/*******************************************************************************
* Function Name: PWM_Wakeup
********************************************************************************
*
* Summary:
* Restores the user configuration and restores the enable state.
*
* Parameters:
* None
*
* Return:
* None
*
*******************************************************************************/
void PWM_Wakeup(void)
{
PWM_RestoreConfig();
if(0u != PWM_backup.enableState)
{
PWM_Enable();
}
}
void PWMInit(void)
{
PWM_SEL |= (1 << PWM_PIN);
PWM_DIR |= (1 << PWM_PIN);
/* Use the SMCLK and Continuous Operation */
PWM_Enable();
PWM_TopCount(0);
PWM_CTL = OUTMOD_RESET_SET;
}
/***********************************************************
* Function ： PWM_InitHGpioMode
* Parameter ：
* Return ：
* Description ：
***********************************************************/
void PWM_InitHGpioMode(PWM_GPIO_CFG *pPwmPara)
{
/*disable INTSRC_PWM*/
VIC_DisableInt(INTSRC_PWM);
PWM_Enable(pPwmPara->PwmId, FALSE);
/*set pwm's mode*/
PWM_SetMode(pPwmPara->PwmId, MODE_HGPIO);
/*set PWM prescale*/
PWM_SetPreScale(pPwmPara->PwmId, pPwmPara->Prescale);
/*set gpio dir*/
PWM_SetHGDir(pPwmPara->PwmId, pPwmPara->PwmDir);
/*configure int for pwm*/
PWM_MaskInt(pPwmPara->PwmId, pPwmPara->PwmMask);
if(pPwmPara->PwmMask == INT_UNMASK)
{
VIC_EnableInt(INTSRC_PWM);
}
PWM_Enable(pPwmPara->PwmId, TRUE);
}
/*******************************************************************************
* Function Name: PWM_Start
********************************************************************************
*
* Summary:
* The start function initializes the pwm with the default values, the
* enables the counter to begin counting. It does not enable interrupts,
* the EnableInt command should be called if interrupt generation is required.
*
* Parameters:
* None
*
* Return:
* None
*
* Global variables:
* PWM_initVar: Is modified when this function is called for the
* first time. Is used to ensure that initialization happens only once.
*
*******************************************************************************/
void PWM_Start(void)
{
/* If not Initialized then initialize all required hardware and software */
if(PWM_initVar == 0u)
{
PWM_Init();
PWM_initVar = 1u;
}
PWM_Enable();
}
/*******************************************************************************
* Function Name: PWM_Wakeup
********************************************************************************
*
* Summary:
* Restores and enables the user configuration. Should be called just after
* awaking from sleep.
*
* Parameters:
* void
*
* Return:
* void
*
* Global variables:
* PWM_backup.pwmEnable: Is used to restore the enable state of
* block on wakeup from sleep mode.
*
*******************************************************************************/
void PWM_Wakeup(void)
{
/* Restore registers values */
PWM_RestoreConfig();
if(PWM_backup.PWMEnableState != 0u)
{
/* Enable component's operation */
PWM_Enable();
} /* Do nothing if component's block was disabled before */
}
/***********************************************************
* Function ： PWM_InitTimerMode
* Parameter ：
* Return ：
* Description ：
