/*
* Copyright (c) 2023, Texas Instruments Incorporated
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*
* ============ ti_msp_dl_config.c =============
* Configured MSPM0 DriverLib module definitions
*
* DO NOT EDIT - This file is generated for the MSPM0G350X
* by the SysConfig tool.
*/
#include "ti_msp_dl_config.h"
DL_TimerA_backupConfig gTIMER_0Backup;
/*
* ======== SYSCFG_DL_init ========
* Perform any initialization needed before using any board APIs
*/
SYSCONFIG_WEAK void SYSCFG_DL_init(void)
{
SYSCFG_DL_initPower();
SYSCFG_DL_GPIO_init();
/* Module-Specific Initializations*/
SYSCFG_DL_SYSCTL_init();
SYSCFG_DL_PWM_0_init();
SYSCFG_DL_TIMER_0_init();
SYSCFG_DL_UART_IMU601_init();
SYSCFG_DL_UART_0_init();
/* Ensure backup structures have no valid state */
gTIMER_0Backup.backupRdy = false;
}
/*
* User should take care to save and restore register configuration in application.
* See Retention Configuration section for more details.
*/
SYSCONFIG_WEAK bool SYSCFG_DL_saveConfiguration(void)
{
bool retStatus = true;
retStatus &= DL_TimerA_saveConfiguration(TIMER_0_INST, &gTIMER_0Backup);
return retStatus;
}
SYSCONFIG_WEAK bool SYSCFG_DL_restoreConfiguration(void)
{
bool retStatus = true;
retStatus &= DL_TimerA_restoreConfiguration(TIMER_0_INST, &gTIMER_0Backup, false);
return retStatus;
}
SYSCONFIG_WEAK void SYSCFG_DL_initPower(void)
{
DL_GPIO_reset(GPIOA);
DL_GPIO_reset(GPIOB);
DL_TimerG_reset(PWM_0_INST);
DL_TimerA_reset(TIMER_0_INST);
DL_UART_Main_reset(UART_IMU601_INST);
DL_UART_Main_reset(UART_0_INST);
DL_GPIO_enablePower(GPIOA);
DL_GPIO_enablePower(GPIOB);
DL_TimerG_enablePower(PWM_0_INST);
DL_TimerA_enablePower(TIMER_0_INST);
DL_UART_Main_enablePower(UART_IMU601_INST);
DL_UART_Main_enablePower(UART_0_INST);
delay_cycles(POWER_STARTUP_DELAY);
}
SYSCONFIG_WEAK void SYSCFG_DL_GPIO_init(void)
{
DL_GPIO_initPeripheralOutputFunction(GPIO_PWM_0_C0_IOMUX,GPIO_PWM_0_C0_IOMUX_FUNC);
DL_GPIO_enableOutput(GPIO_PWM_0_C0_PORT, GPIO_PWM_0_C0_PIN);
DL_GPIO_initPeripheralOutputFunction(GPIO_PWM_0_C1_IOMUX,GPIO_PWM_0_C1_IOMUX_FUNC);
DL_GPIO_enableOutput(GPIO_PWM_0_C1_PORT, GPIO_PWM_0_C1_PIN);
DL_GPIO_initPeripheralOutputFunction(
GPIO_UART_IMU601_IOMUX_TX, GPIO_UART_IMU601_IOMUX_TX_FUNC);
DL_GPIO_initPeripheralInputFunction(
GPIO_UART_IMU601_IOMUX_RX, GPIO_UART_IMU601_IOMUX_RX_FUNC);
DL_GPIO_initPeripheralOutputFunction(
GPIO_UART_0_IOMUX_TX, GPIO_UART_0_IOMUX_TX_FUNC);
DL_GPIO_initPeripheralInputFunction(
GPIO_UART_0_IOMUX_RX, GPIO_UART_0_IOMUX_RX_FUNC);
DL_GPIO_initDigitalOutput(GPIO_LED_PIN_0_IOMUX);
