1 0x40
#define BDT_DATA0 0x00
#define BDT_DTS 0x08
#define BDT_STALL 0x04
#define BDT_PID(n) (((n) >> 2) & 15)
#define BDT_DESC(count, data) (BDT_OWN | BDT_DTS \
| ((data) ? BDT_DATA1 : BDT_DATA0) \
| ((count) << 16))
#define TX 1
#define RX 0
#define ODD 1
#define EVEN 0
#define DATA0 0
#define DATA1 1
#define index(endpoint, tx, odd) (((endpoint) << 2) | ((tx) << 1) | (odd))
#define stat2bufferdescriptor(stat) (table + ((stat) >> 2))
static union {
struct {
union {
struct {
uint8_t bmRequestType;
uint8_t bRequest;
};
uint16_t wRequestAndType;
};
uint16_t wValue;
uint16_t wIndex;
uint16_t wLength;
};
struct {
uint32_t word1;
uint32_t word2;
};
} setup;
#define GET_STATUS 0
#define CLEAR_FEATURE 1
#define SET_FEATURE 3
#define SET_ADDRESS 5
#define GET_DESCRIPTOR 6
#define SET_DESCRIPTOR 7
#define GET_CONFIGURATION 8
#define SET_CONFIGURATION 9
#define GET_INTERFACE 10
#define SET_INTERFACE 11
#define SYNCH_FRAME 12
// SETUP always uses a DATA0 PID for the data field of the SETUP transaction.
// transactions in the data phase start with DATA1 and toggle (figure 8-12, USB1.1)
// Status stage uses a DATA1 PID.
static uint8_t ep0_rx0_buf[EP0_SIZE] __attribute__ ((aligned (4)));
static uint8_t ep0_rx1_buf[EP0_SIZE] __attribute__ ((aligned (4)));
static const uint8_t *ep0_tx_ptr = NULL;
static uint16_t ep0_tx_len;
static uint8_t ep0_tx_bdt_bank = 0;
static uint8_t ep0_tx_data_toggle = 0;
uint8_t usb_rx_memory_needed = 0;
volatile uint8_t usb_configuration = 0;
volatile uint8_t usb_reboot_timer = 0;
static void endpoint0_stall(void)
{
USB0_ENDPT0 = USB_ENDPT_EPSTALL | USB_ENDPT_EPRXEN | USB_ENDPT_EPTXEN | USB_ENDPT_EPHSHK;
}
static void endpoint0_transmit(const void *data, uint32_t len)
{
#if 0
serial_print("tx0:");
serial_phex32((uint32_t)data);
serial_print(",");
serial_phex16(len);
serial_print(ep0_tx_bdt_bank ? ", odd" : ", even");
serial_print(ep0_tx_data_toggle ? ", d1\n" : ", d0\n");
#endif
table[index(0, TX, ep0_tx_bdt_bank)].addr = (void *)data;
table[index(0, TX, ep0_tx_bdt_bank)].desc = BDT_DESC(len, ep0_tx_data_toggle);
ep0_tx_data_toggle ^= 1;
ep0_tx_bdt_bank ^= 1;
}
static uint8_t reply_buffer[8];
static void usb_setup(void)
{
const uint8_t *data = NULL;
uint32_t datalen = 0;
const usb_descriptor_list_t *list;
uint32_t size;
volatile uint8_t *reg;
uint8_t epconf;
const uint8_t *cfg;
int i;
switch (setup.wRequestAndType) {
case 0x0500: // SET_ADDRESS
break;
case 0x0900: // SET_CONFIGURATION
//serial_print("configure\n");
usb_configuration = setup.wValue;
reg = &USB0_ENDPT1;
cfg = usb_endpoint_config_table;
// clear all BDT entries, free any allocated memory...
for (i=4; i < (NUM_ENDPOINTS+1)*4; i++) {
if (table[i].desc & BDT_OWN) {
usb_free((usb_packet_t *)((uint8_t *)(table[i].addr) - 8));
}
}
// free all queued packets
for (i=0; i < NUM_ENDPOINTS; i++) {
usb_packet_t *p, *n;
p = rx_first[i];
while (p) {
n = p->next;
usb_free(p);
p = n;
}
rx_first[i] = NULL;
rx_last[i] = NULL;
p = tx_first[i];
while (p) {
n = p->next;
usb_free(p);
p = n;
}
tx_first[i] = NULL;
tx_last[i] = NULL;
usb_rx_byte_count_data[i] = 0;
switch (tx_state[i]) {
case TX_STATE_EVEN_FREE:
case TX_STATE_NONE_FREE_EVEN_FIRST:
tx_state[i] = TX_STATE_BOTH_FREE_EVEN_FIRST;
break;
case TX_STATE_ODD_FREE:
case TX_STATE_NONE_FREE_ODD_FIRST:
tx_state[i] = TX_STATE_BOTH_FREE_ODD_FIRST;
break;
default:
break;
}
}
usb_rx_memory_needed = 0;
for (i=1; i <= NUM_ENDPOINTS; i++) {
epconf = *cfg++;
*reg = epconf;
reg += 4;
if (epconf & USB_ENDPT_EPRXEN) {
usb_packet_t *p;
p = usb_malloc();
if (p) {
table[index(i, RX, EVEN)].addr = p->buf;
table[index(i, RX, EVEN)].desc = BDT_DESC(64, 0);
} else {
table[index(i, RX, EVEN)].desc = 0;
usb_rx_memory_needed++;
}
p = usb_malloc();
if (p) {
table[index(i, RX, ODD)].addr = p->buf;
table[index(i, RX, ODD)].desc = BDT_DESC(64, 1);
} else {
table[index(i, RX, ODD)].desc = 0;
usb_rx_memory_needed++;
}
}
table[index(i, TX, EVEN)].desc = 0;
table[index(i, TX, ODD)].desc = 0;
}
break;
case 0x0880: // GET_CONFIGURATION
reply_buffer[0] = usb_configuration;
datalen = 1;
data = reply_buffer;
break;
case 0x0080: // GET_STATUS (device)
reply_buffer[0] = 0;
reply_buffer[1] = 0;
datalen = 2;
data = reply_buffer;
break;
case 0x0082: // GET_STATUS (endpoint)
if (setup.wIndex > NUM_ENDPOINTS) {
// TODO: do we need to handle IN vs OUT here?
endpoint0_stall();
return;
}
reply_buffer[0] = 0;
reply_buffer[1] = 0;
if (*(uint8_t *)(&USB0_ENDPT0 + setup.wIndex * 4) & 0x02) reply_buffer[0] = 1;
data = reply_buffer;
datalen = 2;
break;
case 0x0102: // CLEAR_FEATURE (endpoint)
i = setup.wIndex & 0x7F;
if (i > NUM_ENDPOINTS || setup.wValue != 0) {
// TODO: do we need to handle IN vs OUT here?
endpoint0_stall();
return;
}
(*(uint8_t *)(&USB0_ENDPT0 + setup.wIndex * 4)) &= ~0x02;
// TODO: do we need to clear the data toggle here?
break;
case 0x0302: // SET_FEATURE (endpoint)
i = setup.wIndex & 0x7F;
if (i > NUM_ENDPOINTS || setup.wValue != 0) {
// TODO: do we need to handle IN vs OUT here?
endpoint0_stall();
return;
}
(*(uint8_t *)(&USB0_ENDPT0 + setup.wIndex * 4)) |= 0x02;
// TODO: do we need to clear the data toggle here?
break;
case 0x0680: // GET_DESCRIPTOR
case 0x0681:
//serial_print("desc:");
//serial_phex16(setup.wValue);
//serial_print("\n");
for (list = usb_descriptor_list; 1; list++) {
if (list->addr == NULL) break;
//if (setup.wValue == list->wValue &&
//(setup.wIndex == list->wIndex) || ((setup.wValue >> 8) == 3)) {
if (setup.wValue == list->wValue && setup.wIndex == list->wIndex) {
data = list->addr;
if ((setup.wValue >> 8) == 3) {
// for string descriptors, use the descriptor's
// length field, allowing runtime configured
// length.
datalen = *(list->addr);
} else {
datalen = list->length;
}
#if 0
serial_print("Desc found, ");
serial_phex32((uint32_t)data);
serial_print(",");
serial_phex16(datalen);
serial_print(",");
serial_phex(data[0]);
serial_phex(data[1]);
serial_phex(data[2]);
serial_phex(data[3]);
serial_phex(data[4]);
serial_phex(data[5]);
serial_print("\n");
#endif
goto send;
}
}
//serial_print("desc: not found\n");
endpoint0_stall();
return;
#if defined(CDC_STATUS_INTERFACE)
case 0x2221: // CDC_SET_CONTROL_LINE_STATE
usb_cdc_line_rtsdtr = setup.wValue;
//serial_print("set control line state\n");
break;
case 0x2321: // CDC_SEND_BREAK
break;
case 0x2021: // CDC_SET_LINE_CODING
//serial_print("set coding, waiting...\n");
return;
#endif
// TODO: this does not work... why?
#if defined(SEREMU_INTERFACE) || defined(KEYBOARD_INTERFACE)
case 0x0921: // HID SET_REPORT
//serial_print(":)\n");
return;
case 0x0A21: // HID SET_IDLE
break;
// case 0xC940:
#endif
default:
endpoint0_stall();
return;
}
send:
//serial_print("setup send ");
//serial_phex32(data);
//serial_print(",");
//serial_phex16(datalen);
//serial_print("\n");
if (datalen > setup.wLength) datalen = setup.wLength;
size = datalen;
if (size > EP0_SIZE) size = EP0_SIZE;
endpoint0_transmit(data, size);
data += size;
datalen -= size;
if (datalen == 0 && size < EP0_SIZE) return;
size = datalen;
if (size > EP0_SIZE) size = EP0_SIZE;
endpoint0_transmit(data, size);
data += size;
datalen -= size;
if (datalen == 0 && size < EP0_SIZE) return;
ep0_tx_ptr = data;
ep0_tx_len = datalen;
}
//A bulk endpoint's toggle sequence is initialized to DATA0 when the endpoint
//experiences any configuration event (configuration events are explained in
//Sections 9.1.1.5 and 9.4.5).
//Configuring a device or changing an alternate setting causes all of the status
//and configuration values associated with endpoints in the affected interfaces
//to be set to their default values. This includes setting the data toggle of
//any endpoint using data toggles to the value DATA0.
//For endpoints using data toggle, regardless of whether an endpoint has the
//Halt feature set, a ClearFeature(ENDPOINT_HALT) request always results in the
//data toggle being reinitialized to DATA0.
// #define stat2bufferdescriptor(stat) (table + ((stat) >> 2))
static void usb_control(uint32_t stat)
{
bdt_t *b;
uint32_t pid, size;
uint8_t *buf;
const uint8_t *data;
b = stat2bufferdescriptor(stat);
pid = BDT_PID(b->desc);
//count = b->desc >> 16;
buf = b->addr;
//serial_print("pid:");
//serial_phex(pid);
//serial_print(", count:");
//serial_phex(count);
//serial_print("\n");
switch (pid) {
case 0x0D: // Setup received from host
//serial_print("PID=Setup\n");
//if (count != 8) ; // panic?
// grab the 8 byte setup info
setup.word1 = *(uint32_t *)(buf);
setup.word2 = *(uint32_t *)(buf + 4);
// give the buffer back
b->desc = BDT_DESC(EP0_SIZE, DATA1);
//table[index(0, RX, EVEN)].desc = BDT_DESC(EP0_SIZE, 1);
//table[index(0, RX, ODD)].desc = BDT_DESC(EP0_SIZE, 1);
// clear any leftover pending IN transactions
ep0_tx_ptr = NULL;
if (ep0_tx_data_toggle) {
}
//if (table[index(0, TX, EVEN)].desc & 0x80) {
//serial_print("leftover tx even\n");
//}
//if (table[index(0, TX, ODD)].desc & 0x80) {
//serial_print("leftover tx odd\n");
//}
table[index(0, TX, EVEN)].desc = 0;
table[index(0, TX, ODD)].desc = 0;
// first IN after Setup is always DATA1
ep0_tx_data_toggle = 1;
#if 0
serial_print("bmRequestType:");
serial_phex(setup.bmRequestType);
serial_print(", bRequest:");
serial_phex(setup.bRequest);
serial_print(", wValue:");
serial_phex16(setup.wValue);
serial_print(", wIndex:");
serial_phex16(setup.wIndex);
serial_print(", len:");
serial_phex16(setup.wLength);
serial_print("\n");
#endif
// actually "do" the setup request
usb_setup();
// unfreeze the USB, now that we're ready
USB0_CTL = USB_CTL_USBENSOFEN; // clear TXSUSPENDTOKENBUSY bit
break;
case 0x01: // OUT transaction received from host
case 0x02:
//serial_print("PID=OUT\n");
#ifdef CDC_STATUS_INTERFACE
if (setup.wRequestAndType == 0x2021 /*CDC_SET_LINE_CODING*/) {
int i;
uint8_t *dst = (uint8_t *)usb_cdc_line_coding;
//serial_print("set line coding ");
for (i=0; i<7; i++) {
//serial_phex(*buf);
*dst++ = *buf++;
}
//serial_phex32(usb_cdc_line_coding[0]);
//serial_print("\n");
if (usb_cdc_line_coding[0] == 134) usb_reboot_timer = 15;
endpoint0_transmit(NULL, 0);
}
#endif
#ifdef KEYBOARD_INTERFACE
if (setup.word1 == 0x02000921 && setup.word2 == ((1<<16)|KEYBOARD_INTERFACE)) {
keyboard_leds = buf[0];
endpoint0_transmit(NULL, 0);
}
#endif
#ifdef SEREMU_INTERFACE
if (setup.word1 == 0x03000921 && setup.word2 == ((4<<16)|SEREMU_INTERFACE)
&& buf[0] == 0xA9 && buf[1] == 0x45 && buf[2] == 0xC2 && buf[3] == 0x6B) {
usb_reboot_timer = 5;
endpoint0_transmit(NULL, 0);
}
#endif
// give the buffer back
b->desc = BDT_DESC(EP0_SIZE, DATA1);
break;
case 0x09: // IN transaction completed to host
//serial_print("PID=IN:");
//serial_phex(stat);
//serial_print("\n");
// send remaining data, if any...
data = ep0_tx_ptr;
if (data) {
size = ep0_tx_len;
if (size > EP0_SIZE) size = EP0_SIZE;
endpoint0_transmit(data, size);
data += size;
ep0_tx_len -= size;
ep0_tx_ptr = (ep0_tx_len > 0 || size == EP0_SIZE) ? data : NULL;
}
if (setup.bRequest == 5 && setup.bmRequestType == 0) {
setup.bRequest = 0;
//serial_print("set address: ");
//serial_phex16(setup.wValue);
//serial_print("\n");
USB0_ADDR = setup.wValue;
}
break;
//default:
//serial_print("PID=unknown:");
//serial_phex(pid);
//serial_print("\n");
}
USB0_CTL = USB_CTL_USBENSOFEN; // clear TXSUSPENDTOKENBUSY bit
}
usb_packet_t *usb_rx(uint32_t endpoint)
{
usb_packet_t *ret;
endpoint--;
if (endpoint >= NUM_ENDPOINTS) return NULL;
__disable_irq();
ret = rx_first[endpoint];
if (ret) {
rx_first[endpoint] = ret->next;
usb_rx_byte_count_data[endpoint] -= ret->len;
}
__enable_irq();
//serial_print("rx, epidx=");
//serial_phex(endpoint);
//serial_print(", packet=");
//serial_phex32(ret);
//serial_print("\n");
return ret;
}
static uint32_t usb_queue_byte_count(const usb_packet_t *p)
{
uint32_t count=0;
__disable_irq();
for ( ; p; p = p->next) {
count += p->len;
}
__enable_irq();
return count;
}
// TODO: make this an inline function...
/*
uint32_t usb_rx_byte_count(uint32_t endpoint)
{
endpoint--;
if (endpoint >= NUM_ENDPOINTS) return 0;
return usb_rx_byte_count_data[endpoint];
//return usb_queue_byte_count(rx_first[endpoint]);
}
*/
uint32_t usb_tx_byte_count(uint32_t endpoint)
{
endpoint--;
if (endpoint >= NUM_ENDPOINTS) return 0;
return usb_queue_byte_count(tx_first[endpoint]);
}
uint32_t usb_tx_packet_count(uint32_t endpoint)
{
const usb_packet_t *p;
uint32_t count=0;
endpoint--;
if (endpoint >= NUM_ENDPOINTS) return 0;
__disable_irq();
for (p = tx_first[endpoint]; p; p = p->next) count++;
__enable_irq();
return count;
}
// Called from usb_free, but only when usb_rx_memory_needed > 0, indicating
// receive endpoints are starving for memory. The intention is to give
// endpoints needing receive memory priority over the user's code, which is
// likely calling usb_malloc to obtain memory for transmitting. When the
// user is creating data very quickly, their consumption could starve reception
// without this prioritization. The packet buffer (input) is assigned to the
// first endpoint needing memory.
//
void usb_rx_memory(usb_packet_t *packet)
{
unsigned int i;
const uint8_t *cfg;
cfg = usb_endpoint_config_table;
//serial_print("rx_mem:");
__disable_irq();
for (i=1; i <= NUM_ENDPOINTS; i++) {
if (*cfg++ & USB_ENDPT_EPRXEN) {
if (table[index(i, RX, EVEN)].desc == 0) {
table[index(i, RX, EVEN)].addr = packet->buf;
table[index(i, RX, EVEN)].desc = BDT_DESC(64, 0);
usb_rx_memory_needed--;
__enable_irq();
//serial_phex(i);
//serial_print(",even\n");
return;
}
if (table[index(i, RX, ODD)].desc == 0) {
table[index(i, RX, ODD)].addr = packet->buf;
table[index(i, RX, ODD)].desc = BDT_DESC(64, 1);
usb_rx_memory_needed--;
__enable_irq();
//serial_phex(i);
//serial_print(",odd\n");
return;
}
}
}
__enable_irq();
// we should never reach this point. If we get here, it means
// usb_rx_memory_needed was set greater than zero, but no memory
// was actually needed.
usb_rx_memory_needed = 0;
usb_free(packet);
return;
}
//#define index(endpoint, tx, odd) (((endpoint) << 2) | ((tx) << 1) | (odd))
//#define stat2bufferdescriptor(stat) (table + ((stat) >> 2))
void usb_tx(uint32_t endpoint, usb_packet_t *packet)
{
bdt_t *b = &table[index(endpoint, TX, EVEN)];
uint8_t next;
endpoint--;
if (endpoint >= NUM_ENDPOINTS) return;
__disable_irq();
//serial_print("txstate=");
//serial_phex(tx_state[endpoint]);
//serial_print("\n");
switch (tx_state[endpoint]) {
case TX_STATE_BOTH_FREE_EVEN_FIRST:
next = TX_STATE_ODD_FREE;
break;
case TX_STATE_BOTH_FREE_ODD_FIRST:
b++;
next = TX_STATE_EVEN_FREE;
break;
case TX_STATE_EVEN_FREE:
next = TX_STATE_NONE_FREE_ODD_FIRST;
break;
case TX_STATE_ODD_FREE:
b++;
next = TX_STATE_NONE_FREE_EVEN_FIRST;
break;
default:
if (tx_first[endpoint] == NULL) {
tx_first[endpoint] = packet;
} else {
tx_last[endpoint]->next = packet;
}
tx_last[endpoint] = packet;
__enable_irq();
return;
}
tx_state[endpoint] = next;
b->addr = packet->buf;
b->desc = BDT_DESC(packet->len, ((uint32_t)b & 8) ? DATA1 : DATA0);
__enable_irq();
}
void _reboot_Teensyduino_(void)
{
// TODO: initialize R0 with a code....
__asm__ volatile("bkpt");
}
void usb_isr(void)
{
uint8_t status, stat, t;
//serial_print("isr");
//status = USB0_ISTAT;
//serial_phex(status);
//serial_print("\n");
restart:
status = USB0_ISTAT;
if ((status & USB_INTEN_SOFTOKEN /* 04 */ )) {
if (usb_configuration) {
t = usb_reboot_timer;
if (t) {
usb_reboot_timer = --t;
if (!t) _reboot_Teensyduino_();
}
#ifdef CDC_DATA_INTERFACE
t = usb_cdc_transmit_flush_timer;
if (t) {
usb_cdc_transmit_flush_timer = --t;
if (t == 0) usb_serial_flush_callback();
}
#endif
#ifdef SEREMU_INTERFACE
t = usb_seremu_transmit_flush_timer;
if (t) {
usb_seremu_transmit_flush_timer = --t;
if (t == 0) usb_seremu_flush_callback();
}
#endif
#ifdef MIDI_INTERFACE
usb_midi_flush_output();
#endif
#ifdef FLIGHTSIM_INTERFACE
usb_flightsim_flush_callback();
#endif
}
USB0_ISTAT = USB_INTEN_SOFTOKEN;
}
if ((status & USB_ISTAT_TOKDNE /* 08 */ )) {
uint8_t endpoint;
stat = USB0_STAT;
//serial_print("token: ep=");
//serial_phex(stat >> 4);
//serial_print(stat & 0x08 ? ",tx" : ",rx");
//serial_print(stat & 0x04 ? ",odd\n" : ",even\n");
endpoint = stat >> 4;
if (endpoint == 0) {
usb_control(stat);
} else {
bdt_t *b = stat2bufferdescriptor(stat);
usb_packet_t *packet = (usb_packet_t *)((uint8_t *)(b->addr) - 8);
#if 0
serial_print("ep:");
serial_phex(endpoint);
serial_print(", pid:");
serial_phex(BDT_PID(b->desc));
serial_print(((uint32_t)b & 8) ? ", odd" : ", even");
serial_print(", count:");
serial_phex(b->desc >> 16);
serial_print("\n");
#endif
endpoint--; // endpoint is index to zero-based arrays
if (stat & 0x08) { // transmit
usb_free(packet);
packet = tx_first[endpoint];
if (packet) {
//serial_print("tx packet\n");
tx_first[endpoint] = packet->next;
b->addr = packet->buf;
switch (tx_state[endpoint]) {
case TX_STATE_BOTH_FREE_EVEN_FIRST:
tx_state[endpoint] = TX_STATE_ODD_FREE;
break;
case TX_STATE_BOTH_FREE_ODD_FIRST:
tx_state[endpoint] = TX_STATE_EVEN_FREE;
break;
case TX_STATE_EVEN_FREE:
tx_state[endpoint] = TX_STATE_NONE_FREE_ODD_FIRST;
break;
case TX_STATE_ODD_FREE:
tx_state[endpoint] = TX_STATE_NONE_FREE_EVEN_FIRST;
break;
default:
break;
}
b->desc = BDT_DESC(packet->len, ((uint32_t)b & 8) ? DATA1 : DATA0);
} else {
//serial_print("tx no packet\n");
switch (tx_state[endpoint]) {
case TX_STATE_BOTH_FREE_EVEN_FIRST:
case TX_STATE_BOTH_FREE_ODD_FIRST:
break;
case TX_STATE_EVEN_FREE:
tx_state[endpoint] = TX_STATE_BOTH_FREE_EVEN_FIRST;
break;
case TX_STATE_ODD_FREE:
tx_state[endpoint] = TX_STATE_BOTH_FREE_ODD_FIRST;
break;
default:
tx_state[endpoint] = ((uint32_t)b & 8) ?
TX_STATE_ODD_FREE : TX_STATE_EVEN_FREE;
break;
}
}
} else { // receive
packet->len = b->desc >> 16;
if (packet->len > 0) {
packet->index = 0;
packet->next = NULL;
if (rx_first[endpoint] == NULL) {
//serial_print("rx 1st, epidx=");
//serial_phex(endpoint);
//serial_print(", packet=");
//serial_phex32((uint32_t)packet);
//serial_print("\n");
rx_first[endpoint] = packet;
} else {
//serial_print("rx Nth, epidx=");
//serial_phex(endpoint);
//serial_print(", packet=");
//serial_phex32((uint32_t)packet);
//serial_print("\n");
rx_last[endpoint]->next = packet;
}
rx_last[endpoint] = packet;
usb_rx_byte_count_data[endpoint] += packet->len;
// TODO: implement a per-endpoint maximum # of allocated packets
// so a flood of incoming data on 1 endpoint doesn't starve
// the others if the user isn't reading it regularly
packet = usb_malloc();
if (packet) {
b->addr = packet->buf;
b->desc = BDT_DESC(64, ((uint32_t)b & 8) ? DATA1 : DATA0);
} else {
//serial_print("starving ");
//serial_phex(endpoint + 1);
//serial_print(((uint32_t)b & 8) ? ",odd\n" : ",even\n");
b->desc = 0;
usb_rx_memory_needed++;
}
} else {
b->desc = BDT_DESC(64, ((uint32_t)b & 8) ? DATA1 : DATA0);
}
}
}
USB0_ISTAT = USB_ISTAT_TOKDNE;
goto restart;
}
if (status & USB_ISTAT_USBRST /* 01 */ ) {
//serial_print("reset\n");
// initialize BDT toggle bits
USB0_CTL = USB_CTL_ODDRST;
ep0_tx_bdt_bank = 0;
// set up buffers to receive Setup and OUT packets
table[index(0, RX, EVEN)].desc = BDT_DESC(EP0_SIZE, 0);
table[index(0, RX, EVEN)].addr = ep0_rx0_buf;
table[index(0, RX, ODD)].desc = BDT_DESC(EP0_SIZE, 0);
table[index(0, RX, ODD)].addr = ep0_rx1_buf;
table[index(0, TX, EVEN)].desc = 0;
table[index(0, TX, ODD)].desc = 0;
// activate endpoint 0
USB0_ENDPT0 = USB_ENDPT_EPRXEN | USB_ENDPT_EPTXEN | USB_ENDPT_EPHSHK;
// clear all ending interrupts
USB0_ERRSTAT = 0xFF;
USB0_ISTAT = 0xFF;
// set the address to zero during enumeration
USB0_ADDR = 0;
// enable other interrupts
USB0_ERREN = 0xFF;
USB0_INTEN = USB_INTEN_TOKDNEEN |
USB_INTEN_SOFTOKEN |
USB_INTEN_STALLEN |
USB_INTEN_ERROREN |
USB_INTEN_USBRSTEN |
USB_INTEN_SLEEPEN;
// is this necessary?
USB0_CTL = USB_CTL_USBENSOFEN;
return;
}
if ((status & USB_ISTAT_STALL /* 80 */ )) {
//serial_print("stall:\n");
USB0_ENDPT0 = USB_ENDPT_EPRXEN | USB_ENDPT_EPTXEN | USB_ENDPT_EPHSHK;
USB0_ISTAT = USB_ISTAT_STALL;
}
if ((status & USB_ISTAT_ERROR /* 02 */ )) {
uint8_t err = USB0_ERRSTAT;
USB0_ERRSTAT = err;
//serial_print("err:");
//serial_phex(err);
//serial_print("\n");
USB0_ISTAT = USB_ISTAT_ERROR;
}
if ((status & USB_ISTAT_SLEEP /* 10 */ )) {
//serial_print("sleep\n");
USB0_ISTAT = USB_ISTAT_SLEEP;
}
}
void usb_init(void)
{
int i;
//serial_begin(BAUD2DIV(115200));
//serial_print("usb_init\n");
usb_init_serialnumber();
for (i=0; i <= NUM_ENDPOINTS*4; i++) {
table[i].desc = 0;
table[i].addr = 0;
}
// this basically follows the flowchart in the Kinetis
// Quick Reference User Guide, Rev. 1, 03/2012, page 141
// assume 48 MHz clock already running
// SIM - enable clock
SIM_SCGC4 |= SIM_SCGC4_USBOTG;
// reset USB module
USB0_USBTRC0 = USB_USBTRC_USBRESET;
while ((USB0_USBTRC0 & USB_USBTRC_USBRESET) != 0) ; // wait for reset to end
// set desc table base addr
USB0_BDTPAGE1 = ((uint32_t)table) >> 8;
USB0_BDTPAGE2 = ((uint32_t)table) >> 16;
USB0_BDTPAGE3 = ((uint32_t)table) >> 24;
// clear all ISR flags
USB0_ISTAT = 0xFF;
USB0_ERRSTAT = 0xFF;
USB0_OTGISTAT = 0xFF;
USB0_USBTRC0 |= 0x40; // undocumented bit
// enable USB
USB0_CTL = USB_CTL_USBENSOFEN;
USB0_USBCTRL = 0;
// enable reset interrupt
USB0_INTEN = USB_INTEN_USBRSTEN;
// enable interrupt in NVIC...
NVIC_SET_PRIORITY(IRQ_USBOTG, 112);
NVIC_ENABLE_IRQ(IRQ_USBOTG);
// enable d+ pullup
USB0_CONTROL = USB_CONTROL_DPPULLUPNONOTG;
}
#else // F_CPU < 20 MHz
void usb_init(void)
{
}
#endif // F_CPU >= 20 MHz

