void rst_handler(void){
// Copy the .data section pointers to ram from flash.
// Look at LD manual (Optional Section Attributes).
// source and destination pointers
unsigned long *src;
unsigned long *dest;
//this should be good!
src = &_end_text;
dest = &_start_data;
FPUEnable();
FPULazyStackingEnable();
//this too
while(dest < &_end_data)
{
*dest++ = *src++;
}
// now set the .bss segment to 0!
dest = &_start_bss;
while(dest < &_end_bss){
*dest++ = 0;
}
// after setting copying .data to ram and "zero-ing" .bss we are good
// to start the main() method!
// There you go!
main();
}
void Board::init() // initialize the board specifics
{
//
// 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.
//
FPUEnable();
FPULazyStackingEnable();
//
// Set the clocking to run from the PLL at 50MHz
//
ROM_SysCtlClockSet(
SYSCTL_SYSDIV_1 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
IntMasterEnable(); // Enable interrupts to the processor.
// Set up the period for the SysTick timer for 1 mS.
SysTickPeriodSet(SysCtlClockGet() / 1000);
SysTickIntEnable(); // Enable the SysTick Interrupt.
SysTickEnable(); // Enable SysTick.
/* //
// 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.
FPUEnable();
FPULazyStackingEnable();
SysCtlClockSet(
SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN
| SYSCTL_XTAL_16MHZ); // Set the clocking to run directly from the crystal.
IntMasterEnable(); // Enable interrupts to the processor.*/
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); // Enable the GPIO port that is used for the on-board LED.
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2); // Enable the GPIO pins for the LED (PF2).
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3);
/* SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0); // Enable the peripherals used by this example.
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
IntMasterEnable(); // Enable processor interrupts.
// Set up the period for the SysTick timer for 1 mS.
SysTickPeriodSet(SysCtlClockGet() / 1000);
SysTickIntEnable(); // Enable the SysTick Interrupt.
SysTickEnable(); // Enable SysTick.
GPIOPinConfigure(GPIO_PA0_U0RX); // Set GPIO A0 and A1 as UART pins.
GPIOPinConfigure(GPIO_PA1_U0TX);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE)); // Configure the UART for 115,200, 8-N-1 operation.
IntEnable(INT_UART0);
UARTFIFODisable(UART0_BASE);
// UARTFIFOLevelSet(UART0_BASE, UART_FIFO_TX1_8, UART_FIFO_RX1_8);
UARTFlowControlSet(UART0_BASE, UART_FLOWCONTROL_NONE);
UARTIntDisable(UART0_BASE, UART_INT_RT);
UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_TX); // Enable the UART interrupt.*/
Board::setLedOn(Board::LED_GREEN, false);
Board::setLedOn(Board::LED_RED, false);
Board::setLedOn(Board::LED_BLUE, false);
AdcInit();
}
/**
Configures hardware for the particular hardware platform:
- Ports: sets direction, interrupts, pullup/pulldown resistors etc.
- Holds radio in reset (active-low)
*/
void halInit()
{
//
// Enable the floating-point unit.
//
FPUEnable();
//
// Configure the floating-point unit to perform lazy stacking of the
// floating-point state.
//
FPULazyStackingEnable();
oscInit();
portInit();
halUartInit();
//Point the function pointers to doNothing() so that they don't trigger a restart
debugConsoleIsr = &doNothing;
buttonIsr = &doNothing;
clearLeds();
displayVersion();
#ifdef AF_VERBOSE
printf("* AF_VERBOSE *\r\n");
#endif
}
void SystemInit(void)
{
//Enable floating-point unit
FPUEnable();
//Run from the PLL at 120MHz
SysCtlClockFreqSet(SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN |
SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480, 120000000);
}
int main(void) {
//
// 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.
//
FPULazyStackingEnable();
FPUEnable();
//
// Set the clocking to run directly from the crystal.
// Clock to 80MHZ
//
SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
IntMasterEnable();
//set up the radio
if( !nrf24l01p_setup(&nrf, GPIO_PORTC_BASE, GPIO_PIN_4, SSI0_BASE) ){
//we couldn't communicate with the radio
return 1;
}
nrf24l01p_set_PA_level(&nrf, RF24_PA_LOW);
nrf24l01p_open_writing_pipe(&nrf, addresses[0]);
nrf24l01p_open_reading_pipe(&nrf, 1,addresses[1]);
nrf24l01p_start_listening(&nrf);
while(1){
if (nrf24l01p_available(&nrf)) {
uint32_t got_time;
// Variable for the received timestamp
while (nrf24l01p_available(&nrf)) { // While there is data ready
nrf24l01p_read(&nrf, &got_time, sizeof(uint32_t)); // Get the payload
}
nrf24l01p_stop_listening(&nrf); // First, stop listening so we can talk
nrf24l01p_write(&nrf, &got_time, sizeof(uint32_t)); // Send the final one back.
nrf24l01p_start_listening(&nrf); // Now, resume listening so we catch the next packets.