DL_GPIO_initDigitalOutputFeatures(GPIO_OLED_PIN_SDA_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_DRIVE_STRENGTH_LOW, DL_GPIO_HIZ_DISABLE);
DL_GPIO_initDigitalOutputFeatures(GPIO_OLED_PIN_SCL_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_DRIVE_STRENGTH_LOW, DL_GPIO_HIZ_DISABLE);
DL_GPIO_setPins(GPIOA, GPIO_LED_PIN_0_PIN |
GPIO_OLED_PIN_SDA_PIN |
GPIO_OLED_PIN_SCL_PIN);
DL_GPIO_enableOutput(GPIOA, GPIO_LED_PIN_0_PIN |
GPIO_OLED_PIN_SDA_PIN |
GPIO_OLED_PIN_SCL_PIN);
}
static const DL_SYSCTL_SYSPLLConfig gSYSPLLConfig = {
.inputFreq = DL_SYSCTL_SYSPLL_INPUT_FREQ_16_32_MHZ,
.rDivClk2x = 3,
.rDivClk1 = 1,
.rDivClk0 = 0,
.enableCLK2x = DL_SYSCTL_SYSPLL_CLK2X_ENABLE,
.enableCLK1 = DL_SYSCTL_SYSPLL_CLK1_DISABLE,
.enableCLK0 = DL_SYSCTL_SYSPLL_CLK0_DISABLE,
.sysPLLMCLK = DL_SYSCTL_SYSPLL_MCLK_CLK2X,
.sysPLLRef = DL_SYSCTL_SYSPLL_REF_SYSOSC,
.qDiv = 9,
.pDiv = DL_SYSCTL_SYSPLL_PDIV_2
};
SYSCONFIG_WEAK void SYSCFG_DL_SYSCTL_init(void)
{
//Low Power Mode is configured to be SLEEP0
DL_SYSCTL_setBORThreshold(DL_SYSCTL_BOR_THRESHOLD_LEVEL_0);
DL_SYSCTL_setFlashWaitState(DL_SYSCTL_FLASH_WAIT_STATE_2);
DL_SYSCTL_setSYSOSCFreq(DL_SYSCTL_SYSOSC_FREQ_BASE);
/* Set default configuration */
DL_SYSCTL_disableHFXT();
DL_SYSCTL_disableSYSPLL();
DL_SYSCTL_configSYSPLL((DL_SYSCTL_SYSPLLConfig *) &gSYSPLLConfig);
DL_SYSCTL_setULPCLKDivider(DL_SYSCTL_ULPCLK_DIV_2);
DL_SYSCTL_setMCLKSource(SYSOSC, HSCLK, DL_SYSCTL_HSCLK_SOURCE_SYSPLL);
}
/*
* Timer clock configuration to be sourced by / 8 (5000000 Hz)
* timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
* 20000 Hz = 5000000 Hz / (8 * (249 + 1))
*/
static const DL_TimerG_ClockConfig gPWM_0ClockConfig = {
.clockSel = DL_TIMER_CLOCK_BUSCLK,
.divideRatio = DL_TIMER_CLOCK_DIVIDE_8,
.prescale = 249U
};
static const DL_TimerG_PWMConfig gPWM_0Config = {
.pwmMode = DL_TIMER_PWM_MODE_EDGE_ALIGN,
.period = 400,
.isTimerWithFourCC = false,
.startTimer = DL_TIMER_START,
};
SYSCONFIG_WEAK void SYSCFG_DL_PWM_0_init(void) {
DL_TimerG_setClockConfig(
PWM_0_INST, (DL_TimerG_ClockConfig *) &gPWM_0ClockConfig);
DL_TimerG_initPWMMode(
PWM_0_INST, (DL_TimerG_PWMConfig *) &gPWM_0Config);
// Set Counter control to the smallest CC index being used
DL_TimerG_setCounterControl(PWM_0_INST,DL_TIMER_CZC_CCCTL0_ZCOND,DL_TIMER_CAC_CCCTL0_ACOND,DL_TIMER_CLC_CCCTL0_LCOND);
DL_TimerG_setCaptureCompareOutCtl(PWM_0_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
DL_TIMER_CC_OCTL_INV_OUT_ENABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
DL_TIMERG_CAPTURE_COMPARE_0_INDEX);
