/**
* Function documented in platform/uart.h
*/
otError otPlatUartEnable(void)
{
PRCMPowerDomainOn(PRCM_DOMAIN_SERIAL);
while (PRCMPowerDomainStatus(PRCM_DOMAIN_SERIAL) != PRCM_DOMAIN_POWER_ON);
PRCMPeripheralRunEnable(PRCM_PERIPH_UART0);
PRCMPeripheralSleepEnable(PRCM_PERIPH_UART0);
PRCMPeripheralDeepSleepEnable(PRCM_PERIPH_UART0);
PRCMLoadSet();
while (!PRCMLoadGet());
IOCPinTypeUart(UART0_BASE, IOID_2, IOID_3, IOID_UNUSED, IOID_UNUSED);
UARTConfigSetExpClk(UART0_BASE, SysCtrlClockGet(), 115200,
UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE);
UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT);
UARTIntRegister(UART0_BASE, UART0_intHandler);
UARTEnable(UART0_BASE);
return OT_ERROR_NONE;
}
void uartb_init(unsigned long speed){
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
GPIOPinTypeUART(GPIO_PORTB_BASE, GPIO_PIN_0|GPIO_PIN_1);
GPIOPinConfigure(GPIO_PB0_U1RX);
GPIOPinConfigure(GPIO_PB1_U1TX);
SysCtlPeripheralDisable(SYSCTL_PERIPH_UART0);
SysCtlPeripheralEnable(UART_BUFFERIZED_PERIF);
// Initialize the UART. Set the baud rate, number of data bits, turn off
// parity, number of stop bits, and stick mode.
UARTConfigSetExpClk(UART_BUFFERIZED_BASE, SysCtlClockGet(), speed, UART_BUFFERIZED_FLAGS);
// Enable the UART.
UARTEnable(UART_BUFFERIZED_BASE);
// Use hardware FIFO to reduce the amount of interruptions
UARTFIFOEnable(UART_BUFFERIZED_BASE);
// Set fifo limit for interruption triggering at 7/8 th of the fifo size
UARTFIFOLevelSet(UART_BUFFERIZED_BASE,UART_FIFO_TX7_8,UART_FIFO_RX7_8);
// Flush characters. Spin here until bus is empty
// while(UARTCharGetNonBlocking(UART_BUFFERIZED_BASE)>=0);
// Register UART interrupt
UARTIntRegister(UART_BUFFERIZED_BASE,uartb_intHandler);
// Enable UART interruptions
IntEnable(INT_UART1);
UARTIntDisable(UART_BUFFERIZED_BASE,UART_INT_TX);
UARTIntEnable(UART_BUFFERIZED_BASE,UART_INT_RT|UART_INT_RX);
// IntMasterEnable();
}
void bluetooth_init(uint32_t baudrate) {
uint32_t ui32_SystemClock;
ui32_SystemClock = u32_UsrSystemClockGet();
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTConfigSetExpClk(UART0_BASE, ui32_SystemClock, baudrate,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
// UARTFIFOEnable(UART0_BASE);
// UARTFIFOLevelSet(UART0_BASE, UART_FIFO_TX7_8, UART_FIFO_RX1_8);
UARTIntRegister(UART0_BASE, &Bluetooth_RxTxHandler);
IntEnable(INT_UART0);
UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT | UART_INT_TX);
UARTTxIntModeSet(UART0_BASE, UART_TXINT_MODE_EOT);
HC05_ClearEvtQueue();
}
void Init_UART() {
// Enable the peripherals used by this example.
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
// Enable processor interrupts.
IntMasterEnable();
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
// Configure the UART for 115,200, 8-N-1 operation.
UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
// Enable the UART interrupt.
