Penn Electric Racing
/
REVO_Updated_Steering
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Dependencies: CANBuffer KS0108_fork mbed-rtos mbed CAN Addresses
Fork of
REVO_Updated_Steering
by 
Penn Electric
Diff: Digital_Out.h
- Revision:
- 0:313541d8f8be
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Digital_Out.h Sat Sep 27 18:43:15 2014 +0000
@@ -0,0 +1,315 @@
+/*
+Test Code
+#include "Digital_Out.h"
+
+//Serial pc(USBTX,USBRX);
+
+int main()
+{
+ Digital_Out ledPin1(p1_18,1);
+ Digital_Out ledPin2(p1_20,0);
+ Digital_Out ledPin3(p1_21,1);
+ Digital_Out ledPin4(p1_23,0);
+
+
+ wait(0.5);
+ while(1)
+ {
+ ledPin1= !ledPin1;
+ ledPin2= !ledPin2;
+ ledPin3= !ledPin3;
+ ledPin4= !ledPin4;
+
+ wait(0.5);
+ ledPin1= !ledPin1;
+ ledPin2= !ledPin2;
+ ledPin3= !ledPin3;
+ ledPin4= !ledPin4;
+
+ wait(0.5);
+ }
+
+Digital_Out pin(p0_0);
+
+DigitalOut myled(LED1);
+
+Timer t;
+int main() {
+ t.reset();
+ t.start();
+ for (int i = 0; i < 1000000; i++){
+ pin = 1;
+ pin = 0;
+ }
+ t.stop();
+
+ unsigned int time1 = t.read_us();
+
+ t.reset();
+ t.start();
+ for (int i = 0; i < 1000000; i++) {
+ myled = 1;
+ myled = 0;
+ }
+ t.stop();
+ unsigned int time2 = t.read_us();
+ printf("Library time: %d, mbed time: %d\r\n", time1, time2);
+ while(1) {
+
+ }
+}
+*/
+
+#ifndef DIGITAL_OUT_H
+ #define DIGITAL_OUT_H
+
+ #include"mbed.h"
+
+ #define _PINSEL_BASE 0x4002C000
+ #define _FIODIR_BASE 0x2009C000
+ #define _FIOSET_BASE 0x2009C018
+ #define _FIOCLR_BASE 0x2009C01C
+ #define _FIOPIN_BASE 0x2009C014
+
+ #ifndef _PIN_
+ #define _PIN_
+ typedef struct
+ {
+ int port;
+ int pin;
+ }Pin;
+ #endif /* _PIN_ */
+
+ #ifndef _PIN_NAME_
+ #define _PIN_NAME_
+ // Note many pins are not available as fully functional GPIOs, they are ommitted below
+ enum Pin_Name
+ {
+ p0_0 = 0,
+ p0_1 = 1,
+ p0_2 = 2,
+ p0_3 = 3,
+ p0_4 = 4,
+ p0_5 = 5,
+ p0_6 = 6,
+ p0_7 = 7,
+ p0_8 = 8,
+ p0_9 = 9,
+ p0_10 = 10,
+ p0_11 = 11,
+ /*p0_12 = 12,
+ p0_13 = 13,
+ p0_14 = 14,*/
+ p0_15 = 15,
+ p0_16 = 16,
+
+ p0_17 = 17,
+ p0_18 = 18,
+ p0_19 = 19,
+ p0_20 = 20,
+ p0_21 = 21,
+ p0_22 = 22,
+ p0_23 = 23,
+ p0_24 = 24,
+ p0_25 = 25,
+ p0_26 = 26,
+ /* p0_27 = 27,
+ p0_28 = 28,
+ p0_29 = 29,
+ p0_30 = 30,*/
+
+
+ p1_0 = 100,
+ p1_1 = 101,
+ /* p1_2 = 102,
+ p1_3 = 103,*/
+ p1_4 = 104,
+ /* p1_5 = 105,
+ p1_6 = 106,
+ p1_7 = 107,*/
+ p1_8 = 108,
+ p1_9 = 109,
+ p1_10 = 110,
+ /* p1_11 = 111,
+ p1_12 = 112,
+ p1_13 = 113,*/
+ p1_14 = 114,
+ p1_15 = 115,
+
+ p1_16 = 116,
+ p1_17 = 117,
+ p1_18 = 118,
+ p1_19 = 119,
+ p1_20 = 120,
+ p1_21 = 121,
+ p1_22 = 122,
+ p1_23 = 123,
+ p1_24 = 124,
+ p1_25 = 125,
+ p1_26 = 126,
+ p1_27 = 127,
+ p1_28 = 128,
+ p1_29 = 129,
+ p1_30 = 130,
+
+
+ p2_0 = 200,
+ p2_1 = 201,
+ p2_2 = 202,
+ p2_3 = 203,
+ p2_4 = 204,
+ p2_5 = 205,
+ p2_6 = 206,
+ p2_7 = 207,
+ p2_8 = 208,
