//*****************************************************************************
//
// 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.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Initialize the UART and write status.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
UARTprintf("\033[2JTimers example\n");
UARTprintf("T1: 0 T2: 0");
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
//
// Enable processor interrupts.
//
ROM_IntMasterEnable();
//
// Configure the two 32-bit periodic timers.
//
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, ROM_SysCtlClockGet() / 2);
//
// Setup the interrupts for the timer timeouts.
//
ROM_IntEnable(INT_TIMER0A);
ROM_IntEnable(INT_TIMER1A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the timers.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
//
// Loop forever while the timers run.
//
while(1)
{
}
}
int cppmain()
{
init();
resetMicros();
enableMessaging();
// Set up the pins
int i;
for (i = 0; i < 12; i++) pinMode(legPins[i], OUTPUT_SERVO);
pinMode(BLUE_LED, OUTPUT);
// We will use WTIMER0 for the interrupts
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_WTIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER0);
ROM_TimerConfigure(WTIMER0_BASE, (TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_PERIODIC));
// Set up the stag walking timer interrupt
ROM_TimerPrescaleSet(WTIMER0_BASE, TIMER_A, 79999); // 1 ms per tick
TimerIntRegister(WTIMER0_BASE, TIMER_A, stagInterrupt);
ROM_TimerLoadSet(WTIMER0_BASE, TIMER_A, 50); // 50 ms per cylce
ROM_TimerIntEnable(WTIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(WTIMER0_BASE, TIMER_A);
ROM_IntPrioritySet(INT_WTIMER0A, 0x20);
// Set general sensor/status interrupt
ROM_TimerPrescaleSet(WTIMER0_BASE, TIMER_B, 79999); // 1 ms per tick
TimerIntRegister(WTIMER0_BASE, TIMER_B, statusInterrupt);
ROM_TimerLoadSet(WTIMER0_BASE, TIMER_B, 500); // 500 ms per cycle
ROM_TimerIntEnable(WTIMER0_BASE, TIMER_TIMB_TIMEOUT);
ROM_TimerEnable(WTIMER0_BASE, TIMER_B);
ROM_IntPrioritySet(INT_WTIMER0A, 0x40);
uint16_t msgLength;
uint16_t msgFlags;
MessageType msgType;
// Main message handing loop
bool z = true;
while (1)
{
digitalWrite(BLUE_LED, z);
z = !z;
switch (getMessage(&msgType, &msgLength, &msgFlags, g_msgBody))
{
case 0: // Success
handleMessage(msgType, msgLength, g_msgBody);
break;
case 1: // Timeout
//sendError(TIMEOUT_ERROR);
break;
case 2: // CRC Error
sendError(CRC_ERROR);
break;
}
//delay(10000);
}
}
// Main ----------------------------------------------------------------------------------------------
int main(void){
// Enable lazy stacking
ROM_FPULazyStackingEnable();
// Set the clocking to run directly from the crystal.
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
// Initialize the UART and write status.
ConfigureUART();
UARTprintf("Timers example\n");
// Enable LEDs
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, LED_RED|LED_BLUE|LED_GREEN);
// Enable the peripherals used by this example.
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
// Enable processor interrupts.
ROM_IntMasterEnable();
// Configure the two 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_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, ROM_SysCtlClockGet()*2); // Blue should blink 2 times as much as red
ROM_TimerLoadSet(TIMER2_BASE, TIMER_A, ROM_SysCtlClockGet()*3); // Green should blink 3 times as much as red
// Setup the interrupts for the timer timeouts.
ROM_IntEnable(INT_TIMER0A);
ROM_IntEnable(INT_TIMER1A);
ROM_IntEnable(INT_TIMER2A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
// Enable the timers.
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
ROM_TimerEnable(TIMER2_BASE, TIMER_A);
// Loop forever while the timers run.
while(1){}
}
void BPMTimerSetUp()
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0); // timer 0
SysCtlDelay(3);
//
// Enable processor interrupts.
//
//IntPrioritySet(INT_TIMER0A_TM4C123, 2);
//
// Configure the two 32-bit periodic timers.
//
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet()/500);
//ROM_SysCtlClockGet()/100000
//ROM_SysCtlClockGet()/500
// Setup the interrupts for the timer timeouts.
ROM_IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the timers.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
void Timer1A_Interrupt_Init(void){
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
ROM_IntEnable(INT_TIMER1A);
}
//*****************************************************************************
//
// Initialize the IO used in this demo
//
//*****************************************************************************
void
io_init(void)
{
//
// Configure Port F0 for as an output for the status LED.
