void configure_pin(struct header_pin *pin) {
if(pin->config == CONFIG_INPUT) {
MAP_GPIOPinTypeGPIOInput(pin->base, pin->pin);
} else if( pin->config == CONFIG_OUTPUT) {
MAP_GPIOPinTypeGPIOOutput(pin->base, pin->pin);
}
}
static void enc28j60_comm_init(void) {
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, ENC_CS);
MAP_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, ENC_INT);
MAP_GPIOPinWrite(ENC_CS_PORT, ENC_CS, ENC_CS);
}
// Pin config
virtual void PinSetMode(MicroFlo::PinId pin, IO::PinMode mode) {
MAP_SysCtlPeripheralEnable(peripheral(pin));
if (mode == IO::InputPin) {
MAP_GPIOPinTypeGPIOInput(portBase(pin), pinMask(pin));
} else if (mode == IO::OutputPin) {
MAP_GPIOPinTypeGPIOOutput(portBase(pin), pinMask(pin));
} else {
MICROFLO_DEBUG(debug, DebugLevelError, DebugIoOperationNotImplemented);
}
}
pio_type platform_pio_op( unsigned port, pio_type pinmask, int op )
{
pio_type retval = 1, base = pio_base[ port ];
switch( op )
{
case PLATFORM_IO_PORT_SET_VALUE:
MAP_GPIOPinWrite( base, 0xFF, pinmask );
break;
case PLATFORM_IO_PIN_SET:
MAP_GPIOPinWrite( base, pinmask, pinmask );
break;
case PLATFORM_IO_PIN_CLEAR:
MAP_GPIOPinWrite( base, pinmask, 0 );
break;
case PLATFORM_IO_PORT_DIR_INPUT:
pinmask = 0xFF;
case PLATFORM_IO_PIN_DIR_INPUT:
MAP_GPIOPinTypeGPIOInput( base, pinmask );
break;
case PLATFORM_IO_PORT_DIR_OUTPUT:
pinmask = 0xFF;
case PLATFORM_IO_PIN_DIR_OUTPUT:
MAP_GPIOPinTypeGPIOOutput( base, pinmask );
break;
case PLATFORM_IO_PORT_GET_VALUE:
retval = MAP_GPIOPinRead( base, 0xFF );
break;
case PLATFORM_IO_PIN_GET:
retval = MAP_GPIOPinRead( base, pinmask ) ? 1 : 0;
break;
case PLATFORM_IO_PIN_PULLUP:
case PLATFORM_IO_PIN_PULLDOWN:
MAP_GPIOPadConfigSet( base, pinmask, GPIO_STRENGTH_8MA, op == PLATFORM_IO_PIN_PULLUP ? GPIO_PIN_TYPE_STD_WPU : GPIO_PIN_TYPE_STD_WPD );
break;
case PLATFORM_IO_PIN_NOPULL:
MAP_GPIOPadConfigSet( base, pinmask, GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD );
break;
default:
retval = 0;
break;
}
return retval;
}
void gpio_init(int pin, enum gpio_mode mode, int value)
{
uint32_t base = TO_BASE(pin);
pin = 1 << (pin & 0x0F);
switch (mode) {
case GPIO_OUTPUT:
MAP_GPIOPinTypeGPIOOutput(base, pin);
gpio_set(pin, value);
break;
case GPIO_OUTPUT_SLOW:
MAP_GPIOPinTypeGPIOOutput(base, pin);
MAP_GPIOPadConfigSet(base, pin, GPIO_STRENGTH_8MA_SC,
GPIO_PIN_TYPE_STD);
gpio_set(pin, value);
break;
case GPIO_INPUT:
MAP_GPIOPinTypeGPIOInput(base, pin);
break;
case GPIO_INPUT_PD:
MAP_GPIOPinTypeGPIOInput(base, pin);
MAP_GPIOPadConfigSet(base, pin, GPIO_STRENGTH_8MA,
GPIO_PIN_TYPE_STD_WPD);
break;
case GPIO_INPUT_PU:
MAP_GPIOPinTypeGPIOInput(base, pin);
MAP_GPIOPadConfigSet(base, pin, GPIO_STRENGTH_8MA,
GPIO_PIN_TYPE_STD_WPU);
break;
case GPIO_ANALOG:
MAP_GPIOPinTypeGPIOInput(base, pin);
MAP_GPIOPadConfigSet(base, pin, GPIO_STRENGTH_8MA,
GPIO_PIN_TYPE_ANALOG);
break;
}
}
static void
enc28j60_comm_init(void) {
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, ENC_CS | ENC_RESET);
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, SRAM_CS);
// MAP_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, ENC_CS | ENC_RESET | SRAM_CS);
MAP_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, ENC_INT);
MAP_GPIOPinWrite(GPIO_PORTB_BASE, ENC_RESET, 0);
MAP_GPIOPinWrite(ENC_CS_PORT, ENC_CS, ENC_CS);
MAP_GPIOPinWrite(GPIO_PORTA_BASE, SRAM_CS, SRAM_CS);
SysCtlDelay(((SysCtlClockGet() / 3) / 10)); //100ms delay
MAP_GPIOPinWrite(GPIO_PORTB_BASE, ENC_RESET, ENC_RESET);
}
//*****************************************************************************
//
// Initialization function for the LXD display. This turns on the backlight
// and sets the correct RGB mode.
//
//*****************************************************************************
void
InitLXDAndFormike(uint32_t ui32SysClk)
{
//
// Convert PT2 & 3 back to a GPIO output (they were LCDDATA18/19)
//
HWREG(GPIO_PORTT_BASE + GPIO_O_PCTL) &= 0xFFFF00FF;
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTT_BASE, GPIO_PIN_2 | GPIO_PIN_3);
//
// Convert PS0 and 1 back to GPIO outputs (they were LCDDATA20/21)
//
HWREG(GPIO_PORTS_BASE + GPIO_O_PCTL) &= 0xFFFFFF00;
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTS_BASE, GPIO_PIN_1 | GPIO_PIN_0);
//
// Drive PS0/1 to set the display TL to BR scanning direction.
//
MAP_GPIOPinWrite(GPIO_PORTS_BASE, GPIO_PIN_1 | GPIO_PIN_0, GPIO_PIN_0);
//
// Write PT2 high to turn on the backlight.
//
MAP_GPIOPinWrite(GPIO_PORTT_BASE, GPIO_PIN_2, GPIO_PIN_2);
//
// Turn OE/DE off
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTJ_BASE, GPIO_PIN_6);
//
// Write PT3 low to set the display into RGB mode.
//
MAP_GPIOPinWrite(GPIO_PORTT_BASE, GPIO_PIN_3, 0);
//
// Write PT3 low to set the display into RGB mode.
//
MAP_GPIOPinWrite(GPIO_PORTT_BASE, GPIO_PIN_3, 0);
}
int main()
{
//
// 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.
//
MAP_FPUEnable();
MAP_FPULazyStackingEnable();
//
// Set the clocking to run from the PLL at 50MHZ, change to SYSCTL_SYSDIV_2_5 for 80MHz if neeeded
//
MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
MAP_IntMasterDisable();
//
// Initialize the SW2 button
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// 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_LOCK) = 0;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0);
MAP_GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA , GPIO_PIN_TYPE_STD_WPU);
//
// Initialize the communication layer with a default UART setting
//
AbstractComm * comm = NULL;
AbstractComm * uart_comm = new UARTComm();
purpinsComm communication(uart_comm);
//
// Initialize the robot object
//
purpinsRobot purpins;
//
// Initialize the EEPROM
//
purpinsSettings settings;
//
// Initialize the MPU6050-based IMU
//
mpudata_t mpu;
//unsigned long sample_rate = 10 ;
//mpu9150_init(0, sample_rate, 0);
memset(&mpu, 0, sizeof(mpudata_t));
//
// Get the current processor clock frequency.
