void Timer0IntHandler(void){
// Used to countdown from entered time
// Clear the timer interrupt.
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
// Check if time has been reached
if(g_countdownTime == 0){
ROM_IntMasterDisable();
UARTprintf("Time's Up!\n\n");
ROM_IntMasterEnable();
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
ROM_TimerIntDisable(TIMER0_BASE, TIMER_A);
return;
}
// Turn on LED
ROM_GPIOPinWrite(GPIO_PORTF_BASE, LED_RED, LED_RED);
ROM_TimerEnable(TIMER2_BASE, TIMER_A);
// Update the interrupt status on the display.
ROM_IntMasterDisable();
UARTprintf(" %i\n",g_countdownTime);
ROM_IntMasterEnable();
// Decrement counter
g_countdownTime--;
// Turn off LED
//ROM_GPIOPinWrite(GPIO_PORTF_BASE, LED_RED, 0);
}
//*****************************************************************************
//
// Given a destination buffer and a tStat pointer, this function will produce a
// formatted "request string" that can be used in the Exosite_Write function.
//
//*****************************************************************************
void
StatRequestFormat(tStat *psStat, char *pcRequestBuffer)
{
if((psStat->eValueType) == STRING)
{
//
// Disable interrupts to avoid changes to the string during the copy
// operation.
//
ROM_IntMasterDisable();
usprintf(pcRequestBuffer, "%s=%s",
psStat->pcCloudAlias,
StatStringVal(*psStat));
ROM_IntMasterEnable();
}
else if((psStat->eValueType) == INT)
{
usprintf(pcRequestBuffer, "%s=%d",
psStat->pcCloudAlias,
StatIntVal(*psStat));
}
else if((psStat->eValueType) == HEX)
{
usprintf(pcRequestBuffer, "%s=0x%x",
psStat->pcCloudAlias,
StatIntVal(*psStat));
}
}
//*****************************************************************************
//
// The interrupt handler for the first timer interrupt.
//
//*****************************************************************************
void
Timer0IntHandler(void)
{
char cOne, cTwo;
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//
// Toggle the flag for the first timer.
//
HWREGBITW(&g_ui32Flags, 0) ^= 1;
//
// Use the flags to Toggle the LED for this timer
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, g_ui32Flags << 1);
//
// Update the interrupt status on the display.
//
ROM_IntMasterDisable();
cOne = HWREGBITW(&g_ui32Flags, 0) ? '1' : '0';
cTwo = HWREGBITW(&g_ui32Flags, 1) ? '1' : '0';
UARTprintf("\rT1: %c T2: %c", cOne, cTwo);
ROM_IntMasterEnable();
}
//*****************************************************************************
//
// Delay for 5 us.
//
//*****************************************************************************
void delayFiveMicroseconds(uint32_t g_ui32SysClock) {
//
// Delay for 5 us. The value of the number provided to SysCtlDelay
// is the number of loops (3 assembly instructions each) to iterate through.
// Interrupts are disabled temporarily to ensure the pulse length is 5us.
//
ROM_IntMasterDisable();
ROM_SysCtlDelay(g_ui32SysClock / 3 / 200000);
ROM_IntMasterEnable();
}
/****************************************************************
* This interrupt handler is set up by AcquireInit to check
* for the events that begin a data logging. This is when the voltage
* exceeds a changeable threshold or
* the accelerometer z-axis changes g by more than 0.5.
*****************************************************************/
void MonitorShockISR() {
ROM_TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
//
// Toggle the flag for the second timer.
//
HWREGBITW(&g_ui32Flags, 1) ^= 1;
// If ADC has not converted yet, exit ISR.
if (!ADCIntStatus(ADC1_BASE, 3, false)) {
return;
}
ADCIntClear(ADC1_BASE, 3);
ADCSequenceDataGet(ADC1_BASE, 3, puiADC1Buffer);
ADCProcessorTrigger(ADC1_BASE, 3);
if (first_entry) {
first_entry = false;
prev1_value = ReadAccel(puiADC1Buffer[0]);
} else {
puiADC1Buffer[0] = ReadAccel(puiADC1Buffer[0]);
// Shock monitor detects a change of more than 2.4g
if (abs((int)puiADC1Buffer[0] - prev1_value) > 240) {
// UARTprintf("Shock! : %d \r",puiADC1Buffer[0]);
MonitorStop();
// Start LED
ROM_TimerEnable(TIMER2_BASE, TIMER_A);
// Start logging waveform.
ROM_IntMasterDisable();
psuiConfig->isShocked = true;
ROM_IntMasterEnable();
} else {
ROM_IntMasterDisable();
psuiConfig->isShocked = false;
ROM_IntMasterEnable();
}
prev1_value = puiADC1Buffer[0];
}
}
void HardwareSerial::end()
{
unsigned long ulInt = ROM_IntMasterDisable();
flushAll();
//
// If interrupts were enabled when we turned them off, turn them
// back on again.
//
if(!ulInt)
{
ROM_IntMasterEnable();
}
ROM_IntDisable(g_ulUARTInt[uartModule]);
ROM_UARTIntDisable(UART_BASE, UART_INT_RX | UART_INT_RT);
}
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;
}
/*
* ======== callback ========
* Watchdog interrupt callback function. It toggles and LED, and if a button
* has not been pressed, clears the watchdog interrupt flag.
*/
void vINMD_watchdog_callback(UArg handle)
{
ERROR_CODE eEC;
eEC = eBSP_debugger_detect();
if(eEC == ER_OK)
{
System_printf("****!!!!SYS HALT!!!!****\r\n");
System_printf("Watchdog Bark!\r\n");
System_flush();
vDEBUG_ASSERT("Watchdog Bark!",0);
}
else
{
vDEBUG("Watchdog Bark!");
vDEBUG("****!!!!SYS RESET!!!!****\r\n");
ROM_IntMasterDisable();
ROM_SysCtlReset();
}
}
//*****************************************************************************
//
// The interrupt handler for the first timer interrupt.
//
//*****************************************************************************
void
Timer0IntHandler(void)
{
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//
// Toggle the flag for the first timer.
//
HWREGBITW(&g_ulFlags, 0) ^= 1;
//
// Update the interrupt status on the display.
//
ROM_IntMasterDisable();
UARTprintf("\rT1: %d T2: %d", HWREGBITW(&g_ulFlags, 0) ? 1 : 0,
HWREGBITW(&g_ulFlags, 1) ? 1 : 0);
ROM_IntMasterEnable();
}
void Timer1IntHandler(void){
// Clear the timer interrupt.
ROM_TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
// Toggle the flag for the second timer.
// From current understanding, XOR on the second bit of &g_ui32Flags
HWREGBITW(&g_ui32Flags, 2) ^= 1;
// Use the flags to Toggle the LED for this timer
ROM_GPIOPinWrite(GPIO_PORTF_BASE, LED_BLUE, g_ui32Flags);
// Update the interrupt status on the display.
ROM_IntMasterDisable();
if (HWREGBITW(&g_ui32Flags, 2)){
UARTprintf("BLUE LED ON\n");
} else{
UARTprintf("BLUE LED OFF\n");
}
ROM_IntMasterEnable();
}
//*****************************************************************************
//
// The interrupt handler for the first timer interrupt.
//
//*****************************************************************************
void
Timer0IntHandler(void)
{
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//
// Toggle the flag for the first timer.
//
HWREGBITW(&g_ulFlags, 0) ^= 1;
//
// Update the interrupt status on the display.
