machine/nrf: refactor to use volatile package/API
Signed-off-by: Ron Evans <ron@hybridgroup.com>
Этот коммит содержится в:
Ron Evans
Ayke
родитель
0f6873cf02
коммит
9f8340a970
6 изменённых файлов: 151 добавлений и 151 удалений
2
Makefile
2
Makefile
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@ -46,7 +46,7 @@ gen-device-avr:
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go fmt ./src/device/avr
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gen-device-nrf:
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./tools/gen-device-svd.py lib/nrfx/mdk/ src/device/nrf/ --source=https://github.com/NordicSemiconductor/nrfx/tree/master/mdk
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./tools/gen-device-svd-vol.py lib/nrfx/mdk/ src/device/nrf/ --source=https://github.com/NordicSemiconductor/nrfx/tree/master/mdk
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go fmt ./src/device/nrf
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gen-device-sam:
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@ -20,7 +20,7 @@ const (
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func (p GPIO) Configure(config GPIOConfig) {
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cfg := config.Mode | nrf.GPIO_PIN_CNF_DRIVE_S0S1 | nrf.GPIO_PIN_CNF_SENSE_Disabled
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port, pin := p.getPortPin()
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port.PIN_CNF[pin] = nrf.RegValue(cfg)
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port.PIN_CNF[pin].Set(uint32(cfg))
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}
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// Set the pin to high or low.
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@ -28,9 +28,9 @@ func (p GPIO) Configure(config GPIOConfig) {
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func (p GPIO) Set(high bool) {
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port, pin := p.getPortPin()
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if high {
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port.OUTSET = 1 << pin
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port.OUTSET.Set(1 << pin)
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} else {
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port.OUTCLR = 1 << pin
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port.OUTCLR.Set(1 << pin)
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}
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}
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@ -38,20 +38,20 @@ func (p GPIO) Set(high bool) {
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// implement bit-banged drivers.
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func (p GPIO) PortMaskSet() (*uint32, uint32) {
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port, pin := p.getPortPin()
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return (*uint32)(&port.OUTSET), 1 << pin
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return &port.OUTSET.Reg, 1 << pin
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}
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// Return the register and mask to disable a given port. This can be used to
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// implement bit-banged drivers.
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func (p GPIO) PortMaskClear() (*uint32, uint32) {
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port, pin := p.getPortPin()
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return (*uint32)(&port.OUTCLR), 1 << pin
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return &port.OUTCLR.Reg, 1 << pin
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}
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// Get returns the current value of a GPIO pin.
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func (p GPIO) Get() bool {
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port, pin := p.getPortPin()
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return (port.IN>>pin)&1 != 0
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return (port.IN.Get()>>pin)&1 != 0
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}
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// UART on the NRF.
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@ -77,10 +77,10 @@ func (uart UART) Configure(config UARTConfig) {
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// Set TX and RX pins from board.
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uart.setPins(UART_TX_PIN, UART_RX_PIN)
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nrf.UART0.ENABLE = nrf.UART_ENABLE_ENABLE_Enabled
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nrf.UART0.TASKS_STARTTX = 1
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nrf.UART0.TASKS_STARTRX = 1
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nrf.UART0.INTENSET = nrf.UART_INTENSET_RXDRDY_Msk
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nrf.UART0.ENABLE.Set(nrf.UART_ENABLE_ENABLE_Enabled)
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nrf.UART0.TASKS_STARTTX.Set(1)
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nrf.UART0.TASKS_STARTRX.Set(1)
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nrf.UART0.INTENSET.Set(nrf.UART_INTENSET_RXDRDY_Msk)
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// Enable RX IRQ.
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arm.SetPriority(nrf.IRQ_UART0, 0xc0) // low priority
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@ -99,22 +99,22 @@ func (uart UART) SetBaudRate(br uint32) {
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// https://devzone.nordicsemi.com/f/nordic-q-a/391/uart-baudrate-register-values/2046#2046
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rate := uint32((uint64(br/400)*uint64(400*0xffffffff/16000000) + 0x800) & 0xffffff000)
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nrf.UART0.BAUDRATE = nrf.RegValue(rate)
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nrf.UART0.BAUDRATE.Set(rate)
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}
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// WriteByte writes a byte of data to the UART.
