/* * Copyright (c) 2023, Texas Instruments Incorporated * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * * Neither the name of Texas Instruments Incorporated nor the names of * its contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /* * ============ ti_msp_dl_config.c ============= * Configured MSPM0 DriverLib module definitions * * DO NOT EDIT - This file is generated for the MSPM0G350X * by the SysConfig tool. */ #include "ti_msp_dl_config.h" DL_TimerA_backupConfig gMotorBackup; DL_TimerG_backupConfig gBeepBackup; DL_TimerG_backupConfig gEncoder1_TIMBackup; DL_TimerA_backupConfig gEncoder2_TIMBackup; DL_UART_Main_backupConfig gHOSTBackup; /* * ======== SYSCFG_DL_init ======== * Perform any initialization needed before using any board APIs */ SYSCONFIG_WEAK void SYSCFG_DL_init(void) { SYSCFG_DL_initPower(); SYSCFG_DL_GPIO_init(); /* Module-Specific Initializations*/ SYSCFG_DL_SYSCTL_init(); SYSCFG_DL_Motor_init(); SYSCFG_DL_Beep_init(); SYSCFG_DL_Servo_init(); SYSCFG_DL_Encoder1_TIM_init(); SYSCFG_DL_Encoder2_TIM_init(); SYSCFG_DL_Encoder_Count_init(); SYSCFG_DL_I2C_0_init(); SYSCFG_DL_I2C_1_init(); SYSCFG_DL_PRINTF_init(); SYSCFG_DL_IMU_init(); SYSCFG_DL_HOST_init(); SYSCFG_DL_Stepmotor_init(); /* Ensure backup structures have no valid state */ gMotorBackup.backupRdy = false; gBeepBackup.backupRdy = false; gEncoder1_TIMBackup.backupRdy = false; gEncoder2_TIMBackup.backupRdy = false; gHOSTBackup.backupRdy = false; } /* * User should take care to save and restore register configuration in application. * See Retention Configuration section for more details. */ SYSCONFIG_WEAK bool SYSCFG_DL_saveConfiguration(void) { bool retStatus = true; retStatus &= DL_TimerA_saveConfiguration(Motor_INST, &gMotorBackup); retStatus &= DL_TimerG_saveConfiguration(Beep_INST, &gBeepBackup); retStatus &= DL_TimerG_saveConfiguration(Encoder1_TIM_INST, &gEncoder1_TIMBackup); retStatus &= DL_TimerA_saveConfiguration(Encoder2_TIM_INST, &gEncoder2_TIMBackup); retStatus &= DL_UART_Main_saveConfiguration(HOST_INST, &gHOSTBackup); return retStatus; } SYSCONFIG_WEAK bool SYSCFG_DL_restoreConfiguration(void) { bool retStatus = true; retStatus &= DL_TimerA_restoreConfiguration(Motor_INST, &gMotorBackup, false); retStatus &= DL_TimerG_restoreConfiguration(Beep_INST, &gBeepBackup, false); retStatus &= DL_TimerG_restoreConfiguration(Encoder1_TIM_INST, &gEncoder1_TIMBackup, false); retStatus &= DL_TimerA_restoreConfiguration(Encoder2_TIM_INST, &gEncoder2_TIMBackup, false); retStatus &= DL_UART_Main_restoreConfiguration(HOST_INST, &gHOSTBackup); return retStatus; } SYSCONFIG_WEAK void