static inline void ads8568_read_bus( uint16_t *data)
{
GPIO_setOutput( ADC_RD, GPIO_LOW );
adc_delay(1);
*data = adc_gpio_bus_data_convert(GPIO_getBank(GPIO_BANK0));
GPIO_setOutput( ADC_RD, GPIO_HIGH );
}
static void ads8568_reset( void )
{
volatile uint32_t delay = 0;
GPIO_setOutput( ADC_RESET, GPIO_LOW );
/* 100ns delay */
for(delay = 0; delay < RESET_DELAY; delay++);
GPIO_setOutput( ADC_RESET, GPIO_HIGH );
/* 100ns delay */
for(delay = 0; delay < RESET_DELAY; delay++);
GPIO_setOutput( ADC_RESET, GPIO_LOW );
}
static inline void ads8568_start_conv( void )
{
volatile uint32_t delay = 0;
GPIO_setOutput( ADC_CONVST, GPIO_LOW );
/* 100ns delay */
for(delay = 0; delay < 5; delay++);
GPIO_setOutput( ADC_CONVST, GPIO_HIGH );
/* 100ns delay */
for(delay = 0; delay < 1; delay++);
GPIO_setOutput( ADC_CONVST, GPIO_LOW );
return;
}
bool CLI_process(CLIContext *context)
{
while (true) {
char *end = strpbrk(context->buffer, "\r\n");
if (end == NULL)
return true;
*end = 0;
if (bufferStartsWith(context, "quit")) {
addToOutput(context, "EXIT");
return false;
}
const char *ptr;
if (bufferStartsWith(context, "set uart mode") ||
bufferStartsWith(context, "set uart tx") ||
bufferStartsWith(context, "set sys iofunc")) {
/* Ignored */
addToOutput(context, "AOK\r\n");
} else if ((ptr=bufferStartsWith(context,
"set uart instant ")) != NULL) {
uint32_t baud = parseDecimal(ptr);
if (baud > 0) {
Serial_setBaud(baud);
addToOutput(context, "AOK\r\n");
} else {
addToOutput(context, "ERROR\r\n");
}
} else if ((ptr=bufferStartsWith(context, "set sys mask ")) != NULL) {
uint32_t mask = parseHex(ptr, &ptr);
if (!(*ptr)) {
addToOutput(context, "ERROR\r\n");
} else if (*ptr == '0') {
GPIO_setMode(mask, false);
addToOutput(context, "AOK\r\n");
} else {
GPIO_setMode(mask, true);
addToOutput(context, "AOK\r\n");
}
} else if ((ptr=bufferStartsWith(context, "set sys output ")) != NULL) {
uint32_t output = parseHex(ptr, &ptr);
if (!(*ptr)) {
addToOutput(context, "ERROR\r\n");
} else {
uint32_t mask = parseHex(ptr, &ptr);
GPIO_setOutput(mask, output);
addToOutput(context, "AOK\r\n");
}
} else if (end != &context->buffer[0]) {
addToOutput(context, "ERROR\r\n");
}
memmove(context->buffer, end+1, strlen(end+1)+1);
}
}
int ads8568_read_ch( uint16_t *data, uint8_t ch, uint8_t range,
uint8_t mode, uint8_t polarity )
{
/* TODO: add support for range, mode and polarity */
uint16_t tmp;
int ch_index = 0;
volatile int delay = 10;
GPIO_PinNumber_t cs;
if( ch > ADS8568_CH_MAX )
return -1;
/* conversion start */
ads8568_start_conv();
if ( ch > 8 )
{
cs = ADC_CS1;
ch -= 8;
}
else
cs = ADC_CS2;
while(GPIO_getInput(ADC_BUSY));
/* conversion end */
GPIO_setOutput( cs, GPIO_LOW);
for(ch_index = 0; ch_index < 8; ch_index++ )
{
if ( ch_index == ch )
ads8568_read_bus(data);
else
/* dummy read */
ads8568_read_bus(&tmp);
}
GPIO_setOutput( cs, GPIO_HIGH);
return 0;
}
static void ads8568_init_gpio( void )
{
adc_set_gpio_data_bus();
GPIO_setDir( ADC_CS1, GPIO_OUTPUT );
GPIO_setDir( ADC_CS2, GPIO_OUTPUT );
GPIO_setDir( ADC_CONVST,GPIO_OUTPUT );
GPIO_setDir( ADC_HW_SW, GPIO_OUTPUT );
GPIO_setDir( ADC_WR, GPIO_OUTPUT );
GPIO_setDir( ADC_RESET, GPIO_OUTPUT );
GPIO_setDir( ADC_BUSY, GPIO_INPUT );
/* set initial state of gpio */
GPIO_setOutput( ADC_CS1, GPIO_HIGH );
GPIO_setOutput( ADC_CS2, GPIO_HIGH );
GPIO_setOutput( ADC_CONVST, GPIO_LOW );
/* low - hardware mode selected, high - software */
GPIO_setOutput( ADC_HW_SW, GPIO_LOW );
/* enable internal reference voltage */
GPIO_setOutput( ADC_WR, GPIO_HIGH );
/* disable reset signal */
GPIO_setOutput( ADC_RESET, GPIO_LOW );
return;
}
/* led: 1/2 (D1/D2); state: 0/1 (off/on) */
void mdaqled_set(unsigned char led, unsigned char state)
{
#ifndef MATLAB_MEX_FILE
if (led == 1)
/* D1 */
if (state == 1)
/* ON */
GPIO_setOutput(GP2_7, GPIO_HIGH);
else
GPIO_setOutput(GP2_7, GPIO_LOW);
else if (led == 2)
/* D2 */
if (state == 1)
