robo 8080 / Mbed 2 deprecated BLE_RCBController2_Motor

RCBControllerでモータを制御します。うおーるぼっとも動かせました。

Dependencies:   BLE_API TB6612FNG2 mbed nRF51822

Fork of BLE_RCBController2 by Junichi Katsu

うまく接続できない時は、iPhone/iPadのBluetoothをOFF－＞ONしてキャッシュをクリアしてみてください。

ライブラリ類をUpdateするとコンパイル出来なくなります。インポートした物をそのまま使って下さい。

RCBControllerでうおーるぼっとを操縦する例 /media/uploads/robo8080/img_1671.jpg

Components / Wallbot
This robot has switch, line sensors and motors. It controls by mbed.

RCBControllerでの操縦は次の4種類あります。 それぞれうおーるぼっとの動きが異なりますので試してみてください。

  • 左十字ボタン
  • 左のみアナログ
  • 右のみアナログ
  • 両方アナログ

うおーるぼっと(LPC1768のソケット)とHRM1017の接続はこれです。

LPC1768 ー HRM1017

p11 ーーー P0_0

p12 ーーー P0_1

p13 ーーー P0_28

p14 ーーー P0_29

p21 ーーー P0_30

p22 ーーー P0_25

GND ーーー GND

/media/uploads/robo8080/img_1711.jpg

/media/uploads/robo8080/img_1703.jpg

HRM1017の電源はうおーるぼっとのUSBコネクタからとります。 /media/uploads/robo8080/img_1674.jpg

HRM1017/nordic/nrf-sdk/nrf_gpio.h@4:ebda47d22091, 2014-08-20 (annotated)