//
ROM_IntMasterDisable();
GrStringDraw(&g_sContext, (HWREGBITW(&g_ulFlags, 0) ? "1" : "0"), -1, 68,
26, 1);
ROM_IntMasterEnable();
}
int gpio_init_int(gpio_t pin, gpio_mode_t mode, gpio_flank_t flank,
gpio_cb_t cb, void *arg)
{
const uint8_t port_num = _port_num(pin);
const uint32_t port_addr = _port_base[port_num];
const uint32_t icr_reg_addr = port_addr + GPIO_ICR_R_OFF;
const uint8_t pin_num = _pin_num(pin);
const uint8_t pin_bit = 1<<pin_num;
const unsigned int int_num = _int_assign[port_num];
const uint32_t sysctl_port_base = _sysctl_port_base[port_num];
ROM_SysCtlPeripheralEnable(sysctl_port_base);
gpio_config[port_num][pin_num].cb = cb;
gpio_config[port_num][pin_num].arg = arg;
DEBUG("init int pin:%d, int num %d, port addr %" PRIx32 "\n",
pin_num, int_num, port_addr);
ROM_GPIODirModeSet(port_addr, 1<<pin_num, GPIO_DIR_MODE_IN);
ROM_GPIOPadConfigSet(port_addr, 1<<pin_num,
GPIO_STRENGTH_2MA, TYPE(mode));
ROM_IntMasterDisable();
HWREG(icr_reg_addr) = pin_bit;
ROM_GPIOIntTypeSet(port_addr, pin_bit, flank);
HWREG(port_addr+GPIO_LOCK_R_OFF) = GPIO_LOCK_KEY;
HWREG(port_addr+GPIO_CR_R_OFF) |= pin_bit;
HWREG(port_addr+GPIO_DEN_R_OFF) |= pin_bit;
HWREG(port_addr+GPIO_LOCK_R_OFF) = 0;
gpio_irq_enable(pin);
ROM_IntEnable(int_num);
ROM_IntMasterEnable();
return 0;
}
//*****************************************************************************
//
// Handles CDC driver notifications related to control and setup of the device.
//
// \param pvCBData is the client-supplied callback pointer for this channel.
// \param ui32Event identifies the event we are being notified about.
// \param ui32MsgValue is an event-specific value.
// \param pvMsgData is an event-specific pointer.
//
// This function is called by the CDC driver to perform control-related
// operations on behalf of the USB host. These functions include setting
// and querying the serial communication parameters, setting handshake line
// states and sending break conditions.
//
// \return The return value is event-specific.
//
//*****************************************************************************
uint32_t
ControlHandler(void *pvCBData, uint32_t ui32Event,
uint32_t ui32MsgValue, void *pvMsgData)
{
uint32_t ui32IntsOff;
//
// Which event are we being asked to process?
//
switch(ui32Event)
{
//
// We are connected to a host and communication is now possible.
//
case USB_EVENT_CONNECTED:
g_bUSBConfigured = true;
//
// Flush our buffers.
//
USBBufferFlush(&g_sTxBuffer);
USBBufferFlush(&g_sRxBuffer);
//
// Tell the main loop to update the display.
//
ui32IntsOff = ROM_IntMasterDisable();
g_pcStatus = "Connected";
g_ui32Flags |= COMMAND_STATUS_UPDATE;
if(!ui32IntsOff)
{
ROM_IntMasterEnable();
}
break;
//
// The host has disconnected.
//
case USB_EVENT_DISCONNECTED:
g_bUSBConfigured = false;
ui32IntsOff = ROM_IntMasterDisable();
g_pcStatus = "Disconnected";
g_ui32Flags |= COMMAND_STATUS_UPDATE;
if(!ui32IntsOff)
{
ROM_IntMasterEnable();
}
break;
//
// Return the current serial communication parameters.
//
case USBD_CDC_EVENT_GET_LINE_CODING:
GetLineCoding(pvMsgData);
break;
//
// Set the current serial communication parameters.
//
case USBD_CDC_EVENT_SET_LINE_CODING:
SetLineCoding(pvMsgData);
break;
//
// Set the current serial communication parameters.
//
case USBD_CDC_EVENT_SET_CONTROL_LINE_STATE:
SetControlLineState((uint16_t)ui32MsgValue);
break;
//
// Send a break condition on the serial line.
//
case USBD_CDC_EVENT_SEND_BREAK:
SendBreak(true);
break;
//
// Clear the break condition on the serial line.
//
case USBD_CDC_EVENT_CLEAR_BREAK:
SendBreak(false);
break;
//
// Ignore SUSPEND and RESUME for now.
//
case USB_EVENT_SUSPEND:
case USB_EVENT_RESUME:
break;
//
// We don't expect to receive any other events. Ignore any that show
// up in a release build or hang in a debug build.
//
default:
#ifdef DEBUG
while(1);
#else
break;
#endif
}
return(0);
}
//*****************************************************************************
//
// This is the main application entry function.
//
//*****************************************************************************
int
main(void)
{
uint32_t ui32TxCount;
uint32_t ui32RxCount;
tRectangle sRect;
char pcBuffer[16];
uint32_t ui32Fullness;
//
// 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();
//
// Set the clocking to run from the PLL at 50MHz
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Configure the required pins for USB operation.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
ROM_GPIOPinConfigure(GPIO_PG4_USB0EPEN);
ROM_GPIOPinTypeUSBDigital(GPIO_PORTG_BASE, GPIO_PIN_4);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTL_BASE, GPIO_PIN_6 | GPIO_PIN_7);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Erratum workaround for silicon revision A1. VBUS must have pull-down.
//
if(CLASS_IS_BLIZZARD && REVISION_IS_A1)
{
HWREG(GPIO_PORTB_BASE + GPIO_O_PDR) |= GPIO_PIN_1;
}
//
// Not configured initially.
//
g_bUSBConfigured = false;
//
// Initialize the display driver.
//
CFAL96x64x16Init();
//
// Initialize the graphics context.
//
GrContextInit(&g_sContext, &g_sCFAL96x64x16);
//
// Fill the top 15 rows of the screen with blue to create the banner.
//
sRect.i16XMin = 0;
sRect.i16YMin = 0;
sRect.i16XMax = GrContextDpyWidthGet(&g_sContext) - 1;
sRect.i16YMax = 9;
GrContextForegroundSet(&g_sContext, ClrDarkBlue);
GrRectFill(&g_sContext, &sRect);
//
// Put a white box around the banner.
//
GrContextForegroundSet(&g_sContext, ClrWhite);
GrRectDraw(&g_sContext, &sRect);
//
// Put the application name in the middle of the banner.
//
GrContextFontSet(&g_sContext, g_psFontFixed6x8);
GrStringDrawCentered(&g_sContext, "usb-dev-serial", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 4, 0);
//
// Show the various static text elements on the color STN display.
//
GrStringDraw(&g_sContext, "Tx #",-1, 0, 12, false);
GrStringDraw(&g_sContext, "Tx buf", -1, 0, 22, false);
GrStringDraw(&g_sContext, "Rx #", -1, 0, 32, false);
GrStringDraw(&g_sContext, "Rx buf", -1, 0, 42, false);
DrawBufferMeter(&g_sContext, 40, 22);
DrawBufferMeter(&g_sContext, 40, 42);
//
// Enable the UART that we will be redirecting.
//
ROM_SysCtlPeripheralEnable(USB_UART_PERIPH);
//
// Enable and configure the UART RX and TX pins
//
ROM_SysCtlPeripheralEnable(TX_GPIO_PERIPH);
ROM_SysCtlPeripheralEnable(RX_GPIO_PERIPH);
ROM_GPIOPinTypeUART(TX_GPIO_BASE, TX_GPIO_PIN);
ROM_GPIOPinTypeUART(RX_GPIO_BASE, RX_GPIO_PIN);
//
// TODO: Add code to configure handshake GPIOs if required.
//
//
// Set the default UART configuration.
//
ROM_UARTConfigSetExpClk(USB_UART_BASE, ROM_SysCtlClockGet(),
DEFAULT_BIT_RATE, DEFAULT_UART_CONFIG);
ROM_UARTFIFOLevelSet(USB_UART_BASE, UART_FIFO_TX4_8, UART_FIFO_RX4_8);
//
// Configure and enable UART interrupts.
//
ROM_UARTIntClear(USB_UART_BASE, ROM_UARTIntStatus(USB_UART_BASE, false));
ROM_UARTIntEnable(USB_UART_BASE, (UART_INT_OE | UART_INT_BE | UART_INT_PE |
UART_INT_FE | UART_INT_RT | UART_INT_TX | UART_INT_RX));
//
// Enable the system tick.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// Tell the user what we are up to.
//
DisplayStatus(&g_sContext, " Configuring... ");
//
// Initialize the transmit and receive buffers.
//
USBBufferInit(&g_sTxBuffer);
USBBufferInit(&g_sRxBuffer);
//
// Set the USB stack mode to Device mode with VBUS monitoring.