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func (uart UART) WriteByte(c byte) error {
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nrf.UART0.EVENTS_TXDRDY = 0
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nrf.UART0.TXD = nrf.RegValue(c)
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for nrf.UART0.EVENTS_TXDRDY == 0 {
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nrf.UART0.EVENTS_TXDRDY.Set(0)
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nrf.UART0.TXD.Set(uint32(c))
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for nrf.UART0.EVENTS_TXDRDY.Get() == 0 {
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}
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return nil
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}
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func (uart UART) handleInterrupt() {
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if nrf.UART0.EVENTS_RXDRDY != 0 {
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uart.Receive(byte(nrf.UART0.RXD))
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nrf.UART0.EVENTS_RXDRDY = 0x0
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if nrf.UART0.EVENTS_RXDRDY.Get() != 0 {
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uart.Receive(byte(nrf.UART0.RXD.Get()))
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nrf.UART0.EVENTS_RXDRDY.Set(0x0)
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}
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}
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@ -150,26 +150,26 @@ func (i2c I2C) Configure(config I2CConfig) {
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// do config
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sclPort, sclPin := GPIO{config.SCL}.getPortPin()
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sclPort.PIN_CNF[sclPin] = (nrf.GPIO_PIN_CNF_DIR_Input << nrf.GPIO_PIN_CNF_DIR_Pos) |
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sclPort.PIN_CNF[sclPin].Set((nrf.GPIO_PIN_CNF_DIR_Input << nrf.GPIO_PIN_CNF_DIR_Pos) |
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(nrf.GPIO_PIN_CNF_INPUT_Connect << nrf.GPIO_PIN_CNF_INPUT_Pos) |
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(nrf.GPIO_PIN_CNF_PULL_Pullup << nrf.GPIO_PIN_CNF_PULL_Pos) |
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(nrf.GPIO_PIN_CNF_DRIVE_S0D1 << nrf.GPIO_PIN_CNF_DRIVE_Pos) |
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(nrf.GPIO_PIN_CNF_SENSE_Disabled << nrf.GPIO_PIN_CNF_SENSE_Pos)
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(nrf.GPIO_PIN_CNF_SENSE_Disabled << nrf.GPIO_PIN_CNF_SENSE_Pos))
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sdaPort, sdaPin := GPIO{config.SDA}.getPortPin()
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sdaPort.PIN_CNF[sdaPin] = (nrf.GPIO_PIN_CNF_DIR_Input << nrf.GPIO_PIN_CNF_DIR_Pos) |
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sdaPort.PIN_CNF[sdaPin].Set((nrf.GPIO_PIN_CNF_DIR_Input << nrf.GPIO_PIN_CNF_DIR_Pos) |
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(nrf.GPIO_PIN_CNF_INPUT_Connect << nrf.GPIO_PIN_CNF_INPUT_Pos) |
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(nrf.GPIO_PIN_CNF_PULL_Pullup << nrf.GPIO_PIN_CNF_PULL_Pos) |
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(nrf.GPIO_PIN_CNF_DRIVE_S0D1 << nrf.GPIO_PIN_CNF_DRIVE_Pos) |
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(nrf.GPIO_PIN_CNF_SENSE_Disabled << nrf.GPIO_PIN_CNF_SENSE_Pos)
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(nrf.GPIO_PIN_CNF_SENSE_Disabled << nrf.GPIO_PIN_CNF_SENSE_Pos))
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if config.Frequency == TWI_FREQ_400KHZ {
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i2c.Bus.FREQUENCY = nrf.TWI_FREQUENCY_FREQUENCY_K400
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i2c.Bus.FREQUENCY.Set(nrf.TWI_FREQUENCY_FREQUENCY_K400)
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} else {
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i2c.Bus.FREQUENCY = nrf.TWI_FREQUENCY_FREQUENCY_K100
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i2c.Bus.FREQUENCY.Set(nrf.TWI_FREQUENCY_FREQUENCY_K100)
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}
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i2c.Bus.ENABLE = nrf.TWI_ENABLE_ENABLE_Enabled
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i2c.Bus.ENABLE.Set(nrf.TWI_ENABLE_ENABLE_Enabled)
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i2c.setPins(config.SCL, config.SDA)
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}
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@ -177,28 +177,28 @@ func (i2c I2C) Configure(config I2CConfig) {
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// It clocks out the given address, writes the bytes in w, reads back len(r)
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// bytes and stores them in r, and generates a stop condition on the bus.
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func (i2c I2C) Tx(addr uint16, w, r []byte) error {
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i2c.Bus.ADDRESS = nrf.RegValue(addr)
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i2c.Bus.ADDRESS.Set(uint32(addr))
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if len(w) != 0 {
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i2c.Bus.TASKS_STARTTX = 1 // start transmission for writing
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i2c.Bus.TASKS_STARTTX.Set(1) // start transmission for writing
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for _, b := range w {
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i2c.writeByte(b)
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}
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}
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if len(r) != 0 {
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// To trigger suspend task when a byte is received
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i2c.Bus.SHORTS = nrf.TWI_SHORTS_BB_SUSPEND
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i2c.Bus.TASKS_STARTRX = 1 // re-start transmission for reading
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for i := range r { // read each char
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i2c.Bus.SHORTS.Set(nrf.TWI_SHORTS_BB_SUSPEND)
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i2c.Bus.TASKS_STARTRX.Set(1) // re-start transmission for reading
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for i := range r { // read each char
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if i+1 == len(r) {
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// To trigger stop task when last byte is received, set before resume task.
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i2c.Bus.SHORTS = nrf.TWI_SHORTS_BB_STOP
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i2c.Bus.SHORTS.Set(nrf.TWI_SHORTS_BB_STOP)
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}
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i2c.Bus.TASKS_RESUME = 1 // re-start transmission for reading
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i2c.Bus.TASKS_RESUME.Set(1) // re-start transmission for reading
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r[i] = i2c.readByte()
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}
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}
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i2c.signalStop()
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i2c.Bus.SHORTS = nrf.TWI_SHORTS_BB_SUSPEND_Disabled
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i2c.Bus.SHORTS.Set(nrf.TWI_SHORTS_BB_SUSPEND_Disabled)
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return nil
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}
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@ -206,26 +206,26 @@ func (i2c I2C) Tx(addr uint16, w, r []byte) error {
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// it must generate a stop condition after the next character is retrieved when
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// reading.