DL_TimerG_setCaptCompUpdateMethod(PWM_0_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERG_CAPTURE_COMPARE_0_INDEX);
DL_TimerG_setCaptureCompareValue(PWM_0_INST, 400, DL_TIMER_CC_0_INDEX);
DL_TimerG_setCaptureCompareOutCtl(PWM_0_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
DL_TIMER_CC_OCTL_INV_OUT_ENABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
DL_TIMERG_CAPTURE_COMPARE_1_INDEX);
DL_TimerG_setCaptCompUpdateMethod(PWM_0_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERG_CAPTURE_COMPARE_1_INDEX);
DL_TimerG_setCaptureCompareValue(PWM_0_INST, 400, DL_TIMER_CC_1_INDEX);
DL_TimerG_enableClock(PWM_0_INST);
DL_TimerG_setCCPDirection(PWM_0_INST , DL_TIMER_CC0_OUTPUT | DL_TIMER_CC1_OUTPUT );
}
/*
* Timer clock configuration to be sourced by BUSCLK / (10000000 Hz)
* timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
* 1000000 Hz = 10000000 Hz / (8 * (9 + 1))
*/
static const DL_TimerA_ClockConfig gTIMER_0ClockConfig = {
.clockSel = DL_TIMER_CLOCK_BUSCLK,
.divideRatio = DL_TIMER_CLOCK_DIVIDE_8,
.prescale = 9U,
};
/*
* Timer load value (where the counter starts from) is calculated as (timerPeriod * timerClockFreq) - 1
* TIMER_0_INST_LOAD_VALUE = (20 ms * 1000000 Hz) - 1
*/
static const DL_TimerA_TimerConfig gTIMER_0TimerConfig = {
.period = TIMER_0_INST_LOAD_VALUE,
.timerMode = DL_TIMER_TIMER_MODE_PERIODIC,
.startTimer = DL_TIMER_START,
};
SYSCONFIG_WEAK void SYSCFG_DL_TIMER_0_init(void) {
DL_TimerA_setClockConfig(TIMER_0_INST,
(DL_TimerA_ClockConfig *) &gTIMER_0ClockConfig);
DL_TimerA_initTimerMode(TIMER_0_INST,
(DL_TimerA_TimerConfig *) &gTIMER_0TimerConfig);
DL_TimerA_enableInterrupt(TIMER_0_INST , DL_TIMERA_INTERRUPT_ZERO_EVENT);
NVIC_SetPriority(TIMER_0_INST_INT_IRQN, 0);
DL_TimerA_enableClock(TIMER_0_INST);
}
static const DL_UART_Main_ClockConfig gUART_IMU601ClockConfig = {
.clockSel = DL_UART_MAIN_CLOCK_BUSCLK,
.divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1
};
static const DL_UART_Main_Config gUART_IMU601Config = {
.mode = DL_UART_MAIN_MODE_NORMAL,
.direction = DL_UART_MAIN_DIRECTION_TX_RX,
.flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE,
.parity = DL_UART_MAIN_PARITY_NONE,
.wordLength = DL_UART_MAIN_WORD_LENGTH_8_BITS,
.stopBits = DL_UART_MAIN_STOP_BITS_ONE
};
SYSCONFIG_WEAK void SYSCFG_DL_UART_IMU601_init(void)
{
DL_UART_Main_setClockConfig(UART_IMU601_INST, (DL_UART_Main_ClockConfig *) &gUART_IMU601ClockConfig);
DL_UART_Main_init(UART_IMU601_INST, (DL_UART_Main_Config *) &gUART_IMU601Config);
/*
* Configure baud rate by setting oversampling and baud rate divisors.
