void sleepSeconds(uint32_t seconds)
{
unsigned long i;
i = milliseconds;
i += seconds * 1000;
stay_asleep = true;
HWREG(NVIC_SYS_CTRL) |= NVIC_SYS_CTRL_SLEEPDEEP;
while ( stay_asleep && (milliseconds < i) ) {
MAP_IntMasterDisable(); // Set PRIMASK so CPU wakes on IRQ but ISRs don't execute until PRIMASK is cleared
SysTickMode_DeepSleepCoarse();
CPUwfi_safe();
// Handle low-power SysTick triggers without using the default SysTickIntHandler
if (HWREG(NVIC_INT_CTRL) & NVIC_INT_CTRL_PENDSTSET) {
milliseconds += 1000;
HWREG(NVIC_INT_CTRL) |= NVIC_INT_CTRL_PENDSTCLR;
} else {
milliseconds += (DEEPSLEEP_CPU - HWREG(NVIC_ST_CURRENT)) / (DEEPSLEEP_CPU / 1000);
}
// Restore SysTick to normal parameters in preparation for full-speed ISR execution
SysTickMode_Run();
MAP_IntMasterEnable(); // Clearing PRIMASK allows pending ISRs to run
}
HWREG(NVIC_SYS_CTRL) &= ~(NVIC_SYS_CTRL_SLEEPDEEP);
stay_asleep = false;
}
int main() {
MAP_IntVTableBaseSet((unsigned long) &g_pfnVectors[0]);
MAP_IntEnable(FAULT_SYSTICK);
MAP_IntMasterEnable();
PRCMCC3200MCUInit();
cc3200_leds_init();
/* Console UART init. */
MAP_PRCMPeripheralClkEnable(CONSOLE_UART_PERIPH, PRCM_RUN_MODE_CLK);
MAP_PinTypeUART(PIN_55, PIN_MODE_3); /* PIN_55 -> UART0_TX */
MAP_PinTypeUART(PIN_57, PIN_MODE_3); /* PIN_57 -> UART0_RX */
MAP_UARTConfigSetExpClk(
CONSOLE_UART, MAP_PRCMPeripheralClockGet(CONSOLE_UART_PERIPH),
CONSOLE_BAUD_RATE,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
MAP_UARTFIFODisable(CONSOLE_UART);
setvbuf(stdout, NULL, _IONBF, 0);
setvbuf(stderr, NULL, _IONBF, 0);
VStartSimpleLinkSpawnTask(8);
osi_TaskCreate(v7_task, (const signed char *) "v7", V7_STACK_SIZE + 256, NULL,
3, NULL);
osi_TaskCreate(blinkenlights_task, (const signed char *) "blink", 256, NULL,
9, NULL);
osi_start();
return 0;
}
//*****************************************************************************
//
// Change the value of a variable atomically.
//
// \param pulVal points to the index whose value is to be modified.
// \param ulDelta is the number of bytes to increment the index by.
// \param ulSize is the size of the buffer the index refers to.
//
// This function is used to increment a read or write buffer index that may be
// written in various different contexts. It ensures that the read/modify/write
// sequence is not interrupted and, hence, guards against corruption of the
// variable. The new value is adjusted for buffer wrap.
//
// \return None.
//
//*****************************************************************************
static void
UpdateIndexAtomic(volatile unsigned long *pulVal, unsigned long ulDelta,
unsigned long ulSize)
{
tBoolean bIntsOff;
//
// Turn interrupts off temporarily.
//
bIntsOff = MAP_IntMasterDisable();
//
// Update the variable value.
//
*pulVal += ulDelta;
//
// Correct for wrap. We use a loop here since we don't want to use a
// modulus operation with interrupts off but we don't want to fail in
// case ulDelta is greater than ulSize (which is extremely unlikely but...)
//
while(*pulVal >= ulSize)
{
*pulVal -= ulSize;
}
//
// Restore the interrupt state
//
if(!bIntsOff)
{
MAP_IntMasterEnable();
}
}
//*****************************************************************************
//! Board Initialization & Configuration
//*****************************************************************************
static void bootmgr_board_init(void) {
// set the vector table base
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
// enable processor interrupts
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
// mandatory MCU initialization
PRCMCC3200MCUInit();
mperror_bootloader_check_reset_cause();
#if MICROPY_HW_ANTENNA_DIVERSITY
// configure the antenna selection pins
antenna_init0();
#endif
// enable the data hashing engine
CRYPTOHASH_Init();
// init the system led and the system switch
mperror_init0();
// clear the safe boot flag, since we can't trust its content after reset
PRCMClearSafeBootRequest();
}
void timerInit()
{
#ifdef TARGET_IS_BLIZZARD_RB1
//
// Run at system clock at 80MHz
//
MAP_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#else
//
// Run at system clock at 120MHz
//
MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ|SYSCTL_OSC_MAIN|SYSCTL_USE_PLL|SYSCTL_CFG_VCO_480), F_CPU);
#endif
//
// SysTick is used for delay() and delayMicroseconds()
//
MAP_SysTickPeriodSet(F_CPU / SYSTICKHZ);
MAP_SysTickEnable();
MAP_IntPrioritySet(FAULT_SYSTICK, SYSTICK_INT_PRIORITY);
MAP_SysTickIntEnable();
MAP_IntMasterEnable();
// PIOSC is used during Deep Sleep mode for wakeup
MAP_SysCtlPIOSCCalibrate(SYSCTL_PIOSC_CAL_FACT); // Factory-supplied calibration used
}
//*****************************************************************************
//
//! Board Initialization & Configuration
//!
//! \param None
//!
//! \return None
//
//*****************************************************************************
static void
BoardInit(void)
{
//
// Set vector table base
//
#ifndef USE_TIRTOS
//
// Set vector table base
//
#if defined(ccs) || defined(gcc)
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
#endif
#if defined(ewarm)
MAP_IntVTableBaseSet((unsigned long)&__vector_table);
#endif
#endif
//
// Enable Processor
//
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
PRCMCC3200MCUInit();
}
//*****************************************************************************
//! Board Initialization & Configuration
//*****************************************************************************
static void bootmgr_board_init(void) {
// set the vector table base
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
// enable processor interrupts
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
// mandatory MCU initialization
PRCMCC3200MCUInit();
// clear all the special bits, since we can't trust their content after reset
// except for the WDT reset one!!
