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main.c
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main.c
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/*
//---------------------------------------------------------------------------------
// Project: Blink TM4C BIOS Using Hwi (STARTER)
// Author: Eric Wilbur
// Date: June 2014
//
// Note: The function call TimerIntClear(TIMER2_BASE, TIMER_TIMA_TIMEOUT) HAS
// to be in the ISR. This fxn clears the TIMER's interrupt flag coming
// from the peripheral - it does NOT clear the CPU interrupt flag - that
// is done by hardware. The author struggled figuring this part out - hence
// the note. And, in the Swi lab, this fxn must be placed in the
// Timer_ISR fxn because it will be the new ISR.
//
// Follow these steps to create this project in CCSv6.0:
// 1. Project -> New CCS Project
// 2. Select Template:
// - TI-RTOS for Tiva-C -> Driver Examples -> EK-TM4C123 LP -> Example Projects ->
// Empty Project
// - Empty Project contains full instrumentation (UIA, RTOS Analyzer) and
// paths set up for the TI-RTOS version of MSP430Ware
// 3. Delete the following files:
// - Board.h, empty.c, EK_TM4C123GXL.c/h, empty_readme.txt
// 4. Add main.c from TI-RTOS Workshop Solution file for this lab
// 5. Edit empty.cfg as needed (to add/subtract) BIOS services, delete given Task
// 6. Build, load, run...
//----------------------------------------------------------------------------------
//---------------------------------------------------------------------
//Led Toggle with UART NON RTOS
//---------------------------------------------------------------------
//----------------------------------------
// BIOS header files
//----------------------------------------
#include <xdc/std.h> //mandatory - have to include first, for BIOS types
#include <ti/sysbios/BIOS.h> //mandatory - if you call APIs like BIOS_start()
#include <xdc/runtime/Log.h> //needed for any Log_info() call
#include <xdc/cfg/global.h> //header file for statically defined objects/handles
//------------------------------------------
// TivaWare Header Files
//------------------------------------------
#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_types.h"
#include "inc/hw_memmap.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "inc/hw_ints.h"
#include "driverlib/interrupt.h"
#include "driverlib/timer.h"
//----------------------------------------
// Prototypes
//----------------------------------------
void hardware_init(void);
void ledToggle(void);
void delay(void);
//---------------------------------------
// Globals
//---------------------------------------
volatile int16_t i16ToggleCount = 0;
//---------------------------------------------------------------------------
// main()
//---------------------------------------------------------------------------
void main(void)
{
hardware_init(); // init hardware via Xware
BIOS_start();
}
//---------------------------------------------------------------------------
// hardware_init()
//
// inits GPIO pins for toggling the LED
//---------------------------------------------------------------------------
void hardware_init(void)
{
uint32_t ui32Period;
//Set CPU Clock to 40MHz. 400MHz PLL/2 = 200 DIV 5 = 40MHz
SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
// ADD Tiva-C GPIO setup - enables port, sets pins 1-3 (RGB) pins for output
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
// Turn on the LED
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 4);
// Timer 2 setup code
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2); // enable Timer 2 periph clks
TimerConfigure(TIMER2_BASE, TIMER_CFG_PERIODIC); // cfg Timer 2 mode - periodic
ui32Period = (SysCtlClockGet() /2); // period = CPU clk div 2 (500ms)