IntEnable(INT_UART0);
UARTIntRegister(UART0_BASE, UARTIntHandler0);
UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT);
}
void enableUART(uint8_t UART, unsigned long baudRate)
{
// We must unlock PD7 to use UART2
if (UART == 2)
{
// GPIO Port D Lock Register is at 0x40007520
HWREG(0x40007520) = GPIO_LOCK_KEY;
// GPIO Port D Control Register is at 0x40007524
HWREG(0x40007524) = 0x80;
}
// Enable the UART peripheral in SysCtl
ROM_SysCtlPeripheralEnable(SysCtlGPIOs[UARTPins[UART][0] / 8]);
ROM_SysCtlPeripheralSleepEnable(SysCtlGPIOs[UARTPins[UART][0] / 8]);
ROM_SysCtlPeripheralEnable(SysCtlUARTs[UART]);
ROM_SysCtlPeripheralSleepEnable(SysCtlUARTs[UART]);
// Configure the associated GPIO pins for UART
ROM_GPIOPinConfigure(UARTPins[UART][2]);
ROM_GPIOPinConfigure(UARTPins[UART][3]);
ROM_GPIOPinTypeUART(GPIO[UARTPins[UART][0] / 8],
bit8[UARTPins[UART][0] % 8] | bit8[UARTPins[UART][1] % 8]);
// Configure the UART
ROM_UARTConfigSetExpClk(UARTBASE[UART], ROM_SysCtlClockGet(), baudRate,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
ROM_UARTFIFOEnable(UARTBASE[UART]);
// Configure the UART receive (rx) interrupt
ROM_UARTIntEnable(UARTBASE[UART], UART_INT_RX);
UARTFIFOLevelSet(UARTBASE[UART], UART_FIFO_TX4_8, UART_FIFO_RX4_8);
UARTIntRegister(UARTBASE[UART], rxInterrupts[UART]);
ROM_IntPrioritySet(UART_INTs[UART], 0x00);
// Enable the UART
ROM_UARTEnable(UARTBASE[UART]);
}
void uartBt_init(unsigned long baudrate) {
ROM_SysCtlPeripheralEnable(UARTBT_PORTENABLE);
ROM_SysCtlPeripheralEnable(UARTBT_PERIPHENABLE);
if(UARTBT_PORT == GPIO_PORTD_BASE) {
// Enable port PD7 for UART2-TX by opening the lock and selecting the bits we want to modify in the GPIO commit register.
HWREG(UARTBT_PORT + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(UARTBT_PORT + GPIO_O_CR) = 0x80;
}
ROM_GPIOPinConfigure(UARTBT_PINMAP_TX);
ROM_GPIOPinConfigure(UARTBT_PINMAP_RX);
ROM_GPIOPinTypeUART(UARTBT_PORT, UARTBT_PIN_RX | UARTBT_PIN_TX);
// Configure the UART for the specified baud rate, 8-N-1 operation.
ROM_UARTConfigSetExpClk(UARTBT_BASE, ROM_SysCtlClockGet(), baudrate, (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
ROM_UARTFIFODisable(UARTBT_BASE); // FIFO disabled so that short commands come through immediately
// ROM_UARTFIFOEnable(UARTBT_BASE);
// ROM_UARTFIFOLevelSet(UARTBT_BASE, UART_FIFO_TX4_8, UART_FIFO_RX4_8);
UARTIntRegister(UARTBT_BASE, ISR_uartBt);
ROM_IntEnable(UARTBT_INTERRUPT);
ROM_UARTIntEnable(UARTBT_BASE, UART_INT_RX);
}
/**********************************************************************************************
* Main
*********************************************************************************************/
void main(void) {
//After tomorrow's test flight. FOR THE LOVE OF GOD MOVE THESE INITALIZATIONS TO FUNCTIONS
/**********************************************************************************************
* Local Variables
*********************************************************************************************/
unsigned long ultrasonic = 0;
// 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.