PRCMClearSpecialBit(PRCM_SAFE_BOOT_BIT);
PRCMClearSpecialBit(PRCM_FIRST_BOOT_BIT);
// check the reset after clearing the special bits
mperror_bootloader_check_reset_cause();
#if MICROPY_HW_ANTENNA_DIVERSITY
// configure the antenna selection pins
antenna_init0();
#endif
// enable the data hashing engine
CRYPTOHASH_Init();
// init the system led and the system switch
mperror_init0();
}
//*****************************************************************************
//
//! Board Initialization & Configuration
//!
//! \param None
//!
//! \return None
//
//*****************************************************************************
static void
BoardInit(void)
{
/* In case of TI-RTOS vector table is initialize by OS itself */
#ifndef USE_TIRTOS
//
// Set vector table base
//
#if defined(ccs)
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
#endif //ccs
#if defined(ewarm)
MAP_IntVTableBaseSet((unsigned long)&__vector_table);
#endif //ewarm
#endif //USE_TIRTOS
//
// Enable Processor
//
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
PRCMCC3200MCUInit();
}
int platform_init()
{
// Set the clocking to run from PLL
#if defined( FORLM3S9B92 ) || defined( FORLM3S9D92 )
MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
#else
MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);
#endif
// Setup PIO
pios_init();
// Setup SSIs
spis_init();
// Setup UARTs
uarts_init();
// Setup timers
timers_init();
// Setup PWMs
pwms_init();
#ifdef BUILD_ADC
// Setup ADCs
adcs_init();
#endif
#ifdef BUILD_CAN
// Setup CANs
cans_init();
#endif
// Setup system timer
cmn_systimer_set_base_freq( MAP_SysCtlClockGet() );
cmn_systimer_set_interrupt_freq( SYSTICKHZ );
// Setup ethernet (TCP/IP)
eth_init();
// Common platform initialization code
cmn_platform_init();
// Virtual timers
// If the ethernet controller is used the timer is already initialized, so skip this sequence
#if VTMR_NUM_TIMERS > 0 && !defined( BUILD_UIP )
// Configure SysTick for a periodic interrupt.
MAP_SysTickPeriodSet( MAP_SysCtlClockGet() / SYSTICKHZ );
MAP_SysTickEnable();
MAP_SysTickIntEnable();
MAP_IntMasterEnable();
#endif
// All done
return PLATFORM_OK;
}
/**
* This function is used to unlock access to critical sections when lwipopt.h
* defines SYS_LIGHTWEIGHT_PROT. It enables interrupts if the value of the lev
* parameter indicates that they were enabled when the matching call to
* sys_arch_protect() was made.
*
* @param lev is the interrupt level when the matching protect function was
* called
*/
void
sys_arch_unprotect(sys_prot_t lev)
{
/* Only turn interrupts back on if they were originally on when the matching
sys_arch_protect() call was made. */
if(!(lev & 1)) {
MAP_IntMasterEnable();
}
}
static void BoardInit(void)
{
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
PRCMCC3200MCUInit();
}
//*****************************************************************************
//
//! Board Initialization & Configuration
//!
//! \param None
//!
//! \return None
//
//*****************************************************************************
static void BoardInit(void)
{
// Set vector table base
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
// Enable Processor
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
PRCMCC3200MCUInit();
}
void initBoard() {
#ifndef USE_TIRTOS
#if defined(ccs) || defined(gcc)
MAP_IntVTableBaseSet((unsigned long) &g_pfnVectors[0]);
#endif
#if defined(ewarm)
MAP_IntVTableBaseSet((unsigned long)&__vector_table);
#endif
#endif
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
PRCMCC3200MCUInit();
PinMuxConfig();
GPIO_IF_LedConfigure(LED1);
GPIO_IF_LedOff(MCU_RED_LED_GPIO);
InitTerm();
ClearTerm();
UART_PRINT("Blink - Parse for IoT sample application\r\n");
UART_PRINT("----------------------------------------\r\n");
UART_PRINT("\r\n");
UART_PRINT("[Blink] Board init\r\n");
// start the spawn task
short status = VStartSimpleLinkSpawnTask(SPAWN_TASK_PRIORITY);
if (status < 0) {
UART_PRINT("[Blink] Spawn task failed\r\n");
ERR_PRINT(status);
LOOP_FOREVER();
}
// initialize the I2C bus
status = I2C_IF_Open(I2C_MASTER_MODE_FST);
if (status < 0) {
UART_PRINT("[Blink] I2C opening error\r\n");
ERR_PRINT(status);
LOOP_FOREVER();
}
UART_PRINT("[Blink] Device : TI SimpleLink CC3200\r\n");
#ifdef USE_TIRTOS
UART_PRINT("[Blink] Operating system : TI-RTOS\r\n");
#endif
#ifdef USE_FREERTOS
UART_PRINT("[Blink] Operating system : FreeRTOS\r\n");
#endif
#ifndef SL_PLATFORM_MULTI_THREADED
UART_PRINT("[Blink] Operating system : None\r\n");
#endif
}
int main() {
#ifndef USE_TIRTOS
MAP_IntVTableBaseSet((unsigned long) &g_pfnVectors[0]);
#endif
MAP_IntEnable(FAULT_SYSTICK);
MAP_IntMasterEnable();
PRCMCC3200MCUInit();
/* Console UART init. */
MAP_PRCMPeripheralClkEnable(CONSOLE_UART_PERIPH, PRCM_RUN_MODE_CLK);
MAP_PinTypeUART(PIN_55, PIN_MODE_3); /* PIN_55 -> UART0_TX */
MAP_PinTypeUART(PIN_57, PIN_MODE_3); /* PIN_57 -> UART0_RX */
MAP_UARTConfigSetExpClk(
CONSOLE_UART, MAP_PRCMPeripheralClockGet(CONSOLE_UART_PERIPH),
CONSOLE_BAUD_RATE,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
MAP_UARTFIFOLevelSet(CONSOLE_UART, UART_FIFO_TX1_8, UART_FIFO_RX4_8);
