void RMBD01Init( void )
{
//
// Configure the ADC for Pitch and Roll
// sequence 3 means a single sample
// sequence 1, 2 means up to 4 samples
// sequence 0 means up to 8 samples
// we use sequence 1
//
if (SysCtlPeripheralPresent(SYSCTL_PERIPH_ADC0))
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
ADCSequenceConfigure(ADC0_BASE, 1, ADC_TRIGGER_TIMER, 0); // 1 captures up to 4 samples
//
// Select the external reference for greatest accuracy.
//
ADCReferenceSet(ADC0_BASE, ADC_REF_EXT_3V);
ADCSequenceStepConfigure(ADC0_BASE, 1, 0, ENCODER_CHANNEL_PITCH); // sample pitch
ADCSequenceStepConfigure(ADC0_BASE, 1, 1, ENCODER_CHANNEL_ROLL | ADC_CTL_IE | ADC_CTL_END); // sample roll
ADCIntRegister(ADC0_BASE,1,ADCIntHandler);
ADCSequenceEnable(ADC0_BASE, 1);
ADCIntEnable(ADC0_BASE, 1);
//
// Setup timer for ADC_TRIGGER_TIMER
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
//
// Configure the second timer to generate triggers to the ADC
//
TimerConfigure(TIMER1_BASE, TIMER_CFG_32_BIT_PER);
TimerLoadSet(TIMER1_BASE, TIMER_A, SysCtlClockGet() / 1000); // 2 ms
TimerControlStall(TIMER1_BASE, TIMER_A, true);
TimerControlTrigger(TIMER1_BASE, TIMER_A, true);
//
// Enable the timers.
//
TimerEnable(TIMER1_BASE, TIMER_A);
new_adc = false;
//
}
//
// Clear outstanding ADC interrupt and enable
//
ADCIntClear(ADC0_BASE, 1);
IntEnable(INT_ADC0);
} // InitADC
/*---------------------------------------------------------------------------*/
void
clock_init(void)
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet()/1000);
TimerControlStall(TIMER0_BASE,TIMER_A,true);
TimerEnable(TIMER0_BASE, TIMER_A);
ROM_IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
count = 0;
}
void confTimer(){
//Inicializamos el TIMER2 para el ADC como Trigger a una frecuencia de 10Hz
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER2);
TimerControlStall(TIMER2_BASE,TIMER_A,true);
TimerConfigure(TIMER2_BASE, TIMER_CFG_PERIODIC);
uint32_t ui32Period = SysCtlClockGet() *0.1;
TimerLoadSet(TIMER2_BASE, TIMER_A, ui32Period -1);
TimerControlTrigger(TIMER2_BASE,TIMER_A,true);
TimerEnable(TIMER2_BASE, TIMER_A);
//Inicializamos el TIMER4 para la pulsación larga con un periodo de 2 segundos
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER4);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER4);
TimerConfigure(TIMER4_BASE, TIMER_CFG_ONE_SHOT);
ui32Period = (SysCtlClockGet() *2) ;
TimerLoadSet(TIMER4_BASE, TIMER_A, ui32Period -1);
IntEnable(INT_TIMER4A);
TimerIntRegister(TIMER4_BASE,TIMER_A,timerBotonHandler);
IntPrioritySet(INT_TIMER4A,5<<5);
TimerIntEnable(TIMER4_BASE, TIMER_TIMA_TIMEOUT);
}
void RMBD01Init(void)
{
//
// Configure the ADC for Pitch and Roll
// sequence 3 means a single sample
// sequence 1, 2 means up to 4 samples
// sequence 0 means up to 8 samples
// we use sequence 1
//
if (SysCtlPeripheralPresent(SYSCTL_PERIPH_ADC0))
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// Configure the pins to be used as analog inputs.
//
GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_2 | GPIO_PIN_3);
//
// Select the external reference for greatest accuracy.
