Andy K
Tripple Controller for the TLE5206 H Bridge motor controller
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SimpleTLE5206Output.h
00001 /* 00002 Copyright (c) 2011 Andy Kirkham 00003 00004 Permission is hereby granted, free of charge, to any person obtaining a copy 00005 of this software and associated documentation files (the "Software"), to deal 00006 in the Software without restriction, including without limitation the rights 00007 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 copies of the Software, and to permit persons to whom the Software is 00009 furnished to do so, subject to the following conditions: 00010 00011 The above copyright notice and this permission notice shall be included in 00012 all copies or substantial portions of the Software. 00013 00014 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 THE SOFTWARE. 00021 */ 00022 00023 #ifndef AJK_SIMPLETLE5206OUTPUT_H 00024 #define AJK_SIMPLETLE5206OUTPUT_H 00025 00026 #ifndef __ARMCC_VERSION 00027 #include "SimpleTLE5206Mbed.h" 00028 #define error(...) 00029 #else 00030 #include "mbed.h" 00031 #endif 00032 00033 00034 namespace AjK { 00035 00036 /** SimpleTLE5206Output - Adds pin output objects. 00037 * 00038 * The Mbed library supplies the DigitalIn and DigitalOut objects to allow you 00039 * to specify ins and outs. 00040 * 00041 * SimpleTLE5206Output allows library objects to implement pins without the requirement 00042 * to link against the Mbed library. This increase portability when using 00043 * alternate compilers (such as the Code Red GCC C++ compiler for LPCXpresso). 00044 * 00045 * Additionally, this class allows the pin to be configured as a GPIO output or swapped 00046 * to PWM output mode. 00047 * 00048 * Note, this class can only be used for pins p21 through p26 as these are used for PWM pins. 00049 * Trying to set this to any other pin will result in a fatal error() call. 00050 * 00051 * @ingroup SimpleTLE5206Output 00052 */ 00053 class SimpleTLE5206Output { 00054 public: 00055 enum Direction { 00056 Out = 0 00057 , In 00058 }; 00059 00060 enum PinType { 00061 IsGPIO = 0 00062 , IsPWM 00063 }; 00064 00065 protected: 00066 PinName pin; 00067 uint32_t mask; 00068 uint32_t fiodir; 00069 uint32_t fiomask; 00070 uint32_t fiopin; 00071 uint32_t fioset; 00072 uint32_t fioclr; 00073 00074 PinType pin_type; 00075 00076 inline void setpin(PinName p) { pin = p; } 00077 inline void setmask(PinName p) { mask = (uint32_t)(1UL << ((uint32_t)p & 0x1F)); } 00078 inline void setDir(PinName p) { fiodir = (uint32_t)(p & ~0x1F) + 0x00; } 00079 inline void setMask(PinName p) { fiomask = (uint32_t)(p & ~0x1F) + 0x10; } 00080 inline void setPin(PinName p) { fiopin = (uint32_t)(p & ~0x1F) + 0x14; } 00081 inline void setSet(PinName p) { fioset = (uint32_t)(p & ~0x1F) + 0x18; } 00082 inline void setClr(PinName p) { fioclr = (uint32_t)(p & ~0x1F) + 0x1C; } 00083 00084 inline void pinUp() { *((volatile uint32_t *)fioset) = mask; } 00085 inline void pinDn() { *((volatile uint32_t *)fioclr) = mask; } 00086 inline uint32_t pinIs() { return *((volatile uint32_t *)(fiopin)) & mask; } 00087 00088 public: 00089 00090 /** Constructor 00091 * @ingroup SimpleTLE5206Output 00092 */ 00093 SimpleTLE5206Output(PinName p, Direction d = Out, PinMode m = PullDown) { 00094 00095 if (p == p21 || p == p22 || p == p23 || p == p24 || p == p25 || p == p26 || p == LED1 || p == LED2 || p == LED3 || p == LED4) { 00096 init(p, d, m); 00097 } 00098 else { 00099 error("Invalid pin supplied.