//*****************************************************************************
//
// Main application entry function.
//
//*****************************************************************************
int
main(void)
{
tBoolean bRetcode;
//
// Set the system clock to run at 50MHz from the PLL
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// NB: We don't call PinoutSet() in this testcase since the EM header
// expansion board doesn't currently have an I2C ID EEPROM. If we did
// call PinoutSet() this would configure all the EPI pins for SDRAM and
// we don't want to do this.
//
g_eDaughterType = DAUGHTER_NONE;
//
// Enable peripherals required to drive the LCD.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH);
//
// Configure SysTick for a 10Hz interrupt.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / TICKS_PER_SECOND);
ROM_SysTickEnable();
ROM_SysTickIntEnable();
//
// Initialize the display driver.
//
Kitronix320x240x16_SSD2119Init();
//
// Initialize the touch screen driver.
//
TouchScreenInit();
//
// Set the touch screen event handler.
//
TouchScreenCallbackSet(WidgetPointerMessage);
//
// Add the compile-time defined widgets to the widget tree.
//
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sHeading);
//
// Initialize the status string.
//
UpdateStatus(true, "Joining network...");
//
// Paint the widget tree to make sure they all appear on the display.
//
WidgetPaint(WIDGET_ROOT);
//
// Initialize the SimpliciTI BSP.
//
BSP_Init();
//
// Set the SimpliciTI device address using the current Ethernet MAC address
// to ensure something like uniqueness.
//
bRetcode = SetSimpliciTIAddress();
//
// Did we have a problem with the address?
//
if(!bRetcode)
{
//
// Yes - make sure the display is updated then hang the app.
//
WidgetMessageQueueProcess();
while(1)
{
//
// MAC address is not set so hang the app.
//
}
}
//
// Turn both "LEDs" off.
//
SetLED(1, false);
SetLED(2, false);
//
// Keep trying to join (a side effect of successful initialization) until
// successful. Toggle LEDS to indicate that joining has not occurred.
//
while(SMPL_SUCCESS != SMPL_Init(0))
{
ToggleLED(1);
ToggleLED(2);
SPIN_ABOUT_A_SECOND;
}
//
// We have joined the network so turn on both "LEDs" to indicate this.
//
SetLED(1, true);
SetLED(2, true);
UpdateStatus(true, "Joined network");
//
// Link to the access point which is now listening for us and continue
// processing. This function does not return.
//
LinkTo();
}
//*****************************************************************************
//
// A simple demonstration of the features of the Stellaris Graphics Library.
//
//*****************************************************************************
int
main(void)
{
tContext sContext;
tRectangle sRect;
//
// If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
// a workaround to allow the PLL to operate reliably.
//
if(REVISION_IS_A2)
{
SysCtlLDOSet(SYSCTL_LDO_2_75V);
}
//
// Set the clocking to run from the PLL.
//
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_8MHZ);
//
// Initialize the display driver.
//
Kitronix320x240x16_SSD2119Init();
//
// Turn on the backlight.
//
Kitronix320x240x16_SSD2119BacklightOn(255);
//
// Set graphics library text rendering defaults.
//
GrLibInit(&GRLIB_INIT_STRUCT);
//
// Set the string table and the default language.
//
GrStringTableSet(STRING_TABLE);
//
// Set the default language.
//
ChangeLanguage(GrLangEnUS);
//
// Initialize the graphics context.
//
GrContextInit(&sContext, &g_sKitronix320x240x16_SSD2119);
//
// Fill the top 26 rows of the screen with blue to create the banner.
//
sRect.sXMin = 0;
sRect.sYMin = 0;
sRect.sXMax = GrContextDpyWidthGet(&sContext) - 1;
sRect.sYMax = 25;
GrContextForegroundSet(&sContext, ClrDarkBlue);
GrRectFill(&sContext, &sRect);
//
// Put a white box around the banner.
//
GrContextForegroundSet(&sContext, ClrWhite);
GrRectDraw(&sContext, &sRect);
//
// Load the static strings from the string table. These strings are
// independent of the language in use but we store them in the string
// table nonetheless since (a) we may be using codepage remapping in
// which case it would be difficult to hardcode them into the app source
// anyway (ASCII or ISO8859-1 text would not render properly with the
// remapped custom font) and (b) even if we're not using codepage remapping,
// we may have generated a custom font from the string table output and
// we want to make sure that all glyphs required by the application are
// present in that font. If we hardcode some text in the application
// source and don't put it in the string table, we run the risk of having
// characters missing in the font.
//
GrStringGet(STR_ENGLISH, g_pcEnglish, MAX_LANGUAGE_NAME_LEN);
GrStringGet(STR_DEUTSCH, g_pcDeutsch, MAX_LANGUAGE_NAME_LEN);
GrStringGet(STR_ESPANOL, g_pcEspanol, MAX_LANGUAGE_NAME_LEN);
GrStringGet(STR_ITALIANO, g_pcItaliano, MAX_LANGUAGE_NAME_LEN);
GrStringGet(STR_CHINESE, g_pcChinese, MAX_LANGUAGE_NAME_LEN);
GrStringGet(STR_KOREAN, g_pcKorean, MAX_LANGUAGE_NAME_LEN);
GrStringGet(STR_JAPANESE, g_pcJapanese, MAX_LANGUAGE_NAME_LEN);
GrStringGet(STR_PLUS, g_pcPlus, 2);
GrStringGet(STR_MINUS, g_pcMinus, 2);
//
// Put the application name in the middle of the banner.
//
GrStringGet(STR_APPNAME, g_pcBuffer, SCOMP_MAX_STRLEN);
GrContextFontSet(&sContext, FONT_20PT);
GrStringDrawCentered(&sContext, g_pcBuffer, -1,
GrContextDpyWidthGet(&sContext) / 2, 10, 0);
//
// Initialize the sound driver.