***********************************************************/
void PWM_InitTimerMode(PWM_TIMER_CFG *pPwmPara)
{
/*disable INTSRC_PWM*/
VIC_DisableInt(INTSRC_PWM);
PWM_Enable(pPwmPara->PwmId, FALSE);
/*set pwm's mode*/
PWM_SetMode(pPwmPara->PwmId, pPwmPara->TimerMode);
/*set PWM prescale*/
PWM_SetPreScale(pPwmPara->PwmId, pPwmPara->Prescale);
/*set period value*/
PWM_SetPeriod(pPwmPara->PwmId, pPwmPara->Period);
/*set match mode,when count == period ,the output's ele level*/
PWM_SetMatchMode(pPwmPara->PwmId, pPwmPara->MatchMode);
/*configure int for pwm*/
PWM_MaskInt(pPwmPara->PwmId, pPwmPara->PwmMask);
if(pPwmPara->PwmMask == INT_UNMASK)
{
VIC_EnableInt(INTSRC_PWM);
}
PWM_Enable(pPwmPara->PwmId, TRUE);
}
/***********************************************************
* Function ： PWM_InitPwmMode
* Parameter ：
* Return ：
* Description ：
***********************************************************/
void PWM_InitPwmMode(PWM_PWM_CFG *pPwmPara)
{
/*disable INTSRC_PWM*/
VIC_DisableInt(INTSRC_PWM);
PWM_Enable(pPwmPara->PwmId, FALSE);
/*set pwm's mode*/
PWM_SetMode(pPwmPara->PwmId, MODE_PWM);
/*set PWM prescale*/
PWM_SetPreScale(pPwmPara->PwmId, pPwmPara->Prescale);
/*set period register*/
PWM_SetPeriod(pPwmPara->PwmId, pPwmPara->Period);
/*set duty cycle*/
PWM_SetDutyCycle(pPwmPara->PwmId, pPwmPara->DutyCycle);
if(pPwmPara->PwmMask == INT_UNMASK)
{
/*configure int for pwm*/
PWM_MaskInt(pPwmPara->PwmId, pPwmPara->PwmMask);
VIC_EnableInt(INTSRC_PWM);
}
PWM_Enable(pPwmPara->PwmId, TRUE);
}
int main(void)
{
// Clock (50MHz)
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
// Init peripherals
// UART0/1
UART_Init(UART0);
UART_Enable(UART0);
UART_Init(UART1);
UART_SetIRQ(UART1, UART_RX_IRQ, &UART1_RX_IRQ);
UART_IntEnable(UART1, UART_RX_IRQ);
UART_Enable(UART1);
setbuf(stdout, NULL);
u1BufPtr = u1Buf;
// I2C0
I2C_Init(I2C0);
I2C_Enable(I2C0);
// PWM0/1
PWM_Init(PWM0, 50);
PWM_Init(PWM1, 1000);
PWM_Enable(rLED);
PWM_Enable(gLED);
PWM_Enable(bLED);
PWM_Set(rLED, 0);
PWM_Set(gLED, 0);
PWM_Set(bLED, 0);
// Init Robotics BoosterPack
RoboticsBP_Init();
// NVIC
IntMasterEnable();
// As soon as UART1 IRW is enabled, a character is
// incorrectly received. Correct the issue by simply
// resetting the buffer pointer.
// Might be a bug in UART implementation of PAL
u1BufPtr = u1Buf;
// Start parsing commands as they become available
cmdHead = u1Buf;
cmdTail = u1Buf;
while(1)
{
// Wait until buffPtr moves
// Might be possible to use wfi() here
if (cmdTail == u1BufPtr)
continue;
// This is apparently needed, otherwise everything doesn't work...
printf("%c%d", *cmdTail, *cmdTail == ';');
// Increment pointer
cmdTail++;
// If command is complete
if (*cmdTail == ';')
{
printf("\r\n");
// Fake the end of a string
*cmdTail = 0;
// Execute command
parseCmd();
// Update pointers
// Check if we need to loop back
if (cmdTail > u1Buf + 1000)
{
// Reset pointers to beginning of buffer
cmdHead = u1Buf;
cmdTail = u1Buf;
}
else
{
// Upadte pointers
cmdHead = ((unsigned char*) cmdTail) + 1;
cmdTail = cmdHead;
}
}
}
}
void parseCmd()
{
static float value;
static unsigned char ndx;
/* Valid commands:
// LED Comamnds
# [r,g,b,*]
L#E Enable LED #
L#D Disable LED #
