MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_ARM_SSG/TARGET_IOTSS/us_ticker.c@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2015 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include <stddef.h>
sahilmgandhi 18:6a4db94011d3 17 #include "us_ticker_api.h"
sahilmgandhi 18:6a4db94011d3 18 #include "PeripheralNames.h"
sahilmgandhi 18:6a4db94011d3 19
sahilmgandhi 18:6a4db94011d3 20 #define US_TICKER_TIMER1 CMSDK_DUALTIMER1
sahilmgandhi 18:6a4db94011d3 21 #define US_TICKER_TIMER2 CMSDK_DUALTIMER2
sahilmgandhi 18:6a4db94011d3 22 #define US_TICKER_TIMER_IRQn DUALTIMER_IRQn
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24 int us_ticker_inited = 0;
sahilmgandhi 18:6a4db94011d3 25
sahilmgandhi 18:6a4db94011d3 26 void us_ticker_init(void) {
sahilmgandhi 18:6a4db94011d3 27 if (us_ticker_inited) return;
sahilmgandhi 18:6a4db94011d3 28 us_ticker_inited = 1;
sahilmgandhi 18:6a4db94011d3 29
sahilmgandhi 18:6a4db94011d3 30 US_TICKER_TIMER1->TimerControl = 0x0; // disable timer
sahilmgandhi 18:6a4db94011d3 31 US_TICKER_TIMER2->TimerControl = 0x00; // disable timer
sahilmgandhi 18:6a4db94011d3 32 US_TICKER_TIMER1->TimerLoad = 0xFFFFFFFF;
sahilmgandhi 18:6a4db94011d3 33 US_TICKER_TIMER2->TimerLoad = 0xFFFFFFFF;
sahilmgandhi 18:6a4db94011d3 34
sahilmgandhi 18:6a4db94011d3 35 US_TICKER_TIMER1->TimerControl = 0x62; // enable interrupt and set to 32 bit counter and set to periodic mode
sahilmgandhi 18:6a4db94011d3 36 US_TICKER_TIMER2->TimerControl = 0x42; // enable interrupt and set to 32 bit counter
sahilmgandhi 18:6a4db94011d3 37
sahilmgandhi 18:6a4db94011d3 38 US_TICKER_TIMER1->TimerControl |= 0x80; // enable counter
sahilmgandhi 18:6a4db94011d3 39 US_TICKER_TIMER2->TimerControl |= 0x80; // enable counter
sahilmgandhi 18:6a4db94011d3 40
sahilmgandhi 18:6a4db94011d3 41 NVIC_SetVector(US_TICKER_TIMER_IRQn, (uint32_t)us_ticker_irq_handler);
sahilmgandhi 18:6a4db94011d3 42 NVIC_EnableIRQ(US_TICKER_TIMER_IRQn);
sahilmgandhi 18:6a4db94011d3 43 }
sahilmgandhi 18:6a4db94011d3 44
sahilmgandhi 18:6a4db94011d3 45 uint32_t us_ticker_read() {
sahilmgandhi 18:6a4db94011d3 46 uint32_t return_value = 0;
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 if (!us_ticker_inited)
sahilmgandhi 18:6a4db94011d3 49 us_ticker_init();
sahilmgandhi 18:6a4db94011d3 50 return_value = ((~US_TICKER_TIMER2->TimerValue)/24);
sahilmgandhi 18:6a4db94011d3 51 return return_value;
sahilmgandhi 18:6a4db94011d3 52 }
sahilmgandhi 18:6a4db94011d3 53
sahilmgandhi 18:6a4db94011d3 54 void us_ticker_set_interrupt(timestamp_t timestamp) {
sahilmgandhi 18:6a4db94011d3 55 int delta = 0;
sahilmgandhi 18:6a4db94011d3 56
sahilmgandhi 18:6a4db94011d3 57 if (!us_ticker_inited)
sahilmgandhi 18:6a4db94011d3 58 us_ticker_init();
sahilmgandhi 18:6a4db94011d3 59 delta = (int)(timestamp - us_ticker_read());
sahilmgandhi 18:6a4db94011d3 60 if (delta <= 0) {
sahilmgandhi 18:6a4db94011d3 61 // This event was in the past:
sahilmgandhi 18:6a4db94011d3 62 us_ticker_irq_handler();
sahilmgandhi 18:6a4db94011d3 63 return;
sahilmgandhi 18:6a4db94011d3 64 }
sahilmgandhi 18:6a4db94011d3 65 // enable interrupt
sahilmgandhi 18:6a4db94011d3 66 US_TICKER_TIMER1->TimerControl = 0x0; // disable timer
sahilmgandhi 18:6a4db94011d3 67 US_TICKER_TIMER1->TimerControl = 0x62; // enable interrupt and set to 32 bit counter and set to periodic mode
sahilmgandhi 18:6a4db94011d3 68 US_TICKER_TIMER1->TimerLoad = (delta)*24; //initialise the timer value
sahilmgandhi 18:6a4db94011d3 69 US_TICKER_TIMER1->TimerControl |= 0x80; //enable timer
sahilmgandhi 18:6a4db94011d3 70 }
sahilmgandhi 18:6a4db94011d3 71
sahilmgandhi 18:6a4db94011d3 72 void us_ticker_disable_interrupt(void) {
sahilmgandhi 18:6a4db94011d3 73
sahilmgandhi 18:6a4db94011d3 74 US_TICKER_TIMER1->TimerControl &= 0xDF;
sahilmgandhi 18:6a4db94011d3 75 US_TICKER_TIMER2->TimerControl &= 0xDF;
sahilmgandhi 18:6a4db94011d3 76
sahilmgandhi 18:6a4db94011d3 77 }
sahilmgandhi 18:6a4db94011d3 78
sahilmgandhi 18:6a4db94011d3 79 void us_ticker_clear_interrupt(void) {
sahilmgandhi 18:6a4db94011d3 80
sahilmgandhi 18:6a4db94011d3 81 US_TICKER_TIMER1->TimerIntClr = 0x1;
sahilmgandhi 18:6a4db94011d3 82 US_TICKER_TIMER2->TimerIntClr = 0x1;
sahilmgandhi 18:6a4db94011d3 83
sahilmgandhi 18:6a4db94011d3 84 }