//
SoundInit();
//
// Initialize the touch screen driver and have it route its messages to the
// widget tree.
//
TouchScreenInit();
TouchScreenCallbackSet(WidgetPointerMessage);
//
// Add the title block and the previous and next buttons to the widget
// tree.
//
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sPrevious);
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sTitle);
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sNext);
//
// Add the first panel to the widget tree.
//
g_ulPanel = 0;
WidgetAdd(WIDGET_ROOT, (tWidget *)g_psPanels);
//
// Set the string for the title.
//
CanvasTextSet(&g_sTitle, g_pcTitle);
//
// Initialize the pointer to the button text.
//
PushButtonTextSet(&g_sFirmwareUpdateBtn, g_pcUpdateButton);
//
// Issue the initial paint request to the widgets.
//
WidgetPaint(WIDGET_ROOT);
//
// Loop forever unless we receive a signal that a firmware update has been
// requested.
//
while(!g_bFirmwareUpdate)
{
//
// Process any messages in the widget message queue.
//
WidgetMessageQueueProcess();
}
//
// If we drop out, a firmware update request has been made. We call
// WidgetMessageQueueProcess once more to ensure that any final messages
// are processed then jump into the bootloader.
//
WidgetMessageQueueProcess();
//
// Wait a while for the last keyboard click sound to finish. This is about
// 500mS since the delay loop is 3 cycles long.
//
SysCtlDelay(SysCtlClockGet() / 6);
//
// Pass control to the bootloader.
//
JumpToBootLoader();
//
// The boot loader should take control, so this should never be reached.
// Just in case, loop forever.
//
while(1)
{
}
}
//*****************************************************************************
//
// Handles presses of the next panel button.
//
//*****************************************************************************
void
OnNext(tWidget *pWidget)
{
//
// There is nothing to be done if the last panel is already being
// displayed.
//
if(g_ulPanel == (NUM_PANELS - 1))
{
return;
}
//
// Remove the current panel.
//
WidgetRemove((tWidget *)(g_psPanels + g_ulPanel));
//
// Increment the panel index.
//
g_ulPanel++;
//
// Add and draw the new panel.
//
WidgetAdd(WIDGET_ROOT, (tWidget *)(g_psPanels + g_ulPanel));
WidgetPaint((tWidget *)(g_psPanels + g_ulPanel));
//
// Set the title of this panel.
//
GrStringGet(g_ulPanelNames[g_ulPanel], g_pcTitle, TITLE_MAX_SIZE);
WidgetPaint((tWidget *)&g_sTitle);
//
// See if the previous panel was the first panel.
//
if(g_ulPanel == 1)
{
//
// Display the previous button.
//
PushButtonImageOn(&g_sPrevious);
PushButtonTextOn(&g_sPrevious);
PushButtonFillOff(&g_sPrevious);
WidgetPaint((tWidget *)&g_sPrevious);
}
//
// See if this is the last panel.
//
if(g_ulPanel == (NUM_PANELS - 1))
{
//
// Clear the next button from the display since the last panel is being
// displayed.
//
PushButtonImageOff(&g_sNext);
PushButtonTextOff(&g_sNext);
PushButtonFillOn(&g_sNext);
WidgetPaint((tWidget *)&g_sNext);
}
//
// Play the key click sound.
//
SoundPlay(g_pusKeyClick, sizeof(g_pusKeyClick) / 2);
}
//*****************************************************************************
//
// Displays the "Position Control Mode" panel. The returned valud is the ID of
// the panel to be displayed instead of the "Position Control Mode" panel.
//
//*****************************************************************************
unsigned long
DisplayPosition(void)
{
unsigned long ulPos, ulIdx, ulDelay, ulDemo, ulTime, ulStep;
//
// Read the current position mode configuration.
//
PositionConfigRead();
//
// Enable position control mode.
//
CANPositionModeEnable(((g_sPositionConfig.lPosition / 100) * 65536) +
(((g_sPositionConfig.lPosition % 100) * 65536) /
100));
//
// Initially, updates to the position occur immediately.
//
ulDelay = 0;
//
// Initially, demo mode is disabled.
//
ulDemo = 0;
ulTime = 0;
ulStep = 0;
//
// Disable the widget fill for all the widgets except the one for the
// device ID selection.
//
for(ulIdx = 0; ulIdx < 7; ulIdx++)
{
CanvasFillOff(g_psPositionWidgets + ulIdx);
}
CanvasFillOn(g_psPositionWidgets + 1);
//
// Add the "Position Control Mode" panel widgets to the widget list.
//
for(ulIdx = 0; ulIdx < NUM_WIDGETS; ulIdx++)
{
WidgetAdd(WIDGET_ROOT, (tWidget *)(g_psPositionWidgets + ulIdx));
}
//
// Enable the status display.
//
StatusEnable(0);
//
// Set the default cursor position to the device ID selection.
//
ulPos = 1;
//
// Loop forever. This loop will be explicitly exited when the proper
// condition is detected.
//
while(1)
{
//
// Print out the current device ID.
//
usnprintf(g_pcIDBuffer, sizeof(g_pcIDBuffer), "%d", g_ulCurrentID);
//
// Print out the current position.
//
if(g_sPositionConfig.lPosition < 0)
{
usnprintf(g_pcPositionBuffer, sizeof(g_pcPositionBuffer),
"-%d.%02d", (0 - g_sPositionConfig.lPosition) / 100,
(0 - g_sPositionConfig.lPosition) % 100);
}
else
{
usnprintf(g_pcPositionBuffer, sizeof(g_pcPositionBuffer),
"%d.%02d", g_sPositionConfig.lPosition / 100,
g_sPositionConfig.lPosition % 100);
}
//
// Print out the current P coefficient.
