MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_ARM_SSG/TARGET_MPS2/SDK/fpga.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 * File: fpga.c
sahilmgandhi 18:6a4db94011d3 17 * Release: Version 1.0
sahilmgandhi 18:6a4db94011d3 18 * ----------------------------------------------------------------
sahilmgandhi 18:6a4db94011d3 19 */
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 /*
sahilmgandhi 18:6a4db94011d3 22 * Code implementation file for the fpga functions.
sahilmgandhi 18:6a4db94011d3 23 */
sahilmgandhi 18:6a4db94011d3 24
sahilmgandhi 18:6a4db94011d3 25 #include "SMM_MPS2.h" // MPS2 common header
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 // Function to delay n*ticks (25MHz = 40nS per tick)
sahilmgandhi 18:6a4db94011d3 28 // Used for I2C drivers
sahilmgandhi 18:6a4db94011d3 29 void i2c_delay(unsigned int tick)
sahilmgandhi 18:6a4db94011d3 30 {
sahilmgandhi 18:6a4db94011d3 31 unsigned int end;
sahilmgandhi 18:6a4db94011d3 32 unsigned int start;
sahilmgandhi 18:6a4db94011d3 33
sahilmgandhi 18:6a4db94011d3 34 start = MPS2_FPGAIO->COUNTER;
sahilmgandhi 18:6a4db94011d3 35 end = start + (tick);
sahilmgandhi 18:6a4db94011d3 36
sahilmgandhi 18:6a4db94011d3 37 if(end >= start)
sahilmgandhi 18:6a4db94011d3 38 {
sahilmgandhi 18:6a4db94011d3 39 while (MPS2_FPGAIO->COUNTER >= start && MPS2_FPGAIO->COUNTER < end);
sahilmgandhi 18:6a4db94011d3 40 }
sahilmgandhi 18:6a4db94011d3 41 else
sahilmgandhi 18:6a4db94011d3 42 {
sahilmgandhi 18:6a4db94011d3 43 while (MPS2_FPGAIO->COUNTER >= start);
sahilmgandhi 18:6a4db94011d3 44 while (MPS2_FPGAIO->COUNTER < end);
sahilmgandhi 18:6a4db94011d3 45 }
sahilmgandhi 18:6a4db94011d3 46 }
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 /* Sleep function to delay n*mS
sahilmgandhi 18:6a4db94011d3 49 * Uses FPGA counter.
sahilmgandhi 18:6a4db94011d3 50 */
sahilmgandhi 18:6a4db94011d3 51 void Sleepms(unsigned int msec)
sahilmgandhi 18:6a4db94011d3 52 {
sahilmgandhi 18:6a4db94011d3 53 unsigned int end;
sahilmgandhi 18:6a4db94011d3 54 unsigned int start;
sahilmgandhi 18:6a4db94011d3 55
sahilmgandhi 18:6a4db94011d3 56 start = MPS2_FPGAIO->COUNTER;
sahilmgandhi 18:6a4db94011d3 57 end = start + (25 * msec * 1000);
sahilmgandhi 18:6a4db94011d3 58
sahilmgandhi 18:6a4db94011d3 59 if(end >= start)
sahilmgandhi 18:6a4db94011d3 60 {
sahilmgandhi 18:6a4db94011d3 61 while (MPS2_FPGAIO->COUNTER >= start && MPS2_FPGAIO->COUNTER < end);
sahilmgandhi 18:6a4db94011d3 62 }
sahilmgandhi 18:6a4db94011d3 63 else
sahilmgandhi 18:6a4db94011d3 64 {
sahilmgandhi 18:6a4db94011d3 65 while (MPS2_FPGAIO->COUNTER >= start);
sahilmgandhi 18:6a4db94011d3 66 while (MPS2_FPGAIO->COUNTER < end);
sahilmgandhi 18:6a4db94011d3 67 }
sahilmgandhi 18:6a4db94011d3 68 }
sahilmgandhi 18:6a4db94011d3 69
sahilmgandhi 18:6a4db94011d3 70 /* Sleep function to delay n*uS
sahilmgandhi 18:6a4db94011d3 71 */
sahilmgandhi 18:6a4db94011d3 72 void Sleepus(unsigned int usec)
sahilmgandhi 18:6a4db94011d3 73 {
sahilmgandhi 18:6a4db94011d3 74 unsigned int end;
sahilmgandhi 18:6a4db94011d3 75 unsigned int start;
sahilmgandhi 18:6a4db94011d3 76
sahilmgandhi 18:6a4db94011d3 77 start = MPS2_FPGAIO->COUNTER;
sahilmgandhi 18:6a4db94011d3 78 end = start + (25 * usec);
sahilmgandhi 18:6a4db94011d3 79
sahilmgandhi 18:6a4db94011d3 80 if(end >= start)
sahilmgandhi 18:6a4db94011d3 81 {
sahilmgandhi 18:6a4db94011d3 82 while (MPS2_FPGAIO->COUNTER >= start && MPS2_FPGAIO->COUNTER < end);
sahilmgandhi 18:6a4db94011d3 83 }
sahilmgandhi 18:6a4db94011d3 84 else
sahilmgandhi 18:6a4db94011d3 85 {
sahilmgandhi 18:6a4db94011d3 86 while (MPS2_FPGAIO->COUNTER >= start);
sahilmgandhi 18:6a4db94011d3 87 while (MPS2_FPGAIO->COUNTER < end);
sahilmgandhi 18:6a4db94011d3 88 }
sahilmgandhi 18:6a4db94011d3 89 }
sahilmgandhi 18:6a4db94011d3 90