108
ports/teensy/core/usb_dev.h
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#ifndef _usb_dev_h_
#define _usb_dev_h_
#if F_CPU >= 20000000
// This header is NOT meant to be included when compiling
// user sketches in Arduino. The low-level functions
// provided by usb_dev.c are meant to be called only by
// code which provides higher-level interfaces to the user.
#include "usb_mem.h"
#include "usb_desc.h"
#ifdef __cplusplus
extern "C" {
#endif
void usb_init(void);
void usb_init_serialnumber(void);
void usb_isr(void);
usb_packet_t *usb_rx(uint32_t endpoint);
uint32_t usb_tx_byte_count(uint32_t endpoint);
uint32_t usb_tx_packet_count(uint32_t endpoint);
void usb_tx(uint32_t endpoint, usb_packet_t *packet);
void usb_tx_isr(uint32_t endpoint, usb_packet_t *packet);
extern volatile uint8_t usb_configuration;
extern uint16_t usb_rx_byte_count_data[NUM_ENDPOINTS];
static inline uint32_t usb_rx_byte_count(uint32_t endpoint) __attribute__((always_inline));
static inline uint32_t usb_rx_byte_count(uint32_t endpoint)
{
endpoint--;
if (endpoint >= NUM_ENDPOINTS) return 0;
return usb_rx_byte_count_data[endpoint];
}
#ifdef CDC_DATA_INTERFACE
extern uint32_t usb_cdc_line_coding[2];
extern volatile uint8_t usb_cdc_line_rtsdtr;
extern volatile uint8_t usb_cdc_transmit_flush_timer;
extern void usb_serial_flush_callback(void);
#endif
#ifdef SEREMU_INTERFACE
extern volatile uint8_t usb_seremu_transmit_flush_timer;
extern void usb_seremu_flush_callback(void);
#endif
#ifdef KEYBOARD_INTERFACE
extern uint8_t keyboard_modifier_keys;
extern uint8_t keyboard_keys[6];
extern uint8_t keyboard_protocol;
extern uint8_t keyboard_idle_config;
extern uint8_t keyboard_idle_count;
extern volatile uint8_t keyboard_leds;
#endif
#ifdef MIDI_INTERFACE
extern void usb_midi_flush_output(void);
#endif
#ifdef FLIGHTSIM_INTERFACE
extern void usb_flightsim_flush_callback(void);
#endif
#ifdef __cplusplus
}
#endif
#endif // F_CPU >= 20 MHz
#endif

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ports/teensy/core/usb_mem.c
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#if F_CPU >= 20000000
#include "mk20dx128.h"
//#include "HardwareSerial.h"
#include "usb_dev.h"
#include "usb_mem.h"
__attribute__ ((section(".usbbuffers"), used))
unsigned char usb_buffer_memory[NUM_USB_BUFFERS * sizeof(usb_packet_t)];
static uint32_t usb_buffer_available = 0xFFFFFFFF;
// use bitmask and CLZ instruction to implement fast free list
// http://www.archivum.info/gnu.gcc.help/2006-08/00148/Re-GCC-Inline-Assembly.html
// http://gcc.gnu.org/ml/gcc/2012-06/msg00015.html
// __builtin_clz()
usb_packet_t * usb_malloc(void)
{
unsigned int n, avail;
uint8_t *p;
__disable_irq();
avail = usb_buffer_available;
n = __builtin_clz(avail); // clz = count leading zeros
if (n >= NUM_USB_BUFFERS) {
__enable_irq();
return NULL;
}
//serial_print("malloc:");
//serial_phex(n);
//serial_print("\n");
usb_buffer_available = avail & ~(0x80000000 >> n);
__enable_irq();
p = usb_buffer_memory + (n * sizeof(usb_packet_t));
//serial_print("malloc:");
//serial_phex32((int)p);
//serial_print("\n");
*(uint32_t *)p = 0;
*(uint32_t *)(p + 4) = 0;
return (usb_packet_t *)p;
}
// for the receive endpoints to request memory
extern uint8_t usb_rx_memory_needed;
extern void usb_rx_memory(usb_packet_t *packet);
void usb_free(usb_packet_t *p)
{
unsigned int n, mask;
//serial_print("free:");
n = ((uint8_t *)p - usb_buffer_memory) / sizeof(usb_packet_t);
if (n >= NUM_USB_BUFFERS) return;
//serial_phex(n);
//serial_print("\n");
// if any endpoints are starving for memory to receive
// packets, give this memory to them immediately!
if (usb_rx_memory_needed && usb_configuration) {
//serial_print("give to rx:");
//serial_phex32((int)p);
//serial_print("\n");
usb_rx_memory(p);
return;
}
mask = (0x80000000 >> n);
__disable_irq();
usb_buffer_available |= mask;
__enable_irq();
//serial_print("free:");
//serial_phex32((int)p);
//serial_print("\n");
}
#endif // F_CPU >= 20 MHz

55
ports/teensy/core/usb_mem.h
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#ifndef _usb_mem_h_
#define _usb_mem_h_
#include <stdint.h>
typedef struct usb_packet_struct {
uint16_t len;
uint16_t index;
struct usb_packet_struct *next;
uint8_t buf[64];
} usb_packet_t;
#ifdef __cplusplus
extern "C" {
#endif
usb_packet_t * usb_malloc(void);
void usb_free(usb_packet_t *p);
#ifdef __cplusplus
}
#endif
#endif

57
ports/teensy/core/usb_names.h
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#ifndef _usb_names_h_
#define _usb_names_h_
// These definitions are intended to allow users to override the default
// USB manufacturer, product and serial number strings.
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
struct usb_string_descriptor_struct {
uint8_t bLength;
uint8_t bDescriptorType;
uint16_t wString[];
};
extern struct usb_string_descriptor_struct usb_string_manufacturer_name;
extern struct usb_string_descriptor_struct usb_string_product_name;
extern struct usb_string_descriptor_struct usb_string_serial_number;
#ifdef __cplusplus
}
#endif
#endif

273
ports/teensy/core/usb_serial.c
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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 "usb_dev.h"
#include "usb_serial.h"
#include "core_pins.h" // for yield()
//#include "HardwareSerial.h"
#include <string.h> // for memcpy()
// defined by usb_dev.h -> usb_desc.h
#if defined(CDC_STATUS_INTERFACE) && defined(CDC_DATA_INTERFACE)
uint32_t usb_cdc_line_coding[2];
volatile uint8_t usb_cdc_line_rtsdtr=0;
volatile uint8_t usb_cdc_transmit_flush_timer=0;
static usb_packet_t *rx_packet=NULL;
static usb_packet_t *tx_packet=NULL;
static volatile uint8_t tx_noautoflush=0;
#define TRANSMIT_FLUSH_TIMEOUT 5 /* in milliseconds */
// get the next character, or -1 if nothing received
int usb_serial_getchar(void)
{
unsigned int i;
int c;
if (!rx_packet) {
if (!usb_configuration) return -1;
rx_packet = usb_rx(CDC_RX_ENDPOINT);
if (!rx_packet) return -1;
}
i = rx_packet->index;
c = rx_packet->buf[i++];
if (i >= rx_packet->len) {
usb_free(rx_packet);
rx_packet = NULL;
} else {
rx_packet->index = i;
}
return c;
}
// peek at the next character, or -1 if nothing received
int usb_serial_peekchar(void)
{
if (!rx_packet) {
if (!usb_configuration) return -1;
rx_packet = usb_rx(CDC_RX_ENDPOINT);
if (!rx_packet) return -1;
}
if (!rx_packet) return -1;
return rx_packet->buf[rx_packet->index];
}
// number of bytes available in the receive buffer
int usb_serial_available(void)
{
int count;
count = usb_rx_byte_count(CDC_RX_ENDPOINT);
if (rx_packet) count += rx_packet->len - rx_packet->index;
return count;
}
// read a block of bytes to a buffer
int usb_serial_read(void *buffer, uint32_t size)
{
uint8_t *p = (uint8_t *)buffer;
uint32_t qty, count=0;
while (size) {
if (!usb_configuration) break;
if (!rx_packet) {
rx:
rx_packet = usb_rx(CDC_RX_ENDPOINT);
if (!rx_packet) break;
if (rx_packet->len == 0) {
usb_free(rx_packet);
goto rx;
}
}
qty = rx_packet->len - rx_packet->index;
if (qty > size) qty = size;
memcpy(p, rx_packet->buf + rx_packet->index, qty);
p += qty;
count += qty;
size -= qty;
rx_packet->index += qty;
if (rx_packet->index >= rx_packet->len) {
usb_free(rx_packet);
rx_packet = NULL;
}
}
return count;
}
// discard any buffered input
void usb_serial_flush_input(void)
{
usb_packet_t *rx;
if (!usb_configuration) return;
if (rx_packet) {
usb_free(rx_packet);
rx_packet = NULL;
}
while (1) {
rx = usb_rx(CDC_RX_ENDPOINT);
if (!rx) break;
usb_free(rx);
}
}
// Maximum number of transmit packets to queue so we don't starve other endpoints for memory
#define TX_PACKET_LIMIT 8
// When the PC isn't listening, how long do we wait before discarding data? If this is
// too short, we risk losing data during the stalls that are common with ordinary desktop
// software. If it's too long, we stall the user's program when no software is running.
#define TX_TIMEOUT_MSEC 70
#if F_CPU == 168000000
#define TX_TIMEOUT (TX_TIMEOUT_MSEC * 1100)
#elif F_CPU == 144000000
#define TX_TIMEOUT (TX_TIMEOUT_MSEC * 932)
#elif F_CPU == 120000000
#define TX_TIMEOUT (TX_TIMEOUT_MSEC * 764)
#elif F_CPU == 96000000
#define TX_TIMEOUT (TX_TIMEOUT_MSEC * 596)
#elif F_CPU == 72000000
#define TX_TIMEOUT (TX_TIMEOUT_MSEC * 512)
#elif F_CPU == 48000000
#define TX_TIMEOUT (TX_TIMEOUT_MSEC * 428)
#elif F_CPU == 24000000
#define TX_TIMEOUT (TX_TIMEOUT_MSEC * 262)
#endif
// When we've suffered the transmit timeout, don't wait again until the computer
// begins accepting data. If no software is running to receive, we'll just discard
// data as rapidly as Serial.print() can generate it, until there's something to
// actually receive it.
static uint8_t transmit_previous_timeout=0;
// transmit a character. 0 returned on success, -1 on error
int usb_serial_putchar(uint8_t c)
{
return usb_serial_write(&c, 1);
}
int usb_serial_write(const void *buffer, uint32_t size)
{
uint32_t len;
uint32_t wait_count;
const uint8_t *src = (const uint8_t *)buffer;
uint8_t *dest;
tx_noautoflush = 1;
while (size > 0) {
if (!tx_packet) {
wait_count = 0;
while (1) {
if (!usb_configuration) {
tx_noautoflush = 0;
return -1;
}
if (usb_tx_packet_count(CDC_TX_ENDPOINT) < TX_PACKET_LIMIT) {
tx_noautoflush = 1;
tx_packet = usb_malloc();
if (tx_packet) break;
tx_noautoflush = 0;
}
if (++wait_count > TX_TIMEOUT || transmit_previous_timeout) {
transmit_previous_timeout = 1;
return -1;
}
yield();
}
}
transmit_previous_timeout = 0;
len = CDC_TX_SIZE - tx_packet->index;
if (len > size) len = size;
dest = tx_packet->buf + tx_packet->index;
tx_packet->index += len;
size -= len;
while (len-- > 0) *dest++ = *src++;
if (tx_packet->index >= CDC_TX_SIZE) {
tx_packet->len = CDC_TX_SIZE;
usb_tx(CDC_TX_ENDPOINT, tx_packet);
tx_packet = NULL;
}
usb_cdc_transmit_flush_timer = TRANSMIT_FLUSH_TIMEOUT;
}
tx_noautoflush = 0;
return 0;
}
void usb_serial_flush_output(void)
{
if (!usb_configuration) return;
tx_noautoflush = 1;
if (tx_packet) {
usb_cdc_transmit_flush_timer = 0;
tx_packet->len = tx_packet->index;
usb_tx(CDC_TX_ENDPOINT, tx_packet);
tx_packet = NULL;
} else {
usb_packet_t *tx = usb_malloc();
if (tx) {
usb_cdc_transmit_flush_timer = 0;
usb_tx(CDC_TX_ENDPOINT, tx);
} else {
usb_cdc_transmit_flush_timer = 1;
}
}
tx_noautoflush = 0;
}
void usb_serial_flush_callback(void)
{
if (tx_noautoflush) return;
if (tx_packet) {
tx_packet->len = tx_packet->index;
usb_tx(CDC_TX_ENDPOINT, tx_packet);
tx_packet = NULL;
} else {
usb_packet_t *tx = usb_malloc();
if (tx) {
usb_tx(CDC_TX_ENDPOINT, tx);
} else {
usb_cdc_transmit_flush_timer = 1;
}
}
}
#endif // CDC_STATUS_INTERFACE && CDC_DATA_INTERFACE

144
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
#ifndef USBserial_h_
#define USBserial_h_
#if defined(USB_SERIAL) || defined(USB_SERIAL_HID)
#include <inttypes.h>
#if F_CPU >= 20000000
// C language implementation
#ifdef __cplusplus
extern "C" {
#endif
int usb_serial_getchar(void);
int usb_serial_peekchar(void);
int usb_serial_available(void);
int usb_serial_read(void *buffer, uint32_t size);
void usb_serial_flush_input(void);
int usb_serial_putchar(uint8_t c);
int usb_serial_write(const void *buffer, uint32_t size);
void usb_serial_flush_output(void);
extern uint32_t usb_cdc_line_coding[2];
extern volatile uint8_t usb_cdc_line_rtsdtr;
extern volatile uint8_t usb_cdc_transmit_flush_timer;
extern volatile uint8_t usb_configuration;
#ifdef __cplusplus
}
#endif
#define USB_SERIAL_DTR 0x01
#define USB_SERIAL_RTS 0x02
// C++ interface
#ifdef __cplusplus
#include "Stream.h"
class usb_serial_class : public Stream
{
public:
void begin(long) { /* TODO: call a function that tries to wait for enumeration */ };
void end() { /* TODO: flush output and shut down USB port */ };
virtual int available() { return usb_serial_available(); }
virtual int read() { return usb_serial_getchar(); }
virtual int peek() { return usb_serial_peekchar(); }
virtual void flush() { usb_serial_flush_output(); } // TODO: actually wait for data to leave USB...
virtual size_t write(uint8_t c) { return usb_serial_putchar(c); }
virtual size_t write(const uint8_t *buffer, size_t size) { return usb_serial_write(buffer, size); }
size_t write(unsigned long n) { return write((uint8_t)n); }
size_t write(long n) { return write((uint8_t)n); }
size_t write(unsigned int n) { return write((uint8_t)n); }
size_t write(int n) { return write((uint8_t)n); }
using Print::write;
void send_now(void) { usb_serial_flush_output(); }
uint32_t baud(void) { return usb_cdc_line_coding[0]; }
uint8_t stopbits(void) { uint8_t b = usb_cdc_line_coding[1]; if (!b) b = 1; return b; }
uint8_t paritytype(void) { return usb_cdc_line_coding[1] >> 8; } // 0=none, 1=odd, 2=even
uint8_t numbits(void) { return usb_cdc_line_coding[1] >> 16; }
uint8_t dtr(void) { return (usb_cdc_line_rtsdtr & USB_SERIAL_DTR) ? 1 : 0; }
uint8_t rts(void) { return (usb_cdc_line_rtsdtr & USB_SERIAL_RTS) ? 1 : 0; }
operator bool() { return usb_configuration && (usb_cdc_line_rtsdtr & (USB_SERIAL_DTR | USB_SERIAL_RTS)); }
size_t readBytes(char *buffer, size_t length) {
size_t count=0;
unsigned long startMillis = millis();
do {
count += usb_serial_read(buffer + count, length - count);
if (count >= length) return count;
} while(millis() - startMillis < _timeout);
setReadError();
return count;
}
};
extern usb_serial_class Serial;
#endif // __cplusplus
#else // F_CPU < 20 MHz
// Allow Arduino programs using Serial to compile, but Serial will do nothing.
#ifdef __cplusplus
#include "Stream.h"
class usb_serial_class : public Stream
{
public:
void begin(long) { };
void end() { };
virtual int available() { return 0; }
virtual int read() { return -1; }
virtual int peek() { return -1; }
virtual void flush() { }
virtual size_t write(uint8_t c) { return 1; }
virtual size_t write(const uint8_t *buffer, size_t size) { return size; }
size_t write(unsigned long n) { return 1; }
size_t write(long n) { return 1; }
size_t write(unsigned int n) { return 1; }
size_t write(int n) { return 1; }
using Print::write;
void send_now(void) { }
uint32_t baud(void) { return 0; }
uint8_t stopbits(void) { return 1; }
uint8_t paritytype(void) { return 0; }
uint8_t numbits(void) { return 8; }
uint8_t dtr(void) { return 1; }
uint8_t rts(void) { return 1; }
operator bool() { return true; }
};
extern usb_serial_class Serial;
#endif // __cplusplus
#endif // F_CPU
#endif // USB_SERIAL || USB_SERIAL_HID
#endif // USBserial_h_

32
ports/teensy/core/yield.c
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@ -1,32 +0,0 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
void yield(void) __attribute__ ((weak));
void yield(void) {};

201
ports/teensy/hal_ftm.c
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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* 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:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* 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 <stdint.h>
#include <mk20dx128.h>
#include "teensy_hal.h"
void HAL_FTM_Base_Init(FTM_HandleTypeDef *hftm) {
/* Check the parameters */
FTM_TypeDef *FTMx = hftm->Instance;
assert_param(IS_FTM_INSTANCE(FTMx));
assert_param(IS_FTM_PRESCALERSHIFT(hftm->Init.PrescalerShift));
assert_param(IS_FTM_COUNTERMODE(hftm->Init.CounterMode));
assert_param(IS_FTM_PERIOD(hftm->Init.Period));
hftm->State = HAL_FTM_STATE_BUSY;
FTMx->MODE = FTM_MODE_WPDIS;
FTMx->SC = 0;
FTMx->MOD = hftm->Init.Period;
uint32_t sc = FTM_SC_PS(hftm->Init.PrescalerShift);
if (hftm->Init.CounterMode == FTM_COUNTERMODE_CENTER) {
sc |= FTM_SC_CPWMS;
}
FTMx->SC = sc;
hftm->State = HAL_FTM_STATE_READY;
}
void HAL_FTM_Base_Start(FTM_HandleTypeDef *hftm) {
FTM_TypeDef *FTMx = hftm->Instance;
assert_param(IS_FTM_INSTANCE(FTMx));
hftm->State = HAL_FTM_STATE_BUSY;
FTMx->CNT = 0;
FTMx->SC &= ~FTM_SC_CLKS(3);
FTMx->SC |= FTM_SC_CLKS(1);
hftm->State = HAL_FTM_STATE_READY;
}
void HAL_FTM_Base_Start_IT(FTM_HandleTypeDef *hftm) {
FTM_TypeDef *FTMx = hftm->Instance;
assert_param(IS_FTM_INSTANCE(FTMx));
hftm->State = HAL_FTM_STATE_BUSY;
FTMx->CNT = 0;
FTMx->SC |= FTM_SC_CLKS(1) | FTM_SC_TOIE;
hftm->State = HAL_FTM_STATE_READY;
}
void HAL_FTM_Base_DeInit(FTM_HandleTypeDef *hftm) {
assert_param(IS_FTM_INSTANCE(hftm->Instance));
hftm->State = HAL_FTM_STATE_BUSY;
__HAL_FTM_DISABLE_TOF_IT(hftm);
hftm->State = HAL_FTM_STATE_RESET;
}
void HAL_FTM_OC_Init(FTM_HandleTypeDef *hftm) {
HAL_FTM_Base_Init(hftm);
}
void HAL_FTM_OC_ConfigChannel(FTM_HandleTypeDef *hftm, FTM_OC_InitTypeDef* sConfig, uint32_t channel) {
FTM_TypeDef *FTMx = hftm->Instance;
assert_param(IS_FTM_INSTANCE(FTMx));
assert_param(IS_FTM_CHANNEL(channel));
assert_param(IS_FTM_OC_MODE(sConfig->OCMode));
assert_param(IS_FTM_OC_PULSE(sConfig->Pulse));
assert_param(IS_FTM_OC_POLARITY(sConfig->OCPolarity));
hftm->State = HAL_FTM_STATE_BUSY;
FTMx->channel[channel].CSC = sConfig->OCMode;
FTMx->channel[channel].CV = sConfig->Pulse;
if (sConfig->OCPolarity & 1) {
FTMx->POL |= (1 << channel);
} else {
FTMx->POL &= ~(1 << channel);
}
hftm->State = HAL_FTM_STATE_READY;
}
void HAL_FTM_OC_Start(FTM_HandleTypeDef *hftm, uint32_t channel) {
// Nothing else to do
}
void HAL_FTM_OC_Start_IT(FTM_HandleTypeDef *hftm, uint32_t channel) {
FTM_TypeDef *FTMx = hftm->Instance;
assert_param(IS_FTM_INSTANCE(FTMx));
FTMx->channel[channel].CSC |= FTM_CSC_CHIE;
}
void HAL_FTM_OC_DeInit(FTM_HandleTypeDef *hftm) {
HAL_FTM_Base_DeInit(hftm);
}
void HAL_FTM_PWM_Init(FTM_HandleTypeDef *hftm) {
HAL_FTM_Base_Init(hftm);
}
void HAL_FTM_PWM_ConfigChannel(FTM_HandleTypeDef *hftm, FTM_OC_InitTypeDef* sConfig, uint32_t channel) {
FTM_TypeDef *FTMx = hftm->Instance;
assert_param(IS_FTM_INSTANCE(FTMx));
assert_param(IS_FTM_CHANNEL(channel));
assert_param(IS_FTM_PWM_MODE(sConfig->OCMode));
assert_param(IS_FTM_OC_PULSE(sConfig->Pulse));
assert_param(IS_FTM_OC_POLARITY(sConfig->OCPolarity));
hftm->State = HAL_FTM_STATE_BUSY;
FTMx->channel[channel].CSC = sConfig->OCMode;
FTMx->channel[channel].CV = sConfig->Pulse;
if (sConfig->OCPolarity & 1) {
FTMx->POL |= (1 << channel);
} else {
FTMx->POL &= ~(1 << channel);
}
hftm->State = HAL_FTM_STATE_READY;
}
void HAL_FTM_PWM_Start(FTM_HandleTypeDef *hftm, uint32_t channel) {
// Nothing else to do
}
void HAL_FTM_PWM_Start_IT(FTM_HandleTypeDef *hftm, uint32_t channel) {
FTM_TypeDef *FTMx = hftm->Instance;
assert_param(IS_FTM_INSTANCE(FTMx));
FTMx->channel[channel].CSC |= FTM_CSC_CHIE;
}
void HAL_FTM_PWM_DeInit(FTM_HandleTypeDef *hftm) {
HAL_FTM_Base_DeInit(hftm);
}
void HAL_FTM_IC_Init(FTM_HandleTypeDef *hftm) {
HAL_FTM_Base_Init(hftm);
}
void HAL_FTM_IC_ConfigChannel(FTM_HandleTypeDef *hftm, FTM_IC_InitTypeDef* sConfig, uint32_t channel) {
FTM_TypeDef *FTMx = hftm->Instance;
assert_param(IS_FTM_INSTANCE(FTMx));
assert_param(IS_FTM_CHANNEL(channel));
assert_param(IS_FTM_IC_POLARITY(sConfig->ICPolarity));
hftm->State = HAL_FTM_STATE_BUSY;
FTMx->channel[channel].CSC = sConfig->ICPolarity;
hftm->State = HAL_FTM_STATE_READY;
}
void HAL_FTM_IC_Start(FTM_HandleTypeDef *hftm, uint32_t channel) {
//FTM_TypeDef *FTMx = hftm->Instance;
//assert_param(IS_FTM_INSTANCE(FTMx));
// Nothing else to do
}
void HAL_FTM_IC_Start_IT(FTM_HandleTypeDef *hftm, uint32_t channel) {
FTM_TypeDef *FTMx = hftm->Instance;
assert_param(IS_FTM_INSTANCE(FTMx));
FTMx->channel[channel].CSC |= FTM_CSC_CHIE;
}
void HAL_FTM_IC_DeInit(FTM_HandleTypeDef *hftm) {
HAL_FTM_Base_DeInit(hftm);
}