MAP_UARTFIFOEnable(CONSOLE_UART);
setvbuf(stdout, NULL, _IOLBF, 0);
setvbuf(stderr, NULL, _IOLBF, 0);
cs_log_set_level(LL_INFO);
cs_log_set_file(stdout);
LOG(LL_INFO, ("Hello, world!"));
MAP_PinTypeI2C(PIN_01, PIN_MODE_1); /* SDA */
MAP_PinTypeI2C(PIN_02, PIN_MODE_1); /* SCL */
I2C_IF_Open(I2C_MASTER_MODE_FST);
/* Set up the red LED. Note that amber and green cannot be used as they share
* pins with I2C. */
MAP_PRCMPeripheralClkEnable(PRCM_GPIOA1, PRCM_RUN_MODE_CLK);
MAP_PinTypeGPIO(PIN_64, PIN_MODE_0, false);
MAP_GPIODirModeSet(GPIOA1_BASE, 0x2, GPIO_DIR_MODE_OUT);
GPIO_IF_LedConfigure(LED1);
GPIO_IF_LedOn(MCU_RED_LED_GPIO);
if (VStartSimpleLinkSpawnTask(8) != 0) {
LOG(LL_ERROR, ("Failed to create SL task"));
}
if (!mg_start_task(MG_TASK_PRIORITY, MG_TASK_STACK_SIZE, mg_init)) {
LOG(LL_ERROR, ("Failed to create MG task"));
}
osi_start();
return 0;
}
void SysPlatformConfig(void)
/********************************************************************************/
{
#if defined(COMPLIER_CCS)
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
#elif defined(COMPLIER_EARM)
MAP_IntVTableBaseSet((unsigned long)&__vector_table);
#endif
/* Enable Processor */
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
PRCMCC3200MCUInit();
}
void HardwareSerial::end()
{
unsigned long ulInt = MAP_IntMasterDisable();
flushAll();
/* If interrupts were enabled when we turned them off,
* turn them back on again. */
if(!ulInt) {
MAP_IntMasterEnable();
}
MAP_UARTIntDisable(UART_BASE, UART_INT_RT | UART_INT_TX);
MAP_UARTIntUnregister(UART_BASE);
}
//*****************************************************************************
//
//! Board Initialization & Configuration
//!
//! \param None
//!
//! \return None
//
//*****************************************************************************
static void
BoardInit(void)
{
/* In case of TI-RTOS vector table is initialize by OS itself */
//
// Set vector table base
//
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
//
// Enable Processor
//
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
PRCMCC3200MCUInit();
}
static void BoardInit()
{
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
PRCMCC3200MCUInit();
UDMAInit();
MAP_PRCMPeripheralClkEnable(PRCM_UARTA0, PRCM_RUN_MODE_CLK);
MAP_PinTypeUART(PIN_55, PIN_MODE_3);
MAP_PinTypeUART(PIN_57, PIN_MODE_3);
InitTerm();
}
void suspend(void)
{
stay_asleep = true;
HWREG(NVIC_SYS_CTRL) |= NVIC_SYS_CTRL_SLEEPDEEP;
while(stay_asleep) {
MAP_IntMasterDisable(); // Set PRIMASK so CPU wakes on IRQ but ISRs don't execute until PRIMASK is cleared
MAP_SysTickDisable(); // Halt SysTick during suspend mode - millis will no longer increment
CPUwfi_safe();
MAP_SysTickEnable(); // Re-enable SysTick before ISRs start (in case ISR uses millis/micros)
MAP_IntMasterEnable(); // Clearing PRIMASK allows pending ISRs to run
}
HWREG(NVIC_SYS_CTRL) &= ~(NVIC_SYS_CTRL_SLEEPDEEP);
}
void systick_init()
{
//
// Configure SysTick for a periodic interrupt.
//
MAP_SysTickPeriodSet(MAP_SysCtlClockGet() / SYSTICKHZ);
MAP_SysTickEnable();
MAP_SysTickIntEnable();
//MAP_IntEnable(INT_GPIOA);
MAP_IntEnable(INT_GPIOE);
MAP_IntMasterEnable();
MAP_SysCtlPeripheralClockGating(false);
MAP_GPIOIntTypeSet(GPIO_PORTE_BASE, ENC_INT, GPIO_FALLING_EDGE);
MAP_GPIOPinIntClear(GPIO_PORTE_BASE, ENC_INT);
MAP_GPIOPinIntEnable(GPIO_PORTE_BASE, ENC_INT);
UARTprintf("int enabled\n");
}
//*****************************************************************************
//
//! Empties the ring buffer.
//!
//! \param ptRingBuf is the ring buffer object to empty.
//!
//! Discards all data from the ring buffer.
//!
//! \return None.
//
//*****************************************************************************
void
RingBufFlush(tRingBufObject *ptRingBuf)
{
tBoolean bIntsOff;
//
// Check the arguments.
//
ASSERT(ptRingBuf != NULL);
//
// Set the Read/Write pointers to be the same. Do this with interrupts
// disabled to prevent the possibility of corruption of the read index.
//
bIntsOff = MAP_IntMasterDisable();
ptRingBuf->ulReadIndex = ptRingBuf->ulWriteIndex;
if(!bIntsOff)
{
MAP_IntMasterEnable();
}
}
/**
* This function will initial LPC40xx board.
*/
void rt_hw_board_init()
{
MAP_IntMasterDisable();
IntRegister(FAULT_HARD, HardFault_Handler);
IntRegister(FAULT_PENDSV, PendSV_Handler);
IntRegister(FAULT_SYSTICK, SysTick_Handler);
//
// 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.
//
MAP_FPULazyStackingEnable();
//
// Set the clocking to run directly from the external crystal/oscillator.
// TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
// crystal on your board.
//
SysClock = MAP_SysCtlClockFreqSet(
(SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480),
SYS_CLOCK_DEFAULT);
MAP_SysTickDisable();
MAP_SysTickPeriodSet(SysClock/ RT_TICK_PER_SECOND - 1);
MAP_SysTickIntEnable();
MAP_SysTickEnable();
/* set pend exception priority */
//IntPrioritySet(FAULT_PENDSV, (1 << 5) - 1);
/*init uart device*/
rt_hw_uart_init();
//redirect RTT stdio to CONSOLE device
rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
//
// Enable interrupts to the processor.