\n"); 00100 } 00101 }; 00102 00103 /** write 00104 * 00105 * Writes a value to the pin. 00106 * 00107 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00108 * @ingroup SimpleTLE5206Output 00109 * @param i Zero makes the pin 0v, non-zero makes the pin 1. 00110 */ 00111 void write(int i) { if (i!=0) { pinUp(); } else { pinDn(); } } 00112 00113 /** read 00114 * 00115 * Reads the value on the pin. 00116 * 00117 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00118 * @ingroup SimpleTLE5206Output 00119 * @return int 0v returns zero, otherwise returns 1. 00120 */ 00121 int read(void) { return pinIs() ? 1 : 0; }; 00122 00123 /** output 00124 * 00125 * Setup the pin to be an output. 00126 * 00127 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00128 * @ingroup SimpleTLE5206Output 00129 * @ingroup API 00130 * @return int 0v returns zero, otherwise returns 1. 00131 */ 00132 void output(void) { *((volatile uint32_t *)fiodir) |= mask; } 00133 00134 /** input 00135 * 00136 * Setup the pin to be an input. 00137 * 00138 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00139 * @ingroup SimpleTLE5206Output 00140 * @return int 0v returns zero, otherwise returns 1. 00141 */ 00142 void input(void) { *((volatile uint32_t *)fiodir) &= ~mask; } 00143 00144 /** getPin 00145 * 00146 * Get the PinName this object is operating on. 00147 * 00148 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00149 * @ingroup SimpleTLE5206Output 00150 * @return int 0v returns zero, otherwise returns 1. 00151 */ 00152 PinName getPin(void) { return pin; } 00153 00154 /** getDirection 00155 * 00156 * Get the operational direction this pin is setup for. 00157 * 00158 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00159 * @ingroup SimpleTLE5206Output 00160 * @return int 0v returns zero, otherwise returns 1. 00161 */ 00162 int getDirection(void) { return *((volatile uint32_t *)fiomask) & mask ? 1 : 0; } 00163 00164 /** operator int() 00165 * 00166 * Reads the value on the pin. 00167 * 00168 * @see read 00169 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00170 * @ingroup SimpleTLE5206Output 00171 * @return int 0v returns zero, otherwise returns 1. 00172 */ 00173 operator int() { return read(); } 00174 00175 /** operator= 00176 * 00177 * Writes a value to the pin. 00178 * 00179 * @see write 00180 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00181 * @ingroup SimpleTLE5206Output 00182 */ 00183 SimpleTLE5206Output& operator= (int value) { write(value); return *this; } 00184 00185 /** operator= 00186 * 00187 * Writes a value to the pin. 00188 * 00189 * @see write 00190 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00191 * @ingroup SimpleTLE5206Output 00192 */ 00193 SimpleTLE5206Output& operator= (SimpleTLE5206Output& rhs) { write(rhs.read()); return *this; } 00194 00195 /** getMask 00196 * 00197 * Get the mask value for this pin. 00198 * 00199 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00200 * @ingroup SimpleTLE5206Output 00201 * @return uint32_t The mask value used by this pin. 00202 */ 00203 uint32_t getMask(void) { return mask; } 00204 00205 /** getFiodir 00206 * 00207 * Get the FIODIR register for the port the pin is on. 00208 * 00209 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00210 * @ingroup SimpleTLE5206Output 00211 * @return uint32_t The register value. 00212 */ 00213 uint32_t getFiodir(void) { return fiodir; } 00214 00215 /** getFiomask 00216 * 00217 * Get the FIOMASK register for the port the pin is on. 00218 * 00219 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00220 * @ingroup SimpleTLE5206Output 00221 * @return uint32_t The register value. 