void spi_gpio_init(uint8_t int_flag)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//F0-----MISO ----- INPUT
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0);
//F1，F2，F3：MOSI,CLK，CSN ----- OUTPUT
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
//CE-----PA6 ----- OUTPUT
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_6);
//IRQ-----PA7 ----- INPUT
ROM_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_7);
if(int_flag == 1) //开引脚外部中断
{
GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_7,GPIO_FALLING_EDGE);
GPIOIntEnable(GPIO_PORTA_BASE,GPIO_INT_PIN_7); //打开PA7外部中断进行数据读取
GPIOIntRegister(GPIO_PORTA_BASE, PA7_int_hander);//指定外部中断处理函数
}
else
{
GPIOIntDisable(GPIO_PORTA_BASE,GPIO_INT_PIN_7);
}
}
void GPIO_Initial(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_6); //Laser
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_2|GPIO_PIN_4); //预留、吹风机
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, GPIO_PIN_0| \
GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3); //振镜Y、X、CLK、SYN
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_0|GPIO_PIN_1|\
GPIO_PIN_2|GPIO_PIN_3 | GPIO_PIN_5); //预留、塔灯红、绿、黄、光闸、抽风机
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|\
GPIO_PIN_3|GPIO_PIN_4); //板上显示灯：红、蓝、绿；LCD复位
ROM_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_3, \
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU); //冷水机开关信号
ROM_GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, GPIO_PIN_6); //测速
ROM_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_6); //手动开关、运行模式
HWREG(GPIO_PORTD_BASE+GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTD_BASE+GPIO_O_CR) |= 0x80;
HWREG(GPIO_PORTD_BASE+GPIO_O_AFSEL) &= ~(0x80);
HWREG(GPIO_PORTD_BASE+GPIO_O_DEN) |= 0x80;
ROM_GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, GPIO_PIN_7);
HWREG(GPIO_PORTD_BASE+GPIO_O_LOCK) = 0;
}
void tm4c123_button_initialize(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
/* Enable pin PB3 for GPIOInput with weak pullup
*/
ROM_GPIOPinTypeGPIOInput(GPIOB_BASE, GPIO_PIN_3);
ROM_GPIOPadConfigSet(GPIOB_BASE, GPIO_PIN_3, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
/* Enable IRQs on both edges.
*/
GPIOB->IS &= ~GPIO_PIN_3;
GPIOB->IBE |= GPIO_PIN_3;
GPIOB->IM |= GPIO_PIN_3;
NVIC_SetPriority(GPIOB_IRQn, 6);
NVIC_EnableIRQ(GPIOB_IRQn);
#if (KITTY_CONFIG_ALTERNATIVE == 1)
(&GPIOF->LOCK)[0] = GPIO_LOCK_KEY; /* GPIOD->LOCK */
(&GPIOF->LOCK)[1] = 0x01; /* GPIOD->CR */
/* Enable pin PF0 for GPIOInput with weak pullup
*/
ROM_GPIOPinTypeGPIOInput(GPIOF_BASE, GPIO_PIN_0);
ROM_GPIOPadConfigSet(GPIOF_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
/* Enable IRQs on both edges.
*/
GPIOF->IS &= ~GPIO_PIN_0;
GPIOF->IBE |= GPIO_PIN_0;
GPIOF->IM |= GPIO_PIN_0;
#endif /* KITTY_CONFIG_ALTERNATIVE == 1 */
/* Enable pin PF4 for GPIOInput with weak pullup
*/
ROM_GPIOPinTypeGPIOInput(GPIOF_BASE, GPIO_PIN_4);
ROM_GPIOPadConfigSet(GPIOF_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
/* Enable IRQs on both edges.
*/
GPIOF->IS &= ~GPIO_PIN_4;
GPIOF->IBE |= GPIO_PIN_4;
GPIOF->IM |= GPIO_PIN_4;
NVIC_SetPriority(GPIOF_IRQn, 6);
NVIC_EnableIRQ(GPIOF_IRQn);
}
void pinMode(uint8_t pin, uint8_t mode)
{
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
uint32_t portBase = (uint32_t) portBASERegister(port);
volatile uint32_t *lock = portLOCKRegister(port);
volatile uint32_t *cr = portCRRegister(port);
if (port == NOT_A_PORT) return;
if (mode == INPUT) {
ROM_GPIOPinTypeGPIOInput(portBase, bit);
} else if (mode == INPUT_PULLUP) {
*lock = GPIO_LOCK_KEY_DD;
*cr |= bit;
*lock = 0;
ROM_GPIODirModeSet(portBase, bit, GPIO_DIR_MODE_IN);
GPIOPadConfigSet(portBase, bit,
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
*cr &= ~bit;
} else if (mode == INPUT_PULLDOWN) {
*lock = GPIO_LOCK_KEY_DD;
*cr |= bit;
*lock = 0;
ROM_GPIODirModeSet(portBase, bit, GPIO_DIR_MODE_IN);
GPIOPadConfigSet(portBase, bit,
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);
*cr &= ~bit;
} else {//mode == OUTPUT
ROM_GPIOPinTypeGPIOOutput(portBase, bit);
}
}
int main()
{
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, LED_RED|LED_BLUE|LED_GREEN);
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK)=GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR)|=GPIO_PIN_0;
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, SW2|SW1);
ROM_GPIOPadConfigSet(GPIO_PORTF_BASE,SW2|SW1,GPIO_STRENGTH_4MA,GPIO_PIN_TYPE_STD_WPU);
Out=0x02;
while (1)
{
// set the red LED pin high, others low
In1 = ROM_GPIOPinRead(GPIO_PORTF_BASE,SW1|SW2);
In2 = (In1 & 0x10) >>4;
In1 = In1 & 0x01;
if(In1 == 0 && In2 == 1 && flag == 0)
{
flag =1;
Out = Out << 1;
if (Out > 0x08)
Out = 0x02;
}
else if (In1 == 1 && In2 == 0 && flag == 0)
{
flag =1;
Out = Out >> 1;
if (Out<0x02)
Out=0x08;
}
else if (In1 ==1 && In2==1 && flag ==1)
//*****************************************************************************
//
//! Disable the RGB LED by configuring the GPIO's as inputs.
//!
//! This function or RGBEnable should be called during application
//! initialization to configure the GPIO pins to which the LEDs are attached.
//! This function disables the timers and configures the GPIO pins as inputs
//! for minimum current draw.
//!
//! \return None.
//
//*****************************************************************************
void
RGBDisable(void)
{
//
// Configure the GPIO pads as general purpose inputs.
