/******************************************************************************
*
* Function Name: initSysTime()
*
* Description:
* This function initializes the LPC's Timer 0 for use as the system timer.
*
* Calling Sequence:
* void
*
* Returns:
* void
*
*****************************************************************************/
void initSysTime(void)
{
#if defined(SYSTIME_INT_MODE)
uint8_t i;
#endif
T0TCR = TxTCR_Counter_Reset; // reset & disable timer 0
// setup Timer 1 to count forever
T0PR = T0_PCLK_DIV - 1; // set the prescale divider
T0CCR = 0; // disable compare registers
T0EMR = 0; // disable external match register
#if defined(SYSTIME_INT_MODE)
for ( i=0; i<SYSTIME_MAX_CALLBACKS; i++ ) {
gCallbackFunctions[i] = NULL;
gCallbackRates[i] = 0;
gCallbackCounters[i] = 0;
}
VICIntSelect &= ~(VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer0));
VICIntEnClr = VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer0);
VICVectAddr4 = (uint32_t)sysTimeISR;
VICVectPriority4 = 0x01;
VICIntEnable = VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer0);
T0MR0 = T0TC + SYSTIME_INT_DT - 1;
T0MCR = TxMCR_MR0I; // interrupt on cmp-match0
T0IR = TxIR_MR0_Interrupt; // clear match0 interrupt
#else
T0MCR = 0; // disable match registers
#endif
T0TCR = TxTCR_Counter_Enable; // enable timer 0
sysTICs = 0;
}
//Setup Timer0 Compare-Match Interrupt
//no prescaler timer runs at cclk = FOSC*PLL_M
void init_timer0 (void)
{
//Compare-hit
T0MR0 = (FOSC*3/TIMER_TEILER0)-1;
//Interrupt and Reset on MR0
T0MCR = TxMCR_MR0I | TxMCR_MR0R;
//Timer0 Enable
T0TCR = TxTCR_COUNTER_ENABLE;
//initialize the interrupt vector
VICIntSelect &= ~VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer0);
VICIntEnClr = VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer0);
VICVectAddr4 = (unsigned long)tc0_isr;
VICVectPriority4 = 0x05;
VICIntEnable = VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer0);
}
void RTCInit( void )
{
alarm_on = 0;
RTC_AMR = 0;
RTC_CIIR = 0;
RTC_CCR = 0;
RTC_SEC = 0;
RTC_MIN = 0;
RTC_HOUR = 0;
RTC_DOM = 1;
RTC_DOW = 1;
RTC_DOY = 1;
RTC_MONTH = 1;
RTC_YEAR = 2010;
RTC_PREINT = PREINT_RTC;
RTC_PREFRAC = PREFRAC_RTC;
//VICIntSelect &= ~VIC_CHAN_TO_MASK(VIC_CHAN_NUM_RTC);
VICIntEnClr = VIC_CHAN_TO_MASKLOW(VIC_CHAN_NUM_RTC);
VICVectAddr13 = (unsigned long)RTC_ISR;
VICVectPriority13 = 0x0F;
VICIntEnable = VIC_CHAN_TO_MASK(VIC_CHAN_NUM_RTC);
}
//Setup Timer1 Compare-Match Interrupt
//no prescaler timer runs at cclk = FOSC*PLL_M
void init_timer3 (void)
{
//Compare-hit (10Khz)
T3MR0 = (FOSC*3/TIMER_TEILER3)-1;
//Interrupt and Reset on MR0
T3MCR = TxMCR_MR0I | TxMCR_MR0R;
//Timer3 Enable
T3TCR = TxTCR_COUNTER_ENABLE;
//initialize the interrupt vector
VICIntSelect &= ~VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer3);
VICIntEnClr = VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer3);
VICVectAddr27 = (unsigned long)tc3_isr;
VICVectPriority27 = 0x05;
VICIntEnable = VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer3);
}
//Setup Timer1 Compare-Match Interrupt
//no prescaler timer runs at cclk = FOSC*PLL_M
void init_timer1 (void)
{
//Compare-hit (10Khz)
T1MR0 = 1;
T1PR = 110;
//Interrupt and Reset on MR0
T1MCR = TxMCR_MR0I | TxMCR_MR0R;
//Timer1 Enable
T1TCR = TxTCR_COUNTER_ENABLE;
//initialize the interrupt vector
VICIntSelect &= ~VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer1);
VICIntEnClr = VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer1);
VICVectAddr5 = (unsigned long)tc1_isr;
VICVectPriority5 = 0x01;
VICIntEnable = VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer1);
}
/*! \brief Initializes the encoder counting.