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func (i2c I2C) signalStop() {
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i2c.Bus.TASKS_STOP = 1
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for i2c.Bus.EVENTS_STOPPED == 0 {
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i2c.Bus.TASKS_STOP.Set(1)
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for i2c.Bus.EVENTS_STOPPED.Get() == 0 {
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}
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i2c.Bus.EVENTS_STOPPED = 0
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i2c.Bus.EVENTS_STOPPED.Set(0)
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}
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// writeByte writes a single byte to the I2C bus.
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func (i2c I2C) writeByte(data byte) {
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i2c.Bus.TXD = nrf.RegValue(data)
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for i2c.Bus.EVENTS_TXDSENT == 0 {
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i2c.Bus.TXD.Set(uint32(data))
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for i2c.Bus.EVENTS_TXDSENT.Get() == 0 {
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}
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i2c.Bus.EVENTS_TXDSENT = 0
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i2c.Bus.EVENTS_TXDSENT.Set(0)
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}
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// readByte reads a single byte from the I2C bus.
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func (i2c I2C) readByte() byte {
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for i2c.Bus.EVENTS_RXDREADY == 0 {
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for i2c.Bus.EVENTS_RXDREADY.Get() == 0 {
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}
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i2c.Bus.EVENTS_RXDREADY = 0
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return byte(i2c.Bus.RXD)
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i2c.Bus.EVENTS_RXDREADY.Set(0)
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return byte(i2c.Bus.RXD.Get())
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}
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// SPI on the NRF.
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@ -252,7 +252,7 @@ type SPIConfig struct {
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// Configure is intended to setup the SPI interface.
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func (spi SPI) Configure(config SPIConfig) {
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// Disable bus to configure it
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spi.Bus.ENABLE = nrf.SPI_ENABLE_ENABLE_Disabled
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spi.Bus.ENABLE.Set(nrf.SPI_ENABLE_ENABLE_Disabled)
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// set frequency
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var freq uint32
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@ -275,7 +275,7 @@ func (spi SPI) Configure(config SPIConfig) {
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default:
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freq = nrf.SPI_FREQUENCY_FREQUENCY_K500
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}
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spi.Bus.FREQUENCY = nrf.RegValue(freq)
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spi.Bus.FREQUENCY.Set(freq)
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var conf uint32
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@ -302,22 +302,22 @@ func (spi SPI) Configure(config SPIConfig) {
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conf &^= (nrf.SPI_CONFIG_CPOL_ActiveHigh << nrf.SPI_CONFIG_CPOL_Pos)
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conf &^= (nrf.SPI_CONFIG_CPHA_Leading << nrf.SPI_CONFIG_CPHA_Pos)
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}
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spi.Bus.CONFIG = nrf.RegValue(conf)
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spi.Bus.CONFIG.Set(conf)
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// set pins
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spi.setPins(config.SCK, config.MOSI, config.MISO)
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// Re-enable bus now that it is configured.
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spi.Bus.ENABLE = nrf.SPI_ENABLE_ENABLE_Enabled
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spi.Bus.ENABLE.Set(nrf.SPI_ENABLE_ENABLE_Enabled)
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}
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// Transfer writes/reads a single byte using the SPI interface.
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func (spi SPI) Transfer(w byte) (byte, error) {
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spi.Bus.TXD = nrf.RegValue(w)
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for spi.Bus.EVENTS_READY == 0 {
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spi.Bus.TXD.Set(uint32(w))
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for spi.Bus.EVENTS_READY.Get() == 0 {
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}
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r := spi.Bus.RXD
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spi.Bus.EVENTS_READY = 0
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r := spi.Bus.RXD.Get()
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spi.Bus.EVENTS_READY.Set(0)
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// TODO: handle SPI errors
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return byte(r), nil
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@ -14,8 +14,8 @@ func (p GPIO) getPortPin() (*nrf.GPIO_Type, uint8) {
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}
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func (uart UART) setPins(tx, rx uint32) {
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nrf.UART0.PSELTXD = nrf.RegValue(tx)