//
ROM_GPIOPinTypeGPIOInput(RED_GPIO_BASE, RED_GPIO_PIN);
ROM_GPIOPinTypeGPIOInput(GREEN_GPIO_BASE, GREEN_GPIO_PIN);
ROM_GPIOPinTypeGPIOInput(BLUE_GPIO_BASE, BLUE_GPIO_PIN);
//
// Stop the timer counting.
//
ROM_TimerDisable(RED_TIMER_BASE, TIMER_BOTH);
ROM_TimerDisable(GREEN_TIMER_BASE, TIMER_BOTH);
ROM_TimerDisable(BLUE_TIMER_BASE, TIMER_BOTH);
}
void Interrupt_PB3Init(void)
{
GPIOIntRegister(GPIO_PORTB_BASE,Interrupt_PB3Handler);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_3);
ROM_GPIOPadConfigSet(GPIO_PORTB_BASE,GPIO_PIN_3,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
GPIOIntDisable(GPIO_PORTB_BASE,GPIO_INT_PIN_3);
GPIOIntClear(GPIO_PORTB_BASE,GPIO_INT_PIN_3);
GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_INT_PIN_3,GPIO_LOW_LEVEL);
}
// Fonction qui gère le temps de traitement du LCD
void wait(void) {
// Change pin type
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, 0xFF); // Toutes les pins
//Read busy flag until it's 0
volatile unsigned long busyflag;
do {
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_RS | LCD_RW, LCD_RS_Instruction | LCD_RW_Read);
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_E, LCD_E);
busyflag = ROM_GPIOPinRead(GPIO_PORTE_BASE, GPIO_PIN_7);
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_E, 0);
} while(busyflag == 128);
// Restore pin type
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, 0xFF); // Toutes les pins
}
//*****************************************************************************
//
//! Initializes the EVALBOT's push buttons.
//!
//! This function must be called prior to PushButtonGetStatus() to configure
//! the GPIOs used to support the user switches on EVALBOT.
//!
//! \return None.
//
//*****************************************************************************
void
PushButtonsInit (void)
{
//
// Enable the GPIO port used by the pushbuttons.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Set the button GPIOs as inputs.
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_6 | GPIO_PIN_7);
ROM_GPIOPadConfigSet(GPIO_PORTD_BASE, GPIO_PIN_6 | GPIO_PIN_7,
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
}
void Button_init(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0x01;
HWREG(GPIO_PORTF_BASE + GPIO_O_AFSEL) &= ~0x01;
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4);
ROM_GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4, GPIO_STRENGTH_8MA_SC, GPIO_PIN_TYPE_STD_WPU);
ROM_GPIOIntTypeSet(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4, GPIO_FALLING_EDGE);
GPIOIntRegister(GPIO_PORTF_BASE, &ButtonsISR);
ROM_IntEnable(INT_GPIOF);
GPIOIntEnable(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4);
GPIOIntClear(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4);
}
void gpio_init()
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, KEY_1|KEY_2);
ROM_GPIOPadConfigSet(GPIO_PORTF_BASE, KEY_1, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
ROM_GPIOPadConfigSet(GPIO_PORTF_BASE, KEY_2, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
led_off(LED_1);
led_off(LED_2);
led_off(LED_3);
}
void init_am27c_ports(void) {
unsigned char i;
for(i = 0; i < NELEMS(PERIPH); i++)
ROM_SysCtlPeripheralEnable(PERIPH[i]);
for(i = 0; i < NELEMS(A_PORTS); i++)
ROM_GPIOPinTypeGPIOOutput(A_PORTS[i], A_PINS[i]);
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = 0;
for(i = 0; i < NELEMS(DQ_PORTS); i++) {
ROM_GPIOPinTypeGPIOInput(DQ_PORTS[i], DQ_PINS[i]);
ROM_GPIOPadConfigSet(DQ_PORTS[i], DQ_PINS[i], GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
}
for(i = 0; i < NELEMS(CTL_PORTS); i++)
ROM_GPIOPinTypeGPIOOutput(CTL_PORTS[i], CTL_PINS[i]);
}
//-------------------------- IR pint init ----------------------------------
void ir_pin_init(void) {
ROM_GPIOPinTypeGPIOInput(IR_PORT, IR_PIN);
ROM_GPIOPadConfigSet( IR_PORT, IR_PIN, GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD_WPU);
//
// Register the port-level interrupt handler. This handler is the
// first level interrupt handler for all the pin interrupts.
//
GPIOIntRegister(IR_PORT, PortEIntHandler); // PORT E
//
// Make pin rising edge triggered interrupt.
//
ROM_GPIOIntTypeSet(IR_PORT, IR_PIN, GPIO_FALLING_EDGE); // GPIO_HIGH_LEVEL GPIO_RISING_EDGE GPIO_FALLING_EDGE
GPIOIntClear(IR_PORT, IR_PIN);
//
// Enable the pin interrupts.
//
GPIOIntEnable(IR_PORT, IR_PIN);
}
void afficher_speed(volatile unsigned long secondes) {
// Lecture de l'adresse actuelle du curseur
wait();
unsigned char adresse_curseur;
// Change pin type
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, 0xFF); // Toutes les pins
// Read adress
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_RS | LCD_RW, LCD_RS_Instruction | LCD_RW_Read);
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_E, LCD_E);
adresse_curseur = ROM_GPIOPinRead(GPIO_PORTE_BASE, 0x7F); // 7 pins d'adresse
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_E, 0);
// Restore pin type
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, 0xFF); // Toutes les pins
// Changement de l'adresse du curseur pour aller a la ligne du haut
wait();
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_RS | LCD_RW, LCD_RS_Instruction | LCD_RW_Write);
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_E, LCD_E);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, 0xFF, 0x80 | 0xC0);
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_E, 0);
// Ecriture du temps
write_char('0' + (secondes/10000)%10);
write_char('0' + (secondes/1000)%10);
write_char('0' + (secondes/100)%10);
write_char('0' + (secondes/10)%10);
write_char('0' + (secondes/1)%10);
// Ecriture de l'adresse du curseur pour retourner a la ligne du bas
// Set DDRAM address to second line
wait();
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_RS | LCD_RW, LCD_RS_Instruction | LCD_RW_Write);
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_E, LCD_E);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, 0xFF, 0x80 | adresse_curseur);
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, LCD_E, 0);
}
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int
main(void)
{
int_fast32_t i32IPart[16], i32FPart[16];
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[16];
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Enable port B used for motion interrupt.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Raw Example\n");
//
// Set the color to a purple approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x0000;
//
// Initialize RGB driver.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOB);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOB is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 50 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);
UARTprintf("\033[2J\033[H");
UARTprintf("MPU9150 9-Axis Simple Data Application Example\n\n");
UARTprintf("\033[20GX\033[31G|\033[43GY\033[54G|\033[66GZ\n\n");
UARTprintf("Accel\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Gyro\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Mag\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[20GRoll\033[31G|\033[43GPitch\033[54G|\033[66GYaw\n\n");
UARTprintf("Eulers\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[17GQ1\033[26G|\033[35GQ2\033[44G|\033[53GQ3\033[62G|"
"\033[71GQ4\n\n");
UARTprintf("Q\033[8G|\033[26G|\033[44G|\033[62G|\n\n");
//
// Enable blinking indicates config finished successfully
//
RGBBlinkRateSet(1.0f);
ui32CompDCMStarted = 0;
while(1)
{
//
// Go to sleep mode while waiting for data ready.
