336 lines
11 KiB
C++
336 lines
11 KiB
C++
#include "ksbit.h"
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enum class DigitalPin {
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P0 = MICROBIT_ID_IO_P0,
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P1 = MICROBIT_ID_IO_P1,
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P2 = MICROBIT_ID_IO_P2,
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P3 = MICROBIT_ID_IO_P3,
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P4 = MICROBIT_ID_IO_P4,
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P5 = MICROBIT_ID_IO_P5,
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P6 = MICROBIT_ID_IO_P6,
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P7 = MICROBIT_ID_IO_P7,
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//P8 = MICROBIT_ID_IO_P8,
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P9 = MICROBIT_ID_IO_P9,
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P10 = MICROBIT_ID_IO_P10,
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P11 = MICROBIT_ID_IO_P11,
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//P12 = MICROBIT_ID_IO_P12,
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//P13 = MICROBIT_ID_IO_P13,
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//P14 = MICROBIT_ID_IO_P14,
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//P15 = MICROBIT_ID_IO_P15,
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//P16 = MICROBIT_ID_IO_P16,
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P19 = MICROBIT_ID_IO_P19,
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P20 = MICROBIT_ID_IO_P20,
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P28 = CALLIOPE_ID_IO_P28,
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P29 = CALLIOPE_ID_IO_P29,
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P30 = CALLIOPE_ID_IO_P30
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};
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enum class AnalogPin {
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P0 = MICROBIT_ID_IO_P0,
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P1 = MICROBIT_ID_IO_P1,
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P2 = MICROBIT_ID_IO_P2,
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P3 = MICROBIT_ID_IO_P3,
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P4 = MICROBIT_ID_IO_P4,
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P10 = MICROBIT_ID_IO_P10,
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P29 = CALLIOPE_ID_IO_P29,
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P30 = CALLIOPE_ID_IO_P30
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};
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enum class PulseValue {
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High = MICROBIT_PIN_EVT_PULSE_HI,
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Low = MICROBIT_PIN_EVT_PULSE_LO
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};
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enum class PinPullMode {
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//% block="down"
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PullDown = 0,
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//% block="up"
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PullUp = 1,
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//% block="none"
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PullNone = 2
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};
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MicroBitPin *getPin(int id) {
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switch (id) {
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case MICROBIT_ID_IO_P0: return &uBit.io.P0;
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case MICROBIT_ID_IO_P1: return &uBit.io.P1;
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case MICROBIT_ID_IO_P2: return &uBit.io.P2;
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case MICROBIT_ID_IO_P3: return &uBit.io.P3;
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case MICROBIT_ID_IO_P4: return &uBit.io.P4;
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case MICROBIT_ID_IO_P5: return &uBit.io.P5;
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case MICROBIT_ID_IO_P6: return &uBit.io.P6;
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case MICROBIT_ID_IO_P7: return &uBit.io.P7;
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//case MICROBIT_ID_IO_P8: return &uBit.io.P8;
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case MICROBIT_ID_IO_P9: return &uBit.io.P9;
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case MICROBIT_ID_IO_P10: return &uBit.io.P10;
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case MICROBIT_ID_IO_P11: return &uBit.io.P11;
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//case MICROBIT_ID_IO_P12: return &uBit.io.P12;
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//case MICROBIT_ID_IO_P13: return &uBit.io.P13;
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//case MICROBIT_ID_IO_P14: return &uBit.io.P14;
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//case MICROBIT_ID_IO_P15: return &uBit.io.P15;
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//case MICROBIT_ID_IO_P16: return &uBit.io.P16;
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case MICROBIT_ID_IO_P19: return &uBit.io.P19;
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case MICROBIT_ID_IO_P20: return &uBit.io.P20;
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case CALLIOPE_ID_IO_P3: return &uBit.io.CAL_P3;
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case CALLIOPE_ID_IO_P7: return &uBit.io.CAL_P7;
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case CALLIOPE_ID_IO_P8: return &uBit.io.CAL_P8;
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case CALLIOPE_ID_IO_P9: return &uBit.io.CAL_P9;
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case CALLIOPE_ID_IO_P13: return &uBit.io.CAL_P13;
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case CALLIOPE_ID_IO_P14: return &uBit.io.CAL_P14;
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case CALLIOPE_ID_IO_P15: return &uBit.io.CAL_P15;
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case CALLIOPE_ID_IO_P22: return &uBit.io.CAL_P22;
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case CALLIOPE_ID_IO_P28: return &uBit.io.CAL_P28;
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case CALLIOPE_ID_IO_P29: return &uBit.io.CAL_P29;
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case CALLIOPE_ID_IO_P30: return &uBit.io.CAL_P30;
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default: return NULL;
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}
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}
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namespace pins {
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#define PINOP(op) \
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MicroBitPin *pin = getPin((int)name); \
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if (!pin) return; \
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pin->op
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#define PINREAD(op) \
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MicroBitPin *pin = getPin((int)name); \
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if (!pin) return 0; \
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return pin->op
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//%
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MicroBitPin *getPinAddress(int id) {
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return getPin(id);
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}
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/**
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* Read the specified pin or connector as either 0 or 1
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* @param name pin to read from
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*/
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//% help=pins/digital-read-pin weight=30
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//% blockId=device_get_digital_pin block="digital read|pin %name" blockGap=8
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int digitalReadPin(DigitalPin name) {
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PINREAD(getDigitalValue());
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}
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/**
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* Set a pin or connector value to either 0 or 1.