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nrf.UART0.PSELRXD = nrf.RegValue(rx)
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nrf.UART0.PSELTXD.Set(tx)
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nrf.UART0.PSELRXD.Set(rx)
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}
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//go:export UART0_IRQHandler
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@ -24,8 +24,8 @@ func handleUART0() {
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}
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func (i2c I2C) setPins(scl, sda uint8) {
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i2c.Bus.PSELSCL = nrf.RegValue(scl)
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i2c.Bus.PSELSDA = nrf.RegValue(sda)
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i2c.Bus.PSELSCL.Set(uint32(scl))
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i2c.Bus.PSELSDA.Set(uint32(sda))
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}
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// SPI
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@ -39,7 +39,7 @@ func (spi SPI) setPins(sck, mosi, miso uint8) {
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if miso == 0 {
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miso = SPI0_MISO_PIN
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}
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spi.Bus.PSELSCK = nrf.RegValue(sck)
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spi.Bus.PSELMOSI = nrf.RegValue(mosi)
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spi.Bus.PSELMISO = nrf.RegValue(miso)
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spi.Bus.PSELSCK.Set(uint32(sck))
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spi.Bus.PSELMOSI.Set(uint32(mosi))
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spi.Bus.PSELMISO.Set(uint32(miso))
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}
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@ -15,8 +15,8 @@ func (p GPIO) getPortPin() (*nrf.GPIO_Type, uint8) {
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}
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func (uart UART) setPins(tx, rx uint32) {
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nrf.UART0.PSELTXD = nrf.RegValue(tx)
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nrf.UART0.PSELRXD = nrf.RegValue(rx)
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nrf.UART0.PSELTXD.Set(tx)
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nrf.UART0.PSELRXD.Set(rx)
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}
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//go:export UARTE0_UART0_IRQHandler
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@ -25,8 +25,8 @@ func handleUART0() {
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}
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func (i2c I2C) setPins(scl, sda uint8) {
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i2c.Bus.PSELSCL = nrf.RegValue(scl)
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i2c.Bus.PSELSDA = nrf.RegValue(sda)
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i2c.Bus.PSELSCL.Set(uint32(scl))
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i2c.Bus.PSELSDA.Set(uint32(sda))
|
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}
|
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|
||||
// SPI
|
||||
|
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@ -40,9 +40,9 @@ func (spi SPI) setPins(sck, mosi, miso uint8) {
|
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if miso == 0 {
|
||||
miso = SPI0_MISO_PIN
|
||||
}
|
||||
spi.Bus.PSEL.SCK = nrf.RegValue(sck)
|
||||
spi.Bus.PSEL.MOSI = nrf.RegValue(mosi)
|
||||
spi.Bus.PSEL.MISO = nrf.RegValue(miso)
|
||||
spi.Bus.PSEL.SCK.Set(uint32(sck))
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||||
spi.Bus.PSEL.MOSI.Set(uint32(mosi))
|
||||
spi.Bus.PSEL.MISO.Set(uint32(miso))
|
||||
}
|
||||
|
||||
// InitADC initializes the registers needed for ADC.
|
||||
|
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@ -89,53 +89,53 @@ func (a ADC) Get() uint16 {
|
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return 0
|
||||
}
|
||||
|
||||
nrf.SAADC.RESOLUTION = nrf.SAADC_RESOLUTION_VAL_12bit
|
||||
nrf.SAADC.RESOLUTION.Set(nrf.SAADC_RESOLUTION_VAL_12bit)
|
||||
|
||||
// Enable ADC.
|
||||
nrf.SAADC.ENABLE = (nrf.SAADC_ENABLE_ENABLE_Enabled << nrf.SAADC_ENABLE_ENABLE_Pos)
|
||||
nrf.SAADC.ENABLE.Set(nrf.SAADC_ENABLE_ENABLE_Enabled << nrf.SAADC_ENABLE_ENABLE_Pos)
|
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for i := 0; i < 8; i++ {
|
||||
nrf.SAADC.CH[i].PSELN = nrf.SAADC_CH_PSELP_PSELP_NC
|
||||
nrf.SAADC.CH[i].PSELP = nrf.SAADC_CH_PSELP_PSELP_NC
|
||||
nrf.SAADC.CH[i].PSELN.Set(nrf.SAADC_CH_PSELP_PSELP_NC)
|
||||
nrf.SAADC.CH[i].PSELP.Set(nrf.SAADC_CH_PSELP_PSELP_NC)
|
||||
}
|
||||
|
||||
// Configure ADC.
|
||||
nrf.SAADC.CH[0].CONFIG = ((nrf.SAADC_CH_CONFIG_RESP_Bypass << nrf.SAADC_CH_CONFIG_RESP_Pos) & nrf.SAADC_CH_CONFIG_RESP_Msk) |
|
||||
nrf.SAADC.CH[0].CONFIG.Set(((nrf.SAADC_CH_CONFIG_RESP_Bypass << nrf.SAADC_CH_CONFIG_RESP_Pos) & nrf.SAADC_CH_CONFIG_RESP_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_RESP_Bypass << nrf.SAADC_CH_CONFIG_RESN_Pos) & nrf.SAADC_CH_CONFIG_RESN_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_GAIN_Gain1_5 << nrf.SAADC_CH_CONFIG_GAIN_Pos) & nrf.SAADC_CH_CONFIG_GAIN_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_REFSEL_Internal << nrf.SAADC_CH_CONFIG_REFSEL_Pos) & nrf.SAADC_CH_CONFIG_REFSEL_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_TACQ_3us << nrf.SAADC_CH_CONFIG_TACQ_Pos) & nrf.SAADC_CH_CONFIG_TACQ_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_MODE_SE << nrf.SAADC_CH_CONFIG_MODE_Pos) & nrf.SAADC_CH_CONFIG_MODE_Msk)
|
||||
((nrf.SAADC_CH_CONFIG_MODE_SE << nrf.SAADC_CH_CONFIG_MODE_Pos) & nrf.SAADC_CH_CONFIG_MODE_Msk))
|
||||
|
||||
// Set pin to read.
|
||||
nrf.SAADC.CH[0].PSELN = nrf.RegValue(pwmPin)
|
||||
nrf.SAADC.CH[0].PSELP = nrf.RegValue(pwmPin)
|
||||
nrf.SAADC.CH[0].PSELN.Set(pwmPin)
|
||||
nrf.SAADC.CH[0].PSELP.Set(pwmPin)
|
||||
|
||||
// Destination for sample result.