//
while(!g_vui8I2CDoneFlag)
{
ROM_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
//
// Check if this is our first data ever.
//
if(ui32CompDCMStarted == 0)
{
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1],
pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
}
else
{
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if(g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT)
{
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if(pfEulers[2] < 0)
{
pfEulers[2] += 360.0f;
}
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for(ui32Idx = 0; ui32Idx < 16; ui32Idx++)
{
//
// Conver float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx] -
(i32IPart[ui32Idx] * 1000);
//
// make the decimal part a positive number for display.
//
if(i32FPart[ui32Idx] < 0)
{
i32FPart[ui32Idx] *= -1;
}
}
//
// Print the acceleration numbers in the table.
//
UARTprintf("\033[5;17H%3d.%03d", i32IPart[0], i32FPart[0]);
UARTprintf("\033[5;40H%3d.%03d", i32IPart[1], i32FPart[1]);
UARTprintf("\033[5;63H%3d.%03d", i32IPart[2], i32FPart[2]);
//
// Print the angular velocities in the table.
//
UARTprintf("\033[7;17H%3d.%03d", i32IPart[3], i32FPart[3]);
UARTprintf("\033[7;40H%3d.%03d", i32IPart[4], i32FPart[4]);
UARTprintf("\033[7;63H%3d.%03d", i32IPart[5], i32FPart[5]);
//
// Print the magnetic data in the table.
//
UARTprintf("\033[9;17H%3d.%03d", i32IPart[6], i32FPart[6]);
UARTprintf("\033[9;40H%3d.%03d", i32IPart[7], i32FPart[7]);
UARTprintf("\033[9;63H%3d.%03d", i32IPart[8], i32FPart[8]);
//
// Print the Eulers in a table.
//
UARTprintf("\033[14;17H%3d.%03d", i32IPart[9], i32FPart[9]);
UARTprintf("\033[14;40H%3d.%03d", i32IPart[10], i32FPart[10]);
UARTprintf("\033[14;63H%3d.%03d", i32IPart[11], i32FPart[11]);
//
// Print the quaternions in a table format.
//
UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);
}
}
}
void initsensorhub(void)
{
//
// Enable port B used for motion interrupt.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Raw Example\n");
//
// Set the color to a purple approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x0000;
//
// Initialize RGB driver.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOB);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOB is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 50 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);
UARTprintf("\033[2J\033[H");
UARTprintf("MPU9150 9-Axis Simple Data Application Example\n\n");
UARTprintf("\033[20GX\033[31G|\033[43GY\033[54G|\033[66GZ\n\n");
UARTprintf("Accel\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Gyro\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Mag\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[20GRoll\033[31G|\033[43GPitch\033[54G|\033[66GYaw\n\n");
UARTprintf("Eulers\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[17GQ1\033[26G|\033[35GQ2\033[44G|\033[53GQ3\033[62G|"
"\033[71GQ4\n\n");
UARTprintf("Q\033[8G|\033[26G|\033[44G|\033[62G|\n\n");
//
// Enable blinking indicates config finished successfully
//
RGBBlinkRateSet(1.0f);
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
}
//*****************************************************************************
//
// Initializes the ISL29023 task.
//
//*****************************************************************************
uint32_t
ISL29023TaskInit(void)
{
//
// Reset the GPIO port to be sure all previous interrupt config is cleared.
//
SysCtlPeripheralReset(SYSCTL_PERIPH_GPIOE);
while(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOE))
{
//
// Do Nothing. Wait for reset to complete.
//
}
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// ISL29023
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_5);
GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_5);
ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_5, GPIO_FALLING_EDGE);
//
// Change the interrupt priority so that the interrupt handler function can
// call FreeRTOS APIs.
//
IntPrioritySet(INT_GPIOE, 0xE0);
ROM_IntEnable(INT_GPIOE);
//
// Create a transaction complete semaphore to sync the application callback
// which is called from the I2C master driver in I2C interrupt context and
// the task.
//
vSemaphoreCreateBinary(g_xISL29023TransactionCompleteSemaphore);
//
// Create a semaphore for notifying from the light threshold ISR to the task
// that the light thresholds have been exceeded (too high or too low).
//
vSemaphoreCreateBinary(g_xISL29023AdjustRangeSemaphore);
//
// Create the switch task.
//
if(xTaskCreate(ISL29023Task, (const portCHAR *)"ISL29023 ",
ISL29023_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY +
PRIORITY_ISL29023_TASK, g_xISL29023Handle) != pdTRUE)
{
//
// Task creation failed.
//
return(1);
}
//
// Check if Semaphore creation was successfull.
//
if((g_xISL29023TransactionCompleteSemaphore == NULL) ||
(g_xISL29023AdjustRangeSemaphore == NULL))
{
//
// Semaphore was not created successfully.
//
return(1);
}
//
// Set the active flag that shows this task is running properly.
// Initialize the other variables in the data structure.
//
g_sISL29023Data.bActive = true;
g_sISL29023Data.fVisible = 0.0f;
g_sISL29023Data.fInfrared = 0.0f;
g_sISL29023Data.ui8Range = 0;
g_sISL29023Data.xTimeStampTicks = 0;
//
// Initialize the cloud data global pointer to this sensors local data.
//
g_sCloudData.psISL29023Data = &g_sISL29023Data;
//
// Success.
//
return(0);
}
//*****************************************************************************
//
// Main 'C' Language entry point.