FPULazyStackingEnable();
//Set the clock speed to 80MHz aka max speed
SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
/*unsigned long test[2];
test[0] = 180;
test[1] = 10;
short bob[1];
bob[0] = ((char)test[0]<<8)|(char)test[1];
float jimmy = (short)(((char)test[0]<<8)|(char)test[1]);
jimmy /= 26;*/
/**********************************************************************************************
* Peripheral Initialization Awake
*********************************************************************************************/
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); //Turn on GPIO communication on F pins for switches
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); //Turn on GPIO for ADC
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); //Turn on GPIO for the PWM comms
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); //Turn on GPIO for LED test
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); //Turn on GPIO for UART
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0); //Turn on Timer for PWM
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1); //Turn on Timer for PWM
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2); //Turn on Timer for PWM
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER3); //Turn on Timer for PWM
SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C1); //Turn on I2C communication I2C slot 0
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART2); //Turn on the UART com
SysCtlPeripheralEnable(SYSCTL_PERIPH_WDOG); //Turn on the watchdog timer. This is a risky idea but I think it's for the best.
/**********************************************************************************************
* Peripheral Initialization Sleep
*********************************************************************************************/
/*SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOF); //This sets what peripherals are still enabled in sleep mode while UART would be nice, it would require the clock operate at full speed which is :P
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_GPIOB);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_GPIOA);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_TIMER0);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_TIMER1);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_TIMER2);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_TIMER3);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_SSI0);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_I2C1);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_ADC);
SysCtlPeripheralClockGating(true); //I'm not sure about this one maybe remove it
*/
/**********************************************************************************************
* PWM Initialization
*********************************************************************************************/
SysCtlDelay((SysCtlClockGet() / (1000 * 3))*100); //This shouldn't be needed will test to remove
//PWM pin Setup
//PWM 0 on GPIO PB6, PWM 1 on pin 4... etc
GPIOPinConfigure(GPIO_PB6_T0CCP0); //Pitch - yaw +
GPIOPinConfigure(GPIO_PB4_T1CCP0); //Pitch + yaw +
GPIOPinConfigure(GPIO_PB0_T2CCP0); //Roll - yaw -
GPIOPinConfigure(GPIO_PB2_T3CCP0); //Roll + yaw -
GPIOPinTypeTimer(GPIO_PORTB_BASE, (GPIO_PIN_6|GPIO_PIN_4|GPIO_PIN_0|GPIO_PIN_2));
//Prescale the timers so they are slow enough to work with the ESC
TimerPrescaleSet(TIMER0_BASE,TIMER_A,2);
TimerPrescaleSet(TIMER1_BASE,TIMER_A,2);
TimerPrescaleSet(TIMER2_BASE,TIMER_A,2);
TimerPrescaleSet(TIMER3_BASE,TIMER_A,2);
//Basic LED Out Test Not sure why this is here look into This just turns on an LED that I don't have plugged in. should remove later
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_3);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_3,0xFF);
//GPIOPinTypeGPIOOutputOD(GPIO_PORTB_BASE,GPIO_PIN_0);
//Timers Setup for PWM and the load for the countdown
TimerConfigure(TIMER0_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM);
TimerLoadSet(TIMER0_BASE, TIMER_A, ulPeriod -1);
TimerConfigure(TIMER1_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM);