//
ulClockMS = MAP_SysCtlClockGet() / (3 * 1000);
//unsigned long loop_delay = (1000 / sample_rate) - 2;
//
// Configure SysTick to occur 1000 times per second
//
MAP_SysTickPeriodSet(MAP_SysCtlClockGet() / SYSTICKS_PER_SECOND);
MAP_SysTickIntEnable();
MAP_SysTickEnable();
MAP_IntMasterEnable();
//
// Load the settings from EEPROM
//
// Load the robot's ID
settings.get(PP_SETTING_ID, &id, sizeof(uint32_t));
// Load the motors' PID gains
settings.get(PP_SETTING_LEFT_PID, purpins.leftPIDGains(), sizeof(PIDGains));
settings.get(PP_SETTING_RIGHT_PID, purpins.rightPIDGains(), sizeof(PIDGains));
// Load the communication type
uint32_t comm_type;
settings.get(PP_SETTING_COMM_TYPE, &comm_type, sizeof(uint32_t));
// Holding SW2 at startup forces USB Comm
if(comm_type != PP_COMM_TYPE_USB && MAP_GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_0) == 1)
{
if(comm_type == PP_COMM_TYPE_CC3000)
{
comm = new WiFiComm();
// Load network and server settings
settings.get(PP_SETTING_NETWORK_DATA, (static_cast<WiFiComm*>(comm))->network(), sizeof(Network));
settings.get(PP_SETTING_SERVER_DATA, (static_cast<WiFiComm*>(comm))->server(), sizeof(Server));
// Set WiFiComm as the underlying communication layer
communication.setCommLayer(comm);
}
else if(comm_type == PP_COMM_TYPE_ESP8266)
{
// TODO
}
else if(comm_type == PP_COMM_TYPE_XBEE)
{
// TODO
}
}
//
// Communication variables and stuff
//
uint8_t sensors_pack[SENSORS_PACK_SIZE];
bool send_pack = false;
unsigned long sensor_streaming_millis = 0;
unsigned long last_millis = millis();
uint8_t data[SERIAL_BUFFER_SIZE];
size_t data_size;
uint8_t action;
//
// Main loop, just managing communications
//
while(1)
{
//
// Check for a new action
//
action = communication.getMsg(data, data_size);
// If we got an action...
if(action > 0)
{
// Process it!!!
if(action == PP_ACTION_GET_VERSION)
{
uint8_t version = VERSION;
communication.sendMsg(PP_ACTION_GET_VERSION, (void*)(&version), 1);
}
else if(action == PP_ACTION_DRIVE)
{
RobotSpeed speed;
memcpy(&speed, data, sizeof(speed));
purpins.setSpeed(&speed);
communication.sendAck(PP_ACTION_DRIVE);
}
else if(action == PP_ACTION_DRIVE_MOTORS)
{
MotorSpeeds motor_speeds;
memcpy(&motor_speeds, data, sizeof(motor_speeds));
purpins.setMotorSpeeds(&motor_speeds);
communication.sendAck(PP_ACTION_DRIVE_MOTORS);
}
else if(action == PP_ACTION_DRIVE_PWM)
{
MotorPWMs motor_pwms;
memcpy(&motor_pwms, data, sizeof(motor_pwms));
purpins.setPWM(&motor_pwms);
communication.sendAck(PP_ACTION_DRIVE_PWM);
}
else if(action == PP_ACTION_GET_ODOMETRY)
{
Pose odometry;
purpins.getOdometry(&odometry);
communication.sendMsg(PP_ACTION_GET_ODOMETRY, (void*)(&odometry), sizeof(odometry));
}
else if(action == PP_ACTION_GET_MOTOR_SPEEDS)
{
MotorSpeeds speed;
purpins.getMotorSpeeds(&speed);
communication.sendMsg(PP_ACTION_GET_MOTOR_SPEEDS, (void*)(&speed), sizeof(speed));
}
else if(action == PP_ACTION_GET_ENCODER_PULSES)
{
EncoderPulses encoder_pulses;
purpins.getEncoderTicks(&encoder_pulses);
communication.sendMsg(PP_ACTION_GET_ENCODER_PULSES, (void*)(&encoder_pulses), sizeof(encoder_pulses));
}
else if(action == PP_ACTION_GET_IMU)
{
IMU imu_data;
imu_data.orientation_x = mpu.fusedQuat[0];
imu_data.orientation_y = mpu.fusedQuat[1];
imu_data.orientation_z = mpu.fusedQuat[2];
imu_data.orientation_w = mpu.fusedQuat[4];
imu_data.linear_acceleration_x = mpu.calibratedAccel[0];
imu_data.linear_acceleration_y = mpu.calibratedAccel[1];
imu_data.linear_acceleration_z = mpu.calibratedAccel[2];
imu_data.angular_velocity_x = mpu.calibratedMag[0];
imu_data.angular_velocity_y = mpu.calibratedMag[1];
imu_data.angular_velocity_z = mpu.calibratedMag[2];
communication.sendMsg(PP_ACTION_GET_IMU, (void*)(&imu_data), sizeof(imu_data));
}
else if(action == PP_ACTION_GET_IR_SENSORS)
{
// TODO: Add the IR sensors
}
else if(action == PP_ACTION_GET_GAS_SENSOR)
{
// TODO: Add the gas sensor
}
else if(action == PP_ACTION_SET_SENSORS_PACK)
{
bool ok = true;
memset(sensors_pack, 0, SENSORS_PACK_SIZE);
if(data_size > SENSORS_PACK_SIZE)
{
communication.error(PP_ERROR_BUFFER_SIZE);
ok = false;
break;
}
for(unsigned int i=0 ; i<data_size ; i++)
{
if(data[i] < PP_ACTION_GET_ODOMETRY || data[i] > PP_ACTION_GET_GAS_SENSOR)
{
communication.error(PP_ERROR_SENSOR_UNKNOWN);
ok = false;
break;
}
}
if(ok)
{
memcpy(sensors_pack, data, data_size);
communication.sendAck(PP_ACTION_SET_SENSORS_PACK);
}
}
else if(action == PP_ACTION_GET_SENSORS_PACK)
{
send_pack = true;
}
else if(action == PP_ACTION_SET_SENSOR_STREAMING)
{
float sensor_streaming_frequency;
memcpy(&sensor_streaming_frequency, data, sizeof(sensor_streaming_frequency));
sensor_streaming_millis = 1/sensor_streaming_frequency * 1000;
communication.sendAck(PP_ACTION_SET_SENSOR_STREAMING);
}
else if(action == PP_ACTION_SET_GLOBAL_POSE)
{
Pose pose;
memcpy(&pose, data, sizeof(pose));
purpins.setGlobalPose(&pose);
communication.sendAck(PP_ACTION_SET_GLOBAL_POSE);
}
else if(action == PP_ACTION_SET_NEIGHBORS_POSES)
{
// TODO: Finish this
}
else if(action == PP_ACTION_SET_ID)
{
memcpy(&id, data, sizeof(id));
settings.save(PP_SETTING_ID, data, sizeof(uint32_t));
communication.sendAck(PP_ACTION_SET_ID);
}
else if(action == PP_ACTION_GET_ID)
{
communication.sendMsg(PP_ACTION_GET_ID, (void*)(&id), sizeof(id));
}
else if(action == PP_ACTION_SET_PID_GAINS)
{
memcpy(purpins.leftPIDGains(), data, sizeof(PIDGains));
memcpy(purpins.rightPIDGains(), data+sizeof(PIDGains), sizeof(PIDGains));
settings.save(PP_SETTING_LEFT_PID, data, sizeof(PIDGains));
settings.save(PP_SETTING_RIGHT_PID, data+sizeof(PIDGains), sizeof(PIDGains));
communication.sendAck(PP_ACTION_SET_PID_GAINS);
}
else if(action == PP_ACTION_GET_PID_GAINS)
{
memcpy(data, purpins.leftPIDGains(), sizeof(PIDGains));
memcpy(data+sizeof(PIDGains), purpins.rightPIDGains(), sizeof(PIDGains));
communication.sendMsg(PP_ACTION_GET_ID, (void*)(data), 2*sizeof(PIDGains));
}
else if(action == PP_ACTION_SET_SERVER_DATA)
{
settings.save(PP_SETTING_SERVER_DATA, data, sizeof(Server));
