//*****************************************************************************
//
// This function is called to handle the GPIO edge interrupt from the
// quadrature encoder.
//
//*****************************************************************************
void
EncoderIntHandler(void)
{
unsigned long ulNow;
//
// Save the time.
//
ulNow = ROM_SysTickValueGet();
//
// Clear the encoder interrupt.
//
ROM_GPIOPinIntClear(QEI_PHA_PORT, QEI_PHA_PIN);
//
// Determine the number of system clocks between the previous edge and this
// edge.
//
if(g_ulEncoderPrevious > ulNow)
{
g_ulEncoderClocks = g_ulEncoderPrevious - ulNow;
}
else
{
g_ulEncoderClocks = (16777216 - ulNow) + g_ulEncoderPrevious;
}
//
// Save the time of the current edge as the time of the previous edge.
//
g_ulEncoderPrevious = ulNow;
//
// Indicate that an edge has been seen.
//
HWREGBITH(&g_usEncoderFlags, ENCODER_FLAG_EDGE) = 1;
//
// If the previous edge time was valid, then indicate that the time between
// edges is also now valid.
//
if(HWREGBITH(&g_usEncoderFlags, ENCODER_FLAG_PREVIOUS) == 1)
{
HWREGBITH(&g_usEncoderFlags, ENCODER_FLAG_VALID) = 1;
}
//
// Indicate that the previous edge time is valid.
//
HWREGBITH(&g_usEncoderFlags, ENCODER_FLAG_PREVIOUS) = 1;
}
void task_ads()
{
if(HWREGBITW(&g_ulFlags, FLAG_ADS_INT) == 1)
{
HWREGBITW(&g_ulFlags, FLAG_ADS_INT) = 0;
ADS_START_CLR();
Ads_Read();
ADS_START();
ROM_GPIOPinIntClear(ADS_DRY_PORT, 0xff);
MAP_IntEnable(INT_GPIOC);
MAP_GPIOPinIntEnable(ADS_DRY_PORT, ADS_DRY_PIN);
}
}
static void _isr_gpio(uint32_t port_num){
const uint32_t port_addr = _port_base[port_num];
uint32_t isr = ROM_GPIOPinIntStatus(port_addr, true);
uint8_t i;
for (i=0; i<8; i++, isr>>=1) {
if ((isr & 0x1) == 0){
continue;
}
ROM_GPIOPinIntClear(port_addr, 1 << i);
if (gpio_config[port_num][i].cb){
gpio_config[port_num][i].cb(gpio_config[port_num][i].arg);
}
}
cortexm_isr_end();
}
char stop()
{
ROM_IntMasterDisable();
ROM_IntDisable(INT_TIMER0A);
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntDisable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerDisable(TIMER0_BASE, TIMER_A);
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, 0xff);
ROM_GPIOPinIntDisable(GPIO_PORTB_BASE, 0xff);
ROM_IntDisable(INT_GPIOB);
ROM_IntPendClear(INT_TIMER0A);
ROM_IntPendClear(INT_GPIOB);
sampling = SAMPLING_OFF;
tick = 0;
led(0,1,0);
return STATE_GET_COMMAND;
}
void GPIOBIntHandler()
{
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, 0xff);
ROM_IntPendClear(INT_GPIOB);
if (mode == MODE_INTERVAL)
{
ROM_GPIOPinIntDisable(GPIO_PORTB_BASE, 0xff);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
else if (mode == MODE_EVENT)
{
buffer_data[sample] = GPIO_PORTB_DATA_R;
buffer_time[sample] = tick;
UARTprintf("%02x\r\n", buffer_data[sample]);
if (++sample >= EVENT_BUFFER_LEN)
{
stop();
}
}
}
char run()
{
unsigned long period = (SysCtlClockGet() / multi2hz(interval)) / 2;
stop();
led(1,0,0);
clear_buf();
if (mode == MODE_INTERVAL)
{
ROM_IntEnable(INT_TIMER0A);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, period - 1);
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
if (trigger == TRIGGER_IMMEDIATE)
{
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
else if (trigger == TRIGGER_PIN_RISING)
{
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, trigger_pins, GPIO_RISING_EDGE);
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, 0xff);
ROM_GPIOPinIntEnable(GPIO_PORTB_BASE, trigger_pins);
ROM_IntEnable(INT_GPIOB);
}
else if (trigger == TRIGGER_PIN_FALLING)
{
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, trigger_pins, GPIO_FALLING_EDGE);
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, 0xff);
ROM_GPIOPinIntEnable(GPIO_PORTB_BASE, trigger_pins);
ROM_IntEnable(INT_GPIOB);
}
else if (trigger == TRIGGER_PIN_BOTH)
{
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, 1, GPIO_BOTH_EDGES);
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, 0xff);
ROM_GPIOPinIntEnable(GPIO_PORTB_BASE, trigger_pins);
ROM_IntEnable(INT_GPIOB);
}
}
else if (mode == MODE_EVENT)
{
if (trigger == TRIGGER_PIN_FALLING)
{
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, trigger_pins, GPIO_FALLING_EDGE);
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, 0xff);
ROM_GPIOPinIntEnable(GPIO_PORTB_BASE, trigger_pins);
ROM_IntEnable(INT_GPIOB);
}
else if (trigger == TRIGGER_PIN_RISING)
{
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, trigger_pins, GPIO_RISING_EDGE);
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, 0xff);
ROM_GPIOPinIntEnable(GPIO_PORTB_BASE, trigger_pins);
ROM_IntEnable(INT_GPIOB);
}
else if (trigger == TRIGGER_PIN_BOTH)
{
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, trigger_pins, GPIO_BOTH_EDGES);
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, 0xff);
ROM_GPIOPinIntEnable(GPIO_PORTB_BASE, trigger_pins);
ROM_IntEnable(INT_GPIOB);
}
HWREG(NVIC_ST_CURRENT) = 0;
}
ROM_IntMasterEnable();
sampling = SAMPLING_ON;
return STATE_GET_COMMAND;
}
//*****************************************************************************
//
// The interrupt handler for the PB4 pin interrupt. When triggered, this will
// toggle the JTAG pins between JTAG and GPIO mode.
//
//*****************************************************************************
void
GPIOBIntHandler(void)
{
//
// Clear the GPIO interrupt.
//
ROM_GPIOPinIntClear(GPIO_PORTB_BASE, GPIO_PIN_4);
//
// Toggle the pin mode.
//
g_ulMode ^= 1;
//
// See if the pins should be in JTAG or GPIO mode.
//
if(g_ulMode == 0)
{
//
// Change PC0-3 into hardware (i.e. JTAG) pins.
//
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x01;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) |= 0x01;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x02;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) |= 0x02;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x04;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) |= 0x04;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x08;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) |= 0x08;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x00;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = 0;
//
// Turn on the LED to indicate that the pins are in JTAG mode.
//
ROM_GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_0, GPIO_PIN_0);
}
else
{
//
// Change PC0-3 into GPIO inputs.
//
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x01;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) &= 0xfe;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x02;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) &= 0xfd;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x04;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) &= 0xfb;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x08;
HWREG(GPIO_PORTC_BASE + GPIO_O_AFSEL) &= 0xf7;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTC_BASE + GPIO_O_CR) = 0x00;
HWREG(GPIO_PORTC_BASE + GPIO_O_LOCK) = 0;
ROM_GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, (GPIO_PIN_0 | GPIO_PIN_1 |
GPIO_PIN_2 | GPIO_PIN_3));
//
// Turn off the LED to indicate that the pins are in GPIO mode.
//
ROM_GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_0, 0);
}
}