//
USBStackModeSet(0, eUSBModeDevice, 0);
//
// Pass our device information to the USB library and place the device
// on the bus.
//
USBDCDCInit(0, &g_sCDCDevice);
//
// Wait for initial configuration to complete.
//
DisplayStatus(&g_sContext, "Waiting for host");
//
// Clear our local byte counters.
//
ui32RxCount = 0;
ui32TxCount = 0;
//
// Enable interrupts now that the application is ready to start.
//
ROM_IntEnable(USB_UART_INT);
//
// Main application loop.
//
while(1)
{
//
// Have we been asked to update the status display?
//
if(g_ui32Flags & COMMAND_STATUS_UPDATE)
{
//
// Clear the command flag
//
ROM_IntMasterDisable();
g_ui32Flags &= ~COMMAND_STATUS_UPDATE;
ROM_IntMasterEnable();
DisplayStatus(&g_sContext, g_pcStatus);
}
//
// Has there been any transmit traffic since we last checked?
//
if(ui32TxCount != g_ui32UARTTxCount)
{
//
// Take a snapshot of the latest transmit count.
//
ui32TxCount = g_ui32UARTTxCount;
//
// Update the display of bytes transmitted by the UART.
//
usnprintf(pcBuffer, 16, "%d ", ui32TxCount);
GrStringDraw(&g_sContext, pcBuffer, -1, 40, 12, true);
//
// Update the RX buffer fullness. Remember that the buffers are
// named relative to the USB whereas the status display is from
// the UART's perspective. The USB's receive buffer is the UART's
// transmit buffer.
//
ui32Fullness = ((USBBufferDataAvailable(&g_sRxBuffer) * 100) /
UART_BUFFER_SIZE);
UpdateBufferMeter(&g_sContext, ui32Fullness, 40, 22);
}
//
// Has there been any receive traffic since we last checked?
//
if(ui32RxCount != g_ui32UARTRxCount)
{
//
// Take a snapshot of the latest receive count.
//
ui32RxCount = g_ui32UARTRxCount;
//
// Update the display of bytes received by the UART.
//
usnprintf(pcBuffer, 16, "%d ", ui32RxCount);
GrStringDraw(&g_sContext, pcBuffer, -1, 40, 32, true);
//
// Update the TX buffer fullness. Remember that the buffers are
// named relative to the USB whereas the status display is from
// the UART's perspective. The USB's transmit buffer is the UART's
// receive buffer.
//
ui32Fullness = ((USBBufferDataAvailable(&g_sTxBuffer) * 100) /
UART_BUFFER_SIZE);
UpdateBufferMeter(&g_sContext, ui32Fullness, 40, 42);
}
}
}
//*****************************************************************************
//
// This is the main example program. It checks to see that the interrupts are
// processed in the correct order when they have identical priorities,
// increasing priorities, and decreasing priorities. This exercises interrupt
// preemption and tail chaining.
//
//*****************************************************************************
int
main(void)
{
uint_fast8_t ui8Error;
uint32_t ui32SysClock;
//
// Run from the PLL at 120 MHz.
//
ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN | SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_480), 120000000);
//
// Configure the device pins.
//
PinoutSet();
//
// Initialize the display driver.
//
Kentec320x240x16_SSD2119Init(ui32SysClock);
//
// Initialize the graphics context.
//
GrContextInit(&g_sContext, &g_sKentec320x240x16_SSD2119);
//
// Draw the application frame.
//
FrameDraw(&g_sContext, "interrupts");
//
// Put the status header text on the display.
//
GrContextFontSet(&g_sContext, g_psFontCm20);
GrStringDrawCentered(&g_sContext, "Active: Pending: ", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 150, 0);
//
// Configure the B3, L1 and L0 to be outputs to indicate entry/exit of one
// of the interrupt handlers.
//
GPIOPinTypeGPIOOutput(GPIO_A_BASE, GPIO_A_PIN);
GPIOPinTypeGPIOOutput(GPIO_B_BASE, GPIO_B_PIN);
GPIOPinTypeGPIOOutput(GPIO_C_BASE, GPIO_C_PIN);
GPIOPinWrite(GPIO_A_BASE, GPIO_A_PIN, 0);
GPIOPinWrite(GPIO_B_BASE, GPIO_B_PIN, 0);
GPIOPinWrite(GPIO_C_BASE, GPIO_C_PIN, 0);
//
// Set up and enable the SysTick timer. It will be used as a reference
// for delay loops in the interrupt handlers. The SysTick timer period
// will be set up for 100 times per second.
//
ROM_SysTickPeriodSet(ui32SysClock / 100);
ROM_SysTickEnable();
//
// Reset the error indicator.
//
ui8Error = 0;
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Enable the interrupts.
//
ROM_IntEnable(INT_GPIOA);
ROM_IntEnable(INT_GPIOB);
ROM_IntEnable(INT_GPIOC);
//
// Indicate that the equal interrupt priority test is beginning.
//
GrStringDrawCentered(&g_sContext, "Equal Priority", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 60, 1);
//
// Set the interrupt priorities so they are all equal.
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x00);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the LCD.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 3) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 1))
{
ui8Error |= 1;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the decreasing interrupt priority test is beginning.
//
GrStringDrawCentered(&g_sContext, " Decreasing Priority ", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 60, 1);
//
// Set the interrupt priorities so that they are decreasing (i.e. C > B >
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x80);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the display.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 3) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 1))
{
ui8Error |= 2;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the increasing interrupt priority test is beginning.
//
GrStringDrawCentered(&g_sContext, " Increasing Priority ", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 60, 1);
//
// Set the interrupt priorities so that they are increasing (i.e. C < B <
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x80);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the display.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 1) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 3))
{
ui8Error |= 4;
}
//
// Wait two seconds.
//
Delay(2);
//
// Disable the interrupts.
//
ROM_IntDisable(INT_GPIOA);
ROM_IntDisable(INT_GPIOB);
ROM_IntDisable(INT_GPIOC);
//
// Disable interrupts to the processor.
//
ROM_IntMasterDisable();
//
// Print out the test results.
//
GrStringDrawCentered(&g_sContext, " Interrupt Priority ", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 60, 1);
if(ui8Error)
{
GrStringDrawCentered(&g_sContext, " Equal: P Inc: P Dec: P ",
-1, GrContextDpyWidthGet(&g_sContext) / 2, 150, 1);
if(ui8Error & 1)
{
GrStringDrawCentered(&g_sContext, " F ", -1, 113, 150, 1);
}
if(ui8Error & 2)
{
GrStringDrawCentered(&g_sContext, " F ", -1, 187, 150, 1);
}
if(ui8Error & 4)
{
GrStringDrawCentered(&g_sContext, " F ", -1, 272, 150, 1);
}
}
else
{
GrStringDrawCentered(&g_sContext, " Success! ", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 150, 1);
}
//
// Flush the display.
//
GrFlush(&g_sContext);
//
// Loop forever.
