/*
* ======== WatchdogCC26XX_hwInit ========
* This functions initializes the Watchdog hardware module.
*
* @pre Function assumes that the Watchdog handle is pointing to a hardware
* module which has already been opened.
*/
static void WatchdogCC26XX_initHw(Watchdog_Handle handle) {
WatchdogCC26XX_Object *object;
/* get the pointer to the object and hwAttrs */
object = handle->object;
/* unlock the Watchdog configuration registers */
WatchdogUnlock();
/* make sure the Watchdog is unlocked before continuing */
while(WatchdogLockState() == WATCHDOG_LOCK_LOCKED)
{ }
WatchdogReloadSet(object->reloadValue);
#ifndef CCWARE
/* set reset mode */
if (object->resetMode == Watchdog_RESET_ON) {
WatchdogResetEnable();
}
else {
WatchdogResetDisable();
}
#endif
/* set debug stall mode */
if (object->debugStallMode == Watchdog_DEBUG_STALL_ON) {
WatchdogStallEnable();
}
else {
WatchdogStallDisable();
}
/* enable the Watchdog interrupt as a non-maskable interrupt */
WatchdogIntTypeSet(WATCHDOG_INT_TYPE_NMI);
/* enable interrupts */
WatchdogIntEnable();
/* enable the Watchdog */
WatchdogEnable();
/* lock the Watchdog configuration registers */
WatchdogLock();
}
/**********************************************************************************************
* Main
*********************************************************************************************/
void main(void) {
//After tomorrow's test flight. FOR THE LOVE OF GOD MOVE THESE INITALIZATIONS TO FUNCTIONS
/**********************************************************************************************
* Local Variables
*********************************************************************************************/
unsigned long ultrasonic = 0;
// 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();
//Set the clock speed to 80MHz aka max speed
SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
/*unsigned long test[2];
test[0] = 180;
test[1] = 10;
short bob[1];
bob[0] = ((char)test[0]<<8)|(char)test[1];
float jimmy = (short)(((char)test[0]<<8)|(char)test[1]);
jimmy /= 26;*/
/**********************************************************************************************
* Peripheral Initialization Awake
*********************************************************************************************/
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); //Turn on GPIO communication on F pins for switches
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); //Turn on GPIO for ADC
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); //Turn on GPIO for the PWM comms
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); //Turn on GPIO for LED test
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); //Turn on GPIO for UART
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0); //Turn on Timer for PWM
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1); //Turn on Timer for PWM
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2); //Turn on Timer for PWM
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER3); //Turn on Timer for PWM
SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C1); //Turn on I2C communication I2C slot 0
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART2); //Turn on the UART com
SysCtlPeripheralEnable(SYSCTL_PERIPH_WDOG); //Turn on the watchdog timer. This is a risky idea but I think it's for the best.
/**********************************************************************************************
* Peripheral Initialization Sleep
*********************************************************************************************/
/*SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOF); //This sets what peripherals are still enabled in sleep mode while UART would be nice, it would require the clock operate at full speed which is :P
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_GPIOB);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_GPIOA);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_TIMER0);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_TIMER1);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_TIMER2);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_TIMER3);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_SSI0);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_I2C1);
SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_ADC);
SysCtlPeripheralClockGating(true); //I'm not sure about this one maybe remove it
*/
/**********************************************************************************************
* PWM Initialization