communication.sendAck(PP_ACTION_SET_SERVER_DATA);
}
else if(action == PP_ACTION_GET_SERVER_DATA)
{
settings.get(PP_SETTING_SERVER_DATA, data, sizeof(Server));
communication.sendMsg(PP_ACTION_GET_SERVER_DATA, (void*)(data), sizeof(Server));
}
else if(action == PP_ACTION_SET_NETWORK_DATA)
{
settings.save(PP_SETTING_NETWORK_DATA, data, sizeof(Network));
communication.sendAck(PP_ACTION_SET_NETWORK_DATA);
}
else if(action == PP_ACTION_GET_NETWORK_DATA)
{
settings.get(PP_SETTING_NETWORK_DATA, data, sizeof(Network));
communication.sendMsg(PP_ACTION_GET_NETWORK_DATA, (void*)(data), sizeof(Network));
}
else if(action == PP_ACTION_SET_COMM_TYPE)
{
memcpy(&comm_type, data, sizeof(comm_type));
if(comm_type != communication.type())
{
if(comm_type == PP_COMM_TYPE_USB)
{
communication.setCommLayer(uart_comm);
if(comm != NULL) delete comm;
}
if(comm_type == PP_COMM_TYPE_CC3000)
{
if(comm != NULL) delete comm;
comm = new WiFiComm();
// Load network and server settings
settings.get(PP_SETTING_NETWORK_DATA, (static_cast<WiFiComm*>(comm))->network(), sizeof(Network));
settings.get(PP_SETTING_SERVER_DATA, (static_cast<WiFiComm*>(comm))->server(), sizeof(Server));
// Set WiFiComm as the underlying communication layer
communication.setCommLayer(comm);
}
else if(comm_type == PP_COMM_TYPE_ESP8266)
{
// TODO
}
else if(comm_type == PP_COMM_TYPE_XBEE)
{
// TODO
}
else
{
communication.error(PP_ERROR_COMM_UNKNOWN);
}
communication.sendAck(PP_ACTION_SET_COMM_TYPE);
}
}
} // if(action > 0)
//
// Manage sensor streaming
//
unsigned long current_millis = millis();
if(send_pack || (sensor_streaming_millis > 0 && (current_millis - last_millis) >= sensor_streaming_millis))
{
size_t size = 0;
for(int i=0 ; i<SENSORS_PACK_SIZE ; i++)
{
if(sensors_pack[i] == 0) break;
if(sensors_pack[i] == PP_ACTION_GET_ODOMETRY)
{
Pose odometry;
purpins.getOdometry(&odometry);
memcpy(data+size, &odometry, sizeof(odometry));
size += sizeof(odometry);
}
else if(sensors_pack[i] == PP_ACTION_GET_MOTOR_SPEEDS)
{
MotorSpeeds speed;
purpins.getMotorSpeeds(&speed);
memcpy(data+size, &speed, sizeof(speed));
size += sizeof(speed);
}
else if(sensors_pack[i] == PP_ACTION_GET_ENCODER_PULSES)
{
EncoderPulses encoder_pulses;
purpins.getEncoderTicks(&encoder_pulses);
memcpy(data+size, &encoder_pulses, sizeof(encoder_pulses));
size += sizeof(encoder_pulses);
}
else if(sensors_pack[i] == PP_ACTION_GET_IMU)
{
IMU imu_data;
imu_data.orientation_x = mpu.fusedQuat[0];
imu_data.orientation_y = mpu.fusedQuat[1];
imu_data.orientation_z = mpu.fusedQuat[2];
imu_data.orientation_w = mpu.fusedQuat[4];
imu_data.linear_acceleration_x = mpu.calibratedAccel[0];
imu_data.linear_acceleration_y = mpu.calibratedAccel[1];
imu_data.linear_acceleration_z = mpu.calibratedAccel[2];
imu_data.angular_velocity_x = mpu.calibratedMag[0];
imu_data.angular_velocity_y = mpu.calibratedMag[1];
imu_data.angular_velocity_z = mpu.calibratedMag[2];
memcpy(data+size, &imu_data, sizeof(imu_data));
size += sizeof(imu_data);
}
else if(sensors_pack[i] == PP_ACTION_GET_IR_SENSORS)
{
// TODO: Add the IR sensors
}
else if(sensors_pack[i] == PP_ACTION_GET_GAS_SENSOR)
{
// TODO: Add the gas sensor
}
}
communication.sendMsg(PP_ACTION_GET_SENSORS_PACK, (void*)(data), size);
last_millis = current_millis;
send_pack = false;
} // if(send_pack ...
} // while(1)
return 0;
}
/*
* ======== EK_TM4C123GXL_initGPIO ========
*/
void EK_TM4C123GXL_initGPIO(void)
{
// /* Setup the LED GPIO pins used */
// GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1); /* EK_TM4C123GXL_LED_RED */
// GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2); /* EK_TM4C123GXL_LED_GREEN */
// GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3); /* EK_TM4C123GXL_LED_BLUE */
//
// /* Setup the button GPIO pins used */
// GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4); /* EK_TM4C123GXL_GPIO_SW1 */
// GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPU);
//
// /* PF0 requires unlocking before configuration */
// HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
// HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= GPIO_PIN_0;
// GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0); /* EK_TM4C123GXL_GPIO_SW2 */
// GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPU);
// HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_M;
//Init debug gpio pin/pins
//
MAP_GPIOPinTypeGPIOOutput(DEBUG_GPIO_PORT_1, DEBUG_GPIO_PIN_1); //debug pin
//Init radio power enable pin
//
MAP_GPIOPinTypeGPIOOutput(INEEDMD_GPIO_EN_PORT, INEEDMD_RADIO_ENABLE_PIN); //radio power enable pin
//Init radio command mode pin
//
MAP_GPIOPinTypeGPIOOutput(INEEDMD_GPIO_CMND_PORT, INEEDMD_RADIO_CMND_PIN); //radio command mode pin
//Init radio reset pin
//
MAP_GPIOPinTypeGPIOOutput(INEEDMD_GPIO_RST_PORT, INEEDMD_RADIO_RESET_PIN); //radio reset pin
//Init external clock enable pin
//
MAP_GPIOPinTypeGPIOOutput(INEEDMD_XTAL_PORT, INEEDMD_XTAL_ENABLE_PIN); //external clock enable pin
//Init ADC power on pin
//
MAP_GPIOPinTypeGPIOOutput(INEEDMD_ADC_GPIO_PORT, INEEDMD_ADC_PWR_PIN);
//Init ADC reset pin
//
MAP_GPIOPinTypeGPIOOutput(INEEDMD_ADC_GPIO_PORT, INEEDMD_ADC_RESET_PIN);
// Init ADC interrupt pin
//
MAP_GPIOPinTypeGPIOInput(INEEDMD_ADC_GPIO_PORT, INEEDMD_ADC_INTERUPT_PIN);
// Init ADC start pin
//
MAP_GPIOPinTypeGPIOOutput(INEEDMD_ADC_GPIO_PORT, INEEDMD_ADC_START_PIN);
//Init ADC nCS pin
//
MAP_GPIOPinTypeGPIOOutput(INEEDMD_ADC_GPIO_PORT, INEEDMD_ADC_nCS_PIN);
//Init USB unplug detect pin
//
HWREG(GPIO_PORTB_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTB_BASE + GPIO_O_CR) |= GPIO_PIN_4;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_4);
MAP_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_4, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPD);
HWREG(GPIO_PORTB_BASE + GPIO_O_LOCK) = GPIO_LOCK_M;
/* Once GPIO_init is called, GPIO_config cannot be changed */
GPIO_init();
}
//*****************************************************************************
//
//! Prepare a pin for use with a TOF sensor.