//
ROM_GPIOPinTypeGPIOOutput(LED_PORT_BASE, LED_PIN);
//
// Initialize LED to OFF (0)
//
ROM_GPIOPinWrite(LED_PORT_BASE, LED_PIN, 0);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
//
// Configure the timer used to pace the animation.
//
ROM_TimerConfigure(TIMER2_BASE, TIMER_CFG_PERIODIC);
//
// Setup the interrupts for the timer timeouts.
//
ROM_IntEnable(INT_TIMER2A);
ROM_TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
//
// Set the timer for the current animation speed. This enables the
// timer as a side effect.
//
io_set_timer(g_ulAnimSpeed);
}
void setup() {
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_FPULazyStackingEnable();
ROM_FPUEnable();
uart_setup();
sd_init();
dac_setup();
keycontrol_setup();
initConfig();
tick_setup();
soundoutcontrol_setup();
setupADC();
setupUSBStore();
initSampleBlocks();
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_IntMasterEnable();
DEBUG_PRINT("Setup complete\n", NULL);
}
// Main ----------------------------------------------------------------------------------------------
int main(void){
// Enable lazy stacking
ROM_FPULazyStackingEnable();
// Set the clocking to run directly from the crystal.
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
// Initialize the UART and write status.
ConfigureUART();
UARTprintf("--Countdown Example--\n");
// Initialize LEDs
ConfigureLEDs();
// Enable the peripherals used by this example.
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
// Enable processor interrupts.
ROM_IntMasterEnable();
// Configure the two 32-bit periodic timers.
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
ROM_TimerConfigure(TIMER2_BASE, TIMER_CFG_ONE_SHOT);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, ROM_SysCtlClockGet()/20);
ROM_TimerLoadSet(TIMER2_BASE, TIMER_A, ROM_SysCtlClockGet()/10);
// Setup the interrupts for the timer timeouts.
ROM_IntEnable(INT_TIMER0A);
ROM_IntEnable(INT_TIMER1A);
ROM_IntEnable(INT_TIMER2A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
// Enable the timers.
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
UARTprintf("Time Left: \n");
// Loop forever while the timers run.
while(1){}
}
void timerInit()
{
#if F_CPU >= 80000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 50000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 40000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 25000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_8|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 16200000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1|SYSCTL_USE_OSC|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN); //NOT PLL
#elif F_CPU >= 16100000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1|SYSCTL_USE_OSC|SYSCTL_OSC_INT|
SYSCTL_OSC_MAIN); //NOT PLL, INT OSC
#elif F_CPU >= 16000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_12_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 10000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_20|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#elif F_CPU >= 8000000
ROM_SysCtlClockSet(SYSCTL_SYSDIV_25|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#else
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
#endif
//
// SysTick is used for delay() and delayMicroseconds()
//
// ROM_SysTickPeriodSet(0x00FFFFFF);
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / TICKS_PER_SECOND);
ROM_SysTickEnable();
//
//Initialize Timer5 to be used as time-tracker since beginning of time
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER5); //not tied to launchpad pin
ROM_TimerConfigure(TIMER5_BASE, TIMER_CFG_PERIODIC_UP);
ROM_TimerLoadSet(TIMER5_BASE, TIMER_A, ROM_SysCtlClockGet()/1000);
ROM_IntEnable(INT_TIMER5A);
ROM_TimerIntEnable(TIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER5_BASE, TIMER_A);
ROM_IntMasterEnable();
}
// Start the timers and interrupt frequency
void servoStart(void) {
ROM_SysCtlPeripheralEnable(SERVO_TIMER_PERIPH);
ROM_IntMasterEnable();
ROM_TimerConfigure(SERVO_TIMER, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, (ROM_SysCtlClockGet() / 1000000) * SERVO_TIMER_RESOLUTION);
ROM_IntEnable(SERVO_TIMER_INTERRUPT);
ROM_TimerIntEnable(SERVO_TIMER, SERVO_TIMER_TRIGGER);
ROM_TimerEnable(SERVO_TIMER, SERVO_TIMER_A);
}
void delay(unsigned long nTime) {
ROM_TimerLoadSet(WTIMER5_BASE, TIMER_A, nTime * 10);
ROM_TimerIntEnable(WTIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(WTIMER5_BASE, TIMER_A);
ROM_SysCtlSleep();
ROM_TimerIntDisable(WTIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerDisable(WTIMER5_BASE, TIMER_A);
}
//*****************************************************************************
//
//! Initializes the sound driver.
