Andy K
Tripple Controller for the TLE5206 H Bridge motor controller
Diff: inc/SimpleTLE5206Output.h
- Revision:
- 0:e2433ca2ce59
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/SimpleTLE5206Output.h Tue Jul 05 07:43:28 2011 +0000
@@ -0,0 +1,476 @@
+/*
+ Copyright (c) 2011 Andy Kirkham
+
+ 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 AJK_SIMPLETLE5206OUTPUT_H
+#define AJK_SIMPLETLE5206OUTPUT_H
+
+#ifndef __ARMCC_VERSION
+#include "SimpleTLE5206Mbed.h"
+#define error(...)
+#else
+#include "mbed.h"
+#endif
+
+
+namespace AjK {
+
+/** SimpleTLE5206Output - Adds pin output objects.
+ *
+ * The Mbed library supplies the DigitalIn and DigitalOut objects to allow you
+ * to specify ins and outs.
+ *
+ * SimpleTLE5206Output allows library objects to implement pins without the requirement
+ * to link against the Mbed library. This increase portability when using
+ * alternate compilers (such as the Code Red GCC C++ compiler for LPCXpresso).
+ *
+ * Additionally, this class allows the pin to be configured as a GPIO output or swapped
+ * to PWM output mode.
+ *
+ * Note, this class can only be used for pins p21 through p26 as these are used for PWM pins.
+ * Trying to set this to any other pin will result in a fatal error() call.
+ *
+ * @ingroup SimpleTLE5206Output
+ */
+class SimpleTLE5206Output {
+public:
+ enum Direction {
+ Out = 0
+ , In
+ };
+
+ enum PinType {
+ IsGPIO = 0
+ , IsPWM
+ };
+
+protected:
+ PinName pin;
+ uint32_t mask;
+ uint32_t fiodir;
+ uint32_t fiomask;
+ uint32_t fiopin;
+ uint32_t fioset;
+ uint32_t fioclr;
+
+ PinType pin_type;
+
+ inline void setpin(PinName p) { pin = p; }
+ inline void setmask(PinName p) { mask = (uint32_t)(1UL << ((uint32_t)p & 0x1F)); }
+ inline void setDir(PinName p) { fiodir = (uint32_t)(p & ~0x1F) + 0x00; }
+ inline void setMask(PinName p) { fiomask = (uint32_t)(p & ~0x1F) + 0x10; }
+ inline void setPin(PinName p) { fiopin = (uint32_t)(p & ~0x1F) + 0x14; }
+ inline void setSet(PinName p) { fioset = (uint32_t)(p & ~0x1F) + 0x18; }
+ inline void setClr(PinName p) { fioclr = (uint32_t)(p & ~0x1F) + 0x1C; }
+
+ inline void pinUp() { *((volatile uint32_t *)fioset) = mask; }
+ inline void pinDn() { *((volatile uint32_t *)fioclr) = mask; }
+ inline uint32_t pinIs() { return *((volatile uint32_t *)(fiopin)) & mask; }
+
+public:
+
+ /** Constructor
+ * @ingroup SimpleTLE5206Output
+ */
+ SimpleTLE5206Output(PinName p, Direction d = Out, PinMode m = PullDown) {
+
+ if (p == p21 || p == p22 || p == p23 || p == p24 || p == p25 || p == p26 || p == LED1 || p == LED2 || p == LED3 || p == LED4) {
+ init(p, d, m);
+ }
+ else {
+ error("Invalid pin supplied.\n");
+ }
+ };
+
+ /** write
+ *
+ * Writes a value to the pin.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @param i Zero makes the pin 0v, non-zero makes the pin 1.
+ */
+ void write(int i) { if (i!=0) { pinUp(); } else { pinDn(); } }
+
+ /** read
+ *
+ * Reads the value on the pin.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ int read(void) { return pinIs() ? 1 : 0; };
+
+ /** output
+ *
+ * Setup the pin to be an output.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @ingroup API
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ void output(void) { *((volatile uint32_t *)fiodir) |= mask; }
+
+ /** input
+ *
+ * Setup the pin to be an input.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ void input(void) { *((volatile uint32_t *)fiodir) &= ~mask; }
+
+ /** getPin
+ *
+ * Get the PinName this object is operating on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ PinName getPin(void) { return pin; }
+
+ /** getDirection
+ *
+ * Get the operational direction this pin is setup for.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ int getDirection(void) { return *((volatile uint32_t *)fiomask) & mask ? 1 : 0; }
+
+ /** operator int()
+ *
+ * Reads the value on the pin.
+ *
+ * @see read
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ operator int() { return read(); }
+
+ /** operator=
+ *
+ * Writes a value to the pin.
+ *
+ * @see write
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ */
+ SimpleTLE5206Output& operator= (int value) { write(value); return *this; }
+
+ /** operator=
+ *
+ * Writes a value to the pin.
+ *
+ * @see write
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ */
+ SimpleTLE5206Output& operator= (SimpleTLE5206Output& rhs) { write(rhs.read()); return *this; }
+
+ /** getMask
+ *
+ * Get the mask value for this pin.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return uint32_t The mask value used by this pin.