//
MAP_IntMasterEnable();
}
//*****************************************************************************
//! Board Initialization & Configuration
//*****************************************************************************
static void bootmgr_board_init(void) {
// Set vector table base
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
// Enable Processor Interrupts
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
// Mandatory MCU Initialization
PRCMCC3200MCUInit();
mperror_bootloader_check_reset_cause();
// Enable the Data Hashing Engine
HASH_Init();
// Init the system led and the system switch
mperror_init0();
// clear the safe boot flag, since we can't trust its content after reset
PRCMClearSafeBootRequest();
}
int main(void)
{
IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
MAP_PRCMPeripheralClkEnable(PRCM_GPIOA0, PRCM_RUN_MODE_CLK);
MAP_PRCMPeripheralClkEnable(PRCM_GPIOA1, PRCM_RUN_MODE_CLK);
MAP_PRCMPeripheralClkEnable(PRCM_GPIOA2, PRCM_RUN_MODE_CLK);
MAP_PRCMPeripheralClkEnable(PRCM_GPIOA3, PRCM_RUN_MODE_CLK);
MAP_IntMasterEnable();
PRCMCC3200MCUInit();
MAP_SysTickIntEnable();
MAP_SysTickPeriodSet(F_CPU / 1000);
MAP_SysTickEnable();
setup();
for (;;) {
loop();
if (serialEventRun) serialEventRun();
}
}
//*****************************************************************************
//! Board Initialization & Configuration
//*****************************************************************************
static void bootmgr_board_init(void) {
// Set vector table base
MAP_IntVTableBaseSet((unsigned long)&g_pfnVectors[0]);
// Enable Processor Interrupts
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
// Mandatory MCU Initialization
PRCMCC3200MCUInit();
pybwdt_check_reset_cause();
// Enable the Data Hashing Engine
HASH_Init();
// Init the system led and the system switch
mperror_init0();
// clear the safe boot request, since we should not trust
// the register's state after reset
mperror_clear_safe_boot();
}
int main()
{
MAP_IntVTableBaseSet((unsigned long)vectors);
MAP_IntMasterEnable();
MAP_IntEnable(FAULT_SYSTICK);
PRCMCC3200MCUInit();
#ifdef UART_LOG
MAP_PRCMPeripheralClkEnable(PRCM_UART_TERM, PRCM_RUN_MODE_CLK);
MAP_PinTypeUART(PIN_TERM_TX, PIN_TERM_TX_MODE);
MAP_PinTypeUART(PIN_TERM_RX, PIN_TERM_RX_MODE);
MAP_UARTConfigSetExpClk(UART_TERM,
MAP_PRCMPeripheralClockGet(PRCM_UART_TERM),
115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |UART_CONFIG_PAR_NONE));
#endif
MonitorLoop();
asm(" BKPT");
while ( 1 );
return 0;
}
//*****************************************************************************
//
//! initDriver
//!
//! @param None
//!
//! @return none
//!
//! @brief The function initializes a CC3000 device and triggers it to start
//! operation
//
//*****************************************************************************
int
initDriver(void)
{
// Init GPIO's
pio_init();
// Init Spi
init_spi();
// Enable processor interrupts
MAP_IntMasterEnable();
// WLAN On API Implementation
wlan_init( CC3000_UsynchCallback, sendWLFWPatch, sendDriverPatch,
sendBootLoaderPatch, ReadWlanInterruptPin, WlanInterruptEnable,
WlanInterruptDisable, WriteWlanPin);
// Trigger a WLAN device
wlan_start(0);
// Turn on the LED 1 (RED) to indicate that we are active and initiated WLAN successfully
turnLedOn(1);
// Mask out all non-required events from CC3000
wlan_set_event_mask(HCI_EVNT_WLAN_KEEPALIVE|HCI_EVNT_WLAN_UNSOL_INIT
|HCI_EVNT_WLAN_ASYNC_PING_REPORT);
DispatcherUARTConfigure(SysCtlClockGet());
SysCtlDelay(1000000);
// Generate teh event to CLI: send a version string
{
char cc3000IP[50];
char *ccPtr;
unsigned short ccLen;
DispatcherUartSendPacket((unsigned char*)pucUARTExampleAppString,
sizeof(pucUARTExampleAppString));
ccPtr = &cc3000IP[0];
ccLen = itoa(PALTFORM_VERSION, ccPtr);
ccPtr += ccLen;
*ccPtr++ = '.';
ccLen = itoa(APPLICATION_VERSION, ccPtr);
ccPtr += ccLen;
*ccPtr++ = '.';
ccLen = itoa(SPI_VERSION_NUMBER, ccPtr);
ccPtr += ccLen;
*ccPtr++ = '.';
ccLen = itoa(DRIVER_VERSION_NUMBER, ccPtr);
ccPtr += ccLen;
*ccPtr++ = '\f';
*ccPtr++ = '\r';
*ccPtr++ = '\0';
DispatcherUartSendPacket((unsigned char*)cc3000IP, strlen(cc3000IP));
}
ucStopSmartConfig = 0;
// Configure SysTick to occur X times per second, to use as a time
// reference. Enable SysTick to generate interrupts.
InitSysTick();
return(0);
}
int main()
{
//
// 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.
//
MAP_FPUEnable();
MAP_FPULazyStackingEnable();
//
// Set the clocking to run from the PLL at 50MHZ, change to SYSCTL_SYSDIV_2_5 for 80MHz if neeeded
//
MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
MAP_IntMasterDisable();
//
// Initialize the SW2 button
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Unlock PF0 so we can change it to a GPIO input
// Once we have enabled (unlocked) the commit register then re-lock it
// to prevent further changes. PF0 is muxed with NMI thus a special case.