//!
//! \param ui32SysClock is the frequency of the system clock.
//!
//! This function initializes the sound driver, preparing it to output sound
//! data to the speaker.
//!
//! The system clock should be as high as possible; lower clock rates reduces
//! the quality of the produced sound. For the best quality sound, the system
//! should be clocked at 120 MHz.
//!
//! \note In order for the sound driver to function properly, the sound driver
//! interrupt handler (SoundIntHandler()) must be installed into the vector
//! table for the timer 5 subtimer A interrupt.
//!
//! \return None.
//
//*****************************************************************************
void
SoundInit(uint32_t ui32SysClock)
{
//
// Enable the peripherals used by the sound driver.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER5);
//
// Compute the PWM period based on the system clock.
//
g_sSoundState.ui32Period = ui32SysClock / 64000;
//
// Set the default volume.
//
g_sSoundState.i32Volume = 255;
//
// Configure the timer to run in PWM mode.
//
if((HWREG(TIMER5_BASE + TIMER_O_CTL) & TIMER_CTL_TBEN) == 0)
{
ROM_TimerConfigure(TIMER5_BASE, (TIMER_CFG_SPLIT_PAIR |
TIMER_CFG_A_PWM |
TIMER_CFG_B_PERIODIC));
}
ROM_TimerLoadSet(TIMER5_BASE, TIMER_A, g_sSoundState.ui32Period - 1);
ROM_TimerMatchSet(TIMER5_BASE, TIMER_A, g_sSoundState.ui32Period);
ROM_TimerControlLevel(TIMER5_BASE, TIMER_A, true);
//
// Update the timer values on timeouts and not immediately.
//
TimerUpdateMode(TIMER5_BASE, TIMER_A, TIMER_UP_LOAD_TIMEOUT |
TIMER_UP_MATCH_TIMEOUT);
//
// Configure the timer to generate an interrupt at every time-out event.
//
ROM_TimerIntEnable(TIMER5_BASE, TIMER_CAPA_EVENT);
//
// Enable the timer. At this point, the timer generates an interrupt
// every 15.625 us.
//
ROM_TimerEnable(TIMER5_BASE, TIMER_A);
ROM_IntEnable(INT_TIMER5A);
//
// Clear the sound flags.
//
g_sSoundState.ui32Flags = 0;
}
void initializeTimer(void)
{
timerSeconds = 0;
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
// invoke timer once a second
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
ServoClass::ServoClass()
{
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|
SYSCTL_OSC_MAIN);
// Initialize variables of the class
g_ulPeriod = 0;
for(int il_iter = 0; il_iter < SERVOS_PER_TIMER; il_iter++)
{
g_ulServoPins[il_iter] = INVALID_SERVO_PIN;
g_ulServoPulse[il_iter] = DEFAULT_SERVO_PULSE_WIDTH;
}
g_iServoNo = 0;
g_ulPulseWidth = 0;
g_ulTicksPerMicrosecond = 0;
setRefresh();
// for(int il_iter = 0; il_iter < SERVOS_PER_TIMER; il_iter++)
// {
// if (g_ulServoPins[il_iter] != INVALID_SERVO_PIN)
// {
// pinMode(g_ulServoPins[il_iter], OUTPUT);
// digitalWrite(g_ulServoPins[il_iter], LOW);
// }
// }
// Enable TIMER
ROM_SysCtlPeripheralEnable(SERVO_TIMER_PERIPH);
// Enable processor interrupts.
ROM_IntMasterEnable();
// Configure the TIMER
ROM_TimerConfigure(SERVO_TIMER, SERVO_TIME_CFG);
// Calculate the number of timer counts/microsecond
g_ulTicksPerMicrosecond = ROM_SysCtlClockGet() / 1000000;
g_ulPeriod = g_ulTicksPerMicrosecond * REFRESH_INTERVAL; // 20ms = Standard Servo refresh delay
// Initially load the timer with 20ms interval time
ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, g_ulPeriod);
// Setup the interrupt for the TIMER1A timeout.
ROM_IntEnable(SERVO_TIMER_INTERRUPT);
ROM_TimerIntEnable(SERVO_TIMER, SERVO_TIMER_TRIGGER);
// Enable the timer.
