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Adding support for OpenCR board of Turtlebot3 #342

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Adding support for OpenCR board of Turtlebot3 #342

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49 changes: 35 additions & 14 deletions Adafruit_NeoPixel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2353,21 +2353,21 @@ void Adafruit_NeoPixel::show(void) {
XMC_GPIO_PORT_t* XMC_port = mapping_port_pin[ pin ].port;
uint8_t XMC_pin = mapping_port_pin[ pin ].pin;

uint32_t omrhigh = (uint32_t)XMC_GPIO_OUTPUT_LEVEL_HIGH << XMC_pin;
uint32_t omrlow = (uint32_t)XMC_GPIO_OUTPUT_LEVEL_LOW << XMC_pin;
uint32_t omrhigh = (uint32_t)XMC_GPIO_OUTPUT_LEVEL_HIGH << XMC_pin;
uint32_t omrlow = (uint32_t)XMC_GPIO_OUTPUT_LEVEL_LOW << XMC_pin;

#ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled
if(is800KHz) {
#endif
for(;;) {
XMC_port->OMR = omrhigh;
XMC_port->OMR = omrhigh;
asm("nop; nop; nop; nop;");
if(p & bitMask) {
asm("nop; nop; nop; nop; nop; nop; nop; nop;"
"nop; nop;");
XMC_port->OMR = omrlow;
XMC_port->OMR = omrlow;
} else {
XMC_port->OMR = omrlow;
XMC_port->OMR = omrlow;
asm("nop; nop; nop; nop; nop; nop; nop; nop;"
"nop; nop;");
}
Expand Down Expand Up @@ -2697,7 +2697,7 @@ if(is800KHz) {
// ToDo!
}
#endif
#elif defined(ARDUINO_ARCH_STM32) || defined(ARDUINO_ARCH_ARDUINO_CORE_STM32)
#elif defined(ARDUINO_ARCH_STM32) || defined(ARDUINO_ARCH_ARDUINO_CORE_STM32) || defined(__OPENCR__)
uint8_t *p = pixels, *end = p + numBytes, pix = *p++, mask = 0x80;
uint32_t cyc;
uint32_t saveLoad = SysTick->LOAD, saveVal = SysTick->VAL;
Expand All @@ -2707,14 +2707,24 @@ if(is800KHz) {
uint32_t top = (F_CPU / 800000); // 1.25µs
uint32_t t0 = top - (F_CPU / 2500000); // 0.4µs
uint32_t t1 = top - (F_CPU / 1250000); // 0.8µs

SysTick->LOAD = top - 1; // Config SysTick for NeoPixel bit freq
SysTick->VAL = 0; // Set to start value
for (;;) {
LL_GPIO_SetOutputPin(gpioPort, gpioPin);
#if defined(__OPENCR__)
digitalWrite(pin,HIGH);
#else
LL_GPIO_SetOutputPin(gpioPort, gpioPin);
#endif
cyc = (pix & mask) ? t1 : t0;

while (SysTick->VAL > cyc)
;
LL_GPIO_ResetOutputPin(gpioPort, gpioPin);
#if defined(__OPENCR__)
digitalWrite(pin,LOW);
#else
LL_GPIO_ResetOutputPin(gpioPort, gpioPin);
#endif
if (!(mask >>= 1)) {
if (p >= end)
break;
Expand All @@ -2727,16 +2737,27 @@ if(is800KHz) {
#if defined(NEO_KHZ400)
} else { // 400 kHz bitstream
uint32_t top = (F_CPU / 400000); // 2.5µs
uint32_t t0 = top - (F_CPU / 2000000); // 0.5µs
uint32_t t1 = top - (F_CPU / 833333); // 1.2µs
SysTick->LOAD = top - 1; // Config SysTick for NeoPixel bit freq
#ifndef __OPENCR__
uint32_t t0 = top - (F_CPU / 2000000); // 0.5µs
uint32_t t1 = top - (F_CPU / 833333); // 1.2µs
#endif
SysTick->LOAD = top -1; // Config SysTick for NeoPixel bit freq
SysTick->VAL = 0; // Set to start value
for (;;) {
LL_GPIO_SetOutputPin(gpioPort, gpioPin);
cyc = (pix & mask) ? t1 : t0;
#if defined(__OPENCR__)
digitalWrite(pin,HIGH);
cyc = (pix & mask) ;
#else
LL_GPIO_SetOutputPin(gpioPort, gpioPin);
cyc = (pix & mask) ? t1 : t0;
#endif
while (SysTick->VAL > cyc)
;
LL_GPIO_ResetOutputPin(gpioPort, gpioPin);
#if defined(__OPENCR__)
digitalWrite(pin,LOW);
#else
LL_GPIO_ResetOutputPin(gpioPort, gpioPin);
#endif
if (!(mask >>= 1)) {
if (p >= end)
break;
Expand Down