//
if(g_sPositionConfig.lP < 0)
{
usnprintf(g_pcPositionPBuffer, sizeof(g_pcPositionPBuffer),
"-%d.%03d", (0 - g_sPositionConfig.lP) / 1000,
(0 - g_sPositionConfig.lP) % 1000);
}
else
{
usnprintf(g_pcPositionPBuffer, sizeof(g_pcPositionPBuffer),
"%d.%03d", g_sPositionConfig.lP / 1000,
g_sPositionConfig.lP % 1000);
}
//
// Irint out the current I coefficient.
//
if(g_sPositionConfig.lI < 0)
{
usnprintf(g_pcPositionIBuffer, sizeof(g_pcPositionIBuffer),
"-%d.%03d", (0 - g_sPositionConfig.lI) / 1000,
(0 - g_sPositionConfig.lI) % 1000);
}
else
{
usnprintf(g_pcPositionIBuffer, sizeof(g_pcPositionIBuffer),
"%d.%03d", g_sPositionConfig.lI / 1000,
g_sPositionConfig.lI % 1000);
}
//
// Print out the current D coefficient.
//
if(g_sPositionConfig.lD < 0)
{
usnprintf(g_pcPositionDBuffer, sizeof(g_pcPositionDBuffer),
"-%d.%03d", (0 - g_sPositionConfig.lD) / 1000,
(0 - g_sPositionConfig.lD) % 1000);
}
else
{
usnprintf(g_pcPositionDBuffer, sizeof(g_pcPositionDBuffer),
"%d.%03d", g_sPositionConfig.lD / 1000,
g_sPositionConfig.lD % 1000);
}
//
// Print out the current position reference source.
//
usnprintf(g_pcReferenceBuffer, sizeof(g_pcReferenceBuffer), "%s",
g_ppcPosReference[g_sPositionConfig.ulPosRef]);
//
// Update the status display.
//
StatusUpdate();
//
// Update the display.
//
DisplayFlush();
//
// See if a serial download has begun.
//
if(HWREGBITW(&g_ulFlags, FLAG_SERIAL_BOOTLOADER) == 1)
{
//
// Disable the status display.
//
StatusDisable();
//
// Remove the "Position Control Mode" panel widgets.
//
for(ulIdx = 0; ulIdx < NUM_WIDGETS; ulIdx++)
{
WidgetRemove((tWidget *)(g_psPositionWidgets + ulIdx));
}
CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite);
//
// Disable position control mode.
//
CANPositionModeDisable();
//
// Return the ID of the update panel.
//
return(PANEL_UPDATE);
}
//
// See if demo mode is enabled.
//
if(ulDemo != 0)
{
//
// See if the current time delay has expired.
//
if(ulTime < g_ulTickCount)
{
//
// Increment to the next step, wrapping back to the beginning
// of the sequence when the end has been reached.
//
ulStep++;
if(ulStep == (sizeof(g_plPositionDemo) /
sizeof(g_plPositionDemo[0])))
{
ulStep = 0;
}
//
// Set the position as directed by the next step.
//
g_sPositionConfig.lPosition = g_plPositionDemo[ulStep][0];
CANPositionSet(((g_sPositionConfig.lPosition / 100) * 65536) +
(((g_sPositionConfig.lPosition % 100) * 65536) /
100), 0);
//
// Set the time delay for this step.
//
ulTime = g_ulTickCount + g_plPositionDemo[ulStep][1];
}
}
//
// See if the up button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) == 1)
{
//
// Only move the cursor if it is not already at the top of the
// screen and a delayed position update is not in progress.
//
if((ulPos != 0) && (ulDelay == 0))
{
//
// Disable the widget fill for the currently selected widget.
//
CanvasFillOff(g_psPositionWidgets + ulPos);
//
// Decrement the cursor row, skipping the position row when
// demo mode is enabled.
//
ulPos--;
if((ulPos == 2) && (ulDemo != 0))
{
ulPos--;
}
//
// Enable the widget fill for the newly selected widget.
//
CanvasFillOn(g_psPositionWidgets + ulPos);
}
//
// Clear the press flag for the up button.
//
HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) = 0;
}
//
// See if the down button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) == 1)
{
//
// Only move the cursor if it is not already at the bottom of the
// screen and a delayed position update is not in progress.
//
if((ulPos != 6) && (ulDelay == 0))
{
//
// Disable the widget fill for the currently selected widget.
//
CanvasFillOff(g_psPositionWidgets + ulPos);
//
// Increment the cursor row, skipping the position row when
// demo mode is enabled.
//
ulPos++;
if((ulPos == 2) && (ulDemo != 0))
{
ulPos++;
}
//
// Enable the widget fill for the newly selected widget.
//
CanvasFillOn(g_psPositionWidgets + ulPos);
}
//
// Clear the press flag for the down button.
//
HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) = 0;
}
//
// See if the left button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) == 1)
{
//
// See if the device ID is being changed.
//
if(ulPos == 1)
{
//
// Only change the device ID if it is greater than one.
//
if(g_ulCurrentID > 1)
{
//
// Exit demo mode.
//
ulDemo = 0;
CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite);
//
// Disable position control mode for the current device ID.
//
CANPositionModeDisable();
//
// Decrement the device ID.
//
if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1))
{
if(g_ulCurrentID > 3)
{
CANSetID(g_ulCurrentID - 3);
}
else
{
CANSetID(1);
}
}
else
{
CANSetID(g_ulCurrentID - 1);
}
//
// Read the configuration of the new device.
//
PositionConfigRead();
//
// Enable position control mode.
