mirror of
https://github.com/bjoernellens1/cps_microros_imu.git
synced 2024-11-23 00:23:47 +00:00
88 lines
1.9 KiB
C
88 lines
1.9 KiB
C
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#if defined(__AVR__)
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#define attachInterrupt(num, func, mode) enableInterrupt(num)
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define SCRAMBLE_INT_ORDER(num) ((num < 4) ? num + 2 : ((num < 6) ? num - 4 : num))
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#define DESCRAMBLE_INT_ORDER(num) ((num < 2) ? num + 4 : ((num < 6) ? num - 2 : num))
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#else
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#define SCRAMBLE_INT_ORDER(num) (num)
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#define DESCRAMBLE_INT_ORDER(num) (num)
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#endif
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static void enableInterrupt(uint8_t num)
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{
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switch (DESCRAMBLE_INT_ORDER(num)) {
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#if defined(EICRA) && defined(EIMSK)
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case 0:
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EICRA = (EICRA & 0xFC) | 0x01;
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EIMSK |= 0x01;
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return;
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case 1:
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EICRA = (EICRA & 0xF3) | 0x04;
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EIMSK |= 0x02;
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return;
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case 2:
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EICRA = (EICRA & 0xCF) | 0x10;
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EIMSK |= 0x04;
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return;
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case 3:
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EICRA = (EICRA & 0x3F) | 0x40;
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EIMSK |= 0x08;
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return;
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#elif defined(MCUCR) && defined(GICR)
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case 0:
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MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
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GICR |= (1 << INT0);
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return;
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case 1:
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MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
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GICR |= (1 << INT1);
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return;
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#elif defined(MCUCR) && defined(GIMSK)
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case 0:
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MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
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GIMSK |= (1 << INT0);
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return;
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case 1:
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MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
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GIMSK |= (1 << INT1);
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return;
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#endif
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#if defined(EICRB) && defined(EIMSK)
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case 4:
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EICRB = (EICRB & 0xFC) | 0x01;
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EIMSK |= 0x10;
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return;
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case 5:
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EICRB = (EICRB & 0xF3) | 0x04;
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EIMSK |= 0x20;
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return;
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case 6:
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EICRB = (EICRB & 0xCF) | 0x10;
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EIMSK |= 0x40;
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return;
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case 7:
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EICRB = (EICRB & 0x3F) | 0x40;
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EIMSK |= 0x80;
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return;
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#endif
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}
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}
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#elif defined(__PIC32MX__)
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#ifdef ENCODER_OPTIMIZE_INTERRUPTS
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#undef ENCODER_OPTIMIZE_INTERRUPTS
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#endif
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#else
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#ifdef ENCODER_OPTIMIZE_INTERRUPTS
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#undef ENCODER_OPTIMIZE_INTERRUPTS
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#endif
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#endif
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