ROM_TimerEnable(SERVO_TIMER, SERVO_TIMER_A);
}
//*****************************************************************************
//
//! Initializes the Timer and GPIO functionality associated with the RGB LED
//!
//! \param ui32Enable enables RGB immediately if set.
//!
//! This function must be called during application initialization to
//! configure the GPIO pins to which the LEDs are attached. It enables
//! the port used by the LEDs and configures each color's Timer. It optionally
//! enables the RGB LED by configuring the GPIO pins and starting the timers.
//!
//! \return None.
//
//*****************************************************************************
void
RGBInit(uint32_t ui32Enable)
{
//
// Enable the GPIO Port and Timer for each LED
//
ROM_SysCtlPeripheralEnable(RED_GPIO_PERIPH);
ROM_SysCtlPeripheralEnable(RED_TIMER_PERIPH);
ROM_SysCtlPeripheralEnable(GREEN_GPIO_PERIPH);
ROM_SysCtlPeripheralEnable(GREEN_TIMER_PERIPH);
ROM_SysCtlPeripheralEnable(BLUE_GPIO_PERIPH);
ROM_SysCtlPeripheralEnable(BLUE_TIMER_PERIPH);
//
// Configure each timer for output mode
//
HWREG(GREEN_TIMER_BASE + TIMER_O_CFG) = 0x04;
HWREG(GREEN_TIMER_BASE + TIMER_O_TAMR) = 0x0A;
HWREG(GREEN_TIMER_BASE + TIMER_O_TAILR) = 0xFFFF;
HWREG(BLUE_TIMER_BASE + TIMER_O_CFG) = 0x04;
HWREG(BLUE_TIMER_BASE + TIMER_O_TBMR) = 0x0A;
HWREG(BLUE_TIMER_BASE + TIMER_O_TBILR) = 0xFFFF;
HWREG(RED_TIMER_BASE + TIMER_O_CFG) = 0x04;
HWREG(RED_TIMER_BASE + TIMER_O_TBMR) = 0x0A;
HWREG(RED_TIMER_BASE + TIMER_O_TBILR) = 0xFFFF;
//
// Invert the output signals.
//
HWREG(RED_TIMER_BASE + TIMER_O_CTL) |= 0x4000;
HWREG(GREEN_TIMER_BASE + TIMER_O_CTL) |= 0x40;
HWREG(BLUE_TIMER_BASE + TIMER_O_CTL) |= 0x4000;
if(ui32Enable)
{
RGBEnable();
}
//
// Setup the blink functionality
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_WTIMER5);
ROM_TimerConfigure(WTIMER5_BASE, TIMER_CFG_B_PERIODIC | TIMER_CFG_SPLIT_PAIR);
ROM_TimerLoadSet64(WTIMER5_BASE, 0xFFFFFFFFFFFFFFFF);
ROM_IntEnable(INT_WTIMER5B);
ROM_TimerIntEnable(WTIMER5_BASE, TIMER_TIMB_TIMEOUT);
}
//函数创建区
//----------------------------------------Start-------------------------------------------
void Init_Timer()
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet()/100);//10ms周期中断,由100决定 如果为1为1s定时
GPIOIntRegister(INT_TIMER0A, Timer0AIntHandler);
ROM_IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_IntMasterEnable();
}
/*---------------------------------------------------------------------------*/
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 delay(uint32_t nTime)
{
ROM_TimerLoadSet(WTIMER5_BASE, TIMER_A, nTime * 10);
ROM_TimerIntEnable(WTIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(WTIMER5_BASE, TIMER_A);
ROM_SysCtlSleep();
// Make sure the timer finished, go back to sleep if it didn't
// (Another interrupt may have woken up the system)
while (ROM_TimerValueGet(WTIMER5_BASE, TIMER_A) != nTime * 10)
ROM_SysCtlSleep();
ROM_TimerIntDisable(WTIMER5_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerDisable(WTIMER5_BASE, TIMER_A);
}
void initTimer0(int interval, gyro *G){
//
// 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.
//
ROM_FPULazyStackingEnable();
volatile int tick = 0;
tick = (ROM_SysCtlClockGet() / 1000) * interval;
//
// Enable the GPIO port that is used for the on-board LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable the GPIO pins for the LED (PF1 & PF2).
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2 | GPIO_PIN_1);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
//
// Configure the two 32-bit periodic timers.
//
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
/// imposta il time_out
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, tick);
G->tick = (float) interval / 1000;
//
// Setup the interrupts for the timer timeouts.