TimerLoadSet(TIMER1_BASE, TIMER_A, ulPeriod -1);
TimerConfigure(TIMER2_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM);
TimerLoadSet(TIMER2_BASE, TIMER_A, (ulPeriod -1));
TimerConfigure(TIMER3_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM);
TimerLoadSet(TIMER3_BASE, TIMER_A, ulPeriod -1);
//TimerPrescaleSet(TIMER2_BASE, TIMER_A, extender1);
//TimerLoadSet(TIMER2_BASE, TIMER_A, period1);
//Set the match which is when the thing will pull high
TimerMatchSet(TIMER0_BASE, TIMER_A, 254); //Duty cycle = (1-%desired)*1000 note this means this number is percent low not percent high
TimerMatchSet(TIMER1_BASE, TIMER_A, 254);
TimerMatchSet(TIMER2_BASE, TIMER_A, 254);
TimerMatchSet(TIMER3_BASE, TIMER_A, 254);
//TimerPrescaleMatchSet(TIMER2_BASE, TIMER_A, extender2);
//TimerMatchSet(TIMER2_BASE, TIMER_A, period2);
//Enable the timers
TimerEnable(TIMER0_BASE, TIMER_A);
TimerEnable(TIMER1_BASE, TIMER_A);
TimerEnable(TIMER2_BASE, TIMER_A);
TimerEnable(TIMER3_BASE, TIMER_A);
/**********************************************************************************************
* onboard Chip interrupt Initialization
*********************************************************************************************/
//These two buttons are used to reset the bluetooth module in case of disconnection
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3); //RGB LED's
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x00);
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD; //Sw1 (PF4) is unaviable unless you make it only a GPIOF input via these commands
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0x1;
GPIOPinTypeGPIOInput(GPIO_PORTF_BASE,GPIO_PIN_0|GPIO_PIN_4); //Onboard buttons (PF0=Sw2,PF4=Sw1
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0|GPIO_PIN_4, GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU); //This will make the buttons falling edge (a press pulls them low)
//void (*functionPtr)(void) = &onBoardInteruptHandle;
GPIOPortIntRegister(GPIO_PORTF_BASE, onBoardInteruptHandle); //set function to handle interupt
GPIOIntTypeSet(GPIO_PORTF_BASE,GPIO_PIN_0|GPIO_PIN_4,GPIO_FALLING_EDGE); //Set the interrupt as falling edge
GPIOPinIntEnable(GPIO_PORTF_BASE,GPIO_PIN_0|GPIO_PIN_4); //Enable the interrupt
//IntMasterEnable();
IntEnable(INT_GPIOF);
/**********************************************************************************************
* UART Initialization
*********************************************************************************************/
//Unlock PD7
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTD_BASE + GPIO_O_CR) = 0x80;
GPIOPinConfigure(GPIO_PD7_U2TX); //Set PD7 as TX
GPIOPinTypeUART(GPIO_PORTD_BASE, GPIO_PIN_7);
GPIOPinConfigure(GPIO_PD6_U2RX); //Set PD6 as RX
GPIOPinTypeUART(GPIO_PORTD_BASE, GPIO_PIN_6);
UARTConfigSetExpClk(UART2_BASE,SysCtlClockGet(),115200,UART_CONFIG_WLEN_8|UART_CONFIG_STOP_ONE|UART_CONFIG_PAR_NONE); //I believe the Xbee defaults to no parity I do know it's 9600 baud though, changed to 115200 for bluetooth reasons
UARTFIFOLevelSet(UART2_BASE,UART_FIFO_TX1_8,UART_FIFO_RX1_8); //Set's how big the fifo needs to be in order to call the interrupt handler, 2byte
UARTIntRegister(UART2_BASE,Uart2IntHandler); //Regiester the interrupt handler
UARTIntClear(UART2_BASE, UART_INT_TX | UART_INT_RX); //Clear the interrupt
UARTIntEnable(UART2_BASE, UART_INT_TX | UART_INT_RX); //Enable the interrupt to trigger on both TX and RX event's. Could possibly remove TX
UARTEnable(UART2_BASE); //Enable UART
IntEnable(INT_UART2); //Second way to enable handler not sure if needed using anyway
/**********************************************************************************************
* I2C Initialization
*********************************************************************************************/
//Serious credit to the man who made the Arduino version of this. he gave me addresses and equations. Sadly Arduino obfuscates what really is happening
//Link posted on blog page
//gyro address = 0x68 not 0x69
GPIOPinConfigure(GPIO_PA7_I2C1SDA);
GPIOPinTypeI2C(GPIO_PORTA_BASE, GPIO_PIN_7); //Set GPA7 as SDA