186
ports/teensy/hal_ftm.h
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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* 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:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* 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.
*/
#ifndef MICROPY_INCLUDED_TEENSY_HAL_FTM_H
#define MICROPY_INCLUDED_TEENSY_HAL_FTM_H
#define FTM0 ((FTM_TypeDef *)&FTM0_SC)
#define FTM1 ((FTM_TypeDef *)&FTM1_SC)
#define FTM2 ((FTM_TypeDef *)&FTM2_SC)
typedef struct {
volatile uint32_t CSC; // Channel x Status And Control
volatile uint32_t CV; // Channel x Value
} FTM_ChannelTypeDef;
typedef struct {
volatile uint32_t SC; // Status And Control
volatile uint32_t CNT; // Counter
volatile uint32_t MOD; // Modulo
FTM_ChannelTypeDef channel[8];
volatile uint32_t CNTIN; // Counter Initial Value
volatile uint32_t STATUS; // Capture And Compare Status
volatile uint32_t MODE; // Features Mode Selection
volatile uint32_t SYNC; // Synchronization
volatile uint32_t OUTINIT; // Initial State For Channels Output
volatile uint32_t OUTMASK; // Output Mask
volatile uint32_t COMBINE; // Function For Linked Channels
volatile uint32_t DEADTIME; // Deadtime Insertion Control
volatile uint32_t EXTTRIG; // FTM External Trigger
volatile uint32_t POL; // Channels Polarity
volatile uint32_t FMS; // Fault Mode Status
volatile uint32_t FILTER; // Input Capture Filter Control
volatile uint32_t FLTCTRL; // Fault Control
volatile uint32_t QDCTRL; // Quadrature Decoder Control And Status
volatile uint32_t CONF; // Configuration
volatile uint32_t FLTPOL; // FTM Fault Input Polarity
volatile uint32_t SYNCONF; // Synchronization Configuration
volatile uint32_t INVCTRL; // FTM Inverting Control
volatile uint32_t SWOCTRL; // FTM Software Output Control
volatile uint32_t PWMLOAD; // FTM PWM Load
} FTM_TypeDef;
typedef struct {
uint32_t PrescalerShift; // Sets the prescaler to 1 << PrescalerShift
uint32_t CounterMode; // One of FTM_COUNTERMODE_xxx
uint32_t Period; // Specifies the Period for determining timer overflow
} FTM_Base_InitTypeDef;
typedef struct {
uint32_t OCMode; // One of FTM_OCMODE_xxx
uint32_t Pulse; // Specifies initial pulse width (0-0xffff)
uint32_t OCPolarity; // One of FTM_OCPOLRITY_xxx
} FTM_OC_InitTypeDef;
typedef struct {
uint32_t ICPolarity; // Specifies Rising/Falling/Both
} FTM_IC_InitTypeDef;
#define IS_FTM_INSTANCE(INSTANCE) (((INSTANCE) == FTM0) || \
((INSTANCE) == FTM1) || \
((INSTANCE) == FTM2))
#define IS_FTM_PRESCALERSHIFT(PRESCALERSHIFT) (((PRESCALERSHIFT) & ~7) == 0)
#define FTM_COUNTERMODE_UP (0)
#define FTM_COUNTERMODE_CENTER (FTM_SC_CPWMS)
#define IS_FTM_COUNTERMODE(MODE) (((MODE) == FTM_COUNTERMODE_UP) ||\
((MODE) == FTM_COUNTERMODE_CENTER))
#define IS_FTM_PERIOD(PERIOD) (((PERIOD) & 0xFFFF0000) == 0)
#define FTM_CSC_CHF 0x80
#define FTM_CSC_CHIE 0x40
#define FTM_CSC_MSB 0x20
#define FTM_CSC_MSA 0x10
#define FTM_CSC_ELSB 0x08
#define FTM_CSC_ELSA 0x04
#define FTM_CSC_DMA 0x01
#define FTM_OCMODE_TIMING (0)
#define FTM_OCMODE_ACTIVE (FTM_CSC_MSA | FTM_CSC_ELSB | FTM_CSC_ELSA)
#define FTM_OCMODE_INACTIVE (FTM_CSC_MSA | FTM_CSC_ELSB)
#define FTM_OCMODE_TOGGLE (FTM_CSC_MSA | FTM_CSC_ELSA)
#define FTM_OCMODE_PWM1 (FTM_CSC_MSB | FTM_CSC_ELSB)
#define FTM_OCMODE_PWM2 (FTM_CSC_MSB | FTM_CSC_ELSA)
#define IS_FTM_OC_MODE(mode) ((mode) == FTM_OCMODE_TIMING || \
(mode) == FTM_OCMODE_ACTIVE || \
(mode) == FTM_OCMODE_INACTIVE || \
(mode) == FTM_OCMODE_TOGGLE )
#define IS_FTM_PWM_MODE(mode) ((mode) == FTM_OCMODE_PWM1 || \
(mode) == FTM_OCMODE_PWM2)
#define IS_FTM_CHANNEL(channel) (((channel) & ~7) == 0)
#define IS_FTM_PULSE(pulse) (((pulse) & ~0xffff) == 0)
#define FTM_OCPOLARITY_HIGH (0)
#define FTM_OCPOLARITY_LOW (1)
#define IS_FTM_OC_POLARITY(polarity) ((polarity) == FTM_OCPOLARITY_HIGH || \
(polarity) == FTM_OCPOLARITY_LOW)
#define FTM_ICPOLARITY_RISING (FTM_CSC_ELSA)
#define FTM_ICPOLARITY_FALLING (FTM_CSC_ELSB)
#define FTM_ICPOLARITY_BOTH (FTM_CSC_ELSA | FTM_CSC_ELSB)
#define IS_FTM_IC_POLARITY(polarity) ((polarity) == FTM_ICPOLARITY_RISING || \
(polarity) == FTM_ICPOLARITY_FALLING || \
(polarity) == FTM_ICPOLARITY_BOTH)
typedef enum {
HAL_FTM_STATE_RESET = 0x00,
HAL_FTM_STATE_READY = 0x01,
HAL_FTM_STATE_BUSY = 0x02,
} HAL_FTM_State;
typedef struct {
FTM_TypeDef *Instance;
FTM_Base_InitTypeDef Init;
HAL_FTM_State State;
} FTM_HandleTypeDef;
#define __HAL_FTM_GET_TOF_FLAG(HANDLE) (((HANDLE)->Instance->SC & FTM_SC_TOF) != 0)
#define __HAL_FTM_CLEAR_TOF_FLAG(HANDLE) ((HANDLE)->Instance->SC &= ~FTM_SC_TOF)
#define __HAL_FTM_GET_TOF_IT(HANDLE) (((HANDLE)->Instance->SC & FTM_SC_TOIE) != 0)
#define __HAL_FTM_ENABLE_TOF_IT(HANDLE) ((HANDLE)->Instance->SC |= FTM_SC_TOIE)
#define __HAL_FTM_DISABLE_TOF_IT(HANDLE) ((HANDLE)->Instance->SC &= ~FTM_SC_TOIE)
#define __HAL_FTM_GET_CH_FLAG(HANDLE, CH) (((HANDLE)->Instance->channel[CH].CSC & FTM_CSC_CHF) != 0)
#define __HAL_FTM_CLEAR_CH_FLAG(HANDLE, CH) ((HANDLE)->Instance->channel[CH].CSC &= ~FTM_CSC_CHF)
#define __HAL_FTM_GET_CH_IT(HANDLE, CH) (((HANDLE)->Instance->channel[CH].CSC & FTM_CSC_CHIE) != 0)
#define __HAL_FTM_ENABLE_CH_IT(HANDLE, CH) ((HANDLE)->Instance->channel[CH].CSC |= FTM_CSC_CHIE)
#define __HAL_FTM_DISABLE_CH_IT(HANDLE, CH) ((HANDLE)->Instance->channel[CH].CSC &= ~FTM_CSC_CHIE)
void HAL_FTM_Base_Init(FTM_HandleTypeDef *hftm);
void HAL_FTM_Base_Start(FTM_HandleTypeDef *hftm);
void HAL_FTM_Base_Start_IT(FTM_HandleTypeDef *hftm);
void HAL_FTM_Base_DeInit(FTM_HandleTypeDef *hftm);
void HAL_FTM_OC_Init(FTM_HandleTypeDef *hftm);
void HAL_FTM_OC_ConfigChannel(FTM_HandleTypeDef *hftm, FTM_OC_InitTypeDef* sConfig, uint32_t channel);
void HAL_FTM_OC_Start(FTM_HandleTypeDef *hftm, uint32_t channel);
void HAL_FTM_OC_Start_IT(FTM_HandleTypeDef *hftm, uint32_t channel);
void HAL_FTM_OC_DeInit(FTM_HandleTypeDef *hftm);
void HAL_FTM_PWM_Init(FTM_HandleTypeDef *hftm);
void HAL_FTM_PWM_ConfigChannel(FTM_HandleTypeDef *hftm, FTM_OC_InitTypeDef* sConfig, uint32_t channel);
void HAL_FTM_PWM_Start(FTM_HandleTypeDef *hftm, uint32_t channel);
void HAL_FTM_PWM_Start_IT(FTM_HandleTypeDef *hftm, uint32_t channel);
void HAL_FTM_PWM_DeInit(FTM_HandleTypeDef *hftm);
void HAL_FTM_IC_Init(FTM_HandleTypeDef *hftm);
void HAL_FTM_IC_ConfigChannel(FTM_HandleTypeDef *hftm, FTM_IC_InitTypeDef* sConfig, uint32_t channel);
void HAL_FTM_IC_Start(FTM_HandleTypeDef *hftm, uint32_t channel);
void HAL_FTM_IC_Start_IT(FTM_HandleTypeDef *hftm, uint32_t channel);
void HAL_FTM_IC_DeInit(FTM_HandleTypeDef *hftm);
#endif // MICROPY_INCLUDED_TEENSY_HAL_FTM_H

123
ports/teensy/hal_gpio.c
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#include <stdint.h>
#include <mk20dx128.h>
#include "teensy_hal.h"
#define GPIO_NUMBER 32
void HAL_GPIO_Init(GPIO_TypeDef *GPIOx, GPIO_InitTypeDef *GPIO_Init)
{
/* Check the parameters */
assert_param(IS_GPIO_PIN(GPIO_Init->Pin));
assert_param(IS_GPIO_MODE(GPIO_Init->Mode));
assert_param(IS_GPIO_PULL(GPIO_Init->Pull));
/* Configure the port pins */
for (uint32_t position = 0; position < GPIO_NUMBER; position++) {
uint32_t bitmask = 1 << position;
if ((GPIO_Init->Pin & bitmask) == 0) {
continue;
}
volatile uint32_t *port_pcr = GPIO_PIN_TO_PORT_PCR(GPIOx, position);
/*--------------------- GPIO Mode Configuration ------------------------*/
/* In case of Alternate function mode selection */
if ((GPIO_Init->Mode == GPIO_MODE_AF_PP) || (GPIO_Init->Mode == GPIO_MODE_AF_OD)) {
/* Check the Alternate function parameter */
assert_param(IS_GPIO_AF(GPIO_Init->Alternate));
}
else if (GPIO_Init->Mode == GPIO_MODE_ANALOG) {
GPIO_Init->Alternate = 0;
}
else {
GPIO_Init->Alternate = 1;
}
/* Configure Alternate function mapped with the current IO */
*port_pcr &= ~PORT_PCR_MUX_MASK;
*port_pcr |= PORT_PCR_MUX(GPIO_Init->Alternate);
/* Configure IO Direction mode (Input, Output, Alternate or Analog) */
if (GPIO_Init->Mode == GPIO_MODE_INPUT || GPIO_Init->Mode == GPIO_MODE_ANALOG) {
GPIOx->PDDR &= ~bitmask;
} else {
GPIOx->PDDR |= bitmask;
}
/* In case of Output or Alternate function mode selection */
if ((GPIO_Init->Mode == GPIO_MODE_OUTPUT_PP) || (GPIO_Init->Mode == GPIO_MODE_AF_PP) ||
(GPIO_Init->Mode == GPIO_MODE_OUTPUT_OD) || (GPIO_Init->Mode == GPIO_MODE_AF_OD)) {
/* Check the Speed parameter */
assert_param(IS_GPIO_SPEED(GPIO_Init->Speed));
*port_pcr |= PORT_PCR_DSE;
/* Configure the IO Speed */
if (GPIO_Init->Speed > GPIO_SPEED_FREQ_MEDIUM) {
*port_pcr &= ~PORT_PCR_SRE;
} else {
*port_pcr |= PORT_PCR_SRE;
}
/* Configure the IO Output Type */
if (GPIO_Init->Mode & GPIO_OUTPUT_TYPE) {
*port_pcr |= PORT_PCR_ODE; // OD
} else {
*port_pcr &= ~PORT_PCR_ODE; // PP
}
} else {
*port_pcr &= ~PORT_PCR_DSE;
}
/* Activate the Pull-up or Pull down resistor for the current IO */
if (GPIO_Init->Pull == GPIO_NOPULL) {
*port_pcr &= ~PORT_PCR_PE;
} else {
*port_pcr |= PORT_PCR_PE;
if (GPIO_Init->Pull == GPIO_PULLDOWN) {
*port_pcr &= ~PORT_PCR_PS;
} else {
*port_pcr |= PORT_PCR_PS;
}
}
#if 0
/*--------------------- EXTI Mode Configuration ------------------------*/
/* Configure the External Interrupt or event for the current IO */
if((GPIO_Init->Mode & EXTI_MODE) == EXTI_MODE)
{
/* Enable SYSCFG Clock */
__SYSCFG_CLK_ENABLE();
temp = ((uint32_t)0x0F) << (4 * (position & 0x03));
SYSCFG->EXTICR[position >> 2] &= ~temp;
SYSCFG->EXTICR[position >> 2] |= ((uint32_t)(__HAL_GET_GPIO_SOURCE(GPIOx)) << (4 * (position & 0x03)));
/* Clear EXTI line configuration */
EXTI->IMR &= ~((uint32_t)iocurrent);
EXTI->EMR &= ~((uint32_t)iocurrent);
if((GPIO_Init->Mode & GPIO_MODE_IT) == GPIO_MODE_IT)
{
EXTI->IMR |= iocurrent;
}
if((GPIO_Init->Mode & GPIO_MODE_EVT) == GPIO_MODE_EVT)
{
EXTI->EMR |= iocurrent;
}
/* Clear Rising Falling edge configuration */
EXTI->RTSR &= ~((uint32_t)iocurrent);
EXTI->FTSR &= ~((uint32_t)iocurrent);
if((GPIO_Init->Mode & RISING_EDGE) == RISING_EDGE)
{
EXTI->RTSR |= iocurrent;
}
if((GPIO_Init->Mode & FALLING_EDGE) == FALLING_EDGE)
{
EXTI->FTSR |= iocurrent;
}
}
#endif
}
}

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ports/teensy/help.c
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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* 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:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* 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 "py/builtin.h"
const char teensy_help_text[] =
"Welcome to MicroPython!\n"
"\n"
"For online help please visit http://micropython.org/help/.\n"
"\n"
"Quick overview of commands for the board:\n"
" pyb.info() -- print some general information\n"
" pyb.gc() -- run the garbage collector\n"
" pyb.delay(n) -- wait for n milliseconds\n"
" pyb.Switch() -- create a switch object\n"
" Switch methods: (), callback(f)\n"
" pyb.LED(n) -- create an LED object for LED n (n=1,2,3,4)\n"
" LED methods: on(), off(), toggle(), intensity(<n>)\n"
" pyb.Pin(pin) -- get a pin, eg pyb.Pin('X1')\n"
" pyb.Pin(pin, m, [p]) -- get a pin and configure it for IO mode m, pull mode p\n"
" Pin methods: init(..), value([v]), high(), low()\n"
" pyb.ExtInt(pin, m, p, callback) -- create an external interrupt object\n"
" pyb.ADC(pin) -- make an analog object from a pin\n"
" ADC methods: read(), read_timed(buf, freq)\n"
" pyb.DAC(port) -- make a DAC object\n"
" DAC methods: triangle(freq), write(n), write_timed(buf, freq)\n"
" pyb.RTC() -- make an RTC object; methods: datetime([val])\n"
" pyb.rng() -- get a 30-bit hardware random number\n"
" pyb.Servo(n) -- create Servo object for servo n (n=1,2,3,4)\n"
" Servo methods: calibration(..), angle([x, [t]]), speed([x, [t]])\n"
" pyb.Accel() -- create an Accelerometer object\n"
" Accelerometer methods: x(), y(), z(), tilt(), filtered_xyz()\n"
"\n"
"Pins are numbered X1-X12, X17-X22, Y1-Y12, or by their MCU name\n"
"Pin IO modes are: pyb.Pin.IN, pyb.Pin.OUT_PP, pyb.Pin.OUT_OD\n"
"Pin pull modes are: pyb.Pin.PULL_NONE, pyb.Pin.PULL_UP, pyb.Pin.PULL_DOWN\n"
"Additional serial bus objects: pyb.I2C(n), pyb.SPI(n), pyb.UART(n)\n"
"\n"
"Control commands:\n"
" CTRL-A -- on a blank line, enter raw REPL mode\n"
" CTRL-B -- on a blank line, enter normal REPL mode\n"
" CTRL-C -- interrupt a running program\n"
" CTRL-D -- on a blank line, do a soft reset of the board\n"
"\n"
"For further help on a specific object, type help(obj)\n"
;

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ports/teensy/lcd.c
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@ -1,14 +0,0 @@
#include "py/obj.h"
#include "../stm32/lcd.h"
void lcd_init(void) {
}
void lcd_print_str(const char *str) {
(void)str;
}
void lcd_print_strn(const char *str, unsigned int len) {
(void)str;
(void)len;
}

143
ports/teensy/led.c
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@ -1,143 +0,0 @@
#include <stdio.h>
#include "Arduino.h"
#include "py/runtime.h"
#include "py/mphal.h"
#include "led.h"
#include "pin.h"
#include "genhdr/pins.h"
typedef struct _pyb_led_obj_t {
mp_obj_base_t base;
mp_uint_t led_id;
const pin_obj_t *led_pin;
} pyb_led_obj_t;
STATIC const pyb_led_obj_t pyb_led_obj[] = {
{{&pyb_led_type}, 1, &MICROPY_HW_LED1},
#if defined(MICROPY_HW_LED2)
{{&pyb_led_type}, 2, &MICROPY_HW_LED2},
#if defined(MICROPY_HW_LED3)
{{&pyb_led_type}, 3, &MICROPY_HW_LED3},
#if defined(MICROPY_HW_LED4)
{{&pyb_led_type}, 4, &MICROPY_HW_LED4},
#endif
#endif
#endif
};
#define NUM_LEDS MP_ARRAY_SIZE(pyb_led_obj)
void led_init(void) {
/* GPIO structure */
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure I/O speed, mode, output type and pull */
GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStructure.Mode = MICROPY_HW_LED_OTYPE;
GPIO_InitStructure.Pull = GPIO_NOPULL;
/* Turn off LEDs and initialize */
for (int led = 0; led < NUM_LEDS; led++) {
const pin_obj_t *led_pin = pyb_led_obj[led].led_pin;
MICROPY_HW_LED_OFF(led_pin);
GPIO_InitStructure.Pin = led_pin->pin_mask;
HAL_GPIO_Init(led_pin->gpio, &GPIO_InitStructure);
}
}
void led_state(pyb_led_t led, int state) {
if (led < 1 || led > NUM_LEDS) {
return;
}
const pin_obj_t *led_pin = pyb_led_obj[led - 1].led_pin;
//printf("led_state(%d,%d)\n", led, state);
if (state == 0) {
// turn LED off
MICROPY_HW_LED_OFF(led_pin);
} else {
// turn LED on
MICROPY_HW_LED_ON(led_pin);
}
}
void led_toggle(pyb_led_t led) {
if (led < 1 || led > NUM_LEDS) {
return;
}
const pin_obj_t *led_pin = pyb_led_obj[led - 1].led_pin;
GPIO_TypeDef *gpio = led_pin->gpio;
// We don't know if we're turning the LED on or off, but we don't really
// care. Just invert the state.
if (gpio->PDOR & led_pin->pin_mask) {
// pin is high, make it low
gpio->PCOR = led_pin->pin_mask;
} else {
// pin is low, make it high
gpio->PSOR = led_pin->pin_mask;
}
}
/******************************************************************************/
/* MicroPython bindings */
void led_obj_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_led_obj_t *self = self_in;
(void)kind;
mp_printf(print, "<LED %lu>", self->led_id);
}
STATIC mp_obj_t led_obj_make_new(const mp_obj_type_t *type, uint n_args, uint n_kw, const mp_obj_t *args) {
// check arguments
mp_arg_check_num(n_args, n_kw, 1, 1, false);
// get led number
mp_int_t led_id = mp_obj_get_int(args[0]);
// check led number
if (!(1 <= led_id && led_id <= NUM_LEDS)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "LED %d does not exist", led_id));
}
// return static led object
return (mp_obj_t)&pyb_led_obj[led_id - 1];
}
mp_obj_t led_obj_on(mp_obj_t self_in) {
pyb_led_obj_t *self = self_in;
led_state(self->led_id, 1);
return mp_const_none;
}
mp_obj_t led_obj_off(mp_obj_t self_in) {
pyb_led_obj_t *self = self_in;
led_state(self->led_id, 0);
return mp_const_none;
}
mp_obj_t led_obj_toggle(mp_obj_t self_in) {
pyb_led_obj_t *self = self_in;
led_toggle(self->led_id);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(led_obj_on_obj, led_obj_on);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(led_obj_off_obj, led_obj_off);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(led_obj_toggle_obj, led_obj_toggle);
STATIC const mp_rom_map_elem_t led_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_on), MP_ROM_PTR(&led_obj_on_obj) },
{ MP_ROM_QSTR(MP_QSTR_off), MP_ROM_PTR(&led_obj_off_obj) },
{ MP_ROM_QSTR(MP_QSTR_toggle), MP_ROM_PTR(&led_obj_toggle_obj) },
};
STATIC MP_DEFINE_CONST_DICT(led_locals_dict, led_locals_dict_table);
const mp_obj_type_t pyb_led_type = {
{ &mp_type_type },
.name = MP_QSTR_LED,
.print = led_obj_print,
.make_new = led_obj_make_new,
.locals_dict = (mp_obj_t)&led_locals_dict,
};

14
ports/teensy/led.h
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@ -1,14 +0,0 @@
#ifndef MICROPY_INCLUDED_TEENSY_LED_H
#define MICROPY_INCLUDED_TEENSY_LED_H
typedef enum {
PYB_LED_BUILTIN = 1,
} pyb_led_t;
void led_init(void);
void led_state(pyb_led_t led, int state);
void led_toggle(pyb_led_t led);
extern const mp_obj_type_t pyb_led_type;
#endif // MICROPY_INCLUDED_TEENSY_LED_H

13
ports/teensy/lexerfrozen.c
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@ -1,13 +0,0 @@
#include <stdio.h>
#include "py/lexer.h"
#include "py/runtime.h"
#include "py/mperrno.h"
mp_import_stat_t mp_import_stat(const char *path) {
return MP_IMPORT_STAT_NO_EXIST;
}
mp_lexer_t *mp_lexer_new_from_file(const char *filename) {
mp_raise_OSError(MP_ENOENT);
}

6
ports/teensy/lexermemzip.h
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@ -1,6 +0,0 @@
#ifndef MICROPY_INCLUDED_TEENSY_LEXERMEMZIP_H
#define MICROPY_INCLUDED_TEENSY_LEXERMEMZIP_H
mp_lexer_t *mp_lexer_new_from_memzip_file(const char *filename);
#endif // MICROPY_INCLUDED_TEENSY_LEXERMEMZIP_H

381
ports/teensy/main.c
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@ -1,381 +0,0 @@
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "py/lexer.h"
#include "py/runtime.h"
#include "py/stackctrl.h"
#include "py/gc.h"
#include "py/mphal.h"
#include "gccollect.h"
#include "lib/utils/pyexec.h"
#include "lib/mp-readline/readline.h"
#include "lexermemzip.h"
#include "Arduino.h"
#include "servo.h"
#include "led.h"
#include "uart.h"
#include "pin.h"
extern uint32_t _heap_start;
void flash_error(int n) {
for (int i = 0; i < n; i++) {
led_state(PYB_LED_BUILTIN, 1);
delay(250);
led_state(PYB_LED_BUILTIN, 0);
delay(250);
}
}
void NORETURN __fatal_error(const char *msg) {
for (volatile uint delay = 0; delay < 10000000; delay++) {
}
led_state(1, 1);
led_state(2, 1);
led_state(3, 1);
led_state(4, 1);
mp_hal_stdout_tx_strn("\nFATAL ERROR:\n", 14);
mp_hal_stdout_tx_strn(msg, strlen(msg));
for (uint i = 0;;) {
led_toggle(((i++) & 3) + 1);
for (volatile uint delay = 0; delay < 10000000; delay++) {
}
if (i >= 16) {
// to conserve power
__WFI();
}
}
}
void nlr_jump_fail(void *val) {
printf("FATAL: uncaught exception %p\n", val);
__fatal_error("");
}
void __assert_func(const char *file, int line, const char *func, const char *expr) {
printf("Assertion failed: %s, file %s, line %d\n", expr, file, line);
__fatal_error("");
}
mp_obj_t pyb_analog_read(mp_obj_t pin_obj) {
uint pin = mp_obj_get_int(pin_obj);
int val = analogRead(pin);
return MP_OBJ_NEW_SMALL_INT(val);
}
mp_obj_t pyb_analog_write(mp_obj_t pin_obj, mp_obj_t val_obj) {
uint pin = mp_obj_get_int(pin_obj);
int val = mp_obj_get_int(val_obj);
analogWrite(pin, val);
return mp_const_none;
}
mp_obj_t pyb_analog_write_resolution(mp_obj_t res_obj) {
int res = mp_obj_get_int(res_obj);
analogWriteResolution(res);
return mp_const_none;
}
mp_obj_t pyb_analog_write_frequency(mp_obj_t pin_obj, mp_obj_t freq_obj) {
uint pin = mp_obj_get_int(pin_obj);
int freq = mp_obj_get_int(freq_obj);
analogWriteFrequency(pin, freq);
return mp_const_none;
}
#if 0
// get lots of info about the board
static mp_obj_t pyb_info(void) {
// get and print unique id; 96 bits
{
byte *id = (byte*)0x40048058;
printf("ID=%02x%02x%02x%02x:%02x%02x%02x%02x:%02x%02x%02x%02x\n", id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7], id[8], id[9], id[10], id[11]);
}
// get and print clock speeds
printf("CPU=%u\nBUS=%u\nMEM=%u\n", F_CPU, F_BUS, F_MEM);
// to print info about memory
{
printf("_sdata=%p\n", &_sdata);
printf("_edata=%p\n", &_edata);
printf("_sbss=%p\n", &_sbss);
printf("_ebss=%p\n", &_ebss);
printf("_estack=%p\n", &_estack);
printf("_etext=%p\n", &_etext);
printf("_heap_start=%p\n", &_heap_start);
}
// GC info
{
gc_info_t info;
gc_info(&info);
printf("GC:\n");
printf(" %u total\n", info.total);
printf(" %u used %u free\n", info.used, info.free);
printf(" 1=%u 2=%u m=%u\n", info.num_1block, info.num_2block, info.max_block);
}
#if 0
// free space on flash
{
DWORD nclst;
FATFS *fatfs;
f_getfree("0:", &nclst, &fatfs);
printf("LFS free: %u bytes\n", (uint)(nclst * fatfs->csize * 512));
}
#endif
return mp_const_none;
}
#endif
#define RAM_START (0x1FFF8000) // fixed for chip
#define HEAP_END (0x20006000) // tunable
#define RAM_END (0x20008000) // fixed for chip
#if 0
void gc_helper_get_regs_and_clean_stack(mp_uint_t *regs, mp_uint_t heap_end);
mp_obj_t pyb_gc(void) {
gc_collect();
return mp_const_none;
}
mp_obj_t pyb_gpio(int n_args, mp_obj_t *args) {
//assert(1 <= n_args && n_args <= 2);
uint pin = mp_obj_get_int(args[0]);
if (pin > CORE_NUM_DIGITAL) {
goto pin_error;
}
if (n_args == 1) {
// get pin
pinMode(pin, INPUT);
return MP_OBJ_NEW_SMALL_INT(digitalRead(pin));
}
// set pin
pinMode(pin, OUTPUT);
digitalWrite(pin, mp_obj_is_true(args[1]));
return mp_const_none;
pin_error:
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "pin %d does not exist", pin));
}
MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_gpio_obj, 1, 2, pyb_gpio);
#if 0
mp_obj_t pyb_hid_send_report(mp_obj_t arg) {
mp_obj_t *items = mp_obj_get_array_fixed_n(arg, 4);
uint8_t data[4];
data[0] = mp_obj_get_int(items[0]);
data[1] = mp_obj_get_int(items[1]);
data[2] = mp_obj_get_int(items[2]);
data[3] = mp_obj_get_int(items[3]);
usb_hid_send_report(data);
return mp_const_none;
}
#endif
#endif // 0
STATIC mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
STATIC mp_obj_t pyb_config_main = MP_OBJ_NULL;
STATIC mp_obj_t pyb_config_usb_mode = MP_OBJ_NULL;
mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
if (MP_OBJ_IS_STR(source_dir)) {
pyb_config_source_dir = source_dir;
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_source_dir_obj, pyb_source_dir);
mp_obj_t pyb_main(mp_obj_t main) {
if (MP_OBJ_IS_STR(main)) {
pyb_config_main = main;
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);
STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) {
if (MP_OBJ_IS_STR(usb_mode)) {
pyb_config_usb_mode = usb_mode;
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_usb_mode_obj, pyb_usb_mode);
#if 0
mp_obj_t pyb_delay(mp_obj_t count) {
delay(mp_obj_get_int(count));
return mp_const_none;
}
mp_obj_t pyb_led(mp_obj_t state) {
led_state(PYB_LED_BUILTIN, mp_obj_is_true(state));
return state;
}
#endif // 0
#if 0
char *strdup(const char *str) {
uint32_t len = strlen(str);
char *s2 = m_new(char, len + 1);
memcpy(s2, str, len);
s2[len] = 0;
return s2;
}
#endif
int main(void) {
// TODO: Put this in a more common initialization function.
// Turn on STKALIGN which keeps the stack 8-byte aligned for interrupts
// (per EABI)
#define SCB_CCR_STKALIGN (1 << 9)
SCB_CCR |= SCB_CCR_STKALIGN;
mp_stack_ctrl_init();
mp_stack_set_limit(10240);
pinMode(LED_BUILTIN, OUTPUT);
led_init();
// int first_soft_reset = true;
soft_reset:
led_state(PYB_LED_BUILTIN, 1);
// GC init
gc_init(&_heap_start, (void*)HEAP_END);
// MicroPython init
mp_init();
mp_obj_list_init(mp_sys_path, 0);
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_)); // current dir (or base dir of the script)
mp_obj_list_init(mp_sys_argv, 0);
readline_init0();
pin_init0();
#if 0
// add some functions to the python namespace
{
mp_store_name(MP_QSTR_help, mp_make_function_n(0, pyb_help));
mp_obj_t m = mp_obj_new_module(MP_QSTR_pyb);
mp_store_attr(m, MP_QSTR_info, mp_make_function_n(0, pyb_info));
mp_store_attr(m, MP_QSTR_source_dir, mp_make_function_n(1, pyb_source_dir));
mp_store_attr(m, MP_QSTR_main, mp_make_function_n(1, pyb_main));
mp_store_attr(m, MP_QSTR_gc, mp_make_function_n(0, pyb_gc));
mp_store_attr(m, MP_QSTR_delay, mp_make_function_n(1, pyb_delay));
mp_store_attr(m, MP_QSTR_led, mp_make_function_n(1, pyb_led));
mp_store_attr(m, MP_QSTR_LED, (mp_obj_t)&pyb_led_type);
mp_store_attr(m, MP_QSTR_analogRead, mp_make_function_n(1, pyb_analog_read));
mp_store_attr(m, MP_QSTR_analogWrite, mp_make_function_n(2, pyb_analog_write));
mp_store_attr(m, MP_QSTR_analogWriteResolution, mp_make_function_n(1, pyb_analog_write_resolution));
mp_store_attr(m, MP_QSTR_analogWriteFrequency, mp_make_function_n(2, pyb_analog_write_frequency));
mp_store_attr(m, MP_QSTR_gpio, (mp_obj_t)&pyb_gpio_obj);
mp_store_attr(m, MP_QSTR_Servo, mp_make_function_n(0, pyb_Servo));
mp_store_name(MP_QSTR_pyb, m);
}
#endif
#if MICROPY_MODULE_FROZEN
pyexec_frozen_module("boot.py");
#else
if (!pyexec_file("/boot.py")) {
flash_error(4);
}
#endif
// Turn bootup LED off
led_state(PYB_LED_BUILTIN, 0);
// run main script
#if MICROPY_MODULE_FROZEN
pyexec_frozen_module("main.py");
#else
{
vstr_t *vstr = vstr_new(16);
vstr_add_str(vstr, "/");
if (pyb_config_main == MP_OBJ_NULL) {
vstr_add_str(vstr, "main.py");
} else {
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
}
if (!pyexec_file(vstr_null_terminated_str(vstr))) {
flash_error(3);
}
vstr_free(vstr);
}
#endif
// enter REPL
// REPL mode can change, or it can request a soft reset
for (;;) {
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
if (pyexec_raw_repl() != 0) {
break;
}
} else {
if (pyexec_friendly_repl() != 0) {
break;
}
}
}
printf("PYB: soft reboot\n");
// first_soft_reset = false;
goto soft_reset;
}
// stub out __libc_init_array. It's called by mk20dx128.c and is used to call
// global C++ constructors. Since this is a C-only projects, we don't need to
// call constructors.
void __libc_init_array(void) {
}
// ultoa is used by usb_init_serialnumber. Normally ultoa would be provided
// by nonstd.c from the teensy core, but it conflicts with some of the
// MicroPython functions in string0.c, so we provide ultoa here.
char * ultoa(unsigned long val, char *buf, int radix)
{
unsigned digit;
int i=0, j;
char t;
while (1) {
digit = val % radix;
buf[i] = ((digit < 10) ? '0' + digit : 'A' + digit - 10);
val /= radix;
if (val == 0) break;
i++;
}
buf[i + 1] = 0;
for (j=0; j < i; j++, i--) {
t = buf[j];
buf[j] = buf[i];
buf[i] = t;
}
return buf;
}