Initializes the Timer 0 and 3 peripherals to count rising and falling
edges of the encoder signals. The A and B encoder signals are XORed on the
connector board to get twice the resolution. The Timer 1 interrupt is then
used to sample the counted ticks and store them. Timer 1 samples at 50Hz.
*/
void EncoderInit(void)
{
// 1. Power up timers 0, 1, and 3
PCONP |= PCONP_PCTIM0 | PCONP_PCTIM1 | PCONP_PCTIM3;
// 2. Make the peripheral clocks 72 MHz = divided by one
PCLKSEL0 |= PCLKSEL0_TIM0_DIV1 | PCLKSEL0_TIM1_DIV1;
PCLKSEL1 |= PCLKSEL1_TIM3_DIV1;
// 3. Select pin functions. Make P3.23 be CAP0 and P0.23 be CAP3.0.
PINSEL7 |= (PINSEL7_CAP00);
PINSEL1 |= (PINSEL1_CAP30);
// 4. Setup timer counter
T0CTCR = CTCR_CM_RF | CTCR_CAP_SEL_0; // Timer is counter mode on rise/fall
// Start the counting on channel 0
T0TCR = TCR_CR; // Reset timer0 counter
T0PR = 0; // Increment TC after every rise/fall
T3CTCR = CTCR_CM_RF | CTCR_CAP_SEL_0; // Timer is counter mode on rise/fall
// Start the counting on channel 0
T3TCR = TCR_CR; // Reset timer3 counter
T3PR = 0; // Increment TC after every rise/fall
// 5. Setup timer1 for a sample period of 20msec for counting
T1TCR = TCR_CR; // Reset timer1 counter
T1CTCR = CTCR_TM; // Timer 1 is in timer mode
T1MR0 = MCR_20MS; // Match at 20ms
T1MCR = MCR_MR0I | MCR_MR0S | MCR_MR0R; // On match, interrupt,reset,stop TC
// Setup T1 Interrupt
VICIntSelect &= ~VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer1); // Change to IRQ
VICIntEnClr |= VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer1); // Disable interrupt
VICVectAddr5 = (uint32_t)(void *)EncoderISR; // Assign the ISR
VICVectPriority5 = 0xE; // Set the priority
VICIntEnable |= VIC_CHAN_TO_MASK(VIC_CHAN_NUM_Timer1); // Enable the INT
// 6. Enable the Timer counters
T0TCR = TCR_CE;
T3TCR = TCR_CE;
T1TCR = TCR_CE;
// 7. Setup direction inputs (input is 0)
FIO3DIR &= ~LEFT_IN & ~RIGHT_IN;
}
// Setup UART0 for the IMU at 38400 baud on P0.2 and P0.3
void Uart0Init(void)
{
// 1. Turn on UART0 peripheral
PCONP |= PCONP_UART0;
// 2. Select the peripheral clock divider
// For baud rate of 38400 use divider of 1 so PCLK = 72MHz
// BR = PCLK / (16 * (256*DLM+DLL) * (1 + DIV/MULT))
// DLM = 0, DLL = 78, DIV = 1, MULT = 2
// So BR = 38461.5
PCLKSEL0 |= PCLKSEL0_UART0_DIV1;
// 3. Set the DLAB bit to write to the baud registers
U0LCR = UART_DLAB;
U0DLL = 52;//78;//26;
U0DLM = 0;
U0FDR = 0x21;
U0LCR = UART_8BIT;
// 4. Enable UART FIFO
U0FCR |= UART_FIFO_EN | UART_RX_FIFO_RST | UART_TX_FIFO_RST;
// 5. Enable Peripheral Pins P0.2(TXD0) & P0.3(RXD0)
PINSEL0 |= PINSEL0_TXD0 | PINSEL0_RXD0;
// 6. Enable transmit (no handshaking required)
U0TER |= UART_TXEN;
// 7. Setup Interrupts
VICIntSelect &= ~VIC_CHAN_TO_MASK(VIC_CHAN_NUM_UART0); // Change to IRQ
VICIntEnClr |= VIC_CHAN_TO_MASK(VIC_CHAN_NUM_UART0); // Disable interrupt
VICVectAddr6 = (uint32_t)(void *)Uart0ISR; // Assign the ISR
VICVectPriority6 = 0xE; // Set the priority
VICIntEnable |= VIC_CHAN_TO_MASK(VIC_CHAN_NUM_UART0); // Enable the interrupt
U0IER = UART_RXDAIE; // Enable RX Data interrupt
uart0_rx_insert = uart0_rx_extract = 0; // Initialize buffer positions
uart0_tx_insert = uart0_tx_extract = 0;
uart0_tx_running = 0;
}