+ */
+ uint32_t getMask(void) { return mask; }
+
+ /** getFiodir
+ *
+ * Get the FIODIR register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return uint32_t The register value.
+ */
+ uint32_t getFiodir(void) { return fiodir; }
+
+ /** getFiomask
+ *
+ * Get the FIOMASK register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return uint32_t The register value.
+ */
+ uint32_t getFiomask(void) { return fiomask; }
+
+ /** getFiopin
+ *
+ * Get the FIOPIN register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return uint32_t The register value.
+ */
+ uint32_t getFiopin(void) { return fiopin; }
+
+ /** getFioset
+ *
+ * Get the FIOSET register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return uint32_t The register value.
+ */
+ uint32_t getFioset(void) { return fioset; }
+
+ /** getFioclr
+ *
+ * Get the FIOCLR register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleTLE5206Output
+ * @return uint32_t The register value.
+ */
+ uint32_t getFioclr(void) { return fioclr; }
+
+
+protected:
+ void init(PinName p, Direction d, PinMode m)
+ {
+ // We rely on the fact that by default the LPC1768
+ // sets all pins to be GPIO. The user will change
+ // that if they need to. So we don't bother trying
+ // to setup PINSELx
+
+ // psel(); // Not used, see above.
+
+ setpin(p);
+ setmask(p);
+ setDir(p);
+ setMask(p);
+ setPin(p);
+ setSet(p);
+ setClr(p);
+
+ if (d == Out) output();
+ else mode( m );
+
+ pin_type = IsGPIO; // GPIO.
+ }
+
+public:
+ void as_gpio(void)
+ {
+ pin_type = IsGPIO;
+
+ switch(pin) {
+ case P2_0:
+ LPC_PINCON->PINSEL4 &= ~(3UL << 0); // Mbed p26 P2.0 clr bits
+ return;
+ case P1_18: // Mbed LED1
+ LPC_PINCON->PINSEL3 &= ~(3UL << 4); // Mbed LED2 P1.18 clr bits
+ return;
+ }
+
+ switch(pin) {
+ case P2_1:
+ LPC_PINCON->PINSEL4 &= ~(3UL << 2); // Mbed p25 P2.1 clr bits
+ return;
+ case P1_20: // Mbed LED2
+ LPC_PINCON->PINSEL3 &= ~(3UL << 8); // Mbed LED2 P1.20 clr bits
+ return;
+ }
+
+ switch(pin) {
+ case P2_2:
+ LPC_PINCON->PINSEL4 &= ~(3UL << 4); // Mbed p24 P2.2 clr bits
+ return;
+ case P1_21: // Mbed LED3
+ LPC_PINCON->PINSEL3 &= ~(3UL << 10); // Mbed LED3 P1.21 clr bits
+ return;
+ }
+
+ switch(pin) {
+ case P2_3:
+ LPC_PINCON->PINSEL4 &= ~(3UL << 6); // Mbed p23 P2.3 clr bits
+ return;
+ case P1_23: // Mbed LED4
+ LPC_PINCON->PINSEL3 &= ~(3UL << 14); // Mbed LED4 P1.23 clr bits
+ return;
+ }
+
+ switch(pin) {
+ case P2_4: // Mbed p22
+ LPC_PINCON->PINSEL4 &= ~(3UL << 8); // Mbed p22 P2.4 clr bits
+ return;
+ case P1_24:
+ LPC_PINCON->PINSEL3 &= ~(3UL << 16); // P1.24 clr bits
+ return;
+ }
+
+ switch(pin) {
+ case P2_5: // Mbed p21
+ LPC_PINCON->PINSEL4 &= ~(3UL << 10); // Mbed p21 P2.5 clr bits
+ return;
+ case P1_26:
+ LPC_PINCON->PINSEL3 &= ~(3UL << 20); // P1.26 clr bits
+ return;
+ }
+ }
+
+ void as_pwm(void)
+ {
+ pin_type = IsPWM;
+
+ switch(pin) {
+ case P2_0:
+ LPC_PINCON->PINSEL4 &= ~(3UL << 0); // Mbed p26 P2.0 clr bits
+ LPC_PINCON->PINSEL4 |= (1UL << 0); // Mbed p26 P2.0 set bits
+ LPC_PWM1->PCR |= (1UL << 9);
+ return;
+ case P1_18: // Mbed LED1
+ LPC_PINCON->PINSEL3 &= ~(3UL << 4); // Mbed LED2 P1.18 clr bits
+ LPC_PINCON->PINSEL3 |= (2UL << 4); // Mbed LED2 P1.18 set bits