//
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = 0;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0);
MAP_GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA , GPIO_PIN_TYPE_STD_WPU);
//
// Initialize the communication layer with a default UART setting
//
AbstractComm * comm = NULL;
AbstractComm * uart_comm = new UARTComm();
purpinsComm communication(uart_comm);
//
// Initialize the robot object
//
purpinsRobot purpins;
//
// Initialize the EEPROM
//
purpinsSettings settings;
//
// Initialize the MPU6050-based IMU
//
mpudata_t mpu;
//unsigned long sample_rate = 10 ;
//mpu9150_init(0, sample_rate, 0);
memset(&mpu, 0, sizeof(mpudata_t));
//
// Get the current processor clock frequency.
//
ulClockMS = MAP_SysCtlClockGet() / (3 * 1000);
//unsigned long loop_delay = (1000 / sample_rate) - 2;
//
// Configure SysTick to occur 1000 times per second
//
MAP_SysTickPeriodSet(MAP_SysCtlClockGet() / SYSTICKS_PER_SECOND);
MAP_SysTickIntEnable();
MAP_SysTickEnable();
MAP_IntMasterEnable();
//
// Load the settings from EEPROM
//
// Load the robot's ID
settings.get(PP_SETTING_ID, &id, sizeof(uint32_t));
// Load the motors' PID gains
settings.get(PP_SETTING_LEFT_PID, purpins.leftPIDGains(), sizeof(PIDGains));
settings.get(PP_SETTING_RIGHT_PID, purpins.rightPIDGains(), sizeof(PIDGains));
// Load the communication type
uint32_t comm_type;
settings.get(PP_SETTING_COMM_TYPE, &comm_type, sizeof(uint32_t));
// Holding SW2 at startup forces USB Comm
if(comm_type != PP_COMM_TYPE_USB && MAP_GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_0) == 1)
{
if(comm_type == PP_COMM_TYPE_CC3000)
{
comm = new WiFiComm();
// Load network and server settings
settings.get(PP_SETTING_NETWORK_DATA, (static_cast<WiFiComm*>(comm))->network(), sizeof(Network));
settings.get(PP_SETTING_SERVER_DATA, (static_cast<WiFiComm*>(comm))->server(), sizeof(Server));
// Set WiFiComm as the underlying communication layer
communication.setCommLayer(comm);
}
else if(comm_type == PP_COMM_TYPE_ESP8266)
{
// TODO
}
else if(comm_type == PP_COMM_TYPE_XBEE)
{
// TODO
}
}
//
// Communication variables and stuff
//
uint8_t sensors_pack[SENSORS_PACK_SIZE];
bool send_pack = false;
unsigned long sensor_streaming_millis = 0;
unsigned long last_millis = millis();
uint8_t data[SERIAL_BUFFER_SIZE];
size_t data_size;
uint8_t action;
//
// Main loop, just managing communications
//
while(1)
{
//
// Check for a new action
//
action = communication.getMsg(data, data_size);
// If we got an action...
if(action > 0)
{
// Process it!!!
if(action == PP_ACTION_GET_VERSION)
{
uint8_t version = VERSION;
communication.sendMsg(PP_ACTION_GET_VERSION, (void*)(&version), 1);
}
else if(action == PP_ACTION_DRIVE)
{
RobotSpeed speed;
memcpy(&speed, data, sizeof(speed));
purpins.setSpeed(&speed);
communication.sendAck(PP_ACTION_DRIVE);
}
else if(action == PP_ACTION_DRIVE_MOTORS)
{
MotorSpeeds motor_speeds;
memcpy(&motor_speeds, data, sizeof(motor_speeds));
purpins.setMotorSpeeds(&motor_speeds);
communication.sendAck(PP_ACTION_DRIVE_MOTORS);
}
else if(action == PP_ACTION_DRIVE_PWM)
{
MotorPWMs motor_pwms;
memcpy(&motor_pwms, data, sizeof(motor_pwms));
purpins.setPWM(&motor_pwms);
communication.sendAck(PP_ACTION_DRIVE_PWM);
}
else if(action == PP_ACTION_GET_ODOMETRY)
{
Pose odometry;
purpins.getOdometry(&odometry);
communication.sendMsg(PP_ACTION_GET_ODOMETRY, (void*)(&odometry), sizeof(odometry));
}
else if(action == PP_ACTION_GET_MOTOR_SPEEDS)
{
MotorSpeeds speed;
purpins.getMotorSpeeds(&speed);
communication.sendMsg(PP_ACTION_GET_MOTOR_SPEEDS, (void*)(&speed), sizeof(speed));
}
else if(action == PP_ACTION_GET_ENCODER_PULSES)
{
EncoderPulses encoder_pulses;
purpins.getEncoderTicks(&encoder_pulses);
communication.sendMsg(PP_ACTION_GET_ENCODER_PULSES, (void*)(&encoder_pulses), sizeof(encoder_pulses));
}
else if(action == PP_ACTION_GET_IMU)
{
IMU imu_data;
imu_data.orientation_x = mpu.fusedQuat[0];
imu_data.orientation_y = mpu.fusedQuat[1];
imu_data.orientation_z = mpu.fusedQuat[2];
imu_data.orientation_w = mpu.fusedQuat[4];
imu_data.linear_acceleration_x = mpu.calibratedAccel[0];
imu_data.linear_acceleration_y = mpu.calibratedAccel[1];
imu_data.linear_acceleration_z = mpu.calibratedAccel[2];
imu_data.angular_velocity_x = mpu.calibratedMag[0];
imu_data.angular_velocity_y = mpu.calibratedMag[1];
imu_data.angular_velocity_z = mpu.calibratedMag[2];
communication.sendMsg(PP_ACTION_GET_IMU, (void*)(&imu_data), sizeof(imu_data));
}
else if(action == PP_ACTION_GET_IR_SENSORS)
{
// TODO: Add the IR sensors
}
else if(action == PP_ACTION_GET_GAS_SENSOR)
{
// TODO: Add the gas sensor
}
else if(action == PP_ACTION_SET_SENSORS_PACK)
{
bool ok = true;
memset(sensors_pack, 0, SENSORS_PACK_SIZE);
if(data_size > SENSORS_PACK_SIZE)
{
communication.error(PP_ERROR_BUFFER_SIZE);
ok = false;
break;
}
for(unsigned int i=0 ; i<data_size ; i++)
{
if(data[i] < PP_ACTION_GET_ODOMETRY || data[i] > PP_ACTION_GET_GAS_SENSOR)
{
communication.error(PP_ERROR_SENSOR_UNKNOWN);
ok = false;
break;
}
}