//
while(1)
{
}
}
void
UARTSendData()
{ //Sends read data through UART
//TODO
int i;
float avg_temp;
float min_temp = 5000;
float max_temp = 0;
float std_dev_temp;
float avg_prox;
uint32_t min_prox = 5000;
uint32_t max_prox = 0;
float std_dev_prox;
float avg_light;
uint32_t min_light = 500000;
uint32_t max_light = 0;
float std_dev_light;
if (HWREGBITW(&g_ui32PrintFlags, 0)) { //Clock reading is ready
HWREGBITW(&g_ui32PrintFlags, 0) = 0; //Reset flag
ROM_IntMasterDisable();
UARTprintf("\033[1;1HDays:Hours:Minutes:Seconds: %02d:%02d:%02d:%02d", RTC_Days, RTC_Hours % 24, RTC_Minutes % 60, RTC_Seconds % 60);
ROM_IntMasterEnable();
}
if (HWREGBITW(&g_ui32PrintFlags, 1)) { //Temp readings are ready
HWREGBITW(&g_ui32PrintFlags, 1) = 0; //Reset flag
//Print temp data
for (i = 0; i < 50; i++) { //Calculate min, max, and mean
avg_temp += g_temp_data[i];
min_temp = g_temp_data[i] < min_temp ? g_temp_data[i] : min_temp;
max_temp = g_temp_data[i] > max_temp ? g_temp_data[i] : max_temp;
}
avg_temp = avg_temp / 50;
for (i = 0; i < 50; i++) { //Calculate standard deviation
std_dev_temp += (g_temp_data[i] - avg_temp) * (g_temp_data[i] - avg_temp);
}
std_dev_temp = std_dev_temp / 50;
std_dev_temp = sqrt(std_dev_temp);
//std_dev_temp = std_dev_temp * 100;
ROM_IntMasterDisable();
/*UARTprintf("\n\n+------------------------------------------------------------------------+\n");
UARTprintf( "| Temperature |\n");
UARTprintf( "+------------------+-------------------+------------------+--------------+\n");
UARTprintf( "| Min | Max | Mean | Std. Dev. |\n");
UARTprintf( "+------------------+-------------------+------------------+--------------+\n");
UARTprintf( "| %d.%02d | %d.%02d | %d.%02d | %d.%03d |\n",
(uint32_t) min_temp, (uint32_t) ((int) (min_temp * 100) % (int) min_temp * 100) / 100,
(uint32_t) max_temp, (uint32_t) ((int) (max_temp * 100) % (int) max_temp * 100) / 100,
(uint32_t) avg_temp, (uint32_t) ((int) (avg_temp * 100) % (int) avg_temp * 100) / 100,
(uint32_t) std_dev_temp, (uint32_t) ((int) (std_dev_temp * 100) % (int) std_dev_temp * 100) / 100);
UARTprintf( "+------------------+-------------------+------------------+--------------+");*/
//UARTprintf("\033[3;1H+-----------------+------------------+-------------------+------------------+--------------+\n");
//UARTprintf("| Sensor | Min | Max | Mean | Std. Dev. |\n");
//UARTprintf("+-----------------+------------------+-------------------+------------------+--------------+\n");
UARTprintf("\033[6;1HMin Temp = %d.%02d\n", (uint32_t) min_temp, (uint32_t) ((int) (min_temp * 100) % (int) min_temp * 100) / 100);
UARTprintf("Max Temp = %d.%02d\n", (uint32_t) max_temp, (uint32_t) ((int) (max_temp * 100) % (int) max_temp * 100) / 100);
UARTprintf("Mean Temp = %d.%02d\n", (uint32_t) avg_temp, (uint32_t) ((int) (avg_temp * 100) % (int) avg_temp * 100) / 100);
UARTprintf("Std. Dev. Temp = %d.%03d" , (uint32_t) std_dev_temp, (uint32_t) ((int) (std_dev_temp * 100) % (int) std_dev_temp * 100) / 100);
ROM_IntMasterEnable();
}
//ROM_SysCtlDelay(g_ui32SysClock / 3 / 400000); //Delay for 2us
if (HWREGBITW(&g_ui32PrintFlags, 2)) { //Proximity readings are ready
HWREGBITW(&g_ui32PrintFlags, 2) = 0; //Reset flag
//Print proximity data
for (i = 0; i < 20; i++) { //Calculate min, max, and mean
avg_prox += g_prox_data[i];
min_prox = g_prox_data[i] < min_prox ? g_prox_data[i] : min_prox;
max_prox = g_prox_data[i] > max_prox ? g_prox_data[i] : max_prox;
}
avg_prox = (float) avg_prox / 20;
for (i = 0; i < 20; i++) { //Calculate standard deviation
std_dev_prox += ((float) g_prox_data[i] - avg_prox) * ((float) g_prox_data[i] - avg_prox);
}
std_dev_prox = std_dev_prox / 20;
std_dev_prox = sqrt(std_dev_prox);
ROM_IntMasterDisable();
UARTprintf("\033[11;1HMin Prox = %d\n", min_prox);
UARTprintf("Max Prox = %d\n", max_prox);
UARTprintf("Mean Prox = %d.%02d\n", (uint32_t) avg_prox, (uint32_t) ((int) (avg_prox * 100) % (int) avg_prox * 100) / 100);
UARTprintf("Std. Dev. Prox = %d.%03d" , (uint32_t) std_dev_prox, (uint32_t) ((int) (std_dev_prox * 100) % (int) std_dev_prox * 100) / 100);
ROM_IntMasterEnable();
}
if (HWREGBITW(&g_ui32PrintFlags, 3)) { //light readings are ready
HWREGBITW(&g_ui32PrintFlags, 3) = 0; //Reset flag
//Print light data
for (i = 0; i < 100; i++) { //Calculate min, max, and mean
avg_light += g_light_data[i];
min_light = g_light_data[i] < min_light ? g_light_data[i] : min_light;
max_light = g_light_data[i] > max_light ? g_light_data[i] : max_light;
}
avg_light = (float) avg_light / 100;
for (i = 0; i < 100; i++) { //Calculate standard deviation
std_dev_light += ((float) g_light_data[i] - avg_light) * ((float) g_light_data[i] - avg_light);
}
std_dev_light = std_dev_light / 100;
std_dev_light = sqrt(std_dev_light);
ROM_IntMasterDisable();
UARTprintf("\033[16;1H\033[0JMin Light = %d\n", min_light);
UARTprintf("Max Light = %d\n", max_light);
UARTprintf("Mean Light = %d.%02d\n", (uint32_t) avg_light, (uint32_t) ((int) (avg_light * 100) % (int) avg_light * 100) / 100);
UARTprintf("Std. Dev. Light = %d.%03d" , (uint32_t) std_dev_light, (uint32_t) ((int) (std_dev_light * 100) % (int) std_dev_light * 100) / 100);
ROM_IntMasterEnable();
}
}
//*****************************************************************************
//
// This is the main application entry function.
//
//*****************************************************************************
int
main(void)
{
uint32_t ui32TxCount;
uint32_t ui32RxCount;
//uint32_t ui32Loop;
//
// 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();
//
// Set the clocking to run from the PLL at 50MHz
//
#if 1
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Configure the required pins for USB operation.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_5 | GPIO_PIN_4);
//ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / 100);
/* This code taken from: http://e2e.ti.com/support/microcontrollers/tiva_arm/f/908/t/311237.aspx
*/
#else
#include "hw_nvic.h"
FlashErase(0x00000000);
ROM_IntMasterDisable();
ROM_SysTickIntDisable();
ROM_SysTickDisable();
uint32_t ui32SysClock;
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
ui32SysClock = ROM_SysCtlClockGet();
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5);
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / 100);
HWREG(NVIC_DIS0) = 0xffffffff;
HWREG(NVIC_DIS1) = 0xffffffff;
HWREG(NVIC_DIS2) = 0xffffffff;
HWREG(NVIC_DIS3) = 0xffffffff;
HWREG(NVIC_DIS4) = 0xffffffff;
int ui32Addr;
for(ui32Addr = NVIC_PRI0; ui32Addr <= NVIC_PRI34; ui32Addr+=4)
{
HWREG(ui32Addr) = 0;
}
HWREG(NVIC_SYS_PRI1) = 0;
HWREG(NVIC_SYS_PRI2) = 0;
HWREG(NVIC_SYS_PRI3) = 0;
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_USB0);
ROM_SysCtlPeripheralReset(SYSCTL_PERIPH_USB0);
ROM_SysCtlUSBPLLEnable();
ROM_SysCtlDelay(ui32SysClock*2 / 3);
ROM_IntMasterEnable();
ROM_UpdateUSB(0);
while(1)
{
}
#endif
#define BOOTLOADER_TEST 0
#if BOOTLOADER_TEST
#include "hw_nvic.h"
//ROM_UpdateUART();
// May need to do the following here:
// 0. See if this will cause bootloader to start
//ROM_FlashErase(0);
//ROM_UpdateUSB(0);
#define SYSTICKS_PER_SECOND 100
uint32_t ui32SysClock = ROM_SysCtlClockGet();
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//USBDCDTerm(0);
// Disable all interrupts
ROM_IntMasterDisable();
ROM_SysTickIntDisable();
ROM_SysTickDisable();
HWREG(NVIC_DIS0) = 0xffffffff;
HWREG(NVIC_DIS1) = 0xffffffff;
HWREG(NVIC_DIS2) = 0xffffffff;
HWREG(NVIC_DIS3) = 0xffffffff;
HWREG(NVIC_DIS4) = 0xffffffff;
int ui32Addr;
for(ui32Addr = NVIC_PRI0; ui32Addr <= NVIC_PRI34; ui32Addr+=4)
{
HWREG(ui32Addr) = 0;
}
HWREG(NVIC_SYS_PRI1) = 0;
HWREG(NVIC_SYS_PRI2) = 0;
HWREG(NVIC_SYS_PRI3) = 0;
// 1. Enable USB PLL
//ROM_SysCtlUSBPLLEnable();
// 2. Enable USB controller
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_USB0);
ROM_SysCtlPeripheralReset(SYSCTL_PERIPH_USB0);
//USBClockEnable(USB0_BASE, 8, USB_CLOCK_INTERNAL);
//HWREG(USB0_BASE + USB_O_CC) = (8 - 1) | USB_CLOCK_INTERNAL;
ROM_SysCtlUSBPLLEnable();
// 3. Enable USB D+ D- pins
// 4. Activate USB DFU
ROM_SysCtlDelay(ui32SysClock * 2 / 3);
ROM_IntMasterEnable(); // Re-enable interrupts at NVIC level
ROM_UpdateUSB(0);
// 5. Should never get here since update is in progress
#endif // BOOTLOADER_TEST
//
// Enable the GPIO port that is used for the on-board LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); // gjs Our board uses GPIOB for LEDs
// gjs original ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable the GPIO pins for the LED (PF2 & PF3).