TimerLoadSet(TIMER2_BASE, TIMER_A, ui32Period); // set Timer 2 period
TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT); // enables Timer 2 to interrupt CPU
TimerEnable(TIMER2_BASE, TIMER_A); // enable Timer 2
}
//---------------------------------------------------------------------------
// ledToggle()
//
// toggles LED on Tiva-C LaunchPad
//---------------------------------------------------------------------------
void ledToggle(void)
{
TimerIntClear(TIMER2_BASE, TIMER_TIMA_TIMEOUT); // must clear timer flag FROM timer
// LED values - 2=RED, 4=BLUE, 8=GREEN
if(GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_2))
{
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
}
else
{
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 8|4|2);
}
//delay(); // create a delay of ~1/2sec
i16ToggleCount += 1; // keep track of #toggles
Log_info1("LED TOGGLED [%u] TIMES",i16ToggleCount); // send toggle count to UIA
}
//---------------------------------------------------------------------------
// delay()
//
// Creates a 500ms delay via TivaWare fxn
//---------------------------------------------------------------------------
void delay(void)
{
SysCtlDelay(6700000); // creates ~500ms delay - TivaWare fxn
}
*/
/*
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "inc/hw_ints.h"
#include "driverlib/interrupt.h"
#include <string.h>
void writeStringToUart1(char* str);
void hard_initB();
void ledToggle();
volatile int16_t i16ToggleCount=0;
int main(void) {
hard_initB();
writeStringToUart1("Let's Talk: \n");
char *f= (char*)malloc(200);
int i = 0;
//int done=0;
while (1)
{
while(UARTCharsAvail(UART1_BASE) )
{
char x = UARTCharGet(UART1_BASE);
if(x==10 || x==13)
{
if(f[i-2]=='L' && f[i-1]=='o'){ledToggle();i16ToggleCount++;}
if(f[i-2]=='o' && f[i-1]=='f'){GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);}
UARTCharPut(UART1_BASE, '\n');
UARTCharPut(UART1_BASE, '\r');
writeStringToUart1("You just said");
UARTCharPut(UART1_BASE, '\n');
UARTCharPut(UART1_BASE, '\r');
UARTCharPut(UART1_BASE, '\t');
writeStringToUart1(f);
UARTCharPut(UART1_BASE, '\n');
UARTCharPut(UART1_BASE, '\r');
writeStringToUart1("Let's Talk: \n\r");
}
UARTCharPut(UART1_BASE,x);
f[i]=x;
i++;
}
}
}
void ledToggle(void)
{
// LED values - 2=RED, 4=BLUE, 8=GREEN
if(i16ToggleCount%3==0)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 2);
if(i16ToggleCount%3==1)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 4);
if(i16ToggleCount%3==2)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 8);
}
void hard_initB(){
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
//
// Enable Peripheral Clocks
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
//
// Enable port PC4 for UART1 U1RX
//
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_4);
GPIOPinConfigure(GPIO_PC4_U1RX);
//
// Enable port PC5 for UART1 U1TX
//
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_5);
GPIOPinConfigure(GPIO_PC5_U1TX);
//
UARTConfigSetExpClk(UART1_BASE, SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
}
void writeStringToUart1(char* str) //write a string to Uart0
{
int i;
for (i = 0; i < strlen(str); i++)
UARTCharPut(UART1_BASE,str[i]);
}
*/
/*
//----------------------------------------
// BIOS header files
//----------------------------------------
#include <xdc/std.h> //mandatory - have to include first, for BIOS types
#include <ti/sysbios/BIOS.h> //mandatory - if you call APIs like BIOS_start()
#include <xdc/runtime/Log.h> //needed for any Log_info() call
#include <xdc/cfg/global.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/gpio.h"
#include "inc/hw_gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "inc/hw_ints.h"
#include "driverlib/pwm.h"
#include "driverlib/interrupt.h"
#include <string.h>