//
ROM_IntEnable(INT_TIMER0A);
//ROM_IntEnable(INT_TIMER1A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the timers.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
/**
Configures timer.
@see timers example in EK-LM4F120XL StellarisWare package
@note On the LM4F120XL, there are 16/32 bit timers or "wide" timers featuring 32/64bit. We use a standard timer.
@param seconds period of the timer. Maximum is 0xFFFFFFFF / SysCtlClockGet(); or about 171 sec if using 25MHz main clock
@return 0 if success; -1 if illegal parameter
*/
int16_t initTimer(uint8_t seconds)
{
#define TIMER_MAX_SECONDS (0xFFFFFFFF / SysCtlClockGet())
if ((seconds > TIMER_MAX_SECONDS) || (seconds == 0))
return -1;
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
ROM_TimerConfigure(TIMER2_BASE, TIMER_CFG_PERIODIC); // Full width (32 bit for Timer 2) periodic timer
ROM_TimerLoadSet(TIMER2_BASE, TIMER_A, (ROM_SysCtlClockGet() * seconds)); // for once per second
ROM_IntEnable(INT_TIMER2A);
ROM_TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER2_BASE, TIMER_A);
return 0;
}
void init_Timer1B(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_B_PERIODIC);
ROM_TimerLoadSet(TIMER1_BASE, TIMER_B, ROM_SysCtlClockGet() / 2000);
ROM_IntMasterEnable();
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMB_TIMEOUT);
ROM_IntEnable(INT_TIMER1B);
timeCounter = 0;
ROM_TimerEnable(TIMER1_BASE, TIMER_B);
}
void delay(unsigned int milli)
{
delay_count = milli;
if (delay_count > 50000)
{
milli = 50000;
delay_count -= milli;
} else
{
milli = delay_count;
delay_count = 0;
}
// 80000000 ticks/s = 80000 ticks/ms7
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, milli*80000);
delay_stat = DELAY_RUNNING;
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
}
void OneMsTaskTimer::start(uint32_t timer_index) {
uint32_t load = (F_CPU / 1000);
//// !!!! count = 0;
overflowing = 0;
// Base address for first timer
g_ulBase = getTimerBase(timerToOffset(timer_index));
timerAB = TIMER_A << timerToAB(timer_index);
//Setup interrupts for duration, interrupting at 1kHz
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0+ timer_index);
ROM_IntMasterEnable();
ROM_TimerConfigure(g_ulBase, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(g_ulBase, TIMER_A, F_CPU/1000);
// Setup the interrupts for the timer timeouts.
TimerIntRegister(g_ulBase, TIMER_A, OneMsTaskTimer_int);
ROM_IntEnable(INT_TIMER0A+timer_index);
ROM_TimerIntEnable(g_ulBase, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(g_ulBase, TIMER_A);
}
//------------------------------------ Timer init ---------------------------------
void ir_timer_init(void) {
// The Timer0 peripheral must be enabled for use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
//
// The Timer0 peripheral must be enabled for use.
// When configured for a pair of half-width timers, each timer is separately configured.
//
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_ONE_SHOT);
// Calculate the number of timer counts/microsecond
ulCountsPerMicrosecond = ROM_SysCtlClockGet() / 10000;
// 0.10ms = timeout delay
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ulCountsPerMicrosecond);
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
TimerIntRegister(TIMER0_BASE, TIMER_A, Timer0AIntHandler );
//
// Configure the Timer0 interrupt for timer timeout.
//
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//
// Enable the Timer0 interrupt on the processor (NVIC).