L#=0.6 Set LED to 60%
// Motor Commands
# [0-3, *]
M#E Enable Motor #
M#D Disable Motor #
M#I Invert Motor #
M#T=0.7 Throttle Motor # to 70%
M#=0.3 Set Motor # to 30% Fwd
M#=-0.8 Set Motor # to 80% Rev
// Servo Commands
# [0-5, *]
S#E Enable Servo #
S#D Disable Servo #
S#I Invert Servo #
S#L=0.4,0.6 Set Servo 3 limits to 40% - 60%
S#=0.2 Set Servo 2 to 20%
TODO: Add more targets later
*/
// Determine object to do command on
switch(cmdHead[0])
{
//
// LED Commands
//
case 'l':
case 'L':
switch(cmdHead[1])
{
case '*': // Command all LEDs
switch(cmdHead[2])
{
case 'e': // Enable LEDs
case 'E':
PWM_Enable(rLED);
PWM_Enable(gLED);
PWM_Enable(bLED);
PWM_Set(rLED, 0);
PWM_Set(gLED, 0);
PWM_Set(bLED, 0);
//printf(" All LEDs enabled\r\n All LEDs set to 0%%\r\n");
break;
case 'd': // Disable LEDs
case 'D':
PWM_Disable(rLED);
PWM_Disable(gLED);
PWM_Disable(bLED);
//printf(" All LEDs disabled\r\n");
break;
case '=': // Set LEDs
// Parse value
value = strtof(reinterpret_cast<const char*>(&cmdHead[3]), NULL);
// Check value range
if (value > 1 || value < 0 )
{
//printf("Invalid led value: %s\r\n", cmdHead);
break;
}
// Set LEDs
PWM_Set(rLED, value);
PWM_Set(gLED, value);
PWM_Set(bLED, value);
//printf(" LEDs set to % 2d%%\r\n", (unsigned char) (value*100));
break;
//default:
//printf("Invalid LED command: %s\r\n", cmdHead);
}
break;
case 'r':
case 'g':
case 'b':
switch(cmdHead[2])
{
case 'e': // Enable LED
case 'E':
if (cmdHead[1] == 'r')
{
PWM_Enable(rLED);
PWM_Set(rLED, 0);
//printf(" Red LED enabled\r\n Red LED set to 0%%\r\n");
}
else if (cmdHead[1] == 'g')
{
PWM_Enable(gLED);
PWM_Set(gLED, 0);
//printf(" Green LED enabled\r\n Green LED set to 0%%\r\n");
}
else
{
PWM_Enable(bLED);
PWM_Set(bLED, 0);
//printf(" Blue LED enabled\r\n Blue LED set to 0%%\r\n");
}
break;
case 'd': // Disable LED
case 'D':
if (cmdHead[1] == 'r')
{
PWM_Disable(rLED);
//printf(" Red LED disabled\r\n");
}
else if (cmdHead[1] == 'g')
{
PWM_Disable(gLED);
//printf(" Green LED disabled\r\n");
}
else
{
PWM_Disable(bLED);
//printf(" Blue LED disabled\r\n");
}
break;
case '=': // Set LED
// Parse value
value = strtof(reinterpret_cast<const char*>(&cmdHead[3]), NULL);
// Check value range
if (value > 1 || value < 0 )
{
//printf("Invalid led value: %s\r\n", cmdHead);
break;
}
// Set LED
if (cmdHead[1] == 'r')
{
PWM_Set(rLED, value);
//printf(" Red LED set to % 2d%%\r\n", (unsigned char) (value * 100));
}
else if (cmdHead[1] == 'g')
{
PWM_Set(gLED, value);
//printf(" Green LED set to % 2d%%\r\n", (unsigned char) (value * 100));
}
else
{
PWM_Set(bLED, value);
//printf(" Blue LED set to % 2d%%\r\n", (unsigned char) (value * 100));
}
break;
//default:
//printf("Invalid LED command: %s\r\n", cmdHead);
}
break;
//default:
//printf("Invalid LED index: %s\r\n", cmdHead);
}
break;
//
// MOTOR Commands
//
case 'm':
case 'M':
switch(cmdHead[1])
{
case '*': // Command all Motors
switch(cmdHead[2])
{
case 'e': // Enable Motors
case 'E':
Motors_Enable();
//printf(" All motors enabled\r\n");
break;
case 'd': // Disable Motors
case 'D':
Motors_Disable();
//printf(" All motors disabled\r\n");
break;
case 'i': // Invert Motors
case 'I':
m0.invert();
m1.invert();
m2.invert();