405
ports/teensy/make-pins.py
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@ -1,405 +0,0 @@
#!/usr/bin/env python
"""Creates the pin file for the Teensy."""
from __future__ import print_function
import argparse
import sys
import csv
SUPPORTED_FN = {
'FTM' : ['CH0', 'CH1', 'CH2', 'CH3', 'CH4', 'CH5', 'CH6', 'CH7',
'QD_PHA', 'QD_PHB'],
'I2C' : ['SDA', 'SCL'],
'UART' : ['RX', 'TX', 'CTS', 'RTS'],
'SPI' : ['NSS', 'SCK', 'MISO', 'MOSI']
}
def parse_port_pin(name_str):
"""Parses a string and returns a (port-num, pin-num) tuple."""
if len(name_str) < 4:
raise ValueError("Expecting pin name to be at least 4 charcters.")
if name_str[0:2] != 'PT':
raise ValueError("Expecting pin name to start with PT")
if name_str[2] not in ('A', 'B', 'C', 'D', 'E', 'Z'):
raise ValueError("Expecting pin port to be between A and E or Z")
port = ord(name_str[2]) - ord('A')
pin_str = name_str[3:].split('/')[0]
if not pin_str.isdigit():
raise ValueError("Expecting numeric pin number.")
return (port, int(pin_str))
def split_name_num(name_num):
num = None
for num_idx in range(len(name_num) - 1, -1, -1):
if not name_num[num_idx].isdigit():
name = name_num[0:num_idx + 1]
num_str = name_num[num_idx + 1:]
if len(num_str) > 0:
num = int(num_str)
break
return name, num
class AlternateFunction(object):
"""Holds the information associated with a pins alternate function."""
def __init__(self, idx, af_str):
self.idx = idx
self.af_str = af_str
self.func = ''
self.fn_num = None
self.pin_type = ''
self.supported = False
af_words = af_str.split('_', 1)
self.func, self.fn_num = split_name_num(af_words[0])
if len(af_words) > 1:
self.pin_type = af_words[1]
if self.func in SUPPORTED_FN:
pin_types = SUPPORTED_FN[self.func]
if self.pin_type in pin_types:
self.supported = True
def is_supported(self):
return self.supported
def ptr(self):
"""Returns the numbered function (i.e. USART6) for this AF."""
if self.fn_num is None:
return self.func
return '{:s}{:d}'.format(self.func, self.fn_num)
def mux_name(self):
return 'AF{:d}_{:s}'.format(self.idx, self.ptr())
def print(self):
"""Prints the C representation of this AF."""
if self.supported:
print(' AF', end='')
else:
print(' //', end='')
fn_num = self.fn_num
if fn_num is None:
fn_num = 0
print('({:2d}, {:8s}, {:2d}, {:10s}, {:8s}), // {:s}'.format(self.idx,
self.func, fn_num, self.pin_type, self.ptr(), self.af_str))
def qstr_list(self):
return [self.mux_name()]
class Pin(object):
"""Holds the information associated with a pin."""
def __init__(self, port, pin):
self.port = port
self.pin = pin
self.alt_fn = []
self.alt_fn_count = 0
self.adc_num = 0
self.adc_channel = 0
self.board_pin = False
def port_letter(self):
return chr(self.port + ord('A'))
def cpu_pin_name(self):
return '{:s}{:d}'.format(self.port_letter(), self.pin)
def is_board_pin(self):
return self.board_pin
def set_is_board_pin(self):
self.board_pin = True
def parse_adc(self, adc_str):
if (adc_str[:3] != 'ADC'):
return
(adc,channel) = adc_str.split('_')
for idx in range(3, len(adc)):
adc_num = int(adc[idx]) # 1, 2, or 3
self.adc_num |= (1 << (adc_num - 1))
self.adc_channel = int(channel[2:])
def parse_af(self, af_idx, af_strs_in):
if len(af_strs_in) == 0:
return
# If there is a slash, then the slash separates 2 aliases for the
# same alternate function.
af_strs = af_strs_in.split('/')
for af_str in af_strs:
alt_fn = AlternateFunction(af_idx, af_str)
self.alt_fn.append(alt_fn)
if alt_fn.is_supported():
self.alt_fn_count += 1
def alt_fn_name(self, null_if_0=False):
if null_if_0 and self.alt_fn_count == 0:
return 'NULL'
return 'pin_{:s}_af'.format(self.cpu_pin_name())
def adc_num_str(self):
str = ''
for adc_num in range(1,4):
if self.adc_num & (1 << (adc_num - 1)):
if len(str) > 0:
str += ' | '
str += 'PIN_ADC'
str += chr(ord('0') + adc_num)
if len(str) == 0:
str = '0'
return str
def print(self):
if self.alt_fn_count == 0:
print("// ", end='')
print('const pin_af_obj_t {:s}[] = {{'.format(self.alt_fn_name()))
for alt_fn in self.alt_fn:
alt_fn.print()
if self.alt_fn_count == 0:
print("// ", end='')
print('};')
print('')
print('const pin_obj_t pin_{:s} = PIN({:s}, {:d}, {:d}, {:s}, {:s}, {:d});'.format(
self.cpu_pin_name(), self.port_letter(), self.pin,
self.alt_fn_count, self.alt_fn_name(null_if_0=True),
self.adc_num_str(), self.adc_channel))
print('')
def print_header(self, hdr_file):
hdr_file.write('extern const pin_obj_t pin_{:s};\n'.
format(self.cpu_pin_name()))
if self.alt_fn_count > 0:
hdr_file.write('extern const pin_af_obj_t pin_{:s}_af[];\n'.
format(self.cpu_pin_name()))
def qstr_list(self):
result = []
for alt_fn in self.alt_fn:
if alt_fn.is_supported():
result += alt_fn.qstr_list()
return result
class NamedPin(object):
def __init__(self, name, pin):
self._name = name
self._pin = pin
def pin(self):
return self._pin
def name(self):
return self._name
class Pins(object):
def __init__(self):
self.cpu_pins = [] # list of NamedPin objects
self.board_pins = [] # list of NamedPin objects
def find_pin(self, port_num, pin_num):
for named_pin in self.cpu_pins:
pin = named_pin.pin()
if pin.port == port_num and pin.pin == pin_num:
return pin
def parse_af_file(self, filename, pinname_col, af_col):
with open(filename, 'r') as csvfile:
rows = csv.reader(csvfile)
for row in rows:
try:
(port_num, pin_num) = parse_port_pin(row[pinname_col])
except:
continue
pin = Pin(port_num, pin_num)
for af_idx in range(af_col, len(row)):
if af_idx >= af_col:
pin.parse_af(af_idx - af_col, row[af_idx])
self.cpu_pins.append(NamedPin(pin.cpu_pin_name(), pin))
def parse_board_file(self, filename):
with open(filename, 'r') as csvfile:
rows = csv.reader(csvfile)
for row in rows:
try:
(port_num, pin_num) = parse_port_pin(row[1])
except:
continue
pin = self.find_pin(port_num, pin_num)
if pin:
pin.set_is_board_pin()
self.board_pins.append(NamedPin(row[0], pin))
def print_named(self, label, named_pins):
print('STATIC const mp_rom_map_elem_t pin_{:s}_pins_locals_dict_table[] = {{'.format(label))
for named_pin in named_pins:
pin = named_pin.pin()
if pin.is_board_pin():
print(' {{ MP_ROM_QSTR(MP_QSTR_{:s}), MP_ROM_PTR(&pin_{:s}) }},'.format(named_pin.name(), pin.cpu_pin_name()))
print('};')
print('MP_DEFINE_CONST_DICT(pin_{:s}_pins_locals_dict, pin_{:s}_pins_locals_dict_table);'.format(label, label));
def print(self):
for named_pin in self.cpu_pins:
pin = named_pin.pin()
if pin.is_board_pin():
pin.print()
self.print_named('cpu', self.cpu_pins)
print('')
self.print_named('board', self.board_pins)
def print_adc(self, adc_num):
print('');
print('const pin_obj_t * const pin_adc{:d}[] = {{'.format(adc_num))
for channel in range(16):
adc_found = False
for named_pin in self.cpu_pins:
pin = named_pin.pin()
if (pin.is_board_pin() and
(pin.adc_num & (1 << (adc_num - 1))) and (pin.adc_channel == channel)):
print(' &pin_{:s}, // {:d}'.format(pin.cpu_pin_name(), channel))
adc_found = True
break
if not adc_found:
print(' NULL, // {:d}'.format(channel))
print('};')
def print_header(self, hdr_filename):
with open(hdr_filename, 'wt') as hdr_file:
for named_pin in self.cpu_pins:
pin = named_pin.pin()
if pin.is_board_pin():
pin.print_header(hdr_file)
hdr_file.write('extern const pin_obj_t * const pin_adc1[];\n')
hdr_file.write('extern const pin_obj_t * const pin_adc2[];\n')
hdr_file.write('extern const pin_obj_t * const pin_adc3[];\n')
def print_qstr(self, qstr_filename):
with open(qstr_filename, 'wt') as qstr_file:
qstr_set = set([])
for named_pin in self.cpu_pins:
pin = named_pin.pin()
if pin.is_board_pin():
qstr_set |= set(pin.qstr_list())
qstr_set |= set([named_pin.name()])
for named_pin in self.board_pins:
qstr_set |= set([named_pin.name()])
for qstr in sorted(qstr_set):
print('Q({})'.format(qstr), file=qstr_file)
def print_af_hdr(self, af_const_filename):
with open(af_const_filename, 'wt') as af_const_file:
af_hdr_set = set([])
mux_name_width = 0
for named_pin in self.cpu_pins:
pin = named_pin.pin()
if pin.is_board_pin():
for af in pin.alt_fn:
if af.is_supported():
mux_name = af.mux_name()
af_hdr_set |= set([mux_name])
if len(mux_name) > mux_name_width:
mux_name_width = len(mux_name)
for mux_name in sorted(af_hdr_set):
key = 'MP_OBJ_NEW_QSTR(MP_QSTR_{}),'.format(mux_name)
val = 'MP_OBJ_NEW_SMALL_INT(GPIO_{})'.format(mux_name)
print(' { %-*s %s },' % (mux_name_width + 26, key, val),
file=af_const_file)
def print_af_py(self, af_py_filename):
with open(af_py_filename, 'wt') as af_py_file:
print('PINS_AF = (', file=af_py_file);
for named_pin in self.board_pins:
print(" ('%s', " % named_pin.name(), end='', file=af_py_file)
for af in named_pin.pin().alt_fn:
if af.is_supported():
print("(%d, '%s'), " % (af.idx, af.af_str), end='', file=af_py_file)
print('),', file=af_py_file)
print(')', file=af_py_file)
def main():
parser = argparse.ArgumentParser(
prog="make-pins.py",
usage="%(prog)s [options] [command]",
description="Generate board specific pin file"
)
parser.add_argument(
"-a", "--af",
dest="af_filename",
help="Specifies the alternate function file for the chip",
default="mk20dx256_af.csv"
)
parser.add_argument(
"--af-const",
dest="af_const_filename",
help="Specifies header file for alternate function constants.",
default="build/pins_af_const.h"
)
parser.add_argument(
"--af-py",
dest="af_py_filename",
help="Specifies the filename for the python alternate function mappings.",
default="build/pins_af.py"
)
parser.add_argument(
"-b", "--board",
dest="board_filename",
help="Specifies the board file",
)
parser.add_argument(
"-p", "--prefix",
dest="prefix_filename",
help="Specifies beginning portion of generated pins file",
default="mk20dx256_prefix.c"
)
parser.add_argument(
"-q", "--qstr",
dest="qstr_filename",
help="Specifies name of generated qstr header file",
default="build/pins_qstr.h"
)
parser.add_argument(
"-r", "--hdr",
dest="hdr_filename",
help="Specifies name of generated pin header file",
default="build/pins.h"
)
args = parser.parse_args(sys.argv[1:])
pins = Pins()
print('// This file was automatically generated by make-pins.py')
print('//')
if args.af_filename:
print('// --af {:s}'.format(args.af_filename))
pins.parse_af_file(args.af_filename, 4, 3)
if args.board_filename:
print('// --board {:s}'.format(args.board_filename))
pins.parse_board_file(args.board_filename)
if args.prefix_filename:
print('// --prefix {:s}'.format(args.prefix_filename))
print('')
with open(args.prefix_filename, 'r') as prefix_file:
print(prefix_file.read())
pins.print()
pins.print_adc(1)
pins.print_adc(2)
pins.print_adc(3)
pins.print_header(args.hdr_filename)
pins.print_qstr(args.qstr_filename)
pins.print_af_hdr(args.af_const_filename)
pins.print_af_py(args.af_py_filename)
if __name__ == "__main__":
main()

12
ports/teensy/memzip_files/boot.py
View File

@ -1,12 +0,0 @@
import pyb
print("Executing boot.py")
def pins():
for pin_name in dir(pyb.Pin.board):
pin = pyb.Pin(pin_name)
print('{:10s} {:s}'.format(pin_name, str(pin)))
def af():
for pin_name in dir(pyb.Pin.board):
pin = pyb.Pin(pin_name)
print('{:10s} {:s}'.format(pin_name, str(pin.af_list())))

15
ports/teensy/memzip_files/main.py
View File

@ -1,15 +0,0 @@
import pyb
print("Executing main.py")
led = pyb.LED(1)
led.on()
pyb.delay(100)
led.off()
pyb.delay(100)
led.on()
pyb.delay(100)
led.off()

176
ports/teensy/mk20dx256.ld
View File

@ -1,176 +0,0 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
MEMORY
{
FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 256K
RAM (rwx) : ORIGIN = 0x1FFF8000, LENGTH = 64K
}
/* produce a link error if there is not this amount of RAM for these sections */
_minimum_stack_size = 2K;
_minimum_heap_size = 16K;
/* INCLUDE common.ld */
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 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.
*/
SECTIONS
{
.text : {
. = 0;
KEEP(*(.vectors))
*(.startup*)
/* TODO: does linker detect startup overflow onto flashconfig? */
. = 0x400;
KEEP(*(.flashconfig*))
*(.text*)
*(.rodata*)
. = ALIGN(4);
KEEP(*(.init))
. = ALIGN(4);
__preinit_array_start = .;
KEEP (*(.preinit_array))
__preinit_array_end = .;
__init_array_start = .;
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array))
__init_array_end = .;
} > FLASH = 0xFF
.ARM.exidx : {
__exidx_start = .;
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
__exidx_end = .;
} > FLASH
_etext = .;
.usbdescriptortable (NOLOAD) : {
/* . = ORIGIN(RAM); */
. = ALIGN(512);
*(.usbdescriptortable*)
} > RAM
.dmabuffers (NOLOAD) : {
. = ALIGN(4);
*(.dmabuffers*)
} > RAM
.usbbuffers (NOLOAD) : {
. = ALIGN(4);
*(.usbbuffers*)
} > RAM
/* used by the startup to initialize data */
_sidata = LOADADDR(.data);
.data : AT (_etext) {
. = ALIGN(4);
_sdata = .;
_ram_start = .;
*(.data*)
. = ALIGN(4);
_edata = .;
} > RAM
/*
* _staticfs is the place in flash where the static filesystem which
* is concatenated to the .hex file will wind up.
*/
_staticfs = LOADADDR(.data) + SIZEOF(.data);
.noinit (NOLOAD) : {
*(.noinit*)
} > RAM
.bss : {
. = ALIGN(4);
_sbss = .;
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .;
__bss_end = .;
} > RAM
/* this is to define the start of the heap, and make sure we have a minimum size */
.heap :
{
. = ALIGN(4);
_heap_start = .; /* define a global symbol at heap start */
. = . + _minimum_heap_size;
} >RAM
/* this just checks there is enough RAM for the stack */
.stack :
{
. = ALIGN(4);
. = . + _minimum_stack_size;
. = ALIGN(4);
} >RAM
_estack = ORIGIN(RAM) + LENGTH(RAM);
_ram_end = ORIGIN(RAM) + LENGTH(RAM);
_heap_end = ORIGIN(RAM) + 0xe000;
}

65
ports/teensy/mk20dx256_af.csv
View File

@ -1,65 +0,0 @@
Pin,Name,Default,ALT0,ALT1,ALT2,ALT3,ALT4,ALT5,ALT6,ALT7,EzPort
1,PTE0,ADC1_SE4a,ADC1_SE4a,PTE0,SPI1_PCS1,UART1_TX,,,I2C1_SDA,RTC_CLKOUT,
2,PTE1/LLWU_P0,ADC1_SE5a,ADC1_SE5a,PTE1/LLWU_P0,SPI1_SOUT,UART1_RX,,,I2C1_SCL,SPI1_SIN,
3,VDD,VDD,VDD,,,,,,,,
4,VSS,VSS,VSS,,,,,,,,
5,USB0_DP,USB0_DP,USB0_DP,,,,,,,,
6,USB0_DM,USB0_DM,USB0_DM,,,,,,,,
7,VOUT33,VOUT33,VOUT33,,,,,,,,
8,VREGIN,VREGIN,VREGIN,,,,,,,,
9,PGA0_DP/ADC0_DP0/ADC1_DP3,PGA0_DP/ADC0_DP0/ADC1_DP3,PGA0_DP/ADC0_DP0/ADC1_DP3,PTZ0,,,,,,,
10,PGA0_DM/ADC0_DM0/ADC1_DM3,PGA0_DM/ADC0_DM0/ADC1_DM3,PGA0_DM/ADC0_DM0/ADC1_DM3,PTZ1,,,,,,,
11,PGA1_DP/ADC1_DP0/ADC0_DP3,PGA1_DP/ADC1_DP0/ADC0_DP3,PGA1_DP/ADC1_DP0/ADC0_DP3,PTZ2,,,,,,,
12,PGA1_DM/ADC1_DM0/ADC0_DM3,PGA1_DM/ADC1_DM0/ADC0_DM3,PGA1_DM/ADC1_DM0/ADC0_DM3,PTZ3,,,,,,,
13,VDDA,VDDA,VDDA,,,,,,,,
14,VREFH,VREFH,VREFH,,,,,,,,
15,VREFL,VREFL,VREFL,,,,,,,,
16,VSSA,VSSA,VSSA,,,,,,,,
17,VREF_OUT/CMP1_IN5/CMP0_IN5/ADC1_SE18,VREF_OUT/CMP1_IN5/CMP0_IN5/ADC1_SE18,VREF_OUT/CMP1_IN5/CMP0_IN5/ADC1_SE18,PTZ4,,,,,,,
18,DAC0_OUT/CMP1_IN3/ADC0_SE23,DAC0_OUT/CMP1_IN3/ADC0_SE23,DAC0_OUT/CMP1_IN3/ADC0_SE23,PTZ5,,,,,,,
19,XTAL32,XTAL32,XTAL32,,,,,,,,
20,EXTAL32,EXTAL32,EXTAL32,,,,,,,,
21,VBAT,VBAT,VBAT,,,,,,,,
22,PTA0,JTAG_TCLK/SWD_CLK/EZP_CLK,TSI0_CH1,PTA0,UART0_CTS_b/UART0_COL_b,FTM0_CH5,,,,JTAG_TCLK/SWD_CLK,EZP_CLK
23,PTA1,JTAG_TDI/EZP_DI,TSI0_CH2,PTA1,UART0_RX,FTM0_CH6,,,,JTAG_TDI,EZP_DI
24,PTA2,JTAG_TDO/TRACE_SWO/EZP_DO,TSI0_CH3,PTA2,UART0_TX,FTM0_CH7,,,,JTAG_TDO/TRACE_SWO,EZP_DO
25,PTA3,JTAG_TMS/SWD_DIO,TSI0_CH4,PTA3,UART0_RTS_b,FTM0_CH0,,,,JTAG_TMS/SWD_DIO,
26,PTA4/LLWU_P3,NMI_b/EZP_CS_b,TSI0_CH5,PTA4/LLWU_P3,,FTM0_CH1,,,NMI_b,EZP_CS_b,
27,PTA5,DISABLED,,PTA5,USB_CLKIN,FTM0_CH2,,CMP2_OUT,I2S0_TX_BCLK,JTAG_TRST_b,
28,PTA12,CMP2_IN0,CMP2_IN0,PTA12,CAN0_TX,FTM1_CH0,,,I2S0_TXD0,FTM1_QD_PHA,
29,PTA13/LLWU_P4,CMP2_IN1,CMP2_IN1,PTA13/LLWU_P4,CAN0_RX,FTM1_CH1,,,I2S0_TX_FS,FTM1_QD_PHB,
30,VDD,VDD,VDD,,,,,,,,
31,VSS,VSS,VSS,,,,,,,,
32,PTA18,EXTAL0,EXTAL0,PTA18,,FTM0_FLT2,FTM_CLKIN0,,,,
33,PTA19,XTAL0,XTAL0,PTA19,,FTM1_FLT0,FTM_CLKIN1,,LPTMR0_ALT1,,
34,RESET_b,RESET_b,RESET_b,,,,,,,,
35,PTB0/LLWU_P5,ADC0_SE8/ADC1_SE8/TSI0_CH0,ADC0_SE8/ADC1_SE8/TSI0_CH0,PTB0/LLWU_P5,I2C0_SCL,FTM1_CH0,,,FTM1_QD_PHA,,
36,PTB1,ADC0_SE9/ADC1_SE9/TSI0_CH6,ADC0_SE9/ADC1_SE9/TSI0_CH6,PTB1,I2C0_SDA,FTM1_CH1,,,FTM1_QD_PHB,,
37,PTB2,ADC0_SE12/TSI0_CH7,ADC0_SE12/TSI0_CH7,PTB2,I2C0_SCL,UART0_RTS_b,,,FTM0_FLT3,,
38,PTB3,ADC0_SE13/TSI0_CH8,ADC0_SE13/TSI0_CH8,PTB3,I2C0_SDA,UART0_CTS_b/UART0_COL_b,,,FTM0_FLT0,,
39,PTB16,TSI0_CH9,TSI0_CH9,PTB16,SPI1_SOUT,UART0_RX,,FB_AD17,EWM_IN,,
40,PTB17,TSI0_CH10,TSI0_CH10,PTB17,SPI1_SIN,UART0_TX,,FB_AD16,EWM_OUT_b,,
41,PTB18,TSI0_CH11,TSI0_CH11,PTB18,CAN0_TX,FTM2_CH0,I2S0_TX_BCLK,FB_AD15,FTM2_QD_PHA,,
42,PTB19,TSI0_CH12,TSI0_CH12,PTB19,CAN0_RX,FTM2_CH1,I2S0_TX_FS,FB_OE_b,FTM2_QD_PHB,,
43,PTC0,ADC0_SE14/TSI0_CH13,ADC0_SE14/TSI0_CH13,PTC0,SPI0_PCS4,PDB0_EXTRG,,FB_AD14,I2S0_TXD1,,
44,PTC1/LLWU_P6,ADC0_SE15/TSI0_CH14,ADC0_SE15/TSI0_CH14,PTC1/LLWU_P6,SPI0_PCS3,UART1_RTS_b,FTM0_CH0,FB_AD13,I2S0_TXD0,,
45,PTC2,ADC0_SE4b/CMP1_IN0/TSI0_CH15,ADC0_SE4b/CMP1_IN0/TSI0_CH15,PTC2,SPI0_PCS2,UART1_CTS_b,FTM0_CH1,FB_AD12,I2S0_TX_FS,,
46,PTC3/LLWU_P7,CMP1_IN1,CMP1_IN1,PTC3/LLWU_P7,SPI0_PCS1,UART1_RX,FTM0_CH2,CLKOUT,I2S0_TX_BCLK,,
47,VSS,VSS,VSS,,,,,,,,
48,VDD,VDD,VDD,,,,,,,,
49,PTC4/LLWU_P8,DISABLED,,PTC4/LLWU_P8,SPI0_PCS0,UART1_TX,FTM0_CH3,FB_AD11,CMP1_OUT,,
50,PTC5/LLWU_P9,DISABLED,,PTC5/LLWU_P9,SPI0_SCK,LPTMR0_ALT2,I2S0_RXD0,FB_AD10,CMP0_OUT,,
51,PTC6/LLWU_P10,CMP0_IN0,CMP0_IN0,PTC6/LLWU_P10,SPI0_SOUT,PDB0_EXTRG,I2S0_RX_BCLK,FB_AD9,I2S0_MCLK,,
52,PTC7,CMP0_IN1,CMP0_IN1,PTC7,SPI0_SIN,USB_SOF_OUT,I2S0_RX_FS,FB_AD8,,,
53,PTC8,ADC1_SE4b/CMP0_IN2,ADC1_SE4b/CMP0_IN2,PTC8,,,I2S0_MCLK,FB_AD7,,,
54,PTC9,ADC1_SE5b/CMP0_IN3,ADC1_SE5b/CMP0_IN3,PTC9,,,I2S0_RX_BCLK,FB_AD6,FTM2_FLT0,,
55,PTC10,ADC1_SE6b,ADC1_SE6b,PTC10,I2C1_SCL,,I2S0_RX_FS,FB_AD5,,,
56,PTC11/LLWU_P11,ADC1_SE7b,ADC1_SE7b,PTC11/LLWU_P11,I2C1_SDA,,I2S0_RXD1,FB_RW_b,,,
57,PTD0/LLWU_P12,DISABLED,,PTD0/LLWU_P12,SPI0_PCS0,UART2_RTS_b,,FB_ALE/FB_CS1_b/FB_TS_b,,,
58,PTD1,ADC0_SE5b,ADC0_SE5b,PTD1,SPI0_SCK,UART2_CTS_b,,FB_CS0_b,,,
59,PTD2/LLWU_P13,DISABLED,,PTD2/LLWU_P13,SPI0_SOUT,UART2_RX,,FB_AD4,,,
60,PTD3,DISABLED,,PTD3,SPI0_SIN,UART2_TX,,FB_AD3,,,
61,PTD4/LLWU_P14,DISABLED,,PTD4/LLWU_P14,SPI0_PCS1,UART0_RTS_b,FTM0_CH4,FB_AD2,EWM_IN,,
62,PTD5,ADC0_SE6b,ADC0_SE6b,PTD5,SPI0_PCS2,UART0_CTS_b/UART0_COL_b,FTM0_CH5,FB_AD1,EWM_OUT_b,,
63,PTD6/LLWU_P15,ADC0_SE7b,ADC0_SE7b,PTD6/LLWU_P15,SPI0_PCS3,UART0_RX,FTM0_CH6,FB_AD0,FTM0_FLT0f,,
64,PTD7,DISABLED,,PTD7,CMT_IRO,UART0_TX,FTM0_CH7,,FTM0_FLT1,,
1 Pin Name Default ALT0 ALT1 ALT2 ALT3 ALT4 ALT5 ALT6 ALT7 EzPort
2 1 PTE0 ADC1_SE4a ADC1_SE4a PTE0 SPI1_PCS1 UART1_TX I2C1_SDA RTC_CLKOUT
3 2 PTE1/LLWU_P0 ADC1_SE5a ADC1_SE5a PTE1/LLWU_P0 SPI1_SOUT UART1_RX I2C1_SCL SPI1_SIN
4 3 VDD VDD VDD
5 4 VSS VSS VSS
6 5 USB0_DP USB0_DP USB0_DP
7 6 USB0_DM USB0_DM USB0_DM
8 7 VOUT33 VOUT33 VOUT33
9 8 VREGIN VREGIN VREGIN
10 9 PGA0_DP/ADC0_DP0/ADC1_DP3 PGA0_DP/ADC0_DP0/ADC1_DP3 PGA0_DP/ADC0_DP0/ADC1_DP3 PTZ0
11 10 PGA0_DM/ADC0_DM0/ADC1_DM3 PGA0_DM/ADC0_DM0/ADC1_DM3 PGA0_DM/ADC0_DM0/ADC1_DM3 PTZ1
12 11 PGA1_DP/ADC1_DP0/ADC0_DP3 PGA1_DP/ADC1_DP0/ADC0_DP3 PGA1_DP/ADC1_DP0/ADC0_DP3 PTZ2
13 12 PGA1_DM/ADC1_DM0/ADC0_DM3 PGA1_DM/ADC1_DM0/ADC0_DM3 PGA1_DM/ADC1_DM0/ADC0_DM3 PTZ3
14 13 VDDA VDDA VDDA
15 14 VREFH VREFH VREFH
16 15 VREFL VREFL VREFL
17 16 VSSA VSSA VSSA
18 17 VREF_OUT/CMP1_IN5/CMP0_IN5/ADC1_SE18 VREF_OUT/CMP1_IN5/CMP0_IN5/ADC1_SE18 VREF_OUT/CMP1_IN5/CMP0_IN5/ADC1_SE18 PTZ4
19 18 DAC0_OUT/CMP1_IN3/ADC0_SE23 DAC0_OUT/CMP1_IN3/ADC0_SE23 DAC0_OUT/CMP1_IN3/ADC0_SE23 PTZ5
20 19 XTAL32 XTAL32 XTAL32
21 20 EXTAL32 EXTAL32 EXTAL32
22 21 VBAT VBAT VBAT
23 22 PTA0 JTAG_TCLK/SWD_CLK/EZP_CLK TSI0_CH1 PTA0 UART0_CTS_b/UART0_COL_b FTM0_CH5 JTAG_TCLK/SWD_CLK EZP_CLK
24 23 PTA1 JTAG_TDI/EZP_DI TSI0_CH2 PTA1 UART0_RX FTM0_CH6 JTAG_TDI EZP_DI
25 24 PTA2 JTAG_TDO/TRACE_SWO/EZP_DO TSI0_CH3 PTA2 UART0_TX FTM0_CH7 JTAG_TDO/TRACE_SWO EZP_DO
26 25 PTA3 JTAG_TMS/SWD_DIO TSI0_CH4 PTA3 UART0_RTS_b FTM0_CH0 JTAG_TMS/SWD_DIO
27 26 PTA4/LLWU_P3 NMI_b/EZP_CS_b TSI0_CH5 PTA4/LLWU_P3 FTM0_CH1 NMI_b EZP_CS_b
28 27 PTA5 DISABLED PTA5 USB_CLKIN FTM0_CH2 CMP2_OUT I2S0_TX_BCLK JTAG_TRST_b
29 28 PTA12 CMP2_IN0 CMP2_IN0 PTA12 CAN0_TX FTM1_CH0 I2S0_TXD0 FTM1_QD_PHA
30 29 PTA13/LLWU_P4 CMP2_IN1 CMP2_IN1 PTA13/LLWU_P4 CAN0_RX FTM1_CH1 I2S0_TX_FS FTM1_QD_PHB
31 30 VDD VDD VDD
32 31 VSS VSS VSS
33 32 PTA18 EXTAL0 EXTAL0 PTA18 FTM0_FLT2 FTM_CLKIN0
34 33 PTA19 XTAL0 XTAL0 PTA19 FTM1_FLT0 FTM_CLKIN1 LPTMR0_ALT1
35 34 RESET_b RESET_b RESET_b
36 35 PTB0/LLWU_P5 ADC0_SE8/ADC1_SE8/TSI0_CH0 ADC0_SE8/ADC1_SE8/TSI0_CH0 PTB0/LLWU_P5 I2C0_SCL FTM1_CH0 FTM1_QD_PHA
37 36 PTB1 ADC0_SE9/ADC1_SE9/TSI0_CH6 ADC0_SE9/ADC1_SE9/TSI0_CH6 PTB1 I2C0_SDA FTM1_CH1 FTM1_QD_PHB
38 37 PTB2 ADC0_SE12/TSI0_CH7 ADC0_SE12/TSI0_CH7 PTB2 I2C0_SCL UART0_RTS_b FTM0_FLT3
39 38 PTB3 ADC0_SE13/TSI0_CH8 ADC0_SE13/TSI0_CH8 PTB3 I2C0_SDA UART0_CTS_b/UART0_COL_b FTM0_FLT0
40 39 PTB16 TSI0_CH9 TSI0_CH9 PTB16 SPI1_SOUT UART0_RX FB_AD17 EWM_IN
41 40 PTB17 TSI0_CH10 TSI0_CH10 PTB17 SPI1_SIN UART0_TX FB_AD16 EWM_OUT_b
42 41 PTB18 TSI0_CH11 TSI0_CH11 PTB18 CAN0_TX FTM2_CH0 I2S0_TX_BCLK FB_AD15 FTM2_QD_PHA
43 42 PTB19 TSI0_CH12 TSI0_CH12 PTB19 CAN0_RX FTM2_CH1 I2S0_TX_FS FB_OE_b FTM2_QD_PHB
44 43 PTC0 ADC0_SE14/TSI0_CH13 ADC0_SE14/TSI0_CH13 PTC0 SPI0_PCS4 PDB0_EXTRG FB_AD14 I2S0_TXD1
45 44 PTC1/LLWU_P6 ADC0_SE15/TSI0_CH14 ADC0_SE15/TSI0_CH14 PTC1/LLWU_P6 SPI0_PCS3 UART1_RTS_b FTM0_CH0 FB_AD13 I2S0_TXD0
46 45 PTC2 ADC0_SE4b/CMP1_IN0/TSI0_CH15 ADC0_SE4b/CMP1_IN0/TSI0_CH15 PTC2 SPI0_PCS2 UART1_CTS_b FTM0_CH1 FB_AD12 I2S0_TX_FS
47 46 PTC3/LLWU_P7 CMP1_IN1 CMP1_IN1 PTC3/LLWU_P7 SPI0_PCS1 UART1_RX FTM0_CH2 CLKOUT I2S0_TX_BCLK
48 47 VSS VSS VSS
49 48 VDD VDD VDD
50 49 PTC4/LLWU_P8 DISABLED PTC4/LLWU_P8 SPI0_PCS0 UART1_TX FTM0_CH3 FB_AD11 CMP1_OUT
51 50 PTC5/LLWU_P9 DISABLED PTC5/LLWU_P9 SPI0_SCK LPTMR0_ALT2 I2S0_RXD0 FB_AD10 CMP0_OUT
52 51 PTC6/LLWU_P10 CMP0_IN0 CMP0_IN0 PTC6/LLWU_P10 SPI0_SOUT PDB0_EXTRG I2S0_RX_BCLK FB_AD9 I2S0_MCLK
53 52 PTC7 CMP0_IN1 CMP0_IN1 PTC7 SPI0_SIN USB_SOF_OUT I2S0_RX_FS FB_AD8
54 53 PTC8 ADC1_SE4b/CMP0_IN2 ADC1_SE4b/CMP0_IN2 PTC8 I2S0_MCLK FB_AD7
55 54 PTC9 ADC1_SE5b/CMP0_IN3 ADC1_SE5b/CMP0_IN3 PTC9 I2S0_RX_BCLK FB_AD6 FTM2_FLT0
56 55 PTC10 ADC1_SE6b ADC1_SE6b PTC10 I2C1_SCL I2S0_RX_FS FB_AD5
57 56 PTC11/LLWU_P11 ADC1_SE7b ADC1_SE7b PTC11/LLWU_P11 I2C1_SDA I2S0_RXD1 FB_RW_b
58 57 PTD0/LLWU_P12 DISABLED PTD0/LLWU_P12 SPI0_PCS0 UART2_RTS_b FB_ALE/FB_CS1_b/FB_TS_b
59 58 PTD1 ADC0_SE5b ADC0_SE5b PTD1 SPI0_SCK UART2_CTS_b FB_CS0_b
60 59 PTD2/LLWU_P13 DISABLED PTD2/LLWU_P13 SPI0_SOUT UART2_RX FB_AD4
61 60 PTD3 DISABLED PTD3 SPI0_SIN UART2_TX FB_AD3
62 61 PTD4/LLWU_P14 DISABLED PTD4/LLWU_P14 SPI0_PCS1 UART0_RTS_b FTM0_CH4 FB_AD2 EWM_IN
63 62 PTD5 ADC0_SE6b ADC0_SE6b PTD5 SPI0_PCS2 UART0_CTS_b/UART0_COL_b FTM0_CH5 FB_AD1 EWM_OUT_b
64 63 PTD6/LLWU_P15 ADC0_SE7b ADC0_SE7b PTD6/LLWU_P15 SPI0_PCS3 UART0_RX FTM0_CH6 FB_AD0 FTM0_FLT0f
65 64 PTD7 DISABLED PTD7 CMT_IRO UART0_TX FTM0_CH7 FTM0_FLT1