if(ok)
{
memcpy(sensors_pack, data, data_size);
communication.sendAck(PP_ACTION_SET_SENSORS_PACK);
}
}
else if(action == PP_ACTION_GET_SENSORS_PACK)
{
send_pack = true;
}
else if(action == PP_ACTION_SET_SENSOR_STREAMING)
{
float sensor_streaming_frequency;
memcpy(&sensor_streaming_frequency, data, sizeof(sensor_streaming_frequency));
sensor_streaming_millis = 1/sensor_streaming_frequency * 1000;
communication.sendAck(PP_ACTION_SET_SENSOR_STREAMING);
}
else if(action == PP_ACTION_SET_GLOBAL_POSE)
{
Pose pose;
memcpy(&pose, data, sizeof(pose));
purpins.setGlobalPose(&pose);
communication.sendAck(PP_ACTION_SET_GLOBAL_POSE);
}
else if(action == PP_ACTION_SET_NEIGHBORS_POSES)
{
// TODO: Finish this
}
else if(action == PP_ACTION_SET_ID)
{
memcpy(&id, data, sizeof(id));
settings.save(PP_SETTING_ID, data, sizeof(uint32_t));
communication.sendAck(PP_ACTION_SET_ID);
}
else if(action == PP_ACTION_GET_ID)
{
communication.sendMsg(PP_ACTION_GET_ID, (void*)(&id), sizeof(id));
}
else if(action == PP_ACTION_SET_PID_GAINS)
{
memcpy(purpins.leftPIDGains(), data, sizeof(PIDGains));
memcpy(purpins.rightPIDGains(), data+sizeof(PIDGains), sizeof(PIDGains));
settings.save(PP_SETTING_LEFT_PID, data, sizeof(PIDGains));
settings.save(PP_SETTING_RIGHT_PID, data+sizeof(PIDGains), sizeof(PIDGains));
communication.sendAck(PP_ACTION_SET_PID_GAINS);
}
else if(action == PP_ACTION_GET_PID_GAINS)
{
memcpy(data, purpins.leftPIDGains(), sizeof(PIDGains));
memcpy(data+sizeof(PIDGains), purpins.rightPIDGains(), sizeof(PIDGains));
communication.sendMsg(PP_ACTION_GET_ID, (void*)(data), 2*sizeof(PIDGains));
}
else if(action == PP_ACTION_SET_SERVER_DATA)
{
settings.save(PP_SETTING_SERVER_DATA, data, sizeof(Server));
communication.sendAck(PP_ACTION_SET_SERVER_DATA);
}
else if(action == PP_ACTION_GET_SERVER_DATA)
{
settings.get(PP_SETTING_SERVER_DATA, data, sizeof(Server));
communication.sendMsg(PP_ACTION_GET_SERVER_DATA, (void*)(data), sizeof(Server));
}
else if(action == PP_ACTION_SET_NETWORK_DATA)
{
settings.save(PP_SETTING_NETWORK_DATA, data, sizeof(Network));
communication.sendAck(PP_ACTION_SET_NETWORK_DATA);
}
else if(action == PP_ACTION_GET_NETWORK_DATA)
{
settings.get(PP_SETTING_NETWORK_DATA, data, sizeof(Network));
communication.sendMsg(PP_ACTION_GET_NETWORK_DATA, (void*)(data), sizeof(Network));
}
else if(action == PP_ACTION_SET_COMM_TYPE)
{
memcpy(&comm_type, data, sizeof(comm_type));
if(comm_type != communication.type())
{
if(comm_type == PP_COMM_TYPE_USB)
{
communication.setCommLayer(uart_comm);
if(comm != NULL) delete comm;
}
if(comm_type == PP_COMM_TYPE_CC3000)
{
if(comm != NULL) delete comm;
comm = new WiFiComm();
// Load network and server settings
settings.get(PP_SETTING_NETWORK_DATA, (static_cast<WiFiComm*>(comm))->network(), sizeof(Network));
settings.get(PP_SETTING_SERVER_DATA, (static_cast<WiFiComm*>(comm))->server(), sizeof(Server));
// Set WiFiComm as the underlying communication layer
communication.setCommLayer(comm);
}
else if(comm_type == PP_COMM_TYPE_ESP8266)
{
// TODO
}
else if(comm_type == PP_COMM_TYPE_XBEE)
{
// TODO
}
else
{
communication.error(PP_ERROR_COMM_UNKNOWN);
}
communication.sendAck(PP_ACTION_SET_COMM_TYPE);
}
}
} // if(action > 0)
//
// Manage sensor streaming
//
unsigned long current_millis = millis();
if(send_pack || (sensor_streaming_millis > 0 && (current_millis - last_millis) >= sensor_streaming_millis))
{
size_t size = 0;
for(int i=0 ; i<SENSORS_PACK_SIZE ; i++)
{
if(sensors_pack[i] == 0) break;
if(sensors_pack[i] == PP_ACTION_GET_ODOMETRY)
{
Pose odometry;
purpins.getOdometry(&odometry);
memcpy(data+size, &odometry, sizeof(odometry));
size += sizeof(odometry);
}
else if(sensors_pack[i] == PP_ACTION_GET_MOTOR_SPEEDS)
{
MotorSpeeds speed;
purpins.getMotorSpeeds(&speed);
memcpy(data+size, &speed, sizeof(speed));
size += sizeof(speed);
}
else if(sensors_pack[i] == PP_ACTION_GET_ENCODER_PULSES)
{
EncoderPulses encoder_pulses;
purpins.getEncoderTicks(&encoder_pulses);
memcpy(data+size, &encoder_pulses, sizeof(encoder_pulses));
size += sizeof(encoder_pulses);
}
else if(sensors_pack[i] == PP_ACTION_GET_IMU)
{
IMU imu_data;
imu_data.orientation_x = mpu.fusedQuat[0];
imu_data.orientation_y = mpu.fusedQuat[1];
imu_data.orientation_z = mpu.fusedQuat[2];
imu_data.orientation_w = mpu.fusedQuat[4];
imu_data.linear_acceleration_x = mpu.calibratedAccel[0];
imu_data.linear_acceleration_y = mpu.calibratedAccel[1];
imu_data.linear_acceleration_z = mpu.calibratedAccel[2];
imu_data.angular_velocity_x = mpu.calibratedMag[0];
imu_data.angular_velocity_y = mpu.calibratedMag[1];
imu_data.angular_velocity_z = mpu.calibratedMag[2];
memcpy(data+size, &imu_data, sizeof(imu_data));
size += sizeof(imu_data);
}
else if(sensors_pack[i] == PP_ACTION_GET_IR_SENSORS)
{
// TODO: Add the IR sensors
}
else if(sensors_pack[i] == PP_ACTION_GET_GAS_SENSOR)
{
// TODO: Add the gas sensor
}
}
communication.sendMsg(PP_ACTION_GET_SENSORS_PACK, (void*)(data), size);
last_millis = current_millis;
send_pack = false;
} // if(send_pack ...