}
//give it a little space
SysCtlDelay((SysCtlClockGet() >> 12) * 5);
}
return 0;
}
//*****************************************************************************
// Initilizes hardware
//*****************************************************************************
void InitCortexHardware(void) {
//
// Enable FPU
//
FPUEnable();
FPULazyStackingEnable();
// Set clocking to 50 MHz, due to REV_A1 being a total ass.
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
//
// Configure UART0 for 115200-8n1
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTClockSourceSet(UART0_BASE, UART_CLOCK_PIOSC);
UARTStdioConfig(0, 115200, 16000000);
UARTFIFODisable(UART0_BASE);
UARTIntEnable(UART0_BASE, UART_INT_RX);
UARTprintf("\n\nSystem initializing.\n");
//
// Enable SysTick for periodic Interrupts
// systick is used by command line process
//
SysTickEnable();
SysTickPeriodSet(SysCtlClockGet()/(SYSTICK_TIME/10));
SysTickIntEnable();
UARTprintf("- Systick timer enabled.\n");
//
// Configure Heartbeat led
//
SysCtlPeripheralEnable(HEARTBEAT_CTRL_PORT);
GPIOPinTypeGPIOOutput(HEARTBEAT_BASE_PORT, HEARTBEAT_PIN);
GPIOPinWrite(HEARTBEAT_BASE_PORT, HEARTBEAT_PIN, 0xFF);
UARTprintf("- GPIO enabled. \n");
//
// Enable UART interrupts
//
IntMasterEnable();
IntEnable(INT_UART0);
UARTprintf("- Interrupts enabled.\n");
}
// ----------------------------------------------------------------------------------
//
// _reset_init() -- Reset entry point.
//
// The CPU reset vector points here. Initialize the CPU, and jump
// to the C runtime start, which will eventually invoke main()
//
void _reset_init(void)
{
// Copy values to initialize data segment
uint32_t *fr = __etext;
uint32_t *to = __data_start__;
unsigned int len = __data_end__ - __data_start__;
while(len--)
*to++ = *fr++;
FPUEnable();
FPUStackingDisable();
main();
}
int main(void)
{
FPUEnable();
led_Init();
button_Init();
can_Init();
pcsr_Init();
//can_SetLogging(0, 0x001, 0x3FF, LogHandler);
//uint8_t new_data[] = { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF };
//uint8_t new_data_mask[] = { 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF };
//can_SetFiltering(0, 0x001, 0x3FF, new_data, new_data_mask);
//uint8_t data[] = { 0xFF, 0x00, 0xFF, 0x00, '\n' };
//pcsr_WriteData("READY!\r\n", 8);
while(UARTCharsAvail(UART2_BASE))
{
led_Byte(UARTCharGetNonBlocking(UART2_BASE));
}
while(1)
{
uint8_t buf[22];
pcsr_ReadData(buf, 1);
if(buf[0] == FUNCTION_LOG)
{
pcsr_ReadData(buf + 1, 5);
uint16_t arbid = buf[2] + (buf[3] << 8);
uint16_t arbid_mask = buf[4] + (buf[5] << 8);
can_SetLogging(buf[1], arbid, arbid_mask, LogHandler);
}
else if(buf[0] == FUNCTION_FILTER)
{
pcsr_ReadData(buf + 1, 21);
uint16_t arbid = buf[2] + (buf[3] << 8);
uint16_t arbid_mask = buf[4] + (buf[5] << 8);
can_SetFiltering(buf[1], arbid, arbid_mask, buf + 6, buf + 14);
}
else if(buf[0] == FUNCTION_RESET)
{
can_ResetFunctions();
//led_Byte(buf[0]);
}
}
}
int
main(void)
{
//En vez de usar 16MHz, uso el PLL para conseguir 40MHz
SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
unsigned long g=SysCtlClockGet();
FPUEnable();
FPUStackingEnable();
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
GPIOPinConfigure(GPIO_PC4_U4RX);
GPIOPinConfigure(GPIO_PC5_U4TX);
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_4 | GPIO_PIN_5);
UARTConfigSetExpClk(UART4_BASE, SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
rc = f_mount(0, &Fatfs); //registra un area de trabajo
rc = f_open(&Fil, "BuffGPS.TXT", FA_WRITE | FA_OPEN_ALWAYS); //abre o crea un archivo
rc = f_lseek(&Fil, Fil.fsize);
rc = f_write(&Fil, &nuevo_registro, 15, &bw);
rc = f_sync(&Fil);
rc = f_close(&Fil);
//Configuracion de timer y su interrupcion
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(TIMER0_BASE, TIMER_CFG_32_BIT_PER);
valor_timer = (SysCtlClockGet()/20);
TimerLoadSet(TIMER0_BASE, TIMER_A, valor_timer -1);
IntEnable(INT_TIMER0A);
TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
TimerEnable(TIMER0_BASE, TIMER_A);
//IntPrioritySet(FAULT_SYSTICK, 0x00);
IntPrioritySet(INT_TIMER0A, 0x00);
IntMasterEnable();
while(1);
}
void main(void) {
FPUEnable();
FPULazyStackingEnable();
SysCtlClockSet(SYSCTL_SYSDIV_4|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
while(1) {
delta_params params;
params.a = 70,
params.b = 200;
params.c = 50;
params.d = 70;
float alpha, beta, gamma;
float X, Y, Z;
X = 20;
Y = -40;
Z = 186;
delta_calc(params, X, Y, Z, 0, &alpha, &beta, &gamma);
}
}
void initClk()
{
/*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();
g_SysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN |
SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_480), 120000000);
}
int main(void)
{
#ifdef PART_LM4F120H5QR // ARM code
SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN ); //set system clock to 80 MHz
FPUEnable(); //enable the Floating Point Unit
// FPULazyStackingEnable(); // Enable stacking for interrupt handlers
#endif
// Initialize system
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load grbl settings from EEPROM
st_init(); // Setup stepper pins and interrupt timers
#ifdef PART_LM4F120H5QR // ARM code
IntMasterEnable();
#else // AVR code
sei(); // Enable interrupts
#endif
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sys.state = STATE_INIT; // Set alarm state to indicate unknown initial position
for(;;) {
// Execute system reset upon a system abort, where the main program will return to this loop.
