/* ********************************************************************
*
* Fraise core
*
*********************************************************************
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software Foundation,
Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*********************************************************************
* Copyright (c) Antoine Rousseau nov 2011
******************************************************************* */
#ifndef CORE_H
#define CORE_H
/* E X T E R N S *********************************************************** */
/* P U B L I C P R O T O T Y P E S **************************************** */
#include <config.h>
#include <pic18fregs.h>
#include <boardconfig.h>
#include <boardio.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <typedefs.h>
/** @defgroup core Core module
* Core module implements eeprom, pins and time.
* @{
*/
/** @name Initialization
@{ */
/** @brief Init core module. */
/** Init processor, configure TIMER0 for time() use.
* Normally coreInit() is called by fruitInit() (see module fruit), so you don't have to call it by yourself.
*/
void coreInit();
/**@}*/
/**@name User defined functions
@{*/
/** @brief User defined initialization. */
void setup();
/** @brief User defined forever loop. */
void loop();
/** @brief Optional user defined high priority interrupt routine. */
void highInterrupts();
/** @brief Optional user defined low priority interrupt routine. */
void lowInterrupts();
/**@}*/
/* @brief Write to eeprom. */
void eeWriteByte(unsigned char address, unsigned char value);
/* @brief Write to eeprom. */
unsigned char eeReadByte(unsigned char address);
#define CALL_FUN(x,a) x(a)
#define CALL_FUN2(x,a,b) x(a,b)
#define CALL_FUN3(x,a,b,c) x(a,b,c)
#define CALL_FUN4(x,a,b,c,d) x(a,b,c,d)
//#define CALL_FUNX(x,args...) x(args)
// connector macros :
/*#define KPORT(k) k##PORT
#define KBIT(k) k##BIT
#define KAN(k) k##AN
#define KINT(k) k##INT*/
#define KPROP(k, prop) k##prop
#define KPORT(k) CALL_FUN2(KPROP, k, PORT)
#define KBIT(k) CALL_FUN2(KPROP, k, BIT)
#define KAN(k) CALL_FUN2(KPROP, k, AN)
#define KINT(k) CALL_FUN2(KPROP, k, INT)
// PIN ROUTINES
//----- Digital Read :
#define DIGITALREAD_(connport,connbit) (PORT##connport##bits.R##connport##connbit)
//----- Digital Write :
#define DIGITALWRITE_(connport,connbit,val) do{ \
if((val) != 0) LAT##connport##bits.LAT##connport##connbit = 1; \
else LAT##connport##bits.LAT##connport##connbit = 0; \
}while(0)
#define DIGITALCLEAR_(connport,connbit) do{ LAT##connport##bits.LAT##connport##connbit = 0; }while(0)
#define DIGITALSET_(connport,connbit) do{ LAT##connport##bits.LAT##connport##connbit = 1; }while(0)
//----- Pin Mode :
#define PIN_MODE_DIGITAL_IN_(connport,connbit) do{\
TRIS##connport##bits.TRIS##connport##connbit=1;\
bitclr(*(__data unsigned char*)((int)&PORT##connport + (int)&ANSELA-(int)&PORTA),connbit);\
} while(0)
#define PIN_MODE_ANALOGIN_(connport,connbit) do{\
TRIS##connport##bits.TRIS##connport##connbit=1;\
bitset(*(__data unsigned char*)((int)&PORT##connport + (int)&ANSELA-(int)&PORTA),connbit);\
} while(0)
#define PIN_MODE_DIGITAL_OUT_(connport,connbit) do{\
TRIS##connport##bits.TRIS##connport##connbit=0;\
} while(0)
/** \name Pin routines */
//@{
/** @brief Digital read from pin.
Get the voltage (0/1) seen from the pin.
@param conn Symbol of the pin (example : K1 for connector 1)
@return 0 if voltage was LOW
@return 1 if voltage was HIGH
*/
#define digitalRead(conn) CALL_FUN2(DIGITALREAD_,KPORT(conn),KBIT(conn))
/** @brief Digital write to pin.
Set the pin output voltage to LOW or HIGH.
@param conn Symbol of the pin (example : K1 for connector 1)
@param val 0 or 1
*/
#define digitalWrite(conn,val) CALL_FUN3(DIGITALWRITE_,KPORT(conn),KBIT(conn),val)
/** @brief Digital clear pin.
Clear the pin output voltage.
@param conn Symbol of the pin (example : K1 for connector 1)
*/
#define digitalClear(conn) CALL_FUN2(DIGITALCLEAR_,KPORT(conn),KBIT(conn))
/** @brief Digital set pin.
Set the pin output voltage ot HIGH.
@param conn Symbol of the pin (example : K1 for connector 1)
*/
#define digitalSet(conn) CALL_FUN2(DIGITALSET_,KPORT(conn),KBIT(conn))
/** @brief Set pin to Digital Input.
@param conn Symbol of the pin (example : K1 for connector 1)
*/
#define pinModeDigitalIn(conn) CALL_FUN2(PIN_MODE_DIGITAL_IN_,KPORT(conn),KBIT(conn))
/** @brief Set pin to Analog Input.
@param conn Symbol of the pin (example : K1 for connector 1)
*/
#define pinModeAnalogIn(conn) CALL_FUN2(PIN_MODE_ANALOGIN_,KPORT(conn),KBIT(conn))
/** @brief Set pin to Digital Output.
