//*****************************************************************************
//
// Set the timer used to pace the animation. We scale the timer timeout such
// that a speed of 100% causes the timer to tick once every 20 mS (50Hz).
//
//*****************************************************************************
static void
io_set_timer(unsigned long ulSpeedPercent)
{
unsigned long ulTimeout;
//
// Turn the timer off while we are mucking with it.
//
ROM_TimerDisable(TIMER2_BASE, TIMER_A);
//
// If the speed is non-zero, we reset the timeout. If it is zero, we
// just leave the timer disabled.
//
if(ulSpeedPercent)
{
//
// Set Timeout
//
ulTimeout = g_ui32SysClock / 50;
ulTimeout = (ulTimeout * 100 ) / ulSpeedPercent;
ROM_TimerLoadSet(TIMER2_BASE, TIMER_A, ulTimeout);
ROM_TimerEnable(TIMER2_BASE, TIMER_A);
}
}
void
AcquireStop(void)
{
tLogRecord pRecord;
//pRecord.usItemMask = (unsigned short)15;
//pRecord.sItems[0]=rcount;
//pRecord.sItems[1]=rcount;
//pRecord.sItems[2]=rcount;
//pRecord.sItems[3]=rcount;
//USBStickWriteRecord(&pRecord);
//USBStickWriteRecord(&pRecord);
// Disable ADC interrupts
//
ROM_IntDisable(INT_ADC0SS2);
ROM_ADCSequenceDisable(ADC0_BASE, SEQUENCER);
ROM_TimerDisable(TIMER0_BASE,TIMER_A);
//ROM_IntMasterDisable();
// ROM_IntDisable(INT_TIMER1A);
// ROM_TimerIntDisable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
// ROM_TimerDisable(TIMER1_BASE, TIMER_A);
//USBStickCloseFile();
}
//*****************************************************************************
//
// The interrupt handler for the fourth timer interrupt. (light)
//
//*****************************************************************************
void
Timer3IntHandler(void)
{
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER3_BASE, TIMER_TIMA_TIMEOUT);
// Get the timer value and reset it
ROM_TimerDisable(TIMER5_BASE, TIMER_A);
// Get the timer value
Timer = ROM_TimerValueGet(TIMER5_BASE, TIMER_A);
// Reset the timer value to 65000
ROM_TimerLoadSet(TIMER5_BASE, TIMER_A, 65000); // Timer5
ROM_TimerEnable(TIMER5_BASE, TIMER_A);
//
// Toggle the flag for the light timer.
//
HWREGBITW(&g_ui32InterruptFlags, 2) = 1;
//
// Update the interrupt status.
//
}
//*****************************************************************************
//
//! Sets the blink rate of the RGB Led
//!
//! \param fRate is the blink rate in hertz.
//!
//! This function controls the blink rate of the RGB LED in auto blink mode.
//! to enable blinking pass a non-zero floating pointer number. To disable
//! pass 0.0f as the argument. Calling this function will override the current
//! RGBDisable or RGBEnable status.
//!
//! \return None.
//
//*****************************************************************************
void
RGBBlinkRateSet(float fRate)
{
uint64_t ui64Load;
if(fRate == 0.0f)
{
//
// Disable the timer and enable the RGB. If blink rate is zero we
// assume we want the RGB to be enabled. To disable call RGBDisable
//
ROM_TimerDisable(WTIMER5_BASE, TIMER_B);
RGBEnable();
}
else
{
//
// Keep the math in floating pointing until the end so that we keep as
// much precision as we can.
//
ui64Load = (uint64_t) (((float)SysCtlClockGet()) / (fRate * 2.0f));
ROM_TimerLoadSet(WTIMER5_BASE, TIMER_B, ui64Load);
ROM_TimerEnable(WTIMER5_BASE, TIMER_B);
}
}
//*****************************************************************************
//
// The interrupt handler for the periodic timer interrupt. When the uDMA
// channel is used, interrupts from the periodic timer are used as DMA
// requests, and this interrupt handler is invoked only at the end of all of
// the DMA transfers.
