void delay_init()
{
//configure timer1 for one shot intervals and assign interrupt routine
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
ROM_TimerConfigure(TIMER1_BASE,TIMER_CFG_ONE_SHOT);
ROM_TimerControlStall(TIMER1_BASE, TIMER_A, true);
TimerIntRegister(TIMER1_BASE, TIMER_A, delay_isr);
}
void ping0InitPeriph( void ) {
//
// Disable timer and set parameters
//
ROM_TimerDisable( TIMER_BASE_PING0, TIMER_PING0 );
ROM_TimerPrescaleSet( TIMER_BASE_PING0, TIMER_PING0, 0 );
ROM_TimerPrescaleMatchSet( TIMER_BASE_PING0, TIMER_PING0, 0 );
ROM_TimerControlStall( TIMER_BASE_PING0, TIMER_PING0, false );
IntPrioritySet( TIMER_INT_PING0, 0x40 ); // set to a middle priority group
//
// Register inerrupt
//
TimerIntRegister( TIMER_BASE_PING0, TIMER_PING0, &ping0Int );
}
void motor_init()
{
unsigned long timer;
//configure timer0 for one shot intervals and assign interrupt routine
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_TimerConfigure(TIMER0_BASE,TIMER_CFG_ONE_SHOT);
ROM_TimerControlStall(TIMER0_BASE, TIMER_A, true);
TimerIntRegister(TIMER0_BASE, TIMER_A, Timer0A_ISR);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//setup RGB led outputs.
ROM_SysCtlPeripheralEnable(LED_PERIPH);
ROM_GPIOPinTypeGPIOOutput(LED_PORT, LED_R | LED_G | LED_B );
//enable peripherals used for motor
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//set motor pins to outputs
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, MOTOR_PORTA_PINS );
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, MOTOR_PORTB_PINS );
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, MOTOR_PORTD_PINS );
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, MOTOR_PORTE_PINS );
//make sure motors are disabled and step pins are low
motor_disable();
motor_unstep();
//start the timer. the ISR will run at the minimum rate
//interval until there is a block to execute.
timer=calculate_timer(MIN_STEP_RATE);
ROM_TimerLoadSet(TIMER0_BASE,TIMER_A, timer);
ROM_TimerEnable(TIMER0_BASE,TIMER_A);
}
