Starting work on adding PIC32/chipKIT/MPIDE support to AFMotor

It compiles now, but doesn't do much else.

2 files changed, 56 insertions, 15 deletions

diff --git a/AFMotor.cpp b/AFMotor.cpp
index 8ac0c08..220e066 100644
--- a/AFMotor.cpp
+++ b/AFMotor.cpp
@@ -4,11 +4,14 @@
 
 
 #if (ARDUINO >= 100)
- #include "Arduino.h"
+  #include "Arduino.h"
 #else
- #include <avr/io.h>
- #include "WProgram.h"
+  #if defined(__AVR__)
+    #include <avr/io.h>
+  #endif
+  #include "WProgram.h"
 #endif
+
 #include "AFMotor.h"
 
 
@@ -94,6 +97,8 @@ inline void initPWM1(uint8_t freq) {
     TCCR1A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a
     TCCR1B = (freq & 0x7) | _BV(WGM12);
     OCR1A = 0;
+#elif defined(__PIC32MX__)
+/// TODO: Fill this in for PIC32
 #else
    #error "This chip is not supported!"
 #endif
@@ -111,6 +116,8 @@ inline void setPWM1(uint8_t s) {
 #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
     // on arduino mega, pin 11 is now PB5 (OC1A)
     OCR1A = s;
+#elif defined(__PIC32MX__)
+/// TODO: Fill this in for PIC32
 #else
    #error "This chip is not supported!"
 #endif
@@ -131,6 +138,8 @@ inline void initPWM2(uint8_t freq) {
     TCCR3A |= _BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c
     TCCR3B = (freq & 0x7) | _BV(WGM12);
     OCR3C = 0;
+#elif defined(__PIC32MX__)
+/// TODO: Fill this in for PIC32
 #else
    #error "This chip is not supported!"
 #endif
@@ -149,6 +158,8 @@ inline void setPWM2(uint8_t s) {
 #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
     // on arduino mega, pin 11 is now PB5 (OC1A)
     OCR3C = s;
+#elif defined(__PIC32MX__)
+/// TODO: Fill this in for PIC32
 #else
    #error "This chip is not supported!"
 #endif
@@ -170,6 +181,8 @@ inline void initPWM3(uint8_t freq) {
     TCCR4B = (freq & 0x7) | _BV(WGM12);
     //TCCR4B = 1 | _BV(WGM12);
     OCR4A = 0;
+#elif defined(__PIC32MX__)
+/// TODO: Fill this in for PIC32
 #else
    #error "This chip is not supported!"
 #endif
@@ -187,6 +200,8 @@ inline void setPWM3(uint8_t s) {
 #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
     // on arduino mega, pin 6 is now PH3 (OC4A)
     OCR4A = s;
+#elif defined(__PIC32MX__)
+/// TODO: Fill this in for PIC32
 #else
    #error "This chip is not supported!"
 #endif
@@ -210,6 +225,8 @@ inline void initPWM4(uint8_t freq) {
     TCCR3B = (freq & 0x7) | _BV(WGM12);
     //TCCR4B = 1 | _BV(WGM12);
     OCR3A = 0;
+#elif defined(__PIC32MX__)
+/// TODO: Fill this in for PIC32
 #else
    #error "This chip is not supported!"
 #endif
@@ -227,6 +244,8 @@ inline void setPWM4(uint8_t s) {
 #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
     // on arduino mega, pin 6 is now PH3 (OC4A)
     OCR3A = s;
+#elif defined(__PIC32MX__)
+/// TODO: Fill this in for PIC32
 #else
    #error "This chip is not supported!"
 #endif
diff --git a/AFMotor.h b/AFMotor.h
index 3b954a5..6f3d99b 100644
--- a/AFMotor.h
+++ b/AFMotor.h
@@ -2,25 +2,45 @@
 // copyright Adafruit Industries LLC, 2009
 // this code is public domain, enjoy!
 
+// <BPS> 09/15/2012 Modified for use with chipKIT boards
+
 #ifndef _AFMotor_h_
 #define _AFMotor_h_
 
 #include <inttypes.h>
-#include <avr/io.h>
+#if defined(__AVR__)
+    #include <avr/io.h>
+
+    //#define MOTORDEBUG 1
+
+    #define MICROSTEPS 16         // 8 or 16
 
-//#define MOTORDEBUG 1
+    #define MOTOR12_64KHZ _BV(CS20)  // no prescale
+    #define MOTOR12_8KHZ _BV(CS21)   // divide by 8
+    #define MOTOR12_2KHZ _BV(CS21) | _BV(CS20) // divide by 32
+    #define MOTOR12_1KHZ _BV(CS22)  // divide by 64
 
-#define MICROSTEPS 16         // 8 or 16
+    #define MOTOR34_64KHZ _BV(CS00)  // no prescale
+    #define MOTOR34_8KHZ _BV(CS01)   // divide by 8
+    #define MOTOR34_1KHZ _BV(CS01) | _BV(CS00)  // divide by 64
+    
+#elif defined(__PIC32MX__)
+    /// TODO: Update this for PIC32 microstepping
+    //#define MOTORDEBUG 1
 
-#define MOTOR12_64KHZ _BV(CS20)  // no prescale
-#define MOTOR12_8KHZ _BV(CS21)   // divide by 8
-#define MOTOR12_2KHZ _BV(CS21) | _BV(CS20) // divide by 32
-#define MOTOR12_1KHZ _BV(CS22)  // divide by 64
+    #define MICROSTEPS 16         // 8 or 16
 
-#define MOTOR34_64KHZ _BV(CS00)  // no prescale
-#define MOTOR34_8KHZ _BV(CS01)   // divide by 8
-#define MOTOR34_1KHZ _BV(CS01) | _BV(CS00)  // divide by 64
+    #define MOTOR12_64KHZ 1  // no prescale
+    #define MOTOR12_8KHZ 2   // divide by 8
+    #define MOTOR12_2KHZ 3 // divide by 32
+    #define MOTOR12_1KHZ 4// divide by 64
+
+    #define MOTOR34_64KHZ 5  // no prescale
+    #define MOTOR34_8KHZ 6   // divide by 8
+    #define MOTOR34_1KHZ 7  // divide by 64
+#endif
 
+// Bit positions in the 74HCT595 shift register output
 #define MOTOR1_A 2
 #define MOTOR1_B 3
 #define MOTOR2_A 1
@@ -30,11 +50,13 @@
 #define MOTOR3_A 5
 #define MOTOR3_B 7
 
+// Constants that the user passes in to the motor calls
 #define FORWARD 1
 #define BACKWARD 2
 #define BRAKE 3
 #define RELEASE 4
 
+// Constants that the user passes in to the stepper calls
 #define SINGLE 1
 #define DOUBLE 2
 #define INTERLEAVE 3
@@ -58,7 +80,7 @@
 #define SER_PORT PORTB
 */
 
-// Arduino pin names
+// Arduino pin names for interface to 74HCT595 latch
 #define MOTORLATCH 12
 #define MOTORCLK 4
 #define MOTORENABLE 7
@@ -76,7 +98,7 @@ class AFMotorController
 class AF_DCMotor
 {
  public:
-  AF_DCMotor(uint8_t motornum, uint8_t freq =  MOTOR34_8KHZ);
+  AF_DCMotor(uint8_t motornum, uint8_t freq = MOTOR34_8KHZ);
   void run(uint8_t);
   void setSpeed(uint8_t);