//
//*****************************************************************************
void
Timer0IntHandler(void)
{
unsigned long ulStatus;
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//
// Read the uDMA channel status to verify it is done
//
ulStatus = uDMAChannelModeGet(UDMA_CHANNEL_TMR0A);
if(ulStatus == UDMA_MODE_STOP)
{
//
// Disable the periodic timer and set the done flag
//
ROM_TimerDisable(TIMER0_BASE, TIMER_A);
g_bDoneFlag = 1;
}
//
// Increment a counter to indicate the number of times this handler
// was invoked
//
g_ulTimer0AIntCount++;
}
void
MonitorStop() {
ROM_TimerDisable(TIMER1_BASE, TIMER_A);
//
// Disable ADC sequencers
//
ROM_ADCSequenceDisable(ADC1_BASE, 3);
}
//*****************************************************************************
//
//! Disable the RGB LED by configuring the GPIO's as inputs.
//!
//! This function or RGBEnable should be called during application
//! initialization to configure the GPIO pins to which the LEDs are attached.
//! This function disables the timers and configures the GPIO pins as inputs
//! for minimum current draw.
//!
//! \return None.
//
//*****************************************************************************
void
RGBDisable(void)
{
//
// Configure the GPIO pads as general purpose inputs.
//
ROM_GPIOPinTypeGPIOInput(RED_GPIO_BASE, RED_GPIO_PIN);
ROM_GPIOPinTypeGPIOInput(GREEN_GPIO_BASE, GREEN_GPIO_PIN);
ROM_GPIOPinTypeGPIOInput(BLUE_GPIO_BASE, BLUE_GPIO_PIN);
//
// Stop the timer counting.
//
ROM_TimerDisable(RED_TIMER_BASE, TIMER_BOTH);
ROM_TimerDisable(GREEN_TIMER_BASE, TIMER_BOTH);
ROM_TimerDisable(BLUE_TIMER_BASE, TIMER_BOTH);
}
void delay(unsigned long nTime) {
ROM_TimerLoadSet(WTIMER5_BASE, TIMER_A, nTime * 10);
ROM_TimerIntEnable(WTIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(WTIMER5_BASE, TIMER_A);
ROM_SysCtlSleep();
ROM_TimerIntDisable(WTIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerDisable(WTIMER5_BASE, TIMER_A);
}
void
ToneIntHandler(void)
{
ROM_TimerIntClear(TIMER4_BASE, TIMER_A);
//End of tone duration
if(--g_duration <= 0) {
noTone(current_pin);
ROM_TimerIntDisable(TIMER4_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntClear(TIMER4_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerDisable(TIMER4_BASE, TIMER_A);
}
}
void ping0InitPeriph( void ) {
//
// Disable timer and set parameters
//
ROM_TimerDisable( TIMER_BASE_PING0, TIMER_PING0 );
ROM_TimerPrescaleSet( TIMER_BASE_PING0, TIMER_PING0, 0 );
ROM_TimerPrescaleMatchSet( TIMER_BASE_PING0, TIMER_PING0, 0 );
ROM_TimerControlStall( TIMER_BASE_PING0, TIMER_PING0, false );
IntPrioritySet( TIMER_INT_PING0, 0x40 ); // set to a middle priority group
//
// Register inerrupt
//
TimerIntRegister( TIMER_BASE_PING0, TIMER_PING0, &ping0Int );
}
void delay(uint32_t nTime)
{
ROM_TimerLoadSet(WTIMER5_BASE, TIMER_A, nTime * 10);
ROM_TimerIntEnable(WTIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(WTIMER5_BASE, TIMER_A);
ROM_SysCtlSleep();
// Make sure the timer finished, go back to sleep if it didn't
// (Another interrupt may have woken up the system)
while (ROM_TimerValueGet(WTIMER5_BASE, TIMER_A) != nTime * 10)
ROM_SysCtlSleep();
ROM_TimerIntDisable(WTIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerDisable(WTIMER5_BASE, TIMER_A);
}
//*****************************************************************************
//
// The interrupt handler for the SoftUART GPIO edge interrupt.