33
ports/teensy/mk20dx256_prefix.c
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@ -1,33 +0,0 @@
// stm32fxx-prefix.c becomes the initial portion of the generated pins file.
#include <stdio.h>
#include <mk20dx128.h>
#include "py/obj.h"
#include "teensy_hal.h"
#include "pin.h"
#define AF(af_idx, af_fn, af_unit, af_type, af_ptr) \
{ \
{ &pin_af_type }, \
.name = MP_QSTR_AF ## af_idx ## _ ## af_fn ## af_unit, \
.idx = (af_idx), \
.fn = AF_FN_ ## af_fn, \
.unit = (af_unit), \
.type = AF_PIN_TYPE_ ## af_fn ## _ ## af_type, \
.reg = (af_ptr) \
}
#define PIN(p_port, p_pin, p_num_af, p_af, p_adc_num, p_adc_channel) \
{ \
{ &pin_type }, \
.name = MP_QSTR_ ## p_port ## p_pin, \
.port = PORT_ ## p_port, \
.pin = (p_pin), \
.num_af = (p_num_af), \
.pin_mask = (1 << (p_pin)), \
.gpio = GPIO ## p_port, \
.af = p_af, \
.adc_num = p_adc_num, \
.adc_channel = p_adc_channel, \
}

358
ports/teensy/modpyb.c
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@ -1,358 +0,0 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* 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:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* 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 <stdint.h>
#include <stdio.h>
#include <mk20dx128.h>
#include "Arduino.h"
#include "py/obj.h"
#include "py/gc.h"
#include "py/mphal.h"
#include "lib/utils/pyexec.h"
#include "gccollect.h"
#include "irq.h"
#include "systick.h"
#include "led.h"
#include "pin.h"
#include "timer.h"
#include "extint.h"
#include "usrsw.h"
#include "rng.h"
//#include "rtc.h"
//#include "i2c.h"
//#include "spi.h"
#include "uart.h"
#include "adc.h"
#include "storage.h"
#include "sdcard.h"
#include "accel.h"
#include "servo.h"
#include "dac.h"
#include "usb.h"
#include "portmodules.h"
/// \module pyb - functions related to the pyboard
///
/// The `pyb` module contains specific functions related to the pyboard.
/// \function bootloader()
/// Activate the bootloader without BOOT* pins.
STATIC mp_obj_t pyb_bootloader(void) {
printf("bootloader command not current supported\n");
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_bootloader_obj, pyb_bootloader);
/// \function info([dump_alloc_table])
/// Print out lots of information about the board.
STATIC mp_obj_t pyb_info(uint n_args, const mp_obj_t *args) {
// get and print unique id; 96 bits
{
byte *id = (byte*)0x40048058;
printf("ID=%02x%02x%02x%02x:%02x%02x%02x%02x:%02x%02x%02x%02x\n", id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7], id[8], id[9], id[10], id[11]);
}
// get and print clock speeds
printf("CPU=%u\nBUS=%u\nMEM=%u\n", F_CPU, F_BUS, F_MEM);
// to print info about memory
{
printf("_etext=%p\n", &_etext);
printf("_sidata=%p\n", &_sidata);
printf("_sdata=%p\n", &_sdata);
printf("_edata=%p\n", &_edata);
printf("_sbss=%p\n", &_sbss);
printf("_ebss=%p\n", &_ebss);
printf("_estack=%p\n", &_estack);
printf("_ram_start=%p\n", &_ram_start);
printf("_heap_start=%p\n", &_heap_start);
printf("_heap_end=%p\n", &_heap_end);
printf("_ram_end=%p\n", &_ram_end);
}
// qstr info
{
uint n_pool, n_qstr, n_str_data_bytes, n_total_bytes;
qstr_pool_info(&n_pool, &n_qstr, &n_str_data_bytes, &n_total_bytes);
printf("qstr:\n n_pool=%u\n n_qstr=%u\n n_str_data_bytes=%u\n n_total_bytes=%u\n", n_pool, n_qstr, n_str_data_bytes, n_total_bytes);
}
// GC info
{
gc_info_t info;
gc_info(&info);
printf("GC:\n");
printf(" " UINT_FMT " total\n", info.total);
printf(" " UINT_FMT " : " UINT_FMT "\n", info.used, info.free);
printf(" 1=" UINT_FMT " 2=" UINT_FMT " m=" UINT_FMT "\n", info.num_1block, info.num_2block, info.max_block);
}
if (n_args == 1) {
// arg given means dump gc allocation table
gc_dump_alloc_table();
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_info_obj, 0, 1, pyb_info);
/// \function unique_id()
/// Returns a string of 12 bytes (96 bits), which is the unique ID for the MCU.
STATIC mp_obj_t pyb_unique_id(void) {
byte *id = (byte*)0x40048058;
return mp_obj_new_bytes(id, 12);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_unique_id_obj, pyb_unique_id);
/// \function freq()
/// Return a tuple of clock frequencies: (SYSCLK, HCLK, PCLK1, PCLK2).
// TODO should also be able to set frequency via this function
STATIC mp_obj_t pyb_freq(void) {
mp_obj_t tuple[3] = {
mp_obj_new_int(F_CPU),
mp_obj_new_int(F_BUS),
mp_obj_new_int(F_MEM),
};
return mp_obj_new_tuple(3, tuple);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_freq_obj, pyb_freq);
/// \function sync()
/// Sync all file systems.
STATIC mp_obj_t pyb_sync(void) {
printf("sync not currently implemented\n");
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_sync_obj, pyb_sync);
/// \function millis()
/// Returns the number of milliseconds since the board was last reset.
///
/// The result is always a MicroPython smallint (31-bit signed number), so
/// after 2^30 milliseconds (about 12.4 days) this will start to return
/// negative numbers.
STATIC mp_obj_t pyb_millis(void) {
// We want to "cast" the 32 bit unsigned into a small-int. This means
// copying the MSB down 1 bit (extending the sign down), which is
// equivalent to just using the MP_OBJ_NEW_SMALL_INT macro.
return MP_OBJ_NEW_SMALL_INT(mp_hal_ticks_ms());
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_millis_obj, pyb_millis);
/// \function elapsed_millis(start)
/// Returns the number of milliseconds which have elapsed since `start`.
///
/// This function takes care of counter wrap, and always returns a positive
/// number. This means it can be used to measure periods upto about 12.4 days.
///
/// Example:
/// start = pyb.millis()
/// while pyb.elapsed_millis(start) < 1000:
/// # Perform some operation
STATIC mp_obj_t pyb_elapsed_millis(mp_obj_t start) {
uint32_t startMillis = mp_obj_get_int(start);
uint32_t currMillis = mp_hal_ticks_ms();
return MP_OBJ_NEW_SMALL_INT((currMillis - startMillis) & 0x3fffffff);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_elapsed_millis_obj, pyb_elapsed_millis);
/// \function micros()
/// Returns the number of microseconds since the board was last reset.
///
/// The result is always a MicroPython smallint (31-bit signed number), so
/// after 2^30 microseconds (about 17.8 minutes) this will start to return
/// negative numbers.
STATIC mp_obj_t pyb_micros(void) {
// We want to "cast" the 32 bit unsigned into a small-int. This means
// copying the MSB down 1 bit (extending the sign down), which is
// equivalent to just using the MP_OBJ_NEW_SMALL_INT macro.
return MP_OBJ_NEW_SMALL_INT(micros());
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_micros_obj, pyb_micros);
/// \function elapsed_micros(start)
/// Returns the number of microseconds which have elapsed since `start`.
///
/// This function takes care of counter wrap, and always returns a positive
/// number. This means it can be used to measure periods upto about 17.8 minutes.
///
/// Example:
/// start = pyb.micros()
/// while pyb.elapsed_micros(start) < 1000:
/// # Perform some operation
STATIC mp_obj_t pyb_elapsed_micros(mp_obj_t start) {
uint32_t startMicros = mp_obj_get_int(start);
uint32_t currMicros = micros();
return MP_OBJ_NEW_SMALL_INT((currMicros - startMicros) & 0x3fffffff);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_elapsed_micros_obj, pyb_elapsed_micros);
/// \function delay(ms)
/// Delay for the given number of milliseconds.
STATIC mp_obj_t pyb_delay(mp_obj_t ms_in) {
mp_int_t ms = mp_obj_get_int(ms_in);
if (ms >= 0) {
mp_hal_delay_ms(ms);
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_delay_obj, pyb_delay);
/// \function udelay(us)
/// Delay for the given number of microseconds.
STATIC mp_obj_t pyb_udelay(mp_obj_t usec_in) {
mp_int_t usec = mp_obj_get_int(usec_in);
delayMicroseconds(usec);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_udelay_obj, pyb_udelay);
STATIC mp_obj_t pyb_stop(void) {
printf("stop not currently implemented\n");
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_stop_obj, pyb_stop);
STATIC mp_obj_t pyb_standby(void) {
printf("standby not currently implemented\n");
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_standby_obj, pyb_standby);
/// \function have_cdc()
/// Return True if USB is connected as a serial device, False otherwise.
STATIC mp_obj_t pyb_have_cdc(void ) {
return mp_obj_new_bool(usb_vcp_is_connected());
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_have_cdc_obj, pyb_have_cdc);
/// \function hid((buttons, x, y, z))
/// Takes a 4-tuple (or list) and sends it to the USB host (the PC) to
/// signal a HID mouse-motion event.
STATIC mp_obj_t pyb_hid_send_report(mp_obj_t arg) {
#if 1
printf("hid_send_report not currently implemented\n");
#else
mp_obj_t *items;
mp_obj_get_array_fixed_n(arg, 4, &items);
uint8_t data[4];
data[0] = mp_obj_get_int(items[0]);
data[1] = mp_obj_get_int(items[1]);
data[2] = mp_obj_get_int(items[2]);
data[3] = mp_obj_get_int(items[3]);
usb_hid_send_report(data);
#endif
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_hid_send_report_obj, pyb_hid_send_report);
MP_DECLARE_CONST_FUN_OBJ_1(pyb_source_dir_obj); // defined in main.c
MP_DECLARE_CONST_FUN_OBJ_1(pyb_main_obj); // defined in main.c
MP_DECLARE_CONST_FUN_OBJ_1(pyb_usb_mode_obj); // defined in main.c
STATIC const mp_rom_map_elem_t pyb_module_globals_table[] = {
{ MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_pyb) },
{ MP_ROM_QSTR(MP_QSTR_bootloader), MP_ROM_PTR(&pyb_bootloader_obj) },
{ MP_ROM_QSTR(MP_QSTR_info), MP_ROM_PTR(&pyb_info_obj) },
{ MP_ROM_QSTR(MP_QSTR_unique_id), MP_ROM_PTR(&pyb_unique_id_obj) },
{ MP_ROM_QSTR(MP_QSTR_freq), MP_ROM_PTR(&pyb_freq_obj) },
{ MP_ROM_QSTR(MP_QSTR_repl_info), MP_ROM_PTR(&pyb_set_repl_info_obj) },
{ MP_ROM_QSTR(MP_QSTR_wfi), MP_ROM_PTR(&pyb_wfi_obj) },
{ MP_ROM_QSTR(MP_QSTR_disable_irq), MP_ROM_PTR(&pyb_disable_irq_obj) },
{ MP_ROM_QSTR(MP_QSTR_enable_irq), MP_ROM_PTR(&pyb_enable_irq_obj) },
{ MP_ROM_QSTR(MP_QSTR_stop), MP_ROM_PTR(&pyb_stop_obj) },
{ MP_ROM_QSTR(MP_QSTR_standby), MP_ROM_PTR(&pyb_standby_obj) },
{ MP_ROM_QSTR(MP_QSTR_source_dir), MP_ROM_PTR(&pyb_source_dir_obj) },
{ MP_ROM_QSTR(MP_QSTR_main), MP_ROM_PTR(&pyb_main_obj) },
{ MP_ROM_QSTR(MP_QSTR_usb_mode), MP_ROM_PTR(&pyb_usb_mode_obj) },
{ MP_ROM_QSTR(MP_QSTR_have_cdc), MP_ROM_PTR(&pyb_have_cdc_obj) },
{ MP_ROM_QSTR(MP_QSTR_hid), MP_ROM_PTR(&pyb_hid_send_report_obj) },
{ MP_ROM_QSTR(MP_QSTR_millis), MP_ROM_PTR(&pyb_millis_obj) },
{ MP_ROM_QSTR(MP_QSTR_elapsed_millis), MP_ROM_PTR(&pyb_elapsed_millis_obj) },
{ MP_ROM_QSTR(MP_QSTR_micros), MP_ROM_PTR(&pyb_micros_obj) },
{ MP_ROM_QSTR(MP_QSTR_elapsed_micros), MP_ROM_PTR(&pyb_elapsed_micros_obj) },
{ MP_ROM_QSTR(MP_QSTR_delay), MP_ROM_PTR(&pyb_delay_obj) },
{ MP_ROM_QSTR(MP_QSTR_udelay), MP_ROM_PTR(&pyb_udelay_obj) },
{ MP_ROM_QSTR(MP_QSTR_sync), MP_ROM_PTR(&pyb_sync_obj) },
{ MP_ROM_QSTR(MP_QSTR_Timer), MP_ROM_PTR(&pyb_timer_type) },
//#if MICROPY_HW_ENABLE_RNG
// { MP_ROM_QSTR(MP_QSTR_rng), MP_ROM_PTR(&pyb_rng_get_obj) },
//#endif
//#if MICROPY_HW_ENABLE_RTC
// { MP_ROM_QSTR(MP_QSTR_RTC), MP_ROM_PTR(&pyb_rtc_type) },
//#endif
{ MP_ROM_QSTR(MP_QSTR_Pin), MP_ROM_PTR(&pin_type) },
// { MP_ROM_QSTR(MP_QSTR_ExtInt), MP_ROM_PTR(&extint_type) },
#if MICROPY_HW_ENABLE_SERVO
{ MP_ROM_QSTR(MP_QSTR_pwm), MP_ROM_PTR(&pyb_pwm_set_obj) },
{ MP_ROM_QSTR(MP_QSTR_servo), MP_ROM_PTR(&pyb_servo_set_obj) },
{ MP_ROM_QSTR(MP_QSTR_Servo), MP_ROM_PTR(&pyb_servo_type) },
#endif
#if MICROPY_HW_HAS_SWITCH
{ MP_ROM_QSTR(MP_QSTR_Switch), MP_ROM_PTR(&pyb_switch_type) },
#endif
//#if MICROPY_HW_HAS_SDCARD
// { MP_ROM_QSTR(MP_QSTR_SD), MP_ROM_PTR(&pyb_sdcard_obj) },
//#endif
{ MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&pyb_led_type) },
// { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&pyb_i2c_type) },
// { MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&pyb_spi_type) },
{ MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&pyb_uart_type) },
// { MP_ROM_QSTR(MP_QSTR_ADC), MP_ROM_PTR(&pyb_adc_type) },
// { MP_ROM_QSTR(MP_QSTR_ADCAll), MP_ROM_PTR(&pyb_adc_all_type) },
//#if MICROPY_HW_ENABLE_DAC
// { MP_ROM_QSTR(MP_QSTR_DAC), MP_ROM_PTR(&pyb_dac_type) },
//#endif
//#if MICROPY_HW_HAS_MMA7660
// { MP_ROM_QSTR(MP_QSTR_Accel), MP_ROM_PTR(&pyb_accel_type) },
//#endif
};
STATIC MP_DEFINE_CONST_DICT(pyb_module_globals, pyb_module_globals_table);
const mp_obj_module_t pyb_module = {
.base = { &mp_type_module },
.globals = (mp_obj_dict_t*)&pyb_module_globals,
};

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ports/teensy/mpconfigport.h
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#include <stdint.h>
// options to control how MicroPython is built
#define MICROPY_ALLOC_PATH_MAX (128)
#define MICROPY_EMIT_THUMB (1)
#define MICROPY_EMIT_INLINE_THUMB (1)
#define MICROPY_ENABLE_GC (1)
#define MICROPY_ENABLE_FINALISER (1)
#define MICROPY_STACK_CHECK (1)
#define MICROPY_HELPER_REPL (1)
#define MICROPY_ENABLE_SOURCE_LINE (1)
#define MICROPY_LONGINT_IMPL (MICROPY_LONGINT_IMPL_MPZ)
#define MICROPY_FLOAT_IMPL (MICROPY_FLOAT_IMPL_FLOAT)
#define MICROPY_OPT_COMPUTED_GOTO (1)
#define MICROPY_PY_BUILTINS_INPUT (1)
#define MICROPY_PY_BUILTINS_HELP (1)
#define MICROPY_PY_BUILTINS_HELP_TEXT teensy_help_text
#define MICROPY_PY_IO (0)
#define MICROPY_PY_FROZENSET (1)
#define MICROPY_PY_SYS_EXIT (1)
#define MICROPY_PY_SYS_STDFILES (1)
#define MICROPY_PY_CMATH (1)
#define MICROPY_TIMER_REG (0)
#define MICROPY_REG (MICROPY_TIMER_REG)
#define MICROPY_ENABLE_EMERGENCY_EXCEPTION_BUF (1)
#define MICROPY_EMERGENCY_EXCEPTION_BUF_SIZE (0)
// extra built in names to add to the global namespace
#define MICROPY_PORT_BUILTINS \
// extra built in modules to add to the list of known ones
extern const struct _mp_obj_module_t os_module;
extern const struct _mp_obj_module_t pyb_module;
extern const struct _mp_obj_module_t time_module;
#define MICROPY_PORT_BUILTIN_MODULES \
{ MP_ROM_QSTR(MP_QSTR_pyb), MP_ROM_PTR(&pyb_module) }, \
// extra constants
#define MICROPY_PORT_CONSTANTS \
{ MP_ROM_QSTR(MP_QSTR_pyb), MP_ROM_PTR(&pyb_module) }, \
#define MP_STATE_PORT MP_STATE_VM
#define MICROPY_PORT_ROOT_POINTERS \
const char *readline_hist[8]; \
mp_obj_t pin_class_mapper; \
mp_obj_t pin_class_map_dict; \
struct _pyb_uart_obj_t *pyb_stdio_uart; \
// type definitions for the specific machine
#define UINT_FMT "%u"
#define INT_FMT "%d"
typedef int32_t mp_int_t; // must be pointer size
typedef unsigned int mp_uint_t; // must be pointer size
typedef long mp_off_t;
#define MP_PLAT_PRINT_STRN(str, len) mp_hal_stdout_tx_strn_cooked(str, len)
// We have inlined IRQ functions for efficiency (they are generally
// 1 machine instruction).
//
// Note on IRQ state: you should not need to know the specific
// value of the state variable, but rather just pass the return
// value from disable_irq back to enable_irq. If you really need
// to know the machine-specific values, see irq.h.
#ifndef __disable_irq
#define __disable_irq() __asm__ volatile("CPSID i");
#endif
__attribute__(( always_inline )) static inline uint32_t __get_PRIMASK(void) {
uint32_t result;
__asm volatile ("MRS %0, primask" : "=r" (result));
return(result);
}
__attribute__(( always_inline )) static inline void __set_PRIMASK(uint32_t priMask) {
__asm volatile ("MSR primask, %0" : : "r" (priMask) : "memory");
}
__attribute__(( always_inline )) static inline void enable_irq(mp_uint_t state) {
__set_PRIMASK(state);
}
__attribute__(( always_inline )) static inline mp_uint_t disable_irq(void) {
mp_uint_t state = __get_PRIMASK();
__disable_irq();
return state;
}
#define MICROPY_BEGIN_ATOMIC_SECTION() disable_irq()
#define MICROPY_END_ATOMIC_SECTION(state) enable_irq(state)
// We need to provide a declaration/definition of alloca()
#include <alloca.h>
// The following would be from a board specific file, if one existed
#define MICROPY_HW_BOARD_NAME "Teensy-3.1"
#define MICROPY_HW_MCU_NAME "MK20DX256"
#define MICROPY_HW_HAS_SWITCH (0)
#define MICROPY_HW_HAS_SDCARD (0)
#define MICROPY_HW_HAS_MMA7660 (0)
#define MICROPY_HW_HAS_LIS3DSH (0)
#define MICROPY_HW_HAS_LCD (0)
#define MICROPY_HW_ENABLE_RNG (0)
#define MICROPY_HW_ENABLE_RTC (0)
#define MICROPY_HW_ENABLE_TIMER (0)
#define MICROPY_HW_ENABLE_SERVO (0)
#define MICROPY_HW_ENABLE_DAC (0)
#define MICROPY_HW_ENABLE_I2C1 (0)
#define MICROPY_HW_ENABLE_SPI1 (0)
#define MICROPY_HW_ENABLE_SPI3 (0)
#define MICROPY_HW_ENABLE_CC3K (0)
#define MICROPY_HW_LED1 (pin_C5)
#define MICROPY_HW_LED_OTYPE (GPIO_MODE_OUTPUT_PP)
#define MICROPY_HW_LED_ON(pin) (pin->gpio->PSOR = pin->pin_mask)
#define MICROPY_HW_LED_OFF(pin) (pin->gpio->PCOR = pin->pin_mask)
#if 0
// SD card detect switch
#define MICROPY_HW_SDCARD_DETECT_PIN (pin_A8)
#define MICROPY_HW_SDCARD_DETECT_PULL (GPIO_PULLUP)
#define MICROPY_HW_SDCARD_DETECT_PRESENT (GPIO_PIN_RESET)
#endif
#define MICROPY_MATH_SQRT_ASM (1)
#define MICROPY_MPHALPORT_H "teensy_hal.h"
#define MICROPY_PIN_DEFS_PORT_H "pin_defs_teensy.h"