//!
//! \param GPIOPin is on the pin for the TOF sensor.
//!
//! This function initializes the GPIO interrupts and peripherals necessary
//! to run the corresponding GPIO port.
//!
//! The \e GPIOPin parameter can take on the following values:
//!
//! - \b PA0 - Pin PA0
//! - \b PA1 - Pin PA1
//! - \b PA2 - Pin PA2
//! - \b PA3 - Pin PA3
//! - \b PA4 - Pin PA4
//! - \b PA5 - Pin PA5
//! - \b PA6 - Pin PA6
//! - \b PA7 - Pin PA7
//! - \b PB0 - Pin PB0
//! - \b PB1 - Pin PB1
//! - \b PB2 - Pin PB2
//! - \b PB3 - Pin PB3
//! - \b PB4 - Pin PB4
//! - \b PB5 - Pin PB5
//! - \b PB6 - Pin PB6
//! - \b PB7 - Pin PB7
//! - \b PC0 - Pin PC0
//! - \b PC1 - Pin PC1
//! - \b PC2 - Pin PC2
//! - \b PC3 - Pin PC3
//! - \b PC4 - Pin PC4
//! - \b PC5 - Pin PC5
//! - \b PC6 - Pin PC6
//! - \b PC7 - Pin PC7
//! - \b PD0 - Pin PD0
//! - \b PD1 - Pin PD1
//! - \b PD2 - Pin PD2
//! - \b PD3 - Pin PD3
//! - \b PD4 - Pin PD4
//! - \b PD5 - Pin PD5
//! - \b PD6 - Pin PD6
//! - \b PD7 - Pin PD7
//! - \b PE0 - Pin PE0
//! - \b PE1 - Pin PE1
//! - \b PE2 - Pin PE2
//! - \b PE3 - Pin PE3
//! - \b PE4 - Pin PE4
//! - \b PE5 - Pin PE5
//! - \b PE6 - Pin PE6
//! - \b PE7 - Pin PE7
//! - \b PF0 - Pin PF0
//! - \b PF1 - Pin PF1
//! - \b PF2 - Pin PF2
//! - \b PF3 - Pin PF3
//! - \b PF4 - Pin PF4
//! - \b PF5 - Pin PF5
//! - \b PF6 - Pin PF6
//! - \b PF7 - Pin PF7
//!
//! \return None.
//!
//*****************************************************************************
void
TOFEchoInit(uint8_t GPIOPin)
{
//
// Enable Peripheral Clocks
//
#ifdef USEPORTA
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
MAP_SysCtlDelay(3);
#endif
#ifdef USEPORTB
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
MAP_SysCtlDelay(3);
#endif
#ifdef USEPORTC
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
MAP_SysCtlDelay(3);
#endif
#ifdef USEPORTD
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
MAP_SysCtlDelay(3);
#endif
#ifdef USEPORTE
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
MAP_SysCtlDelay(3);
#endif
#ifdef USEPORTF
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
MAP_SysCtlDelay(3);
#endif
switch(GPIOPin){
#ifdef USEPORTA
//Puerto A
#ifdef USEPORTAPIN0
case PA0:{
if(!ConfigGPIO.GPIOS.PoA0){
//
// Enable pin PA0 for GPIOInput
//
ConfigGPIO.GPIOS.PoA0 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_0);
GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_0,GPIO_HIGH_LEVEL);
Mask[0] += GPIO_INT_PIN_0;
}
break;
}
#endif
#ifdef USEPORTAPIN1
case PA1:{
if(!ConfigGPIO.GPIOS.PoA1){
//
// Enable pin PA1 for GPIOInput
//
ConfigGPIO.GPIOS.PoA1 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_1);
GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_1,GPIO_HIGH_LEVEL);
Mask[0] += GPIO_INT_PIN_1;
}
break;
}
#endif
#ifdef USEPORTAPIN2
case PA2:{
if(!ConfigGPIO.GPIOS.PoA2){
//
// Enable pin PA2 for GPIOInput
//
ConfigGPIO.GPIOS.PoA2 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_2);
GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_2,GPIO_HIGH_LEVEL);
Mask[0] += GPIO_INT_PIN_2;
}
break;
}
#endif
#ifdef USEPORTAPIN3
case PA3:{
if(!ConfigGPIO.GPIOS.PoA3){
//
// Enable pin PA3 for GPIOInput
//
ConfigGPIO.GPIOS.PoA3 = 1;
GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_3);
GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_3,GPIO_HIGH_LEVEL);
Mask[0] += GPIO_INT_PIN_3;
}
break;
}
#endif
#ifdef USEPORTAPIN4
case PA4:{
if(!ConfigGPIO.GPIOS.PoA4){
//
// Enable pin PA4 for GPIOInput
//
ConfigGPIO.GPIOS.PoA4 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_4);
GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_4,GPIO_HIGH_LEVEL);
Mask[0] += GPIO_INT_PIN_4;
}
break;
}
#endif
#ifdef USEPORTAPIN5
case PA5:{
if(!ConfigGPIO.GPIOS.PoA5){
//
// Enable pin PA5 for GPIOInput
//
ConfigGPIO.GPIOS.PoA5 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_5);
GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_5,GPIO_HIGH_LEVEL);
Mask[0] += GPIO_INT_PIN_5;
}
break;
}
#endif
#ifdef USEPORTAPIN6
case PA6:{
if(!ConfigGPIO.GPIOS.PoA6){
//
// Enable pin PA6 for GPIOInput
//
ConfigGPIO.GPIOS.PoA6 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_6);
GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_6,GPIO_HIGH_LEVEL);
Mask[0] += GPIO_INT_PIN_6;
}
break;
}
#endif
#ifdef USEPORTAPIN7
case PA7:{
if(!ConfigGPIO.GPIOS.PoA7){
//
// Enable pin PA7 for GPIOInput
//
ConfigGPIO.GPIOS.PoA7 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_7);
GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_7,GPIO_HIGH_LEVEL);
Mask[0] += GPIO_INT_PIN_7;
}
break;
}
#endif
#endif
#ifdef USEPORTB
//Puerto B
#ifdef USEPORTBPIN0
case PB0:{
if(!ConfigGPIO.GPIOS.PoB0){
//
// Enable pin PB0 for GPIOInput
//
ConfigGPIO.GPIOS.PoB0 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_0);
GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_PIN_0,GPIO_HIGH_LEVEL);
Mask[1] += GPIO_INT_PIN_0;
}
break;
}
#endif
#ifdef USEPORTBPIN1
case PB1:{
if(!ConfigGPIO.GPIOS.PoB1){
//
// Enable pin PB1 for GPIOInput
//
ConfigGPIO.GPIOS.PoB1 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_1);
GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_PIN_1,GPIO_HIGH_LEVEL);
Mask[1] += GPIO_INT_PIN_0;
}
break;
