int32_t main(void)
{
g_ui32SysClock = ROM_SysCtlClockFreqSet(SYSCTL_USE_PLL | SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_CFG_VCO_480, 120000000);
// Reset index for FFT data
inputIndex = 0;
MAP_FPULazyStackingEnable();
MAP_FPUEnable();
// Set up ADC sampling and interrupt
configureADC();
while(1); /* main function does not return */
}
void main(void)
{
unsigned char RIGHTCTRL = 3;
unsigned char LEFTCTRL = 3;
unsigned char UPCTRL = 0;
unsigned char LEDCTRL = 0;
volatile unsigned char state = 1;
configureMSP430();
configureAIR();
configureADC();
while(1)
{
switch(state)
{
case 1:
LEFTCTRL = readLeftJoystick();
state = 2;
break;
case 2:
RIGHTCTRL = readRightJoystick();
state = 3;
break;
case 3:
UPCTRL = readUpDown();
state = 4;
break;
case 4:
LEDCTRL = readLED(LEDCTRL);
state = 5;
break;
case 5:
runTX(LEFTCTRL, RIGHTCTRL, UPCTRL, LEDCTRL);
state = 1;
break;
}
}
}
//*****************************************************************************
//
// This example application demonstrates the use of the timers to generate
// periodic interrupts.
//
//*****************************************************************************
int
main(void)
{
//
// Set the clocking to run directly from the crystal at 120MHz.
//
g_ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN |
SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_480), 120000000);
// Setup for ultrasonic ranger
//
// Enable GPIO M
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOM);
//
// Enable GPIO pin for timer event capture (M4).
//
ROM_GPIOPinTypeTimer(GPIO_PORTM_BASE, GPIO_PIN_4);
//
// Configure 7 segment display gpio pins
//
sevenSegSetup();
//
// Initialize timer for distance pulse measurement.
//
ConfigureDistancePulseTimer();
ROM_FPULazyStackingEnable(); //Enable lazy stacking for faster FPU performance
ROM_FPUEnable(); //Enable FPU
TimerACount = 0;
TimerBCount = 0;
TimerCCount = 0;
TimerDCount = 0;
g_temp_index = 0;
g_prox_index = 0;
g_light_index = 0;
//
// Initialize the UART and write status.
//
ConfigureUART();
UARTprintf("\033[2J"); //Clear screen
//UARTprintf("\033[2JFinal Project Timers Example\n");
configureADC();
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0); //Real Time Clock
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1); //Temperature
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2); //Proximity
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER3); //Light
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER5); //Timer5 is used to measure the leading edge pulses from the signal generator
// Enable the A peripheral used by the Timer3 pin PA6, PA7
// Enable the B peripheral used by the Timer5 pin PB2, PB3
// ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); //Enable GPIO A
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); //Enable GPIO B
//Configure the pins for its Timer functionality
ROM_GPIOPinTypeTimer(GPIO_PORTB_BASE, GPIO_PIN_2); //Enable Timer5 on PB2
//Configures the alternate function of a GPIO pin for Timer5
ROM_GPIOPinConfigure(GPIO_PB2_T5CCP0);
//
// Enable processor interrupts.
//
ROM_IntMasterEnable();
//
// Configure the four 32-bit periodic timers.
//
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER2_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER3_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER5_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_CAP_COUNT); // Timer5
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, g_ui32SysClock / 10); //RTC 100ms
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, g_ui32SysClock / 5); //Temp 200ms
ROM_TimerLoadSet(TIMER2_BASE, TIMER_A, g_ui32SysClock / 2); //Proximity 500ms
ROM_TimerLoadSet(TIMER3_BASE, TIMER_A, g_ui32SysClock / 10); //Light 100ms
ROM_TimerLoadSet(TIMER5_BASE, TIMER_A, 65000); // Timer5
//Configure the signal edges that triggers the timer when in capture mode
ROM_TimerControlEvent(TIMER5_BASE, TIMER_A, TIMER_EVENT_POS_EDGE);
//
// Setup the interrupts for the timer timeouts.
//
ROM_IntEnable(INT_TIMER0A); //RTC
ROM_IntEnable(INT_TIMER1A); //Temp
ROM_IntEnable(INT_TIMER2A); //Proximity
ROM_IntEnable(INT_TIMER3A); //Light
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT); //RTC
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT); //Temp
ROM_TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT); //Proximity
ROM_TimerIntEnable(TIMER3_BASE, TIMER_TIMA_TIMEOUT); //Light
//
// Enable the timers.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A); //RTC
ROM_TimerEnable(TIMER1_BASE, TIMER_A); //Temp
ROM_TimerEnable(TIMER2_BASE, TIMER_A); //Proximity
ROM_TimerEnable(TIMER3_BASE, TIMER_A); //Light
ROM_TimerEnable(TIMER5_BASE, TIMER_A); //Timer5
//
// Loop forever while the timers run.
//
while(1)
{
//Process data (Busy-Wait Loop)
//If a flag hasn't been set by the interrupt the calc functions will simply exit
//For performance it makes more sense to check flags here instead of at the beginning of the functions
calcTemp(); //Calculates Temperature reading
calcProx(); //Calculates Proximity reading
calcLight(); //Calculates Light reading
UARTSendData(); //Sends read data through UART
}
}
