void uartInit(int32u baudrate, int8u databits, SerialParity parity, int8u stopbits)
{
int32u tempcfg;
assert( (baudrate >= 300) && (baudrate <=921600) );
SC1_UARTFRAC = 0;
SC1_UARTPER = 104; // baudrate 115200
if(databits == 7) {
tempcfg = 0;
} else {
tempcfg = SC_UART8BIT;
}
if (parity == PARITY_ODD) {
tempcfg |= SC_UARTPAR | SC_UARTODD;
} else if( parity == PARITY_EVEN ) {
tempcfg |= SC_UARTPAR;
}
if ((stopbits & 0x0F) >= 2) {
tempcfg |= SC_UART2STP;
}
SC1_UARTCFG = tempcfg;
SC1_MODE = SC1_MODE_UART;
/*
rxHead=0;
rxTail=0;
rxUsed=0;
*/
// halGpioConfig(PORTB_PIN(1),GPIOCFG_OUT_ALT);
// halGpioConfig(PORTB_PIN(2),GPIOCFG_IN);
configureGPIO(PORTB_PIN(1), GPIOCFG_OUT_ALT);
configureGPIO(PORTB_PIN(2), GPIOCFG_IN);
// Make the RX Valid interrupt level sensitive (instead of edge)
SC1_INTMODE = SC_RXVALLEVEL;
// Enable just RX interrupts; TX interrupts are controlled separately
INT_SC1CFG |= (INT_SCRXVAL |
INT_SCRXOVF |
INT_SC1FRMERR |
INT_SC1PARERR);
INT_SC1FLAG = 0xFFFF; // Clear any stale interrupts
INT_CFGSET = INT_SC1;
}
int serial_main()
{
int i, j = 0;
SER_init();
configureGPIO();
while (1)
{
ledOn();
printf("Led On, Iteration %d\n\r", j);
for (i = 0; i < 0x0007FFFF; i++)
{
}
ledOff();
printf("Led Off, Iteration %d\n\r", j);
for (i = 0; i < 0x0007FFFF; i++)
{
}
j++;
}
}
int main(void)
{
//set up systick
SysTick_Config(SystemCoreClock / 1000);
configureSPI();
configureGPIO();
// uint16_t thispin = 0x00;
// uint8_t up = 0x01;
while(1)
{
// thispin = 0x0100;
// while (thispin != 0x0000) {
// if(up&0x01)
// {
// GPIO_SetBits(GPIOE, thispin);
// thispin = thispin << 1;
// } else {
// GPIO_ResetBits(GPIOE, thispin);
// thispin = thispin << 1;
// }
// delay(100);
// }
//
// up ^= 0x01;
GPIO_SetBits(GPIOA, GPIO_Pin_4);
SPI_I2S_SendData16(SPI1, 0xA5);
while(!SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE));
while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_BSY));
GPIO_ResetBits(GPIOA, GPIO_Pin_4);
GPIOE->ODR ^= 0xFF00;
delay(100);
}
}
int main(void)
{
MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |SYSCTL_XTAL_12MHZ); //50MHZ
//
// Enable peripherals to operate when CPU is in sleep.
//
MAP_SysCtlPeripheralClockGating(true);
//
// Configure SysTick to occur 1000 times per second, to use as a time
// reference. Enable SysTick to generate interrupts.
//
MAP_SysTickPeriodSet(MAP_SysCtlClockGet() / SYSTICKS_PER_SECOND);
MAP_SysTickIntEnable();
MAP_SysTickEnable();
//
// Get the current processor clock frequency.
//
ulClockMS = MAP_SysCtlClockGet() / (3 * 1000);
// init Serial Comm
initSerialComm(230400);
// init SSI0 in slave mode
initSPIComm();
#ifdef DEBUG
UARTprintf("Setting up PID\n");
#endif
initCarPID();
#ifdef DEBUG
UARTprintf("done\n");
#endif
#ifdef DEBUG
UARTprintf("Setting up PWM ... \n");
#endif
configurePWM();
configureGPIO();
#ifdef DEBUG
UARTprintf("done\n");
#endif
#ifdef DEBUG
UARTprintf("Setting up Servo ... \n");
#endif
servo_init();
servo_setPosition(90);
#ifdef DEBUG
UARTprintf("done\n");
#endif
#ifdef DEBUG
UARTprintf("Starting QEI...");
#endif
encoder_init();
#ifdef DEBUG
UARTprintf("done\n");
#endif
#ifdef USE_I2C
#ifdef DEBUG
UARTprintf("Setting up I2C\n");
#endif
//I2C
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
MAP_GPIOPinTypeI2C(GPIO_PORTB_AHB_BASE,GPIO_PIN_2 | GPIO_PIN_3);
MAP_I2CMasterInitExpClk(I2C0_MASTER_BASE,SysCtlClockGet(),true); //false = 100khz , true = 400khz
I2CMasterTimeoutSet(I2C0_MASTER_BASE, 1000);
#ifdef DEBUG
UARTprintf("done\n");
#endif
#endif
#ifdef USE_I2C
#ifdef USE_INA226
#ifdef DEBUG
UARTprintf("Setting up INA226\n");
#endif
initINA226();
#ifdef DEBUG
UARTprintf("done\n");
#endif
#endif
#endif
while (1)
{
}
}
