static void configAllPins(void)
{
/* PWM */
configPin(1, 18, 0, 0, 2); /* PWM 1 */
configPin(1, 20, 0, 0, 2); /* PWM 2 */
configPin(3, 26, 0, 0, 3); /* PWM 3 */
configPin(1, 23, 0, 0, 2); /* PWM 4 */
configPin(1, 24, 0, 0, 2); /* PWM 5 */
configPin(2, 5, 0, 0, 1); /* PWM 6 */
/* Motor Control */
configPin(1, 21, 0, 0, 1); /* ABORT */
configPin(1, 19, 0, 0, 1); /* MC0_A0 */
configPin(1, 25, 0, 0, 1); /* MC0_A1 */
configPin(1, 28, 0, 0, 1); /* MC0_A2 */
configPin(1, 22, 0, 0, 1); /* MC0_B0 */
configPin(1, 26, 0, 0, 1); /* MC0_B1 */
configPin(1, 29, 0, 0, 1); /* MC0_B2 */
// configPin() /* P0_4 */
// configPin() /* P0_5 */
// configPin() /* P0_19 */
/* Analog */
configPin(0, 23, 0, 0, 1); /* AD0_0 */
configPin(0, 24, 0, 0, 1); /* AD0_1 */
configPin(0, 25, 0, 0, 1); /* AD0_2 */
configPin(0, 26, 0, 0, 1); /* AD0_3 */
configPin(1, 31, 0, 0, 3); /* AD0_5 */
configPin(0, 3, 0, 0, 2); /* AD0_6 */
configPin(0, 2, 0, 0, 2); /* AD0_7 */
/* SPI1 */
configPin(0, 6, 0, 0, 2); /* CS1 */
configPin(0, 7, 0, 0, 2); /* CLK1 */
configPin(0, 8, 0, 0, 2); /* MISO1 */
configPin(0, 9, 0, 0, 2); /* MOSI1 */
// configPin() /* P1_27 */
// configPin() /* P3_25 */
// configPin() /* P2_10 */
// configPin() /* P0_20 */
// configPin() /* P2_8 */
// configPin() /* P4_28 */
// configPin() /* P4_29 */
/* UART */
configPin(2, 0, 0, 0, 2); /* TX1 */
configPin(2, 1, 0, 0, 2); /* RX1 */
configPin(2, 7, 0, 0, 2); /* RTS1 */
configPin(2, 2, 0, 0, 2); /* CTS1 */
configPin(0, 10, 0, 0, 1); /* TX2 */
configPin(0, 11, 0, 0, 1); /* RX2 */
configPin(0, 0, 0, 0, 2); /* TX3 */
configPin(0, 1, 0, 0, 2); /* RX3 */
/* I2C */
configPin(0, 27, 0, 0, 1); /* SDA0 */
configPin(0, 28, 0, 0, 1); /* SCL0 */
/* SPI0 */
configPin(0, 17, 0, 0, 2); /* MISO */
configPin(0, 18, 0, 0, 2); /* MOSI */
configPin(0, 15, 0, 0, 2); /* CS0 */
configPin(0, 16, 0, 0, 2); /* CLK */
// configPin(); /* P2_6 */
/* CAN */
configPin(0, 21, 0, 0, 3); /* CANH */
configPin(0, 22, 0, 0, 3); /* CANL */
// configPin() /* P2_3 */
// configPin() /* P2_4 */
}
/*
* Put pins back in their initial state to simulate a reset condition without
* disconnecting USB
*/
int _resetConfig(uint8_t * args)
{
int i;
/* P0.0 - P0.11 */
for (i = 0; i < 12; i++)
configPin(0, i, 0, 0, 0);
/*
* P0.15 - P0.28
* intentionally skip P0.29 (USB+) and P0.30 (USB-)
*/
for (i = 15; i < 29; i++)
configPin(0, i, 0, 0, 0);
/*
* P1.0, P1.1, P1.4, P1.8, P1.9, P1.10
*/
configPin(1, 0, 0, 0, 0);
configPin(1, 1, 0, 0, 0);
configPin(1, 4, 0, 0, 0);
configPin(1, 8, 0, 0, 0);
configPin(1, 9, 0, 0, 0);
