static void Config_PWM(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_GPIOPinConfigure(GPIO_PB6_T0CCP0);
ROM_GPIOPinConfigure(GPIO_PB2_T3CCP0);
ROM_GPIOPinTypeTimer(GPIO_PORTB_BASE, GPIO_PIN_2 | GPIO_PIN_6);
// Configure timer
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER3);
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PWM);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, DEFAULT);
ROM_TimerMatchSet(TIMER0_BASE, TIMER_A, DEFAULT); // PWM
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_TimerConfigure(TIMER3_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PWM);
ROM_TimerLoadSet(TIMER3_BASE, TIMER_A, DEFAULT);
ROM_TimerMatchSet(TIMER3_BASE, TIMER_A, DEFAULT); // PWM
ROM_TimerControlLevel(TIMER3_BASE, TIMER_A, true);
ROM_TimerEnable(TIMER3_BASE, TIMER_A);
ROM_SysCtlPeripheralEnable(DRV_ENABLE_LEFT_CHN_PERIPHERAL);
ROM_SysCtlPeripheralEnable(DRV_ENABLE_RIGHT_CHN_PERIPHERAL);
ROM_GPIOPinTypeGPIOOutput(DRV_ENABLE_LEFT_CHN_PORT, DRV_ENABLE_LEFT_CHN_PIN);
ROM_GPIOPinTypeGPIOOutput(DRV_ENABLE_RIGHT_CHN_PORT, DRV_ENABLE_RIGHT_CHN_PIN);
ROM_GPIOPinWrite(DRV_ENABLE_LEFT_CHN_PORT, DRV_ENABLE_LEFT_CHN_PIN, 0);
ROM_GPIOPinWrite(DRV_ENABLE_RIGHT_CHN_PORT, DRV_ENABLE_RIGHT_CHN_PIN, 0);
}
//*****************************************************************************
//
// This example application demonstrates the use of the timers to generate
// periodic interrupts.
//
//*****************************************************************************
int
main(void)
{
//
// Set the clocking to run directly from the crystal.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Initialize the UART and write status.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
UARTprintf("\033[2JTimers example\n");
UARTprintf("T1: 0 T2: 0");
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
//
// Enable processor interrupts.
//
ROM_IntMasterEnable();
//
// Configure the two 32-bit periodic timers.
//
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, ROM_SysCtlClockGet() / 2);
//
// Setup the interrupts for the timer timeouts.
//
ROM_IntEnable(INT_TIMER0A);
ROM_IntEnable(INT_TIMER1A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the timers.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
//
// Loop forever while the timers run.
//
while(1)
{
}
}
// Main ----------------------------------------------------------------------------------------------
int main(void){
// Enable lazy stacking
ROM_FPULazyStackingEnable();
// Set the clocking to run directly from the crystal.
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
// Initialize the UART and write status.
ConfigureUART();
UARTprintf("Timers example\n");
// Enable LEDs
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, LED_RED|LED_BLUE|LED_GREEN);
// Enable the peripherals used by this example.
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
// Enable processor interrupts.
ROM_IntMasterEnable();
// Configure the two 32-bit periodic timers.
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER2_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, ROM_SysCtlClockGet()*2); // Blue should blink 2 times as much as red
ROM_TimerLoadSet(TIMER2_BASE, TIMER_A, ROM_SysCtlClockGet()*3); // Green should blink 3 times as much as red
// Setup the interrupts for the timer timeouts.
ROM_IntEnable(INT_TIMER0A);
ROM_IntEnable(INT_TIMER1A);
ROM_IntEnable(INT_TIMER2A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
// Enable the timers.
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
ROM_TimerEnable(TIMER2_BASE, TIMER_A);
// Loop forever while the timers run.
while(1){}
}
void BPMTimerSetUp()
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0); // timer 0
SysCtlDelay(3);
//
// Enable processor interrupts.
//
//IntPrioritySet(INT_TIMER0A_TM4C123, 2);
//
// Configure the two 32-bit periodic timers.
//
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet()/500);
//ROM_SysCtlClockGet()/100000
//ROM_SysCtlClockGet()/500
// Setup the interrupts for the timer timeouts.
