367 lines
10 KiB
C
367 lines
10 KiB
C
//*****************************************************************************
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//
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// uart_echo.c - Example for reading data from and writing data to the UART in
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// an interrupt driven fashion.
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//
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// Copyright (c) 2012 Texas Instruments Incorporated. All rights reserved.
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// Software License Agreement
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//
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// Texas Instruments (TI) is supplying this software for use solely and
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// exclusively on TI's microcontroller products. The software is owned by
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// TI and/or its suppliers, and is protected under applicable copyright
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// laws. You may not combine this software with "viral" open-source
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// software in order to form a larger program.
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//
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// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
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// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
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// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
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// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
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// DAMAGES, FOR ANY REASON WHATSOEVER.
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//
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// This is part of revision 9453 of the EK-LM4F120XL Firmware Package.
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//
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//*****************************************************************************
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#include "inc/hw_ints.h"
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#include "inc/hw_memmap.h"
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#include "inc/hw_types.h"
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#include "driverlib/debug.h"
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#include "driverlib/fpu.h"
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#include "driverlib/gpio.h"
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#include "driverlib/interrupt.h"
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#include "driverlib/pin_map.h"
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#include "driverlib/rom.h"
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#include "driverlib/sysctl.h"
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#include "driverlib/uart.h"
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#include "driverlib/timer.h"
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//*****************************************************************************
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//
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//! \addtogroup example_list
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//! <h1>UART Echo (uart_echo)</h1>
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//!
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//! This example application utilizes the UART to echo text. The first UART
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//! (connected to the USB debug virtual serial port on the evaluation board)
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//! will be configured in 115,200 baud, 8-n-1 mode. All characters received on
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//! the UART are transmitted back to the UART.
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//
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//*****************************************************************************
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//*****************************************************************************
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//
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// The error routine that is called if the driver library encounters an error.
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//
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//*****************************************************************************
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#ifdef DEBUG
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void
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__error__(char *pcFilename, unsigned long ulLine)
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{
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}
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#endif
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//*****************************************************************************
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//
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// The UART interrupt handler.
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//
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//*****************************************************************************
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//*****************************************************************************
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//
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// Send a string to the UART.
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//
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//*****************************************************************************
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void
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UARTSend(const unsigned char *pucBuffer, unsigned long ulCount)
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{
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//
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// Loop while there are more characters to send.
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//
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while(ulCount--)
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{
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//
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// Write the next character to the UART.
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//
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ROM_UARTCharPutNonBlocking(UART0_BASE, *pucBuffer++);
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}
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}
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#define DSET_SERVO1 'a'
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#define DSET_SERVO2 'b'
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#define DSET_DA 'c'
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#define DEST_DB 'd'
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#define DSET_DC 'e'
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typedef unsigned char u8;
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typedef char s8;
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typedef unsigned int u32;
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volatile u32 g_FiredTime = 0;
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struct {
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struct {
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u32 Servo1 : 1,
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Servo2 : 1;
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struct {
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u32 A : 1,
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B : 1,
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C : 1;
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} Digital;
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} NextReceive;
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u8 Servo1;
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u8 Servo2;
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struct {
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u32 A : 1,
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B : 1,
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C : 1;
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} Digital;
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} g_OutputControl;
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void CommitState(void)
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{
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// F4 = fire
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//GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, g_OutputControl.Digital.A ? GPIO_PIN_4 : 0);
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GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, g_OutputControl.Digital.A ? GPIO_PIN_2 : 0);
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}
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void ClearNext(void)
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{
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g_OutputControl.NextReceive.Servo1 = 0;
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g_OutputControl.NextReceive.Servo2 = 0;
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g_OutputControl.NextReceive.Digital.A = 0;
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g_OutputControl.NextReceive.Digital.B = 0;
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g_OutputControl.NextReceive.Digital.C = 0;
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}
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volatile u32 Timer0Counter = 0;
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volatile u32 MiliCounter = 0;
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u32 MiliSubCounter = 0;
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void Timer0Handler(void)
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{
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ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
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MiliSubCounter++;
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if (MiliSubCounter >= 100)
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{
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MiliSubCounter = 0;
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MiliCounter++;
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}
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Timer0Counter++;
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if (Timer0Counter >= 2000)
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Timer0Counter = 0;
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if (Timer0Counter == 0)
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{
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GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2, GPIO_PIN_2);
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GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3, GPIO_PIN_3);
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}
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if (Timer0Counter == 50 + g_OutputControl.Servo1)
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GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2, 0);
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if (Timer0Counter == 50 + g_OutputControl.Servo2)
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GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3, 0);
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if (g_OutputControl.Digital.A)
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{
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if (MiliCounter > (g_FiredTime + 200))
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{
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g_OutputControl.Digital.A = 0;
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CommitState();
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}
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}
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}
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void
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UARTIntHandler(void)
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{
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unsigned long ulStatus;
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//
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// Get the interrrupt status.