configPin(1, 10, 0, 0, 0);
/*
* P1.14 - P1.31
*/
for (i = 14; i < 32; i++)
configPin(1, i, 0, 0, 0);
/*
* P2.0 - P2.8
* intentionally skip P2.9 (USB_CONNECT)
*/
for (i = 0; i < 9; i++)
configPin(2, i, 0, 0, 0);
/*
* P2.10 - P2.14
*/
for (i = 10; i < 15; i++)
configPin(2, i, 0, 0, 0);
/*
* Intentionally skip P3.25 (LED)
* P3.26
*/
configPin(3, 26, 0, 0, 0);
/* P4.28, P4.29 */
configPin(4, 28, 0, 0, 0);
configPin(4, 29, 0, 0, 0);
return 0;
}
void boardInit() {
SysTick_Config(SystemCoreClock/1000 - 1);
/*
A note about interrupt priorities
A smaller numeric priority means that the priority is higher, thus
the most important interrupt has priority 0, the least import 31.
If an interrupt arrives while servicing an interrupt with a lower
priority, then the lesser interrupt is interrupted to service the
high priority one, if the high priority interrupt is of a different
preemption priority group.
IOW: an IRQ in PP group 3 will be interrupted if an IRQ arrives with
PP group 2,1 or 0.
The sub priority is only used to order the interrupts at the same PE
level.
NVIC_SetPriorityGrouping is used here to divide the 32 levels of
IRQ priorities into 8 preemption groups and 4 sub priorities.
*/
NVIC_SetPriorityGrouping(4);
for (int i=0;i<35;i++) {
NVIC_SetPriority(i, GROUP_PRIORITY_DEFAULT);
}
NVIC_SetPriority(TIMER2_IRQn, GROUP_PRIORITY_STEPPER);
NVIC_SetPriority(SysTick_IRQn, GROUP_PRIORITY_1000HZ);
NVIC_SetPriority(TIMER3_IRQn, GROUP_PRIORITY_100HZ);
NVIC_SetPriority(USB_IRQn, GROUP_PRIORITY_USB);
initUARTs();
initADC();
initPWM();
// Motor drivers are active low, so let's disable all of them, until the drivers turn them on:
GPIO_SET(IO_X_ENABLE);
GPIO_SET(IO_Y_ENABLE);
GPIO_SET(IO_Z_ENABLE);
GPIO_SET(IO_A_ENABLE);
/*
Set the simple I/O configuration for all the pins we use,
this will ensure that all pins have had its function selected
*/
for (int i=0;i<ALL_PINS_SIZE;i++) {
configPin(ALL_PINS[i]);
}
/*
Set up timer3 to poke the "slow" 100Hz maintainance routine
*/
TIM_TIMERCFG_Type timerCfg;
timerCfg.PrescaleOption = TIM_PRESCALE_USVAL;
timerCfg.PrescaleValue = 1000; // 1 ms interval
TIM_Init(LPC_TIM3, TIM_TIMER_MODE, &timerCfg);
TIM_MATCHCFG_Type timerMatch;
timerMatch.MatchChannel = 0;
timerMatch.IntOnMatch = TRUE;
timerMatch.ResetOnMatch = TRUE;
timerMatch.StopOnMatch = FALSE;
timerMatch.ExtMatchOutputType = TIM_EXTMATCH_NOTHING;
timerMatch.MatchValue = 10-1;
TIM_ConfigMatch(LPC_TIM3,&timerMatch);
NVIC_EnableIRQ(TIMER3_IRQn);
TIM_Cmd(LPC_TIM3,ENABLE);
initAPI();
}