+ LPC_PWM1->PCR |= (1UL << 9);
+ return;
+ }
+
+ switch(pin) {
+ case P2_1:
+ LPC_PINCON->PINSEL4 &= ~(3UL << 2); // Mbed p25 P2.1 clr bits
+ LPC_PINCON->PINSEL4 |= (1UL << 2); // Mbed p25 P2.1 set bits
+ LPC_PWM1->PCR |= (1UL << 10);
+ return;
+ case P1_20: // Mbed LED2
+ LPC_PINCON->PINSEL3 &= ~(3UL << 8); // Mbed LED2 P1.20 clr bits
+ LPC_PINCON->PINSEL3 |= (2UL << 8); // Mbed LED2 P1.20 set bits
+ LPC_PWM1->PCR |= (1UL << 10);
+ return;
+ }
+
+ switch(pin) {
+ case P2_2:
+ LPC_PINCON->PINSEL4 &= ~(3UL << 4); // Mbed p24 P2.2 clr bits
+ LPC_PINCON->PINSEL4 |= (1UL << 4); // Mbed p24 P2.2 set bits
+ LPC_PWM1->PCR |= (1UL << 11);
+ return;
+ case P1_21: // Mbed LED3
+ LPC_PINCON->PINSEL3 &= ~(3UL << 10); // Mbed LED3 P1.21 clr bits
+ LPC_PINCON->PINSEL3 |= (2UL << 10); // Mbed LED3 P1.21 set bits
+ LPC_PWM1->PCR |= (1UL << 11);
+ return;
+ }
+
+ switch(pin) {
+ case P2_3:
+ LPC_PINCON->PINSEL4 &= ~(3UL << 6); // Mbed p23 P2.3 clr bits
+ LPC_PINCON->PINSEL4 |= (1UL << 6); // Mbed p23 P2.3 set bits
+ LPC_PWM1->PCR |= (1UL << 12);
+ return;
+ case P1_23: // Mbed LED4
+ LPC_PINCON->PINSEL3 &= ~(3UL << 14); // Mbed LED4 P1.23 clr bits
+ LPC_PINCON->PINSEL3 |= (2UL << 14); // Mbed LED4 P1.23 set bits
+ LPC_PWM1->PCR |= (1UL << 12);
+ return;
+ }
+
+ switch(pin) {
+ case P2_4: // Mbed p22
+ LPC_PINCON->PINSEL4 &= ~(3UL << 8); // Mbed p22 P2.4 clr bits
+ LPC_PINCON->PINSEL4 |= (1UL << 8); // Mbed p22 P2.4 set bits
+ LPC_PWM1->PCR |= (1UL << 13);
+ return;
+ case P1_24:
+ LPC_PINCON->PINSEL3 &= ~(3UL << 16); // P1.24 clr bits
+ LPC_PINCON->PINSEL3 |= (2UL << 16); // P1.24 set bits
+ LPC_PWM1->PCR |= (1UL << 13);
+ return;
+ }
+
+ switch(pin) {
+ case P2_5: // Mbed p21
+ LPC_PINCON->PINSEL4 &= ~(3UL << 10); // Mbed p21 P2.5 clr bits
+ LPC_PINCON->PINSEL4 |= (1UL << 10); // Mbed p21 P2.5 set bits
+ LPC_PWM1->PCR |= (1UL << 14);
+ return;
+ case P1_26:
+ LPC_PINCON->PINSEL3 &= ~(3UL << 20); // P1.26 clr bits
+ LPC_PINCON->PINSEL3 |= (2UL << 20); // P1.26 set bits
+ LPC_PWM1->PCR |= (1UL << 14);
+ return;
+ }
+
+/*
+ uint32_t ppsel, pumask;
+
+ if (pin >= P2_0 && pin <= P2_5) {
+ ppsel = (uint32_t)(&LPC_PINCON->PINSEL4);
+ pumask = ~(3UL << ((pin & 0x1F)>>1));
+ *((volatile uint32_t *)ppsel) &= pumask;
+ pumask = (1UL << ((pin & 0x1F)>>1));
+ *((volatile uint32_t *)ppsel) |= pumask;
+ }
+ else if (pin >= LED1 && pin <= LED4) {
+ ppsel = (uint32_t)(&LPC_PINCON->PINSEL3);
+ pumask = ~(3UL << ((pin & 0x1F)>>1));
+ *((volatile uint32_t *)ppsel) &= pumask;
+ pumask = (2UL << ((pin & 0x1F)>>1));
+ *((volatile uint32_t *)ppsel) |= pumask;
+ }
+ else return;
+*/
+
+ }
+
+ PinType get_pin_type(void) { return pin_type; }
+
+ void mode(PinMode m)
+ {
+ uint32_t ppmod, pumask;
+
+ if (m == OpenDrain) {
+ openDrain(1);
+ }
+ else {
+ if (pin >= P2_0 && pin <= P2_5) {
+ ppmod = (uint32_t)(&LPC_PINCON->PINMODE4);
+ pumask = ((m & 0x3) << ( ((pin & 0x1F)-0)*2) );
+ }
+ else return;
+
+ *((volatile uint32_t *)ppmod) |= pumask;
+ }
+ }
+
+public:
+ void openDrain(int i = 1)
+ {
+ if (pin >= P2_0 && pin <= P2_5) { if (i) LPC_PINCON->PINMODE_OD2 |= mask; else LPC_PINCON->PINMODE_OD2 &= ~mask; }
+ }
+
+};
+
+}; /* namespace AjK ends. */
+
+using namespace AjK;
+
+#endif /* AJK_SIMPLETLE5206OUTPUT_H */