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//
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ulStatus = ROM_UARTIntStatus(UART0_BASE, true);
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//
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// Clear the asserted interrupts.
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//
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ROM_UARTIntClear(UART0_BASE, ulStatus);
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//
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// Loop while there are characters in the receive FIFO.
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//
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while(ROM_UARTCharsAvail(UART0_BASE))
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{
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//
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// Read the next character from the UART and write it back to the UART.
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//
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u8 Data = ROM_UARTCharGetNonBlocking(UART0_BASE);
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u8 Sent = 0;
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if (g_OutputControl.NextReceive.Digital.A)
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{
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if (Data > 0)
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{
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UARTSend("start ", 6);
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g_FiredTime = MiliCounter;
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g_OutputControl.Digital.A = 1;
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}
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Sent = 1;
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}
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else if (g_OutputControl.NextReceive.Servo1)
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{
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UARTSend("s1 ", 3);
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g_OutputControl.Servo1 = (Data * 200) / 256;
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Sent = 1;
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}
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else if (g_OutputControl.NextReceive.Servo2)
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{
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UARTSend("s2, ", 4);
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g_OutputControl.Servo2 = (Data * 200) / 256;
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//UARTSend("b", 1);
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Sent = 1;
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}
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ClearNext();
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if (!Sent)
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{
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if (Data == 'a')
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{
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g_OutputControl.NextReceive.Servo1 = 1;
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//UARTSend("A", 1);
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}
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else if (Data == 'b')
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{
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g_OutputControl.NextReceive.Servo2 = 1;
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//UARTSend("B", 1);
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}
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else if (Data == 'c')
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{
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g_OutputControl.NextReceive.Digital.A = 1;
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}
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// else if (Data == 'r')
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// {
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// UARTSend("R", 1);;
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// }
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}
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CommitState();
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//
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// Blink the LED to show a character transfer is occuring.
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//
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//GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_PIN_4);
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//
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// Delay for 1 millisecond. Each SysCtlDelay is about 3 clocks.
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//
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//SysCtlDelay(SysCtlClockGet() / (1000 * 3));
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//
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// Turn off the LED
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//
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//GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
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}
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}
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//*****************************************************************************
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//
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// This example demonstrates how to send a string of data to the UART.
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//
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//*****************************************************************************
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int
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main(void)
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{
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// initialize crap
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g_OutputControl.Servo1 = 0;
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g_OutputControl.Servo2 = 0;
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g_OutputControl.Digital.A = 0;
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g_OutputControl.Digital.B = 0;
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g_OutputControl.Digital.C = 0;
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g_OutputControl.NextReceive.Servo1 = 0;
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g_OutputControl.NextReceive.Servo2 = 0;
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g_OutputControl.NextReceive.Digital.A = 0;
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g_OutputControl.NextReceive.Digital.B = 0;
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g_OutputControl.NextReceive.Digital.C = 0;
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//
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// Enable lazy stacking for interrupt handlers. This allows floating-point
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// instructions to be used within interrupt handlers, but at the expense of
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// extra stack usage.
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//
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ROM_FPUEnable();
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ROM_FPULazyStackingEnable();
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//
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// Set the clocking to run directly from the crystal.
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//
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ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
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SYSCTL_XTAL_16MHZ);
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//
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// Enable the GPIO port that is used for the on-board LED.
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//
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ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
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ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
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ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
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ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
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//
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// Enable the GPIO pins for the LED (PF2).
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//
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ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2);
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// digital
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ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_4);
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// servos (PA2, PA3)
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ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_2);
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ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_3);
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//
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// Enable the peripherals used by this example.
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//
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// Enable processor interrupts.
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//
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ROM_IntMasterEnable();
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//
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// Set GPIO A0 and A1 as UART pins.
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//
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GPIOPinConfigure(GPIO_PA0_U0RX);
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GPIOPinConfigure(GPIO_PA1_U0TX);
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ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
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//
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// Configure the UART for 115,200, 8-N-1 operation.
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//
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ROM_UARTConfigSetExpClk(UART0_BASE, ROM_SysCtlClockGet(), 115200,
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(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
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UART_CONFIG_PAR_NONE));
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ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
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ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet() / 100000);
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//
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// Enable the UART interrupt.
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//
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ROM_IntEnable(INT_UART0);
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ROM_IntEnable(INT_TIMER0A);
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ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
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ROM_UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT);
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ROM_TimerEnable(TIMER0_BASE, TIMER_A);
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//
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// Loop forever echoing data through the UART.
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//
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while(1)
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{
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}
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}
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