altos: Add fast-timer API. Use for quadrature and button drivers

[fw/altos] / src / lpc / ao_arch_funcs.h

diff --git a/src/lpc/ao_arch_funcs.h b/src/lpc/ao_arch_funcs.h
index 94d876f6676f9eb4084849ed3df81028183651fa..204d1227dd5f525d02579efd85dac30db4a55096 100644 (file)
--- a/src/lpc/ao_arch_funcs.h
+++ b/src/lpc/ao_arch_funcs.h
@@ -25,7 +25,7 @@
 
 #define lpc_all_bit(port,bit)  (((port) << 5) | (bit))
 
-#define ao_gpio_set(port, bit, pin, v) (lpc_gpio.byte[lpc_all_bit(port,bit)] = v)
+#define ao_gpio_set(port, bit, pin, v) (lpc_gpio.byte[lpc_all_bit(port,bit)] = (v))
 
 #define ao_gpio_get(port, bit, pin)    (lpc_gpio_byte[lpc_all_bit(port,bit)])
 
@@ -36,16 +36,29 @@
        } while (0)
 
 #define ao_enable_input(port,bit,mode) do {                            \
+               vuint32_t *_ioconf = &lpc_ioconf.pio0_0 + ((port)*24+(bit)); \
+               vuint32_t _mode;                                        \
                ao_enable_port(port);                                   \
                lpc_gpio.dir[port] &= ~(1 << bit);                      \
                if (mode == AO_EXTI_MODE_PULL_UP)                       \
-                       stm_pupdr_set(port, bit, STM_PUPDR_PULL_UP);    \
+                       _mode = LPC_IOCONF_MODE_PULL_UP << LPC_IOCONF_MODE; \
                else if (mode == AO_EXTI_MODE_PULL_DOWN)                \
-                       stm_pupdr_set(port, bit, STM_PUPDR_PULL_DOWN);  \
+                       _mode = LPC_IOCONF_MODE_PULL_UP << LPC_IOCONF_MODE; \
                else                                                    \
-                       stm_pupdr_set(port, bit, STM_PUPDR_NONE);       \
+                       _mode = LPC_IOCONF_MODE_INACTIVE << LPC_IOCONF_MODE; \
+               *_ioconf = ((*_ioconf & ~(LPC_IOCONF_MODE_MASK << LPC_IOCONF_MODE)) | \
+                           _mode |                                     \
+                           (1 << LPC_IOCONF_ADMODE));                  \
        } while (0)
 
+#define ao_enable_analog(port,bit) do {                                        \
+               vuint32_t *_ioconf = &lpc_ioconf.pio0_0 + ((port)*24+(bit)); \
+               ao_enable_port(port);                                   \
+               lpc_gpio.dir[port] &= ~(1 << bit);                      \
+               *_ioconf = *_ioconf & ~((1 << LPC_IOCONF_ADMODE) |      \
+                                       (LPC_IOCONF_MODE_MASK << LPC_IOCONF_MODE)); \
+       } while (0)
+       
 #define ARM_PUSH32(stack, val) (*(--(stack)) = (val))
 
 static inline uint32_t
@@ -195,4 +208,17 @@ ao_spi_init(void);
                }                                                       \
        } while (0)
 
+#define HAS_ARCH_START_SCHEDULER       1
+
+static inline void ao_arch_start_scheduler(void) {
+       uint32_t        sp;
+       uint32_t        control;
+
+       asm("mrs %0,msp" : "=&r" (sp));
+       asm("msr psp,%0" : : "r" (sp));
+       asm("mrs %0,control" : "=&r" (control));
+       control |= (1 << 1);
+       asm("msr control,%0" : : "r" (control));
+}
+
 #endif /* _AO_ARCH_FUNCS_H_ */