//
//*****************************************************************************
void
GPIOAIntHandler(void)
{
//
// Configure the SoftUART receive timer so that it will sample at the
// mid-bit time of this character.
//
ROM_TimerDisable(TIMER0_BASE, TIMER_B);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_B, g_ulBitTime);
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMB_TIMEOUT);
ROM_TimerEnable(TIMER0_BASE, TIMER_B);
//
// Call the SoftUART receive timer tick function.
//
SoftUARTRxTick(&g_sUART, true);
}
/*
* noTone() - Stop outputting the tone on a pin
*/
void noTone(uint8_t _pin)
{
uint8_t timer = digitalPinToTimer(_pin);
if(timer == tone_timer) {
uint32_t timerBase = getTimerBase(timerToOffset(timer));
uint32_t timerAB = TIMER_A << timerToAB(timer);
ROM_TimerIntDisable(timerBase, TIMER_TIMA_TIMEOUT << timerToAB(tone_timer));
ROM_TimerIntClear(timerBase, TIMER_TIMA_TIMEOUT << timerToAB(tone_timer));
ROM_TimerDisable(timerBase, timerAB);
tone_state = 0;
g_duration = 0;
pinMode(_pin, OUTPUT);
digitalWrite(_pin, LOW);
}
}
char stop()
{
ROM_IntMasterDisable();
ROM_IntDisable(INT_TIMER0A);
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntDisable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerDisable(TIMER0_BASE, TIMER_A);
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, 0xff);
ROM_GPIOPinIntDisable(GPIO_PORTB_BASE, 0xff);
ROM_IntDisable(INT_GPIOB);
ROM_IntPendClear(INT_TIMER0A);
ROM_IntPendClear(INT_GPIOB);
sampling = SAMPLING_OFF;
tick = 0;
led(0,1,0);
return STATE_GET_COMMAND;
}
void delay_isr()
{
ROM_TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
if (delay_count > 50000)
{
delay_count -= 50000;
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, 50000*80000);
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
} else if (delay_count > 0)
{
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, delay_count*80000);
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
delay_count = 0;
} else
{
delay_stat = DELAY_IDLE;
ROM_TimerIntDisable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerDisable(TIMER1_BASE, TIMER_A);
}
}
//*****************************************************************************
//
// The interrupt handler for the SoftUART receive timer interrupt.
//
//*****************************************************************************
void
Timer0BIntHandler(void)
{
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMB_TIMEOUT);
//
// Call the SoftUART receive timer tick function, and see if the timer
// should be disabled.
//
if(SoftUARTRxTick(&g_sUART, false) == SOFTUART_RXTIMER_END)
{
//
// Disable the timer interrupt since the SoftUART doesn't need it any
// longer.
//
ROM_TimerDisable(TIMER0_BASE, TIMER_B);
}
}
void LEDToggleISR() {
ROM_TimerIntClear(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
//
// Toggle the flag for the third timer.
//
HWREGBITW(&g_ui32Flags, 2) ^= 1;
// HWREGBITW(GPIO_PORTG_BASE, 2) ^= 1;
if (led_val == 255) {
led_val = 0;
} else {
led_val = 255;
}
GPIOPinWrite(GPIO_PORTG_BASE,0x04, led_val);
blink_count++;
if (blink_count == MAX_BLINK_COUNT){
ROM_TimerDisable(TIMER2_BASE, TIMER_A);
// Start monitoring again
blink_count = 0;
MonitorStart();
}
}
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 ping0Int( void ) {
// clear interrupts.