} // while(1)
return 0;
}
int main(void) {
int delay;
float fTemperature, fPressure, fAltitude, fK_Altitude, fAltitude_sum,fK_Altitude_sum;
int count,i;
// static float f_meas[VAR_COUNT], fAlt_Mean, fAlt_Var;
unsigned short sw1_count, sw2_count;
unsigned char sw1_was_cleared = 0, sw2_was_cleared = 0;
// Set the clocking to run directly from the external crystal/oscillator.
MAP_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
WRFL_XTAL);
//init ports and peripherals
PlatformInit();
Nokia5110_Init();
Nokia5110_Clear();
Nokia5110_DrawFullImage(gears_logo);
for(delay=0; delay<1000000; delay=delay+1);
Nokia5110_Clear();
Nokia5110_SetCursor(3, 1);
Nokia5110_OutString("WRFL");
Nokia5110_SetCursor(1, 2);
Nokia5110_OutString("Prototype");
Nokia5110_SetCursor(2, 4);
Nokia5110_OutString("VER 0.1");
Nokia5110_SetCursor(0, 5);
Nokia5110_OutString("NightMecanic");
for(delay=0; delay<1000000; delay=delay+1);
Nokia5110_Clear();
//
// Enable interrupts to the processor.
//
MAP_IntMasterEnable();
//
// Initialize I2C1 peripheral.
//
I2CMInit(&g_sI2CInst, BMP180_I2C_BASE, BMP180_I2C_INT, 0xff, 0xff,
MAP_SysCtlClockGet());
//
// Initialize the BMP180
//
BMP180Init(&g_sBMP180Inst, &g_sI2CInst, BMP180_I2C_ADDRESS,
BMP180AppCallback, &g_sBMP180Inst);
//
// Wait for initialization callback to indicate reset request is complete.
//
while(g_vui8DataFlag == 0)
{
//
// Wait for I2C Transactions to complete.
//
}
//
// Reset the data ready flag
//
g_vui8DataFlag = 0;
//set oversampling to 8x
g_sBMP180Inst.ui8Mode = 0xC0;
//Initialize the Kalman filter
Kalman_Init(&Alt_KState, 0.0f, 1.0f, ALT_KALMAN_R, ALT_KALMAN_Q);
//
// Enable the system ticks at 10 hz.
//
MAP_SysTickPeriodSet(MAP_SysCtlClockGet() / (40 * 3));
MAP_SysTickIntEnable();
MAP_SysTickEnable();
Nokia5110_SetCursor(0, 0);
Nokia5110_OutString("SW1:");
Nokia5110_SetCursor(0, 2);
Nokia5110_OutString("SW2:");
//config done
count = 0;
//
// Begin the data collection and printing. Loop Forever.
//
while(1)
{
// SW1
if (sw_state & SW1){
if (sw1_was_cleared){
sw1_was_cleared = 0;
sw1_count++;
Nokia5110_SetCursor(5, 0);
Nokia5110_OutUDec(sw1_count);
}
}else
sw1_was_cleared = 1;
//SW2
if (sw_state & SW2){
if (sw2_was_cleared){
sw2_was_cleared = 0;
sw2_count++;
Nokia5110_SetCursor(5, 2);
Nokia5110_OutUDec(sw2_count);
}
}else
sw2_was_cleared = 1;
// handle BMP180 data (display average every 50 samples)
if (g_vui8DataFlag ){
//
// Reset the data ready flag.
//
g_vui8DataFlag = 0;
//
// Get a local copy of the latest temperature data in float format.
//
BMP180DataTemperatureGetFloat(&g_sBMP180Inst, &fTemperature);
//
// Print temperature with three digits of decimal precision.
//
//Nokia5110_SetCursor(0, 0);
//Nokia5110_OutString("Temp:");
//Nokia5110_OutFloatp3(fTemperature);
//
// Get a local copy of the latest air pressure data in float format.
//
BMP180DataPressureGetFloat(&g_sBMP180Inst, &fPressure);
//
// Print Pressure with three digits of decimal precision.
//
//Nokia5110_SetCursor(0, 1);
// Nokia5110_OutString("Pres:");
//Nokia5110_SetCursor(0, 2);
//display in hPa
//Nokia5110_OutFloatp3((fPressure / 100.0f));
//
// Calculate the altitude.
