// Set Pin value as a boolean
void SetPin(tPin pin, tBoolean val) {
// Setting pin direction is just a bit set and fairly trivial
GPIOPinTypeGPIOOutput(PORT_VAL(pin), PIN_VAL(pin));
// Set the actual pin value
GPIOPinWrite(PORT_VAL(pin), PIN_VAL(pin), val ? 0xff : 0x00);
}
// Get Pin value as a boolean
tBoolean GetPin(tPin pin) {
// Setting pin direction is just a bit set and fairly trivial
GPIOPinTypeGPIOInput(PORT_VAL(pin), PIN_VAL(pin));
// Get the actual pin value
return GPIOPinRead(PORT_VAL(pin), PIN_VAL(pin)) ? true : false;
}
// Function to initialize pwm on a pin
// The returned pointer can be used by the SetPWM function
// Frequency must be specified in hertz
// If the number of frequencies passes the number of available
// modules, which is currently 12, then a null pointer is returned
tPWM *InitializePWM(tPin pin, float freq) {
tPWMModule *mod;
tPWM *pwm;
int i;
// Grab the next pwm
pwm = &pwmBuffer[pwmCount++];
// Setup the pwm events
pwm->up.state = 0xff;
pwm->down.state = 0x00;
// Setup the pin
GPIOPinTypeGPIOOutput(PORT_VAL(pin), PIN_VAL(pin));
pwm->up.pin = pin;
pwm->down.pin = pin;
// Calculate period
pwm->period = (unsigned long)(SysCtlClockGet() / freq);
// Find a module with the given frequency
for (i = 0; i < PWM_MODULE_COUNT; i++) {
// If we don't find a module we need to make a new one
if (i == modCount) {
// Grab the next module
mod = &modBuffer[modCount++];
// Initialize
InitializePWMModule(mod, pwm);
// Return the running pwm
return pwm;
}
// If we find a module with the period we're looking for,
// stick our pwm in it
if (modBuffer[i].period == pwm->period) {
// Grab the module
mod = &modBuffer[i];
// Add the new signal to the running ones
InsertPWM(mod, pwm);
// Return the running pwm
return pwm;
}
}
// If no module is available, we put the pwm back and
// just return a null for failure
pwmCount--;
return 0;
}
// Internally used function to register a pin interrupt
static void CallOnPinType(tCallback callback, void *data, tPin pin, unsigned long type) {
tPinTask *task = &pinTaskBuffer[pin];
// Stop the interrupt first to avoid a race condition
GPIOPinIntDisable(PORT_VAL(pin), PIN_VAL(pin));
task->callback = Dummy;
// Make sure the pin is setup as an input
GPIOPinTypeGPIOInput(PORT_VAL(pin), PIN_VAL(pin));
// If a null pointer is passed then we just leave the Dummy
// to unregister the callback
if (callback) {
task->data = data;
task->callback = callback;
// Setup the interrupts
GPIOIntTypeSet(PORT_VAL(pin), PIN_VAL(pin), type);
GPIOPinIntClear(PORT_VAL(pin), PIN_VAL(pin));
GPIOPinIntEnable(PORT_VAL(pin), PIN_VAL(pin));
}
}
//Initializes motors and IR Sebsors
void initMotorsSensors(void) {
if (!initialized) {
initialized = true;
Motors[0] = InitializeServoMotor(PIN_B6, false);
Motors[1] = InitializeServoMotor(PIN_B7, false);
Motors[2] = InitializeServoMotor(PIN_C4, false);
Motors[3] = InitializeServoMotor(PIN_C5, false);
marservo = InitializeServo(PIN_B2);
pingservo = InitializeServo(PIN_F3);
SetServo(marservo,0.1f);
SetServo(pingservo,0.1f);
GPIOPadConfigSet(PORT_VAL(PIN_B6), PIN_VAL(PIN_B6), GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
GPIOPadConfigSet(PORT_VAL(PIN_B7), PIN_VAL(PIN_B7), GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
GPIOPadConfigSet(PORT_VAL(PIN_C4), PIN_VAL(PIN_C4), GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
GPIOPadConfigSet(PORT_VAL(PIN_C5), PIN_VAL(PIN_C5), GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
adc[0] = InitializeADC(PIN_D0);
adc[1] = InitializeADC(PIN_D1);
adc[2] = InitializeADC(PIN_D2);
adc[3] = InitializeADC(PIN_D3);
turn=0;
gls = InitializeGPIOLineSensor(
PIN_B5,
PIN_B0,
PIN_B1,
PIN_E4,
PIN_E5,
PIN_B4,
PIN_A5,
PIN_A6
);
}
}
// Add a weak pull down resistor to the pin
void PullDownPin(tPin pin) {
GPIOPadConfigSet(PORT_VAL(pin), PIN_VAL(pin),
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);
}
// Set a pin into high impedance mode
void SetPinZ(tPin pin) {
// Setting pin direction to input places it in high impedance mode
GPIOPinTypeGPIOInput(PORT_VAL(pin), PIN_VAL(pin));
}