}
#endif
#ifdef USEPORTBPIN2
case PB2:{
if(!ConfigGPIO.GPIOS.PoB2){
//
// Enable pin PB2 for GPIOInput
//
ConfigGPIO.GPIOS.PoB2 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_PIN_2,GPIO_HIGH_LEVEL);
Mask[1] += GPIO_INT_PIN_2;
}
break;
}
#endif
#ifdef USEPORTBPIN3
case PB3:{
if(!ConfigGPIO.GPIOS.PoB3){
//
// Enable pin PB3 for GPIOInput
//
ConfigGPIO.GPIOS.PoB3 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_3);
GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_PIN_3,GPIO_RISING_EDGE );
Mask[1] += GPIO_INT_PIN_3;
}
break;
}
#endif
#ifdef USEPORTBPIN4
case PB4:{
if(!ConfigGPIO.GPIOS.PoB4){
//
// Enable pin PB4 for GPIOInput
//
ConfigGPIO.GPIOS.PoB4 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_4);
GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_PIN_4,GPIO_HIGH_LEVEL);
Mask[1] += GPIO_INT_PIN_4;
}
break;
}
#endif
#ifdef USEPORTBPIN5
case PB5:{
if(!ConfigGPIO.GPIOS.PoB5){
//
// Enable pin PB5 for GPIOInput
//
ConfigGPIO.GPIOS.PoB5 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_5);
GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_PIN_5,GPIO_HIGH_LEVEL);
Mask[1] += GPIO_INT_PIN_5;
}
break;
}
#endif
#ifdef USEPORTBPIN6
case PB6:{
if(!ConfigGPIO.GPIOS.PoB6){
//
// Enable pin PB6 for GPIOInput
//
ConfigGPIO.GPIOS.PoB6 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_6);
GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_PIN_6,GPIO_HIGH_LEVEL);
Mask[1] += GPIO_INT_PIN_6;
}
break;
}
#endif
#ifdef USEPORTBPIN7
case PB7:{
if(!ConfigGPIO.GPIOS.PoB7){
//
// Enable pin PB7 for GPIOInput
//
ConfigGPIO.GPIOS.PoB7 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_7);
GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_PIN_7,GPIO_HIGH_LEVEL);
Mask[1] += GPIO_INT_PIN_7;
}
break;
}
#endif
#endif
#ifdef USEPORTC
//Puerto C
#ifdef USEPORTCPIN4
case PC4:{
if(!ConfigGPIO.GPIOS.PoC4){
//
// Enable pin PC4 for GPIOInput
//
ConfigGPIO.GPIOS.PoC4 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, GPIO_PIN_4);
GPIOIntTypeSet(GPIO_PORTC_BASE,GPIO_PIN_4,GPIO_HIGH_LEVEL);
Mask[2] += GPIO_INT_PIN_4;
}
break;
}
#endif
#ifdef USEPORTCPIN5
case PC5:{
if(!ConfigGPIO.GPIOS.PoC5){
//
// Enable pin PC5 for GPIOInput
//
ConfigGPIO.GPIOS.PoC5 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, GPIO_PIN_5);
GPIOIntTypeSet(GPIO_PORTC_BASE,GPIO_PIN_5,GPIO_HIGH_LEVEL);
Mask[2] += GPIO_INT_PIN_5;
}
break;
}
#endif
#ifdef USEPORTCPIN6
case PC6:{
if(!ConfigGPIO.GPIOS.PoC6){
//
// Enable pin PC6 for GPIOInput
//
ConfigGPIO.GPIOS.PoC6 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, GPIO_PIN_6);
GPIOIntTypeSet(GPIO_PORTC_BASE,GPIO_PIN_6,GPIO_HIGH_LEVEL);
Mask[2] += GPIO_INT_PIN_6;
}
break;
}
#endif
#ifdef USEPORTCPIN7
case PC7:{
if(!ConfigGPIO.GPIOS.PoC7){
//
// Enable pin PC7 for GPIOInput
//
ConfigGPIO.GPIOS.PoC7 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, GPIO_PIN_7);
GPIOIntTypeSet(GPIO_PORTC_BASE,GPIO_PIN_7,GPIO_HIGH_LEVEL);
Mask[2] += GPIO_INT_PIN_7;
}
break;
}
#endif
#endif
#ifdef USEPORTD
//Puerto D
#ifdef USEPORTDPIN0
case PD0:{
if(!ConfigGPIO.GPIOS.PoD0){
//
// Enable pin PD0 for GPIOInput
//
ConfigGPIO.GPIOS.PoD0 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_0);
GPIOIntTypeSet(GPIO_PORTD_BASE,GPIO_PIN_0,GPIO_HIGH_LEVEL);
Mask[3] += GPIO_INT_PIN_0;
}
break;
}
#endif
#ifdef USEPORTDPIN1
case PD1:{
if(!ConfigGPIO.GPIOS.PoD1){
//
// Enable pin PD1 for GPIOInput
//
ConfigGPIO.GPIOS.PoD1 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_1);
GPIOIntTypeSet(GPIO_PORTD_BASE,GPIO_PIN_1,GPIO_HIGH_LEVEL);
Mask[3] += GPIO_INT_PIN_1;
}
break;
}
#endif
#ifdef USEPORTDPIN2
case PD2:{
if(!ConfigGPIO.GPIOS.PoD2){
//
// Enable pin PD2 for GPIOInput
//
ConfigGPIO.GPIOS.PoD2 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_2);
GPIOIntTypeSet(GPIO_PORTD_BASE,GPIO_PIN_2,GPIO_HIGH_LEVEL);
Mask[3] += GPIO_INT_PIN_2;
}
break;
}
#endif
#ifdef USEPORTDPIN3
case PD3:{
if(!ConfigGPIO.GPIOS.PoD3){
//
// Enable pin PD3 for GPIOInput
//
ConfigGPIO.GPIOS.PoD3 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_3);
GPIOIntTypeSet(GPIO_PORTD_BASE,GPIO_PIN_3,GPIO_HIGH_LEVEL);
Mask[3] += GPIO_INT_PIN_3;
}
break;
}
#endif
#ifdef USEPORTDPIN4
case PD4:{
if(!ConfigGPIO.GPIOS.PoD4){
//
// Enable pin PD4 for GPIOInput
//
ConfigGPIO.GPIOS.PoD4 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_4);
GPIOIntTypeSet(GPIO_PORTD_BASE,GPIO_PIN_4,GPIO_HIGH_LEVEL);
Mask[3] += GPIO_INT_PIN_4;
}
break;
}
#endif
#ifdef USEPORTDPIN5
case PD5:{
if(!ConfigGPIO.GPIOS.PoD5){
//
// Enable pin PD5 for GPIOInput
//
ConfigGPIO.GPIOS.PoD5 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_5);
GPIOIntTypeSet(GPIO_PORTD_BASE,GPIO_PIN_5,GPIO_HIGH_LEVEL);
Mask[3] += GPIO_INT_PIN_5;
}
break;
}
#endif
#ifdef USEPORTDPIN6
case PD6:{
if(!ConfigGPIO.GPIOS.PoD6){
//
// Enable pin PD6 for GPIOInput
//
ConfigGPIO.GPIOS.PoD6 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_6);
GPIOIntTypeSet(GPIO_PORTD_BASE,GPIO_PIN_6,GPIO_HIGH_LEVEL);
Mask[3] += GPIO_INT_PIN_6;
}
break;
}
#endif
#ifdef USEPORTDPIN7
case PD7:{
if(!ConfigGPIO.GPIOS.PoD7){
//
// Enable pin PD7 for GPIOInput
//
//
//First open the lock and select the bits we want to modify in the GPIO commit register.