GPIOPinConfigure(GPIO_PA6_I2C1SCL);
GPIOPinTypeI2CSCL(GPIO_PORTA_BASE, GPIO_PIN_6); //Set GPA6 as SCL
I2CMasterInitExpClk(I2C1_MASTER_BASE,SysCtlClockGet(),false); //I think it operates at 100kbps
I2CMasterEnable(I2C1_MASTER_BASE);
//Initalize the accelerometer Address = 0x53
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x02);
UARTSend(0xAB);
I2CTransmit(0x53,0x2D,0x00);
I2CTransmit(0x53,0x2D,0x10);
I2CTransmit(0x53,0x2D,0x08);
//Initalize the gyroscope Address = 0x68
I2CTransmit(0x68,0x3E,0x00);
I2CTransmit(0x68,0x15,0x07);
I2CTransmit(0x68,0x16,0x1E);
I2CTransmit(0x68,0x17,0x00);
UARTSend(0xAC);
/**********************************************************************************************
* SysTick Initialization
*********************************************************************************************/
SysTickIntRegister(SysTickIntHandler);
SysTickIntEnable();
SysTickPeriodSet((SysCtlClockGet() / (1000 * 3))*timeBetweenCalculations); //This sets the period for the delay. the last num is the num of milliseconds
SysTickEnable();
/**********************************************************************************************
* Watchdog Initialization
*********************************************************************************************/
WatchdogReloadSet(WATCHDOG_BASE, 0xFEEFEEFF); //Set the timer for a reset
WatchdogIntRegister(WATCHDOG_BASE,WatchdogIntHandler); //Enable interrupt
WatchdogIntClear(WATCHDOG_BASE);
WatchdogIntEnable(WATCHDOG_BASE);
WatchdogEnable(WATCHDOG_BASE); //Enable the actual timer
IntEnable(INT_WATCHDOG);
/**********************************************************************************************
* Preflight motor inialization maybe not necessary not going to test
*********************************************************************************************/
PWMSet(TIMER0_BASE,998);
PWMSet(TIMER1_BASE,998);
PWMSet(TIMER2_BASE,998);
PWMSet(TIMER3_BASE,998);
recievedCommands[0]=253;
SysCtlDelay((SysCtlClockGet() / (1000 * 3))*100); //Very important to ensure motor see's a start high (998 makes 0 sense but it works so shhhh don't tell anyone)
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x06);
while(1){
WatchdogReloadSet(WATCHDOG_BASE, 0xFEEFEEFF); //Feed the dog a new time
//UARTSend(recievedCommands[0]);
//SysCtlDelay(50000);
//Set 4 PWM Outputs
//Get Acc data
I2CRead(0x53,0x32,6,quadAcc); //Address blah blah 2 for each axis
rawAccToG(quadAcc,RwAcc);
/*GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x04); //Blue
//Get Gyro data
/**************************************
Gyro ITG-3200 I2C
registers:
temp MSB = 1B, temp LSB = 1C
x axis MSB = 1D, x axis LSB = 1E
y axis MSB = 1F, y axis LSB = 20
z axis MSB = 21, z axis LSB = 22
*************************************/
I2CRead(0x68,0x1B,8,quadGyro); //Address blah blah 2 for each axis + 2 for temperature. why. because why not
rawGyroToDegsec(quadGyro,Gyro_ds);
//GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x02); //Red
//Get the actual angles in XYZ. Store them in RwEst
//getInclination(RwAcc, RwEst, RwGyro, Gyro_ds, Awz);
//After this function is called RwEst will hold the roll pitch and yaw
//RwEst will be returned in PITCH, ROLL, YAW 0, 1, 2 remember this order very important. Little obvious but yaw is worthless
/*if(RwEst[1]>0.5){
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x06); //Red Blue, Correct data read in
}else{
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x0A); //Red Green, The correct data is not there
}*/
/*GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x06); //Red Blue, Correct data read in
float test=RwAcc[0]*100; //These two commands work
char temp = (char)test;
//UARTSend((char)(RwAcc[0])*100); //This one does not
UARTSend(temp);
//UARTSend((char)(RwAcc[1])*100);
UARTSend(0xAA);
SysCtlDelay((SysCtlClockGet() / (1000 * 3))*1);
*/
}
}
//*****************************************************************************
//
//! Config Uart: some characteristic:
//! PortName
//! BaudRate
//! DataBits
//! Parity
//! StopBits
//! (*ISR)(): name of UART interrupt function
//!