00222 */ 00223 uint32_t getFiomask(void) { return fiomask; } 00224 00225 /** getFiopin 00226 * 00227 * Get the FIOPIN register for the port the pin is on. 00228 * 00229 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00230 * @ingroup SimpleTLE5206Output 00231 * @return uint32_t The register value. 00232 */ 00233 uint32_t getFiopin(void) { return fiopin; } 00234 00235 /** getFioset 00236 * 00237 * Get the FIOSET register for the port the pin is on. 00238 * 00239 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00240 * @ingroup SimpleTLE5206Output 00241 * @return uint32_t The register value. 00242 */ 00243 uint32_t getFioset(void) { return fioset; } 00244 00245 /** getFioclr 00246 * 00247 * Get the FIOCLR register for the port the pin is on. 00248 * 00249 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio 00250 * @ingroup SimpleTLE5206Output 00251 * @return uint32_t The register value. 00252 */ 00253 uint32_t getFioclr(void) { return fioclr; } 00254 00255 00256 protected: 00257 void init(PinName p, Direction d, PinMode m) 00258 { 00259 // We rely on the fact that by default the LPC1768 00260 // sets all pins to be GPIO. The user will change 00261 // that if they need to. So we don't bother trying 00262 // to setup PINSELx 00263 00264 // psel(); // Not used, see above. 00265 00266 setpin(p); 00267 setmask(p); 00268 setDir(p); 00269 setMask(p); 00270 setPin(p); 00271 setSet(p); 00272 setClr(p); 00273 00274 if (d == Out) output(); 00275 else mode( m ); 00276 00277 pin_type = IsGPIO; // GPIO. 00278 } 00279 00280 public: 00281 void as_gpio(void) 00282 { 00283 pin_type = IsGPIO; 00284 00285 switch(pin) { 00286 case P2_0: 00287 LPC_PINCON->PINSEL4 &= ~(3UL << 0); // Mbed p26 P2.0 clr bits 00288 return; 00289 case P1_18: // Mbed LED1 00290 LPC_PINCON->PINSEL3 &= ~(3UL << 4); // Mbed LED2 P1.18 clr bits 00291 return; 00292 } 00293 00294 switch(pin) { 00295 case P2_1: 00296 LPC_PINCON->PINSEL4 &= ~(3UL << 2); // Mbed p25 P2.1 clr bits 00297 return; 00298 case P1_20: // Mbed LED2 00299 LPC_PINCON->PINSEL3 &= ~(3UL << 8); // Mbed LED2 P1.20 clr bits 00300 return; 00301 } 00302 00303 switch(pin) { 00304 case P2_2: 00305 LPC_PINCON->PINSEL4 &= ~(3UL << 4); // Mbed p24 P2.2 clr bits 00306 return; 00307 case P1_21: // Mbed LED3 00308 LPC_PINCON->PINSEL3 &= ~(3UL << 10); // Mbed LED3 P1.21 clr bits 00309 return; 00310 } 00311 00312 switch(pin) { 00313 case P2_3: 00314 LPC_PINCON->PINSEL4 &= ~(3UL << 6); // Mbed p23 P2.3 clr bits 00315 return; 00316 case P1_23: // Mbed LED4 00317 LPC_PINCON->PINSEL3 &= ~(3UL << 14); // Mbed LED4 P1.23 clr bits 00318 return; 00319 } 00320 00321 switch(pin) { 00322 case P2_4: // Mbed p22 00323 LPC_PINCON->PINSEL4 &= ~(3UL << 8); // Mbed p22 P2.4 clr bits 00324 return; 00325 case P1_24: 00326 LPC_PINCON->PINSEL3 &= ~(3UL << 16); // P1.24 clr bits 00327 return; 00328 } 00329 00330 switch(pin) { 00331 case P2_5: // Mbed p21 00332 LPC_PINCON->PINSEL4 &= ~(3UL << 10); // Mbed p21 P2.5 clr bits 00333 return; 00334 case P1_26: 00335 LPC_PINCON->PINSEL3 &= ~(3UL << 20); // P1.26 clr bits 00336 return; 00337 } 00338 } 00339 00340 void as_pwm(void) 00341 { 00342 pin_type = IsPWM; 00343 00344 switch(pin) { 00345 case P2_0: 00346 LPC_PINCON->PINSEL4 &= ~(3UL << 0); // Mbed p26 P2.0 clr bits 00347 LPC_PINCON->PINSEL4 |= (1UL << 0); // Mbed p26 P2.0 set bits 00348 LPC_PWM1->PCR |= (1UL << 9); 00349 return; 00350 case P1_18: // Mbed LED1 00351 LPC_PINCON->PINSEL3 &= ~(3UL << 4); // Mbed LED2 P1.18 clr bits 00352 LPC_PINCON->PINSEL3 |= (2UL << 4); // Mbed LED2 P1.18 set bits 00353 LPC_PWM1->PCR |= (1UL << 9); 00354 return; 00355 } 00356 00357 switch(pin) { 00358 case P2_1: 00359 LPC_PINCON->PINSEL4 &= ~(3UL << 2); // Mbed p25 P2.1 clr