ROM_IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the timers.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
//*****************************************************************************
//
// Initialize the IO used in this demo
//
//*****************************************************************************
void
io_init(void)
{
//
// Configure Port F0 for as an output for the status LED.
//
ROM_GPIOPinTypeGPIOOutput(LED_PORT_BASE, LED_PIN);
//
// Initialize LED to OFF (0)
//
ROM_GPIOPinWrite(LED_PORT_BASE, LED_PIN, 0);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
//
// Configure the timer used to pace the animation.
//
ROM_TimerConfigure(TIMER2_BASE, TIMER_CFG_PERIODIC);
//
// Setup the interrupts for the timer timeouts.
//
ROM_IntEnable(INT_TIMER2A);
ROM_TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
//
// Set the timer for the current animation speed. This enables the
// timer as a side effect.
//
io_set_timer(g_ulAnimSpeed);
}
void init()
{
ROM_FPUEnable();
ROM_FPULazyStackingEnable();
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
GPIO_PORTB_DIR_R = 0x00;
GPIO_PORTB_DEN_R = 0xff;
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, LED_RED|LED_GREEN|LED_BLUE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_GPIOPinConfigure(GPIO_PA0_U0RX);
ROM_GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / 1000000);
ROM_SysTickEnable();
ROM_SysTickIntEnable();
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_32_BIT_PER);
reset();
}
// Main ----------------------------------------------------------------------------------------------
int main(void){
// Enable lazy stacking
ROM_FPULazyStackingEnable();
// Set the clocking to run directly from the crystal.
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
// Initialize the UART and write status.
ConfigureUART();
UARTprintf("--Countdown Example--\n");
// Initialize LEDs
ConfigureLEDs();
// Enable the peripherals used by this example.
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
// Enable processor interrupts.
ROM_IntMasterEnable();
// Configure the two 32-bit periodic timers.
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER2_BASE, TIMER_CFG_ONE_SHOT);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, ROM_SysCtlClockGet()/20);
ROM_TimerLoadSet(TIMER2_BASE, TIMER_A, ROM_SysCtlClockGet()/10);
// Setup the interrupts for the timer timeouts.
ROM_IntEnable(INT_TIMER0A);
ROM_IntEnable(INT_TIMER1A);
ROM_IntEnable(INT_TIMER2A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
// Enable the timers.
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
UARTprintf("Time Left: \n");
// Loop forever while the timers run.
while(1){}
}
int cppmain()
{
init();
resetMicros();
enableMessaging();
// Set up the pins
int i;
for (i = 0; i < 12; i++) pinMode(legPins[i], OUTPUT_SERVO);
pinMode(BLUE_LED, OUTPUT);
// We will use WTIMER0 for the interrupts
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_WTIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER0);
ROM_TimerConfigure(WTIMER0_BASE, (TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_PERIODIC));
// Set up the stag walking timer interrupt
ROM_TimerPrescaleSet(WTIMER0_BASE, TIMER_A, 79999); // 1 ms per tick
TimerIntRegister(WTIMER0_BASE, TIMER_A, stagInterrupt);
ROM_TimerLoadSet(WTIMER0_BASE, TIMER_A, 50); // 50 ms per cylce
ROM_TimerIntEnable(WTIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(WTIMER0_BASE, TIMER_A);
ROM_IntPrioritySet(INT_WTIMER0A, 0x20);
// Set general sensor/status interrupt
ROM_TimerPrescaleSet(WTIMER0_BASE, TIMER_B, 79999); // 1 ms per tick
TimerIntRegister(WTIMER0_BASE, TIMER_B, statusInterrupt);
ROM_TimerLoadSet(WTIMER0_BASE, TIMER_B, 500); // 500 ms per cycle
ROM_TimerIntEnable(WTIMER0_BASE, TIMER_TIMB_TIMEOUT);
ROM_TimerEnable(WTIMER0_BASE, TIMER_B);
ROM_IntPrioritySet(INT_WTIMER0A, 0x40);
uint16_t msgLength;
uint16_t msgFlags;
MessageType msgType;
// Main message handing loop
bool z = true;
while (1)
{
digitalWrite(BLUE_LED, z);
z = !z;
switch (getMessage(&msgType, &msgLength, &msgFlags, g_msgBody))
{
case 0: // Success
handleMessage(msgType, msgLength, g_msgBody);
break;
case 1: // Timeout
//sendError(TIMEOUT_ERROR);
break;
case 2: // CRC Error
