Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

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) 2006-2013 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 "sleep_api.h"
sahilmgandhi 18:6a4db94011d3 17 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 18 #include "mbed_interface.h"
sahilmgandhi 18:6a4db94011d3 19
sahilmgandhi 18:6a4db94011d3 20 void hal_sleep(void) {
sahilmgandhi 18:6a4db94011d3 21 // ensure debug is disconnected
sahilmgandhi 18:6a4db94011d3 22 #if DEVICE_SEMIHOST
sahilmgandhi 18:6a4db94011d3 23 mbed_interface_disconnect();
sahilmgandhi 18:6a4db94011d3 24 #endif
sahilmgandhi 18:6a4db94011d3 25
sahilmgandhi 18:6a4db94011d3 26 // PCON[PD] set to sleep
sahilmgandhi 18:6a4db94011d3 27 LPC_PMU->PCON = 0x0;
sahilmgandhi 18:6a4db94011d3 28
sahilmgandhi 18:6a4db94011d3 29 // SRC[SLEEPDEEP] set to 0 = sleep
sahilmgandhi 18:6a4db94011d3 30 SCB->SCR &= ~SCB_SCR_SLEEPDEEP_Msk;
sahilmgandhi 18:6a4db94011d3 31
sahilmgandhi 18:6a4db94011d3 32 // wait for interrupt
sahilmgandhi 18:6a4db94011d3 33 __WFI();
sahilmgandhi 18:6a4db94011d3 34 }
sahilmgandhi 18:6a4db94011d3 35
sahilmgandhi 18:6a4db94011d3 36 /*
sahilmgandhi 18:6a4db94011d3 37 * The mbed lpc1768 does not support the deepsleep mode
sahilmgandhi 18:6a4db94011d3 38 * as a debugger is connected to it (the mbed interface).
sahilmgandhi 18:6a4db94011d3 39 *
sahilmgandhi 18:6a4db94011d3 40 * As mentionned in an application note from NXP:
sahilmgandhi 18:6a4db94011d3 41 *
sahilmgandhi 18:6a4db94011d3 42 * http://www.po-star.com/public/uploads/20120319123122_141.pdf
sahilmgandhi 18:6a4db94011d3 43 *
sahilmgandhi 18:6a4db94011d3 44 * {{{
sahilmgandhi 18:6a4db94011d3 45 * The user should be aware of certain limitations during debugging.
sahilmgandhi 18:6a4db94011d3 46 * The most important is that, due to limitations of the Cortex-M3
sahilmgandhi 18:6a4db94011d3 47 * integration, the LPC17xx cannot wake up in the usual manner from
sahilmgandhi 18:6a4db94011d3 48 * Deep Sleep and Power-down modes. It is recommended not to use these
sahilmgandhi 18:6a4db94011d3 49 * modes during debug. Once an application is downloaded via JTAG/SWD
sahilmgandhi 18:6a4db94011d3 50 * interface, the USB to SWD/JTAG debug adapter (Keil ULINK2 for example)
sahilmgandhi 18:6a4db94011d3 51 * should be removed from the target board, and thereafter, power cycle
sahilmgandhi 18:6a4db94011d3 52 * the LPC17xx to allow wake-up from deep sleep and power-down modes
sahilmgandhi 18:6a4db94011d3 53 * }}}
sahilmgandhi 18:6a4db94011d3 54 *
sahilmgandhi 18:6a4db94011d3 55 * As the interface firmware does not reset the target when a
sahilmgandhi 18:6a4db94011d3 56 * mbed_interface_disconnect() semihosting call is made, the
sahilmgandhi 18:6a4db94011d3 57 * core cannot wake-up from deepsleep.
sahilmgandhi 18:6a4db94011d3 58 *
sahilmgandhi 18:6a4db94011d3 59 * We treat a deepsleep() as a normal sleep().
sahilmgandhi 18:6a4db94011d3 60 */
sahilmgandhi 18:6a4db94011d3 61
sahilmgandhi 18:6a4db94011d3 62 void hal_deepsleep(void) {
sahilmgandhi 18:6a4db94011d3 63 // ensure debug is disconnected
sahilmgandhi 18:6a4db94011d3 64 #if DEVICE_SEMIHOST
sahilmgandhi 18:6a4db94011d3 65 mbed_interface_disconnect();
sahilmgandhi 18:6a4db94011d3 66 #endif
sahilmgandhi 18:6a4db94011d3 67
sahilmgandhi 18:6a4db94011d3 68 // PCON[PD] set to deepsleep
sahilmgandhi 18:6a4db94011d3 69 LPC_PMU->PCON = 0x1;
sahilmgandhi 18:6a4db94011d3 70
sahilmgandhi 18:6a4db94011d3 71 // SRC[SLEEPDEEP] set to 1 = deep sleep
sahilmgandhi 18:6a4db94011d3 72 SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk;
sahilmgandhi 18:6a4db94011d3 73
sahilmgandhi 18:6a4db94011d3 74 // Power up everything after powerdown
sahilmgandhi 18:6a4db94011d3 75 LPC_SYSCON->PDAWAKECFG &= 0xFFFFF800;
sahilmgandhi 18:6a4db94011d3 76
sahilmgandhi 18:6a4db94011d3 77 // wait for interrupt
sahilmgandhi 18:6a4db94011d3 78 __WFI();
sahilmgandhi 18:6a4db94011d3 79 }