SYSCFG_DL_initPower(void) { DL_GPIO_reset(GPIOA); DL_GPIO_reset(GPIOB); DL_TimerA_reset(Motor_INST); DL_TimerG_reset(Beep_INST); DL_TimerG_reset(Servo_INST); DL_TimerG_reset(Encoder1_TIM_INST); DL_TimerA_reset(Encoder2_TIM_INST); DL_TimerG_reset(Encoder_Count_INST); DL_I2C_reset(I2C_0_INST); DL_I2C_reset(I2C_1_INST); DL_UART_Main_reset(PRINTF_INST); DL_UART_Main_reset(IMU_INST); DL_UART_Main_reset(HOST_INST); DL_UART_Main_reset(Stepmotor_INST); DL_GPIO_enablePower(GPIOA); DL_GPIO_enablePower(GPIOB); DL_TimerA_enablePower(Motor_INST); DL_TimerG_enablePower(Beep_INST); DL_TimerG_enablePower(Servo_INST); DL_TimerG_enablePower(Encoder1_TIM_INST); DL_TimerA_enablePower(Encoder2_TIM_INST); DL_TimerG_enablePower(Encoder_Count_INST); DL_I2C_enablePower(I2C_0_INST); DL_I2C_enablePower(I2C_1_INST); DL_UART_Main_enablePower(PRINTF_INST); DL_UART_Main_enablePower(IMU_INST); DL_UART_Main_enablePower(HOST_INST); DL_UART_Main_enablePower(Stepmotor_INST); delay_cycles(POWER_STARTUP_DELAY); } SYSCONFIG_WEAK void SYSCFG_DL_GPIO_init(void) { DL_GPIO_initPeripheralOutputFunction(GPIO_Motor_C0_IOMUX,GPIO_Motor_C0_IOMUX_FUNC); DL_GPIO_enableOutput(GPIO_Motor_C0_PORT, GPIO_Motor_C0_PIN); DL_GPIO_initPeripheralOutputFunction(GPIO_Motor_C1_IOMUX,GPIO_Motor_C1_IOMUX_FUNC); DL_GPIO_enableOutput(GPIO_Motor_C1_PORT, GPIO_Motor_C1_PIN); DL_GPIO_initPeripheralOutputFunction(GPIO_Beep_C1_IOMUX,GPIO_Beep_C1_IOMUX_FUNC); DL_GPIO_enableOutput(GPIO_Beep_C1_PORT, GPIO_Beep_C1_PIN); DL_GPIO_initPeripheralOutputFunction(GPIO_Servo_C0_IOMUX,GPIO_Servo_C0_IOMUX_FUNC); DL_GPIO_enableOutput(GPIO_Servo_C0_PORT, GPIO_Servo_C0_PIN); DL_GPIO_initPeripheralOutputFunction(GPIO_Servo_C1_IOMUX,GPIO_Servo_C1_IOMUX_FUNC); DL_GPIO_enableOutput(GPIO_Servo_C1_PORT, GPIO_Servo_C1_PIN); DL_GPIO_initPeripheralInputFunction(GPIO_Encoder1_TIM_C0_IOMUX,GPIO_Encoder1_TIM_C0_IOMUX_FUNC); DL_GPIO_initPeripheralInputFunction(GPIO_Encoder2_TIM_C0_IOMUX,GPIO_Encoder2_TIM_C0_IOMUX_FUNC); DL_GPIO_initPeripheralInputFunctionFeatures(GPIO_I2C_0_IOMUX_SDA, GPIO_I2C_0_IOMUX_SDA_FUNC, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initPeripheralInputFunctionFeatures(GPIO_I2C_0_IOMUX_SCL, GPIO_I2C_0_IOMUX_SCL_FUNC, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_enableHiZ(GPIO_I2C_0_IOMUX_SDA); DL_GPIO_enableHiZ(GPIO_I2C_0_IOMUX_SCL); DL_GPIO_initPeripheralInputFunctionFeatures(GPIO_I2C_1_IOMUX_SDA, GPIO_I2C_1_IOMUX_SDA_FUNC, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initPeripheralInputFunctionFeatures(GPIO_I2C_1_IOMUX_SCL, GPIO_I2C_1_IOMUX_SCL_FUNC, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_enableHiZ(GPIO_I2C_1_IOMUX_SDA); DL_GPIO_enableHiZ(GPIO_I2C_1_IOMUX_SCL); DL_GPIO_initPeripheralOutputFunction( GPIO_PRINTF_IOMUX_TX, GPIO_PRINTF_IOMUX_TX_FUNC); DL_GPIO_initPeripheralInputFunction( GPIO_PRINTF_IOMUX_RX, GPIO_PRINTF_IOMUX_RX_FUNC); DL_GPIO_initPeripheralOutputFunction( GPIO_IMU_IOMUX_TX, GPIO_IMU_IOMUX_TX_FUNC); DL_GPIO_initPeripheralInputFunction( GPIO_IMU_IOMUX_RX, GPIO_IMU_IOMUX_RX_FUNC); DL_GPIO_initPeripheralOutputFunction( GPIO_HOST_IOMUX_TX, GPIO_HOST_IOMUX_TX_FUNC); DL_GPIO_initPeripheralInputFunction( GPIO_HOST_IOMUX_RX, GPIO_HOST_IOMUX_RX_FUNC); DL_GPIO_initPeripheralOutputFunction( GPIO_Stepmotor_IOMUX_TX, GPIO_Stepmotor_IOMUX_TX_FUNC); DL_GPIO_initPeripheralInputFunction( GPIO_Stepmotor_IOMUX_RX, GPIO_Stepmotor_IOMUX_RX_FUNC); DL_GPIO_initDigitalInputFeatures(Encoder1