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ports/teensy/pin_defs_teensy.c
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#include <stdint.h>
#include <mk20dx128.h>
#include "py/runtime.h"
#include "py/mphal.h"
#include "pin.h"
// Returns the pin mode. This value returned by this macro should be one of:
// GPIO_MODE_INPUT, GPIO_MODE_OUTPUT_PP, GPIO_MODE_OUTPUT_OD,
// GPIO_MODE_AF_PP, GPIO_MODE_AF_OD, or GPIO_MODE_ANALOG.
uint32_t pin_get_mode(const pin_obj_t *pin) {
if (pin->gpio == NULL) {
// Analog only pin
return GPIO_MODE_ANALOG;
}
volatile uint32_t *port_pcr = GPIO_PIN_TO_PORT_PCR(pin->gpio, pin->pin);
uint32_t pcr = *port_pcr;
uint32_t af = (pcr & PORT_PCR_MUX_MASK) >> 8;
if (af == 0) {
return GPIO_MODE_ANALOG;
}
if (af == 1) {
if (pin->gpio->PDDR & (1 << pin->pin)) {
if (pcr & PORT_PCR_ODE) {
return GPIO_MODE_OUTPUT_OD;
}
return GPIO_MODE_OUTPUT_PP;
}
return GPIO_MODE_INPUT;
}
if (pcr & PORT_PCR_ODE) {
return GPIO_MODE_AF_OD;
}
return GPIO_MODE_AF_PP;
}
// Returns the pin pullup/pulldown. The value returned by this macro should
// be one of GPIO_NOPULL, GPIO_PULLUP, or GPIO_PULLDOWN.
uint32_t pin_get_pull(const pin_obj_t *pin) {
if (pin->gpio == NULL) {
// Analog only pin
return GPIO_NOPULL;
}
volatile uint32_t *port_pcr = GPIO_PIN_TO_PORT_PCR(pin->gpio, pin->pin);
uint32_t pcr = *port_pcr;
uint32_t af = (pcr & PORT_PCR_MUX_MASK) >> 8;
// pull is only valid for digital modes (hence the af > 0 test)
if (af > 0 && (pcr & PORT_PCR_PE) != 0) {
if (pcr & PORT_PCR_PS) {
return GPIO_PULLUP;
}
return GPIO_PULLDOWN;
}
return GPIO_NOPULL;
}
// Returns the af (alternate function) index currently set for a pin.
uint32_t pin_get_af(const pin_obj_t *pin) {
if (pin->gpio == NULL) {
// Analog only pin
return 0;
}
volatile uint32_t *port_pcr = GPIO_PIN_TO_PORT_PCR(pin->gpio, pin->pin);
return (*port_pcr & PORT_PCR_MUX_MASK) >> 8;
}

43
ports/teensy/pin_defs_teensy.h
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enum {
PORT_A,
PORT_B,
PORT_C,
PORT_D,
PORT_E,
PORT_Z,
};
enum {
AF_FN_FTM,
AF_FN_I2C,
AF_FN_UART,
AF_FN_SPI
};
enum {
AF_PIN_TYPE_FTM_CH0 = 0,
AF_PIN_TYPE_FTM_CH1,
AF_PIN_TYPE_FTM_CH2,
AF_PIN_TYPE_FTM_CH3,
AF_PIN_TYPE_FTM_CH4,
AF_PIN_TYPE_FTM_CH5,
AF_PIN_TYPE_FTM_CH6,
AF_PIN_TYPE_FTM_CH7,
AF_PIN_TYPE_FTM_QD_PHA,
AF_PIN_TYPE_FTM_QD_PHB,
AF_PIN_TYPE_I2C_SDA = 0,
AF_PIN_TYPE_I2C_SCL,
AF_PIN_TYPE_SPI_MOSI = 0,
AF_PIN_TYPE_SPI_MISO,
AF_PIN_TYPE_SPI_SCK,
AF_PIN_TYPE_SPI_NSS,
AF_PIN_TYPE_UART_TX = 0,
AF_PIN_TYPE_UART_RX,
AF_PIN_TYPE_UART_CTS,
AF_PIN_TYPE_UART_RTS,
};
typedef GPIO_TypeDef pin_gpio_t;

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ports/teensy/qstrdefsport.h
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// qstrs specific to this port

47
ports/teensy/reg.c
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#include <stdio.h>
#include <string.h>
#include "py/runtime.h"
#include "reg.h"
#if MICROPY_REG
mp_obj_t reg_cmd(void *base, reg_t *reg, mp_uint_t num_regs, uint n_args, const mp_obj_t *args) {
if (n_args == 0) {
// dump all regs
for (mp_uint_t reg_idx = 0; reg_idx < num_regs; reg_idx++, reg++) {
printf(" %-8s @0x%08x = 0x%08lx\n",
reg->name, (mp_uint_t)base + reg->offset, *(uint32_t *)((uint8_t *)base + reg->offset));
}
return mp_const_none;
}
mp_uint_t addr = 0;
if (MP_OBJ_IS_STR(args[0])) {
const char *name = mp_obj_str_get_str(args[0]);
mp_uint_t reg_idx;
for (reg_idx = 0; reg_idx < num_regs; reg_idx++, reg++) {
if (strcmp(name, reg->name) == 0) {
break;
}
}
if (reg_idx >= num_regs) {
printf("Unknown register: '%s'\n", name);
return mp_const_none;
}
addr = (mp_uint_t)base + reg->offset;
} else {
addr = (mp_uint_t)base + mp_obj_get_int(args[0]);
}
if (n_args < 2) {
// get
printf("0x%08lx\n", *(uint32_t *)addr);
} else {
*(uint32_t *)addr = mp_obj_get_int(args[1]);
}
return mp_const_none;
}
#endif

13
ports/teensy/reg.h
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#ifndef MICROPY_INCLUDED_TEENSY_REG_H
#define MICROPY_INCLUDED_TEENSY_REG_H
typedef struct {
const char *name;
mp_uint_t offset;
} reg_t;
#define REG_ENTRY(st, name) { #name, offsetof(st, name) }
mp_obj_t reg_cmd(void *base, reg_t *reg, mp_uint_t num_reg, uint n_args, const mp_obj_t *args);
#endif // MICROPY_INCLUDED_TEENSY_REG_H

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ports/teensy/servo.c
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#include <stdio.h>
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
#include "nlr.h"
#include "obj.h"
#include "servo.h"
#include "Arduino.h"
#define MAX_SERVOS 12
#define INVALID_SERVO -1
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
#define PDB_CONFIG (PDB_SC_TRGSEL(15) | PDB_SC_PDBEN | PDB_SC_PDBIE \
| PDB_SC_CONT | PDB_SC_PRESCALER(2) | PDB_SC_MULT(0))
#define PDB_PRESCALE 4
#define usToTicks(us) ((us) * (F_BUS / 1000) / PDB_PRESCALE / 1000)
#define ticksToUs(ticks) ((ticks) * PDB_PRESCALE * 1000 / (F_BUS / 1000))
static uint16_t servo_active_mask = 0;
static uint16_t servo_allocated_mask = 0;
static uint8_t servo_pin[MAX_SERVOS];
static uint16_t servo_ticks[MAX_SERVOS];
typedef struct _pyb_servo_obj_t {
mp_obj_base_t base;
uint servo_id;
uint min_usecs;
uint max_usecs;
} pyb_servo_obj_t;
#define clamp(v, min_val, max_val) ((v) < (min_val) ? (min_val) : (v) > (max_val) ? (max_val) : (v))
static float map_uint_to_float(uint x, uint in_min, uint in_max, float out_min, float out_max)
{
return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + (float)out_min;
}
static uint map_float_to_uint(float x, float in_min, float in_max, uint out_min, uint out_max)
{
return (int)((x - in_min) * (float)(out_max - out_min) / (in_max - in_min) + (float)out_min);
}
static mp_obj_t servo_obj_attach(mp_obj_t self_in, mp_obj_t pin_obj) {
pyb_servo_obj_t *self = self_in;
uint pin = mp_obj_get_int(pin_obj);
if (pin > CORE_NUM_DIGITAL) {
goto pin_error;
}
pinMode(pin, OUTPUT);
servo_pin[self->servo_id] = pin;
servo_active_mask |= (1 << self->servo_id);
if (!(SIM_SCGC6 & SIM_SCGC6_PDB)) {
SIM_SCGC6 |= SIM_SCGC6_PDB; // TODO: use bitband for atomic bitset
PDB0_MOD = 0xFFFF;
PDB0_CNT = 0;
PDB0_IDLY = 0;
PDB0_SC = PDB_CONFIG;
// TODO: maybe this should be a higher priority than most
// other interrupts (init all to some default?)
PDB0_SC = PDB_CONFIG | PDB_SC_SWTRIG;
}
NVIC_ENABLE_IRQ(IRQ_PDB);
return mp_const_none;
pin_error:
nlr_raise(mp_obj_new_exception_msg_varg(MP_QSTR_ValueError, "pin %d does not exist", pin));
}
static mp_obj_t servo_obj_detach(mp_obj_t self_in) {
//pyb_servo_obj_t *self = self_in;
return mp_const_none;
}
static mp_obj_t servo_obj_pin(mp_obj_t self_in) {
pyb_servo_obj_t *self = self_in;
return MP_OBJ_NEW_SMALL_INT(servo_pin[self->servo_id]);
}
static mp_obj_t servo_obj_min_usecs(int n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
if (n_args == 1) {
// get min
return MP_OBJ_NEW_SMALL_INT(self->min_usecs);
}
// Set min
self->min_usecs = mp_obj_get_int(args[1]);
return mp_const_none;
}
static mp_obj_t servo_obj_max_usecs(int n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
if (n_args == 1) {
// get max
return MP_OBJ_NEW_SMALL_INT(self->max_usecs);
}
// Set max
self->max_usecs = mp_obj_get_int(args[1]);
return mp_const_none;
}
static mp_obj_t servo_obj_angle(int n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
if (n_args == 1) {
// get
float angle = map_uint_to_float(servo_ticks[self->servo_id],
usToTicks(self->min_usecs),
usToTicks(self->max_usecs),
0.0, 180.0);
return mp_obj_new_float(angle);
}
// Set
float angle = mp_obj_get_float(args[1]);
if (angle < 0.0F) {
angle = 0.0F;
}
if (angle > 180.0F) {
angle = 180.0F;
}
servo_ticks[self->servo_id] = map_float_to_uint(angle,
0.0F, 180.0F,
usToTicks(self->min_usecs),
usToTicks(self->max_usecs));
return mp_const_none;
}
static mp_obj_t servo_obj_usecs(int n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
uint usecs;
if (n_args == 1) {
// get
return MP_OBJ_NEW_SMALL_INT(ticksToUs(servo_ticks[self->servo_id]));
}
// Set
usecs = mp_obj_get_int(args[1]);
if (self->min_usecs < self->max_usecs) {
usecs = clamp(usecs, self->min_usecs, self->max_usecs);
} else {
usecs = clamp(usecs, self->max_usecs, self->min_usecs);
}
servo_ticks[self->servo_id] = usToTicks(usecs);
return mp_const_none;
}
static mp_obj_t servo_obj_attached(mp_obj_t self_in) {
pyb_servo_obj_t *self = self_in;
uint attached = (servo_active_mask & (1 << self->servo_id)) != 0;
return MP_OBJ_NEW_SMALL_INT(attached);
}
static void servo_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_servo_obj_t *self = self_in;
(void)kind;
print(env, "<Servo %lu>", self->servo_id);
}
static MP_DEFINE_CONST_FUN_OBJ_2(servo_obj_attach_obj, servo_obj_attach);
static MP_DEFINE_CONST_FUN_OBJ_1(servo_obj_detach_obj, servo_obj_detach);
static MP_DEFINE_CONST_FUN_OBJ_1(servo_obj_pin_obj, servo_obj_pin);
static MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(servo_obj_min_usecs_obj, 1, 2, servo_obj_min_usecs);
static MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(servo_obj_max_usecs_obj, 1, 2, servo_obj_max_usecs);
static MP_DEFINE_CONST_FUN_OBJ_1(servo_obj_attached_obj, servo_obj_attached);
static MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(servo_obj_angle_obj, 1, 2, servo_obj_angle);
static MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(servo_obj_usecs_obj, 1, 2, servo_obj_usecs);
static const mp_method_t servo_methods[] = {
{ "attach", &servo_obj_attach_obj },
{ "detach", &servo_obj_detach_obj },
{ "pin", &servo_obj_pin_obj },
{ "min_usecs", &servo_obj_min_usecs_obj },
{ "max_usecs", &servo_obj_max_usecs_obj },
{ "attached", &servo_obj_attached_obj },
{ "angle", &servo_obj_angle_obj },
{ "usecs", &servo_obj_usecs_obj },
{ NULL, NULL },
};
/*
* Notes:
*
* ISR needs to know pin #, ticks
*/
static const mp_obj_type_t servo_obj_type = {
{ &mp_type_type },
.name = MP_QSTR_Servo,
.print = servo_obj_print,
.methods = servo_methods,
};
/* servo = pyb.Servo(pin, [min_uecs, [max_usecs]]) */
mp_obj_t pyb_Servo(void) {
uint16_t mask;
pyb_servo_obj_t *self = m_new_obj(pyb_servo_obj_t);
self->base.type = &servo_obj_type;
self->min_usecs = MIN_PULSE_WIDTH;
self->max_usecs = MAX_PULSE_WIDTH;
/* Find an unallocated servo id */
self->servo_id = 0;
for (mask=1; mask < (1<<MAX_SERVOS); mask <<= 1) {
if (!(servo_allocated_mask & mask)) {
servo_allocated_mask |= mask;
servo_active_mask &= ~mask;
servo_ticks[self->servo_id] = usToTicks(DEFAULT_PULSE_WIDTH);
return self;
}
self->servo_id++;
}
m_del_obj(pyb_servo_obj_t, self);
mp_raise_ValueError("No available servo ids");
return mp_const_none;
}
void pdb_isr(void)
{
static int8_t channel = 0, channel_high = MAX_SERVOS;
static uint32_t tick_accum = 0;
uint32_t ticks;
int32_t wait_ticks;
// first, if any channel was left high from the previous
// run, now is the time to shut it off
if (servo_active_mask & (1 << channel_high)) {
digitalWrite(servo_pin[channel_high], LOW);
channel_high = MAX_SERVOS;
}
// search for the next channel to turn on
while (channel < MAX_SERVOS) {
if (servo_active_mask & (1 << channel)) {
digitalWrite(servo_pin[channel], HIGH);
channel_high = channel;
ticks = servo_ticks[channel];
tick_accum += ticks;
PDB0_IDLY += ticks;
PDB0_SC = PDB_CONFIG | PDB_SC_LDOK;
channel++;
return;
}
channel++;
}
// when all channels have output, wait for the
// minimum refresh interval
wait_ticks = usToTicks(REFRESH_INTERVAL) - tick_accum;
if (wait_ticks < usToTicks(100)) wait_ticks = usToTicks(100);
else if (wait_ticks > 60000) wait_ticks = 60000;
tick_accum += wait_ticks;
PDB0_IDLY += wait_ticks;
PDB0_SC = PDB_CONFIG | PDB_SC_LDOK;
// if this wait is enough to satisfy the refresh
// interval, next time begin again at channel zero
if (tick_accum >= usToTicks(REFRESH_INTERVAL)) {
tick_accum = 0;
channel = 0;
}
}

11
ports/teensy/servo.h
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#ifndef MICROPY_INCLUDED_TEENSY_SERVO_H
#define MICROPY_INCLUDED_TEENSY_SERVO_H
void servo_init(void);
extern const mp_obj_type_t pyb_servo_type;
MP_DECLARE_CONST_FUN_OBJ_2(pyb_servo_set_obj);
MP_DECLARE_CONST_FUN_OBJ_2(pyb_pwm_set_obj);
#endif // MICROPY_INCLUDED_TEENSY_SERVO_H

25
ports/teensy/std.h
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#ifndef MICROPY_INCLUDED_TEENSY_STD_H
#define MICROPY_INCLUDED_TEENSY_STD_H
typedef unsigned int size_t;
void __assert_func(void);
void *malloc(size_t n);
void free(void *ptr);
void *realloc(void *ptr, size_t n);
void *memcpy(void *dest, const void *src, size_t n);
void *memmove(void *dest, const void *src, size_t n);
void *memset(void *s, int c, size_t n);
size_t strlen(const char *str);
int strcmp(const char *s1, const char *s2);
int strncmp(const char *s1, const char *s2, size_t n);
char *strcpy(char *dest, const char *src);
char *strcat(char *dest, const char *src);
int printf(const char *fmt, ...);
int snprintf(char *str, size_t size, const char *fmt, ...);
#endif // MICROPY_INCLUDED_TEENSY_STD_H

65
ports/teensy/teensy_hal.c
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#include <stdio.h>
#include <string.h>
#include "py/runtime.h"
#include "py/mphal.h"
#include "usb.h"
#include "uart.h"
#include "Arduino.h"
mp_uint_t mp_hal_ticks_ms(void) {
return millis();
}
void mp_hal_delay_ms(mp_uint_t ms) {
delay(ms);
}
void mp_hal_set_interrupt_char(int c) {
// The teensy 3.1 usb stack doesn't currently have the notion of generating
// an exception when a certain character is received. That just means that
// you can't press Control-C and get your python script to stop.
}
int mp_hal_stdin_rx_chr(void) {
for (;;) {
byte c;
if (usb_vcp_recv_byte(&c) != 0) {
return c;
} else if (MP_STATE_PORT(pyb_stdio_uart) != NULL && uart_rx_any(MP_STATE_PORT(pyb_stdio_uart))) {
return uart_rx_char(MP_STATE_PORT(pyb_stdio_uart));
}
__WFI();
}
}
void mp_hal_stdout_tx_str(const char *str) {
mp_hal_stdout_tx_strn(str, strlen(str));
}
void mp_hal_stdout_tx_strn(const char *str, size_t len) {
if (MP_STATE_PORT(pyb_stdio_uart) != NULL) {
uart_tx_strn(MP_STATE_PORT(pyb_stdio_uart), str, len);
}
if (usb_vcp_is_enabled()) {
usb_vcp_send_strn(str, len);
}
}
void mp_hal_stdout_tx_strn_cooked(const char *str, size_t len) {
// send stdout to UART and USB CDC VCP
if (MP_STATE_PORT(pyb_stdio_uart) != NULL) {
void uart_tx_strn_cooked(pyb_uart_obj_t *uart_obj, const char *str, uint len);
uart_tx_strn_cooked(MP_STATE_PORT(pyb_stdio_uart), str, len);
}
if (usb_vcp_is_enabled()) {
usb_vcp_send_strn_cooked(str, len);
}
}
void mp_hal_gpio_clock_enable(GPIO_TypeDef *gpio) {
}
void extint_register_pin(const void *pin, uint32_t mode, int hard_irq, mp_obj_t callback_obj) {
mp_raise_NotImplementedError(NULL);
}

128
ports/teensy/teensy_hal.h
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#include <mk20dx128.h>
#include "hal_ftm.h"
#ifdef USE_FULL_ASSERT
#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
void assert_failed(uint8_t* file, uint32_t line);
#else
#define assert_param(expr) ((void)0)
#endif /* USE_FULL_ASSERT */
#define HAL_NVIC_EnableIRQ(irq) NVIC_ENABLE_IRQ(irq)
#define GPIOA ((GPIO_TypeDef *)&GPIOA_PDOR)
#define GPIOB ((GPIO_TypeDef *)&GPIOB_PDOR)
#define GPIOC ((GPIO_TypeDef *)&GPIOC_PDOR)
#define GPIOD ((GPIO_TypeDef *)&GPIOD_PDOR)
#define GPIOE ((GPIO_TypeDef *)&GPIOE_PDOR)
#define GPIOZ ((GPIO_TypeDef *)NULL)
#define I2C0 ((I2C_TypeDef *)0x40066000)
#define I2C1 ((I2C_TypeDef *)0x40067000)
#undef SPI0
#define SPI0 ((SPI_TypeDef *)0x4002C000)
#define SPI1 ((SPI_TypeDef *)0x4002D000)
#define UART0 ((UART_TypeDef *)&UART0_BDH)
#define UART1 ((UART_TypeDef *)&UART1_BDH)
#define UART2 ((UART_TypeDef *)&UART2_BDH)
typedef struct {
uint32_t dummy;
} I2C_TypeDef;
typedef struct {
uint32_t dummy;
} UART_TypeDef;
typedef struct {
uint32_t dummy;
} SPI_TypeDef;
typedef struct {
volatile uint32_t PDOR; // Output register
volatile uint32_t PSOR; // Set output register
volatile uint32_t PCOR; // Clear output register
volatile uint32_t PTOR; // Toggle output register
volatile uint32_t PDIR; // Data Input register
volatile uint32_t PDDR; // Data Direction register
} GPIO_TypeDef;
#define GPIO_OUTPUT_TYPE ((uint32_t)0x00000010) // Indicates OD
#define GPIO_MODE_INPUT ((uint32_t)0x00000000)
#define GPIO_MODE_OUTPUT_PP ((uint32_t)0x00000001)
#define GPIO_MODE_OUTPUT_OD ((uint32_t)0x00000011)
#define GPIO_MODE_AF_PP ((uint32_t)0x00000002)
#define GPIO_MODE_AF_OD ((uint32_t)0x00000012)
#define GPIO_MODE_ANALOG ((uint32_t)0x00000003)
#define GPIO_MODE_IT_RISING ((uint32_t)1)
#define GPIO_MODE_IT_FALLING ((uint32_t)2)
#define IS_GPIO_MODE(MODE) (((MODE) == GPIO_MODE_INPUT) ||\
((MODE) == GPIO_MODE_OUTPUT_PP) ||\
((MODE) == GPIO_MODE_OUTPUT_OD) ||\
((MODE) == GPIO_MODE_AF_PP) ||\
((MODE) == GPIO_MODE_AF_OD) ||\
((MODE) == GPIO_MODE_ANALOG))
#define GPIO_NOPULL ((uint32_t)0)
#define GPIO_PULLUP ((uint32_t)1)
#define GPIO_PULLDOWN ((uint32_t)2)
#define IS_GPIO_PULL(PULL) (((PULL) == GPIO_NOPULL) || ((PULL) == GPIO_PULLUP) || \
((PULL) == GPIO_PULLDOWN))
#define GPIO_SPEED_FREQ_LOW ((uint32_t)0)
#define GPIO_SPEED_FREQ_MEDIUM ((uint32_t)1)
#define GPIO_SPEED_FREQ_HIGH ((uint32_t)2)
#define GPIO_SPEED_FREQ_VERY_HIGH ((uint32_t)3)
#define IS_GPIO_AF(af) ((af) >= 0 && (af) <= 7)
typedef struct {
uint32_t Pin;
uint32_t Mode;
uint32_t Pull;
uint32_t Speed;
uint32_t Alternate;
} GPIO_InitTypeDef;
#define GPIO_PORT_TO_PORT_NUM(GPIOx) \
((&GPIOx->PDOR - &GPIOA_PDOR) / (&GPIOB_PDOR - &GPIOA_PDOR))
#define GPIO_PIN_TO_PORT_PCR(GPIOx, pin) \
(&PORTA_PCR0 + (GPIO_PORT_TO_PORT_NUM(GPIOx) * 0x400) + (pin))
#define GPIO_AF2_I2C0 2
#define GPIO_AF2_I2C1 2
#define GPIO_AF2_SPI0 2
#define GPIO_AF3_FTM0 3
#define GPIO_AF3_FTM1 3
#define GPIO_AF3_FTM2 3
#define GPIO_AF3_UART0 3
#define GPIO_AF3_UART1 3
#define GPIO_AF3_UART2 3
#define GPIO_AF4_FTM0 4
#define GPIO_AF6_FTM1 6
#define GPIO_AF6_FTM2 6
#define GPIO_AF6_I2C1 6
#define GPIO_AF7_FTM1 7
__attribute__(( always_inline )) static inline void __WFI(void) {
__asm volatile ("wfi");
}
void mp_hal_set_interrupt_char(int c);
void mp_hal_gpio_clock_enable(GPIO_TypeDef *gpio);
void HAL_GPIO_Init(GPIO_TypeDef *GPIOx, GPIO_InitTypeDef *init);
struct _pin_obj_t;
#define mp_hal_pin_obj_t const struct _pin_obj_t*
#define mp_hal_pin_high(p) (((p)->gpio->PSOR) = (p)->pin_mask)
#define mp_hal_pin_low(p) (((p)->gpio->PCOR) = (p)->pin_mask)
#define mp_hal_pin_read(p) (((p)->gpio->PDIR >> (p)->pin) & 1)
#define mp_hal_pin_write(p, v) do { if (v) { mp_hal_pin_high(p); } else { mp_hal_pin_low(p); } } while (0)

56
ports/teensy/teensy_pins.csv
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@ -1,56 +0,0 @@
D0,PTB16
D1,PTB17
D2,PTD0
D3,PTA12
D4,PTA13
D5,PTD7
D6,PTD4
D7,PTD2
D8,PTD3
D9,PTC3
D10,PTC4
D11,PTC6
D12,PTC7
D13,PTC5
D14,PTD1
D15,PTC0
D16,PTB0
D17,PTB1
D18,PTB3
D19,PTB2
D20,PTD5
D21,PTD6
D22,PTC1
D23,PTC2
D24,PTA5
D25,PTB19
D26,PTE1
D27,PTC9
D28,PTC8
D29,PTC10
D30,PTC11
D31,PTE0
D32,PTB18
D33,PTA4
A0,PTD1
A1,PTC0
A2,PTB0
A3,PTB1
A4,PTB3
A5,PTB2
A6,PTD5
A7,PTD6
A8,PTC1
A9,PTC2
A10,PTZ0
A11,PTZ1
A12,PTZ2
A13,PTZ3
A14,PTZ5
A15,PTE1
A16,PTC9
A17,PTC8
A18,PTC10
A19,PTC11
A20,PTE0
LED,PTC5
1 D0 PTB16
2 D1 PTB17
3 D2 PTD0
4 D3 PTA12
5 D4 PTA13
6 D5 PTD7
7 D6 PTD4
8 D7 PTD2
9 D8 PTD3
10 D9 PTC3
11 D10 PTC4
12 D11 PTC6
13 D12 PTC7
14 D13 PTC5
15 D14 PTD1
16 D15 PTC0
17 D16 PTB0
18 D17 PTB1
19 D18 PTB3
20 D19 PTB2
21 D20 PTD5
22 D21 PTD6
23 D22 PTC1
24 D23 PTC2
25 D24 PTA5
26 D25 PTB19
27 D26 PTE1
28 D27 PTC9
29 D28 PTC8
30 D29 PTC10
31 D30 PTC11
32 D31 PTE0
33 D32 PTB18
34 D33 PTA4
35 A0 PTD1
36 A1 PTC0
37 A2 PTB0
38 A3 PTB1
39 A4 PTB3
40 A5 PTB2
41 A6 PTD5
42 A7 PTD6
43 A8 PTC1
44 A9 PTC2
45 A10 PTZ0
46 A11 PTZ1
47 A12 PTZ2
48 A13 PTZ3
49 A14 PTZ5
50 A15 PTE1
51 A16 PTC9
52 A17 PTC8
53 A18 PTC10
54 A19 PTC11
55 A20 PTE0
56 LED PTC5