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* @param name pin to write to
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* @param value value to set on the pin, 1 eg,0
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*/
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//% help=pins/digital-write-pin weight=29
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//% blockId=device_set_digital_pin block="digital write|pin %name|to %value"
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void digitalWritePin(DigitalPin name, int value) {
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PINOP(setDigitalValue(value));
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}
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/**
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* Read the connector value as analog, that is, as a value comprised between 0 and 1023.
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* @param name pin to write to
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*/
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//% help=pins/analog-read-pin weight=25
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//% blockId=device_get_analog_pin block="analog read|pin %name" blockGap="8"
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int analogReadPin(AnalogPin name) {
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PINREAD(getAnalogValue());
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}
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/**
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* Set the connector value as analog. Value must be comprised between 0 and 1023.
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* @param name pin name to write to
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* @param value value to write to the pin between ``0`` and ``1023``. eg:1023,0
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*/
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//% help=pins/analog-write-pin weight=24
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//% blockId=device_set_analog_pin block="analog write|pin %name|to %value" blockGap=8
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void analogWritePin(AnalogPin name, int value) {
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PINOP(setAnalogValue(value));
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}
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/**
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* Configures the Pulse-width modulation (PWM) of the analog output to the given value in **microseconds** or `1/1000` milliseconds.
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* If this pin is not configured as an analog output (using `analog write pin`), the operation has no effect.
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* @param name analog pin to set period to
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* @param micros period in micro seconds. eg:20000
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*/
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//% help=pins/analog-set-period weight=23 blockGap=8
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//% blockId=device_set_analog_period block="analog set period|pin %pin|to (µs)%micros"
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void analogSetPeriod(AnalogPin name, int micros) {
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PINOP(setAnalogPeriodUs(micros));
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}
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/**
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* Configures this pin to a digital input, and generates events where the timestamp is the duration that this pin was either ``high`` or ``low``.
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*/
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//% help=pins/on-pulsed weight=22 blockGap=8
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//% blockId=pins_on_pulsed block="on|pin %pin|pulsed %pulse"
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void onPulsed(DigitalPin name, PulseValue pulse, Action body) {
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MicroBitPin* pin = getPin((int)name);
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if (!pin) return;
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pin->eventOn(MICROBIT_PIN_EVENT_ON_PULSE);
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registerWithDal((int)name, (int)pulse, body);
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}
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/**
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* Gets the duration of the last pulse in micro-seconds. This function should be called from a ``onPulsed`` handler.
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*/
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//% help=pins/pulse-duration
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//% blockId=pins_pulse_duration block="pulse duration (µs)"
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//% weight=21 blockGap=8
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int pulseDuration() {
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return pxt::lastEvent.timestamp;
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}
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/**
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* Returns the duration of a pulse in microseconds
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* @param name the pin which measures the pulse
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* @param value the value of the pulse (default high)
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* @param maximum duration in micro-seconds
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*/
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//% blockId="pins_pulse_in" block="pulse in (µs)|pin %name|pulsed %value"
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//% weight=20
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int pulseIn(DigitalPin name, PulseValue value, int maxDuration = 2000000) {
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MicroBitPin* pin = getPin((int)name);
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if (!pin) return 0;
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int pulse = value == PulseValue::High ? 1 : 0;
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uint64_t tick = system_timer_current_time_us();
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uint64_t maxd = (uint64_t)maxDuration;
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while(pin->getDigitalValue() != pulse) {
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if(system_timer_current_time_us() - tick > maxd)
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return 0;
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}
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uint64_t start = system_timer_current_time_us();
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while(pin->getDigitalValue() == pulse) {
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if(system_timer_current_time_us() - tick > maxd)
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return 0;
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}
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uint64_t end = system_timer_current_time_us();
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return end - start;
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}
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/**
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* Writes a value to the servo, controlling the shaft accordingly. On a standard servo, this will set the angle of the shaft (in degrees), moving the shaft to that orientation. On a continuous rotation servo, this will set the speed of the servo (with ``0`` being full-speed in one direction, ``180`` being full speed in the other, and a value near ``90`` being no movement).