_GPIO_Encoder1B_GPIO_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Encoder2_GPIO_Encoder2B_GPIO_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalOutputFeatures(Lights_Light_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_DOWN, DL_GPIO_DRIVE_STRENGTH_LOW, DL_GPIO_HIZ_DISABLE); DL_GPIO_initDigitalOutput(LED_Board_IOMUX); DL_GPIO_initDigitalOutput(LED_Led1_IOMUX); DL_GPIO_initDigitalOutput(LED_Led2_IOMUX); DL_GPIO_initDigitalOutput(LED_Led3_IOMUX); DL_GPIO_initDigitalInputFeatures(Key_Key1_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Key_Key2_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Key_Key3_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Key_Key4_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalOutput(MotorDirection_AIN1_IOMUX); DL_GPIO_initDigitalOutput(MotorDirection_AIN2_IOMUX); DL_GPIO_initDigitalOutput(MotorDirection_BIN1_IOMUX); DL_GPIO_initDigitalOutput(MotorDirection_BIN2_IOMUX); DL_GPIO_initDigitalInputFeatures(Tracker_Track1_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Tracker_Track2_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Tracker_Track3_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Tracker_Track4_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Tracker_Track5_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Tracker_Track6_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_initDigitalInputFeatures(Tracker_Track7_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); DL_GPIO_clearPins(GPIOA, Lights_Light_PIN | MotorDirection_AIN1_PIN | MotorDirection_AIN2_PIN | MotorDirection_BIN1_PIN | MotorDirection_BIN2_PIN); DL_GPIO_enableOutput(GPIOA, Lights_Light_PIN | MotorDirection_AIN1_PIN | MotorDirection_AIN2_PIN | MotorDirection_BIN1_PIN | MotorDirection_BIN2_PIN); DL_GPIO_setLowerPinsPolarity(GPIOA, DL_GPIO_PIN_7_EDGE_RISE); DL_GPIO_clearInterruptStatus(GPIOA, Key_Key1_PIN); DL_GPIO_enableInterrupt(GPIOA, Key_Key1_PIN); DL_GPIO_clearPins(GPIOB, LED_Board_PIN | LED_Led1_PIN | LED_Led2_PIN | LED_Led3_PIN); DL_GPIO_enableOutput(GPIOB, LED_Board_PIN | LED_Led1_PIN | LED_Led2_PIN | LED_Led3_PIN); DL_GPIO_setLowerPinsPolarity(GPIOB, DL_GPIO_PIN_10_EDGE_RISE | DL_GPIO_PIN_11_EDGE_RISE | DL_GPIO_PIN_14_EDGE_RISE | DL_GPIO_PIN_0_EDGE_FALL | DL_GPIO_PIN_1_EDGE_FALL); DL_GPIO_setUpperPinsPolarity(GPIOB, DL_GPIO_PIN_21_EDGE_FALL | DL_GPIO_PIN_24_EDGE_FALL | DL_GPIO_PIN_17_EDGE_FALL | DL_GPIO_PIN_18_EDGE_FALL | DL_GPIO_PIN_19_EDGE_FALL); DL_GPIO_clearInterruptStatus(GPIOB, Key_Key2_PIN | Key_Key3_PIN | Key_Key4_PIN | Tracker_Track1_PIN | Tracker_Track2_PIN | Tracker_Track3_PIN | Tracker_Track4_PIN | Tracker_Track5_PIN | Tracker_Track6_PIN | Tracker_Track7_PIN); DL_GPIO_enableInterrupt(GPIOB, Key_Key2_PIN | Key_Key3_PIN | Key_Key4_PIN | Tracker_Track1_PIN | Tracker_Track2_PIN | Tracker_Track3_PIN | Tracker_Track4_PIN | Tracker_Track5_PIN | Tracker_Track6_PIN | Tracker_Track7_PIN); } static const DL_SYSCTL_SYSPLLConfig gSYSPLLConfig = { .inputFreq = DL_SYSCTL_SYSPLL_INPUT_FREQ_16_32_MHZ, .rDivClk2x = 3, .rDivClk1 = 0, .rDivClk0 = 0, .enableCLK2x = DL_SYSCTL_SYSPLL_CLK2X_ENABLE, .enableCLK1 = DL_SYSCTL_SYSPLL_CLK1_DISABLE, .enableCLK0 = DL_SYSCTL_SYSPLL_CLK0_DISABLE, .sysPLLMCLK = DL_SYSCTL_SYSPLL_MCLK_CLK2X, .sysPLLRef = DL_SYSCTL_SYSPLL_REF_SYSOSC, .qDiv = 9, .pDiv = DL_SYSCTL_SYSPLL_PDIV_2 }; SYSCONFIG_WEAK void SYSCFG_DL_SYSCTL_init(void) { //Low Power Mode is configured to be SLEEP0 DL_SYSCTL_setBORThreshold(DL_SYSCTL_BOR_THRESHOLD_LEVEL_0); DL_SYSCTL_setFlashWaitState(DL_SYSCTL_FLASH_WAIT_STATE_2); DL_SYSCTL_setSYSOSCFreq(DL_SYSCTL_SYSOSC_FREQ_BASE); /* Set default configuration */ DL_SYSCTL_disableHFXT(); DL_SYSCTL_disableSYSPLL(); DL_SYSCTL_configSYSPLL((DL_SYSCTL_SYSPLLConfig *) &gSYSPLLConfig); DL_SYSCTL_setULPCLKDivider(DL_SYSCTL_ULPCLK_DIV_2); DL_SYSCTL_enableMFCLK(); DL_SYSCTL_setMCLKSource(SYSOSC, HSCLK, DL_SYSCTL_HSCLK_SOURCE_SYSPLL); } /* * Timer clock configuration to be sourced by / 8 (10000000 Hz) * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1))) * 10000000 Hz = 10000000 Hz / (8 * (0 + 1)) */ static const DL_TimerA_ClockConfig gMotorClockConfig = { .clockSel = DL_TIMER_CLOCK_BUSCLK, .divideRatio = DL_TIMER_CLOCK_DIVIDE_8, .prescale = 0U }; static const DL_TimerA_PWMConfig gMotorConfig = { .pwmMode = DL_TIMER_PWM_MODE_EDGE_ALIGN, .period = 10000, .isTimerWithFourCC = false, .startTimer = DL_TIMER_START, }; SYSCONFIG_WEAK void SYSCFG_DL_Motor_init(void) { DL_TimerA_setClockConfig( Motor_INST, (DL_TimerA_ClockConfig *) &gMotorClockConfig); DL_TimerA_initPWMMode( Motor_INST, (DL_TimerA_PWMConfig *) &gMotorConfig); DL_TimerA_setCaptureCompareOutCtl(Motor_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW, DL_TIMER_CC_OCTL_INV_OUT_ENABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL, DL_TIMERA_CAPTURE_COMPARE_0_INDEX); DL_TimerA_setCaptCompUpdateMethod(Motor_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_0_INDEX); DL_TimerA_setCaptureCompareValue(Motor_INST, 5000, DL_TIMER_CC_0_INDEX); DL_TimerA_setCaptureCompareOutCtl(Motor_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW, DL_TIMER_CC_OCTL_INV_OUT_ENABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL, DL_TIMERA_CAPTURE_COMPARE_1_INDEX); DL_TimerA_setCaptCompUpdateMethod(Motor_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_1_INDEX); DL_TimerA_setCaptureCompareValue(Motor_INST, 5000, DL_TIMER_CC_1_INDEX); DL_TimerA_enableClock(Motor_INST); DL_TimerA_setCCPDirection(Motor_INST , DL_TIMER_CC0_OUTPUT | DL_TIMER_CC1_OUTPUT ); } /* * Timer clock configuration to be sourced by / 8 (10000000 Hz) * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1))) * 10000000 Hz = 10000000 Hz / (8 * (0 + 1)) */ static const DL_TimerG_ClockConfig gBeepClockConfig = { .clockSel = DL_TIMER_CLOCK_BUSCLK, .divideRatio = DL_TIMER_CLOCK_DIVIDE_8, .prescale = 0U }; static const DL_TimerG_PWMConfig gBeepConfig = { .pwmMode = DL_TIMER_PWM_MODE_EDGE_ALIGN, .period = 2500, .isTimerWithFourCC = false, .startTimer = DL_TIMER_STOP, }; SYSCONFIG_WEAK