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travis-farmer 2023-10-19 16:23:36 -04:00
parent 9e6104fc16
commit 5b4a1dd6fa
2 changed files with 17 additions and 0 deletions
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7
MotorDriver.cpp
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@ -501,9 +501,15 @@ unsigned int MotorDriver::mA2raw( unsigned int mA) {
return (int32_t)mA * senseScale / senseFactorInternal; return (int32_t)mA * senseScale / senseFactorInternal;
} }
void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & result) { void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & result) {
// DIAG(F("MotorDriver %S Pin=%d,"),type,pin); // DIAG(F("MotorDriver %S Pin=%d,"),type,pin);
(void) type; // avoid compiler warning if diag not used above. (void) type; // avoid compiler warning if diag not used above.
#if defined(ARDUINO_GIGA)
(void)type;
(void)input; // no warnings please
*result = digitalPinToGpio(pin);
#else
#if defined(ARDUINO_ARCH_SAMD) #if defined(ARDUINO_ARCH_SAMD)
PortGroup *port = digitalPinToPort(pin); PortGroup *port = digitalPinToPort(pin);
#elif defined(ARDUINO_ARCH_STM32) #elif defined(ARDUINO_ARCH_STM32)
@ -517,6 +523,7 @@ void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & res
result.inout = portOutputRegister(port); result.inout = portOutputRegister(port);
result.maskHIGH = digitalPinToBitMask(pin); result.maskHIGH = digitalPinToBitMask(pin);
result.maskLOW = ~result.maskHIGH; result.maskLOW = ~result.maskHIGH;
#endif
// DIAG(F(" port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH); // DIAG(F(" port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH);
} }

10
MotorDriver.h
View File

@ -30,9 +30,14 @@
// use powers of two so we can do logical and/or on the track modes in if clauses. // use powers of two so we can do logical and/or on the track modes in if clauses.
enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4, enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32}; TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32};
#if defined(ARDUINO_GIGA)
#define setHIGH(fastpin) gpio_write(&fastpin, 1)
#define setLOW(fastpin) gpio_write(&fastpin, 0)
#else
#define setHIGH(fastpin) *fastpin.inout |= fastpin.maskHIGH #define setHIGH(fastpin) *fastpin.inout |= fastpin.maskHIGH
#define setLOW(fastpin) *fastpin.inout &= fastpin.maskLOW #define setLOW(fastpin) *fastpin.inout &= fastpin.maskLOW
#endif
#define isHIGH(fastpin) (*fastpin.inout & fastpin.maskHIGH) #define isHIGH(fastpin) (*fastpin.inout & fastpin.maskHIGH)
#define isLOW(fastpin) (!isHIGH(fastpin)) #define isLOW(fastpin) (!isHIGH(fastpin))
@ -117,12 +122,17 @@ typedef uint32_t portreg_t;
typedef uint8_t portreg_t; typedef uint8_t portreg_t;
#endif #endif
#if defined(ARDUINO_GIGA)
typedef gpio_t FASTPIN;
#else
struct FASTPIN { struct FASTPIN {
volatile portreg_t *inout; volatile portreg_t *inout;
portreg_t maskHIGH; portreg_t maskHIGH;
portreg_t maskLOW; portreg_t maskLOW;
volatile portreg_t *shadowinout; volatile portreg_t *shadowinout;
}; };
#endif
// The port registers that are shadowing // The port registers that are shadowing
// the real port registers. These are // the real port registers. These are
// defined in Motordriver.cpp // defined in Motordriver.cpp