ROM_TimerIntClear( TIMER_BASE_PING0, TIMER_PING0_MATCH|TIMER_PING0_EVENT|TIMER_PING0_TIMEOUT );
switch( ping0state ) {
case RECHARGE: // We are now done recharging:
ping0state = INIT_PULSE; // Now we should start again
// set IO pin as output
ROM_GPIOPinTypeGPIOOutput( GPIO_BASE_PING0, GPIO_PIN_PING0 );
ROM_GPIOPinConfigure( GPIO_MUX_PING0 );
// drive IO pin high
ROM_GPIOPinWrite( GPIO_BASE_PING0, GPIO_PIN_PING0, GPIO_PIN_PING0 );
// stop timer
ROM_TimerDisable( TIMER_BASE_PING0, TIMER_PING0 );
// set timer for 2-5µs, single shot (start of with 5µs)
ROM_TimerConfigure( TIMER_BASE_PING0, TIMER_CFG_SPLIT_PAIR | TIMER_PING0_ONE_SHOT );
ROM_TimerLoadSet( TIMER_BASE_PING0, TIMER_PING0, INIT_PULSE_N );
// set timer interrupt for end of count
ROM_TimerIntDisable( TIMER_BASE_PING0, TIMER_PING0_MATCH|TIMER_PING0_EVENT );
ROM_TimerIntEnable( TIMER_BASE_PING0, TIMER_PING0_TIMEOUT );
// enable timer
ROM_TimerEnable( TIMER_BASE_PING0, TIMER_PING0 );
break;
case INIT_PULSE: // We are now done sending the init pulse:
ping0state = HOLDOFF; // Now we should wait some
// drive low
ROM_GPIOPinWrite( GPIO_BASE_PING0, GPIO_PIN_PING0, 0 );
// set IO pin as input
ROM_GPIOPinTypeGPIOInput( GPIO_BASE_PING0, GPIO_PIN_PING0 );
ROM_GPIOPinConfigure( GPIO_MUX_PING0 );
// stop timer
ROM_TimerDisable( TIMER_BASE_PING0, TIMER_PING0 );
// set timer for 500µs, single shot (holdoff is ~750µs)
ROM_TimerConfigure( TIMER_BASE_PING0, TIMER_CFG_SPLIT_PAIR | TIMER_PING0_ONE_SHOT );
ROM_TimerLoadSet( TIMER_BASE_PING0, TIMER_PING0, HOLDOFF_N );
// set timer interrupt for end of count
ROM_TimerIntDisable( TIMER_BASE_PING0, TIMER_PING0_MATCH|TIMER_PING0_EVENT );
ROM_TimerIntEnable( TIMER_BASE_PING0, TIMER_PING0_TIMEOUT );
// enable timer
ROM_TimerEnable( TIMER_BASE_PING0, TIMER_PING0 );
break;
case HOLDOFF: // We are now done wating for the ping))) to start
ping0state = WAIT_RISING; // Now we should wait for the begining of its reply
// set IO pin as CCP
ROM_GPIOPinTypeTimer( GPIO_BASE_PING0, GPIO_PIN_PING0 );
ROM_GPIOPinConfigure( TIMER_MUX_PING0 );
// stop timer
ROM_TimerDisable( TIMER_BASE_PING0, TIMER_PING0 );
// set timer to edge time
ROM_TimerConfigure( TIMER_BASE_PING0, TIMER_CFG_SPLIT_PAIR | TIMER_PING0_TIME_UP );
ROM_TimerLoadSet( TIMER_BASE_PING0, TIMER_PING0, 0xffffffff );
// set count edge to rising
ROM_TimerControlEvent( TIMER_BASE_PING0, TIMER_PING0, TIMER_EVENT_POS_EDGE );
// set timer interrupt for event
ROM_TimerIntDisable( TIMER_BASE_PING0, TIMER_PING0_TIMEOUT|TIMER_PING0_MATCH );
ROM_TimerIntEnable( TIMER_BASE_PING0, TIMER_PING0_EVENT );
// enable timer
ROM_TimerEnable( TIMER_BASE_PING0, TIMER_PING0 );
break;
case WAIT_RISING: // We are now done wating for the ping))) to begin its relpy
ping0state = WAIT_FALLING; // Now we should wait for the end of its reply
ping0start = HWREG( TIMER_BASE_PING0 + TIMER_PING0_TR );
ping0now = HWREG( TIMER_BASE_PING0 + TIMER_PING0_TV );
// IO pin already CCP
// stop timer
ROM_TimerDisable( TIMER_BASE_PING0, TIMER_PING0 );
// set count edge to falling