//
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTD_BASE + GPIO_O_CR) = 0x80;
//
//Now modify the configuration of the pins that we unlocked.
//
ConfigGPIO.GPIOS.PoD7 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_7);
GPIOIntTypeSet(GPIO_PORTD_BASE,GPIO_PIN_7,GPIO_HIGH_LEVEL);
Mask[3] += GPIO_INT_PIN_7;
}
break;
}
#endif
#endif
#ifdef USEPORTE
//Puerto E
#ifdef USEPORTEPIN0
case PE0:{
if(!ConfigGPIO.GPIOS.PoE0){
//
// Enable pin PE0 for GPIOInput
//
ConfigGPIO.GPIOS.PoE0 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_0);
GPIOIntTypeSet(GPIO_PORTE_BASE,GPIO_PIN_0,GPIO_HIGH_LEVEL);
Mask[4] += GPIO_INT_PIN_0;
}
break;
}
#endif
#ifdef USEPORTEPIN1
case PE1:{
if(!ConfigGPIO.GPIOS.PoE1){
//
// Enable pin PE1 for GPIOInput
//
ConfigGPIO.GPIOS.PoE1 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_1);
GPIOIntTypeSet(GPIO_PORTE_BASE,GPIO_PIN_1,GPIO_HIGH_LEVEL);
Mask[4] += GPIO_INT_PIN_1;
}
break;
}
#endif
#ifdef USEPORTEPIN2
case PE2:{
if(!ConfigGPIO.GPIOS.PoE2){
//
// Enable pin PE2 for GPIOInput
//
ConfigGPIO.GPIOS.PoE2 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_2);
GPIOIntTypeSet(GPIO_PORTE_BASE,GPIO_PIN_2,GPIO_HIGH_LEVEL);
Mask[4] += GPIO_INT_PIN_2;
}
// break;
}
#endif
#ifdef USEPORTEPIN3
case PE3:{
if(!ConfigGPIO.GPIOS.PoE3){
// Enable pin PE3 for GPIOInput
//
ConfigGPIO.GPIOS.PoE3 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_3);
GPIOIntTypeSet(GPIO_PORTE_BASE,GPIO_PIN_3,GPIO_HIGH_LEVEL);
Mask[4] += GPIO_INT_PIN_3;
}
break;
}
#endif
#ifdef USEPORTEPIN4
case PE4:{
if(!ConfigGPIO.GPIOS.PoE4){
//
// Enable pin PE4 for GPIOInput
//
ConfigGPIO.GPIOS.PoE4 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_4);
GPIOIntTypeSet(GPIO_PORTE_BASE,GPIO_PIN_4,GPIO_HIGH_LEVEL);
Mask[4] += GPIO_INT_PIN_4;
}
break;
}
#endif
#ifdef USEPORTEPIN5
case PE5:{
if(!ConfigGPIO.GPIOS.PoE5){
//
// Enable pin PE5 for GPIOInput
//
ConfigGPIO.GPIOS.PoE5 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_5);
GPIOIntTypeSet(GPIO_PORTE_BASE,GPIO_PIN_5,GPIO_HIGH_LEVEL);
Mask[4] += GPIO_INT_PIN_5;
}
break;
}
#endif
#endif
#ifdef USEPORTF
//Puerto F
#ifdef USEPORTFPIN0
case PF0:{
if(!ConfigGPIO.GPIOS.PoF0){
//
// Enable pin PF0 for GPIOInput
//
//
//First open the lock and select the bits we want to modify in the GPIO commit register.
//
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0x1;
//
//Now modify the configuration of the pins that we unlocked.
//
ConfigGPIO.GPIOS.PoF0 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0);
GPIOIntTypeSet(GPIO_PORTF_BASE,GPIO_PIN_0,GPIO_HIGH_LEVEL);
Mask[5] += GPIO_INT_PIN_0;
}
break;
}
#endif
#ifdef USEPORTFPIN1
case PF1:{
if(!ConfigGPIO.GPIOS.PoF1){
//
// Enable pin PF1 for GPIOInput
//
ConfigGPIO.GPIOS.PoF1 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOIntTypeSet(GPIO_PORTF_BASE,GPIO_PIN_1,GPIO_HIGH_LEVEL);
Mask[5] += GPIO_INT_PIN_1;
}
break;
}
#endif
#ifdef USEPORTFPIN2
case PF2:{
if(!ConfigGPIO.GPIOS.PoF2){
//
// Enable pin PF2 for GPIOInput
//
ConfigGPIO.GPIOS.PoF2 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_2);
GPIOIntTypeSet(GPIO_PORTF_BASE,GPIO_PIN_2,GPIO_HIGH_LEVEL);
Mask[5] += GPIO_INT_PIN_2;
}
break;
}
#endif
#ifdef USEPORTFPIN3
case PF3:{
if(!ConfigGPIO.GPIOS.PoF3){
//
// Enable pin PF3 for GPIOInput
//
ConfigGPIO.GPIOS.PoF3 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_3);
GPIOIntTypeSet(GPIO_PORTF_BASE,GPIO_PIN_3,GPIO_HIGH_LEVEL);
Mask[5] += GPIO_INT_PIN_3;
}
break;
}
#endif
#ifdef USEPORTFPIN4
case PF4:{
if(!ConfigGPIO.GPIOS.PoF4){
//
// Enable pin PF4 for GPIOInput
//
ConfigGPIO.GPIOS.PoF4 = 1;
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);
GPIOIntTypeSet(GPIO_PORTF_BASE,GPIO_PIN_4,GPIO_HIGH_LEVEL);
Mask[5] += GPIO_INT_PIN_4;
}
break;
}
#endif
#endif
default: break;
}
GPIOIntClear(GPIO_PORTA_BASE,0x0F);
GPIOIntClear(GPIO_PORTB_BASE,0x0F);
GPIOIntClear(GPIO_PORTC_BASE,0x0F);
GPIOIntClear(GPIO_PORTD_BASE,0x0F);
GPIOIntClear(GPIO_PORTE_BASE,0x0F);
GPIOIntClear(GPIO_PORTF_BASE,0x0F);
GPIOIntDisable(GPIO_PORTA_BASE,0x0F);
GPIOIntDisable(GPIO_PORTB_BASE,0x0F);
GPIOIntDisable(GPIO_PORTC_BASE,0x0F);
GPIOIntDisable(GPIO_PORTD_BASE,0x0F);
GPIOIntDisable(GPIO_PORTE_BASE,0x0F);
GPIOIntDisable(GPIO_PORTF_BASE,0x0F);
#ifdef USEPORTA
//Habilitacion de las interrupciones:
//Puerto A con algo configurado
if(ConfigGPIO.PortGpio[0] >0){
//Primero deshabilita configura habilita
//IntEnable(INT_GPIOA);
GPIOIntEnable(GPIO_PORTA_BASE,Mask[0]);
//GPIOPadConfigSet(GPIO_PORTA_BASE,Mask[0],GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD);
GPIOIntRegister(GPIO_PORTA_BASE,TOFProcess);
//GPIOIntTypeSet(GPIO_PORTA_BASE,Mask[0],GPIO_RISING_EDGE);
}
#endif
#ifdef USEPORTB
//Puerto B con algo configurado
if(ConfigGPIO.PortGpio[1] >0){
// GPIOIntTypeSet(GPIO_PORTB_BASE,Mask[1],GPIO_PIN_TYPE_STD_WPD);
GPIOIntRegister(GPIO_PORTB_BASE,TOFProcess);
GPIOIntEnable(GPIO_PORTB_BASE,Mask[1]);
}
#endif
#ifdef USEPORTC
//Puerto C con algo configurado
if(ConfigGPIO.PortGpio[2] >0){
GPIOIntEnable(GPIO_PORTC_BASE,Mask[2]);
GPIOIntRegister(GPIO_PORTC_BASE,TOFProcess);
}
#endif
#ifdef USEPORTD
//Puerto D con algo configurado
if(ConfigGPIO.PortGpio[3] >0){
GPIOIntEnable(GPIO_PORTD_BASE,Mask[3]);
GPIOIntRegister(GPIO_PORTD_BASE,TOFProcess);
}
#endif
#ifdef USEPORTE
//Puerto E con algo configurado
if(ConfigGPIO.PortGpio[4] >0){
GPIOIntEnable(GPIO_PORTE_BASE,Mask[4]);
GPIOIntRegister(GPIO_PORTE_BASE,TOFProcess);
}
#endif
#ifdef USEPORTF
//Puerto F con algo configurado
if(ConfigGPIO.PortGpio[5] >0){
GPIOIntEnable(GPIO_PORTF_BASE,Mask[5]);
GPIOIntRegister(GPIO_PORTF_BASE,TOFProcess);
}
#endif
// IntMasterEnable();
}
//*****************************************************************************
//
//! Configures the device pins for the customer specific usage.