//
//*****************************************************************************
int
main(void)
{
float fAmbient;
int32_t i32IntegerPart, i32FractionPart;
uint8_t ui8Mask;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// Initialize the UART and its pins.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JISL29023 Example\n");
//
// Set the color to a white approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x8000;
//
// Initialize RGB driver. Use a default intensity and blink rate.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
// This step is not necessary if your part does not support pin muxing.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// ISL29023
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_5);
GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_5);
ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_5, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOE);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOE is for the ISL29023 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Configure desired interrupt priorities. Setting the I2C interrupt to be
// of more priority than SysTick and the GPIO interrupt means those
// interrupt routines can use the I2CM_DRV Application context does not use
// I2CM_DRV API and GPIO and SysTick are at the same priority level. This
// prevents re-entrancy problems with I2CM_DRV but keeps the MCU in sleep
// state as much as possible. UART is at least priority so it can operate
// in the background.
//
ROM_IntPrioritySet(INT_I2C3, 0x00);
ROM_IntPrioritySet(FAULT_SYSTICK, 0x40);
ROM_IntPrioritySet(INT_GPIOE, 0x80);
ROM_IntPrioritySet(INT_UART0, 0x80);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the ISL29023 Driver.
//
ISL29023Init(&g_sISL29023Inst, &g_sI2CInst, ISL29023_I2C_ADDRESS,
ISL29023AppCallback, &g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
// Configure the ISL29023 to measure ambient light continuously. Set a 8
// sample persistence before the INT pin is asserted. Clears the INT flag.
// Persistence setting of 8 is sufficient to ignore camera flashes.
//
ui8Mask = (ISL29023_CMD_I_OP_MODE_M | ISL29023_CMD_I_INT_PERSIST_M |
ISL29023_CMD_I_INT_FLAG_M);
ISL29023ReadModifyWrite(&g_sISL29023Inst, ISL29023_O_CMD_I, ~ui8Mask,
(ISL29023_CMD_I_OP_MODE_ALS_CONT |
ISL29023_CMD_I_INT_PERSIST_8),
ISL29023AppCallback, &g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
// Configure the upper threshold to 80% of maximum value
//
g_sISL29023Inst.pui8Data[1] = 0xCC;
g_sISL29023Inst.pui8Data[2] = 0xCC;
ISL29023Write(&g_sISL29023Inst, ISL29023_O_INT_HT_LSB,
g_sISL29023Inst.pui8Data, 2, ISL29023AppCallback,
&g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
// Configure the lower threshold to 20% of maximum value
//
g_sISL29023Inst.pui8Data[1] = 0x33;
g_sISL29023Inst.pui8Data[2] = 0x33;
ISL29023Write(&g_sISL29023Inst, ISL29023_O_INT_LT_LSB,
g_sISL29023Inst.pui8Data, 2, ISL29023AppCallback,
&g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
//Configure and enable SysTick Timer
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// After all the init and config we start blink the LED
//
RGBBlinkRateSet(1.0f);
//
// Loop Forever
//
while(1)
{
ROM_SysCtlSleep();
if(g_vui8DataFlag)
{
g_vui8DataFlag = 0;
//
// Get a local floating point copy of the latest light data
//
ISL29023DataLightVisibleGetFloat(&g_sISL29023Inst, &fAmbient);
//
// Perform the conversion from float to a printable set of integers
//
i32IntegerPart = (int32_t)fAmbient;
i32FractionPart = (int32_t)(fAmbient * 1000.0f);
i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
if(i32FractionPart < 0)
{
i32FractionPart *= -1;
}
//
// Print the temperature as integer and fraction parts.
//
UARTprintf("Visible Lux: %3d.%03d\n", i32IntegerPart,
i32FractionPart);
//
// Check if the intensity of light has crossed a threshold. If so
// then adjust range of sensor readings to track intensity.
//
if(g_vui8IntensityFlag)
{
//
// Disable the low priority interrupts leaving only the I2C
// interrupt enabled.
//
ROM_IntPriorityMaskSet(0x40);
//
// Reset the intensity trigger flag.
//
g_vui8IntensityFlag = 0;
//
// Adjust the lux range.
//
ISL29023AppAdjustRange(&g_sISL29023Inst);
//
// Now we must manually clear the flag in the ISL29023
// register.
//
ISL29023Read(&g_sISL29023Inst, ISL29023_O_CMD_I,
g_sISL29023Inst.pui8Data, 1, ISL29023AppCallback,
&g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
// Disable priority masking so all interrupts are enabled.
//
ROM_IntPriorityMaskSet(0);
}
}
}
}
//*****************************************************************************
//
// Abstraction for LED output.
//
//*****************************************************************************
void
LEDOutput(uint32_t ui32WheelPosition)
{
//
// Put all of our pins in a known state where all LEDs are off.
//
ROM_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_4, 0);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_5);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_4);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_6);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_7);
if((ui32WheelPosition == 0) || (ui32WheelPosition == 8))
{
//
// If the top or bottom button is being pressed, we have no indicator
// lights, so return without doing anything.
//
return;
}
else if(ui32WheelPosition < 8)
{
//
// Positions less than 8 correspond to the right side of the wheel,
// whose LEDs may turn on when PE4 is pulled high.
//
ROM_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_4, GPIO_PIN_4);
//
// Write a zero to the appropriate GPIO(s) to turn on the light(s)
// nearest to the current wheel position.
//
switch(ui32WheelPosition)
{
case 1:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_5);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_5, 0);
break;
}
case 2:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_5);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_5, 0);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_4);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_4, 0);
break;
}
case 3:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_4);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_4, 0);
break;
}
case 4:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_4);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_4, 0);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, 0);
break;
}
case 5:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, 0);
break;
}
case 6:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, 0);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_7);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_7, 0);
break;
}
case 7:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_7);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_7, 0);
break;
}
default:
{
//
// We should never get here.
//
break;
}
}
}
else
{
//
// Positions greater than 8 correspond to the left side of the wheel,
// whose LEDs may turn on when PE4 is pulled low.
//
ROM_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_4, 0);
//
// Write a one to the appropriate GPIO(s) to turn on the light(s)
// nearest to the current wheel position.
//
switch(ui32WheelPosition)
{
case 9:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_7);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_7, GPIO_PIN_7);
break;
}
case 10:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_7);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_7, GPIO_PIN_7);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, GPIO_PIN_6);
break;
}
case 11:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, GPIO_PIN_6);
break;
}
case 12:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, GPIO_PIN_6);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_4);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_4, GPIO_PIN_4);
break;
}
case 13:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_4);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_4, GPIO_PIN_4);
break;
}
case 14:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_4);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_4, GPIO_PIN_4);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_5);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_5, GPIO_PIN_5);
break;
}
case 15:
{
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_5);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_5, GPIO_PIN_5);
break;
}
default:
{
//
// We should never get here.
//
break;
}
}
}
}
//*****************************************************************************
//
//! Initializes the TLV320AIC3107 DAC.