|
||||
nrf.SAADC.RESULT.PTR = nrf.RegValue(uintptr(unsafe.Pointer(&value)))
|
||||
nrf.SAADC.RESULT.MAXCNT = 1 // One sample
|
||||
nrf.SAADC.RESULT.PTR.Set(uint32(uintptr(unsafe.Pointer(&value))))
|
||||
nrf.SAADC.RESULT.MAXCNT.Set(1) // One sample
|
||||
|
||||
// Start tasks.
|
||||
nrf.SAADC.TASKS_START = 1
|
||||
for nrf.SAADC.EVENTS_STARTED == 0 {
|
||||
nrf.SAADC.TASKS_START.Set(1)
|
||||
for nrf.SAADC.EVENTS_STARTED.Get() == 0 {
|
||||
}
|
||||
nrf.SAADC.EVENTS_STARTED = 0x00
|
||||
nrf.SAADC.EVENTS_STARTED.Set(0x00)
|
||||
|
||||
// Start the sample task.
|
||||
nrf.SAADC.TASKS_SAMPLE = 1
|
||||
nrf.SAADC.TASKS_SAMPLE.Set(1)
|
||||
|
||||
// Wait until the sample task is done.
|
||||
for nrf.SAADC.EVENTS_END == 0 {
|
||||
for nrf.SAADC.EVENTS_END.Get() == 0 {
|
||||
}
|
||||
nrf.SAADC.EVENTS_END = 0x00
|
||||
nrf.SAADC.EVENTS_END.Set(0x00)
|
||||
|
||||
// Stop the ADC
|
||||
nrf.SAADC.TASKS_STOP = 1
|
||||
for nrf.SAADC.EVENTS_STOPPED == 0 {
|
||||
nrf.SAADC.TASKS_STOP.Set(1)
|
||||
for nrf.SAADC.EVENTS_STOPPED.Get() == 0 {
|
||||
}
|
||||
nrf.SAADC.EVENTS_STOPPED = 0
|
||||
nrf.SAADC.EVENTS_STOPPED.Set(0)
|
||||
|
||||
// Disable the ADC.
|
||||
nrf.SAADC.ENABLE = (nrf.SAADC_ENABLE_ENABLE_Disabled << nrf.SAADC_ENABLE_ENABLE_Pos)
|
||||
nrf.SAADC.ENABLE.Set(nrf.SAADC_ENABLE_ENABLE_Disabled << nrf.SAADC_ENABLE_ENABLE_Pos)
|
||||
|
||||
if value < 0 {
|
||||
value = 0
|
||||
|
|
@ -170,21 +170,21 @@ func (pwm PWM) Set(value uint16) {
|
|||
|
||||
p := pwms[i]
|
||||
|
||||
p.PSEL.OUT[0] = nrf.RegValue(pwm.Pin)
|
||||
p.PSEL.OUT[1] = nrf.RegValue(pwm.Pin)
|
||||
p.PSEL.OUT[2] = nrf.RegValue(pwm.Pin)
|
||||
p.PSEL.OUT[3] = nrf.RegValue(pwm.Pin)
|
||||
p.ENABLE = (nrf.PWM_ENABLE_ENABLE_Enabled << nrf.PWM_ENABLE_ENABLE_Pos)
|
||||
p.PRESCALER = nrf.PWM_PRESCALER_PRESCALER_DIV_2
|
||||
p.MODE = nrf.PWM_MODE_UPDOWN_Up
|
||||
p.COUNTERTOP = 16384 // frequency
|
||||
p.LOOP = 0
|
||||
p.DECODER = (nrf.PWM_DECODER_LOAD_Common << nrf.PWM_DECODER_LOAD_Pos) | (nrf.PWM_DECODER_MODE_RefreshCount << nrf.PWM_DECODER_MODE_Pos)
|
||||
p.SEQ[0].PTR = nrf.RegValue(uintptr(unsafe.Pointer(&pwmChannelSequence[i])))
|
||||
p.SEQ[0].CNT = 1
|
||||
p.SEQ[0].REFRESH = 1
|
||||
p.SEQ[0].ENDDELAY = 0
|
||||
p.TASKS_SEQSTART[0] = 1
|
||||
p.PSEL.OUT[0].Set(uint32(pwm.Pin))
|
||||
p.PSEL.OUT[1].Set(uint32(pwm.Pin))
|
||||
p.PSEL.OUT[2].Set(uint32(pwm.Pin))
|
||||
p.PSEL.OUT[3].Set(uint32(pwm.Pin))
|
||||
p.ENABLE.Set(nrf.PWM_ENABLE_ENABLE_Enabled << nrf.PWM_ENABLE_ENABLE_Pos)
|
||||
p.PRESCALER.Set(nrf.PWM_PRESCALER_PRESCALER_DIV_2)
|
||||
p.MODE.Set(nrf.PWM_MODE_UPDOWN_Up)
|
||||
p.COUNTERTOP.Set(16384) // frequency
|
||||
p.LOOP.Set(0)
|
||||
p.DECODER.Set((nrf.PWM_DECODER_LOAD_Common << nrf.PWM_DECODER_LOAD_Pos) | (nrf.PWM_DECODER_MODE_RefreshCount << nrf.PWM_DECODER_MODE_Pos))
|
||||
p.SEQ[0].PTR.Set(uint32(uintptr(unsafe.Pointer(&pwmChannelSequence[i]))))
|
||||
p.SEQ[0].CNT.Set(1)
|
||||
p.SEQ[0].REFRESH.Set(1)
|
||||
p.SEQ[0].ENDDELAY.Set(0)
