void pio_init()
{
// Board Initialization start
//
//
// The FPU should be enabled because some compilers will use floating-
// point registers, even for non-floating-point code. If the FPU is not
// enabled this will cause a fault. This also ensures that floating-
// point operations could be added to this application and would work
// correctly and use the hardware floating-point unit. Finally, lazy
// stacking is enabled for interrupt handlers. This allows floating-
// point instructions to be used within interrupt handlers, but at the
// expense of extra stack usage.
//
FPUEnable();
FPULazyStackingEnable();
//Init the device with 16 MHz clock.
initClk();
/* Configure the system peripheral bus that IRQ & EN pin are map to */
MAP_SysCtlPeripheralEnable( SYSCTL_PERIPH_IRQ_PORT);
//
// Disable all the interrupts before configuring the lines
//
MAP_GPIOPinIntDisable(SPI_GPIO_IRQ_BASE, 0xFF);
//
// Cofigure WLAN_IRQ pin as input
//
MAP_GPIOPinTypeGPIOInput(SPI_GPIO_IRQ_BASE, SPI_IRQ_PIN);
GPIOPadConfigSet(SPI_GPIO_IRQ_BASE, SPI_IRQ_PIN, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
//
// Setup the GPIO interrupt for this pin
//
MAP_GPIOIntTypeSet(SPI_GPIO_IRQ_BASE, SPI_IRQ_PIN, GPIO_FALLING_EDGE);
//
// Configure WLAN chip
//
MAP_GPIOPinTypeGPIOOutput(SPI_GPIO_IRQ_BASE, SPI_EN_PIN);
MAP_GPIODirModeSet( SPI_GPIO_IRQ_BASE, SPI_EN_PIN, GPIO_DIR_MODE_OUT );
MAP_GPIOPadConfigSet( SPI_GPIO_IRQ_BASE, SPI_EN_PIN, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD );
MAP_GPIOPinWrite(SPI_GPIO_IRQ_BASE, SPI_EN_PIN, PIN_LOW);
SysCtlDelay(600000);
SysCtlDelay(600000);
SysCtlDelay(600000);
//
// Disable WLAN CS with pull up Resistor
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SPI_PORT);
MAP_GPIOPinTypeGPIOOutput(SPI_CS_PORT, SPI_CS_PIN);
GPIOPadConfigSet(SPI_CS_PORT, SPI_CS_PIN, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
MAP_GPIOPinWrite(SPI_CS_PORT, SPI_CS_PIN, PIN_HIGH);
//
// Enable interrupt for WLAN_IRQ pin
//
MAP_GPIOPinIntEnable(SPI_GPIO_IRQ_BASE, SPI_IRQ_PIN);
//
// Clear interrupt status
//
SpiCleanGPIOISR();
MAP_IntEnable(INT_GPIO_SPI);
//init LED
initLEDs();
}
/*
* initialize tm4c
*/
void init_satellite()
{
FPUEnable();
FPULazyStackingEnable();
/*
* init clock
*/
MAP_SysCtlClockSet(SYSCTL_SYSDIV_3 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN); //66.6..MHz
MAP_IntMasterEnable();
/*
* Enable peripherals
*/
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); //for LED indication
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); //for UART
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); //for IRQ and SW_EN
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); //for SPI
/*
* configure
*/
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
MAP_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, SIGNAL_LOW); //off
MAP_GPIOPinConfigure(GPIO_PA0_U0RX);
MAP_GPIOPinConfigure(GPIO_PA1_U0TX);
MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioConfig(UART_PORT, UART_BAUDRATE, SysCtlClockGet());
MAP_GPIOIntDisable(GPIO_PORTB_BASE, SIGNAL_HIGH); //interrupt disable
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2); //IRQ as input
MAP_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
MAP_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE); //enable interrupt
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_5); //sw enable
MAP_GPIODirModeSet(GPIO_PORTB_BASE, GPIO_PIN_5, GPIO_DIR_MODE_OUT);
MAP_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_5, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);
MAP_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_5, SIGNAL_LOW);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_0);
MAP_GPIOPadConfigSet(GPIO_PORTE_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
MAP_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_0, SIGNAL_HIGH); //chip select
MAP_GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2); //enable interrupt for WLAN_IRQ pin
SpiCleanGPIOISR(); //clear interrupt status
MAP_IntEnable(INT_GPIOB); //spi
init_worker();
setState(READY);
}