// Once here, it is safe to re-initialize the system. At startup, the system will automatically
// reset to finish the initialization process.
if (sys.abort) {
// Reset system.
serial_reset_read_buffer(); // Clear serial read buffer
plan_init(); // Clear block buffer and planner variables
gc_init(); // Set g-code parser to default state
protocol_init(); // Clear incoming line data and execute startup lines
spindle_init();
coolant_init();
limits_init();
st_reset(); // Clear stepper subsystem variables.
// Sync cleared gcode and planner positions to current system position, which is only
// cleared upon startup, not a reset/abort.
sys_sync_current_position();
// Reset system variables.
sys.abort = false;
sys.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (sys.state == STATE_INIT && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Check for and report alarm state after a reset, error, or an initial power up.
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_LOCK);
} else {
// All systems go. Set system to ready and execute startup script.
sys.state = STATE_IDLE;
protocol_execute_startup();
}
}
protocol_execute_runtime();
protocol_process(); // ... process the serial protocol
// When the serial protocol returns, there are no more characters in the serial read buffer to
// be processed and executed. This indicates that individual commands are being issued or
// streaming is finished. In either case, auto-cycle start, if enabled, any queued moves.
if (sys.auto_start) { st_cycle_start(); }
}
// return 0; /* never reached */
}
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();
}
//*****************************************************************************
//
// A simple demonstration of the features of the TivaWare Graphics Library.
//
//*****************************************************************************
int
main(void)
{
tContext sContext;
tRectangle sRect;
//
// 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();
//
// 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);
//
// Initialize the display driver.
//
Kentec320x240x16_SSD2119Init(g_ui32SysClock);
//
// Initialize the graphics context.
//
GrContextInit(&sContext, &g_sKentec320x240x16_SSD2119);
//
// Fill the top 24 rows of the screen with blue to create the banner.
//
sRect.i16XMin = 0;
sRect.i16YMin = 0;
sRect.i16XMax = GrContextDpyWidthGet(&sContext) - 1;
sRect.i16YMax = 23;
GrContextForegroundSet(&sContext, ClrDarkBlue);
GrRectFill(&sContext, &sRect);
//
// Put a white box around the banner.
//
GrContextForegroundSet(&sContext, ClrWhite);
GrRectDraw(&sContext, &sRect);
//
// Put the application name in the middle of the banner.
//
GrContextFontSet(&sContext, &g_sFontCm20);
GrStringDrawCentered(&sContext, "grlib demo", -1,
GrContextDpyWidthGet(&sContext) / 2, 8, 0);
//
// Configure and enable uDMA
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA);
SysCtlDelay(10);
uDMAControlBaseSet(&psDMAControlTable[0]);
uDMAEnable();
//
// Initialize the touch screen driver and have it route its messages to the
// widget tree.
//
TouchScreenInit(g_ui32SysClock);
TouchScreenCallbackSet(WidgetPointerMessage);
//
// Add the title block and the previous and next buttons to the widget
// tree.
//
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sPrevious);
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sTitle);
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sNext);
//
// Add the first panel to the widget tree.
//
g_ui32Panel = 0;
WidgetAdd(WIDGET_ROOT, (tWidget *)g_psPanels);
CanvasTextSet(&g_sTitle, g_pcPanei32Names[0]);
//
// Issue the initial paint request to the widgets.
//
WidgetPaint(WIDGET_ROOT);
//
// Loop forever handling widget messages.
//
while(1) {
//
// Process any messages in the widget message queue.