Committer:
jksoft
Date:
Wed Aug 20 13:41:01 2014 +0000
Revision:
4:ebda47d22091
Parent:
nRF51822/nordic/nrf-sdk/nrf_gpio.h@1:48f6e08a3ac2 
?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 1:48f6e08a3ac2 1 #ifndef NRF_GPIO_H__
jksoft 1:48f6e08a3ac2 2 #define NRF_GPIO_H__
jksoft 1:48f6e08a3ac2 3
jksoft 1:48f6e08a3ac2 4 #include "nrf51.h"
jksoft 1:48f6e08a3ac2 5 #include "nrf51_bitfields.h"
jksoft 1:48f6e08a3ac2 6
jksoft 1:48f6e08a3ac2 7 /**
jksoft 1:48f6e08a3ac2 8 * @defgroup nrf_gpio GPIO abstraction
jksoft 1:48f6e08a3ac2 9 * @{
jksoft 1:48f6e08a3ac2 10 * @ingroup nrf_drivers
jksoft 1:48f6e08a3ac2 11 * @brief GPIO pin abstraction and port abstraction for reading and writing byte-wise to GPIO ports.
jksoft 1:48f6e08a3ac2 12 *
jksoft 1:48f6e08a3ac2 13 * Here, the GPIO ports are defined as follows:
jksoft 1:48f6e08a3ac2 14 * - Port 0 -> pin 0-7
jksoft 1:48f6e08a3ac2 15 * - Port 1 -> pin 8-15
jksoft 1:48f6e08a3ac2 16 * - Port 2 -> pin 16-23
jksoft 1:48f6e08a3ac2 17 * - Port 3 -> pin 24-31
jksoft 1:48f6e08a3ac2 18 */
jksoft 1:48f6e08a3ac2 19
jksoft 1:48f6e08a3ac2 20 /**
jksoft 1:48f6e08a3ac2 21 * @enum nrf_gpio_port_dir_t
jksoft 1:48f6e08a3ac2 22 * @brief Enumerator used for setting the direction of a GPIO port.
jksoft 1:48f6e08a3ac2 23 */
jksoft 1:48f6e08a3ac2 24 typedef enum
jksoft 1:48f6e08a3ac2 25 {
jksoft 1:48f6e08a3ac2 26 NRF_GPIO_PORT_DIR_OUTPUT, ///< Output
jksoft 1:48f6e08a3ac2 27 NRF_GPIO_PORT_DIR_INPUT ///< Input
jksoft 1:48f6e08a3ac2 28 } nrf_gpio_port_dir_t;
jksoft 1:48f6e08a3ac2 29
jksoft 1:48f6e08a3ac2 30 /**
jksoft 1:48f6e08a3ac2 31 * @enum nrf_gpio_pin_dir_t
jksoft 1:48f6e08a3ac2 32 * Pin direction definitions.
jksoft 1:48f6e08a3ac2 33 */
jksoft 1:48f6e08a3ac2 34 typedef enum
jksoft 1:48f6e08a3ac2 35 {
jksoft 1:48f6e08a3ac2 36 NRF_GPIO_PIN_DIR_INPUT, ///< Input
jksoft 1:48f6e08a3ac2 37 NRF_GPIO_PIN_DIR_OUTPUT ///< Output
jksoft 1:48f6e08a3ac2 38 } nrf_gpio_pin_dir_t;
jksoft 1:48f6e08a3ac2 39
jksoft 1:48f6e08a3ac2 40 /**
jksoft 1:48f6e08a3ac2 41 * @enum nrf_gpio_port_select_t
jksoft 1:48f6e08a3ac2 42 * @brief Enumerator used for selecting between port 0 - 3.
jksoft 1:48f6e08a3ac2 43 */
jksoft 1:48f6e08a3ac2 44 typedef enum
jksoft 1:48f6e08a3ac2 45 {
jksoft 1:48f6e08a3ac2 46 NRF_GPIO_PORT_SELECT_PORT0 = 0, ///< Port 0 (GPIO pin 0-7)
jksoft 1:48f6e08a3ac2 47 NRF_GPIO_PORT_SELECT_PORT1, ///< Port 1 (GPIO pin 8-15)
jksoft 1:48f6e08a3ac2 48 NRF_GPIO_PORT_SELECT_PORT2, ///< Port 2 (GPIO pin 16-23)
jksoft 1:48f6e08a3ac2 49 NRF_GPIO_PORT_SELECT_PORT3, ///< Port 3 (GPIO pin 24-31)
jksoft 1:48f6e08a3ac2 50 } nrf_gpio_port_select_t;
jksoft 1:48f6e08a3ac2 51
jksoft 1:48f6e08a3ac2 52 /**
jksoft 1:48f6e08a3ac2 53 * @enum nrf_gpio_pin_pull_t
jksoft 1:48f6e08a3ac2 54 * @brief Enumerator used for selecting the pin to be pulled down or up at the time of pin configuration
jksoft 1:48f6e08a3ac2 55 */
jksoft 1:48f6e08a3ac2 56 typedef enum
jksoft 1:48f6e08a3ac2 57 {
jksoft 1:48f6e08a3ac2 58 NRF_GPIO_PIN_NOPULL = GPIO_PIN_CNF_PULL_Disabled, ///< Pin pullup resistor disabled
jksoft 1:48f6e08a3ac2 59 NRF_GPIO_PIN_PULLDOWN = GPIO_PIN_CNF_PULL_Pulldown, ///< Pin pulldown resistor enabled
jksoft 1:48f6e08a3ac2 60 NRF_GPIO_PIN_PULLUP = GPIO_PIN_CNF_PULL_Pullup, ///< Pin pullup resistor enabled
jksoft 1:48f6e08a3ac2 61 } nrf_gpio_pin_pull_t;
jksoft 1:48f6e08a3ac2 62
jksoft 1:48f6e08a3ac2 63 /**
jksoft 1:48f6e08a3ac2 64 * @enum nrf_gpio_pin_sense_t
jksoft 1:48f6e08a3ac2 65 * @brief Enumerator used for selecting the pin to sense high or low level on the pin input.
jksoft 1:48f6e08a3ac2 66 */