//!
//! \param pointer of Uart characteristic structure.
//!
//! \return ERROR_NONE: 0
//
//*****************************************************************************
unsigned char ConfigUART(UARTType *UART)
{
unsigned long ulSet = 0;
//Configure GPIO for UART Mode
switch ((*UART).PortName)
{
case UART0_BASE:
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
break;
case UART1_BASE:
break;
case UART2_BASE:
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART2);
GPIOPinTypeUART(GPIO_PORTD_BASE, GPIO_PIN_6 | GPIO_PIN_7);
GPIOPinConfigure(GPIO_PD6_U2RX);
GPIOPinConfigure(GPIO_PD7_U2TX);
break;
case UART3_BASE:
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART3);
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_6 | GPIO_PIN_7);
GPIOPinConfigure(GPIO_PC6_U3RX);
GPIOPinConfigure(GPIO_PC7_U3TX);
break;
case UART4_BASE:
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_4 | GPIO_PIN_5);
GPIOPinConfigure(GPIO_PC4_U4RX);
GPIOPinConfigure(GPIO_PC5_U4TX);
break;
case UART5_BASE:
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART5);
GPIOPinTypeUART(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5);
GPIOPinConfigure(GPIO_PE4_U5RX);
GPIOPinConfigure(GPIO_PE5_U5TX);
break;
case UART6_BASE:
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART6);
GPIOPinTypeUART(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5);
GPIOPinConfigure(GPIO_PD4_U6RX);
GPIOPinConfigure(GPIO_PD5_U6TX);
break;
case UART7_BASE:
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART7);
GPIOPinTypeUART(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1);
GPIOPinConfigure(GPIO_PE0_U7RX);
GPIOPinConfigure(GPIO_PE1_U7TX);
break;
default:
return(INVALID_UART_NAME);
}
switch ((*UART).DataBits)
{
case 5:
ulSet |= UART_CONFIG_WLEN_5;
break;
case 6:
ulSet |= UART_CONFIG_WLEN_6;
break;
case 7:
ulSet |= UART_CONFIG_WLEN_7;
break;
case 8:
ulSet |= UART_CONFIG_WLEN_8;
break;
default:
return(INVALID_DATA_BITS);
}
switch ((*UART).Parity)
{
case None:
ulSet |= UART_CONFIG_PAR_NONE;
break;
case Odd:
ulSet |= UART_CONFIG_PAR_ODD;
break;
case Even:
ulSet |= UART_CONFIG_PAR_EVEN;
break;
case One:
ulSet |= UART_CONFIG_PAR_ONE;
break;
case Zero:
ulSet |= UART_CONFIG_PAR_ZERO;
break;
default:
return(INVALID_PARITY_BIT);
}
switch ((*UART).StopBits)
{
case 1:
ulSet |= UART_CONFIG_STOP_ONE;
break;
case 2:
ulSet |= UART_CONFIG_STOP_TWO;
break;
default:
return(INVALID_STOP_BIT);
}
//Configure UART
UARTConfigSetExpClk((*UART).PortName, SysCtlClockGet(), (*UART).BaudRate, ulSet);
UARTIntRegister((*UART).PortName, (*UART).ISR);
UARTIntEnable((*UART).PortName, UART_INT_RX | UART_INT_RT);
UARTEnable((*UART).PortName);
IntMasterEnable();
return(ERROR_NONE);
}
/**************************************************************************//**
* @brief Main function of example.