//
CANPositionModeEnable(((g_sPositionConfig.lPosition /
100) * 65536) +
(((g_sPositionConfig.lPosition %
100) * 65536) / 100));
}
}
//
// See if the position is being changed.
//
else if(ulPos == 2)
{
//
// Only change the position if it is not already fully
// negative.
//
if(g_sPositionConfig.lPosition > -20000)
{
//
// Decrement the position.
//
if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1)
{
g_sPositionConfig.lPosition -= 11;
}
else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1)
{
g_sPositionConfig.lPosition -= 111;
}
else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1)
{
g_sPositionConfig.lPosition -= 1111;
}
else
{
g_sPositionConfig.lPosition--;
}
if(g_sPositionConfig.lPosition < -20000)
{
g_sPositionConfig.lPosition = -20000;
}
//
// Send the updated position to the motor controller if a
// delayed update is not in progress.
//
if(ulDelay == 0)
{
CANPositionSet(((g_sPositionConfig.lPosition / 100) *
65536) +
(((g_sPositionConfig.lPosition % 100) *
65536) / 100), 0);
}
}
}
//
// See if the position P gain is being changed.
//
else if(ulPos == 3)
{
//
// Only change the P gain if it is not already fully negative.
//
if(g_sPositionConfig.lP > (-32767 * 1000))
{
//
// Decrement the P gain.
//
if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1)
{
g_sPositionConfig.lP -= 11;
}
else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1)
{
g_sPositionConfig.lP -= 111;
}
else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1)
{
g_sPositionConfig.lP -= 1111;
}
else
{
g_sPositionConfig.lP--;
}
if(g_sPositionConfig.lP < (-32767 * 1000))
{
g_sPositionConfig.lP = -32767 * 1000;
}
//
// Send the new P gain to the motor controller.
//
CANPositionPGainSet(((g_sPositionConfig.lP / 1000) *
65536) +
(((g_sPositionConfig.lP % 1000) *
65536) / 1000));
}
}
//
// See if the position I gain is being changed.
//
else if(ulPos == 4)
{
//
// Only change the I gain if it is not already fully negative.
//
if(g_sPositionConfig.lI > (-32767 * 1000))
{
//
// Decrement the I gain.
//
if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1)
{
g_sPositionConfig.lI -= 11;
}
else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1)
{
g_sPositionConfig.lI -= 111;
}
else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1)
{
g_sPositionConfig.lI -= 1111;
}
else
{
g_sPositionConfig.lI--;
}
if(g_sPositionConfig.lI < (-32767 * 1000))
{
g_sPositionConfig.lI = -32767 * 1000;
}
//
// Send the new I gain to the motor controller.
//
CANPositionIGainSet(((g_sPositionConfig.lI / 1000) *
65536) +
(((g_sPositionConfig.lI % 1000) *
65536) / 1000));
}
}
//
// See if the position D gain is being changed.
//
else if(ulPos == 5)
{
//
// Only change the D gain if it is not already fully negative.
//
if(g_sPositionConfig.lD > (-32767 * 1000))
{
//
// Decrement the D gain.
//
if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1)
{
g_sPositionConfig.lD -= 11;
}
else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1)
{
g_sPositionConfig.lD -= 111;
}
else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1)
{
g_sPositionConfig.lD -= 1111;
}
else
{
g_sPositionConfig.lD--;
}
if(g_sPositionConfig.lD < (-32767 * 1000))
{
g_sPositionConfig.lD = -32767 * 1000;
}
//
// Send the new D gain to the motor controller.
//
CANPositionDGainSet(((g_sPositionConfig.lD / 1000) *
65536) +
(((g_sPositionConfig.lD % 1000) *
65536) / 1000));
}
}
//
// See if the position reference source is being changed.
//
else if(ulPos == 6)
{
//
// Toggle to the other position reference source.
//
g_sPositionConfig.ulPosRef ^= 1;
//
// Send the position reference source to the motor controller.
//
CANPositionRefSet(g_sPositionConfig.ulPosRef);
}
//
// Clear the press flag for the left button.
//
HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) = 0;
HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) = 0;
HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) = 0;
HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) = 0;
}
//
// See if the right button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) == 1)
{
//
// See if the device ID is being changed.
//
if(ulPos == 1)
{
//
// Only change the device ID if it is less than 63.
//
if(g_ulCurrentID < 63)
{
//
// Exit demo mode.
//
ulDemo = 0;
CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite);
//
// Disable position control mode for the current device ID.
//
CANPositionModeDisable();
//
// Increment the device ID.
//
if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1))
{
if(g_ulCurrentID < 60)
{
CANSetID(g_ulCurrentID + 3);
}
else
{
CANSetID(63);
}
}
else
{
CANSetID(g_ulCurrentID + 1);
}
//
// Read the configuration of the new device.
//
PositionConfigRead();
//
// Enable position control mode.
//
CANPositionModeEnable(((g_sPositionConfig.lPosition /
100) * 65536) +
(((g_sPositionConfig.lPosition %
100) * 65536) / 100));
}
}
//
// See if the position is being changed.
//
else if(ulPos == 2)
{
//
// Only change the position if it is not already fully
// positive.
//
if(g_sPositionConfig.lPosition < 20000)
{
//
// Increment the position.
//
if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1)
{
g_sPositionConfig.lPosition += 11;
}
else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1)
{
g_sPositionConfig.lPosition += 111;
}
else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1)
{
g_sPositionConfig.lPosition += 1111;
}
else
{
g_sPositionConfig.lPosition++;
}
if(g_sPositionConfig.lPosition > 20000)
{
g_sPositionConfig.lPosition = 20000;
}
//
// Send the updated position to the motor controller if a
// delayed update is not in progress.