jksoft 1:48f6e08a3ac2 67 typedef enum
jksoft 1:48f6e08a3ac2 68 {
jksoft 1:48f6e08a3ac2 69 NRF_GPIO_PIN_NOSENSE = GPIO_PIN_CNF_SENSE_Disabled, ///< Pin sense level disabled.
jksoft 1:48f6e08a3ac2 70 NRF_GPIO_PIN_SENSE_LOW = GPIO_PIN_CNF_SENSE_Low, ///< Pin sense low level.
jksoft 1:48f6e08a3ac2 71 NRF_GPIO_PIN_SENSE_HIGH = GPIO_PIN_CNF_SENSE_High, ///< Pin sense high level.
jksoft 1:48f6e08a3ac2 72 } nrf_gpio_pin_sense_t;
jksoft 1:48f6e08a3ac2 73
jksoft 1:48f6e08a3ac2 74 /**
jksoft 1:48f6e08a3ac2 75 * @brief Function for configuring the GPIO pin range as outputs with normal drive strength.
jksoft 1:48f6e08a3ac2 76 * This function can be used to configure pin range as simple output with gate driving GPIO_PIN_CNF_DRIVE_S0S1 (normal cases).
jksoft 1:48f6e08a3ac2 77 *
jksoft 1:48f6e08a3ac2 78 * @param pin_range_start specifies the start number (inclusive) in the range of pin numbers to be configured (allowed values 0-30)
jksoft 1:48f6e08a3ac2 79 *
jksoft 1:48f6e08a3ac2 80 * @param pin_range_end specifies the end number (inclusive) in the range of pin numbers to be configured (allowed values 0-30)
jksoft 1:48f6e08a3ac2 81 *
jksoft 1:48f6e08a3ac2 82 * @note For configuring only one pin as output use @ref nrf_gpio_cfg_output
jksoft 1:48f6e08a3ac2 83 * Sense capability on the pin is disabled, and input is disconnected from the buffer as the pins are configured as output.
jksoft 1:48f6e08a3ac2 84 */
jksoft 1:48f6e08a3ac2 85 static __INLINE void nrf_gpio_range_cfg_output(uint32_t pin_range_start, uint32_t pin_range_end)
jksoft 1:48f6e08a3ac2 86 {
jksoft 1:48f6e08a3ac2 87 /*lint -e{845} // A zero has been given as right argument to operator '|'" */
jksoft 1:48f6e08a3ac2 88 for (; pin_range_start <= pin_range_end; pin_range_start++)
jksoft 1:48f6e08a3ac2 89 {
jksoft 1:48f6e08a3ac2 90 NRF_GPIO->PIN_CNF[pin_range_start] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
jksoft 1:48f6e08a3ac2 91 | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
jksoft 1:48f6e08a3ac2 92 | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos)
jksoft 1:48f6e08a3ac2 93 | (GPIO_PIN_CNF_INPUT_Disconnect << GPIO_PIN_CNF_INPUT_Pos)
jksoft 1:48f6e08a3ac2 94 | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
jksoft 1:48f6e08a3ac2 95 }
jksoft 1:48f6e08a3ac2 96 }
jksoft 1:48f6e08a3ac2 97
jksoft 1:48f6e08a3ac2 98 /**
jksoft 1:48f6e08a3ac2 99 * @brief Function for configuring the GPIO pin range as inputs with given initial value set, hiding inner details.
jksoft 1:48f6e08a3ac2 100 * This function can be used to configure pin range as simple input.
jksoft 1:48f6e08a3ac2 101 *
jksoft 1:48f6e08a3ac2 102 * @param pin_range_start specifies the start number (inclusive) in the range of pin numbers to be configured (allowed values 0-30)
jksoft 1:48f6e08a3ac2 103 *
jksoft 1:48f6e08a3ac2 104 * @param pin_range_end specifies the end number (inclusive) in the range of pin numbers to be configured (allowed values 0-30)
jksoft 1:48f6e08a3ac2 105 *
jksoft 1:48f6e08a3ac2 106 * @param pull_config State of the pin range pull resistor (no pull, pulled down or pulled high)
jksoft 1:48f6e08a3ac2 107 *
jksoft 1:48f6e08a3ac2 108 * @note For configuring only one pin as input use @ref nrf_gpio_cfg_input
jksoft 1:48f6e08a3ac2 109 * Sense capability on the pin is disabled, and input is connected to buffer so that the GPIO->IN register is readable
jksoft 1:48f6e08a3ac2 110 */
jksoft 1:48f6e08a3ac2 111 static __INLINE void nrf_gpio_range_cfg_input(uint32_t pin_range_start, uint32_t pin_range_end, nrf_gpio_pin_pull_t pull_config)