void SYSCFG_DL_Beep_init(void) { DL_TimerG_setClockConfig( Beep_INST, (DL_TimerG_ClockConfig *) &gBeepClockConfig); DL_TimerG_initPWMMode( Beep_INST, (DL_TimerG_PWMConfig *) &gBeepConfig); DL_TimerG_setCaptureCompareOutCtl(Beep_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW, DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL, DL_TIMERG_CAPTURE_COMPARE_1_INDEX); DL_TimerG_setCaptCompUpdateMethod(Beep_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERG_CAPTURE_COMPARE_1_INDEX); DL_TimerG_setCaptureCompareValue(Beep_INST, 1250, DL_TIMER_CC_1_INDEX); DL_TimerG_enableClock(Beep_INST); DL_TimerG_setCCPDirection(Beep_INST , DL_TIMER_CC1_OUTPUT ); } /* * Timer clock configuration to be sourced by / 8 (5000000 Hz) * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1))) * 500000 Hz = 5000000 Hz / (8 * (9 + 1)) */ static const DL_TimerG_ClockConfig gServoClockConfig = { .clockSel = DL_TIMER_CLOCK_BUSCLK, .divideRatio = DL_TIMER_CLOCK_DIVIDE_8, .prescale = 9U }; static const DL_TimerG_PWMConfig gServoConfig = { .pwmMode = DL_TIMER_PWM_MODE_EDGE_ALIGN, .period = 10000, .isTimerWithFourCC = false, .startTimer = DL_TIMER_START, }; SYSCONFIG_WEAK void SYSCFG_DL_Servo_init(void) { DL_TimerG_setClockConfig( Servo_INST, (DL_TimerG_ClockConfig *) &gServoClockConfig); DL_TimerG_initPWMMode( Servo_INST, (DL_TimerG_PWMConfig *) &gServoConfig); DL_TimerG_setCaptureCompareOutCtl(Servo_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW, DL_TIMER_CC_OCTL_INV_OUT_ENABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL, DL_TIMERG_CAPTURE_COMPARE_0_INDEX); DL_TimerG_setCaptCompUpdateMethod(Servo_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERG_CAPTURE_COMPARE_0_INDEX); DL_TimerG_setCaptureCompareValue(Servo_INST, 9250, DL_TIMER_CC_0_INDEX); DL_TimerG_setCaptureCompareOutCtl(Servo_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW, DL_TIMER_CC_OCTL_INV_OUT_ENABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL, DL_TIMERG_CAPTURE_COMPARE_1_INDEX); DL_TimerG_setCaptCompUpdateMethod(Servo_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERG_CAPTURE_COMPARE_1_INDEX); DL_TimerG_setCaptureCompareValue(Servo_INST, 9250, DL_TIMER_CC_1_INDEX); DL_TimerG_enableClock(Servo_INST); DL_TimerG_setCCPDirection(Servo_INST , DL_TIMER_CC0_OUTPUT | DL_TIMER_CC1_OUTPUT ); } /* * Timer clock configuration to be sourced by BUSCLK / (80000000 Hz) * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1))) * 80000000 Hz = 80000000 Hz / (1 * (0 + 1)) */ static const DL_TimerG_ClockConfig gEncoder1_TIMClockConfig = { .clockSel = DL_TIMER_CLOCK_BUSCLK, .divideRatio = DL_TIMER_CLOCK_DIVIDE_1, .prescale = 0U }; static const DL_TimerG_CompareConfig gEncoder1_TIMCompareConfig = { .compareMode = DL_TIMER_COMPARE_MODE_EDGE_COUNT_UP, .count = 0, .startTimer = DL_TIMER_STOP, .edgeDetectMode = DL_TIMER_COMPARE_EDGE_DETECTION_MODE_RISING, .inputChan = DL_TIMER_INPUT_CHAN_0, .inputInvMode = DL_TIMER_CC_INPUT_INV_NOINVERT, }; SYSCONFIG_WEAK void