#include "driverlib/adc.h"
#include "inc/hw_adc.h"
void writeStringToUart1(char* str);
void hard_initB();
void ledToggle();
void uart1int();
void motorMove(unsigned long leftPower, unsigned long rightPower, int dir);
void motorStop();
void distRight();
void distFront();
volatile int16_t i16ToggleCount=0;
int count = 0;
char comms[200];
int main(void) {
hard_initB();
memset(comms,'\0',sizeof(comms));
GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6|GPIO_PIN_7, 0b10000000|0b01000000);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0b00001110);
writeStringToUart1("Let's Talk: \n\r\t");
BIOS_start();
}
void uart1int(void){
uint32_t ui32Status;
ui32Status = UARTIntStatus(UART1_BASE, true); //get interrupt status
UARTIntClear(UART1_BASE, ui32Status);
while(UARTCharsAvail(UART1_BASE) ) {
char x = UARTCharGetNonBlocking(UART1_BASE);
if(x == 10 || x == 13){
if(comms[count-2]=='L' && comms[count-1]=='o') {
ledToggle();
i16ToggleCount++;
}
if(comms[count-2]=='b' && comms[count-1]=='b') {
motorMove(200,200,1);
}
if(comms[count-2]=='f' && comms[count-1]=='f') {
motorMove(200,200,0);
}
if(comms[count-2]=='s' && comms[count-1]=='s') {
motorStop();
}
if(comms[count-2]=='o' && comms[count-1]=='f')
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
if(comms[count-2]=='d' && comms[count-1]=='r') {
distRight();
}
if(comms[count-2]=='d' && comms[count-1]=='f') {
distFront();
}
UARTCharPutNonBlocking(UART1_BASE, '\n');
UARTCharPutNonBlocking(UART1_BASE, '\r');
writeStringToUart1("You just said");
UARTCharPutNonBlocking(UART1_BASE, ' ');
writeStringToUart1(comms);
writeStringToUart1("\n\rLet's Talk: \n\r\t");
count = 0;
memset(comms,'\0',sizeof(comms));
break;
}
UARTCharPutNonBlocking(UART1_BASE,x);
comms[count] = x;
count++;
}
}
void ledToggle(void)
{
// LED values - 2=RED, 4=BLUE, 8=GREEN
if(i16ToggleCount%3==0)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 2);
if(i16ToggleCount%3==1)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 4);
if(i16ToggleCount%3==2)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 8);
}
void motorMove(unsigned long leftPower, unsigned long rightPower, int dir){
PWMOutputState (PWM1_BASE, PWM_OUT_3_BIT | PWM_OUT_2_BIT, true);
if( dir ) {//if direction is forward
GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, 0b01000000);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0b00001110);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2,leftPower);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_3,rightPower);
}
else {
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, 0);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2,leftPower);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_3,rightPower);
}
}
void motorStop(){
PWMOutputState (PWM1_BASE, PWM_OUT_3_BIT | PWM_OUT_2_BIT, false);
}
void hard_initB() {
//SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ); old code
//
// Enable Peripheral Clocks
//
//Set the clock
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
//This marks the beginning of the ADC Configuration
//enable ADC0 or ADC1 peripheral
//Reset to Apply changes
//Disable the sequencer of ADC0, sequencer 3(one sample)
//ADCSequenceDisable(ADC0_BASE,3); //problem fuctioon
//Configure PWM Clock to match system
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
SysCtlPeripheralReset(SYSCTL_PERIPH_ADC0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1); //enable PWM module 1
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3); //Enable GPIO output
GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6|GPIO_PIN_7); //Enable GPIO pins PB6 and PB7
//enable PWM pins PA6 and PA7
GPIOPinTypePWM(GPIO_PORTA_BASE, GPIO_PIN_6 | GPIO_PIN_7);
//Configure PWM pins PE4 and PE5
GPIOPinConfigure(GPIO_PA6_M1PWM2);