jksoft 1:48f6e08a3ac2 112 {
jksoft 1:48f6e08a3ac2 113 /*lint -e{845} // A zero has been given as right argument to operator '|'" */
jksoft 1:48f6e08a3ac2 114 for (; pin_range_start <= pin_range_end; pin_range_start++)
jksoft 1:48f6e08a3ac2 115 {
jksoft 1:48f6e08a3ac2 116 NRF_GPIO->PIN_CNF[pin_range_start] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
jksoft 1:48f6e08a3ac2 117 | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
jksoft 1:48f6e08a3ac2 118 | (pull_config << GPIO_PIN_CNF_PULL_Pos)
jksoft 1:48f6e08a3ac2 119 | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
jksoft 1:48f6e08a3ac2 120 | (GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos);
jksoft 1:48f6e08a3ac2 121 }
jksoft 1:48f6e08a3ac2 122 }
jksoft 1:48f6e08a3ac2 123
jksoft 1:48f6e08a3ac2 124 /**
jksoft 1:48f6e08a3ac2 125 * @brief Function for configuring the given GPIO pin number as output with given initial value set, hiding inner details.
jksoft 1:48f6e08a3ac2 126 * This function can be used to configure pin range as simple input with gate driving GPIO_PIN_CNF_DRIVE_S0S1 (normal cases).
jksoft 1:48f6e08a3ac2 127 *
jksoft 1:48f6e08a3ac2 128 * @param pin_number specifies the pin number of gpio pin numbers to be configured (allowed values 0-30)
jksoft 1:48f6e08a3ac2 129 *
jksoft 1:48f6e08a3ac2 130 * @note Sense capability on the pin is disabled, and input is disconnected from the buffer as the pins are configured as output.
jksoft 1:48f6e08a3ac2 131 */
jksoft 1:48f6e08a3ac2 132 static __INLINE void nrf_gpio_cfg_output(uint32_t pin_number)
jksoft 1:48f6e08a3ac2 133 {
jksoft 1:48f6e08a3ac2 134 /*lint -e{845} // A zero has been given as right argument to operator '|'" */
jksoft 1:48f6e08a3ac2 135 NRF_GPIO->PIN_CNF[pin_number] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
jksoft 1:48f6e08a3ac2 136 | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
jksoft 1:48f6e08a3ac2 137 | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos)
jksoft 1:48f6e08a3ac2 138 | (GPIO_PIN_CNF_INPUT_Disconnect << GPIO_PIN_CNF_INPUT_Pos)
jksoft 1:48f6e08a3ac2 139 | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
jksoft 1:48f6e08a3ac2 140 }
jksoft 1:48f6e08a3ac2 141
jksoft 1:48f6e08a3ac2 142 /**
jksoft 1:48f6e08a3ac2 143 * @brief Function for configuring the given GPIO pin number as input with given initial value set, hiding inner details.
jksoft 1:48f6e08a3ac2 144 * This function can be used to configure pin range as simple input with gate driving GPIO_PIN_CNF_DRIVE_S0S1 (normal cases).
jksoft 1:48f6e08a3ac2 145 *
jksoft 1:48f6e08a3ac2 146 * @param pin_number specifies the pin number of gpio pin numbers to be configured (allowed values 0-30)
jksoft 1:48f6e08a3ac2 147 *
jksoft 1:48f6e08a3ac2 148 * @param pull_config State of the pin range pull resistor (no pull, pulled down or pulled high)
jksoft 1:48f6e08a3ac2 149 *
jksoft 1:48f6e08a3ac2 150 * @note Sense capability on the pin is disabled, and input is connected to buffer so that the GPIO->IN register is readable
jksoft 1:48f6e08a3ac2 151 */
jksoft 1:48f6e08a3ac2 152 static __INLINE void nrf_gpio_cfg_input(uint32_t pin_number, nrf_gpio_pin_pull_t pull_config)
jksoft 1:48f6e08a3ac2 153 {
jksoft 1:48f6e08a3ac2 154 /*lint -e{845} // A zero has been given as right argument to operator '|'" */
jksoft 1:48f6e08a3ac2 155 NRF_GPIO->PIN_CNF[pin_number] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
jksoft 1:48f6e08a3ac2 156 | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
jksoft 1:48f6e08a3ac2 157 | (pull_config << GPIO_PIN_CNF_PULL_Pos)
