void stellaris_timer_early_init(void)
{
uint32_t clock_rate = SysCtlClockGet();
tick_rate_mhz = clock_rate / 1000000;
#if 0
SysCtlPeripheralEnable(SYSCTL_PERIPH_WTIMER0);
/* configure the timer as a 64bit up counting tick at syslock rate */
TimerConfigure(WTIMER0_BASE, TIMER_CFG_PERIODIC_UP);
TimerLoadSet64(WTIMER0_BASE, ULONG_MAX);
TimerEnable(WTIMER0_BASE, TIMER_BOTH);
#endif
}
//*****************************************************************************
//
// This example application demonstrates the use of the timers to generate
// periodic interrupts.
//
//*****************************************************************************
int
main(void)
{
//
// 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.
//
FPUEnable();
FPULazyStackingEnable();
//
// Set the clocking to run directly from the crystal.
//
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable processor interrupts.
//
IntMasterEnable();
//
// Initialize the UART and write status.
//
ConfigureUART();
ConfigureXBeeUART();
ConfigureUARTSensores();
ButtonsInit();
inicializa_motores();
//
// Enable the peripherals used by this example.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
//
// Configure the two 32-bit periodic timers.
//
TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
TimerLoadSet(TIMER1_BASE, TIMER_A, SysCtlClockGet()/200000);
//
// Setup the interrupts for the timer timeouts.
//
IntEnable(INT_TIMER1A);
TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the timers.
//
TimerEnable(TIMER1_BASE, TIMER_A);
// Configure a wide timer for timing purposes
SysCtlPeripheralEnable(SYSCTL_PERIPH_WTIMER0);
TimerConfigure(WTIMER0_BASE, TIMER_CFG_PERIODIC_UP);
TimerLoadSet64(WTIMER0_BASE, (((long long)1) << 60));
TimerEnable(WTIMER0_BASE, TIMER_A);
int counter_verify_no_ar = 0;
while(1) {
SysCtlDelay(SysCtlClockGet() / 1000);
checkButtons();
readPackage();
counter_verify_no_ar++;
if (counter_verify_no_ar == 1000) {
counter_verify_no_ar = 0;
if (no_ar) {
enviaNoAr();
no_ar = false;
}
if (no_chao) {
enviaNoChao();
no_chao = false;
}
}
}
}
void joystick_init(void) {
// Register Joystick button isr
GPIOPinTypeGPIOInput(JOY_PORT, JOY_MASK);
GPIOPadConfigSet(JOY_PORT, JOY_MASK, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPU);
GPIOIntTypeSet(JOY_PORT, JOY_MASK, GPIO_BOTH_EDGES);
GPIOPortIntRegister(JOY_PORT, button_handler);
GPIOPinIntEnable(JOY_PORT, JOY_MASK);
//
// The ADC0 peripheral must be enabled for use.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
//
// Select the analog ADC function for these pins.
//
GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_0);
GPIOPinTypeADC(GPIO_PORTD_BASE, GPIO_PIN_3);
// Use sequences 0 and 1 for x and y.
ADCSequenceConfigure(ADC0_BASE, 0, ADC_TRIGGER_PROCESSOR, 0);
ADCSequenceConfigure(ADC0_BASE, 1, ADC_TRIGGER_PROCESSOR, 0);
// Single ended sample on CH3 (X) and CH4 (Y).
ADCSequenceStepConfigure(ADC0_BASE, 0, 0, ADC_CTL_CH3 | ADC_CTL_IE | ADC_CTL_END);
ADCSequenceStepConfigure(ADC0_BASE, 1, 0, ADC_CTL_CH4 | ADC_CTL_IE | ADC_CTL_END);
// Enable the sequences.
ADCSequenceEnable(ADC0_BASE, 0);
ADCSequenceEnable(ADC0_BASE, 1);
// Register ISRs.
ADCIntRegister(ADC0_BASE, 0, x_handler);
ADCIntRegister(ADC0_BASE, 1, y_handler);
ADCIntEnable(ADC0_BASE, 0);
ADCIntEnable(ADC0_BASE, 1);
// Trigger the first conversion (auto-center)
ADCProcessorTrigger(ADC0_BASE, 0);
ADCProcessorTrigger(ADC0_BASE, 1);
// Configure timer
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER3);
TimerConfigure(JOY_TIMER, TIMER_CFG_PERIODIC);
// //Register Jog Z buttons
// GPIOPinTypeGPIOInput(JOG_Z_PORT, JOG_Z_MASK);
// GPIOIntTypeSet(JOG_Z_PORT, JOG_Z_MASK, GPIO_BOTH_EDGES);
// GPIOPortIntRegister(JOG_Z_PORT, jog_z_handler);
// GPIOPinIntEnable(JOG_Z_PORT, JOG_Z_MASK);
// GPIOPadConfigSet(JOG_Z_PORT,JOG_Z_MASK,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD);
// Create a 10ms timer callback
TimerLoadSet64(JOY_TIMER, SysCtlClockGet() / 500);
TimerIntRegister(JOY_TIMER, TIMER_A, joystick_isr);
TimerIntEnable(JOY_TIMER, TIMER_TIMA_TIMEOUT);
IntPrioritySet(INT_TIMER3A, CONFIG_JOY_PRIORITY);
TimerEnable(JOY_TIMER, TIMER_A);
}