* Target baud rate: 115200
* Actual baud rate: 115190.78
*/
DL_UART_Main_setOversampling(UART_IMU601_INST, DL_UART_OVERSAMPLING_RATE_16X);
DL_UART_Main_setBaudRateDivisor(UART_IMU601_INST, UART_IMU601_IBRD_40_MHZ_115200_BAUD, UART_IMU601_FBRD_40_MHZ_115200_BAUD);
/* Configure Interrupts */
DL_UART_Main_enableInterrupt(UART_IMU601_INST,
DL_UART_MAIN_INTERRUPT_RX);
DL_UART_Main_enable(UART_IMU601_INST);
}
static const DL_UART_Main_ClockConfig gUART_0ClockConfig = {
.clockSel = DL_UART_MAIN_CLOCK_BUSCLK,
.divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1
};
static const DL_UART_Main_Config gUART_0Config = {
.mode = DL_UART_MAIN_MODE_NORMAL,
.direction = DL_UART_MAIN_DIRECTION_TX_RX,
.flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE,
.parity = DL_UART_MAIN_PARITY_NONE,
.wordLength = DL_UART_MAIN_WORD_LENGTH_8_BITS,
.stopBits = DL_UART_MAIN_STOP_BITS_ONE
};
SYSCONFIG_WEAK void SYSCFG_DL_UART_0_init(void)
{
DL_UART_Main_setClockConfig(UART_0_INST, (DL_UART_Main_ClockConfig *) &gUART_0ClockConfig);
DL_UART_Main_init(UART_0_INST, (DL_UART_Main_Config *) &gUART_0Config);
/*
* Configure baud rate by setting oversampling and baud rate divisors.
* Target baud rate: 115200
* Actual baud rate: 115190.78
*/
DL_UART_Main_setOversampling(UART_0_INST, DL_UART_OVERSAMPLING_RATE_16X);
DL_UART_Main_setBaudRateDivisor(UART_0_INST, UART_0_IBRD_40_MHZ_115200_BAUD, UART_0_FBRD_40_MHZ_115200_BAUD);
/* Configure Interrupts */
DL_UART_Main_enableInterrupt(UART_0_INST,
DL_UART_MAIN_INTERRUPT_RX);
DL_UART_Main_enable(UART_0_INST);
}
/*
* Copyright (c) 2023, Texas Instruments Incorporated
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*
* ============ ti_msp_dl_config.c =============
* Configured MSPM0 DriverLib module definitions
*
* DO NOT EDIT - This file is generated for the MSPM0G350X
* by the SysConfig tool.
*/
#include "ti_msp_dl_config.h"
DL_TimerG_backupConfig gPWM_MOTOR_LEFTBackup;
DL_TimerA_backupConfig gPWM_MOTOR_RIGHTBackup;
DL_TimerA_backupConfig gTIMER_0Backup;
DL_SPI_backupConfig gSPI_0Backup;
/*
* ======== SYSCFG_DL_init ========
* Perform any initialization needed before using any board APIs
*/
SYSCONFIG_WEAK void SYSCFG_DL_init(void)
{
SYSCFG_DL_initPower();
SYSCFG_DL_GPIO_init();
/* Module-Specific Initializations*/
SYSCFG_DL_SYSCTL_init();
SYSCFG_DL_PWM_MOTOR_LEFT_init();
SYSCFG_DL_PWM_MOTOR_RIGHT_init();
SYSCFG_DL_TIMER_0_init();
SYSCFG_DL_UART_K230_init();
SYSCFG_DL_UART_IMU601_init();
SYSCFG_DL_UART_HC05_init();
SYSCFG_DL_SPI_0_init();
/* Ensure backup structures have no valid state */
gPWM_MOTOR_LEFTBackup.backupRdy = false;
gPWM_MOTOR_RIGHTBackup.backupRdy = false;
gTIMER_0Backup.backupRdy = false;
gSPI_0Backup.backupRdy = false;
}
/*
* User should take care to save and restore register configuration in application.
* See Retention Configuration section for more details.