@param conn Symbol of the pin (example : K1 for connector 1)
*/
#define pinModeDigitalOut(conn) CALL_FUN2(PIN_MODE_DIGITAL_OUT_,KPORT(conn),KBIT(conn))
//@}
#define setPinAnsel(conn,val) CALL_FUN3(SET_PIN_ANSEL_,KPORT(conn),KBIT(conn),(val)!=0)*/
/** \name Bit macro */
//@{
#define BIT_COPY(dest,src) do{ if((src)!=0) dest = 1 ; else dest = 0 ; } while(0) ///< Copy bit **src** to **dest**.
#define bitset(var,bitno) ((var) |= (1 << (bitno))) ///< Set bit **bitno** in variable **var**.
#define bitclr(var,bitno) ((var) &= ~(1 << (bitno))) ///< Clear bit **bitno** in variable **var**.
#define bittst(var,bitno) (unsigned char)((var & (1 << (bitno)))!=0) ///< Get value of bit **bitno** in variable **var**.
//@}
#ifndef abs
#define abs(x) ((x)<0?-(x):(x))
#endif
//------------------------- Time : ----------------
extern volatile DWORD Now; // time at last high interrupt
#define elapsed(since) ((time()-(unsigned long)(since))&0x7FFFFFFF) // in time cycles
#define microToTime(T) (((unsigned long)T*(FOSC/64000UL))/1000) //microseconds to time cycles
#define timeToMicro(T) (((unsigned long)T*(FOSC/64000UL))/1000) //time cycles to microseconds
/** \name Time functions */
//@{
unsigned unsigned long int time(void); ///< Get time since bootup in 64/FOSC steps (1us @ 64MHz, 8us @ 8MHz).
#define timeISR() (Now._dword) ///< time() equivalent to be used inside of interrupts routines.
/// Time type
typedef unsigned long t_time;
/// Delay type
typedef unsigned long t_delay;
/// @brief Start delay
/// @param delay Delay to start (use t_delay type)
/// @param micros Timeout in microseconds
#define delayStart(delay, micros) delay = time() + microToTime(micros)
/// @brief Test delay timeout
/// @param delay Delay to test (use t_delay type)
/// @return TRUE if timeout
#define delayFinished(delay) (elapsed(delay) < 0x3FFFFFFF)
//@}
//----------------------- fake port Z ---------------
typedef union
{
struct
{
unsigned RZ0 : 1;
unsigned RZ1 : 1;
unsigned RZ2 : 1;
unsigned RZ3 : 1;
unsigned RZ4 : 1;
unsigned RZ5 : 1;
unsigned RZ6 : 1;
unsigned RZ7 : 1;
};
} __PORTZbits_t;
typedef union
{
struct
{
unsigned LATZ0 : 1;
unsigned LATZ1 : 1;
unsigned LATZ2 : 1;
unsigned LATZ3 : 1;
unsigned LATZ4 : 1;
unsigned LATZ5 : 1;
unsigned LATZ6 : 1;
unsigned LATZ7 : 1;
};
} __LATZbits_t;
typedef union
{
struct
{
unsigned TRISZ0 : 1;
unsigned TRISZ1 : 1;
unsigned TRISZ2 : 1;
unsigned TRISZ3 : 1;
unsigned TRISZ4 : 1;
unsigned TRISZ5 : 1;
unsigned TRISZ6 : 1;
unsigned TRISZ7 : 1;
};
struct
{
unsigned RZ0 : 1;
unsigned RZ1 : 1;
unsigned RZ2 : 1;
unsigned RZ3 : 1;
unsigned RZ4 : 1;
unsigned RZ5 : 1;
unsigned RZ6 : 1;
unsigned RZ7 : 1;
};
} __TRISZbits_t;
typedef struct
{
unsigned ANSZ0 : 1;
unsigned ANSZ1 : 1;
unsigned ANSZ2 : 1;
unsigned ANSZ3 : 1;
unsigned ANSZ4 : 1;
unsigned ANSZ5 : 1;
unsigned ANSZ6 : 1;
unsigned ANSZ7 : 1;
} __ANSELZbits_t;
#define _PORTZ_ADDR 0x0480
#define _PORT_TO_LAT 0x09
#define _PORT_TO_TRIS 0x12
#define _PORT_TO_ANSEL (-0x48)
extern __at(_PORTZ_ADDR) volatile unsigned char PORTZ;
extern __at(_PORTZ_ADDR) volatile __PORTZbits_t PORTZbits;
extern __at(_PORTZ_ADDR + _PORT_TO_LAT) volatile unsigned char LATZ;
extern __at(_PORTZ_ADDR + _PORT_TO_LAT) volatile __LATZbits_t LATZbits;
extern __at(_PORTZ_ADDR + _PORT_TO_TRIS) volatile unsigned char TRICZ;
extern __at(_PORTZ_ADDR + _PORT_TO_TRIS) volatile __TRISZbits_t TRISZbits;
extern __at(_PORTZ_ADDR + _PORT_TO_ANSEL) volatile unsigned char ANSELZ;
extern __at(_PORTZ_ADDR + _PORT_TO_ANSEL) volatile __ANSELZbits_t ANSELZbits;
//----------------------- fake port Z connectors ---------------
#define KZ0PORT Z // PORTZ0 & LATZ0 are initialized to 0
#define KZ0BIT 0
#define KZ1PORT Z // PORTZ1 & LATZ1 are initialized to 1
#define KZ1BIT 1
#define KZ2PORT Z
#define KZ2BIT 2
#define KZ3PORT Z
#define KZ3BIT 3
#define KZ4PORT Z
#define KZ4BIT 4
#define KZ5PORT Z
#define KZ5BIT 5
#define KZ6PORT Z
#define KZ6BIT 6
#define KZ7PORT Z
#define KZ7BIT 7
/** @}
*/
#endif //FRAISE_H