sendError(CRC_ERROR);
break;
}
//delay(10000);
}
}
void timerInit()
{
#if F_CPU >= 80000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 50000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 40000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 25000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_8|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 16200000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1|SYSCTL_USE_OSC|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN); //NOT PLL
#elif F_CPU >= 16100000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1|SYSCTL_USE_OSC|SYSCTL_OSC_INT|
SYSCTL_OSC_MAIN); //NOT PLL, INT OSC
#elif F_CPU >= 16000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_12_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 10000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_20|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 8000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_25|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#else
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#endif
//
// SysTick is used for delay() and delayMicroseconds()
//
// ROM_SysTickPeriodSet(0x00FFFFFF);
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / TICKS_PER_SECOND);
ROM_SysTickEnable();
//
//Initialize Timer5 to be used as time-tracker since beginning of time
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER5); //not tied to launchpad pin
ROM_TimerConfigure(TIMER5_BASE, TIMER_CFG_PERIODIC_UP);
ROM_TimerLoadSet(TIMER5_BASE, TIMER_A, ROM_SysCtlClockGet()/1000);
ROM_IntEnable(INT_TIMER5A);
ROM_TimerIntEnable(TIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER5_BASE, TIMER_A);
ROM_IntMasterEnable();
}
// Start the timers and interrupt frequency
void servoStart(void) {
ROM_SysCtlPeripheralEnable(SERVO_TIMER_PERIPH);
ROM_IntMasterEnable();
ROM_TimerConfigure(SERVO_TIMER, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, (ROM_SysCtlClockGet() / 1000000) * SERVO_TIMER_RESOLUTION);
ROM_IntEnable(SERVO_TIMER_INTERRUPT);
ROM_TimerIntEnable(SERVO_TIMER, SERVO_TIMER_TRIGGER);
ROM_TimerEnable(SERVO_TIMER, SERVO_TIMER_A);
}
void delay_init()
{
//configure timer1 for one shot intervals and assign interrupt routine
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
ROM_TimerConfigure(TIMER1_BASE,TIMER_CFG_ONE_SHOT);
ROM_TimerControlStall(TIMER1_BASE, TIMER_A, true);
TimerIntRegister(TIMER1_BASE, TIMER_A, delay_isr);
}
void initializeTimer(void)
{
timerSeconds = 0;
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
// invoke timer once a second
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
//*****************************************************************************
//
//! Initializes the sound driver.
//!
//! \param ui32SysClock is the frequency of the system clock.
//!
//! This function initializes the sound driver, preparing it to output sound
//! data to the speaker.
//!
//! The system clock should be as high as possible; lower clock rates reduces
//! the quality of the produced sound. For the best quality sound, the system
//! should be clocked at 120 MHz.
//!
//! \note In order for the sound driver to function properly, the sound driver
//! interrupt handler (SoundIntHandler()) must be installed into the vector
//! table for the timer 5 subtimer A interrupt.
//!
//! \return None.
//
//*****************************************************************************
void
SoundInit(uint32_t ui32SysClock)
{
//
// Enable the peripherals used by the sound driver.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER5);
//
// Compute the PWM period based on the system clock.
//
g_sSoundState.ui32Period = ui32SysClock / 64000;
//
// Set the default volume.
//
g_sSoundState.i32Volume = 255;
//
// Configure the timer to run in PWM mode.
//
if((HWREG(TIMER5_BASE + TIMER_O_CTL) & TIMER_CTL_TBEN) == 0)
{
ROM_TimerConfigure(TIMER5_BASE, (TIMER_CFG_SPLIT_PAIR |
TIMER_CFG_A_PWM |
TIMER_CFG_B_PERIODIC));
}
ROM_TimerLoadSet(TIMER5_BASE, TIMER_A, g_sSoundState.ui32Period - 1);
ROM_TimerMatchSet(TIMER5_BASE, TIMER_A, g_sSoundState.ui32Period);
ROM_TimerControlLevel(TIMER5_BASE, TIMER_A, true);
//
// Update the timer values on timeouts and not immediately.