//
//ADCReferenceSet(ADC0_BASE, ADC_REF_EXT_3V);
//
// Only for LM4F232 Apply workaround for erratum 6.1, in order to use the
// external reference.
//
//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//HWREG(GPIO_PORTB_BASE + GPIO_O_AMSEL) |= GPIO_PIN_6;
ADCSequenceConfigure(ADC0_BASE, 3, ADC_TRIGGER_TIMER, 0); // 1 captures up to 4 samples
//ADCSequenceConfigure(ADC0_BASE, 0, ADC_TRIGGER_PROCESSOR, 0); // 1 captures up to 4 samples
//ADCSequenceStepConfigure(ADC0_BASE, 0, 0, ENCODER_CHANNEL_PITCH); // sample pitch
//ADCSequenceStepConfigure(ADC0_BASE, 0, 1, ENCODER_CHANNEL_ROLL | ADC_CTL_IE | ADC_CTL_END); // sample roll
ADCHardwareOversampleConfigure(ADC0_BASE, 64);
//ADCSoftwareOversampleConfigure(ADC0_BASE, 0, 8);
//ADCSoftwareOversampleStepConfigure(ADC0_BASE, 0, 0, (ADC_CTL_CH1 | ADC_CTL_IE | ADC_CTL_END));
ADCSequenceStepConfigure(ADC0_BASE, 3, 0, ADC_CTL_IE | ADC_CTL_END | ADC_CTL_CH0);
//ADCSoftwareOversampleStepConfigure(ADC0_BASE, 0, 0, (ADC_CTL_CH1 | ADC_CTL_IE | ADC_CTL_END));
//ADCSequenceStepConfigure(ADC0_BASE, 0, 0, ADC_CTL_CH0); // sample roll
//ADCSequenceStepConfigure(ADC0_BASE, 0, 0, ADC_CTL_CH1 | ADC_CTL_IE | ADC_CTL_END); // sample roll
//ADCIntRegister(ADC0_BASE,0,ADCIntHandler);
//
// Enable the sequencer and interrupt
//
ADCSequenceEnable(ADC0_BASE, 3);
ADCIntEnable(ADC0_BASE, 3);
IntEnable(INT_ADC3);
//
// Zero the oversample counter and the sum
//
g_ucOversampleCnt = 0;
g_ulSum = 0;
//ADCSequenceEnable(ADC0_BASE, 2);
//ADCIntEnable(ADC0_BASE, 2);
#if 0
//
// Enable the ADC sequencers
//
ADCSequenceEnable(ADC0_BASE, 0);
//
// Flush the ADC sequencers to be sure there is no lingering data.
//
ADCSequenceDataGet(ADC0_BASE, 0, PitchRollAmp);
//
// Enable ADC interrupts
//
ADCIntClear(ADC0_BASE, 0);
ADCIntEnable(ADC0_BASE, 0);
IntEnable(INT_ADC0SS0);
#else
//
// Setup timer for ADC_TRIGGER_TIMER
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
//
// Configure the second timer to generate triggers to the ADC
//
TimerConfigure(TIMER1_BASE, TIMER_CFG_32_BIT_PER);
TimerLoadSet(TIMER1_BASE, TIMER_A, ROM_SysCtlClockGet() / 20000); // 50 us == 20K
ulTimeSysClock = ROM_SysCtlClockGet()/20000;
TimerControlStall(TIMER1_BASE, TIMER_A, true);
TimerControlTrigger(TIMER1_BASE, TIMER_A, true);
//
// Enable the timers.
//
TimerEnable(TIMER1_BASE, TIMER_A);
#endif
new_adc = false;
//
}
//
// Clear outstanding ADC interrupt and enable
//
//ADCIntClear(ADC0_BASE, 2);
//ADCIntEnable(ADC0_BASE, 2);
//IntEnable(INT_ADC2);
//
// Set the zero current to indicate that the initial sampling has just
// begun.
//
g_usCurrentZero = 0xffff;
} // InitADC