*/
SYSCONFIG_WEAK bool SYSCFG_DL_saveConfiguration(void)
{
bool retStatus = true;
retStatus &= DL_TimerG_saveConfiguration(PWM_MOTOR_LEFT_INST, &gPWM_MOTOR_LEFTBackup);
retStatus &= DL_TimerA_saveConfiguration(PWM_MOTOR_RIGHT_INST, &gPWM_MOTOR_RIGHTBackup);
retStatus &= DL_TimerA_saveConfiguration(TIMER_0_INST, &gTIMER_0Backup);
retStatus &= DL_SPI_saveConfiguration(SPI_0_INST, &gSPI_0Backup);
return retStatus;
}
SYSCONFIG_WEAK bool SYSCFG_DL_restoreConfiguration(void)
{
bool retStatus = true;
retStatus &= DL_TimerG_restoreConfiguration(PWM_MOTOR_LEFT_INST, &gPWM_MOTOR_LEFTBackup, false);
retStatus &= DL_TimerA_restoreConfiguration(PWM_MOTOR_RIGHT_INST, &gPWM_MOTOR_RIGHTBackup, false);
retStatus &= DL_TimerA_restoreConfiguration(TIMER_0_INST, &gTIMER_0Backup, false);
retStatus &= DL_SPI_restoreConfiguration(SPI_0_INST, &gSPI_0Backup);
return retStatus;
}
SYSCONFIG_WEAK void SYSCFG_DL_initPower(void)
{
DL_GPIO_reset(GPIOA);
DL_GPIO_reset(GPIOB);
DL_TimerG_reset(PWM_MOTOR_LEFT_INST);
DL_TimerA_reset(PWM_MOTOR_RIGHT_INST);
DL_TimerA_reset(TIMER_0_INST);
DL_UART_Main_reset(UART_K230_INST);
DL_UART_Main_reset(UART_IMU601_INST);
DL_UART_Main_reset(UART_HC05_INST);
DL_SPI_reset(SPI_0_INST);
DL_GPIO_enablePower(GPIOA);
DL_GPIO_enablePower(GPIOB);
DL_TimerG_enablePower(PWM_MOTOR_LEFT_INST);
DL_TimerA_enablePower(PWM_MOTOR_RIGHT_INST);
DL_TimerA_enablePower(TIMER_0_INST);
DL_UART_Main_enablePower(UART_K230_INST);
DL_UART_Main_enablePower(UART_IMU601_INST);
DL_UART_Main_enablePower(UART_HC05_INST);
DL_SPI_enablePower(SPI_0_INST);
delay_cycles(POWER_STARTUP_DELAY);
}
SYSCONFIG_WEAK void SYSCFG_DL_GPIO_init(void)
{
DL_GPIO_initPeripheralOutputFunction(GPIO_PWM_MOTOR_LEFT_C0_IOMUX,GPIO_PWM_MOTOR_LEFT_C0_IOMUX_FUNC);
DL_GPIO_enableOutput(GPIO_PWM_MOTOR_LEFT_C0_PORT, GPIO_PWM_MOTOR_LEFT_C0_PIN);
DL_GPIO_initPeripheralOutputFunction(GPIO_PWM_MOTOR_RIGHT_C1_IOMUX,GPIO_PWM_MOTOR_RIGHT_C1_IOMUX_FUNC);
DL_GPIO_enableOutput(GPIO_PWM_MOTOR_RIGHT_C1_PORT, GPIO_PWM_MOTOR_RIGHT_C1_PIN);
DL_GPIO_initPeripheralOutputFunction(
GPIO_UART_K230_IOMUX_TX, GPIO_UART_K230_IOMUX_TX_FUNC);
DL_GPIO_initPeripheralInputFunction(
GPIO_UART_K230_IOMUX_RX, GPIO_UART_K230_IOMUX_RX_FUNC);
DL_GPIO_initPeripheralOutputFunction(
GPIO_UART_IMU601_IOMUX_TX, GPIO_UART_IMU601_IOMUX_TX_FUNC);
DL_GPIO_initPeripheralInputFunction(
GPIO_UART_IMU601_IOMUX_RX, GPIO_UART_IMU601_IOMUX_RX_FUNC);
DL_GPIO_initPeripheralOutputFunction(