//
//fAltitude = 44330.0f * (1.0f - powf(fPressure / 101325.0f,
// 1.0f / 5.255f));
//corrected:
fAltitude = 44330.0f * (1.0f - powf(fPressure / LOC_ALT_P0,
1.0f / 5.255f));
// Kalman filtered altitude
Kalman_Update (&Alt_KState, fAltitude);
fK_Altitude = Alt_KState.X;
fAltitude_sum += fAltitude;
fK_Altitude_sum += fK_Altitude;
count++;
if (count>=50){
Nokia5110_SetCursor(0, 3);
Nokia5110_OutString("Alt:");
Nokia5110_OutFloatp3(fAltitude_sum/50.0);
Nokia5110_SetCursor(0, 5);
Nokia5110_OutString("KAlt:");
Nokia5110_OutFloatp3(fK_Altitude_sum/50.0);
fAltitude_sum = 0;
fK_Altitude_sum = 0;
count = 0;
}
/*
//calculate variance
f_meas[count]=fK_Altitude;
count++;
if (count>=VAR_COUNT){
fAlt_Mean = 0.0f;
fAlt_Var = 0.0f;
// calculate mean
for(i=0; i<VAR_COUNT; i++){
fAlt_Mean = fAlt_Mean +f_meas[i];
}
fAlt_Mean = fAlt_Mean/((float) VAR_COUNT);
// Calculate Var
for(i=0; i<VAR_COUNT; i++){
fAlt_Var = fAlt_Var + powf((f_meas[i] - fAlt_Mean),2.0f);
}
fAlt_Var = fAlt_Var/((float) VAR_COUNT);
//
// Print altitude with three digits of decimal precision.
//
Nokia5110_SetCursor(0, 4);
Nokia5110_OutString("Var:");
Nokia5110_OutFloatp3(fAlt_Var);
count = 0;
}
*/
//
// Delay to keep printing speed reasonable. About 100msec.
//
//MAP_SysCtlDelay(MAP_SysCtlClockGet() / (10 * 3));
}
}//while end
}
void main(void) {
static struct uip_eth_addr eth_addr;
uip_ipaddr_t ipaddr;
cpu_init();
uart_init();
printf("Welcome\n");
spi_init();
enc28j60_comm_init();
printf("Welcome\n");
enc_init(mac_addr);
//
// Configure SysTick for a periodic interrupt.
//
MAP_SysTickPeriodSet(MAP_SysCtlClockGet() / SYSTICKHZ);
MAP_SysTickEnable();
MAP_SysTickIntEnable();
//MAP_IntEnable(INT_GPIOA);
MAP_IntEnable(INT_GPIOE);
MAP_IntMasterEnable();
MAP_SysCtlPeripheralClockGating(false);
printf("int enabled\n");
MAP_GPIOIntTypeSet(GPIO_PORTE_BASE, ENC_INT, GPIO_FALLING_EDGE);
MAP_GPIOPinIntClear(GPIO_PORTE_BASE, ENC_INT);
MAP_GPIOPinIntEnable(GPIO_PORTE_BASE, ENC_INT);
uip_init();
eth_addr.addr[0] = mac_addr[0];
eth_addr.addr[1] = mac_addr[1];
eth_addr.addr[2] = mac_addr[2];
eth_addr.addr[3] = mac_addr[3];
eth_addr.addr[4] = mac_addr[4];
eth_addr.addr[5] = mac_addr[5];
uip_setethaddr(eth_addr);
#define DEFAULT_IPADDR0 10
#define DEFAULT_IPADDR1 0
#define DEFAULT_IPADDR2 0
#define DEFAULT_IPADDR3 201
#define DEFAULT_NETMASK0 255
#define DEFAULT_NETMASK1 255
#define DEFAULT_NETMASK2 255
#define DEFAULT_NETMASK3 0
#undef STATIC_IP
#ifdef STATIC_IP
uip_ipaddr(ipaddr, DEFAULT_IPADDR0, DEFAULT_IPADDR1, DEFAULT_IPADDR2,
DEFAULT_IPADDR3);
uip_sethostaddr(ipaddr);
printf("IP: %d.%d.%d.%d\n", DEFAULT_IPADDR0, DEFAULT_IPADDR1,
DEFAULT_IPADDR2, DEFAULT_IPADDR3);
uip_ipaddr(ipaddr, DEFAULT_NETMASK0, DEFAULT_NETMASK1, DEFAULT_NETMASK2,
DEFAULT_NETMASK3);
uip_setnetmask(ipaddr);
#else
uip_ipaddr(ipaddr, 0, 0, 0, 0);
uip_sethostaddr(ipaddr);
printf("Waiting for IP address...\n");
uip_ipaddr(ipaddr, 0, 0, 0, 0);
uip_setnetmask(ipaddr);
#endif
httpd_init();
#ifndef STATIC_IP
dhcpc_init(mac_addr, 6);
dhcpc_request();
#endif
long lPeriodicTimer, lARPTimer;
lPeriodicTimer = lARPTimer = 0;
int i; // = MAP_GPIOPinRead(GPIO_PORTA_BASE, ENC_INT) & ENC_INT;
while(true) {
//MAP_IntDisable(INT_UART0);
MAP_SysCtlSleep();
//MAP_IntEnable(INT_UART0);
//i = MAP_GPIOPinRead(GPIO_PORTA_BASE, ENC_INT) & ENC_INT;
/*while(i != 0 && g_ulFlags == 0) {
i = MAP_GPIOPinRead(GPIO_PORTA_BASE, ENC_INT) & ENC_INT;
}*/
if( HWREGBITW(&g_ulFlags, FLAG_ENC_INT) == 1 ) {
HWREGBITW(&g_ulFlags, FLAG_ENC_INT) = 0;
enc_action();
}
if(HWREGBITW(&g_ulFlags, FLAG_SYSTICK) == 1) {
HWREGBITW(&g_ulFlags, FLAG_SYSTICK) = 0;
lPeriodicTimer += SYSTICKMS;
lARPTimer += SYSTICKMS;
//printf("%d %d\n", lPeriodicTimer, lARPTimer);
}
if( lPeriodicTimer > UIP_PERIODIC_TIMER_MS ) {
lPeriodicTimer = 0;
int l;
for(l = 0; l < UIP_CONNS; l++) {
uip_periodic(l);
//
// If the above function invocation resulted in data that
// should be sent out on the network, the global variable
// uip_len is set to a value > 0.
//
if(uip_len > 0) {
uip_arp_out();
enc_send_packet(uip_buf, uip_len);
uip_len = 0;
}
}
for(l = 0; l < UIP_UDP_CONNS; l++) {
uip_udp_periodic(l);
if( uip_len > 0) {
uip_arp_out();
enc_send_packet(uip_buf, uip_len);
uip_len = 0;
}
}
}
if( lARPTimer > UIP_ARP_TIMER_MS) {
lARPTimer = 0;
uip_arp_timer();
}
}
}