int main(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0);
if(ROM_EEPROMInit() == EEPROM_INIT_ERROR) {
if(ROM_EEPROMInit() != EEPROM_INIT_ERROR)
EEPROMMassErase();
}
timerInit();
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOJ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOK);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOM);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPION);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOQ);
#ifdef TARGET_IS_SNOWFLAKE_RA0
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOR);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOS);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOT);
#endif
//Unlock and commit NMI pins PD7 and PF0
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = 0x4C4F434B;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x1;
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = 0x4C4F434B;
HWREG(GPIO_PORTD_BASE + GPIO_O_CR) |= 0x80;
setup();
for (;;) {
loop();
if (serialEventRun) serialEventRun();
}
}
int
main(void)
{
char stringbuffer[17];
int distance = 0;
// Enable lazy stacking for interrupt handlers. This allows floating-point
// instructions to be used within interrupt handlers, but at the expense of
// extra stack usage.
ROM_FPUEnable();
ROM_FPULazyStackingEnable();
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0); //This wasn't clear at all. Note to self, everything needs enabling on this chip.
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_HIBERNATE);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, WAKEPIN);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, REEDPIN);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, V5POWER);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, V3POWER);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, SERVO);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1);
// ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, V3POWER, 0xFF);
#ifdef EASYOPEN
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0);
#endif
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
GPIOPinConfigure(GPIO_PC6_U3RX);
GPIOPinConfigure(GPIO_PC7_U3TX);
ROM_GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_6 | GPIO_PIN_7);
ROM_UARTConfigSetExpClk(UART0_BASE, ROM_SysCtlClockGet(), GPSBAUD,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_UARTConfigSetExpClk(UART3_BASE, ROM_SysCtlClockGet(), GPSBAUD,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_IntEnable(INT_UART0);
ROM_UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT);
ROM_IntEnable(INT_UART3);
ROM_UARTIntEnable(UART3_BASE, UART_INT_RX | UART_INT_RT);
SysTickPeriodSet(SysCtlClockGet()/10000);
SysTickIntRegister(&ServoDriver);
SysTickIntEnable();
SysTickEnable();
ROM_IntMasterEnable();
GPIOIntTypeSet(GPIO_PORTA_BASE, REEDPIN, GPIO_FALLING_EDGE);
GPIOPinIntClear(GPIO_PORTA_BASE, REEDPIN);
GPIOPinIntEnable(GPIO_PORTA_BASE, REEDPIN);
IntEnable(INT_GPIOA);
// while(1){}
/* SysCtlDelay(SysCtlClockGet()/1000);//Make sure the servo is going to get a pulse soon.
ROM_GPIOPinWrite(GPIO_PORTE_BASE, V5POWER, 0xFF); //Turn on the 5V power to LCD + servo.
SysCtlDelay(SysCtlClockGet()/1000);//Make sure the servo is going to get a pulse soon.*/
EEPROMInit();
initLCD();
LCDCommand(0x0c);
#ifdef LOOPBACKUART
while(1){}
#endif
#ifdef FIRSTRUN //First run, sets the eeprom to have as many tries as is desired.
EEPROMMassErase();
EEPROMProgram(&initialNumTries,eepromAddress,sizeof(initialNumTries));
LCDWriteText("Setup Complete. ", 0, 0);
LCDWriteText("Reflash Firmware", 1, 0);
while (1){} //Don't want to do anything else now.
#endif
EEPROMRead(&numTrieslong,eepromAddress,sizeof(numTrieslong));
// numTries=(int)numTrieslong;
// openLock();
// numTrieslong=0;
if (numTrieslong > initialNumTries-3) //Has already opened once, so just open as needed if stuck.
{
openLock();
numTrieslong--;
EEPROMProgram(&numTrieslong,eepromAddress,sizeof(numTrieslong)); //Decrement EEPROM counter.
}
else
{
distance = getDistance();
if(distance==99999){ //No fix :/
LCDWriteText("Location unknown", 0, 0);
LCDWriteText("Take me outside ", 1, 0);
SysCtlDelay(SysCtlClockGet()); //Waits 3 seconds.
}
else if (distance>NEARENOUGH) //Valid fix, too far away.
{
if ((int)numTrieslong>0) //Any attempts remaining?
{
usnprintf(stringbuffer,17,"Distance: %4dm ",distance);
LCDWriteText(stringbuffer, 0, 0);
numTrieslong--;
// numTries=(int)numTrieslong;
EEPROMProgram(&numTrieslong,eepromAddress,sizeof(numTrieslong)); //Decrement EEPROM counter.
usnprintf(stringbuffer,17,"%2d Attempts left",(int)numTrieslong);
LCDWriteText(stringbuffer, 1, 0);
SysCtlDelay(SysCtlClockGet()*2);
}
else
{
LCDWriteText("Oh dear... ", 0, 0); //Not really sure what to do, hopefully this code never runs.
LCDWriteText("Opening anyway. ", 1, 0);
// numTrieslong=initialNumTries+1;
// EEPROMProgram(&numTrieslong,eepromAddress,sizeof(initialNumTries)); //Set to big value
SysCtlDelay(10*SysCtlClockGet()/3);
openLock();
}
}
else //Found the location!
{
openLock();
numTrieslong=initialNumTries+1;
//numTries=(int)numTrieslong;
EEPROMProgram(&numTrieslong,eepromAddress,sizeof(initialNumTries)); //Lock will now open straight away.
}
}
// BLINK(RED);
HibernateEnableExpClk(SysCtlClockGet());
HibernateGPIORetentionEnable(); //Enables GPIO retention after wake from hibernate.
HibernateClockSelect(HIBERNATE_CLOCK_SEL_RAW);
HibernateWakeSet(HIBERNATE_WAKE_PIN);
HibernateIntRegister(&HibernateInterrupt);
HibernateIntEnable(HIBERNATE_INT_PIN_WAKE);
//BLINK(BLUE);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, V5POWER, 0); //GPIO pins keep state on hibernate, so make sure to power everything else down.
ROM_GPIOPinWrite(GPIO_PORTE_BASE, V3POWER, 0); //GPIO pins keep state on hibernate, so make sure to power everything else down.
ROM_GPIOPinWrite(GPIO_PORTB_BASE, RS|E|D4|D5|D6|D7, 0xFF); //Pull all data pins to LCD high so we're not phantom powering it through ESD diodes.
ROM_GPIOPinWrite(GPIO_PORTF_BASE, SERVO, 0xFF); //Likewise for the servo
SysCtlDelay(SysCtlClockGet()/6);
HibernateRequest();// we want to be looping'n'shit.
while(1){} //Lalala, I'm a sleeping right now.
}
