r2r.c File Reference

Main R2R library. More...

#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <math.h>
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_types.h"
#include "inc/hw_i2c.h"
#include "inc/hw_gpio.h"
#include "driverlib/fpu.h"
#include "driverlib/ssi.h"
#include "driverlib/pwm.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom.h"
#include "driverlib/rom_map.h"
#include "driverlib/debug.h"
#include "driverlib/timer.h"
#include "driverlib/interrupt.h"
#include "driverlib/i2c.h"
#include "driverlib/uart.h"
#include "driverlib/sysctl.h"
#include "r2r.h"
#include "Encoder.h"
#include "Motor.h"
#include "PositionControl.h"
#include "CurrentControl.h"
#include "Utilities.h"

Functions
void	r2rDefaultInit (void)
	Initializes the default connections for the R2R project. More...
void	sysInit (void)
	Initializes the system clock and the master interrupts for the R2R project. More...
void	uartInit (void)
	Initializes the UART for 115200 Baud Rate and 8-N-1 transfer rate. More...
void	UART0read (char *message, int maxLength)
	Reads input from UART. More...
void	UART0write (const char *string)
	Writes output from UART. More...
void	delayMS (int ms)
	Stops the processor for a given amount of time. This is an approximate time. More...
void	timeInit ()
	Initializes the general purpose systick timer. More...
void	timeInt ()
	The general purpose timer interrupt function. More...
uint32_t	getTime ()
	Returns the time in microseconds. More...

Detailed Description

Main R2R library.

This file contains system functions for the R2R Project, including functions related to system initializations, UART, and debugging.

Author

Benjamen Lim

Huan Weng

Function Documentation

delayMS()

void delayMS

(

int

ms

)

Stops the processor for a given amount of time. This is an approximate time.

Parameters

ms	milliseconds

Returns

Void

getTime()

uint32_t getTime

(

void

)

Returns the time in microseconds.

This function can be used for delays as an alternative to delayMS() because it is interrupt-based.

Example:

    uint32_t curr_time = getTime();
...
uint32_t time_taken = getTime()-curr_time;

Parameters

us	microseconds

Returns

Void

r2rDefaultInit()

void r2rDefaultInit

(

void

)

Initializes the default connections for the R2R project.

This function initializes all peripherals and GPIO pins. This function only needs to be called in main once.

Example:

int main() {
    r2rDefaultInit();
}

Parameters

Void

Returns

Void

sysInit()

void sysInit

(

void

)

Initializes the system clock and the master interrupts for the R2R project.

Parameters

Void

Returns

Void

timeInit()

void timeInit

(

void

)

Initializes the general purpose systick timer.

Parameters

Void

Returns

Void

timeInt()

void timeInt

(

void

)

The general purpose timer interrupt function.

This function is called every microsecond and updates a counter.

Parameters

ms	milliseconds

Returns

Void

UART0read()

void UART0read	(	char *	message,
		int	maxLength
	)

Reads input from UART.

Parameters

char*	message pointer to a buffer
int	maxLength the maximum length of the buffer

Returns

Void

UART0write()

void UART0write

(

const char *

string

)

Writes output from UART.

Parameters

const

char* message pointer to a buffer

Returns

Void

uartInit()

void uartInit

(

void

)

Initializes the UART for 115200 Baud Rate and 8-N-1 transfer rate.

Parameters

Void

Returns

Void