//!
//! \return None.
//
//*****************************************************************************
void
PinoutSet(void)
{
//
// Enable Peripheral Clocks
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Configure the GPIO Pin Mux for PB6
// for GPIO_PB6
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_6);
//
// Configure the GPIO Pin Mux for PB7
// for GPIO_PB7
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_7);
//
// Configure the GPIO Pin Mux for PB0
// for GPIO_PB0
//
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_0);
//
// Configure the GPIO Pin Mux for PB1
// for GPIO_PB1
//
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_1);
//
// Configure the GPIO Pin Mux for PB2
// for GPIO_PB2
//
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_2);
//
// Configure the GPIO Pin Mux for PB3
// for GPIO_PB3
//
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_3);
//
// Configure the GPIO Pin Mux for PB4
// for GPIO_PB4
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_4);
//
// Configure the GPIO Pin Mux for PB5
// for GPIO_PB5
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_5);
//
// Configure the GPIO Pin Mux for PF4
// for GPIO_PF4
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);
//
// Unlock the Port Pin and Set the Commit Bit
//
HWREG(GPIO_PORTF_BASE+GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE+GPIO_O_CR) |= GPIO_PIN_0;
HWREG(GPIO_PORTF_BASE+GPIO_O_LOCK) = 0x0;
//
// Configure the GPIO Pin Mux for PF0
// for GPIO_PF0
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0);
//
// Configure the GPIO Pin Mux for PD2
// for SSI3RX
//
MAP_GPIOPinConfigure(GPIO_PD2_SSI3RX);
MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_2);
//
// Configure the GPIO Pin Mux for PD1
// for SSI3FSS
//
MAP_GPIOPinConfigure(GPIO_PD1_SSI3FSS);
MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure the GPIO Pin Mux for PD3
// for SSI3TX
//
MAP_GPIOPinConfigure(GPIO_PD3_SSI3TX);
MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_3);
//
// Configure the GPIO Pin Mux for PD0
// for SSI3CLK
//
MAP_GPIOPinConfigure(GPIO_PD0_SSI3CLK);
MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_0);
//
// Configure the GPIO Pin Mux for PA4
// for SSI0RX
//
MAP_GPIOPinConfigure(GPIO_PA4_SSI0RX);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_4);
//
// Configure the GPIO Pin Mux for PA3
// for SSI0FSS
//
MAP_GPIOPinConfigure(GPIO_PA3_SSI0FSS);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_3);
//
// Configure the GPIO Pin Mux for PA5
// for SSI0TX
//
MAP_GPIOPinConfigure(GPIO_PA5_SSI0TX);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_5);
//
// Configure the GPIO Pin Mux for PA2
// for SSI0CLK
//
MAP_GPIOPinConfigure(GPIO_PA2_SSI0CLK);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_2);
}
//*****************************************************************************
void
PortFunctionInit(void)
{
//
// Enable Peripheral Clocks
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI3);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI1);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable pin PA2 for GPIOInput
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_2);
//
// Enable pin PF3 for SSI1 SSI1FSS
//
MAP_GPIOPinConfigure(GPIO_PF3_SSI1FSS);
MAP_GPIOPinTypeSSI(GPIO_PORTF_BASE, GPIO_PIN_3);
//
// Enable pin PF0 for SSI1 SSI1RX
// First open the lock and select the bits we want to modify in the GPIO commit register.
//
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0x1;
//
// Now modify the configuration of the pins that we unlocked.
//
MAP_GPIOPinConfigure(GPIO_PF0_SSI1RX);
MAP_GPIOPinTypeSSI(GPIO_PORTF_BASE, GPIO_PIN_0);
//
// Enable pin PF1 for SSI1 SSI1TX
//
MAP_GPIOPinConfigure(GPIO_PF1_SSI1TX);
MAP_GPIOPinTypeSSI(GPIO_PORTF_BASE, GPIO_PIN_1);
//
// Enable pin PF2 for SSI1 SSI1CLK
//
MAP_GPIOPinConfigure(GPIO_PF2_SSI1CLK);
MAP_GPIOPinTypeSSI(GPIO_PORTF_BASE, GPIO_PIN_2);
//
// Enable pin PD3 for SSI3 SSI3TX
//
MAP_GPIOPinConfigure(GPIO_PD3_SSI3TX);
MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_3);
//
// Enable pin PD2 for SSI3 SSI3RX
//
MAP_GPIOPinConfigure(GPIO_PD2_SSI3RX);
MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_2);
//
// Enable pin PD0 for SSI3 SSI3CLK
//
MAP_GPIOPinConfigure(GPIO_PD0_SSI3CLK);
MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_0);
//
// Enable pin PD1 for SSI3 SSI3FSS
//
MAP_GPIOPinConfigure(GPIO_PD1_SSI3FSS);
MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_1);
}
//*****************************************************************************
void
PortFunctionInit(void)
{
//
// Enable Peripheral Clocks
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_USB0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable pin PA7 for GPIOInput
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_7);
//
// Enable pin PA6 for GPIOInput - SPI Current Word is Header Word
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_6);
//
// Enable pin PF2 for GPIOInput
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_2);
//
// Enable pin PF3 for GPIOInput
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_3);
//
// Enable pin PF1 for GPIOOutputOD
//
MAP_GPIOPinTypeGPIOOutputOD(GPIO_PORTF_BASE, GPIO_PIN_1);
//
// Enable pin PA5 for SSI0 SSI0TX
//
MAP_GPIOPinConfigure(GPIO_PA5_SSI0TX);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_5);
//
// Enable pin PA4 for SSI0 SSI0RX
//
MAP_GPIOPinConfigure(GPIO_PA4_SSI0RX);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_4);
//
// Enable pin PA2 for SSI0 SSI0CLK
//
MAP_GPIOPinConfigure(GPIO_PA2_SSI0CLK);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_2);
//
// Enable pin PA3 for SSI0 SSI0FSS
//
MAP_GPIOPinConfigure(GPIO_PA3_SSI0FSS);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_3);
//
// Enable pin PA0 for UART0 U0RX
//
MAP_GPIOPinConfigure(GPIO_PA0_U0RX);
MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0);
//
// Enable pin PA1 for UART0 U0TX
//
MAP_GPIOPinConfigure(GPIO_PA1_U0TX);
MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_1);
//
// Enable pin PD4 for USB0 USB0DM
//
MAP_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_4);
//
// Enable pin PD5 for USB0 USB0DP
//
MAP_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_5);
}
//*****************************************************************************
void
PortFunctionInit(void)
{
//
// Enable Peripheral Clocks
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable port PE5 for CAN0 CAN0TX
//
MAP_GPIOPinConfigure(GPIO_PE5_CAN0TX);
MAP_GPIOPinTypeCAN(GPIO_PORTE_BASE, GPIO_PIN_5);
//
// Enable port PE4 for CAN0 CAN0RX
//
MAP_GPIOPinConfigure(GPIO_PE4_CAN0RX);
MAP_GPIOPinTypeCAN(GPIO_PORTE_BASE, GPIO_PIN_4);
//
// Enable port PB0 for GPIOOutput
//
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_0);
//
// Enable port PB6 for GPIOInput
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_6);
//
// Enable port PF4 for GPIOInput
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);
//
// Enable port PF0 for GPIOInput
//
//
//First open the lock and select the bits we want to modify in the GPIO commit register.