jksoft 1:48f6e08a3ac2 158 | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
jksoft 1:48f6e08a3ac2 159 | (GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos);
jksoft 1:48f6e08a3ac2 160 }
jksoft 1:48f6e08a3ac2 161
jksoft 1:48f6e08a3ac2 162 /**
jksoft 1:48f6e08a3ac2 163 * @brief Function for configuring the given GPIO pin number as input with given initial value set, hiding inner details.
jksoft 1:48f6e08a3ac2 164 * This function can be used to configure pin range as simple input with gate driving GPIO_PIN_CNF_DRIVE_S0S1 (normal cases).
jksoft 1:48f6e08a3ac2 165 * Sense capability on the pin is configurable, and input is connected to buffer so that the GPIO->IN register is readable.
jksoft 1:48f6e08a3ac2 166 *
jksoft 1:48f6e08a3ac2 167 * @param pin_number specifies the pin number of gpio pin numbers to be configured (allowed values 0-30).
jksoft 1:48f6e08a3ac2 168 *
jksoft 1:48f6e08a3ac2 169 * @param pull_config state of the pin pull resistor (no pull, pulled down or pulled high).
jksoft 1:48f6e08a3ac2 170 *
jksoft 1:48f6e08a3ac2 171 * @param sense_config sense level of the pin (no sense, sense low or sense high).
jksoft 1:48f6e08a3ac2 172 */
jksoft 1:48f6e08a3ac2 173 static __INLINE void nrf_gpio_cfg_sense_input(uint32_t pin_number, nrf_gpio_pin_pull_t pull_config, nrf_gpio_pin_sense_t sense_config)
jksoft 1:48f6e08a3ac2 174 {
jksoft 1:48f6e08a3ac2 175 /*lint -e{845} // A zero has been given as right argument to operator '|'" */
jksoft 1:48f6e08a3ac2 176 NRF_GPIO->PIN_CNF[pin_number] = (sense_config << GPIO_PIN_CNF_SENSE_Pos)
jksoft 1:48f6e08a3ac2 177 | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
jksoft 1:48f6e08a3ac2 178 | (pull_config << GPIO_PIN_CNF_PULL_Pos)
jksoft 1:48f6e08a3ac2 179 | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
jksoft 1:48f6e08a3ac2 180 | (GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos);
jksoft 1:48f6e08a3ac2 181 }
jksoft 1:48f6e08a3ac2 182
jksoft 1:48f6e08a3ac2 183 /**
jksoft 1:48f6e08a3ac2 184 * @brief Function for setting the direction for a GPIO pin.
jksoft 1:48f6e08a3ac2 185 *
jksoft 1:48f6e08a3ac2 186 * @param pin_number specifies the pin number [0:31] for which to
jksoft 1:48f6e08a3ac2 187 * set the direction.
jksoft 1:48f6e08a3ac2 188 *
jksoft 1:48f6e08a3ac2 189 * @param direction specifies the direction
jksoft 1:48f6e08a3ac2 190 */
jksoft 1:48f6e08a3ac2 191 static __INLINE void nrf_gpio_pin_dir_set(uint32_t pin_number, nrf_gpio_pin_dir_t direction)
jksoft 1:48f6e08a3ac2 192 {
jksoft 1:48f6e08a3ac2 193 if(direction == NRF_GPIO_PIN_DIR_INPUT)
jksoft 1:48f6e08a3ac2 194 {
jksoft 1:48f6e08a3ac2 195 NRF_GPIO->PIN_CNF[pin_number] =
jksoft 1:48f6e08a3ac2 196 (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
jksoft 1:48f6e08a3ac2 197 | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
jksoft 1:48f6e08a3ac2 198 | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos)
jksoft 1:48f6e08a3ac2 199 | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
jksoft 1:48f6e08a3ac2 200 | (GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos);
jksoft 1:48f6e08a3ac2 201 }
jksoft 1:48f6e08a3ac2 202 else
jksoft 1:48f6e08a3ac2 203 {
jksoft 1:48f6e08a3ac2 204 NRF_GPIO->DIRSET = (1UL << pin_number);
jksoft 1:48f6e08a3ac2 205 }
jksoft 1:48f6e08a3ac2 206 }
jksoft 1:48f6e08a3ac2 207
jksoft 1:48f6e08a3ac2 208 /**
jksoft 1:48f6e08a3ac2 209 * @brief Function for setting a GPIO pin.
jksoft 1:48f6e08a3ac2 210 *
jksoft 1:48f6e08a3ac2 211 * Note that the pin must be configured as an output for this