/* ON */
GPIO_setOutput(GP2_6, GPIO_HIGH);
else
GPIO_setOutput(GP2_6, GPIO_LOW);
else
{
/* Shouldn't get here, but switch off LEDs for good */
GPIO_setOutput(GP2_7, GPIO_LOW);
GPIO_setOutput(GP2_6, GPIO_LOW);
}
#endif
}
static void gpioCompleted(int fd)
{
gpioFieldCompleted();
switch (post.gpio.mode) {
case GPIO_Disable:
GPIO_setMode(1<<post.gpio.pin, false);
break;
case GPIO_On:
GPIO_setMode(1<<post.gpio.pin, true);
GPIO_setOutput(1<<post.gpio.pin, 1<<post.gpio.pin);
break;
case GPIO_Off:
GPIO_setMode(1<<post.gpio.pin, true);
GPIO_setOutput(1<<post.gpio.pin, 0);
break;
default:
break;
}
serveMainPage(fd);
}
int ads8568_scan_ch( uint16_t *data, uint8_t *ch, uint8_t ch_count,
uint8_t range, uint8_t mode, uint8_t polarity )
{
uint8_t ch_max = 0;
uint8_t data_index = 0;
uint8_t ch_to_read[ADS8568_CH_MAX];
uint8_t ch_index = 0;
uint16_t tmp;
volatile GPIO_PinNumber_t cs;
/* check parameters */
if ( !ch_count ||
ch_count > ADS8568_CH_MAX ||
data == NULL ||
ch == NULL )
return -1;
/* start analog-to-digital conversion */
ads8568_start_conv();
/* find max channel */
ch_max = max_array(ch, ch_count);
if ( ch_max > ADS8568_CH_MAX )
return -1;
memset((void *)ch_to_read, 0x0, sizeof(ch_to_read));
for ( ch_index = 0; ch_index < ch_count; ch_index++)
{
if (ch[ch_index] < ADS8568_CH_MAX)
ch_to_read[ch[ch_index]] = 1;
}
/* Wait for conversion end */
while(GPIO_getInput(ADC_BUSY));
/* Set CS to active*/
GPIO_setOutput(ADC_CS2, GPIO_LOW);
for(ch_index = 0; ch_index < ch_max; ch_index++)
{
if ( ch_index == 8 )
{
GPIO_setOutput(ADC_CS2, GPIO_HIGH);
GPIO_setOutput(ADC_CS1, GPIO_LOW);
}
if( ch_to_read[ch_index] )
{
ads8568_read_bus(&data[data_index]);
data_index++;
}
else
{
/* dummy read */
ads8568_read_bus(&tmp);
}
}
GPIO_setOutput(ADC_CS1, GPIO_HIGH);
GPIO_setOutput(ADC_CS2, GPIO_HIGH);
return data_index;
}
Void main()
{
int i = 0;
// unlock the system config registers.
SYSCONFIG->KICKR[0] = KICK0R_UNLOCK;
SYSCONFIG->KICKR[1] = KICK1R_UNLOCK;
SYSCONFIG1->PUPD_SEL |= 0x10000000; // change pin group 28 to pullup for GP7[12/13] (LCD switches)
// Initially set McBSP1 pins as GPIO ins
CLRBIT(SYSCONFIG->PINMUX[1], 0xFFFFFFFF);
SETBIT(SYSCONFIG->PINMUX[1], 0x88888880); // This is enabling the McBSP1 pins
CLRBIT(SYSCONFIG->PINMUX[16], 0xFFFF0000);
SETBIT(SYSCONFIG->PINMUX[16], 0x88880000); // setup GP7.8 through GP7.13
CLRBIT(SYSCONFIG->PINMUX[17], 0x000000FF);
SETBIT(SYSCONFIG->PINMUX[17], 0x00000088); // setup GP7.8 through GP7.13
//Rick added for LCD DMA flagging test
GPIO_setDir(GPIO_BANK0, GPIO_PIN8, GPIO_OUTPUT);
GPIO_setOutput(GPIO_BANK0, GPIO_PIN8, OUTPUT_HIGH);
GPIO_setDir(GPIO_BANK0, GPIO_PIN0, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN1, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN2, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN3, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN4, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN5, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN6, GPIO_INPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN8, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN9, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN10, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN11, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN12, GPIO_INPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN13, GPIO_INPUT);
GPIO_setOutput(GPIO_BANK7, GPIO_PIN8, OUTPUT_HIGH);
GPIO_setOutput(GPIO_BANK7, GPIO_PIN9, OUTPUT_HIGH);
GPIO_setOutput(GPIO_BANK7, GPIO_PIN10, OUTPUT_HIGH);
GPIO_setOutput(GPIO_BANK7, GPIO_PIN11, OUTPUT_HIGH);
CLRBIT(SYSCONFIG->PINMUX[13], 0xFFFFFFFF);
SETBIT(SYSCONFIG->PINMUX[13], 0x88888811); //Set GPIO 6.8-13 to GPIOs and IMPORTANT Sets GP6[15] to /RESETOUT used by PHY, GP6[14] CLKOUT appears unconnected
#warn GP6.15 is also connected to CAMERA RESET This is a Bug in my board design Need to change Camera Reset to different IO.