//
TimerUpdateMode(TIMER5_BASE, TIMER_A, TIMER_UP_LOAD_TIMEOUT |
TIMER_UP_MATCH_TIMEOUT);
//
// Configure the timer to generate an interrupt at every time-out event.
//
ROM_TimerIntEnable(TIMER5_BASE, TIMER_CAPA_EVENT);
//
// Enable the timer. At this point, the timer generates an interrupt
// every 15.625 us.
//
ROM_TimerEnable(TIMER5_BASE, TIMER_A);
ROM_IntEnable(INT_TIMER5A);
//
// Clear the sound flags.
//
g_sSoundState.ui32Flags = 0;
}
ServoClass::ServoClass()
{
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
// Initialize variables of the class
g_ulPeriod = 0;
for(int il_iter = 0; il_iter < SERVOS_PER_TIMER; il_iter++)
{
g_ulServoPins[il_iter] = INVALID_SERVO_PIN;
g_ulServoPulse[il_iter] = DEFAULT_SERVO_PULSE_WIDTH;
}
g_iServoNo = 0;
g_ulPulseWidth = 0;
g_ulTicksPerMicrosecond = 0;
setRefresh();
// for(int il_iter = 0; il_iter < SERVOS_PER_TIMER; il_iter++)
// {
// if (g_ulServoPins[il_iter] != INVALID_SERVO_PIN)
// {
// pinMode(g_ulServoPins[il_iter], OUTPUT);
// digitalWrite(g_ulServoPins[il_iter], LOW);
// }
// }
// Enable TIMER
ROM_SysCtlPeripheralEnable(SERVO_TIMER_PERIPH);
// Enable processor interrupts.
ROM_IntMasterEnable();
// Configure the TIMER
ROM_TimerConfigure(SERVO_TIMER, SERVO_TIME_CFG);
// Calculate the number of timer counts/microsecond
g_ulTicksPerMicrosecond = ROM_SysCtlClockGet() / 1000000;
g_ulPeriod = g_ulTicksPerMicrosecond * REFRESH_INTERVAL; // 20ms = Standard Servo refresh delay
// Initially load the timer with 20ms interval time
ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, g_ulPeriod);
// Setup the interrupt for the TIMER1A timeout.
ROM_IntEnable(SERVO_TIMER_INTERRUPT);
ROM_TimerIntEnable(SERVO_TIMER, SERVO_TIMER_TRIGGER);
// Enable the timer.
ROM_TimerEnable(SERVO_TIMER, SERVO_TIMER_A);
}
void InitTimer(void) {
uint32_t ui32SysClock = ROM_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN |
SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_480), 120000000);
printf("Clock=%dMHz\n", ui32SysClock/1000000) ;
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, -1);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
//*****************************************************************************
//
//! Initializes the touch screen driver.
//!
//! \param ui32SysClock is the frequency of the system clock.
//!
//! This function initializes the touch screen driver, beginning the process of
//! reading from the touch screen. This driver uses the following hardware
//! resources:
//!
//! - ADC 0 sample sequence 3
//! - Timer 5 subtimer B
//!
//! \return None.
//
//*****************************************************************************
void
TouchScreenInit(uint32_t ui32SysClock)
{
//
// Set the initial state of the touch screen driver's state machine.
//
g_ui32TSState = TS_STATE_INIT;
//
// There is no touch screen handler initially.
//
g_pfnTSHandler = 0;
//
// Enable the peripherals used by the touch screen interface.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER5);
//
// Configure the ADC sample sequence used to read the touch screen reading.
//
ROM_ADCHardwareOversampleConfigure(ADC0_BASE, 4);
ROM_ADCSequenceConfigure(ADC0_BASE, 3, ADC_TRIGGER_TIMER, 0);
ROM_ADCSequenceStepConfigure(ADC0_BASE, 3, 0,
TS_YP_ADC | ADC_CTL_END | ADC_CTL_IE);
ROM_ADCSequenceEnable(ADC0_BASE, 3);
//
// Enable the ADC sample sequence interrupt.