//
if(ulDelay == 0)
{
CANPositionSet(((g_sPositionConfig.lPosition / 100) *
65536) +
(((g_sPositionConfig.lPosition % 100) *
65536) / 100), 0);
}
}
}
//
// See if the position P gain is being changed.
//
else if(ulPos == 3)
{
//
// Only change the P gain if it is not already fully positive.
//
if(g_sPositionConfig.lP < (32767 * 1000))
{
//
// Increment the P gain.
//
if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1)
{
g_sPositionConfig.lP += 11;
}
else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1)
{
g_sPositionConfig.lP += 111;
}
else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1)
{
g_sPositionConfig.lP += 1111;
}
else
{
g_sPositionConfig.lP++;
}
if(g_sPositionConfig.lP > (32767 * 1000))
{
g_sPositionConfig.lP = 32767 * 1000;
}
//
// Send the new P gain to the motor controller.
//
CANPositionPGainSet(((g_sPositionConfig.lP / 1000) *
65536) +
(((g_sPositionConfig.lP % 1000) *
65536) / 1000));
}
}
//
// See if the position I gain is being changed.
//
else if(ulPos == 4)
{
//
// Only change the I gain if it is not already fully positive.
//
if(g_sPositionConfig.lI < (32767 * 1000))
{
//
// Increment the I gain.
//
if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1)
{
g_sPositionConfig.lI += 11;
}
else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1)
{
g_sPositionConfig.lI += 111;
}
else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1)
{
g_sPositionConfig.lI += 1111;
}
else
{
g_sPositionConfig.lI++;
}
if(g_sPositionConfig.lI > (32767 * 1000))
{
g_sPositionConfig.lI = 32767 * 1000;
}
//
// Send the new I gain to the motor controller.
//
CANPositionIGainSet(((g_sPositionConfig.lI / 1000) *
65536) +
(((g_sPositionConfig.lI % 1000) *
65536) / 1000));
}
}
//
// See if the position D gain is being changed.
//
else if(ulPos == 5)
{
//
// Only change the D gain if it is not already fully positive.
//
if(g_sPositionConfig.lD < (32767 * 1000))
{
//
// Increment the D gain.
//
if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1)
{
g_sPositionConfig.lD += 11;
}
else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1)
{
g_sPositionConfig.lD += 111;
}
else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1)
{
g_sPositionConfig.lD += 1111;
}
else
{
g_sPositionConfig.lD++;
}
if(g_sPositionConfig.lD > (32767 * 1000))
{
g_sPositionConfig.lD = 32767 * 1000;
}
//
// Send the new D gain to the motor controller.
//
CANPositionDGainSet(((g_sPositionConfig.lD / 1000) *
65536) +
(((g_sPositionConfig.lD % 1000) *
65536) / 1000));
}
}
//
// See if the position reference source is being changed.
//
else if(ulPos == 6)
{
//
// Toggle to the other position reference source.
//
g_sPositionConfig.ulPosRef ^= 1;
//
// Send the position reference source to the motor controller.
//
CANPositionRefSet(g_sPositionConfig.ulPosRef);
}
//
// Clear the press flag for the right button.
//
HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) = 0;
HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) = 0;
HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) = 0;
HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) = 0;
}
//
// See if the select button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) == 1)
{
//
// Clear the press flag for the select button.
//
HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) = 0;
//
// See if the cursor is on the top row of the screen.
//
if(ulPos == 0)
{
//
// Display the menu.
//
ulIdx = DisplayMenu(PANEL_POSITION);
//
// See if another panel was selected.
//
if(ulIdx != PANEL_POSITION)
{
//
// Disable the status display.
//
StatusDisable();
//
// Remove the "Position Control Mode" panel widgets.
//
for(ulPos = 0; ulPos < NUM_WIDGETS; ulPos++)
{
WidgetRemove((tWidget *)(g_psPositionWidgets + ulPos));
}
CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite);
//
// Disable position control mode.
//
CANPositionModeDisable();
//
// Return the ID of the newly selected panel.
//
return(ulIdx);
}
//
// Since the "Position Control Mode" panel was selected from
// the menu, move the cursor down one row.
//
CanvasFillOff(g_psPositionWidgets);
ulPos++;
CanvasFillOn(g_psPositionWidgets + 1);
}
//
// See if the cursor is on the ID selection.
//
else if(ulPos == 1)
{
//
// Toggle demo mode.
//
ulDemo ^= 1;
//
// See if the demo has just been disabled.
//
if(ulDemo == 0)
{
//
// Set the output position to the current position.
//
if(g_lStatusPosition < 0)
{
g_sPositionConfig.lPosition =
(((g_lStatusPosition / 65536) * 100) +
((((g_lStatusPosition % 65536) * 100) - 32768) /
65536));
}
else
{
g_sPositionConfig.lPosition =
(((g_lStatusPosition / 65536) * 100) +
((((g_lStatusPosition % 65536) * 100) + 32768) /
65536));
}
CANPositionSet(((g_sPositionConfig.lPosition / 100) *
65536) +
(((g_sPositionConfig.lPosition % 100) *
65536) / 100), 0);
//
// Indicate that demo mode has exited by setting the text
// color to white.
//
CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite);
}
//
// Otherwise start demo mode.
//
else
{
//
// Indicate that demo mode is active by setting the text
// color to gray.
//
CanvasTextColorSet(g_psPositionWidgets + 2, ClrSelected);
//
// Start with the first step.
//
ulStep = 0;
//
// Set the position as directed by the first step.
//
g_sPositionConfig.lPosition = g_plPositionDemo[0][0];
CANPositionSet(((g_sPositionConfig.lPosition / 100) *
65536) +
(((g_sPositionConfig.lPosition % 100) *
65536) / 100), 0);
//
// Set the time delay for the first step.
