#include <stdbool.h>

#include <stdint.h>

#include "inc/hw_memmap.h"

#include "driverlib/gpio.h"

#include "driverlib/pin_map.h"

#include "driverlib/ssi.h"

#include "driverlib/sysctl.h"

#include "driverlib/uart.h"

#include "utils/uartstdio.h"

#include "adis.h"

#include "hardware_utils.h"

#include "abcc_user_def.h"

#include "user_setup.h"

#include "user_adi.h"

#include "abcc.h"

#include "abcc_sys_adapt.h"

#include "ad_obj.h"

#include "abcc_td.h"

/*******************************************************************************

** Constants

********************************************************************************

*/

typedef enum ABCCPowerStateType{

}ABCCPowerStateType;

/*******************************************************************************

** Globals

********************************************************************************

*/

BOOL8 fResetABCC = FALSE;

ABCCPowerStateType ABCCPowerState = ABCCPOWER_RESET;

//*****************************************************************************

//

// This function sets up UART0 to be used for a console to display information

// as the example is running.

//

//*****************************************************************************

void InitConsole(void)

{

//

// Enable GPIO port A which is used for UART0 pins.

// TODO: change this to whichever GPIO port you are using.

//

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

//

// Configure the pin muxing for UART0 functions on port A0 and A1.

// This step is not necessary if your part does not support pin muxing.

// TODO: change this to select the port/pin you are using.

//

GPIOPinConfigure(GPIO_PA0_U0RX);

GPIOPinConfigure(GPIO_PA1_U0TX);

//

// Enable UART0 so that we can configure the clock.

//

SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);

//

// Use the internal 16MHz oscillator as the UART clock source.

//

UARTClockSourceSet(UART0_BASE, UART_CLOCK_PIOSC);

//

// Select the alternate (UART) function for these pins.

// TODO: change this to select the port/pin you are using.

//

GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);

//

// Initialize the UART for console I/O.

//

UARTStdioConfig(0, 9600, 16000000);

}

/*------------------------------------------------------------------------------

** PrintException()

** Prints out network object specific error codes. Can be used for debugging

** when exceptions occur.

**------------------------------------------------------------------------------

*/

static void PrintException( ABP_MsgType* psNewMessage )

{

switch ( psNewMessage->sHeader.bSourceId )

{

case US_ANB_EXC_SRC_ID:

if ( !ABCC_VerifyMessage( psNewMessage ) )

{

while(1);

}

break;

case US_NW_EXC_SRC_ID:

if ( !ABCC_VerifyMessage( psNewMessage ) )

{

while(1);

}

break;

default:

while(1);

}

}

//*****************************************************************************

//

// Configure SSI0 in master Freescale (SPI) mode. This example will send out

// 3 bytes of data, then wait for 3 bytes of data to come in. This will all be

// done using the polling method.

//

//*****************************************************************************

int main(void)

{

#if defined(TARGET_IS_TM4C129_RA0) || \

defined(TARGET_IS_TM4C129_RA1) || \

defined(TARGET_IS_TM4C129_RA2)

#endif

//

// 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.

//

#if defined(TARGET_IS_TM4C129_RA0) || \

defined(TARGET_IS_TM4C129_RA1) || \

defined(TARGET_IS_TM4C129_RA2)

SysCtlClockFreqSet(SYSCTL_OSC_INT | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_320,

CLOCK_RATE);

#else

SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |

SYSCTL_XTAL_16MHZ);

#endif

BOOL8 fPrintErrorMessage = TRUE;

/*

* initializing spi

*/

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOK);

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOM);

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOQ);

io_init();

iADI_err=adis_init();

SysCtlDelay(800000);

while(1)

{

switch( ABCCPowerState )

{

case ABCCPOWER_RESET:

ABCC_SYS_HWReset();

ABCCPowerState = ABCCPOWER_STARTDRIVER;

break;

case ABCCPOWER_STARTDRIVER:

if( ABCC_StartDriver( ABCC_GetOpmode(), FALSE ) == ABCC_OK )

{

ABCCPowerState = ABCCPOWER_RESETRELEASE;

}

break;

case ABCCPOWER_RESETRELEASE:

ABCC_HWReleaseReset();

ABCCPowerState = ABCCPOWER_WAITCOM;

break;

case ABCCPOWER_WAITCOM:

if( ABCC_isReadyForCommunication() )

{

AD_NewWrPd();

ABCCPowerState = ABCCPOWER_RUNNING;

}

break;

case ABCCPOWER_RUNNING:

if( fResetABCC )

{

fResetABCC = FALSE;

ABCCPowerState = ABCCPOWER_RESETREQ;

break;

}

/*

** Check if an exception has occurred and prints out the exception code and info.

*/

int ali= ABCC_AnbState();

if(ali==4){

int ali= ABCC_AnbState();

}

if( ( ali== ABP_ANB_STATE_EXCEPTION ) ) /* An error has occurred. */

{

if( fPrintErrorMessage )

{

ABP_MsgType* psANBMsgCmd;

ABP_MsgType* psNWMsgCmd;

psANBMsgCmd = ABCC_MsgAlloc();

ABCC_GetAttribute( psANBMsgCmd, ABP_OBJ_NUM_ANB, 1, ABP_ANB_IA_EXCEPTION, US_ANB_EXC_SRC_ID );

ABCC_SendCmdMsg( psANBMsgCmd, PrintException );

psNWMsgCmd = ABCC_MsgAlloc();

ABCC_GetAttribute( psNWMsgCmd, ABP_OBJ_NUM_NW, 1, ABP_NW_IA_EXCEPTION_INFO, US_NW_EXC_SRC_ID );

ABCC_SendCmdMsg( psNWMsgCmd, PrintException );

fPrintErrorMessage = FALSE;

}

}

else /* No error. */

{

fPrintErrorMessage = TRUE;

}

/*

** This function runs the driver and must be called cyclically.

** Typcally this function is called from the main loop.

*/

ABCC_RunDriver();

break;

case ABCCPOWER_RESETREQ:

ABCC_ShutdownDriver();

ABCCPowerState = ABCCPOWER_RESET;

break;

default:

break;

}

}

return(0);

}