ROM_TimerControlEvent( TIMER_BASE_PING0, TIMER_PING0, TIMER_EVENT_NEG_EDGE );
// enable timer
ROM_TimerEnable( TIMER_BASE_PING0, TIMER_PING0 );
// Check if falling edge already occured, if it did: fall trough
if ( ROM_GPIOPinRead( GPIO_BASE_PING0, GPIO_PIN_PING0 ) )
break;
case WAIT_FALLING: // We are now done wating for the ping))) to end its relpy
ping0state = RECHARGE; // Now we should wait for the end of its reply
ping0time = HWREG( TIMER_BASE_PING0 + TIMER_PING0_TR ) + ( ping0now - ping0start );
ping0updated = true;
int32_t pauseTime = PAUSE_TIME_N - ping0time;
if ( pauseTime < PAUSE_TIME_MIN_N )
pauseTime = PAUSE_TIME_MIN_N;
// set IO pin as output
ROM_GPIOPinTypeGPIOOutput( GPIO_BASE_PING0, GPIO_PIN_PING0 );
ROM_GPIOPinConfigure( GPIO_MUX_PING0 );
// drive IO pin low
ROM_GPIOPinWrite( GPIO_BASE_PING0, GPIO_PIN_PING0, 0 );
// stop timer
ROM_TimerDisable( TIMER_BASE_PING0, TIMER_PING0 );
// set timer for 200µs, single shot
ROM_TimerConfigure( TIMER_BASE_PING0, TIMER_PING0_ONE_SHOT );
ROM_TimerLoadSet( TIMER_BASE_PING0, TIMER_PING0, pauseTime );
// set timer interrupt for end of count
ROM_TimerIntDisable( TIMER_BASE_PING0, TIMER_PING0_MATCH|TIMER_PING0_EVENT );
ROM_TimerIntEnable( TIMER_BASE_PING0, TIMER_PING0_TIMEOUT );
// enable timer
ROM_TimerEnable( TIMER_BASE_PING0, TIMER_PING0 );
break;
}
}
// turn off the interrupts but don't turn of the timer because may
// be in use for pwm.
void OneMsTaskTimer::stop() {
// disable interrupt
ROM_TimerIntDisable(g_ulBase, TIMER_A);
ROM_TimerIntClear(g_ulBase, TIMER_A);
ROM_TimerDisable(g_ulBase, timerAB);
}
//*****************************************************************************
//
// The interrupt handler for the button interrupt.
//
//*****************************************************************************
void
ButtonIntHandler(void)
{
//
// Delay here on button push for simple debouncing.
//
SysCtlDelay(g_ui32SysClock / 10);
//
// Clear the timer interrupt.
//
ROM_GPIOIntClear(GPIO_PORTJ_AHB_BASE, GPIO_INT_PIN_0);
//
// Increment Mode.
//
g_ui32SleepMode = (g_ui32SleepMode + 1) % 3;
switch (g_ui32SleepMode)
{
//
// Enter Run Mode.
//
case 0:
//
// Disable the PWM.
//
ROM_PWMGenDisable(PWM0_BASE, PWM_GEN_0);
//
// Configure Toggle LED as a GPIO output.
//
ROM_GPIOPinTypeGPIOOutput(TOGGLE_GPIO_BASE, TOGGLE_GPIO_PIN);
//
// Enable the timer.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
//
// Print mode over the UART.
//
UARTprintf("\033[100D");
UARTprintf("\033[K");
UARTprintf("Run\t\tMOSC with PLL\tTimer");
SysCtlDelay(10000);
break;
//
// Enter Sleep Mode.
//
case 1:
//
// Print mode over the UART.
// Delay to let the UART finish before going to Sleep.
//
UARTprintf("\033[100D");
UARTprintf("\033[K");
UARTprintf("Sleep\t\tPIOSC\t\tTimer");
SysCtlDelay(10000);
//
// Switch clock to PIOSC and power down the MOSC before going into
// Sleep.
//
g_ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_OSC_INT |
SYSCTL_USE_OSC |
SYSCTL_MAIN_OSC_DIS),
16000000);
break;
//
// Enter Deep-Sleep Mode.