//
ulTime = g_ulTickCount + g_plPositionDemo[0][1];
}
}
//
// See if the cursor is on the position selection.
//
else if(ulPos == 2)
{
//
// Toggle the state of the delayed update.
//
ulDelay ^= 1;
//
// See if a delayed update should be performed.
//
if(ulDelay == 0)
{
//
// Send the delayed position update.
//
CANPositionSet(((g_sPositionConfig.lPosition / 100) *
65536) +
(((g_sPositionConfig.lPosition % 100) *
65536) / 100), 0);
//
// Change the text color of the position selection to white
// to indicate that updates will occur immediately.
//
CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite);
}
else
{
//
// Change the text color of the position selection to black
// to indicate that updates will be delayed.
//
CanvasTextColorSet(g_psPositionWidgets + 2, ClrBlack);
}
}
}
}
}
//*****************************************************************************
//
// Initialize and operate the data logger.
//
//*****************************************************************************
int
main(void)
{
tContext sDisplayContext, sBufferContext;
uint32_t ui32HibIntStatus, ui32SysClock, ui32LastTickCount;
bool bSkipSplash;
uint8_t ui8ButtonState, ui8ButtonChanged;
uint_fast8_t ui8X, ui8Y;
//
// 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 at 50 MHz.
//
MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
ui32SysClock = MAP_SysCtlClockGet();
//
// Initialize locals.
//
bSkipSplash = false;
ui32LastTickCount = 0;
//
// Initialize the data acquisition module. This initializes the ADC
// hardware.
//
AcquireInit();
//
// Enable access to the hibernate peripheral. If the hibernate peripheral
// was already running then this will have no effect.
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_HIBERNATE);
//
// Check to see if the hiberate module is already active and if so then
// read the saved configuration state. If both are okay, then proceed
// to check and see if we are logging data using sleep mode.
//
if(HibernateIsActive() && !GetSavedState(&g_sConfigState))
{
//
// Read the status of the hibernate module.
//
ui32HibIntStatus = HibernateIntStatus(1);
//
// If this is a pin wake, that means the user pressed the select
// button and we should terminate the sleep logging. In this case
// we will fall out of this conditional section, and go through the
// normal startup below, but skipping the splash screen so the user
// gets immediate response.
//
if(ui32HibIntStatus & HIBERNATE_INT_PIN_WAKE)
{
//
// Clear the interrupt flag so it is not seen again until another
// wake.
//
HibernateIntClear(HIBERNATE_INT_PIN_WAKE);
bSkipSplash = true;
}
//
// Otherwise if we are waking from hibernate and it was not a pin
// wake, then it must be from RTC match. Check to see if we are
// sleep logging and if so then go through an abbreviated startup
// in order to collect the data and go back to sleep.
//
else if(g_sConfigState.ui32SleepLogging &&
(ui32HibIntStatus & HIBERNATE_INT_RTC_MATCH_0))
{
//
// Start logger and pass the configuration. The logger should
// configure itself to take one sample.
//
AcquireStart(&g_sConfigState);
g_iLoggerState = eSTATE_LOGGING;
//
// Enter a forever loop to run the acquisition. This will run
// until a new sample has been taken and stored.
//
while(!AcquireRun())
{
}
//
// Getting here means that a data acquisition was performed and we
// can now go back to sleep. Save the configuration and then
// activate the hibernate.
//
SetSavedState(&g_sConfigState);
//
// Set wake condition on pin-wake or RTC match. Then put the
// processor in hibernation.
//
HibernateWakeSet(HIBERNATE_WAKE_PIN | HIBERNATE_WAKE_RTC);
HibernateRequest();
//
// Hibernating takes a finite amount of time to occur, so wait
// here forever until hibernate activates and the processor
// power is removed.
//
for(;;)
{
}
}
//
// Otherwise, this was not a pin wake, and we were not sleep logging,
// so just fall out of this conditional and go through the normal
// startup below.
//
}
else
{
//
// In this case, either the hibernate module was not already active, or
// the saved configuration was not valid. Initialize the configuration
// to the default state and then go through the normal startup below.
//
GetDefaultState(&g_sConfigState);
}
//
// Enable the Hibernate module to run.
//
HibernateEnableExpClk(SysCtlClockGet());
//
// The hibernate peripheral trim register must be set per silicon
// erratum 2.1
//
HibernateRTCTrimSet(0x7FFF);
//
// Start the RTC running. If it was already running then this will have
// no effect.
//
HibernateRTCEnable();
//
// In case we were sleep logging and are now finished (due to user
// pressing select button), then disable sleep logging so it doesnt
// try to start up again.
//
g_sConfigState.ui32SleepLogging = 0;
SetSavedState(&g_sConfigState);
//
// Initialize the display driver.
//
CFAL96x64x16Init();
//
// Initialize the buttons driver.
//
ButtonsInit();
//
// Pass the restored state to the menu system.
//
MenuSetState(&g_sConfigState);
//
// Enable the USB peripheral
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_USB0);
//
// Configure the required pins for USB operation.
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
MAP_GPIOPinConfigure(GPIO_PG4_USB0EPEN);
MAP_GPIOPinTypeUSBDigital(GPIO_PORTG_BASE, GPIO_PIN_4);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);
MAP_GPIOPinTypeUSBAnalog(GPIO_PORTL_BASE, GPIO_PIN_6 | GPIO_PIN_7);
MAP_GPIOPinTypeUSBAnalog(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Erratum workaround for silicon revision A1. VBUS must have pull-down.