//
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0x1;
//
//Now modify the configuration of the pins that we unlocked.
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0);
//
// Enable port PF3 for GPIOOutput
//
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3);
//
// Enable port PF2 for GPIOOutput
//
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2);
//
// Enable port PF1 for GPIOOutput
//
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1);
//
// Enable port PA3 for SSI0 SSI0FSS
//
MAP_GPIOPinConfigure(GPIO_PA3_SSI0FSS);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_3);
//
// Enable port PA2 for SSI0 SSI0CLK
//
MAP_GPIOPinConfigure(GPIO_PA2_SSI0CLK);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_2);
//
// Enable port PA4 for SSI0 SSI0RX
//
MAP_GPIOPinConfigure(GPIO_PA4_SSI0RX);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_4);
//
// Enable port PA5 for SSI0 SSI0TX
//
MAP_GPIOPinConfigure(GPIO_PA5_SSI0TX);
MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_5);
}
//*****************************************************************************
//
// Initialize the I2C, MPU9150 and Gesture systems.
//
//*****************************************************************************
void
MotionInit(void)
{
//
// Enable port S used for motion interrupt.
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOS);
//
// The I2C3 peripheral must be enabled before use.
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
//
// Configure the pin muxing for I2C3 functions on port G4 and G5.
//
MAP_GPIOPinConfigure(GPIO_PG4_I2C3SCL);
MAP_GPIOPinConfigure(GPIO_PG5_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.
//
MAP_GPIOPinTypeI2CSCL(GPIO_PORTG_BASE, GPIO_PIN_4);
MAP_GPIOPinTypeI2C(GPIO_PORTG_BASE, GPIO_PIN_5);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTS_BASE, GPIO_PIN_2);
MAP_GPIOIntEnable(GPIO_PORTS_BASE, GPIO_PIN_2);
MAP_GPIOIntTypeSet(GPIO_PORTS_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
MAP_IntEnable(INT_GPIOS);
//
// Enable interrupts to the processor.
//
MAP_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
g_ui32SysClock);
//
// 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);
}
void pio_init()
{
// Board Initialization start
//
//
// The FPU should be enabled because some compilers will use floating-
// point registers, even for non-floating-point code. If the FPU is not
// enabled this will cause a fault. This also ensures that floating-
// point operations could be added to this application and would work
// correctly and use the hardware floating-point unit. Finally, lazy
// stacking is enabled for interrupt handlers. This allows floating-
// point instructions to be used within interrupt handlers, but at the
// expense of extra stack usage.
//
FPUEnable();
FPULazyStackingEnable();
//Init the device with 16 MHz clock.
initClk();
/* Configure the system peripheral bus that IRQ & EN pin are map to */
MAP_SysCtlPeripheralEnable( SYSCTL_PERIPH_IRQ_PORT);
//
// Disable all the interrupts before configuring the lines
//
MAP_GPIOPinIntDisable(SPI_GPIO_IRQ_BASE, 0xFF);
//
// Cofigure WLAN_IRQ pin as input
//
MAP_GPIOPinTypeGPIOInput(SPI_GPIO_IRQ_BASE, SPI_IRQ_PIN);
GPIOPadConfigSet(SPI_GPIO_IRQ_BASE, SPI_IRQ_PIN, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
//
// Setup the GPIO interrupt for this pin
//
MAP_GPIOIntTypeSet(SPI_GPIO_IRQ_BASE, SPI_IRQ_PIN, GPIO_FALLING_EDGE);
//
// Configure WLAN chip
//
MAP_GPIOPinTypeGPIOOutput(SPI_GPIO_IRQ_BASE, SPI_EN_PIN);
MAP_GPIODirModeSet( SPI_GPIO_IRQ_BASE, SPI_EN_PIN, GPIO_DIR_MODE_OUT );
MAP_GPIOPadConfigSet( SPI_GPIO_IRQ_BASE, SPI_EN_PIN, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD );
MAP_GPIOPinWrite(SPI_GPIO_IRQ_BASE, SPI_EN_PIN, PIN_LOW);
SysCtlDelay(600000);
SysCtlDelay(600000);
SysCtlDelay(600000);
//
// Disable WLAN CS with pull up Resistor
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SPI_PORT);
MAP_GPIOPinTypeGPIOOutput(SPI_CS_PORT, SPI_CS_PIN);
GPIOPadConfigSet(SPI_CS_PORT, SPI_CS_PIN, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
MAP_GPIOPinWrite(SPI_CS_PORT, SPI_CS_PIN, PIN_HIGH);
//
// Enable interrupt for WLAN_IRQ pin
//
MAP_GPIOPinIntEnable(SPI_GPIO_IRQ_BASE, SPI_IRQ_PIN);
//
// Clear interrupt status
//
SpiCleanGPIOISR();
MAP_IntEnable(INT_GPIO_SPI);
//init LED
initLEDs();
}
/*
* initialize tm4c
*/
void init_satellite()
{
FPUEnable();
FPULazyStackingEnable();
/*
* init clock
*/
MAP_SysCtlClockSet(SYSCTL_SYSDIV_3 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN); //66.6..MHz
MAP_IntMasterEnable();
/*
* Enable peripherals
*/
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); //for LED indication
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); //for UART
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); //for IRQ and SW_EN
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); //for SPI
/*
* configure
*/
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
MAP_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, SIGNAL_LOW); //off
MAP_GPIOPinConfigure(GPIO_PA0_U0RX);
MAP_GPIOPinConfigure(GPIO_PA1_U0TX);
MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioConfig(UART_PORT, UART_BAUDRATE, SysCtlClockGet());
MAP_GPIOIntDisable(GPIO_PORTB_BASE, SIGNAL_HIGH); //interrupt disable
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2); //IRQ as input
MAP_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
MAP_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE); //enable interrupt
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_5); //sw enable
MAP_GPIODirModeSet(GPIO_PORTB_BASE, GPIO_PIN_5, GPIO_DIR_MODE_OUT);
MAP_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_5, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);
MAP_GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_5, SIGNAL_LOW);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_0);
MAP_GPIOPadConfigSet(GPIO_PORTE_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
MAP_GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_0, SIGNAL_HIGH); //chip select
MAP_GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2); //enable interrupt for WLAN_IRQ pin
SpiCleanGPIOISR(); //clear interrupt status
MAP_IntEnable(INT_GPIOB); //spi
init_worker();
setState(READY);
}