GPIOPinConfigure(GPIO_PA7_M1PWM3);
//This marks the beginning of the ADC Configuration
//enable ADC0 or ADC1 peripheral
//SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
//Reset to Apply changes
//SysCtlPeripheralReset(SYSCTL_PERIPH_ADC0);
//Disable the sequencer of ADC0, sequencer 3(one sample)
ADCSequenceDisable(ADC0_BASE,3);
//Configure the sequencer
ADCSequenceConfigure(ADC0_BASE,3,ADC_TRIGGER_PROCESSOR,0);
//Configure steps for the sequence
ADCSequenceStepConfigure(ADC0_BASE,3,0,ADC_CTL_CH0|ADC_CTL_IE|ADC_CTL_END);//PE3 //AIN0
ADCSequenceStepConfigure(ADC0_BASE,3,0,ADC_CTL_CH1|ADC_CTL_IE|ADC_CTL_END);//PE2 //AIN0
//Configure PWM Options
//PWM_GEN_1 Covers M1PWM2 and M1PWM3
//PWM_GEN_2 Covers M1PWM4 and M1PWM5
//PWM_GEN_3 Covers M1PWM6 and M1PWM7 See page 207 4/11/13 DriverLib doc
PWMGenConfigure(PWM1_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
//Set the Period (expressed in clock ticks)
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_1, 320);
//Set PWM duty-50% (Period /2)
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2,100);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_3,100);
// Enable the PWM generator
PWMGenEnable (PWM1_BASE, PWM_GEN_1);
// Turn off the Output pins
PWMOutputState (PWM1_BASE, PWM_OUT_3_BIT | PWM_OUT_2_BIT, false);
// Enable port PC4 for UART1 U1RX
//
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_4);
GPIOPinConfigure(GPIO_PC4_U1RX);
//
// Enable port PC5 for UART1 U1TX
//
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_5);
GPIOPinConfigure(GPIO_PC5_U1TX);
//
UARTConfigSetExpClk(UART1_BASE, SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
//MAKE SUR TO ENABLE IN THIS ORDER
IntEnable(INT_UART1);
ADCIntEnable(ADC0_BASE,3);
UARTIntEnable(UART1_BASE, UART_INT_RT|UART_INT_RX);
IntMasterEnable();
}
void distRight(){
// uint32_t voltage;
uint32_t result;
// while(1)
//{
GPIOPinTypeADC(GPIO_PORTE_BASE,GPIO_PIN_3);
ADCSequenceStepConfigure(ADC0_BASE,3,0,ADC_CTL_CH0|ADC_CTL_IE|ADC_CTL_END);//AIN0
// Clear interrupt flag ADC0 sequencer 3
ADCIntClear(ADC0_BASE,3);
// Post request for ADC converstion
ADCProcessorTrigger(ADC0_BASE,3);
//Wait for conversion
while(!ADCIntStatus(ADC0_BASE,3,false)){}
// Get data
ADCSequenceDataGet(ADC0_BASE,3,&result);
result= (2080*7)/result;
// Convert digital back to analog
// voltage = result*.000805664;
char str[50];
sprintf(str,"Right: %u cm\n",result);
writeStringToUart1(str);
// printf("%u\t%u\n",result,voltage);
// }
}
void distFront(){
//uint32_t voltage;
uint32_t result;
// while(1)
//{
GPIOPinTypeADC(GPIO_PORTE_BASE,GPIO_PIN_2);
ADCSequenceStepConfigure(ADC0_BASE,3,0,ADC_CTL_CH1|ADC_CTL_IE|ADC_CTL_END); //AIN0
// Clear interrupt flag ADC0 sequencer 3
ADCIntClear(ADC0_BASE,3);
// Post request for ADC converstion
ADCProcessorTrigger(ADC0_BASE,3);
// Wait for conversion
while(!ADCIntStatus(ADC0_BASE,3,false)){}
// Get data
ADCSequenceDataGet(ADC0_BASE,3,&result);
result= (2080*7)/result;
// Convert digital back to analog
// voltage = result*.000805664;
char str[50];
sprintf(str,"Front: %u cm\n",result);
writeStringToUart1(str);
// printf("%u\t%u\n",result,voltage);
}
void writeStringToUart1(char* str) //write a string to Uart0
{
int i;
for (i = 0; i < strlen(str); i++)
UARTCharPut(UART1_BASE,str[i]);
}
*/
////*************************************************************************
////ADC CODE
////*************************************************************************
//
////----------------------------------------
//// BIOS header files
////----------------------------------------
//#include <xdc/std.h> //mandatory - have to include first, for BIOS types
//#include <ti/sysbios/BIOS.h> //mandatory - if you call APIs like BIOS_start()
//#include <xdc/runtime/Log.h> //needed for any Log_info() call