jksoft 1:48f6e08a3ac2 212 * function to have any effect.
jksoft 1:48f6e08a3ac2 213 *
jksoft 1:48f6e08a3ac2 214 * @param pin_number specifies the pin number [0:31] to
jksoft 1:48f6e08a3ac2 215 * set.
jksoft 1:48f6e08a3ac2 216 */
jksoft 1:48f6e08a3ac2 217 static __INLINE void nrf_gpio_pin_set(uint32_t pin_number)
jksoft 1:48f6e08a3ac2 218 {
jksoft 1:48f6e08a3ac2 219 NRF_GPIO->OUTSET = (1UL << pin_number);
jksoft 1:48f6e08a3ac2 220 }
jksoft 1:48f6e08a3ac2 221
jksoft 1:48f6e08a3ac2 222 /**
jksoft 1:48f6e08a3ac2 223 * @brief Function for clearing a GPIO pin.
jksoft 1:48f6e08a3ac2 224 *
jksoft 1:48f6e08a3ac2 225 * Note that the pin must be configured as an output for this
jksoft 1:48f6e08a3ac2 226 * function to have any effect.
jksoft 1:48f6e08a3ac2 227 *
jksoft 1:48f6e08a3ac2 228 * @param pin_number specifies the pin number [0:31] to
jksoft 1:48f6e08a3ac2 229 * clear.
jksoft 1:48f6e08a3ac2 230 */
jksoft 1:48f6e08a3ac2 231 static __INLINE void nrf_gpio_pin_clear(uint32_t pin_number)
jksoft 1:48f6e08a3ac2 232 {
jksoft 1:48f6e08a3ac2 233 NRF_GPIO->OUTCLR = (1UL << pin_number);
jksoft 1:48f6e08a3ac2 234 }
jksoft 1:48f6e08a3ac2 235
jksoft 1:48f6e08a3ac2 236 /**
jksoft 1:48f6e08a3ac2 237 * @brief Function for toggling a GPIO pin.
jksoft 1:48f6e08a3ac2 238 *
jksoft 1:48f6e08a3ac2 239 * Note that the pin must be configured as an output for this
jksoft 1:48f6e08a3ac2 240 * function to have any effect.
jksoft 1:48f6e08a3ac2 241 *
jksoft 1:48f6e08a3ac2 242 * @param pin_number specifies the pin number [0:31] to
jksoft 1:48f6e08a3ac2 243 * toggle.
jksoft 1:48f6e08a3ac2 244 */
jksoft 1:48f6e08a3ac2 245 static __INLINE void nrf_gpio_pin_toggle(uint32_t pin_number)
jksoft 1:48f6e08a3ac2 246 {
jksoft 1:48f6e08a3ac2 247 const uint32_t pin_bit = 1UL << pin_number;
jksoft 1:48f6e08a3ac2 248 const uint32_t pin_state = ((NRF_GPIO->OUT >> pin_number) & 1UL);
jksoft 1:48f6e08a3ac2 249
jksoft 1:48f6e08a3ac2 250 if (pin_state == 0)
jksoft 1:48f6e08a3ac2 251 {
jksoft 1:48f6e08a3ac2 252 // Current state low, set high.
jksoft 1:48f6e08a3ac2 253 NRF_GPIO->OUTSET = pin_bit;
jksoft 1:48f6e08a3ac2 254 }
jksoft 1:48f6e08a3ac2 255 else
jksoft 1:48f6e08a3ac2 256 {
jksoft 1:48f6e08a3ac2 257 // Current state high, set low.
jksoft 1:48f6e08a3ac2 258 NRF_GPIO->OUTCLR = pin_bit;
jksoft 1:48f6e08a3ac2 259 }
jksoft 1:48f6e08a3ac2 260 }
jksoft 1:48f6e08a3ac2 261
jksoft 1:48f6e08a3ac2 262 /**
jksoft 1:48f6e08a3ac2 263 * @brief Function for writing a value to a GPIO pin.
jksoft 1:48f6e08a3ac2 264 *
jksoft 1:48f6e08a3ac2 265 * Note that the pin must be configured as an output for this
jksoft 1:48f6e08a3ac2 266 * function to have any effect.
jksoft 1:48f6e08a3ac2 267 *
jksoft 1:48f6e08a3ac2 268 * @param pin_number specifies the pin number [0:31] to
jksoft 1:48f6e08a3ac2 269 * write.
jksoft 1:48f6e08a3ac2 270 *
jksoft 1:48f6e08a3ac2 271 * @param value specifies the value to be written to the pin.
jksoft 1:48f6e08a3ac2 272 * @arg 0 clears the pin
jksoft 1:48f6e08a3ac2 273 * @arg >=1 sets the pin.
jksoft 1:48f6e08a3ac2 274 */
jksoft 1:48f6e08a3ac2 275 static __INLINE void nrf_gpio_pin_write(uint32_t pin_number, uint32_t value)
jksoft 1:48f6e08a3ac2 276 {
jksoft 1:48f6e08a3ac2 277 if (value == 0)
jksoft 1:48f6e08a3ac2 278 {
jksoft 1:48f6e08a3ac2 279 nrf_gpio_pin_clear(pin_number);
jksoft 1:48f6e08a3ac2 280 }
jksoft 1:48f6e08a3ac2 281 else
jksoft 1:48f6e08a3ac2 282 {
jksoft 1:48f6e08a3ac2 283 nrf_gpio_pin_set(pin_number);
jksoft 1:48f6e08a3ac2 284 }
jksoft 1:48f6e08a3ac2 285 }
jksoft 1:48f6e08a3ac2 286
jksoft 1:48f6e08a3ac2 287 /**