//!
//! This function initializes the I2C interface and the TLV320AIC3107 DAC. It
//! must be called prior to any other API in the DAC module.
//!
//! \return Returns \b true on success or \b false on failure.
//
//*****************************************************************************
tBoolean
DACInit(void)
{
tBoolean bRetcode;
unsigned char ucTest;
//
// Enable the GPIO port containing the I2C pins and set the SDA pin as a
// GPIO input for now and engage a weak pull-down. If the daughter board
// is present, the pull-up on the board should easily overwhelm
// the pull-down and we should read the line state as high.
//
ROM_SysCtlPeripheralEnable(DAC_I2CSCL_GPIO_PERIPH);
ROM_GPIOPinTypeGPIOInput(DAC_I2CSCL_GPIO_PORT, DAC_I2CSDA_PIN);
ROM_GPIOPadConfigSet(DAC_I2CSCL_GPIO_PORT, DAC_I2CSDA_PIN,
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);
//
// Enable the I2C peripheral.
//
ROM_SysCtlPeripheralEnable(DAC_I2C_PERIPH);
//
// Delay a while to ensure that we read a stable value from the SDA
// GPIO pin. If we read too quickly, the result is unpredictable.
// This delay is around 2mS.
//
SysCtlDelay(ROM_SysCtlClockGet() / (3 * 500));
//
// Configure the pin mux.
//
GPIOPinConfigure(GPIO_PB2_I2C0SCL);
GPIOPinConfigure(GPIO_PB3_I2C0SDA);
//
// Configure the I2C SCL and SDA pins for I2C operation.
//
ROM_GPIOPinTypeI2C(DAC_I2CSCL_GPIO_PORT, DAC_I2CSCL_PIN | DAC_I2CSDA_PIN);
//
// Initialize the I2C master.
//
ROM_I2CMasterInitExpClk(DAC_I2C_MASTER_BASE, SysCtlClockGet(), 0);
//
// Enable the I2C peripheral.
//
ROM_SysCtlPeripheralEnable(DAC_RESET_GPIO_PERIPH);
//
// Configure the PH2 as a GPIO output.
//
ROM_GPIOPinTypeGPIOOutput(DAC_RESET_GPIO_PORT, DAC_RESET_PIN);
//
// Reset the DAC
//
ROM_GPIOPinWrite(DAC_RESET_GPIO_PORT , DAC_RESET_PIN, 0);
ROM_GPIOPinWrite(DAC_RESET_GPIO_PORT , DAC_RESET_PIN, DAC_RESET_PIN);
//
// Reset the DAC. Check the return code on this call since we use it to
// indicate whether or not the DAC is present. If the register write
// fails, we assume the I2S daughter board and DAC are not present and
// return false.
//
bRetcode = DACWriteRegister(TI_SOFTWARE_RESET_R, 0x80);
if(!bRetcode)
{
return(bRetcode);
}
//
// Codec Datapath Setup Register
// ----------------------
// D7 = 1 : Fsref = 44.1-kHz
// D6 = 0 : ADC Dual rate mode is disabled
// D5 = 0 : DAC Dual rate mode is disabled
// D[4:3] = 11 : Left DAC datapath plays mono mix of left and right channel
// input data
// D[1:1] = 00 : Right DAC datapath is off
// D0 = 0 : reserved
// ----------------------
// D[7:0] = 10011010
//
DACWriteRegister(TI_CODEC_DATAPATH_R, 0x98);
//
// Audio Serial Data Interface Control Register A
// ----------------------
// D7 = 0 : BCLK is an input (slave mode)
// D6 = 0 : WCLK (or GPIO1 if programmed as WCLK) is an input
// (slave mode)
// D5 = 0 : Do not 3-state DOUT when valid data is not being sent
// D4 = 0 : BCLK / WCLK (or GPIO1 if programmed as WCLK) will not
// continue to be transmitted when running in master mode if codec is powered down
// D3 = 0 : Reserved.
// D2 = 0 : Disable 3-D digital effect processing
// D[1:0] = 00 : reserved
// ----------------------
// D[7:0] = 00000000
//
DACWriteRegister(TI_ASDI_CTL_A_R, 0x00);
//
// Audio Serial Data Interface Control Register B
// ----------------------
// D[7:6] = 00 : Serial data bus uses I2S mode
// D[5:4] = 00 : Audio data word length = 16-bits
// D3 = 0 : Continuous-transfer mode used to determine master mode
// bit clock rate
// D2 = 0 : Don't Care
// D1 = 0 : Don't Care
// D0 = 0 : Re-Sync is done without soft-muting the channel. (ADC/DAC)
// ----------------------
// D[7:0] = 00000000
//
DACWriteRegister(TI_ASDI_CTL_B_R, 0x00);
//
// Audio Serial Data Interface Control Register C
// ----------------------
// D[7:0] = 00000000 : Data offset = 0 bit clocks
// ----------------------
// D[7:0] = 00000000
//
DACWriteRegister(TI_ASDI_CTL_C_R, 0x00);
//
// DAC Power and Output Driver Control Register
// ----------------------
// D7 = 1 : Left DAC is powered up
// D6 = 1 : Right DAC is powered up
// D[5:4] = 00 : HPCOM configured as differential of HPLOUT
// D[3:0] = 0 : reserved
// ----------------------
// D[7:0] = 11000000
//
DACWriteRegister(TI_DACPOD_CTL_R, 0xC0);
//
// Left DAC Digital Volume Control Register
// ----------------------
// D7 = 0 : The left DAC channel is not muted
// D[6:0] = 0 :
// ----------------------
// D[7:0] =
//
DACWriteRegister(TI_LEFT_DAC_DIG_VOL_CTL_R, 0x00);
//
// Right DAC Digital Volume Control Register
// ----------------------
// D7 = 0 : The right DAC channel is not muted
// D[6:0] = 0 :
// ----------------------
// D[7:0] =
//
DACWriteRegister(TI_RIGHT_DAC_DIG_VOL_CTL_R, 0x00);
//
// DAC_L1 to LEFT_LOP Volume Control Register
// ----------------------
// D7 = 1 : DAC_L1 is routed to LEFT_LOP
// D[6:0] = 0110010 (50) : Gain
// ----------------------
// D[7:0] = 10110010
//
DACWriteRegister(TI_DAC_L1_LEFT_LOP_VOL_CTL_R, 0xA0);
//
// LEFT_LOP Output Level Control Register
// ----------------------
// D[7:4] = 0110 : Output level control = 6 dB
// D3 = 1 : LEFT_LOP is not muted
// D2 = 0 : Reserved.