GPIO_UART_HC05_IOMUX_TX, GPIO_UART_HC05_IOMUX_TX_FUNC);
DL_GPIO_initPeripheralInputFunction(
GPIO_UART_HC05_IOMUX_RX, GPIO_UART_HC05_IOMUX_RX_FUNC);
DL_GPIO_initPeripheralOutputFunction(
GPIO_SPI_0_IOMUX_SCLK, GPIO_SPI_0_IOMUX_SCLK_FUNC);
DL_GPIO_initPeripheralOutputFunction(
GPIO_SPI_0_IOMUX_PICO, GPIO_SPI_0_IOMUX_PICO_FUNC);
DL_GPIO_initPeripheralInputFunction(
GPIO_SPI_0_IOMUX_POCI, GPIO_SPI_0_IOMUX_POCI_FUNC);
DL_GPIO_initDigitalOutput(GPIO_LED_PIN_0_IOMUX);
DL_GPIO_initDigitalOutput(CS_PIN_9_IOMUX);
DL_GPIO_initDigitalOutput(GPIO_MOTOR_PIN_L1_IOMUX);
DL_GPIO_initDigitalOutput(GPIO_MOTOR_PIN_L2_IOMUX);
DL_GPIO_initDigitalOutput(GPIO_MOTOR_PIN_R1_IOMUX);
DL_GPIO_initDigitalOutput(GPIO_MOTOR_PIN_R2_IOMUX);
DL_GPIO_initDigitalOutput(GPIO_MOTOR_PIN_STBY_IOMUX);
DL_GPIO_initDigitalInputFeatures(ENCODER_E1A_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(ENCODER_E1B_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(ENCODER_E2A_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(ENCODER_E2B_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(GPIO_XUNJI_PIN_2_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(GPIO_XUNJI_PIN_3_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(GPIO_XUNJI_PIN_4_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(GPIO_XUNJI_PIN_5_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(GPIO_XUNJI_PIN_6_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(GPIO_XUNJI_PIN_7_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(GPIO_XUNJI_PIN_8_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(GPIO_XUNJI_PIN_1_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalOutputFeatures(GPIO_OLED_PIN_SDA_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_DRIVE_STRENGTH_LOW, DL_GPIO_HIZ_DISABLE);
DL_GPIO_initDigitalOutputFeatures(GPIO_OLED_PIN_SCL_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_DRIVE_STRENGTH_LOW, DL_GPIO_HIZ_DISABLE);
DL_GPIO_initDigitalInputFeatures(KEY_UP_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(KEY_DN_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(KEY_LT_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(KEY_RT_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalInputFeatures(KEY_ME_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_clearPins(GPIOA, GPIO_MOTOR_PIN_R1_PIN |
GPIO_MOTOR_PIN_R2_PIN);
DL_GPIO_setPins(GPIOA, GPIO_LED_PIN_0_PIN |
GPIO_OLED_PIN_SCL_PIN);
DL_GPIO_enableOutput(GPIOA, GPIO_LED_PIN_0_PIN |