//
if(CLASS_IS_TM4C123 && REVISION_IS_A1)
{
HWREG(GPIO_PORTB_BASE + GPIO_O_PDR) |= GPIO_PIN_1;
}
//
// Initialize the USB stack mode and pass in a mode callback.
//
USBStackModeSet(0, eUSBModeOTG, ModeCallback);
//
// Initialize the stack to be used with USB stick.
//
USBStickInit();
//
// Initialize the stack to be used as a serial device.
//
USBSerialInit();
//
// Initialize the USB controller for dual mode operation with a 2ms polling
// rate.
//
USBOTGModeInit(0, 2000, g_pui8HCDPool, HCD_MEMORY_SIZE);
//
// Initialize the menus module. This module will control the user
// interface menuing system.
//
MenuInit(WidgetActivated);
//
// Configure SysTick to periodically interrupt.
//
g_ui32TickCount = 0;
MAP_SysTickPeriodSet(ui32SysClock / CLOCK_RATE);
MAP_SysTickIntEnable();
MAP_SysTickEnable();
//
// Initialize the display context and another context that is used
// as an offscreen drawing buffer for display animation effect
//
GrContextInit(&sDisplayContext, &g_sCFAL96x64x16);
GrContextInit(&sBufferContext, &g_sOffscreenDisplayA);
//
// Show the splash screen if we are not skipping it. The only reason to
// skip it is if the application was in sleep-logging mode and the user
// just waked it up with the select button.
//
if(!bSkipSplash)
{
const uint8_t *pui8SplashLogo = g_pui8Image_TI_Black;
//
// Draw the TI logo on the display. Use an animation effect where the
// logo will "slide" onto the screen. Allow select button to break
// out of animation.
//
for(ui8X = 0; ui8X < 96; ui8X++)
{
if(ButtonsPoll(0, 0) & SELECT_BUTTON)
{
break;
}
GrImageDraw(&sDisplayContext, pui8SplashLogo, 95 - ui8X, 0);
}
//
// Leave the logo on the screen for a long duration. Monitor the
// buttons so that if the user presses the select button, the logo
// display is terminated and the application starts immediately.
//
while(g_ui32TickCount < 400)
{
if(ButtonsPoll(0, 0) & SELECT_BUTTON)
{
break;
}
}
//
// Extended splash sequence
//
if(ButtonsPoll(0, 0) & UP_BUTTON)
{
for(ui8X = 0; ui8X < 96; ui8X += 4)
{
GrImageDraw(&sDisplayContext,
g_ppui8Image_Splash[(ui8X / 4) & 3],
(int32_t)ui8X - 96L, 0);
GrImageDraw(&sDisplayContext, pui8SplashLogo, ui8X, 0);
MAP_SysCtlDelay(ui32SysClock / 12);
}
MAP_SysCtlDelay(ui32SysClock / 3);
pui8SplashLogo = g_ppui8Image_Splash[4];
GrImageDraw(&sDisplayContext, pui8SplashLogo, 0, 0);
MAP_SysCtlDelay(ui32SysClock / 12);
}
//
// Draw the initial menu into the offscreen buffer.
//
SlideMenuDraw(&g_sMenuWidget, &sBufferContext, 0);
//
// Now, draw both the TI logo splash screen (from above) and the initial
// menu on the screen at the same time, moving the coordinates so that
// the logo "slides" off the display and the menu "slides" onto the
// display.
//
for(ui8Y = 0; ui8Y < 64; ui8Y++)
{
GrImageDraw(&sDisplayContext, pui8SplashLogo, 0, -ui8Y);
GrImageDraw(&sDisplayContext, g_pui8OffscreenBufA, 0, 63 - ui8Y);
}
}
//
// Add the menu widget to the widget tree and send an initial paint
// request.
//
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sMenuWidget);
WidgetPaint(WIDGET_ROOT);
//
// Set the focus handle to the menu widget. Any button events will be
// sent to this widget
//
g_ui32KeyFocusWidgetHandle = (uint32_t)&g_sMenuWidget;
//
// Forever loop to run the application
//
while(1)
{
//
// Each time the timer tick occurs, process any button events.
//
if(g_ui32TickCount != ui32LastTickCount)
{
//
// Remember last tick count
//
ui32LastTickCount = g_ui32TickCount;
//
// Read the debounced state of the buttons.
//
ui8ButtonState = ButtonsPoll(&ui8ButtonChanged, 0);
//
// Pass any button presses through to the widget message
// processing mechanism. The widget that has the button event
// focus (probably the menu widget) will catch these button events.
//
if(BUTTON_PRESSED(SELECT_BUTTON, ui8ButtonState, ui8ButtonChanged))
{
SendWidgetKeyMessage(WIDGET_MSG_KEY_SELECT);
}
if(BUTTON_PRESSED(UP_BUTTON, ui8ButtonState, ui8ButtonChanged))
{
SendWidgetKeyMessage(WIDGET_MSG_KEY_UP);
}
if(BUTTON_PRESSED(DOWN_BUTTON, ui8ButtonState, ui8ButtonChanged))
{
SendWidgetKeyMessage(WIDGET_MSG_KEY_DOWN);
}
if(BUTTON_PRESSED(LEFT_BUTTON, ui8ButtonState, ui8ButtonChanged))
{
SendWidgetKeyMessage(WIDGET_MSG_KEY_LEFT);
}
if(BUTTON_PRESSED(RIGHT_BUTTON, ui8ButtonState, ui8ButtonChanged))
{
SendWidgetKeyMessage(WIDGET_MSG_KEY_RIGHT);
}
}
//
// Tell the OTG library code how much time has passed in milliseconds
// since the last call.
//
USBOTGMain(GetTickms());
//
// Call functions as needed to keep the host or device mode running.
