void peripheral_init()
{
/* Define the DCs for the DAC */
uint8_t DCs = DAC_GPIO_0 | DAC_GPIO_1 | DAC_GPIO_2 | DAC_GPIO_3 | DAC_GPIO_4 | DAC_GPIO_5;
/* Turn Clock ON for GPIOF (Push Up Button), GPIOE (Pot and PS2), and GPIOB (DC0-DC5) */
gpio_enable_port(PUSH_BUTTON_GPIO_BASE);
gpio_enable_port(ADC_GPIO_BASE);
gpio_enable_port(DAC_GPIO_BASE);
/* Set pin for Push Up and DC0-DC5 to Digital */
gpio_config_digital_enable(PUSH_BUTTON_GPIO_BASE, PUSH_BUTTON_UP_PIN);
gpio_config_digital_enable(DAC_GPIO_BASE, DCs);
/* Set pins for Pot and PS2 to analogic */
gpio_config_analog_enable(ADC_GPIO_BASE, ADC_GPIO_X_PIN | ADC_GPIO_Y_PIN | ADC_GPIO_POT_PIN);
/* Set PS2 and Push buttons as input and DC0-DC5 as output */
gpio_config_enable_input(PUSH_BUTTON_GPIO_BASE, PUSH_BUTTON_UP_PIN);
gpio_config_enable_input(ADC_GPIO_BASE, ADC_GPIO_X_PIN | ADC_GPIO_Y_PIN | ADC_GPIO_POT_PIN);
gpio_config_enable_output(DAC_GPIO_BASE, DCs);
/* Set pin for Push Up to PullUp */
gpio_config_enable_pullup(PUSH_BUTTON_GPIO_BASE, PUSH_BUTTON_UP_PIN);
/* Enable pins for Pot and PS2 as alaternate function (ADC) */
gpio_config_alternate_function(ADC_GPIO_BASE, ADC_GPIO_X_PIN | ADC_GPIO_Y_PIN | ADC_GPIO_POT_PIN);
}
//*****************************************************************************
//*****************************************************************************
void init_lcd_gpio(void)
{
gpio_enable_port(LCD_GPIO_BASE);
gpio_enable_port(LCD_RST_BASE);
// Configure SPI CLK
gpio_config_digital_enable(LCD_GPIO_BASE, LCD_CLK_PIN);
gpio_config_alternate_function(LCD_GPIO_BASE, LCD_CLK_PIN);
gpio_config_port_control(LCD_GPIO_BASE, LCD_CLK_PIN_PCTL);
// Configure SPI MOSI
gpio_config_digital_enable(LCD_GPIO_BASE, LCD_MOSI_PIN);
gpio_config_alternate_function(LCD_GPIO_BASE, LCD_MOSI_PIN);
gpio_config_port_control(LCD_GPIO_BASE, LCD_MOSI_PIN_PCTL);
// Configure CS to be a normal GPIO pin that is controlled
// explicitly by software
gpio_config_digital_enable(LCD_GPIO_BASE, LCD_CS_PIN);
gpio_config_alternate_function(LCD_GPIO_BASE, LCD_CS_PIN);
gpio_config_port_control(LCD_GPIO_BASE, LCD_CS_PIN_PCTL);
// Configure CD to be a normal GPIO pin that is controlled
// explicitly by software
gpio_config_digital_enable(LCD_GPIO_BASE, LCD_CD_PIN);
gpio_config_enable_output(LCD_GPIO_BASE, LCD_CD_PIN);
// Configure RST_N to be a normal GPIO pin that is controlled
// explicitly by software
gpio_config_digital_enable(LCD_RST_BASE, LCD_RST_PIN);
gpio_config_enable_output(LCD_RST_BASE, LCD_RST_PIN);
initialize_spi(LCD_SPI_BASE, 3);
}
void uart0_init(void)
{
// Initialize GPIO for UART0
gpio_enable_port(GPIOA_BASE);
gpio_config_digital_enable( GPIOA_BASE, PA0 | PA1);
gpio_config_alternate_function( GPIOA_BASE, PA0 | PA1);
gpio_config_port_control( GPIOA_BASE, GPIO_PCTL_PA0_U0RX | GPIO_PCTL_PA1_U0TX);
}
void initialize_rotary(void) {
// Push button pins on PC4, PC5, PC6, and PC7
gpio_enable_port(GPIOC_BASE);
gpio_config_digital_enable(GPIOC_BASE, PIN4 | PIN5 | PIN6 | PIN7);
gpio_config_enable_input(GPIOC_BASE, PIN4 | PIN6 | PIN7);
gpio_config_enable_output(GPIOC_BASE, PIN5);
gpio_config_enable_pullup(GPIOC_BASE, PIN6 | PIN7);
gpio_config_enable_pulldown(GPIOC_BASE, PIN4);
}
void initialize_steppers(void) {
// Stepper0 is pins PA6, PA7, PF0, PF1, PF2, PF3
// Stepper1 is pins PE0, PE1, PE2, PE3, PE4, PE5
// Stepper0 pins on Port A - PIN6 and PIN7
gpio_enable_port(GPIOA_BASE);
gpio_config_digital_enable(GPIOA_BASE, PIN6 | PIN7);