|
||||
p.TASKS_SEQSTART[0].Set(1)
|
||||
|
||||
break
|
||||
}
|
||||
|
|
|
|||
|
|
@ -19,8 +19,8 @@ func (p GPIO) getPortPin() (*nrf.GPIO_Type, uint8) {
|
|||
}
|
||||
|
||||
func (uart UART) setPins(tx, rx uint32) {
|
||||
nrf.UART0.PSEL.TXD = nrf.RegValue(tx)
|
||||
nrf.UART0.PSEL.RXD = nrf.RegValue(rx)
|
||||
nrf.UART0.PSEL.TXD.Set(tx)
|
||||
nrf.UART0.PSEL.RXD.Set(rx)
|
||||
}
|
||||
|
||||
//go:export UARTE0_UART0_IRQHandler
|
||||
|
|
@ -29,8 +29,8 @@ func handleUART0() {
|
|||
}
|
||||
|
||||
func (i2c I2C) setPins(scl, sda uint8) {
|
||||
i2c.Bus.PSEL.SCL = nrf.RegValue(scl)
|
||||
i2c.Bus.PSEL.SDA = nrf.RegValue(sda)
|
||||
i2c.Bus.PSEL.SCL.Set(uint32(scl))
|
||||
i2c.Bus.PSEL.SDA.Set(uint32(sda))
|
||||
}
|
||||
|
||||
// SPI
|
||||
|
|
@ -44,9 +44,9 @@ func (spi SPI) setPins(sck, mosi, miso uint8) {
|
|||
if miso == 0 {
|
||||
miso = SPI0_MISO_PIN
|
||||
}
|
||||
spi.Bus.PSEL.SCK = nrf.RegValue(sck)
|
||||
spi.Bus.PSEL.MOSI = nrf.RegValue(mosi)
|
||||
spi.Bus.PSEL.MISO = nrf.RegValue(miso)
|
||||
spi.Bus.PSEL.SCK.Set(uint32(sck))
|
||||
spi.Bus.PSEL.MOSI.Set(uint32(mosi))
|
||||
spi.Bus.PSEL.MISO.Set(uint32(miso))
|
||||
}
|
||||
|
||||
// InitADC initializes the registers needed for ADC.
|
||||
|
|
@ -93,53 +93,53 @@ func (a ADC) Get() uint16 {
|
|||
return 0
|
||||
}
|
||||
|
||||
nrf.SAADC.RESOLUTION = nrf.SAADC_RESOLUTION_VAL_12bit
|
||||
nrf.SAADC.RESOLUTION.Set(nrf.SAADC_RESOLUTION_VAL_12bit)
|
||||
|
||||
// Enable ADC.
|
||||
nrf.SAADC.ENABLE = (nrf.SAADC_ENABLE_ENABLE_Enabled << nrf.SAADC_ENABLE_ENABLE_Pos)
|
||||
nrf.SAADC.ENABLE.Set(nrf.SAADC_ENABLE_ENABLE_Enabled << nrf.SAADC_ENABLE_ENABLE_Pos)
|
||||
for i := 0; i < 8; i++ {
|
||||
nrf.SAADC.CH[i].PSELN = nrf.SAADC_CH_PSELP_PSELP_NC
|
||||
nrf.SAADC.CH[i].PSELP = nrf.SAADC_CH_PSELP_PSELP_NC
|
||||
nrf.SAADC.CH[i].PSELN.Set(nrf.SAADC_CH_PSELP_PSELP_NC)
|
||||
nrf.SAADC.CH[i].PSELP.Set(nrf.SAADC_CH_PSELP_PSELP_NC)
|
||||
}
|
||||
|
||||
// Configure ADC.
|
||||
nrf.SAADC.CH[0].CONFIG = ((nrf.SAADC_CH_CONFIG_RESP_Bypass << nrf.SAADC_CH_CONFIG_RESP_Pos) & nrf.SAADC_CH_CONFIG_RESP_Msk) |
|
||||
nrf.SAADC.CH[0].CONFIG.Set(((nrf.SAADC_CH_CONFIG_RESP_Bypass << nrf.SAADC_CH_CONFIG_RESP_Pos) & nrf.SAADC_CH_CONFIG_RESP_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_RESP_Bypass << nrf.SAADC_CH_CONFIG_RESN_Pos) & nrf.SAADC_CH_CONFIG_RESN_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_GAIN_Gain1_5 << nrf.SAADC_CH_CONFIG_GAIN_Pos) & nrf.SAADC_CH_CONFIG_GAIN_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_REFSEL_Internal << nrf.SAADC_CH_CONFIG_REFSEL_Pos) & nrf.SAADC_CH_CONFIG_REFSEL_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_TACQ_3us << nrf.SAADC_CH_CONFIG_TACQ_Pos) & nrf.SAADC_CH_CONFIG_TACQ_Msk) |
|
||||
((nrf.SAADC_CH_CONFIG_MODE_SE << nrf.SAADC_CH_CONFIG_MODE_Pos) & nrf.SAADC_CH_CONFIG_MODE_Msk)
|
||||
((nrf.SAADC_CH_CONFIG_MODE_SE << nrf.SAADC_CH_CONFIG_MODE_Pos) & nrf.SAADC_CH_CONFIG_MODE_Msk))
|
||||
|
||||
// Set pin to read.