//
if(g_iCurrentUSBMode == eUSBModeDevice)
{
USBSerialRun();
}
else if(g_iCurrentUSBMode == eUSBModeHost)
{
USBStickRun();
}
//
// If in the logging state, then call the logger run function. This
// keeps the data acquisition running.
//
if((g_iLoggerState == eSTATE_LOGGING) ||
(g_iLoggerState == eSTATE_VIEWING))
{
if(AcquireRun() && g_sConfigState.ui32SleepLogging)
{
//
// If sleep logging is enabled, then at this point we have
// stored the first data item, now save the state and start
// hibernation. Wait for the power to be cut.
//
SetSavedState(&g_sConfigState);
HibernateWakeSet(HIBERNATE_WAKE_PIN | HIBERNATE_WAKE_RTC);
HibernateRequest();
for(;;)
{
}
}
//
// If viewing instead of logging then request a repaint to keep
// the viewing window updated.
//
if(g_iLoggerState == eSTATE_VIEWING)
{
WidgetPaint(WIDGET_ROOT);
}
}
//
// If in the saving state, then save data from flash storage to
// USB stick.
//
if(g_iLoggerState == eSTATE_SAVING)
{
//
// Save data from flash to USB
//
FlashStoreSave();
//
// Return to idle state
//
g_iLoggerState = eSTATE_IDLE;
}
//
// If in the erasing state, then erase the data stored in flash.
//
if(g_iLoggerState == eSTATE_ERASING)
{
//
// Save data from flash to USB
//
FlashStoreErase();
//
// Return to idle state
//
g_iLoggerState = eSTATE_IDLE;
}
//
// If in the flash reporting state, then show the report of the amount
// of used and free flash memory.
//
if(g_iLoggerState == eSTATE_FREEFLASH)
{
//
// Report free flash space
//
FlashStoreReport();
//
// Return to idle state
//
g_iLoggerState = eSTATE_IDLE;
}
//
// If we are exiting the clock setting widget, that means that control
// needs to be given back to the menu system.
//
if(g_iLoggerState == eSTATE_CLOCKEXIT)
{
//
// Give the button event focus back to the menu system
//
g_ui32KeyFocusWidgetHandle = (uint32_t)&g_sMenuWidget;
//
// Send a button event to the menu widget that means the left
// key was pressed. This signals the menu widget to deactivate
// the current child widget (which was the clock setting wigdet).
// This will cause the menu widget to slide the clock set widget
// off the screen and resume control of the display.
//
SendWidgetKeyMessage(WIDGET_MSG_KEY_LEFT);
g_iLoggerState = eSTATE_IDLE;
}
//
// Process any new messages that are in the widget queue. This keeps
// the user interface running.
//
WidgetMessageQueueProcess();
}
}
//*****************************************************************************
//
// A simple demonstration of the features of the Stellaris Graphics Library.
//
//*****************************************************************************
int
main(void)
{
tContext sContext;
tRectangle sRect;
//
// If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
// a workaround to allow the PLL to operate reliably.
//
if(REVISION_IS_A2)
{
SysCtlLDOSet(SYSCTL_LDO_2_75V);
}
//
// Set the clocking to run from the PLL.
//
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_8MHZ);
//
// Initialize the display driver.
//
Kitronix320x240x16_SSD2119Init();
//
// Turn on the backlight.
//
Kitronix320x240x16_SSD2119BacklightOn(255);
//
// Initialize the graphics context.
//
GrContextInit(&sContext, &g_sKitronix320x240x16_SSD2119);
//
// Fill the top 24 rows of the screen with blue to create the banner.
//
sRect.sXMin = 0;
sRect.sYMin = 0;
sRect.sXMax = GrContextDpyWidthGet(&sContext) - 1;
sRect.sYMax = 23;
GrContextForegroundSet(&sContext, ClrDarkBlue);
GrRectFill(&sContext, &sRect);
//
// Put a white box around the banner.
//
GrContextForegroundSet(&sContext, ClrWhite);
GrRectDraw(&sContext, &sRect);
//
// Put the application name in the middle of the banner.
//
GrContextFontSet(&sContext, g_pFontCm20);
GrStringDrawCentered(&sContext, "grlib demo", -1,
GrContextDpyWidthGet(&sContext) / 2, 11, 0);
//
// Initialize the sound driver.
//
SoundInit();
//
// Initialize the touch screen driver and have it route its messages to the
// widget tree.
//
TouchScreenInit();
TouchScreenCallbackSet(WidgetPointerMessage);
//
// Add the title block and the previous and next buttons to the widget
// tree.
//
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sPrevious);
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sTitle);
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sNext);
//
// Add the first panel to the widget tree.
//
g_ulPanel = 0;
WidgetAdd(WIDGET_ROOT, (tWidget *)g_psPanels);
CanvasTextSet(&g_sTitle, g_pcPanelNames[0]);
//
// Issue the initial paint request to the widgets.
//
WidgetPaint(WIDGET_ROOT);
//
// Loop forever unless we receive a signal that a firmware update has been
// requested.
//
while(!g_bFirmwareUpdate)
{
//
// Process any messages in the widget message queue.
//
WidgetMessageQueueProcess();
}
//
// If we drop out, a firmware update request has been made. We call
// WidgetMessageQueueProcess once more to ensure that any final messages
// are processed then jump into the bootloader.
//
WidgetMessageQueueProcess();
//
// Wait a while for the last keyboard click sound to finish. This is about
// 500mS since the delay loop is 3 cycles long.
//
SysCtlDelay(SysCtlClockGet() / 6);
//
// Pass control to the bootloader.
//
JumpToBootLoader();
//
// The boot loader should take control, so this should never be reached.
// Just in case, loop forever.
//
while(1)
{
}
}