bits 00360 LPC_PINCON->PINSEL4 |= (1UL << 2); // Mbed p25 P2.1 set bits 00361 LPC_PWM1->PCR |= (1UL << 10); 00362 return; 00363 case P1_20: // Mbed LED2 00364 LPC_PINCON->PINSEL3 &= ~(3UL << 8); // Mbed LED2 P1.20 clr bits 00365 LPC_PINCON->PINSEL3 |= (2UL << 8); // Mbed LED2 P1.20 set bits 00366 LPC_PWM1->PCR |= (1UL << 10); 00367 return; 00368 } 00369 00370 switch(pin) { 00371 case P2_2: 00372 LPC_PINCON->PINSEL4 &= ~(3UL << 4); // Mbed p24 P2.2 clr bits 00373 LPC_PINCON->PINSEL4 |= (1UL << 4); // Mbed p24 P2.2 set bits 00374 LPC_PWM1->PCR |= (1UL << 11); 00375 return; 00376 case P1_21: // Mbed LED3 00377 LPC_PINCON->PINSEL3 &= ~(3UL << 10); // Mbed LED3 P1.21 clr bits 00378 LPC_PINCON->PINSEL3 |= (2UL << 10); // Mbed LED3 P1.21 set bits 00379 LPC_PWM1->PCR |= (1UL << 11); 00380 return; 00381 } 00382 00383 switch(pin) { 00384 case P2_3: 00385 LPC_PINCON->PINSEL4 &= ~(3UL << 6); // Mbed p23 P2.3 clr bits 00386 LPC_PINCON->PINSEL4 |= (1UL << 6); // Mbed p23 P2.3 set bits 00387 LPC_PWM1->PCR |= (1UL << 12); 00388 return; 00389 case P1_23: // Mbed LED4 00390 LPC_PINCON->PINSEL3 &= ~(3UL << 14); // Mbed LED4 P1.23 clr bits 00391 LPC_PINCON->PINSEL3 |= (2UL << 14); // Mbed LED4 P1.23 set bits 00392 LPC_PWM1->PCR |= (1UL << 12); 00393 return; 00394 } 00395 00396 switch(pin) { 00397 case P2_4: // Mbed p22 00398 LPC_PINCON->PINSEL4 &= ~(3UL << 8); // Mbed p22 P2.4 clr bits 00399 LPC_PINCON->PINSEL4 |= (1UL << 8); // Mbed p22 P2.4 set bits 00400 LPC_PWM1->PCR |= (1UL << 13); 00401 return; 00402 case P1_24: 00403 LPC_PINCON->PINSEL3 &= ~(3UL << 16); // P1.24 clr bits 00404 LPC_PINCON->PINSEL3 |= (2UL << 16); // P1.24 set bits 00405 LPC_PWM1->PCR |= (1UL << 13); 00406 return; 00407 } 00408 00409 switch(pin) { 00410 case P2_5: // Mbed p21 00411 LPC_PINCON->PINSEL4 &= ~(3UL << 10); // Mbed p21 P2.5 clr bits 00412 LPC_PINCON->PINSEL4 |= (1UL << 10); // Mbed p21 P2.5 set bits 00413 LPC_PWM1->PCR |= (1UL << 14); 00414 return; 00415 case P1_26: 00416 LPC_PINCON->PINSEL3 &= ~(3UL << 20); // P1.26 clr bits 00417 LPC_PINCON->PINSEL3 |= (2UL << 20); // P1.26 set bits 00418 LPC_PWM1->PCR |= (1UL << 14); 00419 return; 00420 } 00421 00422 /* 00423 uint32_t ppsel, pumask; 00424 00425 if (pin >= P2_0 && pin <= P2_5) { 00426 ppsel = (uint32_t)(&LPC_PINCON->PINSEL4); 00427 pumask = ~(3UL << ((pin & 0x1F)>>1)); 00428 *((volatile uint32_t *)ppsel) &= pumask; 00429 pumask = (1UL << ((pin & 0x1F)>>1)); 00430 *((volatile uint32_t *)ppsel) |= pumask; 00431 } 00432 else if (pin >= LED1 && pin <= LED4) { 00433 ppsel = (uint32_t)(&LPC_PINCON->PINSEL3); 00434 pumask = ~(3UL << ((pin & 0x1F)>>1)); 00435 *((volatile uint32_t *)ppsel) &= pumask; 00436 pumask = (2UL << ((pin & 0x1F)>>1)); 00437 *((volatile uint32_t *)ppsel) |= pumask; 00438 } 00439 else return; 00440 */ 00441 00442 } 00443 00444 PinType get_pin_type(void) { return pin_type; } 00445 00446 void mode(PinMode m) 00447 { 00448 uint32_t ppmod, pumask; 00449 00450 if (m == OpenDrain) { 00451 openDrain(1); 00452 } 00453 else { 00454 if (pin >= P2_0 && pin <= P2_5) { 00455 ppmod = (uint32_t)(&LPC_PINCON->PINMODE4); 00456 pumask = ((m & 0x3) << ( ((pin & 0x1F)-0)*2) ); 00457 } 00458 else return; 00459 00460 *((volatile uint32_t *)ppmod) |= pumask; 00461 } 00462 } 00463 00464 public: 00465 void openDrain(int i = 1) 00466 { 00467 if (pin >= P2_0 && pin <= P2_5) { if (i) LPC_PINCON->PINMODE_OD2 |= mask; else LPC_PINCON->PINMODE_OD2 &= ~mask; } 00468 } 00469 00470 }; 00471 00472 }; /* namespace AjK ends. */ 00473 00474 using namespace AjK; 00475 00476 #endif /* AJK_SIMPLETLE5206OUTPUT_H */
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