#include "Arduino.h" #include "wiring_private.h" #include static const char *pwm_dev = "/dev/pwmtimer"; static const char *spi1_dev = "/dev/spidev1.0"; static const char *spi2_dev = "/dev/spidev2.0"; typedef struct tagPWM_Config { int channel; int dutycycle; } PWM_Config,*pPWM_Config; typedef struct tagPWM_Freq { int channel; int step; int pre_scale; unsigned int freq; } PWM_Freq,*pPWM_Freq; #define PWMTMR_START (0x101) #define PWMTMR_STOP (0x102) #define PWMTMR_FUNC (0x103) #define PWMTMR_TONE (0x104) #define PWM_CONFIG (0x105) #define HWPWM_DUTY (0x106) #define PWM_FREQ (0x107) #define MAX_PWMTMR_FREQ (2000) //2kHz pin 3,9,10,11 #define MIN_PWMTMR_FREQ (126) //126Hz pin 3,9,10,11 #define MAX_PWMHW_FREQ (20000) //20kHz pin 5,6 //under construct uint8_t analog_reference = 0; void analogReference(uint8_t mode) { analog_reference = mode; } static int spi_adc_read_data(int channel) { int adc_val = 0, reg_val = 0, mode = 0; int _fd = 0, ret = 0; char rxbuf[2], txbuf[2]; struct spi_ioc_transfer tr; pinMode(SPIEX_CS, OUTPUT); //CS //hw_pinMode(SPIEX_CS, IO_SPIEX_FUNC); //CS hw_pinMode(SPIEX_MOSI, IO_SPIEX_FUNC); //MOSI hw_pinMode(SPIEX_MISO, IO_SPIEX_FUNC); //MISO hw_pinMode(SPIEX_CLK, IO_SPIEX_FUNC); //CLK _fd = open(spi2_dev, O_RDWR); if (_fd < 0) _fd = open(spi1_dev, O_RDWR); if (_fd < 0) pabort("can't open spi device"); //MODE0 ret = ioctl(_fd, SPI_IOC_RD_MODE, &mode); if (ret == -1) pabort("can't get spi mode"); mode &= ~0x3; ret = ioctl(_fd, SPI_IOC_WR_MODE, &mode); if (ret == -1) pabort("can't set spi mode"); //MSBFIRST mode = 0; ret = ioctl(_fd, SPI_IOC_WR_LSB_FIRST, &mode); if (ret == -1) pabort("can't set bits order"); digitalWrite(SPIEX_CS, 0); reg_val = ( 0xc300 | ((channel&0x7) << 11) ); txbuf[0] = (reg_val>>8)&0xFF; txbuf[1] = reg_val&0xFF; memset(&tr, 0x0, sizeof(tr)); tr.tx_buf = (unsigned long)txbuf; tr.len = 2; tr.speed_hz = 1000000; tr.bits_per_word = 8; tr.delay_usecs = 0xFFFF; ret = ioctl(_fd, SPI_IOC_MESSAGE(1), &tr); if (ret < 1) pabort("can't send spi message"); digitalWrite(SPIEX_CS, 1); usleep(10); digitalWrite(SPIEX_CS, 0); usleep(180); digitalWrite(SPIEX_CS, 1); usleep(10); digitalWrite(SPIEX_CS, 0); memset(rxbuf, 0x0, sizeof(rxbuf)); memset(&tr, 0x0, sizeof(tr)); tr.rx_buf = (unsigned long)rxbuf; tr.len = 2; tr.speed_hz = 1000000; tr.bits_per_word = 8; tr.delay_usecs = 0xFFFF; ret = ioctl(_fd, SPI_IOC_MESSAGE(1), &tr); if (ret < 1) pabort("can't send spi message"); adc_val = ( (rxbuf[0] << 8) | rxbuf[1] ); digitalWrite(SPIEX_CS, 1); if (_fd) close(_fd); return adc_val>>4; } int analogRead(uint8_t pin) { char str[10]; char buf[32]; int ret = -1; int fd = -1; char *p = NULL; if ( pin >= 0 && pin <= 5 ) { memset(buf, 0, sizeof(buf)); lseek(adc_fd[pin], 