//
WidgetMessageQueueProcess();
}
}
int
main(void)
{
tContext sContext;
tRectangle sRect;
//
// 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();
//
// Set the clock to 40Mhz derived from the PLL and the external oscillator
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Initialize the display driver.
//
Adafruit320x240x16_ILI9325Init();
//
// Initialize the graphics context.
//
GrContextInit(&sContext, &g_sAdafruit320x240x16_ILI9325);
//
// Configure and enable uDMA
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA);
SysCtlDelay(10);
uDMAControlBaseSet(&sDMAControlTable[0]);
uDMAEnable();
//
// Initialize the touch screen driver and have it route its messages to the
// widget tree.
//
TouchScreenInit();
//
// Paint touch calibration targets and collect calibration data
//
GrContextForegroundSet(&sContext, ClrWhite);
GrContextBackgroundSet(&sContext, ClrBlack);
GrContextFontSet(&sContext, &g_sFontCm20);
GrStringDraw(&sContext, "Touch center of circles to calibrate", -1, 0, 0, 1);
GrCircleDraw(&sContext, 32, 24, 10);
GrFlush(&sContext);
TouchScreenCalibrationPoint(32, 24, 0);
GrCircleDraw(&sContext, 280, 200, 10);
GrFlush(&sContext);
TouchScreenCalibrationPoint(280, 200, 1);
GrCircleDraw(&sContext, 200, 40, 10);
GrFlush(&sContext);
TouchScreenCalibrationPoint(200, 40, 2);
//
// Calculate and set calibration matrix
//
long* plCalibrationMatrix = TouchScreenCalibrate();
//
// Write out calibration data if successful
//
if(plCalibrationMatrix)
{
char pcStringBuf[20];
usprintf(pcStringBuf, "A %d", plCalibrationMatrix[0]);
GrStringDraw(&sContext, pcStringBuf, -1, 0, 20, 1);
usprintf(pcStringBuf, "B %d", plCalibrationMatrix[1]);
GrStringDraw(&sContext, pcStringBuf, -1, 0, 40, 1);
usprintf(pcStringBuf, "C %d", plCalibrationMatrix[2]);
GrStringDraw(&sContext, pcStringBuf, -1, 0, 60, 1);
usprintf(pcStringBuf, "D %d", plCalibrationMatrix[3]);
GrStringDraw(&sContext, pcStringBuf, -1, 0, 80, 1);
usprintf(pcStringBuf, "E %d", plCalibrationMatrix[4]);
GrStringDraw(&sContext, pcStringBuf, -1, 0, 100, 1);
usprintf(pcStringBuf, "F %d", plCalibrationMatrix[5]);
GrStringDraw(&sContext, pcStringBuf, -1, 0, 120, 1);
usprintf(pcStringBuf, "Div %d", plCalibrationMatrix[6]);
GrStringDraw(&sContext, pcStringBuf, -1, 0, 140, 1);
TouchScreenCalibrationPoint(0,0,0); // wait for dummy touch
}
//
// Enable touch screen event handler for grlib widgets
//
TouchScreenCallbackSet(WidgetPointerMessage);
//
// Fill the top 24 rows of the screen with blue to create the banner.
//
sRect.sXMin = 0;
sRect.sYMin = 0;
sRect.sXMax = GrContextDpyWidthGet(&sContext) - 1;
sRect.sYMax = 23;
GrContextForegroundSet(&sContext, ClrDarkBlue);
GrRectFill(&sContext, &sRect);
//
// Put a white box around the banner.
//
GrContextForegroundSet(&sContext, ClrWhite);
GrRectDraw(&sContext, &sRect);
//
// Put the application name in the middle of the banner.
//
GrContextFontSet(&sContext, &g_sFontCm20);
GrStringDrawCentered(&sContext, "grlib demo", -1,
GrContextDpyWidthGet(&sContext) / 2, 8, 0);
//
// Add the title block and the previous and next buttons to the widget
// tree.
//
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sPrevious);
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sTitle);
WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sNext);
//
// Add the first panel to the widget tree.
//
g_ulPanel = 0;
WidgetAdd(WIDGET_ROOT, (tWidget *)g_psPanels);
CanvasTextSet(&g_sTitle, g_pcPanelNames[0]);
//
// Issue the initial paint request to the widgets.
//
WidgetPaint(WIDGET_ROOT);
//
// Loop forever handling widget messages.
//
while(1)
{
//
// Process any messages in the widget message queue.