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_0|GPIO_PIN_1);
// gjs original ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3|GPIO_PIN_2);
//
// Not configured initially.
//
g_bUSBConfigured = false;
//
// Enable the UART that we will be redirecting.
//
ROM_SysCtlPeripheralEnable(USB_UART_PERIPH);
//
// Enable and configure the UART RX and TX pins
//
ROM_SysCtlPeripheralEnable(TX_GPIO_PERIPH);
ROM_SysCtlPeripheralEnable(RX_GPIO_PERIPH);
ROM_GPIOPinTypeUART(TX_GPIO_BASE, TX_GPIO_PIN);
ROM_GPIOPinTypeUART(RX_GPIO_BASE, RX_GPIO_PIN);
//
// TODO: Add code to configure handshake GPIOs if required.
//
//
// Set the default UART configuration.
//
ROM_UARTConfigSetExpClk(USB_UART_BASE, ROM_SysCtlClockGet(),
DEFAULT_BIT_RATE, DEFAULT_UART_CONFIG);
ROM_UARTFIFOLevelSet(USB_UART_BASE, UART_FIFO_TX4_8, UART_FIFO_RX4_8);
//
// Configure and enable UART interrupts.
//
ROM_UARTIntClear(USB_UART_BASE, ROM_UARTIntStatus(USB_UART_BASE, false));
ROM_UARTIntEnable(USB_UART_BASE, (UART_INT_OE | UART_INT_BE | UART_INT_PE |
UART_INT_FE | UART_INT_RT | UART_INT_TX | UART_INT_RX));
//
// Enable the system tick.
//
#if 0
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
#endif
//
// Initialize the transmit and receive buffers.
//
USBBufferInit(&g_sTxBuffer);
USBBufferInit(&g_sRxBuffer);
//
// Set the USB stack mode to Device mode with VBUS monitoring.
//
USBStackModeSet(0, eUSBModeDevice, 0);
//
// Pass our device information to the USB library and place the device
// on the bus.
//
USBDCDCInit(0, &g_sCDCDevice);
//
// Clear our local byte counters.
//
ui32RxCount = 0;
ui32TxCount = 0;
//
// Enable interrupts now that the application is ready to start.
//
ROM_IntEnable(USB_UART_INT);
// Enable FreeRTOS
mainA(); // FreeRTOS. Will not return
#if 0
//
// Main application loop.
//
while(1)
{
//
// Have we been asked to update the status display?
//
if(g_ui32Flags & COMMAND_STATUS_UPDATE)
{
//
// Clear the command flag
//
ROM_IntMasterDisable();
g_ui32Flags &= ~COMMAND_STATUS_UPDATE;
ROM_IntMasterEnable();
}
//
// Has there been any transmit traffic since we last checked?
//
if(ui32TxCount != g_ui32UARTTxCount)
{
//
// Turn on the Green LED.
//
// gjs ROM_UARTCharPutNonBlocking(USB_UART_BASE, 'b');
#if 1
if (ui32TxCount & 1) {
GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_0, GPIO_PIN_0);
} else {
GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_0, 0);
}
#else
if (1 || g_ui32UARTTxCount & 0x01) {
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, GPIO_PIN_3);
} else {
//GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, 0);
}
//
// Delay for a bit.
//
for(uint32_t ui32Loop = 0; ui32Loop < 150000; ui32Loop++)
{
}
//
// Turn off the Green LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, 0);
#endif
//
// Take a snapshot of the latest transmit count.
//
ui32TxCount = g_ui32UARTTxCount;
}
//
// Has there been any receive traffic since we last checked?
//
if(ui32RxCount != g_ui32UARTRxCount)
{
//
// Turn on the Blue LED.
//
#if 1
if (ui32RxCount & 1) {
GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_1, GPIO_PIN_1);
} else {
GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_1, 0);
}
#else
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, GPIO_PIN_2);
//
// Delay for a bit.
//
for(uint32_t ui32Loop = 0; ui32Loop < 150000; ui32Loop++)
{
}
//
// Turn off the Blue LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
#endif
//
// Take a snapshot of the latest receive count.
//
ui32RxCount = g_ui32UARTRxCount;
}
}
#endif
}
//*****************************************************************************
//
// This is the main example program. It checks to see that the interrupts are
// processed in the correct order when they have identical priorities,
// increasing priorities, and decreasing priorities. This exercises interrupt
// preemption and tail chaining.
//
//*****************************************************************************
int
main(void)
{
uint32_t ui32Error;
//
// 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();
//
// Set the clocking to run directly from the crystal.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// Initialize the UART.
//
ConfigureUART();
UARTprintf("\033[2JInterrupts\n");
//
// Configure the PB0-PB2 to be outputs to indicate entry/exit of one
// of the interrupt handlers.
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_1 | GPIO_PIN_2 |
GPIO_PIN_3);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3, 0);
//
// Set up and enable the SysTick timer. It will be used as a reference
// for delay loops in the interrupt handlers. The SysTick timer period
// will be set up for one second.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet());
ROM_SysTickEnable();
//
// Reset the error indicator.
//
ui32Error = 0;
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Enable the interrupts.
//
ROM_IntEnable(INT_GPIOA);
ROM_IntEnable(INT_GPIOB);
ROM_IntEnable(INT_GPIOC);
//
// Indicate that the equal interrupt priority test is beginning.
//
UARTprintf("\nEqual Priority\n");
//
// Set the interrupt priorities so they are all equal.
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x00);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the LCD.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 3) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 1))
{
ui32Error |= 1;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the decreasing interrupt priority test is beginning.
//
UARTprintf("\nDecreasing Priority\n");
//
// Set the interrupt priorities so that they are decreasing (i.e. C > B >
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x80);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the UART.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 3) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 1))
{
ui32Error |= 2;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the increasing interrupt priority test is beginning.
//
UARTprintf("\nIncreasing Priority\n");
//
// Set the interrupt priorities so that they are increasing (i.e. C < B <
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x80);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the UART.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 1) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 3))
{
ui32Error |= 4;
}
//
// Wait two seconds.
//
Delay(2);
//
// Disable the interrupts.
//
ROM_IntDisable(INT_GPIOA);
ROM_IntDisable(INT_GPIOB);
ROM_IntDisable(INT_GPIOC);
//
// Disable interrupts to the processor.
//
ROM_IntMasterDisable();
//
// Print out the test results.
//
UARTprintf("\nInterrupt Priority =: %s >: %s <: %s\n",
(ui32Error & 1) ? "Fail" : "Pass",
(ui32Error & 2) ? "Fail" : "Pass",
(ui32Error & 4) ? "Fail" : "Pass");
//
// Loop forever.