991
ports/teensy/timer.c
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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* 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:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* 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 <stdio.h>
#include <stdint.h>
#include <string.h>
#include <stddef.h>
#include "py/runtime.h"
#include "py/gc.h"
#include "py/mphal.h"
#include "pin.h"
#include "reg.h"
#include "timer.h"
typedef enum {
CHANNEL_MODE_PWM_NORMAL,
CHANNEL_MODE_PWM_INVERTED,
CHANNEL_MODE_OC_TIMING,
CHANNEL_MODE_OC_ACTIVE,
CHANNEL_MODE_OC_INACTIVE,
CHANNEL_MODE_OC_TOGGLE,
// CHANNEL_MODE_OC_FORCED_ACTIVE,
// CHANNEL_MODE_OC_FORCED_INACTIVE,
CHANNEL_MODE_IC,
} pyb_channel_mode;
STATIC const struct {
qstr name;
uint32_t oc_mode;
} channel_mode_info[] = {
{ MP_QSTR_PWM, FTM_OCMODE_PWM1 },
{ MP_QSTR_PWM_INVERTED, FTM_OCMODE_PWM2 },
{ MP_QSTR_OC_TIMING, FTM_OCMODE_TIMING },
{ MP_QSTR_OC_ACTIVE, FTM_OCMODE_ACTIVE },
{ MP_QSTR_OC_INACTIVE, FTM_OCMODE_INACTIVE },
{ MP_QSTR_OC_TOGGLE, FTM_OCMODE_TOGGLE },
// { MP_QSTR_OC_FORCED_ACTIVE, FTM_OCMODE_FORCED_ACTIVE },
// { MP_QSTR_OC_FORCED_INACTIVE, FTM_OCMODE_FORCED_INACTIVE },
{ MP_QSTR_IC, 0 },
};
struct _pyb_timer_obj_t;
typedef struct _pyb_timer_channel_obj_t {
mp_obj_base_t base;
struct _pyb_timer_obj_t *timer;
uint8_t channel;
uint8_t mode;
mp_obj_t callback;
struct _pyb_timer_channel_obj_t *next;
} pyb_timer_channel_obj_t;
typedef struct _pyb_timer_obj_t {
mp_obj_base_t base;
uint8_t tim_id;
uint8_t irqn;
mp_obj_t callback;
FTM_HandleTypeDef ftm;
pyb_timer_channel_obj_t *channel;
} pyb_timer_obj_t;
// Used to do callbacks to Python code on interrupt
STATIC pyb_timer_obj_t *pyb_timer_obj_all[3];
#define PYB_TIMER_OBJ_ALL_NUM MP_ARRAY_SIZE(pyb_timer_obj_all)
STATIC mp_obj_t pyb_timer_deinit(mp_obj_t self_in);
STATIC mp_obj_t pyb_timer_callback(mp_obj_t self_in, mp_obj_t callback);
STATIC mp_obj_t pyb_timer_channel_callback(mp_obj_t self_in, mp_obj_t callback);
void timer_init0(void) {
for (uint i = 0; i < PYB_TIMER_OBJ_ALL_NUM; i++) {
pyb_timer_obj_all[i] = NULL;
}
}
// unregister all interrupt sources
void timer_deinit(void) {
for (uint i = 0; i < PYB_TIMER_OBJ_ALL_NUM; i++) {
pyb_timer_obj_t *tim = pyb_timer_obj_all[i];
if (tim != NULL) {
pyb_timer_deinit(tim);
}
}
}
mp_uint_t get_prescaler_shift(mp_int_t prescaler) {
mp_uint_t prescaler_shift;
for (prescaler_shift = 0; prescaler_shift < 8; prescaler_shift++) {
if (prescaler == (1 << prescaler_shift)) {
return prescaler_shift;
}
}
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "prescaler must be a power of 2 between 1 and 128, not %d", prescaler));
}
/******************************************************************************/
/* MicroPython bindings */
STATIC const mp_obj_type_t pyb_timer_channel_type;
// Helper function for determining the period used for calculating percent
STATIC uint32_t compute_period(pyb_timer_obj_t *self) {
// In center mode, compare == period corresponds to 100%
// In edge mode, compare == (period + 1) corresponds to 100%
FTM_TypeDef *FTMx = self->ftm.Instance;
uint32_t period = (FTMx->MOD & 0xffff);
if ((FTMx->SC & FTM_SC_CPWMS) == 0) {
// Edge mode
period++;
}
return period;
}
// Helper function to compute PWM value from timer period and percent value.
// 'val' can be an int or a float between 0 and 100 (out of range values are
// clamped).
STATIC uint32_t compute_pwm_value_from_percent(uint32_t period, mp_obj_t percent_in) {
uint32_t cmp;
if (0) {
#if MICROPY_PY_BUILTINS_FLOAT
} else if (MP_OBJ_IS_TYPE(percent_in, &mp_type_float)) {
float percent = mp_obj_get_float(percent_in);
if (percent <= 0.0) {
cmp = 0;
} else if (percent >= 100.0) {
cmp = period;
} else {
cmp = percent / 100.0 * ((float)period);
}
#endif
} else {
mp_int_t percent = mp_obj_get_int(percent_in);
if (percent <= 0) {
cmp = 0;
} else if (percent >= 100) {
cmp = period;
} else {
cmp = ((uint32_t)percent * period) / 100;
}
}
return cmp;
}
// Helper function to compute percentage from timer perion and PWM value.
STATIC mp_obj_t compute_percent_from_pwm_value(uint32_t period, uint32_t cmp) {
#if MICROPY_PY_BUILTINS_FLOAT
float percent = (float)cmp * 100.0 / (float)period;
if (cmp >= period) {
percent = 100.0;
} else {
percent = (float)cmp * 100.0 / (float)period;
}
return mp_obj_new_float(percent);
#else
mp_int_t percent;
if (cmp >= period) {
percent = 100;
} else {
percent = cmp * 100 / period;
}
return mp_obj_new_int(percent);
#endif
}
STATIC void pyb_timer_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_timer_obj_t *self = self_in;
if (self->ftm.State == HAL_FTM_STATE_RESET) {
mp_printf(print, "Timer(%u)", self->tim_id);
} else {
mp_printf(print, "Timer(%u, prescaler=%u, period=%u, mode=%s)",
self->tim_id,
1 << (self->ftm.Instance->SC & 7),
self->ftm.Instance->MOD & 0xffff,
self->ftm.Init.CounterMode == FTM_COUNTERMODE_UP ? "UP" : "CENTER");
}
}
/// \method init(*, freq, prescaler, period)
/// Initialise the timer. Initialisation must be either by frequency (in Hz)
/// or by prescaler and period:
///
/// tim.init(freq=100) # set the timer to trigger at 100Hz
/// tim.init(prescaler=83, period=999) # set the prescaler and period directly
///
/// Keyword arguments:
///
/// - `freq` - specifies the periodic frequency of the timer. You migh also
/// view this as the frequency with which the timer goes through
/// one complete cycle.
///
/// - `prescaler` 1, 2, 4, 8 16 32, 64 or 128 - specifies the value to be loaded into the
/// timer's prescaler. The timer clock source is divided by
/// (`prescaler`) to arrive at the timer clock.
///
/// - `period` [0-0xffff] - Specifies the value to be loaded into the timer's
/// Modulo Register (MOD). This determines the period of the timer (i.e.
/// when the counter cycles). The timer counter will roll-over after
/// `period` timer clock cycles. In center mode, a compare register > 0x7fff
/// doesn't seem to work properly, so keep this in mind.
///
/// - `mode` can be one of:
/// - `Timer.UP` - configures the timer to count from 0 to MOD (default)
/// - `Timer.CENTER` - confgures the timer to count from 0 to MOD and
/// then back down to 0.
///
/// - `callback` - as per Timer.callback()
///
/// You must either specify freq or both of period and prescaler.
STATIC const mp_arg_t pyb_timer_init_args[] = {
{ MP_QSTR_freq, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
{ MP_QSTR_prescaler, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
{ MP_QSTR_period, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
{ MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = FTM_COUNTERMODE_UP} },
{ MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
};
#define PYB_TIMER_INIT_NUM_ARGS MP_ARRAY_SIZE(pyb_timer_init_args)
STATIC mp_obj_t pyb_timer_init_helper(pyb_timer_obj_t *self, uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
// parse args
mp_arg_val_t vals[PYB_TIMER_INIT_NUM_ARGS];
mp_arg_parse_all(n_args, args, kw_args, PYB_TIMER_INIT_NUM_ARGS, pyb_timer_init_args, vals);
FTM_HandleTypeDef *ftm = &self->ftm;
// set the TIM configuration values
FTM_Base_InitTypeDef *init = &ftm->Init;
if (vals[0].u_int != 0xffffffff) {
// set prescaler and period from frequency
if (vals[0].u_int == 0) {
mp_raise_ValueError("can't have 0 frequency");
}
uint32_t period = MAX(1, F_BUS / vals[0].u_int);
uint32_t prescaler_shift = 0;
while (period > 0xffff && prescaler_shift < 7) {
period >>= 1;
prescaler_shift++;
}
if (period > 0xffff) {
period = 0xffff;
}
init->PrescalerShift = prescaler_shift;
init->Period = period;
} else if (vals[1].u_int != 0xffffffff && vals[2].u_int != 0xffffffff) {
// set prescaler and period directly
init->PrescalerShift = get_prescaler_shift(vals[1].u_int);
init->Period = vals[2].u_int;
if (!IS_FTM_PERIOD(init->Period)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "period must be between 0 and 65535, not %d", init->Period));
}
} else {
mp_raise_TypeError("must specify either freq, or prescaler and period");
}
init->CounterMode = vals[3].u_int;
if (!IS_FTM_COUNTERMODE(init->CounterMode)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "invalid counter mode: %d", init->CounterMode));
}
// Currently core/mk20dx128.c sets SIM_SCGC6_FTM0, SIM_SCGC6_FTM1, SIM_SCGC3_FTM2
// so we don't need to do it here.
NVIC_SET_PRIORITY(self->irqn, 0xe); // next-to lowest priority
HAL_FTM_Base_Init(ftm);
if (vals[4].u_obj == mp_const_none) {
HAL_FTM_Base_Start(ftm);
} else {
pyb_timer_callback(self, vals[4].u_obj);
}
return mp_const_none;
}
/// \classmethod \constructor(id, ...)
/// Construct a new timer object of the given id. If additional
/// arguments are given, then the timer is initialised by `init(...)`.
/// `id` can be 1 to 14, excluding 3.
STATIC mp_obj_t pyb_timer_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
// check arguments
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
// create new Timer object
pyb_timer_obj_t *tim = m_new_obj(pyb_timer_obj_t);
memset(tim, 0, sizeof(*tim));
tim->base.type = &pyb_timer_type;
tim->callback = mp_const_none;
tim->channel = NULL;
// get FTM number
tim->tim_id = mp_obj_get_int(args[0]);
switch (tim->tim_id) {
case 0: tim->ftm.Instance = FTM0; tim->irqn = IRQ_FTM0; break;
case 1: tim->ftm.Instance = FTM1; tim->irqn = IRQ_FTM1; break;
case 2: tim->ftm.Instance = FTM2; tim->irqn = IRQ_FTM2; break;
default: nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Timer %d does not exist", tim->tim_id));
}
if (n_args > 1 || n_kw > 0) {
// start the peripheral
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
pyb_timer_init_helper(tim, n_args - 1, args + 1, &kw_args);
}
// set the global variable for interrupt callbacks
if (tim->tim_id < PYB_TIMER_OBJ_ALL_NUM) {
pyb_timer_obj_all[tim->tim_id] = tim;
}
return (mp_obj_t)tim;
}
STATIC mp_obj_t pyb_timer_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
return pyb_timer_init_helper(args[0], n_args - 1, args + 1, kw_args);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_init_obj, 1, pyb_timer_init);
/// \method deinit()
/// Deinitialises the timer.
///
/// Disables the callback (and the associated irq).
/// Disables any channel callbacks (and the associated irq).
/// Stops the timer, and disables the timer peripheral.
STATIC mp_obj_t pyb_timer_deinit(mp_obj_t self_in) {
pyb_timer_obj_t *self = self_in;
// Disable the base interrupt
pyb_timer_callback(self_in, mp_const_none);
pyb_timer_channel_obj_t *chan = self->channel;
self->channel = NULL;
// Disable the channel interrupts
while (chan != NULL) {
pyb_timer_channel_callback(chan, mp_const_none);
pyb_timer_channel_obj_t *prev_chan = chan;
chan = chan->next;
prev_chan->next = NULL;
}
HAL_FTM_Base_DeInit(&self->ftm);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
/// \method channel(channel, mode, ...)
///
/// If only a channel number is passed, then a previously initialized channel
/// object is returned (or `None` if there is no previous channel).
///
/// Othwerwise, a TimerChannel object is initialized and returned.
///
/// Each channel can be configured to perform pwm, output compare, or
/// input capture. All channels share the same underlying timer, which means
/// that they share the same timer clock.
///
/// Keyword arguments:
///
/// - `mode` can be one of:
/// - `Timer.PWM` - configure the timer in PWM mode (active high).
/// - `Timer.PWM_INVERTED` - configure the timer in PWM mode (active low).
/// - `Timer.OC_TIMING` - indicates that no pin is driven.
/// - `Timer.OC_ACTIVE` - the pin will be made active when a compare
/// match occurs (active is determined by polarity)
/// - `Timer.OC_INACTIVE` - the pin will be made inactive when a compare
/// match occurs.
/// - `Timer.OC_TOGGLE` - the pin will be toggled when an compare match occurs.
/// - `Timer.IC` - configure the timer in Input Capture mode.
///
/// - `callback` - as per TimerChannel.callback()
///
/// - `pin` None (the default) or a Pin object. If specified (and not None)
/// this will cause the alternate function of the the indicated pin
/// to be configured for this timer channel. An error will be raised if
/// the pin doesn't support any alternate functions for this timer channel.
///
/// Keyword arguments for Timer.PWM modes:
///
/// - `pulse_width` - determines the initial pulse width value to use.
/// - `pulse_width_percent` - determines the initial pulse width percentage to use.
///
/// Keyword arguments for Timer.OC modes:
///
/// - `compare` - determines the initial value of the compare register.
///
/// - `polarity` can be one of:
/// - `Timer.HIGH` - output is active high
/// - `Timer.LOW` - output is acive low
///
/// Optional keyword arguments for Timer.IC modes:
///
/// - `polarity` can be one of:
/// - `Timer.RISING` - captures on rising edge.
/// - `Timer.FALLING` - captures on falling edge.
/// - `Timer.BOTH` - captures on both edges.
///
/// PWM Example:
///
/// timer = pyb.Timer(0, prescaler=128, period=37500, counter_mode=pyb.Timer.COUNTER_MODE_CENTER)
/// ch0 = t0.channel(0, pyb.Timer.PWM, pin=pyb.Pin.board.D22, pulse_width=(t0.period() + 1) // 4)
/// ch1 = t0.channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.D23, pulse_width=(t0.period() + 1) // 2)
STATIC const mp_arg_t pyb_timer_channel_args[] = {
{ MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_pulse_width_percent, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
};
#define PYB_TIMER_CHANNEL_NUM_ARGS MP_ARRAY_SIZE(pyb_timer_channel_args)
STATIC mp_obj_t pyb_timer_channel(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
pyb_timer_obj_t *self = args[0];
mp_int_t channel = mp_obj_get_int(args[1]);
if (channel < 0 || channel > 7) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid channel (%d)", channel));
}
pyb_timer_channel_obj_t *chan = self->channel;
pyb_timer_channel_obj_t *prev_chan = NULL;
while (chan != NULL) {
if (chan->channel == channel) {
break;
}
prev_chan = chan;
chan = chan->next;
}
// If only the channel number is given return the previously allocated
// channel (or None if no previous channel).
if (n_args == 2) {
if (chan) {
return chan;
}
return mp_const_none;
}
// If there was already a channel, then remove it from the list. Note that
// the order we do things here is important so as to appear atomic to
// the IRQ handler.
if (chan) {
// Turn off any IRQ associated with the channel.
pyb_timer_channel_callback(chan, mp_const_none);
// Unlink the channel from the list.
if (prev_chan) {
prev_chan->next = chan->next;
}
self->channel = chan->next;
chan->next = NULL;
}
// Allocate and initialize a new channel
mp_arg_val_t vals[PYB_TIMER_CHANNEL_NUM_ARGS];
mp_arg_parse_all(n_args - 3, args + 3, kw_args, PYB_TIMER_CHANNEL_NUM_ARGS, pyb_timer_channel_args, vals);
chan = m_new_obj(pyb_timer_channel_obj_t);
memset(chan, 0, sizeof(*chan));
chan->base.type = &pyb_timer_channel_type;
chan->timer = self;
chan->channel = channel;
chan->mode = mp_obj_get_int(args[2]);
chan->callback = vals[0].u_obj;
mp_obj_t pin_obj = vals[1].u_obj;
if (pin_obj != mp_const_none) {
if (!MP_OBJ_IS_TYPE(pin_obj, &pin_type)) {
mp_raise_ValueError("pin argument needs to be be a Pin type");
}
const pin_obj_t *pin = pin_obj;
const pin_af_obj_t *af = pin_find_af(pin, AF_FN_FTM, self->tim_id);
if (af == NULL) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "pin %s doesn't have an af for TIM%d", qstr_str(pin->name), self->tim_id));
}
// pin.init(mode=AF_PP, af=idx)
const mp_obj_t args[6] = {
(mp_obj_t)&pin_init_obj,
pin_obj,
MP_OBJ_NEW_QSTR(MP_QSTR_mode), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_AF_PP),
MP_OBJ_NEW_QSTR(MP_QSTR_af), MP_OBJ_NEW_SMALL_INT(af->idx)
};
mp_call_method_n_kw(0, 2, args);
}
// Link the channel to the timer before we turn the channel on.
// Note that this needs to appear atomic to the IRQ handler (the write
// to self->channel is atomic, so we're good, but I thought I'd mention
// in case this was ever changed in the future).
chan->next = self->channel;
self->channel = chan;
switch (chan->mode) {
case CHANNEL_MODE_PWM_NORMAL:
case CHANNEL_MODE_PWM_INVERTED: {
FTM_OC_InitTypeDef oc_config;
oc_config.OCMode = channel_mode_info[chan->mode].oc_mode;
if (vals[3].u_obj != mp_const_none) {
// pulse width ratio given
uint32_t period = compute_period(self);
oc_config.Pulse = compute_pwm_value_from_percent(period, vals[3].u_obj);
} else {
// use absolute pulse width value (defaults to 0 if nothing given)
oc_config.Pulse = vals[2].u_int;
}
oc_config.OCPolarity = FTM_OCPOLARITY_HIGH;
HAL_FTM_PWM_ConfigChannel(&self->ftm, &oc_config, channel);
if (chan->callback == mp_const_none) {
HAL_FTM_PWM_Start(&self->ftm, channel);
} else {
HAL_FTM_PWM_Start_IT(&self->ftm, channel);
}
break;
}
case CHANNEL_MODE_OC_TIMING:
case CHANNEL_MODE_OC_ACTIVE:
case CHANNEL_MODE_OC_INACTIVE:
case CHANNEL_MODE_OC_TOGGLE: {
FTM_OC_InitTypeDef oc_config;
oc_config.OCMode = channel_mode_info[chan->mode].oc_mode;
oc_config.Pulse = vals[4].u_int;
oc_config.OCPolarity = vals[5].u_int;
if (oc_config.OCPolarity == 0xffffffff) {
oc_config.OCPolarity = FTM_OCPOLARITY_HIGH;
}
if (!IS_FTM_OC_POLARITY(oc_config.OCPolarity)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid polarity (%d)", oc_config.OCPolarity));
}
HAL_FTM_OC_ConfigChannel(&self->ftm, &oc_config, channel);
if (chan->callback == mp_const_none) {
HAL_FTM_OC_Start(&self->ftm, channel);
} else {
HAL_FTM_OC_Start_IT(&self->ftm, channel);
}
break;
}
case CHANNEL_MODE_IC: {
FTM_IC_InitTypeDef ic_config;
ic_config.ICPolarity = vals[5].u_int;
if (ic_config.ICPolarity == 0xffffffff) {
ic_config.ICPolarity = FTM_ICPOLARITY_RISING;
}
if (!IS_FTM_IC_POLARITY(ic_config.ICPolarity)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid polarity (%d)", ic_config.ICPolarity));
}
HAL_FTM_IC_ConfigChannel(&self->ftm, &ic_config, chan->channel);
if (chan->callback == mp_const_none) {
HAL_FTM_IC_Start(&self->ftm, channel);
} else {
HAL_FTM_IC_Start_IT(&self->ftm, channel);
}
break;
}
default:
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid mode (%d)", chan->mode));
}
return chan;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_channel_obj, 2, pyb_timer_channel);
/// \method counter([value])
/// Get or set the timer counter.
STATIC mp_obj_t pyb_timer_counter(size_t n_args, const mp_obj_t *args) {
pyb_timer_obj_t *self = args[0];
if (n_args == 1) {
// get
return mp_obj_new_int(self->ftm.Instance->CNT);
}
// set - In order to write to CNT we need to set CNTIN
self->ftm.Instance->CNTIN = mp_obj_get_int(args[1]);
self->ftm.Instance->CNT = 0; // write any value to load CNTIN into CNT
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_counter_obj, 1, 2, pyb_timer_counter);
/// \method prescaler([value])
/// Get or set the prescaler for the timer.
STATIC mp_obj_t pyb_timer_prescaler(size_t n_args, const mp_obj_t *args) {
pyb_timer_obj_t *self = args[0];
if (n_args == 1) {
// get
return mp_obj_new_int(1 << (self->ftm.Instance->SC & 7));
}
// set
mp_uint_t prescaler_shift = get_prescaler_shift(mp_obj_get_int(args[1]));
mp_uint_t sc = self->ftm.Instance->SC;
sc &= ~7;
sc |= FTM_SC_PS(prescaler_shift);
self->ftm.Instance->SC = sc;
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_prescaler_obj, 1, 2, pyb_timer_prescaler);
/// \method period([value])
/// Get or set the period of the timer.
STATIC mp_obj_t pyb_timer_period(size_t n_args, const mp_obj_t *args) {
pyb_timer_obj_t *self = args[0];
if (n_args == 1) {
// get
return mp_obj_new_int(self->ftm.Instance->MOD & 0xffff);
}
// set
mp_int_t period = mp_obj_get_int(args[1]) & 0xffff;
self->ftm.Instance->CNT = 0;
self->ftm.Instance->MOD = period;
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_period_obj, 1, 2, pyb_timer_period);
/// \method callback(fun)
/// Set the function to be called when the timer triggers.
/// `fun` is passed 1 argument, the timer object.
/// If `fun` is `None` then the callback will be disabled.
STATIC mp_obj_t pyb_timer_callback(mp_obj_t self_in, mp_obj_t callback) {
pyb_timer_obj_t *self = self_in;
if (callback == mp_const_none) {
// stop interrupt (but not timer)
__HAL_FTM_DISABLE_TOF_IT(&self->ftm);
self->callback = mp_const_none;
} else if (mp_obj_is_callable(callback)) {
self->callback = callback;
HAL_NVIC_EnableIRQ(self->irqn);
// start timer, so that it interrupts on overflow
HAL_FTM_Base_Start_IT(&self->ftm);
} else {
mp_raise_ValueError("callback must be None or a callable object");
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_timer_callback_obj, pyb_timer_callback);
#if MICROPY_TIMER_REG
reg_t timer_reg[] = {
REG_ENTRY(FTM_TypeDef, SC),
REG_ENTRY(FTM_TypeDef, CNT),
REG_ENTRY(FTM_TypeDef, MOD),
REG_ENTRY(FTM_TypeDef, CNTIN),
REG_ENTRY(FTM_TypeDef, STATUS),
REG_ENTRY(FTM_TypeDef, MODE),
REG_ENTRY(FTM_TypeDef, SYNC),
REG_ENTRY(FTM_TypeDef, OUTINIT),
REG_ENTRY(FTM_TypeDef, OUTMASK),
REG_ENTRY(FTM_TypeDef, COMBINE),
REG_ENTRY(FTM_TypeDef, DEADTIME),
REG_ENTRY(FTM_TypeDef, EXTTRIG),
REG_ENTRY(FTM_TypeDef, POL),
REG_ENTRY(FTM_TypeDef, FMS),
REG_ENTRY(FTM_TypeDef, FILTER),
REG_ENTRY(FTM_TypeDef, FLTCTRL),
REG_ENTRY(FTM_TypeDef, QDCTRL),
REG_ENTRY(FTM_TypeDef, CONF),
REG_ENTRY(FTM_TypeDef, FLTPOL),
REG_ENTRY(FTM_TypeDef, SYNCONF),
REG_ENTRY(FTM_TypeDef, INVCTRL),
REG_ENTRY(FTM_TypeDef, SWOCTRL),
REG_ENTRY(FTM_TypeDef, PWMLOAD),
};
mp_obj_t pyb_timer_reg(uint n_args, const mp_obj_t *args) {
pyb_timer_obj_t *self = args[0];
return reg_cmd(self->ftm.Instance, timer_reg, MP_ARRAY_SIZE(timer_reg), n_args - 1, args + 1);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_reg_obj, 1, 3, pyb_timer_reg);
#endif // MICROPY_TIMER_REG
STATIC const mp_rom_map_elem_t pyb_timer_locals_dict_table[] = {
// instance methods
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&pyb_timer_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&pyb_timer_deinit_obj) },
{ MP_ROM_QSTR(MP_QSTR_channel), MP_ROM_PTR(&pyb_timer_channel_obj) },
{ MP_ROM_QSTR(MP_QSTR_counter), MP_ROM_PTR(&pyb_timer_counter_obj) },
{ MP_ROM_QSTR(MP_QSTR_prescaler), MP_ROM_PTR(&pyb_timer_prescaler_obj) },
{ MP_ROM_QSTR(MP_QSTR_period), MP_ROM_PTR(&pyb_timer_period_obj) },
{ MP_ROM_QSTR(MP_QSTR_callback), MP_ROM_PTR(&pyb_timer_callback_obj) },
#if MICROPY_TIMER_REG
{ MP_ROM_QSTR(MP_QSTR_reg), MP_ROM_PTR(&pyb_timer_reg_obj) },
#endif
{ MP_ROM_QSTR(MP_QSTR_UP), MP_ROM_INT(FTM_COUNTERMODE_UP) },
{ MP_ROM_QSTR(MP_QSTR_CENTER), MP_ROM_INT(FTM_COUNTERMODE_CENTER) },
{ MP_ROM_QSTR(MP_QSTR_PWM), MP_ROM_INT(CHANNEL_MODE_PWM_NORMAL) },
{ MP_ROM_QSTR(MP_QSTR_PWM_INVERTED), MP_ROM_INT(CHANNEL_MODE_PWM_INVERTED) },
{ MP_ROM_QSTR(MP_QSTR_OC_TIMING), MP_ROM_INT(CHANNEL_MODE_OC_TIMING) },
{ MP_ROM_QSTR(MP_QSTR_OC_ACTIVE), MP_ROM_INT(CHANNEL_MODE_OC_ACTIVE) },
{ MP_ROM_QSTR(MP_QSTR_OC_INACTIVE), MP_ROM_INT(CHANNEL_MODE_OC_INACTIVE) },
{ MP_ROM_QSTR(MP_QSTR_OC_TOGGLE), MP_ROM_INT(CHANNEL_MODE_OC_TOGGLE) },
{ MP_ROM_QSTR(MP_QSTR_IC), MP_ROM_INT(CHANNEL_MODE_IC) },
{ MP_ROM_QSTR(MP_QSTR_HIGH), MP_ROM_INT(FTM_OCPOLARITY_HIGH) },
{ MP_ROM_QSTR(MP_QSTR_LOW), MP_ROM_INT(FTM_OCPOLARITY_LOW) },
{ MP_ROM_QSTR(MP_QSTR_RISING), MP_ROM_INT(FTM_ICPOLARITY_RISING) },
{ MP_ROM_QSTR(MP_QSTR_FALLING), MP_ROM_INT(FTM_ICPOLARITY_FALLING) },
{ MP_ROM_QSTR(MP_QSTR_BOTH), MP_ROM_INT(FTM_ICPOLARITY_BOTH) },
};
STATIC MP_DEFINE_CONST_DICT(pyb_timer_locals_dict, pyb_timer_locals_dict_table);
const mp_obj_type_t pyb_timer_type = {
{ &mp_type_type },
.name = MP_QSTR_Timer,
.print = pyb_timer_print,
.make_new = pyb_timer_make_new,
.locals_dict = (mp_obj_t)&pyb_timer_locals_dict,
};
/// \moduleref pyb
/// \class TimerChannel - setup a channel for a timer.
///
/// Timer channels are used to generate/capture a signal using a timer.
///
/// TimerChannel objects are created using the Timer.channel() method.
STATIC void pyb_timer_channel_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_timer_channel_obj_t *self = self_in;
mp_printf(print, "TimerChannel(timer=%u, channel=%u, mode=%s)",
self->timer->tim_id,
self->channel,
qstr_str(channel_mode_info[self->mode].name));
}
/// \method capture([value])
/// Get or set the capture value associated with a channel.
/// capture, compare, and pulse_width are all aliases for the same function.
/// capture is the logical name to use when the channel is in input capture mode.
/// \method compare([value])
/// Get or set the compare value associated with a channel.
/// capture, compare, and pulse_width are all aliases for the same function.
/// compare is the logical name to use when the channel is in output compare mode.
/// \method pulse_width([value])
/// Get or set the pulse width value associated with a channel.
/// capture, compare, and pulse_width are all aliases for the same function.
/// pulse_width is the logical name to use when the channel is in PWM mode.
///
/// In edge aligned mode, a pulse_width of `period + 1` corresponds to a duty cycle of 100%
/// In center aligned mode, a pulse width of `period` corresponds to a duty cycle of 100%
STATIC mp_obj_t pyb_timer_channel_capture_compare(size_t n_args, const mp_obj_t *args) {
pyb_timer_channel_obj_t *self = args[0];
FTM_TypeDef *FTMx = self->timer->ftm.Instance;
if (n_args == 1) {
// get
return mp_obj_new_int(FTMx->channel[self->channel].CV & 0xffff);
}
mp_int_t pw = mp_obj_get_int(args[1]);
// set
FTMx->channel[self->channel].CV = pw & 0xffff;
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_capture_compare_obj, 1, 2, pyb_timer_channel_capture_compare);
/// \method pulse_width_percent([value])
/// Get or set the pulse width percentage associated with a channel. The value
/// is a number between 0 and 100 and sets the percentage of the timer period
/// for which the pulse is active. The value can be an integer or
/// floating-point number for more accuracy. For example, a value of 25 gives
/// a duty cycle of 25%.
STATIC mp_obj_t pyb_timer_channel_pulse_width_percent(size_t n_args, const mp_obj_t *args) {
pyb_timer_channel_obj_t *self = args[0];
FTM_TypeDef *FTMx = self->timer->ftm.Instance;
uint32_t period = compute_period(self->timer);
if (n_args == 1) {
// get
uint32_t cmp = FTMx->channel[self->channel].CV & 0xffff;
return compute_percent_from_pwm_value(period, cmp);
} else {
// set
uint32_t cmp = compute_pwm_value_from_percent(period, args[1]);
FTMx->channel[self->channel].CV = cmp & 0xffff;
return mp_const_none;
}
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_pulse_width_percent_obj, 1, 2, pyb_timer_channel_pulse_width_percent);
/// \method callback(fun)
/// Set the function to be called when the timer channel triggers.
/// `fun` is passed 1 argument, the timer object.
/// If `fun` is `None` then the callback will be disabled.
STATIC mp_obj_t pyb_timer_channel_callback(mp_obj_t self_in, mp_obj_t callback) {
pyb_timer_channel_obj_t *self = self_in;
if (callback == mp_const_none) {
// stop interrupt (but not timer)
__HAL_FTM_DISABLE_CH_IT(&self->timer->ftm, self->channel);
self->callback = mp_const_none;
} else if (mp_obj_is_callable(callback)) {
self->callback = callback;
HAL_NVIC_EnableIRQ(self->timer->irqn);
// start timer, so that it interrupts on overflow
switch (self->mode) {
case CHANNEL_MODE_PWM_NORMAL:
case CHANNEL_MODE_PWM_INVERTED:
HAL_FTM_PWM_Start_IT(&self->timer->ftm, self->channel);
break;
case CHANNEL_MODE_OC_TIMING:
case CHANNEL_MODE_OC_ACTIVE:
case CHANNEL_MODE_OC_INACTIVE:
case CHANNEL_MODE_OC_TOGGLE:
HAL_FTM_OC_Start_IT(&self->timer->ftm, self->channel);
break;
case CHANNEL_MODE_IC:
HAL_FTM_IC_Start_IT(&self->timer->ftm, self->channel);
break;
}
} else {
mp_raise_ValueError("callback must be None or a callable object");
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_timer_channel_callback_obj, pyb_timer_channel_callback);
#if MICROPY_TIMER_REG
reg_t timer_channel_reg[] = {
REG_ENTRY(FTM_ChannelTypeDef, CSC),
REG_ENTRY(FTM_ChannelTypeDef, CV),
};
mp_obj_t pyb_timer_channel_reg(uint n_args, const mp_obj_t *args) {
pyb_timer_channel_obj_t *self = args[0];
return reg_cmd(&self->timer->ftm.Instance->channel[self->channel],
timer_channel_reg, MP_ARRAY_SIZE(timer_channel_reg),
n_args - 1, args + 1);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_reg_obj, 1, 3, pyb_timer_channel_reg);
#endif
STATIC const mp_rom_map_elem_t pyb_timer_channel_locals_dict_table[] = {
// instance methods
{ MP_ROM_QSTR(MP_QSTR_callback), MP_ROM_PTR(&pyb_timer_channel_callback_obj) },
{ MP_ROM_QSTR(MP_QSTR_pulse_width), MP_ROM_PTR(&pyb_timer_channel_capture_compare_obj) },
{ MP_ROM_QSTR(MP_QSTR_pulse_width_percent), MP_ROM_PTR(&pyb_timer_channel_pulse_width_percent_obj) },
{ MP_ROM_QSTR(MP_QSTR_capture), MP_ROM_PTR(&pyb_timer_channel_capture_compare_obj) },
{ MP_ROM_QSTR(MP_QSTR_compare), MP_ROM_PTR(&pyb_timer_channel_capture_compare_obj) },
#if MICROPY_TIMER_REG
{ MP_ROM_QSTR(MP_QSTR_reg), MP_ROM_PTR(&pyb_timer_channel_reg_obj) },
#endif
};
STATIC MP_DEFINE_CONST_DICT(pyb_timer_channel_locals_dict, pyb_timer_channel_locals_dict_table);
STATIC const mp_obj_type_t pyb_timer_channel_type = {
{ &mp_type_type },
.name = MP_QSTR_TimerChannel,
.print = pyb_timer_channel_print,
.locals_dict = (mp_obj_t)&pyb_timer_channel_locals_dict,
};
STATIC bool ftm_handle_irq_callback(pyb_timer_obj_t *self, mp_uint_t channel, mp_obj_t callback) {
// execute callback if it's set
if (callback == mp_const_none) {
return false;
}
bool handled = false;
// When executing code within a handler we must lock the GC to prevent
// any memory allocations. We must also catch any exceptions.
gc_lock();
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
mp_call_function_1(callback, self);
nlr_pop();
handled = true;
} else {
// Uncaught exception; disable the callback so it doesn't run again.
self->callback = mp_const_none;
if (channel == 0xffffffff) {
printf("Uncaught exception in Timer(" UINT_FMT
") interrupt handler\n", self->tim_id);
} else {
printf("Uncaught exception in Timer(" UINT_FMT ") channel "
UINT_FMT " interrupt handler\n", self->tim_id, channel);
}
mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
}
gc_unlock();
return handled;
}
STATIC void ftm_irq_handler(uint tim_id) {
if (tim_id >= PYB_TIMER_OBJ_ALL_NUM) {
return;
}
// get the timer object
pyb_timer_obj_t *self = pyb_timer_obj_all[tim_id];
if (self == NULL) {
// timer object has not been set, so we can't do anything
printf("No timer object for id=%d\n", tim_id);
return;
}
FTM_HandleTypeDef *hftm = &self->ftm;
bool handled = false;
// Check for timer (versus timer channel) interrupt.
if (__HAL_FTM_GET_TOF_IT(hftm) && __HAL_FTM_GET_TOF_FLAG(hftm)) {
__HAL_FTM_CLEAR_TOF_FLAG(hftm);
if (ftm_handle_irq_callback(self, 0xffffffff, self->callback)) {
handled = true;
} else {
__HAL_FTM_DISABLE_TOF_IT(&self->ftm);
printf("No callback for Timer %d TOF (now disabled)\n", tim_id);
}
}
uint32_t processed = 0;
// Check to see if a timer channel interrupt is pending
pyb_timer_channel_obj_t *chan = self->channel;
while (chan != NULL) {
processed |= (1 << chan->channel);
if (__HAL_FTM_GET_CH_IT(&self->ftm, chan->channel) && __HAL_FTM_GET_CH_FLAG(&self->ftm, chan->channel)) {
__HAL_FTM_CLEAR_CH_FLAG(&self->ftm, chan->channel);
if (ftm_handle_irq_callback(self, chan->channel, chan->callback)) {
handled = true;
} else {
__HAL_FTM_DISABLE_CH_IT(&self->ftm, chan->channel);
printf("No callback for Timer %d channel %u (now disabled)\n",
self->tim_id, chan->channel);
}
}
chan = chan->next;
}
if (!handled) {
// An interrupt occurred for a channel we didn't process. Find it and
// turn it off.
for (mp_uint_t channel = 0; channel < 8; channel++) {
if ((processed & (1 << channel)) == 0) {
if (__HAL_FTM_GET_CH_FLAG(&self->ftm, channel) != 0) {
__HAL_FTM_CLEAR_CH_FLAG(&self->ftm, channel);
__HAL_FTM_DISABLE_CH_IT(&self->ftm, channel);
printf("Unhandled interrupt Timer %d channel %u (now disabled)\n",
tim_id, channel);
}
}
}
}
}
void ftm0_isr(void) {
ftm_irq_handler(0);
}
void ftm1_isr(void) {
ftm_irq_handler(1);
}
void ftm2_isr(void) {
ftm_irq_handler(2);
}