//
WidgetMessageQueueProcess();
}
}
/**
* Initializes the FPU with lazy stacking enabled
**/
void twe_initFPUlazy(void) {
// Lazy Stacking increases interrupt latency and stack usage
// (only need if doing floating pt. in interrupts)
FPULazyStackingEnable();
FPUEnable();
}
/**
* Initializes the FPU
**/
void twe_initFPU(void) {
FPUEnable();
}
/*
* 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);
}
int
main(void)
{
char cThisChar;
/* Result code */
unsigned long ulResetCause;
//SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
unsigned long g=SysCtlClockGet();
FPUEnable();
FPUStackingEnable();
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
ulResetCause = SysCtlResetCauseGet();
SysCtlResetCauseClear(ulResetCause);
HibernateEnableExpClk(SysCtlClockGet());
ButtonsInit();
SysTickPeriodSet(SysCtlClockGet() / APP_SYSTICKS_PER_SEC);
SysTickEnable();
SysTickIntEnable();
IntMasterEnable();
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
GPIOPinConfigure(GPIO_PC4_U4RX);
GPIOPinConfigure(GPIO_PC5_U4TX);
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_4 | GPIO_PIN_5);
UARTConfigSetExpClk(UART4_BASE, SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
GPIOPinConfigure(GPIO_PB0_U1RX);
GPIOPinConfigure(GPIO_PB1_U1TX);
GPIOPinTypeUART(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTConfigSetExpClk(UART1_BASE, SysCtlClockGet(), 9600, (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
//Orden al PGS de que me devuelva solo un mensaje..
for(i=0; i<sizeof(buferA); i++){
UARTCharPut(UART1_BASE, buferA[i]);}
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
rc = f_mount(0, &Fatfs); //registra un area de trabajo
rc = f_open(&Fil, "BuffGPS.TXT", FA_WRITE | FA_CREATE_ALWAYS); //abre o crea un archivo
do {
int contador1=0;
cThisChar='0';
do{
cThisChar=UARTCharGet(UART1_BASE);
BuffGPS[contador1]=cThisChar;
contador1=contador1+1;
} while((cThisChar != '\n'));
cThisChar='0';
for(i=0; i<sizeof(cuaternion); i++){
UARTCharPut(UART4_BASE, cuaternion[i]);}
do{
cThisChar=UARTCharGet(UART4_BASE);
BuffGPS[contador1]=cThisChar;
contador1=contador1+1;
} while((cThisChar != '\n'));
rc = f_write(&Fil, &BuffGPS, contador1, &bwGPS);
rc = f_sync(&Fil);
contador1=0;
//while(UARTCharsAvail(UART1_BASE)==false){;}
}
while(1);
}
int main(void)
{
unsigned long last_telemtry;
char pbuff[100];
long lTemp;
//
// 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();
HardwareInit();
SoftwareInit();
//last_telemtry = g_ulTickCount;
while(1)
{
// Execute main loop to interpretation protocol command
MainModeLoop();
EncoderTick(QEI0_BASE); // PITCH Encoder
EncoderTick(QEI1_BASE); // ROLL Encoder
#if 0
// restrict telemtry to about 10Hz,
if ((g_ulTickCount - last_telemtry) > 10)
//if(magready)
{
last_telemtry = g_ulTickCount;
eCompassCalculate();
sprintf(pbuff,"%.2f,%.2f, ACC: %hd,%hd,%hd MAG: %hd,%hd,%hd\r\n",fRho6DOF,fFitErrorpc,iGpx,iGpy,iGpz,iBpx,iBpy,iBpz);
UART0Send(pbuff, strlen(pbuff));
//sprintf(pbuff,"%.2f,%.2f,%.2f,%.2f, ACC: %hd,%hd,%hd MAG: %hd,%hd,%hd\r\n",fRho6DOF,fPhi6DOF,fThe6DOF,fPsi6DOF,iGpx,iGpy,iGpz,iBpx,iBpy,iBpz);
//UART0Send(pbuff, strlen(pbuff));
//sprintf(pbuff,"%.2f,%.2f,%.2f,%.2f,ACC: %hd,%hd,%hd MAG: %hd,%hd,%hd\r\n",fRho6DOF,fPhi6DOF,fThe6DOF,fPsi6DOF,iGpx,iGpy,iGpz,iBpx,iBpy,iBpz);
//UART0Send(pbuff, strlen(pbuff));
//sprintf(pbuff,"ROLL %.2f,PITCH %.2f,YAW %.2f\r\n",fPhi6DOF,fThe6DOF,fPsi6DOF);
//UART0Send(pbuff, strlen(pbuff));
//sprintf(pbuff,"Phi %.2f The %.2f Psi %.2f Rho %.2f delta %.2f\n", fPhi6DOF, fThe6DOF, fPsi6DOF, fRho6DOF, fdelta6DOF);
//sprintf(pbuff,"%lu,%.2f\r\n",g_ulTickCount,fRho6DOF);
//UART0Send(pbuff, strlen(pbuff));
}
#endif
if(itgready == true)
{
//DEBUG_TP6(0);
/*------------------------------------------------------------*/
/* ITG3200getXYZ() time is 30~ microsecond */
/*------------------------------------------------------------*/
ITG3200getXYZ();
#ifdef USE_BMA180_INTERRUPT
/*------------------------------------------------------------*/
/* BMA180GetXYZ() time is 30~ microsecond */
/*------------------------------------------------------------*/
//BMA180GetXYZ();
/*------------------------------------------------------------*/