//
while(1)
{
}
}
void Timer0A_ISR(void)
{
unsigned long timer;
int i;
unsigned char all_steps_completed;
float tmp;
unsigned char endstop_bits;
unsigned char endstops[4];
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_IntMasterDisable();
if (cur_block == NULL)
{
if (num_blocks > 0 && blk_queue[blk_queue_head].status == BLOCK_QUEUED && blk_queue[blk_queue_head].recalculate == 0)
{
cur_block = &blk_queue[blk_queue_head];
cur_block->status = BLOCK_RUNNING;
step_rate = cur_block->initial_rate;
acceleration_time=0;
if (!motors_enabled)
motor_enable();
if (endstop_triggered())
{
endstop_bits = ROM_GPIOPinRead(ENDSTOP_PORT, ENDSTOP_ALLPINS);
endstops[X] = ( (endstop_bits & XLIM_PIN) == 0)?1:0;
endstops[Y] = ( (endstop_bits & YLIM_PIN) == 0)?1:0;
endstops[Z] = ( (endstop_bits & ZLIM_PIN) == 0)?1:0;
for (i=0;i<3;i++)
if (cur_block->dir[i]<0 && cur_block->steps[i] > 0 && endstops[i] )
cur_block->status = BLOCK_ABORTED;
}
} else
{
cur_block = NULL;
timer=calculate_timer(MIN_STEP_RATE);
ROM_TimerLoadSet(TIMER0_BASE,TIMER_A, timer);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_IntMasterEnable();
return ;
}
}
//if an endstop is hit, the block is aborted.
if (cur_block->status == BLOCK_ABORTED )
{
cur_block->status = BLOCK_ABORTED_RDY;
cur_block = NULL;
//dump the buffer
num_blocks=0;
blk_queue_head=0;
blk_queue_tail=0;
step_events_completed=0;
for (i=0;i<4;i++)
cur_steps[i]=0;
timer=calculate_timer(MIN_STEP_RATE);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, timer);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_IntMasterEnable();
return;
}
if (step_events_completed <= (cur_block->accelerate_until))
{
step_rate = (unsigned long)((float)acceleration_time/80000000 * (float)(cur_block->acceleration_rate)) + cur_block->initial_rate;
if (step_rate >(cur_block->nominal_rate))
step_rate=cur_block->nominal_rate;
// printf("accel %d %d", acceleration_time, cur_block->acceleration_rate);
} else if (step_events_completed > (cur_block->decelerate_after) && step_rate > cur_block->final_rate)
{
step_rate = peak_rate - (unsigned long)((float)acceleration_time/80000000 * (float)(cur_block->acceleration_rate));
if (step_rate < cur_block->final_rate)
step_rate = cur_block->final_rate;
// printf("decel %d %d ",deceleration_time, timer );
}
timer=calculate_timer(step_rate);
if (step_events_completed == cur_block->decelerate_after)
{
acceleration_time = 0;
peak_rate = step_rate;
}
acceleration_time += timer;
step_events_completed++;
all_steps_completed = 1;
for (i=0;i<4;i++)
{
// if (i==1)
// printf(" %d %d > 0 && %d > %d\r\n", i, cur_block->steps[i], step_events_completed*(cur_block->steps[i])/(cur_block->step_event_count), cur_steps[i]);
if (cur_block->steps[i] > 0 && lround(step_events_completed*(cur_block->steps[i])/(cur_block->step_event_count)) > cur_steps[i])
{
//printf("step %d ", i);
motor_step(i,cur_block->dir[i]);
cur_steps[i]++;
// printf("cursteps %d\r\n", cur_steps[i]);
}
if (cur_steps[i] < (cur_block->steps[i]))
all_steps_completed=0;
}
// printf("step_event_completd: %d blk_event_count: %d\r\n", step_events_completed, cur_block->step_event_count);
if (step_events_completed < cur_block->step_event_count || !all_steps_completed )
{
ROM_TimerConfigure(TIMER0_BASE,TIMER_CFG_ONE_SHOT);
ROM_TimerLoadSet(TIMER0_BASE,TIMER_A, timer);
ROM_TimerEnable(TIMER0_BASE,TIMER_A);
} else
{
//ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0x00);
cur_block->status=BLOCK_COMPLETED;
cur_block = NULL;
blk_queue_head++;
if (blk_queue_head >= BLOCK_QUEUE_SIZE)
blk_queue_head = 0;
num_blocks--;
step_events_completed =0;
for (i=0;i<4;i++)
cur_steps[i]=0;
//printf("%d block completed. Rescheduling timer for next block.\r\n",num_blocks);
ROM_TimerConfigure(TIMER0_BASE,TIMER_CFG_ONE_SHOT);
timer=calculate_timer(cur_block->final_rate);
ROM_TimerLoadSet(TIMER0_BASE,TIMER_A, timer);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
/*ROM_TimerConfigure(TIMER0_BASE,TIMER_CFG_ONE_SHOT);
timer=calculate_timer(cur_block->final_rate);
ROM_TimerLoadSet(TIMER0_BASE,TIMER_A, timer);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
*/
motor_unstep();
// printf("step_events: %d, step_rate: %d, timer: %d\r\n",step_events_completed, step_rate,timer);
ROM_IntMasterEnable();
}
//*****************************************************************************
//
// This is the main example program. It checks to see that the interrupts are
// processed in the correct order when they have identical priorities,
// increasing priorities, and decreasing priorities. This exercises interrupt
// preemption and tail chaining.
//
//*****************************************************************************
int
main(void)
{
unsigned long ulError;
//
// Set the clocking to run directly from the crystal.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Initialize the UART.
//
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[2JInterrupts\n");
//
// Configure the F0, D1 and D2 to be outputs to indicate entry/exit of one
// of the interrupt handlers.
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE,
GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2, 0);
//
// Set up and enable the SysTick timer. It will be used as a reference
// for delay loops in the interrupt handlers. The SysTick timer period
// will be set up for one second.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet());
ROM_SysTickEnable();
//
// Reset the error indicator.
//
ulError = 0;
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Enable the interrupts.
//
ROM_IntEnable(INT_GPIOA);
ROM_IntEnable(INT_GPIOB);
ROM_IntEnable(INT_GPIOC);
//
// Indicate that the equal interrupt priority test is beginning.
//
UARTprintf("\nEqual Priority\n");
//
// Set the interrupt priorities so they are all equal.
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x00);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ulGPIOa = 0;
g_ulGPIOb = 0;
g_ulGPIOc = 0;
g_ulIndex = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the LCD.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ulGPIOa != 3) || (g_ulGPIOb != 2) || (g_ulGPIOc != 1))
{
ulError |= 1;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the decreasing interrupt priority test is beginning.
//
UARTprintf("\nDecreasing Priority\n");
//
// Set the interrupt priorities so that they are decreasing (i.e. C > B >
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x80);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ulGPIOa = 0;
g_ulGPIOb = 0;
g_ulGPIOc = 0;
g_ulIndex = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the UART.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ulGPIOa != 3) || (g_ulGPIOb != 2) || (g_ulGPIOc != 1))
{
ulError |= 2;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the increasing interrupt priority test is beginning.
//
UARTprintf("\nIncreasing Priority\n");
//
// Set the interrupt priorities so that they are increasing (i.e. C < B <
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x80);
//
// Reset the interrupt flags.
//
g_ulGPIOa = 0;
g_ulGPIOb = 0;
g_ulGPIOc = 0;
g_ulIndex = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the UART.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ulGPIOa != 1) || (g_ulGPIOb != 2) || (g_ulGPIOc != 3))
{
ulError |= 4;
}
//
// Wait two seconds.
//
Delay(2);
//
// Disable the interrupts.
//
ROM_IntDisable(INT_GPIOA);
ROM_IntDisable(INT_GPIOB);
ROM_IntDisable(INT_GPIOC);
//
// Disable interrupts to the processor.
//
ROM_IntMasterDisable();
//
// Print out the test results.
//
UARTprintf("\nInterrupt Priority =: %s >: %s <: %s\n",
(ulError & 1) ? "Fail" : "Pass",
(ulError & 2) ? "Fail" : "Pass",
(ulError & 4) ? "Fail" : "Pass");
//
// Finished.
//
while(1)
{
}
}
//*****************************************************************************
//
// This is the main example program. It checks to see that the interrupts are
// processed in the correct order when they have identical priorities,
// increasing priorities, and decreasing priorities. This exercises interrupt
// preemption and tail chaining.