*********************************************************************************************/
SysCtlDelay((SysCtlClockGet() / (1000 * 3))*100); //This shouldn't be needed will test to remove
//PWM pin Setup
//PWM 0 on GPIO PB6, PWM 1 on pin 4... etc
GPIOPinConfigure(GPIO_PB6_T0CCP0); //Pitch - yaw +
GPIOPinConfigure(GPIO_PB4_T1CCP0); //Pitch + yaw +
GPIOPinConfigure(GPIO_PB0_T2CCP0); //Roll - yaw -
GPIOPinConfigure(GPIO_PB2_T3CCP0); //Roll + yaw -
GPIOPinTypeTimer(GPIO_PORTB_BASE, (GPIO_PIN_6|GPIO_PIN_4|GPIO_PIN_0|GPIO_PIN_2));
//Prescale the timers so they are slow enough to work with the ESC
TimerPrescaleSet(TIMER0_BASE,TIMER_A,2);
TimerPrescaleSet(TIMER1_BASE,TIMER_A,2);
TimerPrescaleSet(TIMER2_BASE,TIMER_A,2);
TimerPrescaleSet(TIMER3_BASE,TIMER_A,2);
//Basic LED Out Test Not sure why this is here look into This just turns on an LED that I don't have plugged in. should remove later
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_3);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_3,0xFF);
//GPIOPinTypeGPIOOutputOD(GPIO_PORTB_BASE,GPIO_PIN_0);
//Timers Setup for PWM and the load for the countdown
TimerConfigure(TIMER0_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM);
TimerLoadSet(TIMER0_BASE, TIMER_A, ulPeriod -1);
TimerConfigure(TIMER1_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM);
TimerLoadSet(TIMER1_BASE, TIMER_A, ulPeriod -1);
TimerConfigure(TIMER2_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM);
TimerLoadSet(TIMER2_BASE, TIMER_A, (ulPeriod -1));
TimerConfigure(TIMER3_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM);
TimerLoadSet(TIMER3_BASE, TIMER_A, ulPeriod -1);
//TimerPrescaleSet(TIMER2_BASE, TIMER_A, extender1);
//TimerLoadSet(TIMER2_BASE, TIMER_A, period1);
//Set the match which is when the thing will pull high
TimerMatchSet(TIMER0_BASE, TIMER_A, 254); //Duty cycle = (1-%desired)*1000 note this means this number is percent low not percent high
TimerMatchSet(TIMER1_BASE, TIMER_A, 254);
TimerMatchSet(TIMER2_BASE, TIMER_A, 254);
TimerMatchSet(TIMER3_BASE, TIMER_A, 254);
//TimerPrescaleMatchSet(TIMER2_BASE, TIMER_A, extender2);
//TimerMatchSet(TIMER2_BASE, TIMER_A, period2);
//Enable the timers
TimerEnable(TIMER0_BASE, TIMER_A);
TimerEnable(TIMER1_BASE, TIMER_A);
TimerEnable(TIMER2_BASE, TIMER_A);
TimerEnable(TIMER3_BASE, TIMER_A);
/**********************************************************************************************
* onboard Chip interrupt Initialization
*********************************************************************************************/
//These two buttons are used to reset the bluetooth module in case of disconnection
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3); //RGB LED's
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x00);
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD; //Sw1 (PF4) is unaviable unless you make it only a GPIOF input via these commands
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0x1;
GPIOPinTypeGPIOInput(GPIO_PORTF_BASE,GPIO_PIN_0|GPIO_PIN_4); //Onboard buttons (PF0=Sw2,PF4=Sw1
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0|GPIO_PIN_4, GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU); //This will make the buttons falling edge (a press pulls them low)
//void (*functionPtr)(void) = &onBoardInteruptHandle;
GPIOPortIntRegister(GPIO_PORTF_BASE, onBoardInteruptHandle); //set function to handle interupt
GPIOIntTypeSet(GPIO_PORTF_BASE,GPIO_PIN_0|GPIO_PIN_4,GPIO_FALLING_EDGE); //Set the interrupt as falling edge
GPIOPinIntEnable(GPIO_PORTF_BASE,GPIO_PIN_0|GPIO_PIN_4); //Enable the interrupt
//IntMasterEnable();
IntEnable(INT_GPIOF);
/**********************************************************************************************
* UART Initialization
*********************************************************************************************/
//Unlock PD7
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY_DD;
HWREG(GPIO_PORTD_BASE + GPIO_O_CR) = 0x80;
GPIOPinConfigure(GPIO_PD7_U2TX); //Set PD7 as TX
GPIOPinTypeUART(GPIO_PORTD_BASE, GPIO_PIN_7);
GPIOPinConfigure(GPIO_PD6_U2RX); //Set PD6 as RX
GPIOPinTypeUART(GPIO_PORTD_BASE, GPIO_PIN_6);
UARTConfigSetExpClk(UART2_BASE,SysCtlClockGet(),115200,UART_CONFIG_WLEN_8|UART_CONFIG_STOP_ONE|UART_CONFIG_PAR_NONE); //I believe the Xbee defaults to no parity I do know it's 9600 baud though, changed to 115200 for bluetooth reasons
UARTFIFOLevelSet(UART2_BASE,UART_FIFO_TX1_8,UART_FIFO_RX1_8); //Set's how big the fifo needs to be in order to call the interrupt handler, 2byte
UARTIntRegister(UART2_BASE,Uart2IntHandler); //Regiester the interrupt handler
UARTIntClear(UART2_BASE, UART_INT_TX | UART_INT_RX); //Clear the interrupt