//
case 2:
//
// Switch back to the MOSC + PLL.
//
g_ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN |
SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_320),
16000000);
//
// Disable the timer.
//
ROM_TimerDisable(TIMER0_BASE, TIMER_A);
//
// Configure the toggle pin as a PWM pin.
//
ROM_GPIOPinConfigure(GPIO_PF0_M0PWM0);
ROM_GPIOPinTypePWM(TOGGLE_GPIO_BASE, TOGGLE_GPIO_PIN);
//
// Enable the PWM.
//
ROM_PWMGenEnable(PWM0_BASE, PWM_GEN_0);
//
// Print mode over the UART.
// Delay to let the UART finish before going to Sleep.
//
UARTprintf("\033[100D");
UARTprintf("\033[K");
UARTprintf("Deep-Sleep\tLFIOSC\t\tPWM");
SysCtlDelay(10000);
break;
default:
break;
}
//
// Set LEDs to show what mode we are in.
//
PowerLEDsSet();
}
//*****************************************************************************
//
// The interrupt handler for the third timer interrupt. (proximity)
//
//*****************************************************************************
void
Timer2IntHandler(void)
{
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
//Increment Timer A Count
TimerCCount++;
uint32_t ui32PulseStartTime; // Timer value at echo pulse rising edge
uint32_t ui32PulseStopTime; // Timer value at echo pulse falling edge
// // // Send a trigger pulse \\ \\ \\
//
// Enable the GPIO pin for the trigger pulse (M4).
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTM_BASE, GPIO_PIN_4);
//
// Turn on pulse.
//
MAP_GPIOPinWrite(GPIO_PORTM_BASE, GPIO_PIN_4, GPIO_PIN_4);
//
// Delay for 5 us.
//
delayFiveMicroseconds(g_ui32SysClock);
//
// Turn off pulse.
//
MAP_GPIOPinWrite(GPIO_PORTM_BASE, GPIO_PIN_4, 0);
// // // Measure pulse length \\ \\ \\
//
// Clear Timer A capture flag
//
TIMER4_ICR_R |= (1 << 2);
//
// Enable GPIO pin for timer event capture (M4).
//
ROM_GPIOPinTypeTimer(GPIO_PORTM_BASE, GPIO_PIN_4);
//
// Configure PM4 as Timer 4 CCP0
//
ROM_GPIOPinConfigure(GPIO_PM4_T4CCP0);
//
// Start Timer4 A
//
ROM_TimerEnable(TIMER4_BASE, TIMER_A);
//
// Wait for first capture event
//
while((TIMER4_RIS_R & (0x1 << 2)) == 0){};
//
// After first event, save timer A's captured value.
//
ui32PulseStartTime = TIMER4_TAR_R;
//
// Clear Timer A capture flag
//
TIMER4_ICR_R |= (1 << 2);
//
// Wait for second capture event
//
while((TIMER4_RIS_R & (0x1 << 2)) == 0){};
//
// After second event, save timer A's captured value.
//
ui32PulseStopTime = TIMER4_TAR_R;
//
// Calculate length of the pulse by subtracting the two timer values.
// Note that even if stop time is less than start time, due to the
// timer overflowing and starting over at 0, the 24 LSBs of our result are
// still valid
//
g_ui32PulseLengthTicks = (ui32PulseStopTime - ui32PulseStartTime) & 0x0FFFFFF;
//
// Print the start time, stop time, and pulse length
//
// UARTprintf("Pulse length: %d - %d = %d\n", ui32PulseStopTime,
// ui32PulseStartTime, ui32PulseLengthTicks);
//
// Print the distance
//
//UARTprintf("Distance: %d\n", ui32DistanceCM);
//
// Stop Timer4 A.
//
ROM_TimerDisable(TIMER4_BASE, TIMER_A);
/*//
// Use the flags to Toggle the LED for this timer
//
GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, g_ui32Flags);*/
//
// Toggle the flag for the proximity timer.
//
HWREGBITW(&g_ui32InterruptFlags, 1) = 1;
}