/* ITG3200getXYZ() time is 30~ microsecond */
/*------------------------------------------------------------*/
//MAG3110getXYZ();
eCompassCalculate();
/*------------------------------------------------------------*/
/* AHRS() time is 25~ microsecond */
/*------------------------------------------------------------*/
AHRS();
#endif
if(g_tbstabilizer == true)
{
/*------------------------------------------------------------*/
/* Stabilize() time is 4~ microsecond */
/*------------------------------------------------------------*/
//Stabilize(ROLL_MOTOR);
/*------------------------------------------------------------*/
/* Stabilize() time is 4~ microsecond */
/*------------------------------------------------------------*/
//Stabilize(PITCH_MOTOR);
/*------------------------------------------------------------*/
/* Total time is 115~ microsecond test by EranS */
/* Gyro and Encoder dose not test yet. Need testing with new board */
/*------------------------------------------------------------*/
}
}
//DEBUG_TP6(0);
#if 0
if(1)//new_adc == true)
{
new_adc=false;
//PitchAmp = (float)PitchRollAmp[PITCH_MOTOR];
//PitchAmp = (PitchAmp /FULL_SCALE_BIT)*3; // 2Exp12 * 3V
//PitchAmp = PitchAmp / 5;
//PitchAmp*=1000;
//sprintf(pbuff,"%.2fmA\r\n",PitchAmp);
//sprintf(pbuff,"%lu,%u,%u\r\n",g_ulTickCount,PitchRollAmp[PITCH_MOTOR],PitchRollAmp[ROLL_MOTOR]);
sprintf(pbuff,"%.2f\r\n",y_rate_roll);
//sprintf(pbuff,"%lu,%lu\r\n",g_ulTickCount,g_ulAverage);
UART0Send(pbuff, strlen(pbuff));
}
#endif
}
}
/******************************************************************
* Main-function
*/
int main(void) {
/**************************************
* Set the clock to run at 80 MHz
*/
SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
/**************************************
* Enable the floating-point-unit
*/
FPUEnable();
// We also want Lazystacking, so enable that too
FPULazyStackingEnable();
// We also want to put numbers close to zero to zero
FPUFlushToZeroModeSet(FPU_FLUSH_TO_ZERO_EN);
/**************************************
* Init variables
*/
uint16_t mapData[MAP_DATA_SIZE];
uint8_t stepDir = 0;
/**************************************
* Init peripherals used
*/
bluetooth_init();
init_stepper(); // Init the GPIOs used for the stepper and loading LED
InitI2C1(); // Init the communication with the lidar-unit through I2C
InitPWM();
setupTimers();
/**************************************
* State 2
*/
// Disable the timers that are used
disableTimer(TIMER1_BASE);
disableTimer(TIMER2_BASE);
// Enable all interrupts
IntMasterEnable();
/**************************************
* State 3
*/
// Indicate we should start with a scan regardless of what other things we have already got
// from UART-interrupt
// This means setting the appropriate bit in the status vector
stat_vec |= TAKE_MEAS;
/**************************************
* State 4
*/
// Contains main-loop where decisions should be made
for ( ; ; ) {
/**********************************
* Decision tree
*/
// Highest priority case first
// Check both interrupts at each iteration in the loop
if ( int_vec & UART_INT ) {
// Reset the indication
int_vec &= ~UART_INT;
// Remove drive-stop flag to enable movement
stat_vec &= ~DRIVE_STOP;
// Init data array
uint8_t dataArr[MAX_UART_MSG_SIZE];
// Collect the message
if ( readUARTMessage(dataArr, MAX_UART_MSG_SIZE) < SUCCESS ) {
// If we have recieved more data than fits in the vector we should simply
// go in here again and grab data
int_vec |= UART_INT;
}
// We have gathered a message
// and now need to determine what the message is
parseMsg(dataArr, MAX_UART_MSG_SIZE);
}
// Checking drive (movement) interrupt
if ( int_vec & TIMER2_INT ) {
int_vec &= ~TIMER2_INT;
// Disable TIMER2
disableTimer(TIMER2_BASE);
// Set drive-stop in status vector
stat_vec |= DRIVE_STOP;
}
// Checking measure interrupt
if ( int_vec & TIMER1_INT ) {
int_vec &= ~TIMER1_INT;
// Disable TIMER1
disableTimer(TIMER1_BASE);
// Take reading from LIDAR
mapData[stepCount++] = readLidar();
SysCtlDelay(2000);
// Take step
// Note: We need to take double meas at randvillkor (100) !!!!!