//
//*****************************************************************************
int
main(void)
{
tRectangle sRect;
uint_fast8_t ui8Error;
//
// 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();
//
// Set the clocking to run directly from the crystal.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Initialize the display driver.
//
CFAL96x64x16Init();
//
// Initialize the graphics context and find the middle X coordinate.
//
GrContextInit(&g_sContext, &g_sCFAL96x64x16);
//
// Fill the top part of the screen with blue to create the banner.
//
sRect.i16XMin = 0;
sRect.i16YMin = 0;
sRect.i16XMax = GrContextDpyWidthGet(&g_sContext) - 1;
sRect.i16YMax = 9;
GrContextForegroundSet(&g_sContext, ClrDarkBlue);
GrRectFill(&g_sContext, &sRect);
//
// Change foreground for white text.
//
GrContextForegroundSet(&g_sContext, ClrWhite);
//
// Put the application name in the middle of the banner.
//
GrContextFontSet(&g_sContext, g_psFontFixed6x8);
GrStringDrawCentered(&g_sContext, "interrupts", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 4, 0);
GrContextFontSet(&g_sContext, g_psFontFixed6x8);
//
// Put the status header text on the display.
//
GrStringDraw(&g_sContext, "Active:", -1, 6, 32, 0);
GrStringDraw(&g_sContext, "Pending:", -1, 0, 44, 0);
//
// Configure the PB0-PB2 to be outputs to indicate entry/exit of one
// of the interrupt handlers.
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1 |
GPIO_PIN_3);
ROM_GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2, 0);
//
// Set up and enable the SysTick timer. It will be used as a reference
// for delay loops in the interrupt handlers. The SysTick timer period
// will be set up for one second.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet());
ROM_SysTickEnable();
//
// Reset the error indicator.
//
ui8Error = 0;
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Enable the interrupts.
//
ROM_IntEnable(INT_GPIOA);
ROM_IntEnable(INT_GPIOB);
ROM_IntEnable(INT_GPIOC);
//
// Indicate that the equal interrupt priority test is beginning.
//
GrStringDrawCentered(&g_sContext, "Equal Pri", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 20, 1);
//
// Set the interrupt priorities so they are all equal.
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x00);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the LCD.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 3) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 1))
{
ui8Error |= 1;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the decreasing interrupt priority test is beginning.
//
GrStringDrawCentered(&g_sContext, " Decreasing Pri ", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 20, 1);
//
// Set the interrupt priorities so that they are decreasing (i.e. C > B >
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x80);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the CSTN.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 3) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 1))
{
ui8Error |= 2;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the increasing interrupt priority test is beginning.
//
GrStringDrawCentered(&g_sContext, " Increasing Pri ", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 20, 1);
//
// Set the interrupt priorities so that they are increasing (i.e. C < B <
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x80);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the CSTN.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 1) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 3))
{
ui8Error |= 4;
}
//
// Wait two seconds.
//
Delay(2);
//
// Disable the interrupts.
//
ROM_IntDisable(INT_GPIOA);
ROM_IntDisable(INT_GPIOB);
ROM_IntDisable(INT_GPIOC);
//
// Disable interrupts to the processor.
//
ROM_IntMasterDisable();
//
// Print out results if error occurred.
//
if(ui8Error)
{
GrStringDraw(&g_sContext, "Equal: P ", -1, 0, 32, 1);
GrStringDraw(&g_sContext, " Inc: P ", -1, 0, 44, 1);
GrStringDraw(&g_sContext, " Dec: P ", -1, 0, 56, 1);
if(ui8Error & 1)
{
GrStringDraw(&g_sContext, "F ", -1, 42, 32, 1);
}
if(ui8Error & 2)
{
GrStringDraw(&g_sContext, "F ", -1, 42, 44, 1);
}
if(ui8Error & 4)
{
GrStringDraw(&g_sContext, "F ", -1, 42, 56, 1);
}
}
else
{
GrStringDrawCentered(&g_sContext, " Success! ", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 20, 1);
}
//
// Flush the display.
//
GrFlush(&g_sContext);
//
// Loop forever.
//
while(1)
{
}
}
void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode)
{
uint32_t lm4fMode, i;
uint8_t bit = digitalPinToBitMask(interruptNum);
uint8_t port = digitalPinToPort(interruptNum);
uint32_t portBase = (uint32_t) portBASERegister(port);
switch(mode) {
case LOW:
lm4fMode = GPIO_LOW_LEVEL;
break;
case CHANGE:
lm4fMode = GPIO_BOTH_EDGES;
break;
case RISING:
lm4fMode = GPIO_RISING_EDGE;
break;
case FALLING:
lm4fMode = GPIO_FALLING_EDGE;
break;
default:
return;
}
ROM_IntMasterDisable();
GPIOIntClear(portBase, bit);
ROM_GPIOIntTypeSet(portBase, bit, lm4fMode);
GPIOIntEnable(portBase, bit);
for (i=0; i<8; i++, bit>>=1) {
if ((bit & 0x1) == 1)
break;
}
switch(portBase) {
case GPIO_PORTA_BASE:
cbFuncsA[i] = userFunc;
ROM_IntEnable(INT_GPIOA);
break;
case GPIO_PORTB_BASE:
cbFuncsB[i] = userFunc;
ROM_IntEnable(INT_GPIOB);
break;
case GPIO_PORTC_BASE:
cbFuncsC[i] = userFunc;
ROM_IntEnable(INT_GPIOC);
break;
case GPIO_PORTD_BASE:
cbFuncsD[i] = userFunc;
ROM_IntEnable(INT_GPIOD);
break;
case GPIO_PORTE_BASE:
cbFuncsE[i] = userFunc;
ROM_IntEnable(INT_GPIOE);
break;
case GPIO_PORTF_BASE:
cbFuncsF[i] = userFunc;
ROM_IntEnable(INT_GPIOF);
break;
case GPIO_PORTG_BASE:
cbFuncsG[i] = userFunc;
ROM_IntEnable(INT_GPIOG);
break;
case GPIO_PORTH_BASE:
cbFuncsH[i] = userFunc;
ROM_IntEnable(INT_GPIOH);
break;
case GPIO_PORTJ_BASE:
cbFuncsJ[i] = userFunc;
ROM_IntEnable(INT_GPIOJ);
break;
case GPIO_PORTK_BASE:
cbFuncsK[i] = userFunc;
ROM_IntEnable(INT_GPIOK);
break;
case GPIO_PORTL_BASE:
cbFuncsL[i] = userFunc;
ROM_IntEnable(INT_GPIOL);
break;
case GPIO_PORTM_BASE:
cbFuncsM[i] = userFunc;
ROM_IntEnable(INT_GPIOM);
break;
case GPIO_PORTN_BASE:
cbFuncsN[i] = userFunc;
ROM_IntEnable(INT_GPION);
break;
case GPIO_PORTP_BASE:
cbFuncsP[i] = userFunc;
ROM_IntEnable(INT_GPIOP0);
ROM_IntEnable(INT_GPIOP1);
ROM_IntEnable(INT_GPIOP2);
ROM_IntEnable(INT_GPIOP3);
ROM_IntEnable(INT_GPIOP4);
ROM_IntEnable(INT_GPIOP5);
ROM_IntEnable(INT_GPIOP6);
ROM_IntEnable(INT_GPIOP7);
break;
case GPIO_PORTQ_BASE:
cbFuncsQ[i] = userFunc;
ROM_IntEnable(INT_GPIOQ0);
ROM_IntEnable(INT_GPIOQ1);
ROM_IntEnable(INT_GPIOQ2);
ROM_IntEnable(INT_GPIOQ3);
ROM_IntEnable(INT_GPIOQ4);
ROM_IntEnable(INT_GPIOQ5);
ROM_IntEnable(INT_GPIOQ6);
ROM_IntEnable(INT_GPIOQ7);
break;
#ifdef TARGET_IS_SNOWFLAKE_RA0
case GPIO_PORTR_BASE:
cbFuncsR[i] = userFunc;
ROM_IntEnable(INT_GPIOR);
break;
case GPIO_PORTS_BASE:
cbFuncsS[i] = userFunc;
ROM_IntEnable(INT_GPIOS);
break;
case GPIO_PORTT_BASE:
cbFuncsT[i] = userFunc;
ROM_IntEnable(INT_GPIOT);
break;
#endif
}
ROM_IntMasterEnable();
}
//*****************************************************************************
//
// This is the main application entry function.
