/*
* Disable PLLB interrupt, enable PLLG, PLLR interrupts, switch to Blue LED
*/
void Blue_Team(void) {
//Disable further PLLB interrupts
extChannelDisableI(&EXTD1, PLLB_EXTCHAN);
//Enable PLLG, PLLR interrupts
extChannelEnableI(&EXTD1, PLLG_EXTCHAN);
extChannelEnableI(&EXTD1, PLLR_EXTCHAN);
//Change PWM frequency to PLLB Frequency
pwmChangePeriodI(&PWMD2, BLUE_PERIOD);
//Turn on Blue LED, turn off Red, Green LED's
Blue_LED();
}
/*
* Disable PLLG interrupt, enable PLLR, PLLB interrupts, switch to Green LED
*/
void Green_Team(void) {
//Disable further PLLG interrupts
extChannelDisableI(&EXTD1, PLLG_EXTCHAN);
//Enable PLLR, PLLB interrupts
extChannelEnableI(&EXTD1, PLLR_EXTCHAN);
extChannelEnableI(&EXTD1, PLLB_EXTCHAN);
//Change PWM frequency to PLLG Frequency
pwmChangePeriodI(&PWMD2, GREEN_PERIOD);
//Turn on Green LED, turn off Red, Blue LED's
Green_LED();
}
/*
* Disable PLLR interrupt, enable PLLG, PLLB interrupts, switch to Red LED
*/
void Red_Team(void) {
//Disable further PLLR interrupts
extChannelDisableI(&EXTD1, PLLR_EXTCHAN);
//Enable PLLG, PLLB interrupts
extChannelEnableI(&EXTD1, PLLG_EXTCHAN);
extChannelEnableI(&EXTD1, PLLB_EXTCHAN);
//Change PWM frequency to PLLR Frequency
pwmChangePeriodI(&PWMD2, RED_PERIOD);
//Turn on Red LED, turn off Green, Blue LED's
Red_LED();
}
/*
* GPT3 interrupt callback. Reenable transmit interrupts.
*/
static void transmit_unlock(GPTDriver *gptp) {
(void) gptp;
extChannelEnableI(&EXTD1, 0); //Reenable transmit interrupt
chSysUnlockFromIsr();
}
/**
* @brief Enables an EXT channel.
* @pre The channel must not be in @p EXT_CH_MODE_DISABLED mode.
*
* @param[in] extp pointer to the @p EXTDriver object
* @param[in] channel channel to be enabled
*
* @api
*/
void extChannelEnable(EXTDriver *extp, expchannel_t channel) {
osalDbgCheck((extp != NULL) && (channel < (expchannel_t)EXT_MAX_CHANNELS));
osalSysLock();
osalDbgAssert((extp->state == EXT_ACTIVE) &&
((extp->config->channels[channel].mode &
EXT_CH_MODE_EDGES_MASK) != EXT_CH_MODE_DISABLED),
"invalid state");
extChannelEnableI(extp, channel);
osalSysUnlock();
}
/*
* PWM callbacks.
*/
static void pwm1cb(PWMDriver *pwmp) {
(void)pwmp;
chSysLockFromIsr();
pwm_cycles++;
if (pwm_cycles > 160) {
pwmDisableChannelI(pwmp, 0);
pwm_cycles = 0;
extChannelEnableI(&EXT_DRIVER, ECHO);
tmp2 = (&GPT_DRIVER)->tim->CNT;
}
chSysUnlockFromIsr();
}
