MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NXP/TARGET_LPC43XX/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) 2006-2013 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 * Ported to NXP LPC43XX by Micromint USA <support@micromint.com>
sahilmgandhi 18:6a4db94011d3 17 */
sahilmgandhi 18:6a4db94011d3 18 #include <stddef.h>
sahilmgandhi 18:6a4db94011d3 19 #include "us_ticker_api.h"
sahilmgandhi 18:6a4db94011d3 20 #include "PeripheralNames.h"
sahilmgandhi 18:6a4db94011d3 21
sahilmgandhi 18:6a4db94011d3 22 #define US_TICKER_TIMER ((LPC_TIMER_T *)LPC_TIMER3_BASE)
sahilmgandhi 18:6a4db94011d3 23 #define US_TICKER_TIMER_IRQn TIMER3_IRQn
sahilmgandhi 18:6a4db94011d3 24
sahilmgandhi 18:6a4db94011d3 25 int us_ticker_inited = 0;
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 void us_ticker_init(void) {
sahilmgandhi 18:6a4db94011d3 28 if (us_ticker_inited) return;
sahilmgandhi 18:6a4db94011d3 29 us_ticker_inited = 1;
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 US_TICKER_TIMER->CTCR = 0x0; // timer mode
sahilmgandhi 18:6a4db94011d3 32 uint32_t PCLK = SystemCoreClock;
sahilmgandhi 18:6a4db94011d3 33
sahilmgandhi 18:6a4db94011d3 34 US_TICKER_TIMER->TCR = 0x2; // reset
sahilmgandhi 18:6a4db94011d3 35
sahilmgandhi 18:6a4db94011d3 36 uint32_t prescale = PCLK / 1000000; // default to 1MHz (1 us ticks)
sahilmgandhi 18:6a4db94011d3 37 US_TICKER_TIMER->PR = prescale - 1;
sahilmgandhi 18:6a4db94011d3 38 US_TICKER_TIMER->TCR = 1; // enable = 1, reset = 0
sahilmgandhi 18:6a4db94011d3 39
sahilmgandhi 18:6a4db94011d3 40 NVIC_SetVector(US_TICKER_TIMER_IRQn, (uint32_t)us_ticker_irq_handler);
sahilmgandhi 18:6a4db94011d3 41 NVIC_EnableIRQ(US_TICKER_TIMER_IRQn);
sahilmgandhi 18:6a4db94011d3 42 }
sahilmgandhi 18:6a4db94011d3 43
sahilmgandhi 18:6a4db94011d3 44 uint32_t us_ticker_read() {
sahilmgandhi 18:6a4db94011d3 45 if (!us_ticker_inited)
sahilmgandhi 18:6a4db94011d3 46 us_ticker_init();
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 return US_TICKER_TIMER->TC;
sahilmgandhi 18:6a4db94011d3 49 }
sahilmgandhi 18:6a4db94011d3 50
sahilmgandhi 18:6a4db94011d3 51 void us_ticker_set_interrupt(timestamp_t timestamp) {
sahilmgandhi 18:6a4db94011d3 52 // set match value
sahilmgandhi 18:6a4db94011d3 53 US_TICKER_TIMER->MR[0] = (uint32_t)timestamp;
sahilmgandhi 18:6a4db94011d3 54 // enable match interrupt
sahilmgandhi 18:6a4db94011d3 55 US_TICKER_TIMER->MCR |= 1;
sahilmgandhi 18:6a4db94011d3 56 }
sahilmgandhi 18:6a4db94011d3 57
sahilmgandhi 18:6a4db94011d3 58 void us_ticker_disable_interrupt(void) {
sahilmgandhi 18:6a4db94011d3 59 US_TICKER_TIMER->MCR &= ~1;
sahilmgandhi 18:6a4db94011d3 60 }
sahilmgandhi 18:6a4db94011d3 61
sahilmgandhi 18:6a4db94011d3 62 void us_ticker_clear_interrupt(void) {
sahilmgandhi 18:6a4db94011d3 63 US_TICKER_TIMER->IR = 1;
sahilmgandhi 18:6a4db94011d3 64 }