gpio_config_enable_output(GPIOA_BASE, PIN6 | PIN7);
// Stepper0 pins on Port F - PIN0, PIN1, PIN2, and PIN3
gpio_enable_port(GPIOF_BASE);
gpio_config_digital_enable(GPIOF_BASE, PIN0 | PIN1 | PIN2 | PIN3);
gpio_config_enable_output(GPIOF_BASE, PIN0 | PIN1 | PIN2 | PIN3);
// Stepper 1 pins on Port E - PIN0 - PIN5
gpio_enable_port(GPIOE_BASE);
gpio_config_digital_enable(GPIOE_BASE, PIN0 | PIN1 | PIN2 | PIN3 | PIN4 | PIN5);
gpio_config_enable_output(GPIOE_BASE, PIN0 | PIN1 | PIN2 | PIN3 | PIN4 | PIN5);
}
void initialize_LCD(void) {
// LCD initialization
gpio_enable_port(GPIOB_BASE);
// Configure SPI CLK
gpio_config_digital_enable(LCD_GPIO_BASE, LCD_CLK_PIN);
gpio_config_alternate_function(LCD_GPIO_BASE, LCD_CLK_PIN);
gpio_config_port_control(LCD_GPIO_BASE, LCD_CLK_PIN_PCTL);
// Configure SPI MISO
gpio_config_digital_enable(LCD_GPIO_BASE, LCD_MISO_PIN);
gpio_config_alternate_function(LCD_GPIO_BASE, LCD_MISO_PIN);
gpio_config_port_control(LCD_GPIO_BASE, LCD_MISO_PIN_PCTL);
// Configure SPI MOSI
gpio_config_digital_enable(LCD_GPIO_BASE, LCD_MOSI_PIN);
gpio_config_alternate_function(LCD_GPIO_BASE, LCD_MOSI_PIN);
gpio_config_port_control(LCD_GPIO_BASE, LCD_MOSI_PIN_PCTL);
// Configure CS to be a normal GPIO pin that is controlled
// explicitly by software
gpio_config_digital_enable(LCD_GPIO_BASE,LCD_CS_PIN);
gpio_config_enable_output(LCD_GPIO_BASE,LCD_CS_PIN);
// Configure RST, BL_EN, and CMD_SEL to be normal GPIO pins
gpio_config_digital_enable(LCD_GPIO_BASE, LCD_RST_PIN | LCD_BL_EN_PIN | LCD_CMD_SEL_PIN);
gpio_config_enable_output(LCD_GPIO_BASE, LCD_RST_PIN | LCD_BL_EN_PIN | LCD_CMD_SEL_PIN);
initialize_spi2();
//ILI9341_Initial();
init_lcd2();
setRotation(0);
fillScreen(ILI9341_RED);
drawStringCenter(" P L E X U S", 0, ILI9341_WHITE, ILI9341_WHITE);
drawStringCenter(" ADJUST YAW", 3, ILI9341_WHITE, ILI9341_WHITE);
drawStringCenter("THEN", 5, ILI9341_WHITE, ILI9341_WHITE);
drawStringCenter(" ADJUST PITCH", 7, ILI9341_WHITE, ILI9341_WHITE);
drawStringCenter("AND", 9, ILI9341_WHITE, ILI9341_WHITE);
drawStringCenter("FIRE", 11, ILI9341_WHITE,ILI9341_WHITE);
}
//*****************************************************************************
// Configures the GPIO pins connected to the UP/DOWN and X-Direction of the
// PS2 controller
//*****************************************************************************
void gpio_init(void) {
//Configures GPIO pins for the UP/DOWN buttons
gpio_enable_port(DIR_BTN_BASE);
gpio_config_digital_enable(DIR_BTN_BASE,(DIR_BTN_UP | DIR_BTN_DOWN | DIR_BTN_LEFT | DIR_BTN_RIGHT));
gpio_config_enable_input(DIR_BTN_BASE,(DIR_BTN_UP | DIR_BTN_DOWN | DIR_BTN_LEFT | DIR_BTN_RIGHT));
gpio_config_enable_pullup(DIR_BTN_BASE,(DIR_BTN_UP | DIR_BTN_DOWN | DIR_BTN_LEFT | DIR_BTN_RIGHT));
//Configures GPIO pins PS2 stick for the X-Direction
gpio_enable_port(PS2_GPIO_BASE);
gpio_config_analog_enable(PS2_GPIO_BASE, (PS2_X_DIR_PIN | PS2_Y_DIR_PIN));
gpio_config_enable_input(PS2_GPIO_BASE, (PS2_X_DIR_PIN | PS2_Y_DIR_PIN));
gpio_config_alternate_function(PS2_GPIO_BASE,(PS2_X_DIR_PIN | PS2_Y_DIR_PIN));
}
void initialize_magnet(void) {
// Magnet is on PF4
gpio_enable_port(GPIOF_BASE);
gpio_config_digital_enable(GPIOF_BASE, PIN4);
gpio_config_enable_output(GPIOF_BASE, PIN4);
}
void initialize_actuator(void) {
// Actuator pins on PD4 and PD5
gpio_enable_port(GPIOD_BASE);
gpio_config_digital_enable(GPIOD_BASE, PIN4 | PIN5);
gpio_config_enable_output(GPIOD_BASE, PIN4 | PIN5);
}