|
||||
nrf.SAADC.CH[0].PSELN = nrf.RegValue(pwmPin)
|
||||
nrf.SAADC.CH[0].PSELP = nrf.RegValue(pwmPin)
|
||||
nrf.SAADC.CH[0].PSELN.Set(pwmPin)
|
||||
nrf.SAADC.CH[0].PSELP.Set(pwmPin)
|
||||
|
||||
// Destination for sample result.
|
||||
nrf.SAADC.RESULT.PTR = nrf.RegValue(uintptr(unsafe.Pointer(&value)))
|
||||
nrf.SAADC.RESULT.MAXCNT = 1 // One sample
|
||||
nrf.SAADC.RESULT.PTR.Set(uint32(uintptr(unsafe.Pointer(&value))))
|
||||
nrf.SAADC.RESULT.MAXCNT.Set(1) // One sample
|
||||
|
||||
// Start tasks.
|
||||
nrf.SAADC.TASKS_START = 1
|
||||
for nrf.SAADC.EVENTS_STARTED == 0 {
|
||||
nrf.SAADC.TASKS_START.Set(1)
|
||||
for nrf.SAADC.EVENTS_STARTED.Get() == 0 {
|
||||
}
|
||||
nrf.SAADC.EVENTS_STARTED = 0x00
|
||||
nrf.SAADC.EVENTS_STARTED.Set(0x00)
|
||||
|
||||
// Start the sample task.
|
||||
nrf.SAADC.TASKS_SAMPLE = 1
|
||||
nrf.SAADC.TASKS_SAMPLE.Set(1)
|
||||
|
||||
// Wait until the sample task is done.
|
||||
for nrf.SAADC.EVENTS_END == 0 {
|
||||
for nrf.SAADC.EVENTS_END.Get() == 0 {
|
||||
}
|
||||
nrf.SAADC.EVENTS_END = 0x00
|
||||
nrf.SAADC.EVENTS_END.Set(0x00)
|
||||
|
||||
// Stop the ADC
|
||||
nrf.SAADC.TASKS_STOP = 1
|
||||
for nrf.SAADC.EVENTS_STOPPED == 0 {
|
||||
nrf.SAADC.TASKS_STOP.Set(1)
|
||||
for nrf.SAADC.EVENTS_STOPPED.Get() == 0 {
|
||||
}
|
||||
nrf.SAADC.EVENTS_STOPPED = 0
|
||||
nrf.SAADC.EVENTS_STOPPED.Set(0)
|
||||
|
||||
// Disable the ADC.
|
||||
nrf.SAADC.ENABLE = (nrf.SAADC_ENABLE_ENABLE_Disabled << nrf.SAADC_ENABLE_ENABLE_Pos)
|
||||
nrf.SAADC.ENABLE.Set(nrf.SAADC_ENABLE_ENABLE_Disabled << nrf.SAADC_ENABLE_ENABLE_Pos)
|
||||
|
||||
if value < 0 {
|
||||
value = 0
|
||||
|
|
@ -174,21 +174,21 @@ func (pwm PWM) Set(value uint16) {
|
|||
|
||||
p := pwms[i]
|
||||
|
||||
p.PSEL.OUT[0] = nrf.RegValue(pwm.Pin)
|
||||
p.PSEL.OUT[1] = nrf.RegValue(pwm.Pin)
|
||||
p.PSEL.OUT[2] = nrf.RegValue(pwm.Pin)
|
||||
p.PSEL.OUT[3] = nrf.RegValue(pwm.Pin)
|
||||
p.ENABLE = (nrf.PWM_ENABLE_ENABLE_Enabled << nrf.PWM_ENABLE_ENABLE_Pos)
|
||||
p.PRESCALER = nrf.PWM_PRESCALER_PRESCALER_DIV_2
|
||||
p.MODE = nrf.PWM_MODE_UPDOWN_Up
|
||||
p.COUNTERTOP = 16384 // frequency
|
||||
p.LOOP = 0
|
||||
p.DECODER = (nrf.PWM_DECODER_LOAD_Common << nrf.PWM_DECODER_LOAD_Pos) | (nrf.PWM_DECODER_MODE_RefreshCount << nrf.PWM_DECODER_MODE_Pos)
|
||||
p.SEQ[0].PTR = nrf.RegValue(uintptr(unsafe.Pointer(&pwmChannelSequence[i])))
|
||||
p.SEQ[0].CNT = 1
|
||||
p.SEQ[0].REFRESH = 1
|
||||
p.SEQ[0].ENDDELAY = 0
|
||||
p.TASKS_SEQSTART[0] = 1
|
||||
p.PSEL.OUT[0].Set(uint32(pwm.Pin))
|
||||
p.PSEL.OUT[1].Set(uint32(pwm.Pin))
|
||||
p.PSEL.OUT[2].Set(uint32(pwm.Pin))
|
||||
p.PSEL.OUT[3].Set(uint32(pwm.Pin))
|
||||
p.ENABLE.Set(nrf.PWM_ENABLE_ENABLE_Enabled << nrf.PWM_ENABLE_ENABLE_Pos)
|
||||
p.PRESCALER.Set(nrf.PWM_PRESCALER_PRESCALER_DIV_2)