0, SEEK_SET); ret = read(adc_fd[pin], buf, sizeof(buf)); if ( ret <= 0 ) { fprintf(stderr, "read adc %d failed\n", pin); exit(-1); } memset((void *)str, 0, sizeof(str)); sprintf(str, "adc%d", pin); p = strstr(buf, str) + strlen(str) + 1; sscanf(p, "%d", &ret); } else if ( pin >= 6 && pin <= MAX_ADC_NUM ) { ret = spi_adc_read_data(pin-6); } else { fprintf(stderr, "%s ERROR: invalid pin, pin=%d\n", __FUNCTION__, pin); exit(-1); } return ret; } /* * pin(3/9/10/11) support frequency[125-2000]Hz @different dutycycle * pin(5/6) support frequency[195,260,390,520,781] @256 dutycycle */ int pwmfreq_set(uint8_t pin, unsigned int freq) { int ret = -1; int fd = -1; PWM_Freq pwmfreq; if ( (pin == 3 || pin == 5 || pin == 6 || pin == 9 || pin == 10 || pin == 11) && (freq > 0) ) { pwmfreq.channel = pin; pwmfreq.freq = freq; pwmfreq.step = 0; fd = open(pwm_dev, O_RDONLY); if ( fd < 0 ) pabort("open pwm device fail"); switch (pin) { case 5: case 6: if ( (freq == 195) || (freq == 260) || (freq == 390) || (freq == 520) || (freq == 781) ) { ret = ioctl(fd, PWM_FREQ, &pwmfreq); if (ret < 0) pabort("can't set PWM_FREQ"); }else fprintf(stderr, "%s ERROR: invalid frequency, should be [195,260,390,520,781], pin=%d\n", __FUNCTION__, pin); break; case 3: case 9: case 10: case 11: if ((freq >= MIN_PWMTMR_FREQ) && (freq <= MAX_PWMTMR_FREQ)){ pin = ret = ioctl(fd, PWMTMR_STOP, &pwmfreq.channel); if (ret < 0) pabort("can't set PWMTMR_STOP"); ret = ioctl(fd, PWM_FREQ, &pwmfreq); if (ret < 0) pabort("can't set PWM_FREQ"); }else fprintf(stderr, "%s ERROR: invalid frequency[%d,%d], pin=%d\n", __FUNCTION__, MIN_PWMTMR_FREQ, MAX_PWMTMR_FREQ, pin); break; default: break; } if(fd) close(fd); return pwmfreq.step; } else { fprintf(stderr, "%s ERROR: invalid pin, pin=%d\n", __FUNCTION__, pin); exit(-1); } return 0; } void analogWrite(uint8_t pin, int value) { int ret = -1; int fd = -1; int val = 0; PWM_Config pwmconfig; pwmconfig.channel = pin; pwmconfig.dutycycle = value; if ( (pin == 3 || pin == 5 || pin == 6 || pin == 9 || pin == 10 || pin == 11) && (value >= 0 && value <= MAX_PWM_LEVEL) ) { fd = open(pwm_dev, O_RDONLY); if ( fd < 0 ) pabort("open pwm device fail"); switch (pin) { case 5: case 6: ret = ioctl(fd, HWPWM_DUTY, &pwmconfig); if (ret < 0) pabort("can't set HWPWM_DUTY"); break; case 3: case 9: case 10: case 11: //ret = ioctl(fd, PWMTMR_STOP, &pwmconfig.channel); //if (ret < 0) // pabort("can't set PWMTMR_STOP"); ret = ioctl(fd, PWM_CONFIG, &pwmconfig); if (ret < 0) pabort("can't set PWM_CONFIG"); ret = ioctl(fd, PWMTMR_START, &val); if (ret < 0) pabort("can't set PWMTMR_START"); break; default: break; } if(fd) close(fd); } else { fprintf(stderr, "%s ERROR: invalid pin, pin=%d\n", __FUNCTION__, pin); exit(-1); } }