UARTIntEnable(UART2_BASE, UART_INT_TX | UART_INT_RX); //Enable the interrupt to trigger on both TX and RX event's. Could possibly remove TX
UARTEnable(UART2_BASE); //Enable UART
IntEnable(INT_UART2); //Second way to enable handler not sure if needed using anyway
/**********************************************************************************************
* I2C Initialization
*********************************************************************************************/
//Serious credit to the man who made the Arduino version of this. he gave me addresses and equations. Sadly Arduino obfuscates what really is happening
//Link posted on blog page
//gyro address = 0x68 not 0x69
GPIOPinConfigure(GPIO_PA7_I2C1SDA);
GPIOPinTypeI2C(GPIO_PORTA_BASE, GPIO_PIN_7); //Set GPA7 as SDA
GPIOPinConfigure(GPIO_PA6_I2C1SCL);
GPIOPinTypeI2CSCL(GPIO_PORTA_BASE, GPIO_PIN_6); //Set GPA6 as SCL
I2CMasterInitExpClk(I2C1_MASTER_BASE,SysCtlClockGet(),false); //I think it operates at 100kbps
I2CMasterEnable(I2C1_MASTER_BASE);
//Initalize the accelerometer Address = 0x53
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x02);
UARTSend(0xAB);
I2CTransmit(0x53,0x2D,0x00);
I2CTransmit(0x53,0x2D,0x10);
I2CTransmit(0x53,0x2D,0x08);
//Initalize the gyroscope Address = 0x68
I2CTransmit(0x68,0x3E,0x00);
I2CTransmit(0x68,0x15,0x07);
I2CTransmit(0x68,0x16,0x1E);
I2CTransmit(0x68,0x17,0x00);
UARTSend(0xAC);
/**********************************************************************************************
* SysTick Initialization
*********************************************************************************************/
SysTickIntRegister(SysTickIntHandler);
SysTickIntEnable();
SysTickPeriodSet((SysCtlClockGet() / (1000 * 3))*timeBetweenCalculations); //This sets the period for the delay. the last num is the num of milliseconds
SysTickEnable();
/**********************************************************************************************
* Watchdog Initialization
*********************************************************************************************/
WatchdogReloadSet(WATCHDOG_BASE, 0xFEEFEEFF); //Set the timer for a reset
WatchdogIntRegister(WATCHDOG_BASE,WatchdogIntHandler); //Enable interrupt
WatchdogIntClear(WATCHDOG_BASE);
WatchdogIntEnable(WATCHDOG_BASE);
WatchdogEnable(WATCHDOG_BASE); //Enable the actual timer
IntEnable(INT_WATCHDOG);
/**********************************************************************************************
* Preflight motor inialization maybe not necessary not going to test
*********************************************************************************************/
PWMSet(TIMER0_BASE,998);
PWMSet(TIMER1_BASE,998);
PWMSet(TIMER2_BASE,998);
PWMSet(TIMER3_BASE,998);
recievedCommands[0]=253;
SysCtlDelay((SysCtlClockGet() / (1000 * 3))*100); //Very important to ensure motor see's a start high (998 makes 0 sense but it works so shhhh don't tell anyone)
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x06);
while(1){
WatchdogReloadSet(WATCHDOG_BASE, 0xFEEFEEFF); //Feed the dog a new time
//UARTSend(recievedCommands[0]);
//SysCtlDelay(50000);
//Set 4 PWM Outputs
//Get Acc data
I2CRead(0x53,0x32,6,quadAcc); //Address blah blah 2 for each axis
rawAccToG(quadAcc,RwAcc);
/*GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x04); //Blue
//Get Gyro data
/**************************************
Gyro ITG-3200 I2C
registers:
temp MSB = 1B, temp LSB = 1C
x axis MSB = 1D, x axis LSB = 1E
y axis MSB = 1F, y axis LSB = 20
z axis MSB = 21, z axis LSB = 22
*************************************/
I2CRead(0x68,0x1B,8,quadGyro); //Address blah blah 2 for each axis + 2 for temperature. why. because why not
rawGyroToDegsec(quadGyro,Gyro_ds);
//GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x02); //Red
//Get the actual angles in XYZ. Store them in RwEst
//getInclination(RwAcc, RwEst, RwGyro, Gyro_ds, Awz);
//After this function is called RwEst will hold the roll pitch and yaw
//RwEst will be returned in PITCH, ROLL, YAW 0, 1, 2 remember this order very important. Little obvious but yaw is worthless
/*if(RwEst[1]>0.5){
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x06); //Red Blue, Correct data read in
}else{
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x0A); //Red Green, The correct data is not there
}*/
/*GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3,0x06); //Red Blue, Correct data read in
float test=RwAcc[0]*100; //These two commands work
char temp = (char)test;
//UARTSend((char)(RwAcc[0])*100); //This one does not
UARTSend(temp);
//UARTSend((char)(RwAcc[1])*100);
UARTSend(0xAA);
SysCtlDelay((SysCtlClockGet() / (1000 * 3))*1);
*/
}
}