jksoft 1:48f6e08a3ac2 288 * @brief Function for reading the input level of a GPIO pin.
jksoft 1:48f6e08a3ac2 289 *
jksoft 1:48f6e08a3ac2 290 * Note that the pin must have input connected for the value
jksoft 1:48f6e08a3ac2 291 * returned from this function to be valid.
jksoft 1:48f6e08a3ac2 292 *
jksoft 1:48f6e08a3ac2 293 * @param pin_number specifies the pin number [0:31] to
jksoft 1:48f6e08a3ac2 294 * read.
jksoft 1:48f6e08a3ac2 295 *
jksoft 1:48f6e08a3ac2 296 * @return
jksoft 1:48f6e08a3ac2 297 * @retval 0 if the pin input level is low.
jksoft 1:48f6e08a3ac2 298 * @retval 1 if the pin input level is high.
jksoft 1:48f6e08a3ac2 299 * @retval > 1 should never occur.
jksoft 1:48f6e08a3ac2 300 */
jksoft 1:48f6e08a3ac2 301 static __INLINE uint32_t nrf_gpio_pin_read(uint32_t pin_number)
jksoft 1:48f6e08a3ac2 302 {
jksoft 1:48f6e08a3ac2 303 return ((NRF_GPIO->IN >> pin_number) & 1UL);
jksoft 1:48f6e08a3ac2 304 }
jksoft 1:48f6e08a3ac2 305
jksoft 1:48f6e08a3ac2 306 /**
jksoft 1:48f6e08a3ac2 307 * @brief Generic function for writing a single byte of a 32 bit word at a given
jksoft 1:48f6e08a3ac2 308 * address.
jksoft 1:48f6e08a3ac2 309 *
jksoft 1:48f6e08a3ac2 310 * This function should not be called from outside the nrf_gpio
jksoft 1:48f6e08a3ac2 311 * abstraction layer.
jksoft 1:48f6e08a3ac2 312 *
jksoft 1:48f6e08a3ac2 313 * @param word_address is the address of the word to be written.
jksoft 1:48f6e08a3ac2 314 *
jksoft 1:48f6e08a3ac2 315 * @param byte_no is the the word byte number (0-3) to be written.
jksoft 1:48f6e08a3ac2 316 *
jksoft 1:48f6e08a3ac2 317 * @param value is the value to be written to byte "byte_no" of word
jksoft 1:48f6e08a3ac2 318 * at address "word_address"
jksoft 1:48f6e08a3ac2 319 */
jksoft 1:48f6e08a3ac2 320 static __INLINE void nrf_gpio_word_byte_write(volatile uint32_t * word_address, uint8_t byte_no, uint8_t value)
jksoft 1:48f6e08a3ac2 321 {
jksoft 1:48f6e08a3ac2 322 *((volatile uint8_t*)(word_address) + byte_no) = value;
jksoft 1:48f6e08a3ac2 323 }
jksoft 1:48f6e08a3ac2 324
jksoft 1:48f6e08a3ac2 325 /**
jksoft 1:48f6e08a3ac2 326 * @brief Generic function for reading a single byte of a 32 bit word at a given
jksoft 1:48f6e08a3ac2 327 * address.
jksoft 1:48f6e08a3ac2 328 *
jksoft 1:48f6e08a3ac2 329 * This function should not be called from outside the nrf_gpio
jksoft 1:48f6e08a3ac2 330 * abstraction layer.
jksoft 1:48f6e08a3ac2 331 *
jksoft 1:48f6e08a3ac2 332 * @param word_address is the address of the word to be read.
jksoft 1:48f6e08a3ac2 333 *
jksoft 1:48f6e08a3ac2 334 * @param byte_no is the the byte number (0-3) of the word to be read.
jksoft 1:48f6e08a3ac2 335 *
jksoft 1:48f6e08a3ac2 336 * @return byte "byte_no" of word at address "word_address".
jksoft 1:48f6e08a3ac2 337 */
jksoft 1:48f6e08a3ac2 338 static __INLINE uint8_t nrf_gpio_word_byte_read(const volatile uint32_t* word_address, uint8_t byte_no)
jksoft 1:48f6e08a3ac2 339 {
jksoft 1:48f6e08a3ac2 340 return (*((const volatile uint8_t*)(word_address) + byte_no));
jksoft 1:48f6e08a3ac2 341 }
jksoft 1:48f6e08a3ac2 342
jksoft 1:48f6e08a3ac2 343 /**
jksoft 1:48f6e08a3ac2 344 * @brief Function for setting the direction of a port.
jksoft 1:48f6e08a3ac2 345 *
jksoft 1:48f6e08a3ac2 346 * @param port is the port for which to set the direction.
jksoft 1:48f6e08a3ac2 347 *
jksoft 1:48f6e08a3ac2 348 * @param dir direction to be set for this port.
jksoft 1:48f6e08a3ac2 349 */
jksoft 1:48f6e08a3ac2 350 static __INLINE void nrf_gpio_port_dir_set(nrf_gpio_port_select_t port, nrf_gpio_port_dir_t dir)