if ( stepCount > 0 && stepCount < 100 ) {
stepDir = 1;
}
else if ( stepCount >= 100 && stepCount < 200) {
stepDir = 0;
}
else {
stepDir = 1;
stepCount = 0;
// Reset busy-flag
stat_vec &= ~TAKE_MEAS;
}
step = takeStep(step, stepDir);
// Request reading from LIDAR
reqLidarMeas();
if ( stat_vec & TAKE_MEAS ) {
// Restart TIMER1
enableTimer(TIMER1_BASE, (SYSCLOCK / MEASUREMENT_DELAY));
}
else {
sendUARTDataVector(mapData, MAP_DATA_SIZE);
stat_vec &= ~BUSY;
}
}
// Check the drive_stop flag, which always should be set unless we should move
if ( stat_vec & DRIVE_STOP ) {
// Stop all movement
SetPWMLevel(0,0);
halt();
// MAKE SURE all drive-flags are not set
stat_vec &= ~(DRIVE_F | DRIVE_L | DRIVE_R | DRIVE_LL | BUSY);
}
// Should we drive?
else if ( stat_vec & DRIVE ) {
// Remove drive flag
stat_vec &= ~DRIVE;
// Increase PWM
increase_PWM(0,MAX_FORWARD_SPEED,0,MAX_FORWARD_SPEED);
if ( stat_vec & DRIVE_F ) {
enableTimer(TIMER2_BASE, DRIVE_FORWARD_TIME);
}
else if ( stat_vec & DRIVE_LL ) {
enableTimer(TIMER2_BASE, DRIVE_TURN_180_TIME);
}
else {
enableTimer(TIMER2_BASE, DRIVE_TURN_TIME);
}
}
if ( !(stat_vec & BUSY) ) {
// Tasks
switch ( stat_vec ) {
case ((uint8_t)DRIVE_F) :
// Call drive function
go_forward();
// Set the drive flag & BUSY
stat_vec |= DRIVE | BUSY;
break;
case ((uint8_t)DRIVE_L) :
// Call drive-left function
go_left();
// Set the drive flag
stat_vec |= DRIVE | BUSY;
break;
case ((uint8_t)DRIVE_R) :
// Call drive-right function
go_right();
// Set the drive flag
stat_vec |= DRIVE | BUSY;
break;
case ((uint8_t)DRIVE_LL) :
// Call turn 180-degrees function
go_back();
// Set the drive flag
stat_vec |= DRIVE | BUSY;
break;
case ((uint8_t)TAKE_MEAS) :
// Request reading from LIDAR
reqLidarMeas();
// Start TIMER1
enableTimer(TIMER1_BASE, (SYSCLOCK / MEASUREMENT_DELAY)); // if sysclock = 1 s, 1/120 = 8.3 ms
// We are busy
stat_vec |= BUSY;
break;
default:
break;
}
}
}
}
int main(void) {
// Status of Hibernation module
uint32_t ui32Status = 0;
// Length of time to hibernate
uint32_t hibernationTime = 600;
g_ui32SysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN | SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_480), 120000000);
//*************************************************************************
//! I/O config and setup
//*************************************************************************
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0); // UART
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART7); // UART
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); // UART0
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC); // UART7
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); // SSI
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPION); // GPIO
SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2); // SSI
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOK); // GPIO
SysCtlPeripheralEnable(SYSCTL_PERIPH_HIBERNATE);// Hibernation
// UART0 and UART7
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PC4_U7RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
GPIOPinConfigure(GPIO_PC5_U7TX);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_4 | GPIO_PIN_5);
// LED indicators
GPIOPinTypeGPIOOutput(GPIO_PORTN_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// SD Card Detect (PK3) and GPS Pulse Per Second (PK2)
//
GPIOPinTypeGPIOInput(GPIO_PORTK_BASE, GPIO_PIN_2|GPIO_PIN_3);
// Pulse Per Second input pin config as weak pull-down
GPIOPadConfigSet(GPIO_PORTK_BASE,GPIO_PIN_2,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD);
// Pulse Per Second input pin config as rising edge triggered interrupt
GPIOIntTypeSet(GPIO_PORTK_BASE,GPIO_PIN_2,GPIO_RISING_EDGE);
// Register Port K as interrupt
GPIOIntRegister(GPIO_PORTK_BASE, PortKIntHandler);
// Enable Port K pin 2 interrupt
GPIOIntEnable(GPIO_PORTK_BASE, GPIO_INT_PIN_2);
//
// Disable PPS pin interrupt by default
//
if(IntIsEnabled(INT_GPIOK)) {
IntDisable(INT_GPIOK);
}
GPIOPinConfigure(GPIO_PD0_SSI2XDAT1);
GPIOPinConfigure(GPIO_PD1_SSI2XDAT0);
GPIOPinConfigure(GPIO_PD2_SSI2FSS);
GPIOPinConfigure(GPIO_PD3_SSI2CLK);
// SD Card Detect (CD) - weak pull-up input
GPIOPadConfigSet(GPIO_PORTK_BASE, GPIO_PIN_3, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
// Debug UART output config
UARTConfigSetExpClk(UART0_BASE, g_ui32SysClock, 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
// GPS UART input config
UARTConfigSetExpClk(UART7_BASE, g_ui32SysClock, 9600,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
//
// Configure SysTick for a 100Hz interrupt.