//
ROM_ADCIntEnable(ADC0_BASE, 3);
ROM_IntEnable(INT_ADC0SS3);
//
// Configure the timer to trigger the sampling of the touch screen
// every 2.5 milliseconds.
//
if((HWREG(TIMER5_BASE + TIMER_O_CTL) & TIMER_CTL_TAEN) == 0) {
ROM_TimerConfigure(TIMER5_BASE, (TIMER_CFG_SPLIT_PAIR |
TIMER_CFG_A_PWM |
TIMER_CFG_B_PERIODIC));
}
ROM_TimerPrescaleSet(TIMER5_BASE, TIMER_B, 255);
ROM_TimerLoadSet(TIMER5_BASE, TIMER_B, ((ui32SysClock / 256) / 400) - 1);
TimerControlTrigger(TIMER5_BASE, TIMER_B, true);
//
// Enable the timer. At this point, the touch screen state machine will
// sample and run every 2.5 ms.
//
ROM_TimerEnable(TIMER5_BASE, TIMER_B);
}
//*****************************************************************************
//
//! Initializes the Timer and GPIO functionality associated with the RGB LED
//!
//! \param ui32Enable enables RGB immediately if set.
//!
//! This function must be called during application initialization to
//! configure the GPIO pins to which the LEDs are attached. It enables
//! the port used by the LEDs and configures each color's Timer. It optionally
//! enables the RGB LED by configuring the GPIO pins and starting the timers.
//!
//! \return None.
//
//*****************************************************************************
void
RGBInit(uint32_t ui32Enable)
{
//
// Enable the GPIO Port and Timer for each LED
//
ROM_SysCtlPeripheralEnable(RED_GPIO_PERIPH);
ROM_SysCtlPeripheralEnable(RED_TIMER_PERIPH);
ROM_SysCtlPeripheralEnable(GREEN_GPIO_PERIPH);
ROM_SysCtlPeripheralEnable(GREEN_TIMER_PERIPH);
ROM_SysCtlPeripheralEnable(BLUE_GPIO_PERIPH);
ROM_SysCtlPeripheralEnable(BLUE_TIMER_PERIPH);
//
// Configure each timer for output mode
//
HWREG(GREEN_TIMER_BASE + TIMER_O_CFG) = 0x04;
HWREG(GREEN_TIMER_BASE + TIMER_O_TAMR) = 0x0A;
HWREG(GREEN_TIMER_BASE + TIMER_O_TAILR) = 0xFFFF;
HWREG(BLUE_TIMER_BASE + TIMER_O_CFG) = 0x04;
HWREG(BLUE_TIMER_BASE + TIMER_O_TBMR) = 0x0A;
HWREG(BLUE_TIMER_BASE + TIMER_O_TBILR) = 0xFFFF;
HWREG(RED_TIMER_BASE + TIMER_O_CFG) = 0x04;
HWREG(RED_TIMER_BASE + TIMER_O_TBMR) = 0x0A;
HWREG(RED_TIMER_BASE + TIMER_O_TBILR) = 0xFFFF;
//
// Invert the output signals.