|
||||
p.MODE.Set(nrf.PWM_MODE_UPDOWN_Up)
|
||||
p.COUNTERTOP.Set(16384) // frequency
|
||||
p.LOOP.Set(0)
|
||||
p.DECODER.Set((nrf.PWM_DECODER_LOAD_Common << nrf.PWM_DECODER_LOAD_Pos) | (nrf.PWM_DECODER_MODE_RefreshCount << nrf.PWM_DECODER_MODE_Pos))
|
||||
p.SEQ[0].PTR.Set(uint32(uintptr(unsafe.Pointer(&pwmChannelSequence[i]))))
|
||||
p.SEQ[0].CNT.Set(1)
|
||||
p.SEQ[0].REFRESH.Set(1)
|
||||
p.SEQ[0].ENDDELAY.Set(0)
|
||||
p.TASKS_SEQSTART[0].Set(1)
|
||||
|
||||
break
|
||||
}
|
||||
|
|
|
|||
|
|
@ -32,16 +32,16 @@ func init() {
|
|||
|
||||
func initLFCLK() {
|
||||
if machine.HasLowFrequencyCrystal {
|
||||
nrf.CLOCK.LFCLKSRC = nrf.CLOCK_LFCLKSTAT_SRC_Xtal
|
||||
nrf.CLOCK.LFCLKSRC.Set(nrf.CLOCK_LFCLKSTAT_SRC_Xtal)
|
||||
}
|
||||
nrf.CLOCK.TASKS_LFCLKSTART = 1
|
||||
for nrf.CLOCK.EVENTS_LFCLKSTARTED == 0 {
|
||||
nrf.CLOCK.TASKS_LFCLKSTART.Set(1)
|
||||
for nrf.CLOCK.EVENTS_LFCLKSTARTED.Get() == 0 {
|
||||
}
|
||||
nrf.CLOCK.EVENTS_LFCLKSTARTED = 0
|
||||
nrf.CLOCK.EVENTS_LFCLKSTARTED.Set(0)
|
||||
}
|
||||
|
||||
func initRTC() {
|
||||
nrf.RTC1.TASKS_START = 1
|
||||
nrf.RTC1.TASKS_START.Set(1)
|
||||
arm.SetPriority(nrf.IRQ_RTC1, 0xc0) // low priority
|
||||
arm.EnableIRQ(nrf.IRQ_RTC1)
|
||||
}
|
||||
|
|
@ -72,7 +72,7 @@ var (
|
|||
// overflow the counter, leading to incorrect results. This might be fixed by
|
||||
// handling the overflow event.
|
||||
func ticks() timeUnit {
|
||||
rtcCounter := uint32(nrf.RTC1.COUNTER)
|
||||
rtcCounter := uint32(nrf.RTC1.COUNTER.Get())
|
||||
offset := (rtcCounter - rtcLastCounter) & 0xffffff // change since last measurement
|
||||
rtcLastCounter = rtcCounter
|
||||
timestamp += timeUnit(offset) // TODO: not precise
|
||||
|
|
@ -85,7 +85,7 @@ type isrFlag bool
|
|||
var rtc_wakeup isrFlag
|
||||
|
||||
func rtc_sleep(ticks uint32) {
|
||||
nrf.RTC1.INTENSET = nrf.RTC_INTENSET_COMPARE0
|
||||
nrf.RTC1.INTENSET.Set(nrf.RTC_INTENSET_COMPARE0)
|
||||
rtc_wakeup = false
|
||||
if ticks == 1 {
|
||||
// Race condition (even in hardware) at ticks == 1.
|
||||
|
|
@ -93,7 +93,7 @@ func rtc_sleep(ticks uint32) {
|
|||
// describes.
|
||||
ticks = 2
|
||||
}
|
||||
nrf.RTC1.CC[0] = (nrf.RTC1.COUNTER + nrf.RegValue(ticks)) & 0x00ffffff
|
||||
nrf.RTC1.CC[0].Set((nrf.RTC1.COUNTER.Get() + ticks) & 0x00ffffff)
|
||||
for !rtc_wakeup {
|
||||
arm.Asm("wfi")
|
||||
}
|
||||
|
|
@ -101,7 +101,7 @@ func rtc_sleep(ticks uint32) {
|
|||
|
||||
//go:export RTC1_IRQHandler
|
||||
func handleRTC1() {
|
||||
nrf.RTC1.INTENCLR = nrf.RTC_INTENSET_COMPARE0
|
||||
nrf.RTC1.EVENTS_COMPARE[0] = 0
|
||||
nrf.RTC1.INTENCLR.Set(nrf.RTC_INTENSET_COMPARE0)
|
||||
nrf.RTC1.EVENTS_COMPARE[0].Set(0)
|
||||
rtc_wakeup = true
|
||||
}
|
||||
|
|
|
|||
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