GPIO_setDir(GPIO_BANK6, GPIO_PIN8, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN9, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN10, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN11, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN12, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN13, GPIO_INPUT);
// on power up wait until Linux has initialized Timer1
while ((T1_TGCR & 0x7) != 0x7) {
for (index=0;index<50000;index++) {} // small delay before checking again
}
USTIMER_init();
// Turn on McBSP1
EVMOMAPL138_lpscTransition(PSC1, DOMAIN0, LPSC_MCBSP1, PSC_ENABLE);
// If Linux has already booted It sets a flag so no need to delay
if ( GET_ISLINUX_BOOTED == 0) {
USTIMER_delay(4*DELAY_1_SEC); // delay allowing Linux to partially boot before continuing with DSP code
}
// init the us timer and i2c for all to use.
I2C_init(I2C0, I2C_CLK_100K);
init_ColorVision();
init_LCD_mem(); // added rick
EVTCLR0 = 0xFFFFFFFF;
EVTCLR1 = 0xFFFFFFFF;
EVTCLR2 = 0xFFFFFFFF;
EVTCLR3 = 0xFFFFFFFF;
init_DMA();
init_McBSP();
init_LADAR();
CLRBIT(SYSCONFIG->PINMUX[1], 0xFFFFFFFF);
SETBIT(SYSCONFIG->PINMUX[1], 0x22222220); // This is enabling the McBSP1 pins
CLRBIT(SYSCONFIG->PINMUX[5], 0x00FF0FFF);
SETBIT(SYSCONFIG->PINMUX[5], 0x00110111); // This is enabling SPI pins
CLRBIT(SYSCONFIG->PINMUX[16], 0xFFFF0000);
SETBIT(SYSCONFIG->PINMUX[16], 0x88880000); // setup GP7.8 through GP7.13
CLRBIT(SYSCONFIG->PINMUX[17], 0x000000FF);
SETBIT(SYSCONFIG->PINMUX[17], 0x00000088); // setup GP7.8 through GP7.13
init_LCD();
LADARps.x = 3.5/12; // 3.5/12 for front mounting
LADARps.y = 0;
LADARps.theta = 1; // not inverted
OPTITRACKps.x = 0;
OPTITRACKps.y = 0;
OPTITRACKps.theta = 0;
for(i = 0;i<LADAR_MAX_DATA_SIZE;i++)
{ LADARdistance[i] = LADAR_MAX_READING; } //initialize all readings to max value.
// ROBOTps will be updated by Optitrack during gyro calibration
// TODO: specify the starting position of the robot
ROBOTps.x = 0; //the estimate in array form (useful for matrix operations)
ROBOTps.y = 0;
ROBOTps.theta = 0; // was -PI: need to flip OT ground plane to fix this
// flag pins
GPIO_setDir(IMAGE_TO_LINUX_BANK, IMAGE_TO_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(OPTITRACKDATA_FROM_LINUX_BANK, OPTITRACKDATA_FROM_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(DATA_TO_LINUX_BANK, DATA_TO_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(DATA_FROM_LINUX_BANK, DATA_FROM_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(DATAFORFILE_TO_LINUX_BANK, DATAFORFILE_TO_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(LVDATA_FROM_LINUX_BANK, LVDATA_FROM_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(LVDATA_TO_LINUX_BANK, LVDATA_TO_LINUX_FLAG, GPIO_OUTPUT);
CLR_OPTITRACKDATA_FROM_LINUX; // Clear = tell linux DSP is ready for new Opitrack data
CLR_DATA_FROM_LINUX; // Clear = tell linux that DSP is ready for new data
CLR_DATAFORFILE_TO_LINUX; // Clear = linux not requesting data
SET_DATA_TO_LINUX; // Set = put float array data into shared memory for linux
SET_IMAGE_TO_LINUX; // Set = put image into shared memory for linux
CLR_LVDATA_FROM_LINUX; // Clear = tell linux that DSP is ready for new LV data
SET_LVDATA_TO_LINUX; // Set = put LV char data into shared memory for linux
// clear all possible EDMA
EDMA3_0_Regs->SHADOW[1].ICR = 0xFFFFFFFF;
// Add your init code here
}
/*GPIO Init Function*/
void GPIO_Init()
{
GPIO_setOutput(FK_GPIOA,5);
GPIO_setInput(FK_GPIOC,13,PuPd_NO);
}