//
HWREG(RED_TIMER_BASE + TIMER_O_CTL) |= 0x4000;
HWREG(GREEN_TIMER_BASE + TIMER_O_CTL) |= 0x40;
HWREG(BLUE_TIMER_BASE + TIMER_O_CTL) |= 0x4000;
if(ui32Enable)
{
RGBEnable();
}
//
// Setup the blink functionality
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_WTIMER5);
ROM_TimerConfigure(WTIMER5_BASE, TIMER_CFG_B_PERIODIC | TIMER_CFG_SPLIT_PAIR);
ROM_TimerLoadSet64(WTIMER5_BASE, 0xFFFFFFFFFFFFFFFF);
ROM_IntEnable(INT_WTIMER5B);
ROM_TimerIntEnable(WTIMER5_BASE, TIMER_TIMB_TIMEOUT);
}
//函数创建区
//----------------------------------------Start-------------------------------------------
void Init_Timer()
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet()/100);//10ms周期中断,由100决定 如果为1为1s定时
GPIOIntRegister(INT_TIMER0A, Timer0AIntHandler);
ROM_IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_IntMasterEnable();
}
void buzzer_init(void)
{
BUZZER_GPIO_PERIPHERAL_ENABLE();
BUZZER_TIMER_PERIPHERAL_ENABLE();
ROM_GPIOPinConfigure(BUZZER_TIMER_PIN_AF);
ROM_GPIOPinTypeTimer(BUZZER_PORT, BUZZER_PIN);
ROM_TimerConfigure(BUZZER_TIMER, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PWM);
// ROM_TimerPrescaleSet(BUZZER_TIMER, BUZZER_TIMER_CHANNEL, 10);
ROM_TimerLoadSet(BUZZER_TIMER, BUZZER_TIMER_CHANNEL, ROM_SysCtlClockGet());
ROM_TimerMatchSet(BUZZER_TIMER, BUZZER_TIMER_CHANNEL, ROM_SysCtlClockGet()); // PWM
ROM_TimerEnable(BUZZER_TIMER, BUZZER_TIMER_CHANNEL);
}
void Timer1A_Init(void){
// Enable the Timer 1 Periph
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
// Configure Timer as Periodic
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC );
// Set Timer 1A to Frequency
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, (ROM_SysCtlClockGet()/TIMER1_FREQ));
// Enable Timer 1A
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
}
void initTimer0(int interval, gyro *G){
//
// 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.
//
ROM_FPULazyStackingEnable();
volatile int tick = 0;
tick = (ROM_SysCtlClockGet() / 1000) * interval;
//
// Enable the GPIO port that is used for the on-board LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable the GPIO pins for the LED (PF1 & PF2).
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2 | GPIO_PIN_1);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
//
// Configure the two 32-bit periodic timers.
//
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
/// imposta il time_out
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, tick);
G->tick = (float) interval / 1000;
//
// Setup the interrupts for the timer timeouts.
//
ROM_IntEnable(INT_TIMER0A);
//ROM_IntEnable(INT_TIMER1A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the timers.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
/**
Configures timer.
@see timers example in EK-LM4F120XL StellarisWare package
@note On the LM4F120XL, there are 16/32 bit timers or "wide" timers featuring 32/64bit. We use a standard timer.
@param seconds period of the timer. Maximum is 0xFFFFFFFF / SysCtlClockGet(); or about 171 sec if using 25MHz main clock
@return 0 if success; -1 if illegal parameter
*/
int16_t initTimer(uint8_t seconds)
{
#define TIMER_MAX_SECONDS (0xFFFFFFFF / SysCtlClockGet())
if ((seconds > TIMER_MAX_SECONDS) || (seconds == 0))
return -1;
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
ROM_TimerConfigure(TIMER2_BASE, TIMER_CFG_PERIODIC); // Full width (32 bit for Timer 2) periodic timer
ROM_TimerLoadSet(TIMER2_BASE, TIMER_A, (ROM_SysCtlClockGet() * seconds)); // for once per second
ROM_IntEnable(INT_TIMER2A);
ROM_TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER2_BASE, TIMER_A);
return 0;
}
void init_Timer1B(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_B_PERIODIC);
ROM_TimerLoadSet(TIMER1_BASE, TIMER_B, ROM_SysCtlClockGet() / 2000);
ROM_IntMasterEnable();
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMB_TIMEOUT);
ROM_IntEnable(INT_TIMER1B);
timeCounter = 0;
ROM_TimerEnable(TIMER1_BASE, TIMER_B);
}
void OneMsTaskTimer::start(uint32_t timer_index) {
uint32_t load = (F_CPU / 1000);
//// !!!! count = 0;
overflowing = 0;
// Base address for first timer
g_ulBase = getTimerBase(timerToOffset(timer_index));
timerAB = TIMER_A << timerToAB(timer_index);
//Setup interrupts for duration, interrupting at 1kHz
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0+ timer_index);
ROM_IntMasterEnable();
ROM_TimerConfigure(g_ulBase, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(g_ulBase, TIMER_A, F_CPU/1000);
// Setup the interrupts for the timer timeouts.