m3.invert();
//printf(" All motors inverted\r\n All motors set to 0%%\r\n");
break;
case 't': // Throttle Motors
case 'T':
// Parse throttle value
value = strtof(reinterpret_cast<const char*>(&cmdHead[4]), NULL);
/*
if (sscanf(&cmdHead[3], "=%f", &value) != 1)
{
//printf("Invalid motor trottle value: %s\r\n", cmdHead);
break;
}*/
// Check throttle value range
if (value > 1 || value < 0)
{
//printf("Invalid motor throttle value: %s\r\n", cmdHead);
break;
}
// Throttle motors
m0.throttle(value);
m1.throttle(value);
m2.throttle(value);
m3.throttle(value);
//printf(" All motors throttled to % 2d%%\r\n All motors set to 0%%", (unsigned char) (value*100));
break;
case '=': // Set Motors
// Parse set value
value = strtof(reinterpret_cast<const char*>(&cmdHead[3]), NULL);
/*
if (sscanf(&cmdHead[2], "=%f", &value) != 1)
{
//printf("Invalid motor value: %s\r\n", cmdHead);
break;
}*/
// Check set value range
if (value > 1 || value < -1)
{
//printf("Invalid motor value: %s\r\n", cmdHead);
break;
}
// Set motors
m0.set(value);
m1.set(value);
m2.set(value);
m3.set(value);
//printf(" All motors set to % 2d%%\r\n", (unsigned char) (value*100));
break;
//default:
//printf("Invalid motor command: %s\r\n", cmdHead);
}
break;
case '0':
case '1':
case '2':
case '3':
ndx = cmdHead[1] - '0';
switch(cmdHead[2])
{
case 'e': // Enable Motor
case 'E':
// TODO
//printf(" Motor %d enabled\r\n", ndx);
break;
case 'd': // Disable Motor
case 'D':
// TODO
//printf(" Motor %d disabled\r\n", ndx);
break;
case 'i': // Invert Motor(s)
case 'I':
motors[ndx] -> invert();
//printf(" Motor %d inverted\r\n Motor %d set to 0%%\r\n", ndx, ndx);
break;
case 't': // Throttle Motor(s)
case 'T':
// Parse throttle value
value = strtof(reinterpret_cast<const char*>(&cmdHead[4]), NULL);
/*
if (sscanf(&cmdHead[3], "=%f", &value) != 1)
{
//printf("Invalid motor trottle value: %s\r\n", cmdHead);
break;
}*/
// Check throttle value range
if (value > 1 || value < 0)
{
//printf("Invalid motor throttle value: %s\r\n", cmdHead);
break;
}
// Throttle motors
motors[ndx] -> throttle(value);
//printf(" Motor %d throttled to % 2d%%\r\n Mmotor %d set to 0%%", (unsigned char) (value*100), ndx, ndx);
break;
case '=': // Set Motor
// Parse throttle value
value = strtof(reinterpret_cast<const char*>(&cmdHead[3]), NULL);
/*
if (sscanf(&cmdHead[2], "=%f", &value) != 1)
{
//printf("Invalid motor value: %s\r\n", cmdHead);
break;
}*/
// Check throttle value range
if (value > 1 || value < -1)
{
//printf("Invalid motor value: %s\r\n", cmdHead);
break;
}
// Throttle motors
motors[ndx] -> set(value);
//printf(" Motor %d set to % 2d%%\r\n", (unsigned char) (value*100), ndx);
break;
//default:
//printf("Invalid motor command: %s\r\n", cmdHead);
}
break;
//default:
//printf("Invalid Motor index: %s\r\n", cmdHead);
}
break;
//
// SERVO Commands
//
case 's':
case 'S':
switch(cmdHead[1])
{
case '*': // Command all Servos
switch(cmdHead[2])
{
case 'e': // Enable Servos
case 'E':
s0.enable();
s1.enable();
s2.enable();
s3.enable();
s4.enable();
s5.enable();
//printf(" All servos enabled\r\n");
break;
case 'd': // Disable Servos
case 'D':
s0.disable();
s1.disable();
s2.disable();
s3.disable();
