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);
}
}
//*****************************************************************************
//
//! 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);
}
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 );
}
//*****************************************************************************
//
// 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);
}