TimerIntRegister(g_ulBase, TIMER_A, OneMsTaskTimer_int);
ROM_IntEnable(INT_TIMER0A+timer_index);
ROM_TimerIntEnable(g_ulBase, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(g_ulBase, TIMER_A);
}
//------------------------------------ Timer init ---------------------------------
void ir_timer_init(void) {
// The Timer0 peripheral must be enabled for use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
//
// The Timer0 peripheral must be enabled for use.
// When configured for a pair of half-width timers, each timer is separately configured.
//
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_ONE_SHOT);
// Calculate the number of timer counts/microsecond
ulCountsPerMicrosecond = ROM_SysCtlClockGet() / 10000;
// 0.10ms = timeout delay
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ulCountsPerMicrosecond);
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
TimerIntRegister(TIMER0_BASE, TIMER_A, Timer0AIntHandler );
//
// Configure the Timer0 interrupt for timer timeout.
//
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the Timer0 interrupt on the processor (NVIC).
//
ROM_IntEnable(INT_TIMER0A);
gulTicks = 0;
//
// Enable Timer0A.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
void motor_init()
{
unsigned long timer;
//configure timer0 for one shot intervals and assign interrupt routine
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_TimerConfigure(TIMER0_BASE,TIMER_CFG_ONE_SHOT);
ROM_TimerControlStall(TIMER0_BASE, TIMER_A, true);
TimerIntRegister(TIMER0_BASE, TIMER_A, Timer0A_ISR);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//setup RGB led outputs.
ROM_SysCtlPeripheralEnable(LED_PERIPH);
ROM_GPIOPinTypeGPIOOutput(LED_PORT, LED_R | LED_G | LED_B );
//enable peripherals used for motor
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//set motor pins to outputs
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, MOTOR_PORTA_PINS );
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, MOTOR_PORTB_PINS );
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, MOTOR_PORTD_PINS );
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, MOTOR_PORTE_PINS );
//make sure motors are disabled and step pins are low
motor_disable();
motor_unstep();
//start the timer. the ISR will run at the minimum rate
//interval until there is a block to execute.
timer=calculate_timer(MIN_STEP_RATE);
ROM_TimerLoadSet(TIMER0_BASE,TIMER_A, timer);
ROM_TimerEnable(TIMER0_BASE,TIMER_A);
}
int main()
{
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, LED_BLUE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_IntMasterEnable();
ROM_TimerDisable(TIMER0_BASE, TIMER_A);
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
TimerIntRegister(TIMER0_BASE, TIMER_A, Timer0AIntHandler);
ROM_GPIOPinWrite(GPIO_PORTF_BASE, LED_BLUE, led_value);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
while(1)
{}
}
void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
{
uint8_t port = digitalPinToPort(_pin);
if (port == NOT_A_PORT) return;
if (tone_state == 0 || _pin == current_pin) {
//Setup PWM
current_pin = _pin;
tone_timer = digitalPinToTimer(_pin);
uint32_t timerBase = getTimerBase(timerToOffset(tone_timer));
tone_state = 1;
g_duration = duration;
PWMWrite(_pin, 256, 128, frequency);
//Setup interrupts for duration, interrupting at 1kHz
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER4);
ROM_IntMasterEnable();
ROM_TimerConfigure(TIMER4_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER4_BASE, TIMER_A, ROM_SysCtlClockGet()/1000);
ROM_IntEnable(INT_TIMER4A);
ROM_TimerIntEnable(TIMER4_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER4_BASE, TIMER_A);
}
}
//*****************************************************************************
//
// Configure the timer and its pins for measuring the length of
// ultrasonic sensor echo pulse.
//
//*****************************************************************************
void ConfigureDistancePulseTimer()
{
//
// Enable Timer 4
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER4);
//
// Configure timer 4A as a 16-bit event capture up-counter
//
ROM_TimerConfigure(TIMER4_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_CAP_TIME_UP);
//
// Set prescaler to 255. This essentially makes
// the 16-bit timer a 24-bit timer.
//
ROM_TimerPrescaleSet(TIMER4_BASE, TIMER_A, 0xFF);
//
// The timer should capture events on both rising and falling edges
//
ROM_TimerControlEvent(TIMER4_BASE, TIMER_A, TIMER_EVENT_BOTH_EDGES);
}
//*****************************************************************************
//
//! Initializes the touch screen driver.
//!