//
ROM_IntEnable(INT_TIMER0A);
gulTicks = 0;
//
// Enable Timer0A.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
}
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);
}
void throttleHome()
{
uint8_t msg[3];
int i;
if (!LIMIT_SW_THROTTLE_DOWN_ON)
{
ROM_TimerIntDisable(WTIMER2_BASE, TIMER_CAPB_EVENT);//disable manual mode
msg[0] = START_BYTE;
msg[1] = HOME_CMD;
msg[2] = 0;
for (i=0;i<3;i++)
ROM_UARTCharPut(UART_THROTTLE,msg[i]);
ROM_TimerLoadSet(TIMER2_BASE, TIMER_A,ROM_SysCtlClockGet()*5);
ROM_TimerEnable(TIMER2_BASE, TIMER_A);
while ((!LIMIT_SW_THROTTLE_DOWN_ON) && (!flagTimeout));
ROM_TimerIntEnable(WTIMER2_BASE, TIMER_CAPB_EVENT);
}
}
void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
{
uint8_t port = digitalPinToPort(_pin);
if (port == NOT_A_PORT) return;
if (tone_state == 0 || _pin == current_pin) {
//Setup PWM
current_pin = _pin;
tone_timer = digitalPinToTimer(_pin);
uint32_t timerBase = getTimerBase(timerToOffset(tone_timer));
tone_state = 1;
g_duration = duration;
PWMWrite(_pin, 256, 128, frequency);
//Setup interrupts for duration, interrupting at 1kHz
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER4);
ROM_IntMasterEnable();
ROM_TimerConfigure(TIMER4_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER4_BASE, TIMER_A, ROM_SysCtlClockGet()/1000);
ROM_IntEnable(INT_TIMER4A);
ROM_TimerIntEnable(TIMER4_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER4_BASE, TIMER_A);
}
}
int main()
{
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, LED_BLUE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_IntMasterEnable();
ROM_TimerDisable(TIMER0_BASE, TIMER_A);
ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet());
ROM_IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
TimerIntRegister(TIMER0_BASE, TIMER_A, Timer0AIntHandler);
ROM_GPIOPinWrite(GPIO_PORTF_BASE, LED_BLUE, led_value);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
while(1)
{}
}
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;
}
//*****************************************************************************
//
// This example demonstrates how to send a string of data to the UART.
//
//*****************************************************************************
int
main(void)
{
//
// Set the clocking to run at 80 MHz from the PLL.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
//
// Compute the bit time for 115,200 baud.
//
g_ulBitTime = (ROM_SysCtlClockGet() / 115200) - 1;
//
// Configure the SoftUART for 8-N-1 operation.
//
SoftUARTInit(&g_sUART);
SoftUARTRxGPIOSet(&g_sUART, GPIO_PORTA_BASE, GPIO_PIN_0);
SoftUARTTxGPIOSet(&g_sUART, GPIO_PORTA_BASE, GPIO_PIN_1);
SoftUARTRxBufferSet(&g_sUART, g_pusRxBuffer,
sizeof(g_pusRxBuffer) / sizeof(g_pusRxBuffer[0]));
SoftUARTTxBufferSet(&g_sUART, g_pucTxBuffer, sizeof(g_pucTxBuffer));
SoftUARTCallbackSet(&g_sUART, SoftUARTIntHandler);
SoftUARTConfigSet(&g_sUART,
(SOFTUART_CONFIG_WLEN_8 | SOFTUART_CONFIG_STOP_ONE |
SOFTUART_CONFIG_PAR_NONE));
//
// Configure the timer for the SoftUART transmitter.
//
ROM_TimerConfigure(TIMER0_BASE,
(TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PERIODIC |
TIMER_CFG_B_PERIODIC));
ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, g_ulBitTime);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT | TIMER_TIMB_TIMEOUT);
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
//
// Set the priorities of the interrupts associated with the SoftUART. The
// receiver is higher priority than the transmitter, and the receiver edge
// interrupt is higher priority than the receiver timer interrupt.
//
ROM_IntPrioritySet(INT_GPIOA, 0x00);
ROM_IntPrioritySet(INT_TIMER0B, 0x40);
ROM_IntPrioritySet(INT_TIMER0A, 0x80);
//
// Enable the interrupts associated with the SoftUART.
//
ROM_IntEnable(INT_TIMER0A);
ROM_IntEnable(INT_TIMER0B);
ROM_IntEnable(INT_GPIOA);
//
// Prompt for text to be entered.
//
UARTSend((unsigned char *)"\033[2JEnter text: ", 16);
//
// Enable the SoftUART interrupt.
//
SoftUARTIntEnable(&g_sUART, SOFTUART_INT_RX | SOFTUART_INT_RT);
//
// Loop forever echoing data through the UART.
//
while(1)
{
//
// Wait until there are characters available in the receive buffer.
//
while(g_ulFlag == 0)
{
}
g_ulFlag = 0;
//
// Loop while there are characters in the receive buffer.
//
while(SoftUARTCharsAvail(&g_sUART))
{
//
// Read the next character from the UART and write it back to the
// UART.
//
SoftUARTCharPutNonBlocking(&g_sUART,
SoftUARTCharGetNonBlocking(&g_sUART));
}
}
}