//#include <xdc/cfg/global.h>
//
//
//#include <stdint.h>
//#include <stdio.h>
//#include <stdlib.h>
//#include <stdbool.h>
//#include "inc/hw_memmap.h"
//#include "inc/hw_types.h"
//#include "driverlib/gpio.h"
//#include "inc/hw_gpio.h"
//#include "driverlib/pin_map.h"
//#include "driverlib/sysctl.h"
//#include "driverlib/uart.h"
//#include "inc/hw_ints.h"
//#include "driverlib/pwm.h"
//#include "driverlib/interrupt.h"
//#include <string.h>
//#include "driverlib/adc.h"
//#include "inc/hw_adc.h"
//
//
//
//void writeStringToUart1(char* str);
//void hard_initB();
//void ledToggle();
//void uart1int();
//void motorMove(unsigned long leftPower, unsigned long rightPower, int dir);
//void motorStop();
//void distFront();
//void distRight();
//
//volatile int16_t i16ToggleCount=0;
//int count = 0;
//char comms[200];
//
//int main(void) {
//
//hard_initB();
//writeStringToUart1("Let's Talk: \n\r\t");
//memset(comms,'\0',sizeof(comms));
//GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6|GPIO_PIN_7, 0b10000000|0b01000000);
//GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0b00001110);
//writeStringToUart1("Let's Talk: \n\r\t");
//BIOS_start();
//
//
//
//}
//
//void uart1int(void){
// uint32_t ui32Status;
// ui32Status = UARTIntStatus(UART1_BASE, true); //get interrupt status
// UARTIntClear(UART1_BASE, ui32Status);
// while(UARTCharsAvail(UART1_BASE) ) {
// char x = UARTCharGetNonBlocking(UART1_BASE);
// if(x == 10 || x == 13){
// if(comms[count-2]=='L' && comms[count-1]=='o') {
// ledToggle();
// i16ToggleCount++;
// }
// if(comms[count-2]=='b' && comms[count-1]=='b') {
// motorMove(200,200,1);
// }
// if(comms[count-2]=='f' && comms[count-1]=='f') {
// motorMove(200,200,0);
// }
// if(comms[count-2]=='s' && comms[count-1]=='s') {
// motorStop();
// }
// if(comms[count-2]=='d' && comms[count-1]=='r') {
// distRight();
// }
// if(comms[count-2]=='d' && comms[count-1]=='f') {
// distFront();
// }
// if(comms[count-2]=='o' && comms[count-1]=='f')
// GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
// UARTCharPutNonBlocking(UART1_BASE, '\n');
// UARTCharPutNonBlocking(UART1_BASE, '\r');
// writeStringToUart1("You just said");
// UARTCharPutNonBlocking(UART1_BASE, ' ');
// writeStringToUart1(comms);
// writeStringToUart1("\n\rLet's Talk: \n\r\t");
// count = 0;
// memset(comms,'\0',sizeof(comms));
// break;
// }
// UARTCharPutNonBlocking(UART1_BASE,x);
// comms[count] = x;
// count++;
// }
//}
//
//void ledToggle(void)
//{
// // LED values - 2=RED, 4=BLUE, 8=GREEN
//
// if(i16ToggleCount%3==0)
// GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 2);
// if(i16ToggleCount%3==1)
// GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 4);
// if(i16ToggleCount%3==2)
// GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 8);
// }
//
//void motorMove(unsigned long leftPower, unsigned long rightPower, int dir){
//
// PWMOutputState (PWM1_BASE, PWM_OUT_3_BIT | PWM_OUT_2_BIT, true);
// if( dir ) {//if direction is forward
// GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, 0b01000000);
// GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0b00001110);
// PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2,leftPower);
// PWMPulseWidthSet(PWM1_BASE, PWM_OUT_3,rightPower);
//
// }
// else {
// GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
// GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_6, 0);
// PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2,leftPower);
// PWMPulseWidthSet(PWM1_BASE, PWM_OUT_3,rightPower);
//
// }
//
//}
//
//
//void motorStop(){
// PWMOutputState (PWM1_BASE, PWM_OUT_3_BIT | PWM_OUT_2_BIT, false);
//}
//
//void distRight(){
// // uint32_t voltage;
// uint32_t result;
// // while(1)
// //{