******************************************************************************/
void main(void)
{
uint8_t ui8KeyBm = 0;
uint_fast16_t ui16Cnt = 0;
uint8_t ui8Byte = APP_TX_BYTE;
//
// Initialize clocks and board I/O
//
bspInit(BSP_SYS_CLK_SPD);
//
// Set LED1 to indicate life
//
bspLedSet(BSP_LED_1);
//
// Initialize key driver
//
bspKeyInit(BSP_KEY_MODE_ISR);
bspKeyIntEnable(BSP_KEY_SELECT|BSP_KEY_UP);
//
// Initialize UART to USB MCU
//
bspUartBufInit(pui8TxBuf, sizeof(pui8TxBuf), pui8RxBuf, sizeof(pui8RxBuf));
//
// Application must register the UART interrupt handler
//
UARTIntRegister(BSP_UART_BASE, &appUartIsr);
//
// Open UART connection
//
if(bspUartOpen(eBaudRate115200) != BSP_UART_SUCCESS)
{
//
// Failed to initialize UART handler
//
bspAssert();
}
//
// Initialize SPI interface to LCD, configure LCD, and display information.
//
bspSpiInit(BSP_SPI_CLK_SPD);
lcdInit();
lcdBufferPrintStringAligned(0, "UART example", eLcdAlignCenter, eLcdPage0);
lcdBufferInvertPage(0, 0,127, eLcdPage0);
lcdBufferPrintString(0, "Baud rate :", 6, eLcdPage2);
lcdBufferPrintIntAligned(0, bspUartBaudRateGet(), eLcdAlignRight, eLcdPage2);
lcdBufferPrintString(0, "Format :", 6, eLcdPage3);
lcdBufferPrintStringAligned(0, "8-N-1", eLcdAlignRight, eLcdPage3);
lcdBufferPrintString(0, "Flow control:", 6, eLcdPage4);
lcdBufferPrintStringAligned(0, "No", eLcdAlignRight, eLcdPage4);
lcdBufferPrintStringAligned(0, "Transmit: UP key", eLcdAlignRight, eLcdPage6);
lcdBufferPrintStringAligned(0, "SELECT to toggle mode", eLcdAlignCenter, eLcdPage7);
lcdBufferInvertPage(0, 0,127, eLcdPage7);
lcdSendBuffer(0);
//
// Enable global interrupts
//
IntMasterEnable();
while(1)
{
ui8KeyBm = bspKeyPushed(BSP_KEY_ALL);
if(BSP_KEY_SELECT & ui8KeyBm)
{
//
// Change mode
//
bRepeaterMode ^= 1;
bspLedToggle(BSP_LED_3);
//
// Update LCD for the new mode
//
lcdBufferClearPart(0, 0,127, eLcdPage6, eLcdPage6);
if(bRepeaterMode)
{
lcdBufferPrintStringAligned(0, "Repeater mode",
eLcdAlignCenter, eLcdPage6);
}
else
{
lcdBufferPrintStringAligned(0, "Transmit: UP key",
eLcdAlignCenter, eLcdPage6);
}
lcdSendBufferPart(0, 0,127, eLcdPage6, eLcdPage6);
}
//
// Read data from UART RX buffer to application buffer
//
ui16Cnt = bspUartDataGet(pui8AppBuf, bspUartRxCharsAvail());
if(bRepeaterMode)
{
//
// Repeater mode
//
if(ui16Cnt)
{
//
// Send data from application buffer to UART TX buffer
//
bspUartDataPut(pui8AppBuf, ui16Cnt);
}
}
else
{
//
// Transmit mode
//
if(BSP_KEY_UP & ui8KeyBm)
{
//
// Transmit a single character
//
bspUartDataPut(&ui8Byte, 1);
}
}
}
}