34
ports/teensy/timer.h
View File

@ -1,34 +0,0 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* 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:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* 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.
*/
#ifndef MICROPY_INCLUDED_TEENSY_TIMER_H
#define MICROPY_INCLUDED_TEENSY_TIMER_H
extern const mp_obj_type_t pyb_timer_type;
void timer_init0(void);
void timer_deinit(void);
#endif // MICROPY_INCLUDED_TEENSY_TIMER_H

489
ports/teensy/uart.c
View File

@ -1,489 +0,0 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* 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:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* 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 <stdio.h>
#include <string.h>
#include "py/runtime.h"
#include "bufhelper.h"
#include "uart.h"
/// \moduleref pyb
/// \class UART - duplex serial communication bus
///
/// UART implements the standard UART/USART duplex serial communications protocol. At
/// the physical level it consists of 2 lines: RX and TX.
///
/// See usage model of I2C. UART is very similar. Main difference is
/// parameters to init the UART bus:
///
/// from pyb import UART
///
/// uart = UART(1, 9600) # init with given baudrate
/// uart.init(9600, bits=8, stop=1, parity=None) # init with given parameters
///
/// Bits can be 8 or 9, stop can be 1 or 2, parity can be None, 0 (even), 1 (odd).
///
/// Extra method:
///
/// uart.any() # returns True if any characters waiting
struct _pyb_uart_obj_t {
mp_obj_base_t base;
pyb_uart_t uart_id;
bool is_enabled;
// UART_HandleTypeDef uart;
};
pyb_uart_obj_t *pyb_uart_global_debug = NULL;
// assumes Init parameters have been set up correctly
bool uart_init2(pyb_uart_obj_t *uart_obj) {
#if 0
USART_TypeDef *UARTx = NULL;
uint32_t GPIO_Pin = 0;
uint8_t GPIO_AF_UARTx = 0;
GPIO_TypeDef* GPIO_Port = NULL;
switch (uart_obj->uart_id) {
// USART1 is on PA9/PA10 (CK on PA8), PB6/PB7
case PYB_UART_1:
UARTx = USART1;
GPIO_AF_UARTx = GPIO_AF7_USART1;
#if defined (PYBV4) || defined(PYBV10)
GPIO_Port = GPIOB;
GPIO_Pin = GPIO_PIN_6 | GPIO_PIN_7;
#else
GPIO_Port = GPIOA;
GPIO_Pin = GPIO_PIN_9 | GPIO_PIN_10;
#endif
__USART1_CLK_ENABLE();
break;
// USART2 is on PA2/PA3 (CK on PA4), PD5/PD6 (CK on PD7)
case PYB_UART_2:
UARTx = USART2;
GPIO_AF_UARTx = GPIO_AF7_USART2;
GPIO_Port = GPIOA;
GPIO_Pin = GPIO_PIN_2 | GPIO_PIN_3;
__USART2_CLK_ENABLE();
break;
// USART3 is on PB10/PB11 (CK on PB12), PC10/PC11 (CK on PC12), PD8/PD9 (CK on PD10)
case PYB_UART_3:
UARTx = USART3;
GPIO_AF_UARTx = GPIO_AF7_USART3;
#if defined(PYBV3) || defined(PYBV4) | defined(PYBV10)
GPIO_Port = GPIOB;
GPIO_Pin = GPIO_PIN_10 | GPIO_PIN_11;
#else
GPIO_Port = GPIOD;
GPIO_Pin = GPIO_PIN_8 | GPIO_PIN_9;
#endif
__USART3_CLK_ENABLE();
break;
// UART4 is on PA0/PA1, PC10/PC11
case PYB_UART_4:
UARTx = UART4;
GPIO_AF_UARTx = GPIO_AF8_UART4;
GPIO_Port = GPIOA;
GPIO_Pin = GPIO_PIN_0 | GPIO_PIN_1;
__UART4_CLK_ENABLE();
break;
// USART6 is on PC6/PC7 (CK on PC8)
case PYB_UART_6:
UARTx = USART6;
GPIO_AF_UARTx = GPIO_AF8_USART6;
GPIO_Port = GPIOC;
GPIO_Pin = GPIO_PIN_6 | GPIO_PIN_7;
__USART6_CLK_ENABLE();
break;
default:
return false;
}
// init GPIO
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.Pin = GPIO_Pin;
GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Pull = GPIO_PULLUP;
GPIO_InitStructure.Alternate = GPIO_AF_UARTx;
HAL_GPIO_Init(GPIO_Port, &GPIO_InitStructure);
// init UARTx
uart_obj->uart.Instance = UARTx;
HAL_UART_Init(&uart_obj->uart);
uart_obj->is_enabled = true;
#endif
return true;
}
bool uart_init(pyb_uart_obj_t *uart_obj, uint32_t baudrate) {
#if 0
UART_HandleTypeDef *uh = &uart_obj->uart;
memset(uh, 0, sizeof(*uh));
uh->Init.BaudRate = baudrate;
uh->Init.WordLength = UART_WORDLENGTH_8B;
uh->Init.StopBits = UART_STOPBITS_1;
uh->Init.Parity = UART_PARITY_NONE;
uh->Init.Mode = UART_MODE_TX_RX;
uh->Init.HwFlowCtl = UART_HWCONTROL_NONE;
uh->Init.OverSampling = UART_OVERSAMPLING_16;
#endif
return uart_init2(uart_obj);
}
mp_uint_t uart_rx_any(pyb_uart_obj_t *uart_obj) {
#if 0
return __HAL_UART_GET_FLAG(&uart_obj->uart, UART_FLAG_RXNE);
#else
return 0;
#endif
}
int uart_rx_char(pyb_uart_obj_t *uart_obj) {
uint8_t ch;
#if 0
if (HAL_UART_Receive(&uart_obj->uart, &ch, 1, 0) != HAL_OK) {
ch = 0;
}
#else
ch = 'A';
#endif
return ch;
}
void uart_tx_char(pyb_uart_obj_t *uart_obj, int c) {
#if 0
uint8_t ch = c;
HAL_UART_Transmit(&uart_obj->uart, &ch, 1, 100000);
#endif
}
void uart_tx_str(pyb_uart_obj_t *uart_obj, const char *str) {
#if 0
HAL_UART_Transmit(&uart_obj->uart, (uint8_t*)str, strlen(str), 100000);
#endif
}
void uart_tx_strn(pyb_uart_obj_t *uart_obj, const char *str, uint len) {
#if 0
HAL_UART_Transmit(&uart_obj->uart, (uint8_t*)str, len, 100000);
#endif
}
void uart_tx_strn_cooked(pyb_uart_obj_t *uart_obj, const char *str, uint len) {
for (const char *top = str + len; str < top; str++) {
if (*str == '\n') {
uart_tx_char(uart_obj, '\r');
}
uart_tx_char(uart_obj, *str);
}
}
/******************************************************************************/
/* MicroPython bindings */
STATIC void pyb_uart_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_uart_obj_t *self = self_in;
if (!self->is_enabled) {
mp_printf(print, "UART(%lu)", self->uart_id);
} else {
#if 0
mp_printf(print, "UART(%lu, baudrate=%u, bits=%u, stop=%u",
self->uart_id, self->uart.Init.BaudRate,
self->uart.Init.WordLength == UART_WORDLENGTH_8B ? 8 : 9,
self->uart.Init.StopBits == UART_STOPBITS_1 ? 1 : 2);
if (self->uart.Init.Parity == UART_PARITY_NONE) {
mp_print_str(print, ", parity=None)");
} else {
mp_printf(print, ", parity=%u)", self->uart.Init.Parity == UART_PARITY_EVEN ? 0 : 1);
}
#endif
}
}
/// \method init(baudrate, *, bits=8, stop=1, parity=None)
///
/// Initialise the SPI bus with the given parameters:
///
/// - `baudrate` is the clock rate.
/// - `bits` is the number of bits per byte, 8 or 9.
/// - `stop` is the number of stop bits, 1 or 2.
/// - `parity` is the parity, `None`, 0 (even) or 1 (odd).
STATIC const mp_arg_t pyb_uart_init_args[] = {
{ MP_QSTR_baudrate, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 9600} },
{ MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} },
{ MP_QSTR_stop, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
{ MP_QSTR_parity, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
};
#define PYB_UART_INIT_NUM_ARGS MP_ARRAY_SIZE(pyb_uart_init_args)
STATIC mp_obj_t pyb_uart_init_helper(pyb_uart_obj_t *self, uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
// parse args
mp_arg_val_t vals[PYB_UART_INIT_NUM_ARGS];
mp_arg_parse_all(n_args, args, kw_args, PYB_UART_INIT_NUM_ARGS, pyb_uart_init_args, vals);
#if 0
// set the UART configuration values
memset(&self->uart, 0, sizeof(self->uart));
UART_InitTypeDef *init = &self->uart.Init;
init->BaudRate = vals[0].u_int;
init->WordLength = vals[1].u_int == 8 ? UART_WORDLENGTH_8B : UART_WORDLENGTH_9B;
switch (vals[2].u_int) {
case 1: init->StopBits = UART_STOPBITS_1; break;
default: init->StopBits = UART_STOPBITS_2; break;
}
if (vals[3].u_obj == mp_const_none) {
init->Parity = UART_PARITY_NONE;
} else {
mp_int_t parity = mp_obj_get_int(vals[3].u_obj);
init->Parity = (parity & 1) ? UART_PARITY_ODD : UART_PARITY_EVEN;
}
init->Mode = UART_MODE_TX_RX;
init->HwFlowCtl = UART_HWCONTROL_NONE;
init->OverSampling = UART_OVERSAMPLING_16;
// init UART (if it fails, it's because the port doesn't exist)
if (!uart_init2(self)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "UART port %d does not exist", self->uart_id));
}
#endif
return mp_const_none;
}
/// \classmethod \constructor(bus, ...)
///
/// Construct a UART object on the given bus. `bus` can be 1-6, or 'XA', 'XB', 'YA', or 'YB'.
/// With no additional parameters, the UART object is created but not
/// initialised (it has the settings from the last initialisation of
/// the bus, if any). If extra arguments are given, the bus is initialised.
/// See `init` for parameters of initialisation.
///
/// The physical pins of the UART busses are:
///
/// - `UART(4)` is on `XA`: `(TX, RX) = (X1, X2) = (PA0, PA1)`
/// - `UART(1)` is on `XB`: `(TX, RX) = (X9, X10) = (PB6, PB7)`
/// - `UART(6)` is on `YA`: `(TX, RX) = (Y1, Y2) = (PC6, PC7)`
/// - `UART(3)` is on `YB`: `(TX, RX) = (Y9, Y10) = (PB10, PB11)`
/// - `UART(2)` is on: `(TX, RX) = (X3, X4) = (PA2, PA3)`
STATIC mp_obj_t pyb_uart_make_new(const mp_obj_type_t *type, uint n_args, uint n_kw, const mp_obj_t *args) {
// check arguments
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
// create object
pyb_uart_obj_t *o = m_new_obj(pyb_uart_obj_t);
o->base.type = &pyb_uart_type;
// work out port
o->uart_id = 0;
#if 0
if (MP_OBJ_IS_STR(args[0])) {
const char *port = mp_obj_str_get_str(args[0]);
if (0) {
#if defined(PYBV10)
} else if (strcmp(port, "XA") == 0) {
o->uart_id = PYB_UART_XA;
} else if (strcmp(port, "XB") == 0) {
o->uart_id = PYB_UART_XB;
} else if (strcmp(port, "YA") == 0) {
o->uart_id = PYB_UART_YA;
} else if (strcmp(port, "YB") == 0) {
o->uart_id = PYB_UART_YB;
#endif
} else {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "UART port %s does not exist", port));
}
} else {
o->uart_id = mp_obj_get_int(args[0]);
}
#endif
if (n_args > 1 || n_kw > 0) {
// start the peripheral
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
pyb_uart_init_helper(o, n_args - 1, args + 1, &kw_args);
}
return o;
}
STATIC mp_obj_t pyb_uart_init(uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
return pyb_uart_init_helper(args[0], n_args - 1, args + 1, kw_args);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_uart_init_obj, 1, pyb_uart_init);
/// \method deinit()
/// Turn off the UART bus.
STATIC mp_obj_t pyb_uart_deinit(mp_obj_t self_in) {
//pyb_uart_obj_t *self = self_in;
// TODO
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_uart_deinit_obj, pyb_uart_deinit);
/// \method any()
/// Return `True` if any characters waiting, else `False`.
STATIC mp_obj_t pyb_uart_any(mp_obj_t self_in) {
pyb_uart_obj_t *self = self_in;
if (uart_rx_any(self)) {
return mp_const_true;
} else {
return mp_const_false;
}
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_uart_any_obj, pyb_uart_any);
/// \method send(send, *, timeout=5000)
/// Send data on the bus:
///
/// - `send` is the data to send (an integer to send, or a buffer object).
/// - `timeout` is the timeout in milliseconds to wait for the send.
///
/// Return value: `None`.
STATIC const mp_arg_t pyb_uart_send_args[] = {
{ MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },
};
#define PYB_UART_SEND_NUM_ARGS MP_ARRAY_SIZE(pyb_uart_send_args)
STATIC mp_obj_t pyb_uart_send(uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
// TODO assumes transmission size is 8-bits wide
pyb_uart_obj_t *self = args[0];
// parse args
mp_arg_val_t vals[PYB_UART_SEND_NUM_ARGS];
mp_arg_parse_all(n_args - 1, args + 1, kw_args, PYB_UART_SEND_NUM_ARGS, pyb_uart_send_args, vals);
#if 0
// get the buffer to send from
mp_buffer_info_t bufinfo;
uint8_t data[1];
pyb_buf_get_for_send(vals[0].u_obj, &bufinfo, data);
// send the data
HAL_StatusTypeDef status = HAL_UART_Transmit(&self->uart, bufinfo.buf, bufinfo.len, vals[1].u_int);
if (status != HAL_OK) {
// TODO really need a HardwareError object, or something
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_UART_Transmit failed with code %d", status));
}
#else
(void)self;
#endif
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_uart_send_obj, 1, pyb_uart_send);
/// \method recv(recv, *, timeout=5000)
///
/// Receive data on the bus:
///
/// - `recv` can be an integer, which is the number of bytes to receive,
/// or a mutable buffer, which will be filled with received bytes.
/// - `timeout` is the timeout in milliseconds to wait for the receive.
///
/// Return value: if `recv` is an integer then a new buffer of the bytes received,
/// otherwise the same buffer that was passed in to `recv`.
#if 0
STATIC const mp_arg_t pyb_uart_recv_args[] = {
{ MP_QSTR_recv, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },
};
#define PYB_UART_RECV_NUM_ARGS MP_ARRAY_SIZE(pyb_uart_recv_args)
#endif
STATIC mp_obj_t pyb_uart_recv(uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
// TODO assumes transmission size is 8-bits wide
pyb_uart_obj_t *self = args[0];
#if 0
// parse args
mp_arg_val_t vals[PYB_UART_RECV_NUM_ARGS];
mp_arg_parse_all(n_args - 1, args + 1, kw_args, PYB_UART_RECV_NUM_ARGS, pyb_uart_recv_args, vals);
// get the buffer to receive into
mp_buffer_info_t bufinfo;
mp_obj_t o_ret = pyb_buf_get_for_recv(vals[0].u_obj, &bufinfo);
// receive the data
HAL_StatusTypeDef status = HAL_UART_Receive(&self->uart, bufinfo.buf, bufinfo.len, vals[1].u_int);
if (status != HAL_OK) {
// TODO really need a HardwareError object, or something
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_UART_Receive failed with code %d", status));
}
// return the received data
if (o_ret == MP_OBJ_NULL) {
return vals[0].u_obj;
} else {
return mp_obj_str_builder_end(o_ret);
}
#else
(void)self;
return mp_const_none;
#endif
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_uart_recv_obj, 1, pyb_uart_recv);
STATIC const mp_rom_map_elem_t pyb_uart_locals_dict_table[] = {
// instance methods
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&pyb_uart_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&pyb_uart_deinit_obj) },
{ MP_ROM_QSTR(MP_QSTR_any), MP_ROM_PTR(&pyb_uart_any_obj) },
{ MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&pyb_uart_send_obj) },
{ MP_ROM_QSTR(MP_QSTR_recv), MP_ROM_PTR(&pyb_uart_recv_obj) },
};
STATIC MP_DEFINE_CONST_DICT(pyb_uart_locals_dict, pyb_uart_locals_dict_table);
const mp_obj_type_t pyb_uart_type = {
{ &mp_type_type },
.name = MP_QSTR_UART,
.print = pyb_uart_print,
.make_new = pyb_uart_make_new,
.locals_dict = (mp_obj_t)&pyb_uart_locals_dict,
};

52
ports/teensy/usb.c
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@ -1,52 +0,0 @@
#include <string.h>
#include "py/runtime.h"
#include "Arduino.h"
#include "usb.h"
#include "usb_serial.h"
bool usb_vcp_is_connected(void)
{
return usb_configuration && (usb_cdc_line_rtsdtr & (USB_SERIAL_DTR | USB_SERIAL_RTS));
}
bool usb_vcp_is_enabled(void)
{
return true;
}
int usb_vcp_rx_num(void) {
return usb_serial_available();
}
int usb_vcp_recv_byte(uint8_t *ptr)
{
int ch = usb_serial_getchar();
if (ch < 0) {
return 0;
}
*ptr = ch;
return 1;
}
void usb_vcp_send_str(const char* str)
{
usb_vcp_send_strn(str, strlen(str));
}
void usb_vcp_send_strn(const char* str, int len)
{
usb_serial_write(str, len);
}
void usb_vcp_send_strn_cooked(const char *str, int len)
{
for (const char *top = str + len; str < top; str++) {
if (*str == '\n') {
usb_serial_putchar('\r');
}
usb_serial_putchar(*str);
}
}

12
ports/teensy/usb.h
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@ -1,12 +0,0 @@
#ifndef MICROPY_INCLUDED_TEENSY_USB_H
#define MICROPY_INCLUDED_TEENSY_USB_H
bool usb_vcp_is_connected(void);
bool usb_vcp_is_enabled(void);
int usb_vcp_rx_num(void);
int usb_vcp_recv_byte(uint8_t *ptr);
void usb_vcp_send_str(const char* str);
void usb_vcp_send_strn(const char* str, int len);
void usb_vcp_send_strn_cooked(const char *str, int len);
#endif // MICROPY_INCLUDED_TEENSY_USB_H