// GPIOPinTypeADC(GPIO_PORTE_BASE,GPIO_PIN_3);
// ADCSequenceStepConfigure(ADC0_BASE,3,0,ADC_CTL_CH0/*AIN0*/|ADC_CTL_IE|ADC_CTL_END);
//
// // Clear interrupt flag ADC0 sequencer 3
// ADCIntClear(ADC0_BASE,3);
//
// // Post request for ADC converstion
// ADCProcessorTrigger(ADC0_BASE,3);
//
// //Wait for conversion
// while(!ADCIntStatus(ADC0_BASE,3,false)){}
//
// // Get data
// ADCSequenceDataGet(ADC0_BASE,3,&result);
// result= (2080*7)/result;
// // Convert digital back to analog
// // voltage = result*.000805664;
// char str[50];
// sprintf(str,"Right: %u cm\n",result);
// writeStringToUart1(str);
// // printf("%u\t%u\n",result,voltage);
//// }
//}
//
//void distFront(){
// //uint32_t voltage;
// uint32_t result;
// // while(1)
// //{
// GPIOPinTypeADC(GPIO_PORTE_BASE,GPIO_PIN_2);
// ADCSequenceStepConfigure(ADC0_BASE,3,0,ADC_CTL_CH1/*AIN0*/|ADC_CTL_IE|ADC_CTL_END);
// // Clear interrupt flag ADC0 sequencer 3
// ADCIntClear(ADC0_BASE,3);
//
// // Post request for ADC converstion
// ADCProcessorTrigger(ADC0_BASE,3);
//
// // Wait for conversion
// while(!ADCIntStatus(ADC0_BASE,3,false)){}
//
// // Get data
// ADCSequenceDataGet(ADC0_BASE,3,&result);
// result= (2080*7)/result;
// // Convert digital back to analog
// // voltage = result*.000805664;
// char str[50];
// sprintf(str,"Front: %u cm\n",result);
// writeStringToUart1(str);
// // printf("%u\t%u\n",result,voltage);
// }
//
//void hard_initB() {
// //SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ); old code
// //
// // Enable Peripheral Clocks
// //
// //Set the clock
// SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
//
//
// /*This marks the beginning of the ADC Configuration*/
// /* enable ADC0 or ADC1 peripheral */
// SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
//
// /* Reset to Apply changes */
// SysCtlPeripheralReset(SYSCTL_PERIPH_ADC0);
//
// /* Disable the sequencer of ADC0, sequencer 3(one sample)*/
// ADCSequenceDisable(ADC0_BASE,3);
//
// /* Configure the sequencer */
// ADCSequenceConfigure(ADC0_BASE,3,ADC_TRIGGER_PROCESSOR,0);
//
// /* Configure steps for the sequence */
// ADCSequenceStepConfigure(ADC0_BASE,3,0,ADC_CTL_CH0/*AIN0*/|ADC_CTL_IE|ADC_CTL_END);//PE3
// ADCSequenceStepConfigure(ADC0_BASE,3,0,ADC_CTL_CH1/*AIN0*/|ADC_CTL_IE|ADC_CTL_END);//PE2
// /* Enable GPIO port E */
// SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
//
// ADCIntEnable(ADC0_BASE,3);
// IntMasterEnable();
//
// /* Re-enable the sequencer */
// ADCSequenceEnable(ADC0_BASE,3);
// /*This marks the end of the ADC Configuration*/
//
// //Configure PWM Clock to match system
// SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
//
//
// SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
// SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
// SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
// SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
// SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
// SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1); //enable PWM module 1
// GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3); //Enable GPIO output
// GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6|GPIO_PIN_7); //Enable GPIO pins PB6 and PB7
// //enable PWM pins PE4 and PE5
// GPIOPinTypePWM(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//
// //Configure PWM pins PE4 and PE5
// GPIOPinConfigure(GPIO_PE4_M1PWM2);
// GPIOPinConfigure(GPIO_PE5_M1PWM3);
//
//
//
// //Configure PWM Options
// //PWM_GEN_1 Covers M1PWM2 and M1PWM3
// //PWM_GEN_2 Covers M1PWM4 and M1PWM5
// //PWM_GEN_3 Covers M1PWM6 and M1PWM7 See page 207 4/11/13 DriverLib doc
// PWMGenConfigure(PWM1_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
//
// //Set the Period (expressed in clock ticks)