//
SysTickPeriodSet(g_ui32SysClock / 100);
SysTickIntEnable();
SysTickEnable();
//
// Floating point enable
//
FPUEnable();
FPULazyStackingEnable();
//
// Clear user LEDs
//
GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0 | GPIO_PIN_1, 0x00);
//*************************************************************************
//! Hibernation mode checks and setup
//*************************************************************************
//
// Check to see if Hibernation module is already active, which could mean
// that the processor is waking from a hibernation.
//
if(HibernateIsActive()) {
//
// Read the status bits to see what caused the wake. Clear the wake
// source so that the device can be put into hibernation again.
//
ui32Status = HibernateIntStatus(0);
HibernateIntClear(ui32Status);
//
// Wake was due to RTC match.
//
if(ui32Status & HIBERNATE_INT_RTC_MATCH_0) {
//
// TODO: add IMU check
//
}
//
// Wake was due to the External Wake pin.
//
else if(ui32Status & HIBERNATE_INT_PIN_WAKE) {
//
// Switch off low power mode
//
lowPowerOn = 0;
}
}
//
// Configure Hibernate module clock.
//
HibernateEnableExpClk(g_ui32SysClock);
//
// If the wake was not due to the above sources, then it was a system
// reset.
//
if(!(ui32Status & (HIBERNATE_INT_PIN_WAKE | HIBERNATE_INT_RTC_MATCH_0))) {
//
// Configure the module clock source.
//
HibernateClockConfig(HIBERNATE_OSC_LOWDRIVE);
}
//
// Enable PPS for a single data log. Interrupt on next PPS logic high.
//
ppsDataLog();
//
// Enable RTC mode.
//
HibernateRTCEnable();
//
// Loop forever
//
while(1) {
//
// If low power mode is set (default), hibernate again
// If not, spin in nested while(1) for faster updates from PPS pin ints.
//
if(lowPowerOn) {
lowPowerMode(hibernationTime);
}
else {
if(!IntIsEnabled(INT_GPIOK)) {
IntEnable(INT_GPIOK);
}
while(1) {
}
}
}
} // End function main
//*****************************************************************************
//
// This example application demonstrates the use of the timers to generate
// periodic interrupts.
//
//*****************************************************************************
int
main(void)
{
//
// 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.
//
FPUEnable();
FPULazyStackingEnable();
//
// Set the clocking to run directly from the crystal.
//
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable processor interrupts.
//
IntMasterEnable();
//
// Initialize the UART and write status.
//
ConfigureUART();
ConfigureXBeeUART();
ConfigureUARTSensores();
ButtonsInit();
inicializa_motores();
//
// Enable the peripherals used by this example.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
//
// Configure the two 32-bit periodic timers.
//
TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
TimerLoadSet(TIMER1_BASE, TIMER_A, SysCtlClockGet()/200000);
//
// Setup the interrupts for the timer timeouts.
//
IntEnable(INT_TIMER1A);
TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the timers.
//
TimerEnable(TIMER1_BASE, TIMER_A);
// Configure a wide timer for timing purposes
SysCtlPeripheralEnable(SYSCTL_PERIPH_WTIMER0);
TimerConfigure(WTIMER0_BASE, TIMER_CFG_PERIODIC_UP);
TimerLoadSet64(WTIMER0_BASE, (((long long)1) << 60));
TimerEnable(WTIMER0_BASE, TIMER_A);
int counter_verify_no_ar = 0;
while(1) {
SysCtlDelay(SysCtlClockGet() / 1000);
checkButtons();
readPackage();
counter_verify_no_ar++;
if (counter_verify_no_ar == 1000) {
counter_verify_no_ar = 0;
if (no_ar) {
enviaNoAr();
no_ar = false;
}
if (no_chao) {
enviaNoChao();
no_chao = false;
}
}
}
}
//*****************************************************************************
//
// This example demonstrates how to send a string of data to the UART.
//
//*****************************************************************************
int main(void) {
//
// 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.
//
FPUEnable();
FPULazyStackingEnable();
//
// Set the clocking to run directly from the crystal.
//
SysCtlClockSet(
SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN
| SYSCTL_XTAL_16MHZ);
//
// Enable the GPIO port that is used for the on-board LED.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable the GPIO pins for the LED (PF2).
//
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2);
//
// Enable the peripherals used by this example.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
//
// Enable processor interrupts.
//
IntMasterEnable();
//
// Set GPIO A0 and A1 as UART pins.
//
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Configure the UART for 115,200, 8-N-1 operation.
//
UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
//
// Enable the UART interrupt.
//
IntEnable(INT_UART0);
UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT);
//
// Prompt for text to be entered.
//
UARTSend((unsigned char *) "Enter text: ", 14);
//
// Loop forever echoing data through the UART.
//
while (1) {
}
}