//! This function initializes the touch screen driver, beginning the process of
//! reading from the touch screen. This driver uses the following hardware
//! resources:
//!
//! - ADC sample sequence 3
//! - Timer 1 subtimer A
//!
//! \return None.
//
//*****************************************************************************
void
TouchScreenInit(void)
{
//
// Set the initial state of the touch screen driver's state machine.
//
g_ulTSState = TS_STATE_INIT;
//
// Determine which calibration parameter set we will be using.
//
g_plParmSet = g_lTouchParameters[SET_NORMAL];
if(g_eDaughterType == DAUGHTER_SRAM_FLASH)
{
//
// If the SRAM/Flash daughter board is present, select the appropriate
// calibration parameters and reading threshold value.
//
g_plParmSet = g_lTouchParameters[SET_SRAM_FLASH];
g_sTouchMin = 40;
}
else if(g_eDaughterType == DAUGHTER_FPGA)
{
//
// If the FPGA daughter board is present, select the appropriate
// calibration parameters and reading threshold value.
//
g_plParmSet = g_lTouchParameters[SET_FPGA];
g_sTouchMin = 70;
}
//
// There is no touch screen handler initially.
//
g_pfnTSHandler = 0;
//
// Enable the peripherals used by the touch screen interface.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
ROM_SysCtlPeripheralEnable(TS_P_PERIPH);
ROM_SysCtlPeripheralEnable(TS_N_PERIPH);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
//
// Configure the ADC sample sequence used to read the touch screen reading.
//
ROM_ADCHardwareOversampleConfigure(ADC0_BASE, 4);
ROM_ADCSequenceConfigure(ADC0_BASE, 3, ADC_TRIGGER_TIMER, 0);
ROM_ADCSequenceStepConfigure(ADC0_BASE, 3, 0,
ADC_CTL_CH_YP | ADC_CTL_END | ADC_CTL_IE);
ROM_ADCSequenceEnable(ADC0_BASE, 3);
//
// Enable the ADC sample sequence interrupt.
//
ROM_ADCIntEnable(ADC0_BASE, 3);
ROM_IntEnable(INT_ADC0SS3);
//
// Configure the GPIOs used to drive the touch screen layers.
//
ROM_GPIOPinTypeGPIOOutput(TS_P_BASE, TS_XP_PIN | TS_YP_PIN);
//
// If no daughter board or one which does not rewire the touchscreen
// interface is installed, set up GPIOs to drive the XN and YN signals.
//
if((g_eDaughterType != DAUGHTER_SRAM_FLASH) &&
(g_eDaughterType != DAUGHTER_FPGA))
{
ROM_GPIOPinTypeGPIOOutput(TS_N_BASE, TS_XN_PIN | TS_YN_PIN);
}
ROM_GPIOPinWrite(TS_P_BASE, TS_XP_PIN | TS_YP_PIN, 0x00);
if(g_eDaughterType == DAUGHTER_SRAM_FLASH)
{
HWREGB(LCD_CONTROL_CLR_REG) = LCD_CONTROL_XN | LCD_CONTROL_YN;
}
else if(g_eDaughterType == DAUGHTER_FPGA)
{
HWREGH(LCD_FPGA_CONTROL_CLR_REG) = LCD_CONTROL_XN | LCD_CONTROL_YN;
}
else
{
ROM_GPIOPinWrite(TS_N_BASE, TS_XN_PIN | TS_YN_PIN, 0x00);
}
//
// See if the ADC trigger timer has been configured, and configure it only
// if it has not been configured yet.
//
if((HWREG(TIMER1_BASE + TIMER_O_CTL) & TIMER_CTL_TAEN) == 0)
{
//
// Configure the timer to trigger the sampling of the touch screen
// every millisecond.
//
ROM_TimerConfigure(TIMER1_BASE, (TIMER_CFG_SPLIT_PAIR |
TIMER_CFG_A_PERIODIC | TIMER_CFG_B_PERIODIC));
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A,
(ROM_SysCtlClockGet() / 1000) - 1);
ROM_TimerControlTrigger(TIMER1_BASE, TIMER_A, true);
//
// Enable the timer. At this point, the touch screen state machine
// will sample and run once per millisecond.
//
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
}
}