// PWMGenPeriodSet(PWM1_BASE, PWM_GEN_1, 320);
//
// //Set PWM duty-50% (Period /2)
// PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2,100);
// PWMPulseWidthSet(PWM1_BASE, PWM_OUT_3,100);
//
// // Enable the PWM generator
// PWMGenEnable (PWM1_BASE, PWM_GEN_1);
//
// // Turn on the Output pins
// PWMOutputState (PWM1_BASE, PWM_OUT_3_BIT | PWM_OUT_2_BIT, false);
//
// // Enable port PC4 for UART1 U1RX
// //
// GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_4);
// GPIOPinConfigure(GPIO_PC4_U1RX);
//
// //
// // Enable port PC5 for UART1 U1TX
// //
// GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_5);
// GPIOPinConfigure(GPIO_PC5_U1TX);
// //
// UARTConfigSetExpClk(UART1_BASE, SysCtlClockGet(), 115200,
// (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
//
// //MAKE SUR TO ENABLE IN THIS ORDER
// IntEnable(INT_UART1);
// UARTIntEnable(UART1_BASE, UART_INT_RT|UART_INT_RX);
// IntMasterEnable();
//}
//
//void writeStringToUart1(char* str) //write a string to Uart0
//{
// int i;
// for (i = 0; i < strlen(str); i++)
// UARTCharPut(UART1_BASE,str[i]);
//}
//**************************************
//UART LED TOGGLE RTOS
//*************************************
/*
//----------------------------------------
// BIOS header files
//----------------------------------------
#include <xdc/std.h> //mandatory - have to include first, for BIOS types
#include <ti/sysbios/BIOS.h> //mandatory - if you call APIs like BIOS_start()
#include <xdc/runtime/Log.h> //needed for any Log_info() call
#include <xdc/cfg/global.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "inc/hw_ints.h"
#include "driverlib/interrupt.h"
#include <string.h>
void writeStringToUart1(char* str);
void hard_initB();
void ledToggle();
void uart1int();
volatile int16_t i16ToggleCount=0;
int count = 0;
char comms[200];
int main(void) {
hard_initB();
memset(comms,'\0',sizeof(comms));
writeStringToUart1("Let's Talk: \n\r\t");
BIOS_start();
}
void uart1int(void){
uint32_t ui32Status;
ui32Status = UARTIntStatus(UART1_BASE, true); //get interrupt status
UARTIntClear(UART1_BASE, ui32Status);
while(UARTCharsAvail(UART1_BASE) ) {
char x = UARTCharGetNonBlocking(UART1_BASE);
if(x == 10 || x == 13){
if(comms[count-2]=='L' && comms[count-1]=='o') {
ledToggle();
i16ToggleCount++;
}
if(comms[count-2]=='o' && comms[count-1]=='f')
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
UARTCharPutNonBlocking(UART1_BASE, '\n');
UARTCharPutNonBlocking(UART1_BASE, '\r');
writeStringToUart1("You just said");
UARTCharPutNonBlocking(UART1_BASE, ' ');
writeStringToUart1(comms);
writeStringToUart1("\n\rLet's Talk: \n\r\t");
count = 0;
memset(comms,'\0',sizeof(comms));
break;
}
UARTCharPutNonBlocking(UART1_BASE,x);
comms[count] = x;
count++;
}
}
void ledToggle(void)
{
// LED values - 2=RED, 4=BLUE, 8=GREEN
if(i16ToggleCount%3==0)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 2);
if(i16ToggleCount%3==1)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 4);
if(i16ToggleCount%3==2)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 8);
}
void hard_initB(){
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
//
// Enable Peripheral Clocks
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
//
// Enable port PC4 for UART1 U1RX
//
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_4);
GPIOPinConfigure(GPIO_PC4_U1RX);
//
// Enable port PC5 for UART1 U1TX
//
GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_5);
GPIOPinConfigure(GPIO_PC5_U1TX);
//
UARTConfigSetExpClk(UART1_BASE, SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
//MAKE SUR TO ENABLE IN THIS ORDER
IntEnable(INT_UART1);
UARTIntEnable(UART1_BASE, UART_INT_RT|UART_INT_RX);
IntMasterEnable();
}
void writeStringToUart1(char* str) //write a string to Uart0
{
int i;