/**
* @brief Sets up the hardware.
*
* - Starts the clock at 48MHz with the PLL
* - Starts the MAM (Memory accelerator module) for faster reads and writes
* - Initialize the LED outputs
* - Initialize the PWM outputs
* - Initialize the ADC inputs
* - Initialize the LCD outputs
* - Start the ROS and Debug serial ports
*/
static void prvSetupHardware( void )
{
#ifdef RUN_FROM_RAM
/* Remap the interrupt vectors to RAM if we are are running from RAM. */
SCB_MEMMAP = 2;
#endif
/* Disable the PLL. */
PLLCON = 0;
PLLFEED = mainPLL_FEED_BYTE1;
PLLFEED = mainPLL_FEED_BYTE2;
/* Configure clock source. */
SCS |= mainOSC_ENABLE;
while( !( SCS & mainOSC_STAT ) );
CLKSRCSEL = mainOSC_SELECT;
/* Setup the PLL to multiply the XTAL input by 4. */
PLLCFG = ( mainPLL_MUL | mainPLL_DIV );
PLLFEED = mainPLL_FEED_BYTE1;
PLLFEED = mainPLL_FEED_BYTE2;
/* Turn on and wait for the PLL to lock... */
PLLCON = mainPLL_ENABLE;
PLLFEED = mainPLL_FEED_BYTE1;
PLLFEED = mainPLL_FEED_BYTE2;
CCLKCFG = mainCPU_CLK_DIV;
while( !( PLLSTAT & mainPLL_LOCK ) );
/* Connecting the clock. */
PLLCON = mainPLL_CONNECT;
PLLFEED = mainPLL_FEED_BYTE1;
PLLFEED = mainPLL_FEED_BYTE2;
while( !( PLLSTAT & mainPLL_CONNECTED ) );
/*
This code is commented out as the MAM does not work on the original revision
LPC2368 chips. If using Rev B chips then you can increase the speed though
the use of the MAM.
Setup and turn on the MAM. Three cycle access is used due to the fast
PLL used. It is possible faster overall performance could be obtained by
tuning the MAM and PLL settings.
*/
MAMCR = 0;
MAMTIM = mainMAM_TIM_3;
MAMCR = mainMAM_MODE_FULL;
/* Setup the led's on the MCB2300 board */
vParTestInitialise();
PWMInit();
ADCInit();
LcdInit();
IOInit();
rosPortHandle = xSerialPortInit( serCOM1, ser57600, serNO_PARITY, serBITS_8,
serSTOP_1, 1000 );
//debugPortHandle = xSerialPortInit( serCOM2, ser57600, serNO_PARITY, serBITS_8,
// serSTOP_1, 250 );
}
void vStartComTestTasks( unsigned portBASE_TYPE uxPriority, eCOMPort ePort, eBaud eBaudRate )
{
const unsigned portBASE_TYPE uxBufferLength = 255;
/* Initialise the com port then spawn both tasks. */
xPort = xSerialPortInit( ePort, eBaudRate, serNO_PARITY, serBITS_8, serSTOP_1, uxBufferLength );
xTaskCreate( vComTxTask, "COMTx", comSTACK_SIZE, NULL, uxPriority, NULL );
xTaskCreate( vComRxTask, "COMRx", comSTACK_SIZE, NULL, uxPriority + comRX_RELATIVE_PRIORITY, NULL );
xTaskCreate( vSemTestTask, "ISRSem", comSTACK_SIZE, NULL, tskIDLE_PRIORITY, &xSemTestTaskHandle );
}