// D1 = 0 : All programmed gains to LEFT_LOP have been applied
// D0 = 1 : LEFT_LOP is fully powered up
// ----------------------
// D[7:0] = 00001001
//
DACWriteRegister(TI_LEFT_LOP_OUTPUT_LVL_CTL_R, 0xC9);
//
// From the TLV320AIC3107 datasheet:
// The following initialization sequence must be written to the AIC3107
// registers prior to enabling the class-D amplifier:
// register data:
// 1. 0x00 0x0D
// 2. 0x0D 0x0D
// 3. 0x08 0x5C
// 4. 0x08 0x5D
// 5. 0x08 0x5C
// 6. 0x00 0x00
//
DACWriteRegister(0x00, 0x0D);
DACWriteRegister(0x0D, 0x0D);
DACWriteRegister(0x08, 0x5C);
DACWriteRegister(0x08, 0x5D);
DACWriteRegister(0x08, 0x5C);
DACWriteRegister(0x00, 0x00);
//
// Class-D and Bypass Switch Control Register
// ----------------------
// D[7:6] = 01 : Left Class-D amplifier gain = 6.0 dB
// D[5:4] = 00 : Right Class-D amplifier gain = 0.0 dB
// D3 = 1 : enable left class-D channel
// D2 = 0 : disable right class-D channel
// D1 = 0 : disable bypass switch
// D0 = 0 : disable bypass switch bootstrap clock
// ----------------------
// D[7:0] = 01001000
//
DACWriteRegister(TI_CLASSD_BYPASS_SWITCH_CTL_R, 0x40);
//
//Read Module Power Status Register
//
bRetcode = DACReadRegister(TI_MODULE_PWR_STAT_R, &ucTest);
if(!bRetcode)
{
return(bRetcode);
}
return(true);
}
void tm4c123_i2c_initialize(void)
{
uint32_t count;
tm4c123_i2c_device.state = I2C_STATE_IDLE;
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
/* Disable I2C3 */
I2C3->MCR = I2C_MCR_MFE;
ROM_GPIOPinTypeGPIOOutputOD(GPIOD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeGPIOInput(GPIOD_BASE, GPIO_PIN_1);
/* Delay for 10usec */
armv7m_udelay(10);
/* If SDA is tied low by a slave, issue clock pulses till it releases
* the bus.
*/
for (count = 0; count < 128; count++)
{
if (GPIOD->DATA & GPIO_PIN_1)
{
break;
}
/* Set SCL to L */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 0);
armv7m_udelay(5);
/* Set SCL to H */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 1);
armv7m_udelay(5);
}
ROM_GPIOPinTypeGPIOOutput(GPIOD_BASE, GPIO_PIN_1);
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 1);
armv7m_bitband_peripheral_write(&GPIOD->DATA, 1, 1);
armv7m_udelay(5);
/* Now SCL is H and SDA is H, so generate a STOP condition.
*/
/* Set SCL to L */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 0);
armv7m_udelay(5);
/* Set SDA to L */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 1, 0);
armv7m_udelay(5);
/* Set SCL to H */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 1);
armv7m_udelay(5);
/* Set SDA to H */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 1, 1);
armv7m_udelay(5);
/* After this recovery, switch to regular I2C mode.
*/
/* Enable pin PD0 for I2C3 I2C3SCL
*/
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinTypeI2CSCL(GPIOD_BASE, GPIO_PIN_0);
/* Enable pin PD1 for I2C3 I2C3SDA
*/
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
ROM_GPIOPinTypeI2C(GPIOD_BASE, GPIO_PIN_1);
tm4c123_i2c_reset();
NVIC_SetPriority(I2C3_IRQn, 3);
NVIC_EnableIRQ(I2C3_IRQn);
}
//函数创建区
//----------------------------------------Start-------------------------------------------
void Init_Button()
{
//Enable 按键
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1); //使能输入
}
//*****************************************************************************
//
// The interrupt handler for the PB4 pin interrupt. When triggered, this will
// toggle the JTAG pins between JTAG and GPIO mode.
//
//*****************************************************************************
void
SysTickIntHandler(void)
{
uint8_t ui8Buttons;
uint8_t ui8ButtonsChanged;
//
// Grab the current, debounced state of the buttons.
//
ui8Buttons = ButtonsPoll(&ui8ButtonsChanged, 0);
//
// If the USR_SW1 button has been pressed, and was previously not pressed,
// start the process of changing the behavior of the JTAG pins.
//
if(BUTTON_PRESSED(USR_SW1, ui8Buttons, ui8ButtonsChanged))
{
//
// Toggle the pin mode.
//
g_ui32Mode ^= 1;
//
// See if the pins should be in JTAG or GPIO mode.
//
if(g_ui32Mode == 0)
{
//
// Change PC0-3 into hardware (i.e. JTAG) pins.
//
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x01;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) |= 0x01;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x02;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) |= 0x02;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x04;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) |= 0x04;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x08;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) |= 0x08;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x00;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = 0;
//
// Turn on the LED to indicate that the pins are in JTAG mode.
//
ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0 | GPIO_PIN_1,
GPIO_PIN_0);
}
else
{
//
// Change PC0-3 into GPIO inputs.
//
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x01;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) &= 0xfe;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x02;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) &= 0xfd;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x04;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) &= 0xfb;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x08;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) &= 0xf7;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x00;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = 0;
ROM_GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, (GPIO_PIN_0 | GPIO_PIN_1 |
GPIO_PIN_2 |
GPIO_PIN_3));
//
// Turn off the LED to indicate that the pins are in GPIO mode.
//
ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0 | GPIO_PIN_1,
GPIO_PIN_1);
}
}
}
//*****************************************************************************
//
// Initialize the I2C, MPU9150 and Gesture systems.
//
//*****************************************************************************
void
MotionInit(void)
{
//
// Enable port B used for motion interrupt.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOB);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Set the motion state to initializing.
//
g_ui8MotionState = MOTION_STATE_INIT;
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MotionCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MotionI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MotionCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MotionI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = (MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN);
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MotionCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MotionI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system.
//
CompDCMInit(&g_sCompDCMInst, 1.0f / ((float) MOTION_SAMPLE_FREQ_HZ),
DCM_ACCEL_WEIGHT, DCM_GYRO_WEIGHT, DCM_MAG_WEIGHT);
//
// Initialize the gesture instance and establish a initial state estimate.
//
GestureInit(&g_sGestureInst, g_pfInitProb, g_ppfPath, g_ppfTransitionProb,
g_ppfEmitProb, GESTURE_PATH_LENGTH, GESTURE_NUM_STATES,
GESTURE_STATE_IDLE);
}
//*****************************************************************************
//
// This is the main loop that runs the application.