s4.disable();
s5.disable();
//printf(" All servos enabled\r\n");
break;
case 'i': // Invert Servos
case 'I':
s0.invert();
s1.invert();
s2.invert();
s3.invert();
s4.invert();
s5.invert();
//printf(" All servos inverted\r\n All servos set to 50%%\r\n");
break;
case 'l': // Limit Servos
case 'L':
// Parse limits
char* endPtr;
float max;
value = strtof(reinterpret_cast<const char*>(&cmdHead[4]), &endPtr);
max = strtof(reinterpret_cast<const char*>(endPtr), NULL);
// Check min limit range
if (value > 1 || value < 0)
{
//printf("Invalid servo min limit: %s\r\n", cmdHead);
break;
}
// Check max limit range
if (max > 1 || max < 0)
{
//printf("Invalid servo max limit: %s\r\n", cmdHead);
break;
}
// Limit servos
s0.limit(value, max);
s1.limit(value, max);
s2.limit(value, max);
s3.limit(value, max);
s4.limit(value, max);
s5.limit(value, max);
//printf(" All servos limited to % 2d%% and % 2d%%\r\n", (unsigned char) (value*100), (unsigned char) (value * 100));
break;
case '=': // Set Servos
// Parse set value
value = strtof(reinterpret_cast<const char*>(&cmdHead[4]), NULL);
// Check set value range
if (value > 1 || value < 0)
{
//printf("Invalid motor throttle value: %s\r\n", cmdHead);
break;
}
// Set servos
s0.set(value);
s1.set(value);
s2.set(value);
s3.set(value);
s4.set(value);
s5.set(value);
//printf(" All servos set to % 2d%%\r\n", (unsigned char) (value*100));
break;
//default:
//printf("Invalid servo command: %s\r\n", cmdHead);
}
break;
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
ndx = cmdHead[1] - '0';
switch(cmdHead[2])
{
case 'e': // Enable Servo
case 'E':
servos[ndx] -> enable();
//printf(" Servo %d enabled\r\n", ndx);
break;
case 'd': // Disable Servos
case 'D':
servos[ndx] -> disable();
//printf(" Servo %d disabled\r\n", ndx);
break;
case 'i': // Invert Servos
case 'I':
servos[ndx] -> invert();
//printf(" Servo %d inverted\r\n Servo %d set to 50%%\r\n", ndx, ndx);
break;
case 'l': // Limit Servos
case 'L':
// Parse limits
char* endPtr;
float max;
value = strtof(reinterpret_cast<const char*>(&cmdHead[3]), &endPtr);
max = strtof(reinterpret_cast<const char*>(endPtr), NULL);
// Check min limit range
if (value > 1 || value < 0)
{
//printf("Invalid servo min limit: %s\r\n", cmdHead);
break;
}
// Check max limit range
if (max > 1 || max < 0)
{
//printf("Invalid servo max limit: %s\r\n", cmdHead);
break;
}
// Limit servos
servos[ndx] -> limit(value, max);
//printf(" Servo %d limited to % 2d%% and % 2d%%\r\n", ndx, (unsigned char) (value*100), (unsigned char) (value * 100));
break;
case '=': // Set Servos
// Parse set value
value = strtof(reinterpret_cast<const char*>(&cmdHead[3]), NULL);
// Check set value range
if (value > 1 || value < 0)
{
//printf("Invalid motor throttle value: %s\r\n", cmdHead);
break;
}
// Set servos
servos[ndx] -> set(value);
//printf(" Servo %d set to % 2d%%\r\n", ndx, (unsigned char) (value*100));
break;
//default:
//printf("Invalid servo command: %s\r\n", cmdHead);
}
break;
//default:
//printf("Invalid Servo index: %s\r\n", cmdHead);
}
break;
//default:
//printf("Invalid Motor target: %s\r\n", cmdHead);
}
}
void Servo::enable()
{
// Enable PWM Output to Pin
PWM_Enable(_pwm, _pwm_pin);
}