SYSCFG_DL_Encoder1_TIM_init(void) { DL_TimerG_setClockConfig(Encoder1_TIM_INST, (DL_TimerG_ClockConfig *) &gEncoder1_TIMClockConfig); DL_TimerG_initCompareMode(Encoder1_TIM_INST, (DL_TimerG_CompareConfig *) &gEncoder1_TIMCompareConfig); DL_TimerG_setCaptureCompareInputFilter(Encoder1_TIM_INST, DL_TIMER_CC_INPUT_FILT_CPV_VOTING, DL_TIMER_CC_INPUT_FILT_FP_PER_3, DL_TIMER_CC_0_INDEX); DL_TimerG_enableCaptureCompareInputFilter(Encoder1_TIM_INST, DL_TIMER_CC_0_INDEX); DL_TimerG_enableInterrupt(Encoder1_TIM_INST , DL_TIMERG_INTERRUPT_LOAD_EVENT); DL_TimerG_enableClock(Encoder1_TIM_INST); } /* * Timer clock configuration to be sourced by BUSCLK / (80000000 Hz) * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1))) * 80000000 Hz = 80000000 Hz / (1 * (0 + 1)) */ static const DL_TimerA_ClockConfig gEncoder2_TIMClockConfig = { .clockSel = DL_TIMER_CLOCK_BUSCLK, .divideRatio = DL_TIMER_CLOCK_DIVIDE_1, .prescale = 0U }; static const DL_TimerA_CompareConfig gEncoder2_TIMCompareConfig = { .compareMode = DL_TIMER_COMPARE_MODE_EDGE_COUNT_UP, .count = 0, .startTimer = DL_TIMER_STOP, .edgeDetectMode = DL_TIMER_COMPARE_EDGE_DETECTION_MODE_RISING, .inputChan = DL_TIMER_INPUT_CHAN_0, .inputInvMode = DL_TIMER_CC_INPUT_INV_NOINVERT, }; SYSCONFIG_WEAK void SYSCFG_DL_Encoder2_TIM_init(void) { DL_TimerA_setClockConfig(Encoder2_TIM_INST, (DL_TimerA_ClockConfig *) &gEncoder2_TIMClockConfig); DL_TimerA_initCompareMode(Encoder2_TIM_INST, (DL_TimerA_CompareConfig *) &gEncoder2_TIMCompareConfig); DL_TimerA_setCaptureCompareInputFilter(Encoder2_TIM_INST, DL_TIMER_CC_INPUT_FILT_CPV_VOTING, DL_TIMER_CC_INPUT_FILT_FP_PER_3, DL_TIMER_CC_0_INDEX); DL_TimerA_enableCaptureCompareInputFilter(Encoder2_TIM_INST, DL_TIMER_CC_0_INDEX); DL_TimerA_enableInterrupt(Encoder2_TIM_INST , DL_TIMERA_INTERRUPT_LOAD_EVENT); DL_TimerA_enableClock(Encoder2_TIM_INST); } /* * Timer clock configuration to be sourced by BUSCLK / (5000000 Hz) * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1))) * 500000 Hz = 5000000 Hz / (8 * (9 + 1)) */ static const DL_TimerG_ClockConfig gEncoder_CountClockConfig = { .clockSel = DL_TIMER_CLOCK_BUSCLK, .divideRatio = DL_TIMER_CLOCK_DIVIDE_8, .prescale = 9U, }; /* * Timer load value (where the counter starts from) is calculated as (timerPeriod * timerClockFreq) - 1 * Encoder_Count_INST_LOAD_VALUE = (100 ms * 500000 Hz) - 1 */ static const DL_TimerG_TimerConfig gEncoder_CountTimerConfig = { .period = Encoder_Count_INST_LOAD_VALUE, .timerMode = DL_TIMER_TIMER_MODE_PERIODIC_UP, .startTimer = DL_TIMER_START, }; SYSCONFIG_WEAK void SYSCFG_DL_Encoder_Count_init(void) { DL_TimerG_setClockConfig(Encoder_Count_INST, (DL_TimerG_ClockConfig *) &gEncoder_CountClockConfig); DL_TimerG_initTimerMode(Encoder_Count_INST, (DL_TimerG_TimerConfig *) &gEncoder_CountTimerConfig); DL_TimerG_enableInterrupt(Encoder_Count_INST , DL_TIMERG_INTERRUPT_ZERO_EVENT); DL_TimerG_enableClock(Encoder_Count_INST); } static const DL_I2C_ClockConfig gI2C_0ClockConfig = { .clockSel = DL_I2C_CLOCK_BUSCLK, .divideRatio = DL_I2C_CLOCK_DIVIDE_1, }; SYSCONFIG_WEAK void SYSCFG_DL_I2C_0_init(void) { DL_I2C_setClockConfig(I2C_0_INST, (DL_I2C_ClockConfig *) &gI2C_0ClockConfig); DL_I2C_setAnalogGlitchFilterPulseWidth(I2C_0_INST, DL_I2C_ANALOG_GLITCH_FILTER_WIDTH_50NS); DL_I2C_enableAnalogGlitchFilter(I2C_0_INST); /* Configure Controller Mode */ DL_I2C_resetControllerTransfer(I2C_0_INST); /* Set frequency to 100000 Hz*/ DL_I2C_setTimerPeriod(I2C_0_INST, 39); DL_I2C_setControllerTXFIFOThreshold(I2C_0_INST, DL_I2C_TX_FIFO_LEVEL_EMPTY); DL_I2C_setControllerRXFIFOThreshold(I2C_0_INST, DL_I2C_RX_FIFO_LEVEL_BYTES_1); DL_I2C_enableControllerClockStretching(I2C_0_INST); /* Enable module */ DL_I2C_enableController(I2C_0_INST); } static const DL_I2C_ClockConfig gI2C_1ClockConfig = { .clockSel = DL_I2C_CLOCK_BUSCLK, .divideRatio = DL_I2C_CLOCK_DIVIDE_1, }; SYSCONFIG_WEAK void SYSCFG_DL_I2C_1_init(void) { DL_I2C_setClockConfig(I2C_1_INST, (DL_I2C_ClockConfig *) &gI2C_1ClockConfig); DL_I2C_setAnalogGlitchFilterPulseWidth(I2C_1_INST, DL_I2C_ANALOG_GLITCH_FILTER_WIDTH_50NS); DL_I2C_enableAnalogGlitchFilter(I2C_1_INST); /* Configure Controller Mode */ DL_I2C_resetControllerTransfer(I2C_1_INST); /* Set frequency to 100000 Hz*/ DL_I2C_setTimerPeriod(I2C_1_INST, 39); DL_I2C_setControllerTXFIFOThreshold(I2C_1_INST, DL_I2C_TX_FIFO_LEVEL_EMPTY); DL_I2C_setControllerRXFIFOThreshold(I2C_1_INST, DL_I2C_RX_FIFO_LEVEL_BYTES_1); DL_I2C_enableControllerClockStretching(I2C_1_INST); /* Enable module */ DL_I2C_enableController(I2C_1_INST); } static const DL_UART_Main_ClockConfig gPRINTFClockConfig = { .clockSel = DL_UART_MAIN_CLOCK_MFCLK, .divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1 }; static const DL_UART_Main_Config gPRINTFConfig = { .mode = DL_UART_MAIN_MODE_NORMAL, .direction = DL_UART_MAIN_DIRECTION_TX_RX, .flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE, .parity = DL_UART_MAIN_PARITY_NONE, .wordLength = DL_UART_MAIN_WORD_LENGTH_8_BITS, .stopBits = DL_UART_MAIN_STOP_BITS_ONE }; SYSCONFIG_WEAK void SYSCFG_DL_PRINTF_init(void) { DL_UART_Main_setClockConfig(PRINTF_INST, (DL_UART_Main_ClockConfig *) &gPRINTFClockConfig); DL_UART_Main_init(PRINTF_INST, (DL_UART_Main_Config *) &gPRINTFConfig); /* * Configure baud rate by setting oversampling and baud rate divisors. * Target baud rate: 115200 * Actual baud rate: 115107.91 */ DL_UART_Main_setOversampling(PRINTF_INST, DL_UART_OVERSAMPLING_RATE_16X); DL_UART_Main_setBaudRateDivisor(PRINTF_INST, PRINTF_IBRD_4_MHZ_115200_BAUD, PRINTF_FBRD_4_MHZ_115200_BAUD); /* Configure Interrupts */ DL_UART_Main_enableInterrupt(PRINTF_INST, DL_UART_MAIN_INTERRUPT_RX); DL_UART_Main_enable(PRINTF_INST); } static const DL_UART_Main_ClockConfig gIMUClockConfig = { .clockSel = DL_UART_MAIN_CLOCK_MFCLK, .divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1 }; static const DL_UART_Main_Config gIMUConfig = { .mode = DL_UART_MAIN_MODE_NORMAL, .direction = DL_UART_MAIN_DIRECTION_TX_RX, .flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE, .parity = DL_UART_MAIN_PARITY_NONE, .wordLength = DL_UART_MAIN_WORD_LENGTH_8_BITS, .stopBits = DL_UART_MAIN_STOP_BITS_ONE }; SYSCONFIG_WEAK void SYSCFG_DL_IMU_init(void) { DL_UART_Main_setClockConfig(IMU_INST, (DL_UART_Main_ClockConfig *) &gIMUClockConfig); DL_UART_Main_init(IMU_INST, (DL_UART_Main_Config *) &gIMUConfig); /* * Configure baud rate by setting oversampling and baud rate divisors. * Target baud rate: 115200 * Actual baud rate: 115107.91 */ DL_UART_Main_setOversampling(IMU_INST, DL_UART_OVERSAMPLING_RATE_16X); DL_UART_Main_setBaudRateDivisor(IMU_INST, IMU_IBRD_4_MHZ_115200_BAUD, IMU_FBRD_4_MHZ_115200_BAUD); /* Configure Interrupts */ DL_UART_Main_enableInterrupt(IMU_INST, DL_UART_MAIN_INTERRUPT_RX); DL_UART_Main_enable(IMU_INST); } static const DL_UART_Main_ClockConfig gHOSTClockConfig = { .clockSel = DL_UART_MAIN_CLOCK_MFCLK, .divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1 }; static const DL_UART_Main_Config gHOSTConfig = { .mode = DL_UART_MAIN_MODE_NORMAL, .direction = DL_UART_MAIN_DIRECTION_TX_RX, .flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE, .parity = DL_UART_MAIN_PARITY_NONE, .wordLength = DL_UART_MAIN_WORD_LENGTH_8_BITS, .stopBits = DL_UART_MAIN_STOP_BITS_ONE }; SYSCONFIG_WEAK void SYSCFG_DL_HOST_init(void) { DL_UART_Main_setClockConfig(HOST_INST, (DL_UART_Main_ClockConfig *) &gHOSTClockConfig); DL_UART_Main_init(HOST_INST, (DL_UART_Main_Config *) &gHOSTConfig); /* * Configure baud rate by setting oversampling and baud rate divisors. * Target baud rate: 115200 * Actual baud rate: 115107.91 */ DL_UART_Main_setOversampling(HOST_INST, DL_UART_OVERSAMPLING_RATE_16X); DL_UART_Main_setBaudRateDivisor(HOST_INST, HOST_IBRD_4_MHZ_115200_BAUD, HOST_FBRD_4_MHZ_115200_BAUD); /* Configure Interrupts */ DL_UART_Main_enableInterrupt(HOST_INST, DL_UART_MAIN_INTERRUPT_RX); DL_UART_Main_enable(HOST_INST); } static const DL_UART_Main_ClockConfig gStepmotorClockConfig = { .clockSel = DL_UART_MAIN_CLOCK_MFCLK, .divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1 }; static const DL_UART_Main_Config gStepmotorConfig = { .mode = DL_UART_MAIN_MODE_NORMAL, .direction = DL_UART_MAIN_DIRECTION_TX_RX, .flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE, .parity = DL_UART_MAIN_PARITY_NONE, .wordLength = DL_UART_MAIN_WORD_LENGTH_8_BITS, .stopBits = DL_UART_MAIN_STOP_BITS_ONE }; SYSCONFIG_WEAK void SYSCFG_DL_Stepmotor_init(void) { DL_UART_Main_setClockConfig(Stepmotor_INST, (DL_UART_Main_ClockConfig *) &gStepmotorClockConfig); DL_UART_Main_init(Stepmotor_INST, (DL_UART_Main_Config *) &gStepmotorConfig); /* * Configure baud rate by setting oversampling and baud rate divisors. * Target baud rate: 115200 * Actual baud rate: 115107.91 */ DL_UART_Main_setOversampling(Stepmotor_INST, DL_UART_OVERSAMPLING_RATE_16X); DL_UART_Main_setBaudRateDivisor(Stepmotor_INST, Stepmotor_IBRD_4_MHZ_115200_BAUD, Stepmotor_FBRD_4_MHZ_115200_BAUD); /* Configure Interrupts */ DL_UART_Main_enableInterrupt(Stepmotor_INST, DL_UART_MAIN_INTERRUPT_RX); DL_UART_Main_enable(Stepmotor_INST); }