//
//*****************************************************************************
int
main(void)
{
unsigned long ulButton, ulPrevious, ulLastTickCount;
tBoolean bLastSuspend;
//
// Set the clocking to run from the PLL at 50MHz.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable USB pins
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// Enable 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[2JKeyboard device application\n");
//
// Enable the GPIO that is used for the on-board push button.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);
ROM_GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
//
// Enable the GPIO that is used for the on-board LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1);
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, 0);
//
// Not configured initially.
//
g_bConnected = false;
g_bSuspended = false;
bLastSuspend = false;
//
// Set the USB stack mode to Device mode with VBUS monitoring.
//
USBStackModeSet(0, USB_MODE_DEVICE, 0);
//
// Pass our device information to the USB HID device class driver,
// initialize the USB
// controller and connect the device to the bus.
//
USBDHIDKeyboardInit(0, &g_sKeyboardDevice);
//
// Set the system tick to fire 100 times per second.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// The main loop starts here. We begin by waiting for a host connection
// then drop into the main keyboard handling section. If the host
// disconnects, we return to the top and wait for a new connection.
//
ulPrevious = 1;
setup();
while(1)
{
//
// Tell the user what we are doing and provide some basic instructions.
//
UARTprintf("Waiting for host...\n");
//
// Wait for USB configuration to complete.
//
while(!g_bConnected)
{
}
//
// Update the status.
//
UARTprintf("Host connected...\n");
//
// Enter the idle state.
//
g_eKeyboardState = STATE_IDLE;
//
// Assume that the bus is not currently suspended if we have just been
// configured.
//
bLastSuspend = false;
//
// Keep transferring characters from the UART to the USB host for as
// long as we are connected to the host.
//
while(g_bConnected)
{
//
// Remember the current time.
//
ulLastTickCount = g_ulSysTickCount;
//
// Has the suspend state changed since last time we checked?
//
if(bLastSuspend != g_bSuspended)
{
//
// Yes - the state changed so update the display.
//
bLastSuspend = g_bSuspended;
UARTprintf(bLastSuspend ? "Bus suspended...\n" :
"Host connected...\n");
}
//
// See if the button was just pressed.
//
ulButton = num;
if(ulButton != ulPrevious)
{
//
// If the bus is suspended then resume it. Otherwise, type
// some "random" characters.
//
if(g_bSuspended)
{
//
// We are suspended so request a remote wakeup.
//
USBDHIDKeyboardRemoteWakeupRequest(
(void *)&g_sKeyboardDevice);
}
else
{
char s[2] = {0x30+num,0};
SendString(s);
}
}
ulPrevious = ulButton;
//
// Wait for at least 1 system tick to have gone by before we poll
// the buttons again.
//
while(g_ulSysTickCount == ulLastTickCount)
{
//
// Hang around doing nothing.
//
}
}
//
// Dropping out of the previous loop indicates that the host has
// disconnected so go back and wait for reconnection.
//
if(g_bConnected == false)
{
UARTprintf("Host disconnected...\n");
}
}
}
//*****************************************************************************
//
// This is the main loop that runs the application.
//
//*****************************************************************************
int
main(void)
{
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 USB pins
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5);
// Set the system tick to fire 100 times per second.
ROM_SysTickEnable();
ROM_SysTickIntEnable();
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
// Initialize the on board buttons
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
// Right button is muxed so you need to unlock and configure
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = 0;
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4 |GPIO_PIN_0);
ROM_GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4 |GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
// Enable Output Status Light
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
// Set initial LED Status to RED to indicate not connected
ROM_GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 2);
// Set the USB stack mode to Device mode with VBUS monitoring.
USBStackModeSet(0, USB_MODE_DEVICE, 0);
// Pass the USB library our device information, initialize the USB
// controller and connect the device to the bus.
USBDHIDCustomHidInit(0, (tUSBDHIDCustomHidDevice *)&g_sCustomHidDevice);
// Drop into the main loop.
while(1)
{
// Wait for USB configuration to complete.
while(!g_bConnected)
{
ROM_GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 2);
}
// Update the status to green when connected.
ROM_GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 8);
// Now keep processing the customhid as long as the host is connected.
while(g_bConnected)
{
// If it is time to check the buttons and send a customhid report then do so.
if(HWREGBITW(&g_ulCommands, TICK_EVENT) == 1)
{
HWREGBITW(&g_ulCommands, TICK_EVENT) = 0;
CustomHidChangeHandler();
}
}
}
}
int main(void)
{
// setup the system clock to run at 80 MHz from the external crystal:
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
// enable peripherals to operate when CPU is in sleep:
ROM_SysCtlPeripheralClockGating(true);
// enable all of the GPIOs:
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOF);
// setup pins connected to RGB LED:
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
//setup the UART console
InitConsole();
// Test either the interrupts on a simple pushbutton to turn-on a led:
// 1- interrupt with static allocation on the vector table
// 2- interrupt with dynamic allocation on the vector table
// 2- interrupt with dynamic allocation on the vector table
// setup pin connected to SW1 and SW2
// Unlock PF0 so we can change it to a GPIO input
// Once we have enabled (unlocked) the commit register then re-lock it
// to prevent further changes. PF0 is muxed with NMI thus a special case.
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
HWREG(GPIO_PORTF_BASE + GPIO_O_AFSEL) |= 0x000;
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = 0;
//Configures pin(s) for use as GPIO inputs
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE,GPIO_PIN_4 | GPIO_PIN_0);
//Sets the pad configuration for the specified pin(s).
ROM_GPIOPadConfigSet(GPIO_PORTF_BASE,GPIO_PIN_4 | GPIO_PIN_0,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
// Make PORT F pin 0,4 high level triggered interrupts.
ROM_GPIOIntTypeSet(GPIO_PORTF_BASE,GPIO_PIN_4 | GPIO_PIN_0,GPIO_BOTH_EDGES);
//dynamic allocation on the vector table of GPIO_PORTF_isr interrupt handler
GPIOIntRegister(GPIO_PORTF_BASE, GPIO_PORTF_isr);
//Enables the specified GPIO interrupt
IntEnable(INT_GPIOF);
GPIOIntEnable(GPIO_PORTF_BASE,GPIO_INT_PIN_4 | GPIO_INT_PIN_0);
IntMasterEnable();
uint8_t PORTF_status;
//uint32_t ui32Loop = 0;
//
// Loop forever
//
while(1)
{
uint8_t PORTF_status=GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_0 | GPIO_PIN_4);
/*
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_4))
{
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 ,0);
}
else
{
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 , GPIO_PIN_1);
}
*/
/*
//
// Turn on the red LED .