jksoft 1:48f6e08a3ac2 351 {
jksoft 1:48f6e08a3ac2 352 if (dir == NRF_GPIO_PORT_DIR_OUTPUT)
jksoft 1:48f6e08a3ac2 353 {
jksoft 1:48f6e08a3ac2 354 nrf_gpio_word_byte_write(&NRF_GPIO->DIRSET, port, 0xFF);
jksoft 1:48f6e08a3ac2 355 }
jksoft 1:48f6e08a3ac2 356 else
jksoft 1:48f6e08a3ac2 357 {
jksoft 1:48f6e08a3ac2 358 nrf_gpio_range_cfg_input(port*8, (port+1)*8-1, NRF_GPIO_PIN_NOPULL);
jksoft 1:48f6e08a3ac2 359 }
jksoft 1:48f6e08a3ac2 360 }
jksoft 1:48f6e08a3ac2 361
jksoft 1:48f6e08a3ac2 362 /**
jksoft 1:48f6e08a3ac2 363 * @brief Function for reading a GPIO port.
jksoft 1:48f6e08a3ac2 364 *
jksoft 1:48f6e08a3ac2 365 * @param port is the port to read.
jksoft 1:48f6e08a3ac2 366 *
jksoft 1:48f6e08a3ac2 367 * @return the input value on this port.
jksoft 1:48f6e08a3ac2 368 */
jksoft 1:48f6e08a3ac2 369 static __INLINE uint8_t nrf_gpio_port_read(nrf_gpio_port_select_t port)
jksoft 1:48f6e08a3ac2 370 {
jksoft 1:48f6e08a3ac2 371 return nrf_gpio_word_byte_read(&NRF_GPIO->IN, port);
jksoft 1:48f6e08a3ac2 372 }
jksoft 1:48f6e08a3ac2 373
jksoft 1:48f6e08a3ac2 374 /**
jksoft 1:48f6e08a3ac2 375 * @brief Function for writing to a GPIO port.
jksoft 1:48f6e08a3ac2 376 *
jksoft 1:48f6e08a3ac2 377 * @param port is the port to write.
jksoft 1:48f6e08a3ac2 378 *
jksoft 1:48f6e08a3ac2 379 * @param value is the value to write to this port.
jksoft 1:48f6e08a3ac2 380 *
jksoft 1:48f6e08a3ac2 381 * @sa nrf_gpio_port_dir_set()
jksoft 1:48f6e08a3ac2 382 */
jksoft 1:48f6e08a3ac2 383 static __INLINE void nrf_gpio_port_write(nrf_gpio_port_select_t port, uint8_t value)
jksoft 1:48f6e08a3ac2 384 {
jksoft 1:48f6e08a3ac2 385 nrf_gpio_word_byte_write(&NRF_GPIO->OUT, port, value);
jksoft 1:48f6e08a3ac2 386 }
jksoft 1:48f6e08a3ac2 387
jksoft 1:48f6e08a3ac2 388 /**
jksoft 1:48f6e08a3ac2 389 * @brief Function for setting individual pins on GPIO port.
jksoft 1:48f6e08a3ac2 390 *
jksoft 1:48f6e08a3ac2 391 * @param port is the port for which to set the pins.
jksoft 1:48f6e08a3ac2 392 *
jksoft 1:48f6e08a3ac2 393 * @param set_mask is a mask specifying which pins to set. A bit
jksoft 1:48f6e08a3ac2 394 * set to 1 indicates that the corresponding port pin shall be
jksoft 1:48f6e08a3ac2 395 * set.
jksoft 1:48f6e08a3ac2 396 *
jksoft 1:48f6e08a3ac2 397 * @sa nrf_gpio_port_dir_set()
jksoft 1:48f6e08a3ac2 398 */
jksoft 1:48f6e08a3ac2 399 static __INLINE void nrf_gpio_port_set(nrf_gpio_port_select_t port, uint8_t set_mask)
jksoft 1:48f6e08a3ac2 400 {
jksoft 1:48f6e08a3ac2 401 nrf_gpio_word_byte_write(&NRF_GPIO->OUTSET, port, set_mask);
jksoft 1:48f6e08a3ac2 402 }
jksoft 1:48f6e08a3ac2 403
jksoft 1:48f6e08a3ac2 404 /**
jksoft 1:48f6e08a3ac2 405 * @brief Function for clearing individual pins on GPIO port.
jksoft 1:48f6e08a3ac2 406 *
jksoft 1:48f6e08a3ac2 407 * @param port is the port for which to clear the pins.
jksoft 1:48f6e08a3ac2 408 *
jksoft 1:48f6e08a3ac2 409 * @param clr_mask is a mask specifying which pins to clear. A bit
jksoft 1:48f6e08a3ac2 410 * set to 1 indicates that the corresponding port pin shall be
jksoft 1:48f6e08a3ac2 411 * cleared.
jksoft 1:48f6e08a3ac2 412 *
jksoft 1:48f6e08a3ac2 413 * @sa nrf_gpio_port_dir_set()
jksoft 1:48f6e08a3ac2 414 */
jksoft 1:48f6e08a3ac2 415 static __INLINE void nrf_gpio_port_clear(nrf_gpio_port_select_t port, uint8_t clr_mask)
jksoft 1:48f6e08a3ac2 416 {
jksoft 1:48f6e08a3ac2 417 nrf_gpio_word_byte_write(&NRF_GPIO->OUTCLR, port, clr_mask);
jksoft 1:48f6e08a3ac2 418 }
jksoft 1:48f6e08a3ac2 419
jksoft 1:48f6e08a3ac2 420 /** @} */
jksoft 1:48f6e08a3ac2 421
jksoft 1:48f6e08a3ac2 422 #endif