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* @param name pin to write to
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* @param value angle or rotation speed, eg:180,90,0
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*/
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//% help=pins/servo-write-pin weight=20
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//% blockId=device_set_servo_pin block="servo write|pin %name|to %value" blockGap=8
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//% parts=microservo trackArgs=0
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void servoWritePin(AnalogPin name, int value) {
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PINOP(setServoValue(value));
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}
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/**
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* Configures this IO pin as an analog/pwm output, configures the period to be 20 ms, and sets the pulse width, based on the value it is given **microseconds** or `1/1000` milliseconds.
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* @param name pin name
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* @param micros pulse duration in micro seconds, eg:1500
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*/
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//% help=pins/servo-set-pulse weight=19
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//% blockId=device_set_servo_pulse block="servo set pulse|pin %value|to (µs) %micros"
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void servoSetPulse(AnalogPin name, int micros) {
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PINOP(setServoPulseUs(micros));
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}
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MicroBitPin* pitchPin = NULL;
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/**
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* Sets the pin used when using `pins->analog pitch`.
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* @param name TODO
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*/
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//% help=pins/analog-set-pitch weight=12
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void analogSetPitchPin(AnalogPin name) {
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pitchPin = getPin((int)name);
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}
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/**
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* Emits a Pulse-width modulation (PWM) signal to the current pitch pin. Use `analog set pitch pin` to define the pitch pin.
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* @param frequency TODO
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* @param ms TODO
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*/
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//% help=pins/analog-pitch weight=14 async
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void analogPitch(int frequency, int ms) {
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if (pitchPin == NULL) return;
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if (frequency <= 0) {
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pitchPin->setAnalogValue(0);
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} else {
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pitchPin->setAnalogValue(512);
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pitchPin->setAnalogPeriodUs(1000000/frequency);
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}
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if (ms > 0) {
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fiber_sleep(ms);
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pitchPin->setAnalogValue(0);
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// TODO why do we use wait_ms() here? it's a busy wait I think
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wait_ms(5);
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}
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}
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/**
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* Configures the pull of this pin.
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* @param name pin to set the pull mode on
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* @param pull one of the mbed pull configurations: PullUp, PullDown, PullNone
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*/
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//% help=pins/set-pull weight=3
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//% blockId=device_set_pull block="set pull|pin %pin|to %pull"
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void setPull(DigitalPin name, PinPullMode pull) {
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PinMode m = pull == PinPullMode::PullDown
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? PinMode::PullDown
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: pull == PinPullMode::PullUp ? PinMode::PullUp
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: PinMode::PullNone;
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PINOP(setPull(m));
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}
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/**
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* Create a new zero-initialized buffer.
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* @param size number of bytes in the buffer
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*/
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//%
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Buffer createBuffer(int size)
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{
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return ManagedBuffer(size).leakData();
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}
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/**
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* Read `size` bytes from a 7-bit I2C `address`.
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*/
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//%
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Buffer i2cReadBuffer(int address, int size, bool repeat = false)
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{
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Buffer buf = createBuffer(size);
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uBit.i2c.read(address << 1, (char*)buf->payload, size, repeat);
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return buf;
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}
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/**
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* Write bytes to a 7-bit I2C `address`.
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*/
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//%
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void i2cWriteBuffer(int address, Buffer buf, bool repeat = false)
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{
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uBit.i2c.write(address << 1, (char*)buf->payload, buf->length, repeat);
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}
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SPI* spi = NULL;
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SPI* allocSPI() {
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if (spi == NULL)
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spi = new SPI(MOSI, MISO, SCK);
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return spi;
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}
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/**
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* Write to the SPI slave and return the response
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* @param value Data to be sent to the SPI slave
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*/
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//% help=pins/spi-write weight=5
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//% blockId=spi_write block="spi write %value"
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int spiWrite(int value) {
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auto p = allocSPI();
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return p->write(value);
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}
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}
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