//
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 , GPIO_PIN_1);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_7, GPIO_PIN_7);
//
// Delay for a bit.
//
for(ui32Loop = 0; ui32Loop < 2000000; ui32Loop++)
{
}
//
// Turn on the green LED.
//
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 , GPIO_PIN_2);
ROM_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_7, 0);
//
// Delay for a bit.
//
for(ui32Loop = 0; ui32Loop < 2000000; ui32Loop++)
{
}
//
// Turn on the blue LED.
//
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 , GPIO_PIN_3);
//
// Delay for a bit.
//
for(ui32Loop = 0; ui32Loop < 2000000; ui32Loop++)
{
}
*/
}
}
void StellarisPortPin::setAsInput() {
ROM_GPIOPinTypeGPIOInput(_portBase, _pin);
}
//*****************************************************************************
//
//! Configures the device pins for the standard usages on the EK-TM4C1294XL.
//!
//! \param bEthernet is a boolean used to determine function of Ethernet pins.
//! If true Ethernet pins are configured as Ethernet LEDs. If false GPIO are
//! available for application use.
//! \param bUSB is a boolean used to determine function of USB pins. If true USB
//! pins are configured for USB use. If false then USB pins are available for
//! application use as GPIO.
//!
//! This function enables the GPIO modules and configures the device pins for
//! the default, standard usages on the EK-TM4C1294XL. Applications that
//! require alternate configurations of the device pins can either not call
//! this function and take full responsibility for configuring all the device
//! pins, or can reconfigure the required device pins after calling this
//! function.
//!
//! \return None.
//
//*****************************************************************************
void
PinoutSet(bool bEthernet, bool bUSB)
{
//
// Enable all the GPIO peripherals.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOJ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOK);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOM);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPION);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOQ);
//
// PA0-1 are used for UART0.
//
ROM_GPIOPinConfigure(GPIO_PA0_U0RX);
ROM_GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// PB0-1/PD6/PL6-7 are used for USB.
// PQ4 can be used as a power fault detect on this board but it is not
// the hardware peripheral power fault input pin.
//
if(bUSB)
{
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTD_BASE + GPIO_O_CR) = 0xff;
ROM_GPIOPinConfigure(GPIO_PD6_USB0EPEN);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
ROM_GPIOPinTypeUSBDigital(GPIO_PORTD_BASE, GPIO_PIN_6);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTL_BASE, GPIO_PIN_6 | GPIO_PIN_7);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTQ_BASE, GPIO_PIN_4);
}
else
{
//
// Keep the default config for most pins used by USB.
// Add a pull down to PD6 to turn off the TPS2052 switch
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_6);
MAP_GPIOPadConfigSet(GPIO_PORTD_BASE, GPIO_PIN_6, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPD);
}
//
// PF0/PF4 are used for Ethernet LEDs.
//
if(bEthernet)
{
//
// this app wants to configure for ethernet LED function.
//
ROM_GPIOPinConfigure(GPIO_PF0_EN0LED0);
ROM_GPIOPinConfigure(GPIO_PF4_EN0LED1);
GPIOPinTypeEthernetLED(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4);
}
else
{
//
// This app does not want Ethernet LED function so configure as
// standard outputs for LED driving.
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4);
//
// Default the LEDs to OFF.
//
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4, 0);
MAP_GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4,
GPIO_STRENGTH_12MA, GPIO_PIN_TYPE_STD);
}
//
// PJ0 and J1 are used for user buttons
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTJ_BASE, GPIO_PIN_0 | GPIO_PIN_1);
ROM_GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_0 | GPIO_PIN_1, 0);
//
// PN0 and PN1 are used for USER LEDs.
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTN_BASE, GPIO_PIN_0 | GPIO_PIN_1);
MAP_GPIOPadConfigSet(GPIO_PORTN_BASE, GPIO_PIN_0 | GPIO_PIN_1,
GPIO_STRENGTH_12MA, GPIO_PIN_TYPE_STD);
//
// Default the LEDs to OFF.
//
ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0 | GPIO_PIN_1, 0);
}
//*****************************************************************************
//
// Play the Colossal Cave Adventure game using either an Ethernet telnet
// connection or a USB CDC serial connection.
//
//*****************************************************************************
int
main(void)
{
//
// Set the clocking to run from the PLL at 80 MHz.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable 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);
//
// Print out a greeting.
//
UARTprintf("\033[2JColossal Cave Adventure\n");
UARTprintf("-----------------------\n");
UARTprintf("Connect to either the USB virtual COM port or\n");
UARTprintf("telnet into the Ethernet port in order to play.\n\n");
//
// Enable the GPIO that is used for the on-board push button.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_4);
ROM_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
//
// Enable the GPIO that is used for the on-board LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_0, 0);
//
// Configure SysTick for a periodic interrupt.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKHZ);
ROM_SysTickEnable();
ROM_SysTickIntEnable();
//
// Enable processor interrupts.
//
ROM_IntMasterEnable();
//
// Initialize the Ethernet and USB interfaces.
//
EnetIFInit();
USBIFInit();
//
// Provide a working area to the memory allocator.
//
bpool(g_pucPool, sizeof(g_pucPool));
//
// Configure the Z-machine interpreter.
//
configure(V1, V5);
//
// Initialize the Z-machine screen interface.
//
initialize_screen();
//
// Pre-fill the Z-machine interpreter's cache.
//
load_cache();
//
// Loop forever.
//
while(1)
{
//
// Wait until a connection has been made via either the Ethernet or USB
// interfaces.
//
while(g_ulGameIF == GAME_IF_NONE)
{
}
//
// Turn on the LED to indicate that the game is in progress.
//
ROM_GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_0, GPIO_PIN_0);
//
// Loop until the game has been exited. Repeat this loop if the game
// exited because the restart button was pressed.
//
do
{
//
// Take the Z-machine interpreter out of the halt state.
//
halt = 0;
//
// Set the restart flag to zero.
//
g_ulRestart = 0;
//
// Restart the Z-machine interpreter.
//
restart();
//
// Run the Z-machine interpreter until it halts.
//
interpret();
}
while(g_ulRestart);
//
// Turn off the LED to indicate that the game has finished.
//
ROM_GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_0, 0);
//
// Close down the Ethernet connection if it was being used to play the
// game.
//
if(g_ulGameIF == GAME_IF_ENET)
{
EnetIFClose();
}
//
// Forget the interface used to play the game so that the selection
// process will be repeated.
//
g_ulGameIF = GAME_IF_NONE;
}
}