+ p2_9 = 209,
+ p2_10 = 210,
+ p2_11 = 211,
+ p2_12 = 212,
+ p2_13 = 213,
+ /* p2_14 = 214,
+ p2_15 = 215,
+
+ p2_16 = 216,
+ p2_17 = 217,
+ p2_18 = 218,
+ p2_19 = 219,
+ p2_20 = 220,
+ p2_21 = 221,
+ p2_22 = 222,
+ p2_23 = 223,
+ p2_24 = 224,
+ p2_25 = 225,
+ p2_26 = 226,
+ p2_27 = 227,
+ p2_28 = 228,
+ p2_29 = 229,
+ p2_30 = 230,*/
+
+
+ /* p3_0 = 300,
+ p3_1 = 301,
+ p3_2 = 302,
+ p3_3 = 303,
+ p3_4 = 304,
+ p3_5 = 305,
+ p3_6 = 306,
+ p3_7 = 307,
+ p3_8 = 308,
+ p3_9 = 309,
+ p3_10 = 310,
+ p3_11 = 311,
+ p3_12 = 312,
+ p3_13 = 313,
+ p3_14 = 314,
+ p3_15 = 315,
+
+ p3_16 = 316,
+ p3_17 = 317,
+ p3_18 = 318,
+ p3_19 = 319,
+ p3_20 = 320,
+ p3_21 = 321,
+ p3_22 = 322,
+ p3_23 = 323,
+ p3_24 = 324,*/
+ p3_25 = 325,
+ p3_26 = 326,
+ /*p3_27 = 327,
+ p3_28 = 328,
+ p3_29 = 329,
+ p3_30 = 330,*/
+
+ /*p4_0 = 400,
+ p4_1 = 401,
+ p4_2 = 402,
+ p4_3 = 403,
+ p4_4 = 404,
+ p4_5 = 405,
+ p4_6 = 406,
+ p4_7 = 407,
+ p4_8 = 408,
+ p4_9 = 409,
+ p4_10 = 410,
+ p4_11 = 411,
+ p4_12 = 412,
+ p4_13 = 413,
+ p4_14 = 414,
+ p4_15 = 415,
+
+ p4_16 = 416,
+ p4_17 = 417,
+ p4_18 = 418,
+ p4_19 = 419,
+ p4_20 = 420,
+ p4_21 = 421,
+ p4_22 = 422,
+ p4_23 = 423,
+ p4_24 = 424,
+ p4_25 = 425,
+ p4_26 = 426,
+ p4_27 = 427,*/
+ p4_28 = 428,
+ p4_29 = 429,
+ /*p4_30 = 430*/
+
+ };
+ #endif /* _PIN_NAME_ */
+
+
+ class Digital_Out
+ {
+ private: Pin _pin;
+ public: Digital_Out(Pin_Name IPin)
+ {
+ _pin.port=(IPin/100);
+ _pin.pin=(IPin%100);
+ const int PINSELx = ((_pin.port*2) + (1* (_pin.pin > 15) ? 1:0));
+ const int FIODIRx = _pin.port;
+
+ *(uint32_t*)(_PINSEL_BASE + (PINSELx*4)) &= ~(1 << ((_pin.pin%16)*2) | (1 << (((_pin.pin%16)*2)+1))); //GPIO
+ *(uint32_t*)(_FIODIR_BASE + (FIODIRx*0x20)) |= (1 << _pin.pin); //Output
+ }
+
+ Digital_Out(Pin_Name IPin, int value)
+ {
+ _pin.port=(IPin/100);
+ _pin.pin=(IPin%100);
+ const int PINSELx = ((_pin.port*2) + (1* (_pin.pin > 15) ? 1:0));
+ const int FIODIRx = _pin.port;
+
+ *(uint32_t*)(_PINSEL_BASE + (PINSELx*4)) &= ~(1 << ((_pin.pin%16)*2) | (1 << (((_pin.pin%16)*2)+1))); //GPIO
+ *(uint32_t*)(_FIODIR_BASE + (FIODIRx*0x20)) |= (1 << _pin.pin); //Output
+ *(uint32_t*)((_FIOSET_BASE*value) + (_FIOCLR_BASE*(1-value)) + (_pin.port*0x20)) |= (1 << _pin.pin); //Write
+ }
+
+ void write(int value)
+ {
+ if (value != 1 && value != 0) return;
+ *(uint32_t*)((_FIOSET_BASE*value)+(_FIOCLR_BASE*(1-value)) + (_pin.port*0x20)) |= (1 << _pin.pin); //Write
+ }
+
+ int read()
+ {
+ return ((*(uint32_t*)(_FIOPIN_BASE +_pin.port*0x20) & (1 << _pin.pin)) >> _pin.pin); //Read
+ }
+
+ Digital_Out& operator= (int value)
+ {
+ write(value);
+ return *this;
+ }
+
+ Digital_Out& operator= (Digital_Out& rhs)
+ {
+ write(rhs.read());
+ return *this;
+ }
+
+ operator int()
+ {
+ return read();
+ }
+ };
+
+#endif /*DIGITAL_OUT_H*/
\ No newline at end of file