view include/Utilities.h @ 45:579c86316008 newapi

Major API overhaul. Moved to a single data structure for handling render functions. Functionally, generally similar except for scheduling within PRU loop function, which now uses interrupts from the PRU rather than polling. This requires an updated kernel.

/*
 * Utilities.h
 *
 *  Created on: Oct 27, 2014
 *      Author: parallels
 */

#ifndef UTILITIES_H_
#define UTILITIES_H_

#include "BeagleRT.h"

#define setBit(word,bit) 			((word) | (1 << (bit)))
#define clearBit(word,bit) 			((word) &~ (1 << (bit)))
#define getBit(word,bit) 			(((word) >> (bit)) & 1)
#define changeBit(word,bit,value) 	((clearBit((word),(bit))) | ((value) << (bit)))

#if 1
// Note: pinMode(), analogWrite() and digitalWrite() should be able to be called from initialise_render()
// Likewise, thread launch should be able to be called from initialise_render()
// Also, make volume change functions callable from render() thread -- as an aux task?

float analogReadFrame(BeagleRTContext *context, int frame, int channel);
void analogWriteFrame(BeagleRTContext *context, int frame, int channel, float value);
void analogWriteFrameOnce(BeagleRTContext *context, int frame, int channel, float value);

int digitalReadFrame(BeagleRTContext *context, int frame, int channel);
void digitalWriteFrame(BeagleRTContext *context, int frame, int channel, int value);
void digitalWriteFrameOnce(BeagleRTContext *context, int frame, int channel, int value);

void pinModeFrame(BeagleRTContext *context, int frame, int channel, int mode);
void pinModeFrameOnce(BeagleRTContext *context, int frame, int channel, int mode);

#else

// Macros for accessing the analog values: usable _only_ within render()

// Read an Analog input from input pin p at frame f
#define analogRead(p, f) (analogIn[(f)*gNumAnalogChannels + (p)])
// Write an Analog output frame at output pin p, frame f, to value v
#define analogWriteFrame(p, f, v) (analogOut[(f)*gNumAnalogChannels + (p)] = (v))
#define analogWrite(pin, frame, value) \
(({do {\
	for (int _privateI=(frame); _privateI<numAnalogFrames; _privateI++){ \
		analogWriteFrame(pin,_privateI,value); \
	}\
	} while (0);}),(void)0)\


//digital API:
#define setDigitalDirectionFrame(pin,frame,direction) digital[(frame)]=changeBit(digital[(frame)],(pin),(direction)),void(0)
#define setDigitalDirection(pin,frame,direction)\
		(({do {\
			for(int _privateI=(frame); _privateI<numDigitalFrames; _privateI++)\
				setDigitalDirectionFrame(pin,_privateI,direction);\
			} while (0);}), (void)0)
#define digitalWriteAll(frame,value) digital[(frame)]=0xffff0000*(!(!value));
//sets the bit in the high word, clears the bit in the low word (just in case the direction was not previously set)
#define digitalWriteFrame(pin, frame, value) digital[(frame)]=( changeBit(digital[(frame)], (pin+16), (value)) & (0xffffffff-(1<<(pin))) ) //could have been done with two subsequent assignments
#define digitalWrite(pin, frame, value) \
	(({do {\
		for (int _privateI=(frame); _privateI<numDigitalFrames; _privateI++) \
			digitalWriteFrame(pin,_privateI,value); \
		} while (0);}),(void)0)\

#define digitalRead(pin, frame) ( getBit(digital[(frame)], pin+16) )

#endif

float map(float x, float in_min, float in_max, float out_min, float out_max);
float constrain(float x, float min_val, float max_val);

#endif /* UTILITIES_H_ */