//
//*****************************************************************************
int
main(void)
{
unsigned long ulTxCount;
unsigned long ulRxCount;
unsigned long ulLoop;
//
// 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();
//
// Set the clocking to run from the PLL at 50MHz
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Configure the required pins for USB operation.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_5 | GPIO_PIN_4);
//
// Enable the GPIO port that is used for the on-board LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable the GPIO pins for the LED (PF2 & PF3).
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3|GPIO_PIN_2);
//
// Not configured initially.
//
g_bUSBConfigured = false;
//
// Enable the UART that we will be redirecting.
//
ROM_SysCtlPeripheralEnable(USB_UART_PERIPH);
//
// Enable and configure the UART RX and TX pins
//
ROM_SysCtlPeripheralEnable(TX_GPIO_PERIPH);
ROM_SysCtlPeripheralEnable(RX_GPIO_PERIPH);
ROM_GPIOPinTypeUART(TX_GPIO_BASE, TX_GPIO_PIN);
ROM_GPIOPinTypeUART(RX_GPIO_BASE, RX_GPIO_PIN);
//
// TODO: Add code to configure handshake GPIOs if required.
//
//
// Set the default UART configuration.
//
ROM_UARTConfigSetExpClk(USB_UART_BASE, ROM_SysCtlClockGet(),
DEFAULT_BIT_RATE, DEFAULT_UART_CONFIG);
ROM_UARTFIFOLevelSet(USB_UART_BASE, UART_FIFO_TX4_8, UART_FIFO_RX4_8);
//
// Configure and enable UART interrupts.
//
ROM_UARTIntClear(USB_UART_BASE, ROM_UARTIntStatus(USB_UART_BASE, false));
ROM_UARTIntEnable(USB_UART_BASE, (UART_INT_OE | UART_INT_BE | UART_INT_PE |
UART_INT_FE | UART_INT_RT | UART_INT_TX | UART_INT_RX));
//
// Enable the system tick.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// Initialize the transmit and receive buffers.
//
USBBufferInit((tUSBBuffer *)&g_sTxBuffer);
USBBufferInit((tUSBBuffer *)&g_sRxBuffer);
//
// Set the USB stack mode to Device mode with VBUS monitoring.
//
USBStackModeSet(0, USB_MODE_DEVICE, 0);
//
// Pass our device information to the USB library and place the device
// on the bus.
//
USBDCDCInit(0, (tUSBDCDCDevice *)&g_sCDCDevice);
//
// Clear our local byte counters.
//
ulRxCount = 0;
ulTxCount = 0;
//
// Enable interrupts now that the application is ready to start.
//
ROM_IntEnable(USB_UART_INT);
//
// Main application loop.
//
while(1)
{
//
// Have we been asked to update the status display?
//
if(g_ulFlags & COMMAND_STATUS_UPDATE)
{
//
// Clear the command flag
//
ROM_IntMasterDisable();
g_ulFlags &= ~COMMAND_STATUS_UPDATE;
ROM_IntMasterEnable();
}
//
// Has there been any transmit traffic since we last checked?
//
if(ulTxCount != g_ulUARTTxCount)
{
//
// Turn on the Green LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, GPIO_PIN_3);
//
// Delay for a bit.
//
for(ulLoop = 0; ulLoop < 150000; ulLoop++)
{
}
//
// Turn off the Green LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, 0);
//
// Take a snapshot of the latest transmit count.
//
ulTxCount = g_ulUARTTxCount;
}
//
// Has there been any receive traffic since we last checked?
//
if(ulRxCount != g_ulUARTRxCount)
{
//
// Turn on the Blue LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, GPIO_PIN_2);
//
// Delay for a bit.
//
for(ulLoop = 0; ulLoop < 150000; ulLoop++)
{
}
//
// Turn off the Blue LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
//
// Take a snapshot of the latest receive count.
//
ulRxCount = g_ulUARTRxCount;
}
}
}
//*****************************************************************************
//
// This is the main example program. It checks to see that the interrupts are
// processed in the correct order when they have identical priorities,
// increasing priorities, and decreasing priorities. This exercises interrupt
// preemption and tail chaining.
//
//*****************************************************************************
int
main(void)
{
uint_fast8_t ui8Error;
//
// Run from the PLL at 120 MHz.
//
g_ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN | SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_480), 120000000);
//
// Configure the device pins.
//
PinoutSet(false, false);
//
// Configure the UART.
//
ConfigureUART();
//
// Configure the B3, L1 and L0 to be outputs to indicate entry/exit of one
// of the interrupt handlers.
//
GPIOPinTypeGPIOOutput(GPIO_A_BASE, GPIO_A_PIN);
GPIOPinTypeGPIOOutput(GPIO_B_BASE, GPIO_B_PIN);
GPIOPinTypeGPIOOutput(GPIO_C_BASE, GPIO_C_PIN);
GPIOPinWrite(GPIO_A_BASE, GPIO_A_PIN, 0);
GPIOPinWrite(GPIO_B_BASE, GPIO_B_PIN, 0);
GPIOPinWrite(GPIO_C_BASE, GPIO_C_PIN, 0);
//
// Set up and enable the SysTick timer. It will be used as a reference
// for delay loops in the interrupt handlers. The SysTick timer period
// will be set up for 100 times per second.
//
ROM_SysTickPeriodSet(g_ui32SysClock / 100);
ROM_SysTickEnable();
//
// Reset the error indicator.
//
ui8Error = 0;
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Enable the interrupts.
//
ROM_IntEnable(INT_GPIOA);
ROM_IntEnable(INT_GPIOB);
ROM_IntEnable(INT_GPIOC);
//
// Indicate that the equal interrupt priority test is beginning.
//
g_ui32IntMode = EQUAL_PRIORITY;
//
// Set the interrupt priorities so they are all equal.
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x00);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the LCD.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 3) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 1))
{
ui8Error |= 1;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the decreasing interrupt priority test is beginning.
//
g_ui32IntMode = DECREASING_PRIORITY;
//
// Set the interrupt priorities so that they are decreasing (i.e. C > B >
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x80);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x00);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the UART.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 3) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 1))
{
ui8Error |= 2;
}
//
// Wait two seconds.
//
Delay(2);
//
// Indicate that the increasing interrupt priority test is beginning.
//
g_ui32IntMode = INCREASING_PRIORITY;
//
// Set the interrupt priorities so that they are increasing (i.e. C < B <
// A).
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_GPIOB, 0x40);
ROM_IntPrioritySet(INT_GPIOC, 0x80);
//
// Reset the interrupt flags.
//
g_ui32GPIOa = 0;
g_ui32GPIOb = 0;
g_ui32GPIOc = 0;
g_ui32Index = 1;
//
// Trigger the interrupt for GPIO C.
//
HWREG(NVIC_SW_TRIG) = INT_GPIOC - 16;
//
// Put the current interrupt state on the UART.
//
DisplayIntStatus();
//
// Verify that the interrupts were processed in the correct order.
//
if((g_ui32GPIOa != 1) || (g_ui32GPIOb != 2) || (g_ui32GPIOc != 3))
{
ui8Error |= 4;
}
//
// Wait two seconds.
//
Delay(2);
//
// Disable the interrupts.
//
ROM_IntDisable(INT_GPIOA);
ROM_IntDisable(INT_GPIOB);
ROM_IntDisable(INT_GPIOC);
//
// Disable interrupts to the processor.
//
ROM_IntMasterDisable();
//
// Print out the test results.
//
UARTprintf("\033[2J\033[H");
UARTprintf("Interrupts example\n\n");
if(ui8Error)
{
if(ui8Error & 1)
{
UARTprintf("Equal Priority Fail!\n");
}
if(ui8Error & 2)
{
UARTprintf("Decreasing Priority Fail!\n");
}
if(ui8Error & 4)
{
UARTprintf("Increasing Priority Fail!\n");
}
}
else
{
UARTprintf("Success!");
}
//
// Loop forever.
//
while(1)
{
}
}