void main( void ){
TRISB = 0;
setupServos();
ADCON0bits.ADON = 1; // Turn on analog to digital converter
// ADCON2bits.ADFM = 1; // Right Justify the results
while(1){
// Setup Analog to digital conversion
ADCON0bits.GO = 1; // Start analog to digital conversion
while(ADCON0bits.GO){/*Do Nothing*/}
updateServoCCP(ADRESH-12,ADRESH-6);
}
}
int main(void) {
// Enable FPU for interrupt routines
// ROM_FPULazyStackingEnable();
// ROM_FPUEnable();
// Set clock to 80MHz
SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
// Turn off LEDs
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2|GPIO_PIN_3, 0);
// Setup buttons
ButtonsInit();
// Initialize the UART.
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_GPIOPinConfigure(GPIO_PA0_U0RX);
ROM_GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
// Setup servos and start the timer for them
setupServos();
uint16_t servoPosition = SERVO_MIN_PULSE;
// Continually check which button is pressed and move the servo position that direction
while(1) {
switch(ButtonsPoll(0, 0) & ALL_BUTTONS) {
case LEFT_BUTTON:
servoPosition -= 10;
if(servoPosition < SERVO_MIN_PULSE) {
servoPosition = SERVO_MIN_PULSE;
// Too far, blink red
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, GPIO_PIN_1);
} else {
// Valid position, blink green
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, GPIO_PIN_2);
}
break;
case RIGHT_BUTTON:
servoPosition += 10;
if(servoPosition > SERVO_MAX_PULSE) {
servoPosition = SERVO_MAX_PULSE;
// Too far, blink red
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, GPIO_PIN_1);
} else {
// Valid position, blink blue
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, GPIO_PIN_3);
}
break;
}
// Update servo positions
servoSet(servo, servoPosition);
servoSet(servo2, servoPosition);
// Wait .002s
SysCtlDelay((SysCtlClockGet() / 3) / 500);
// Turn off all LEDs
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
}
}
int main(void) {
ROM_FPUEnable();
ROM_FPULazyStackingEnable();
ROM_SysCtlClockSet(
SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
SysTickPeriodSet(SysCtlClockGet() / TICKFREQ); //tickfreq in Hz
SysTickIntEnable();
SysTickEnable();
#ifdef DEBUG
InitConsole();
#endif
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
ROM_IntMasterEnable();
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE,
GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
GPIOPinConfigure(GPIO_PC6_U3RX);
GPIOPinConfigure(GPIO_PC7_U3TX);
GPIOPinConfigure(GPIO_PB0_U1RX);
GPIOPinConfigure(GPIO_PB1_U1TX);
ROM_GPIOPinTypeUART(GPIO_PORTC_BASE,
GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);
ROM_GPIOPinTypeUART(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
ROM_UARTFIFOEnable(UART1_BASE);
ROM_UARTFIFOEnable(UART3_BASE);
ROM_UARTConfigSetExpClk(UART3_BASE, ROM_SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_UARTConfigSetExpClk(UART1_BASE, ROM_SysCtlClockGet(), 38400,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_IntEnable(INT_UART1);
ROM_UARTIntEnable(UART1_BASE, UART_INT_RX | UART_INT_RT); // ONLY recieve inturrupt
ROM_IntEnable(INT_UART3);
ROM_UARTIntEnable(UART3_BASE, UART_INT_RX | UART_INT_RT); // ONLY recieve inturrupt
I2CSetup(I2C0_MASTER_BASE, true);
setupServos();
UARTprintf("init");
nrf24l01p_init(3);
nrf24l01p_setRADDR((uint8_t *) "Boat");
nrf24l01p_setPayLoad(DATA_BUFFER_MAX);
nrf24l01p_setChannel(1);
nrf24l01p_config();
nrf24l01p_setTADDR((uint8_t *) "Base");
// nrf24l01p_send((unsigned char *) &"Init");
GPIOPortIntRegister(GPIO_PORTA_BASE, portAIntHandler);
GPIOIntTypeSet(GPIO_PORTA_BASE, GPIO_PIN_5, GPIO_FALLING_EDGE);
GPIOPinIntEnable(GPIO_PORTA_BASE, GPIO_PIN_5);
unsigned char p = 0;
nrf24l01p_readRegister(0x00, &p, 1);
UARTprintf(" ");
while (1) {
sortGPSSentence();
}
}