GPIO_MOTOR_PIN_R1_PIN |
GPIO_MOTOR_PIN_R2_PIN |
GPIO_OLED_PIN_SCL_PIN);
DL_GPIO_setUpperPinsPolarity(GPIOA, DL_GPIO_PIN_24_EDGE_RISE |
DL_GPIO_PIN_23_EDGE_RISE);
DL_GPIO_clearInterruptStatus(GPIOA, ENCODER_E2A_PIN |
ENCODER_E2B_PIN);
DL_GPIO_enableInterrupt(GPIOA, ENCODER_E2A_PIN |
ENCODER_E2B_PIN);
DL_GPIO_clearPins(GPIOB, CS_PIN_9_PIN |
GPIO_MOTOR_PIN_L1_PIN |
GPIO_MOTOR_PIN_L2_PIN |
GPIO_MOTOR_PIN_STBY_PIN);
DL_GPIO_setPins(GPIOB, GPIO_OLED_PIN_SDA_PIN);
DL_GPIO_enableOutput(GPIOB, CS_PIN_9_PIN |
GPIO_MOTOR_PIN_L1_PIN |
GPIO_MOTOR_PIN_L2_PIN |
GPIO_MOTOR_PIN_STBY_PIN |
GPIO_OLED_PIN_SDA_PIN);
DL_GPIO_setLowerPinsPolarity(GPIOB, DL_GPIO_PIN_6_EDGE_RISE |
DL_GPIO_PIN_7_EDGE_RISE |
DL_GPIO_PIN_12_EDGE_FALL |
DL_GPIO_PIN_8_EDGE_FALL |
DL_GPIO_PIN_9_EDGE_FALL |
DL_GPIO_PIN_10_EDGE_FALL |
DL_GPIO_PIN_11_EDGE_FALL);
DL_GPIO_clearInterruptStatus(GPIOB, ENCODER_E1A_PIN |
ENCODER_E1B_PIN |
KEY_UP_PIN |
KEY_DN_PIN |
KEY_LT_PIN |
KEY_RT_PIN |
KEY_ME_PIN);
DL_GPIO_enableInterrupt(GPIOB, ENCODER_E1A_PIN |
ENCODER_E1B_PIN |
KEY_UP_PIN |
KEY_DN_PIN |
KEY_LT_PIN |
KEY_RT_PIN |
KEY_ME_PIN);
}
static const DL_SYSCTL_SYSPLLConfig gSYSPLLConfig = {
.inputFreq = DL_SYSCTL_SYSPLL_INPUT_FREQ_16_32_MHZ,
.rDivClk2x = 3,
.rDivClk1 = 0,
.rDivClk0 = 0,
.enableCLK2x = DL_SYSCTL_SYSPLL_CLK2X_ENABLE,
.enableCLK1 = DL_SYSCTL_SYSPLL_CLK1_DISABLE,
.enableCLK0 = DL_SYSCTL_SYSPLL_CLK0_DISABLE,
.sysPLLMCLK = DL_SYSCTL_SYSPLL_MCLK_CLK2X,
.sysPLLRef = DL_SYSCTL_SYSPLL_REF_SYSOSC,
.qDiv = 9,
.pDiv = DL_SYSCTL_SYSPLL_PDIV_2
};
SYSCONFIG_WEAK void SYSCFG_DL_SYSCTL_init(void)
{
//Low Power Mode is configured to be SLEEP0
DL_SYSCTL_setBORThreshold(DL_SYSCTL_BOR_THRESHOLD_LEVEL_0);
DL_SYSCTL_setFlashWaitState(DL_SYSCTL_FLASH_WAIT_STATE_2);
DL_SYSCTL_setSYSOSCFreq(DL_SYSCTL_SYSOSC_FREQ_BASE);
/* Set default configuration */
DL_SYSCTL_disableHFXT();
DL_SYSCTL_disableSYSPLL();
DL_SYSCTL_configSYSPLL((DL_SYSCTL_SYSPLLConfig *) &gSYSPLLConfig);
DL_SYSCTL_setULPCLKDivider(DL_SYSCTL_ULPCLK_DIV_2);
DL_SYSCTL_setMCLKSource(SYSOSC, HSCLK, DL_SYSCTL_HSCLK_SOURCE_SYSPLL);
/* INT_GROUP1 Priority */
NVIC_SetPriority(GPIOA_INT_IRQn, 0);
}
/*
* Timer clock configuration to be sourced by / 1 (80000000 Hz)
* timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
* 80000000 Hz = 80000000 Hz / (1 * (0 + 1))
*/
static const DL_TimerG_ClockConfig gPWM_MOTOR_LEFTClockConfig = {
.clockSel = DL_TIMER_CLOCK_BUSCLK,
.divideRatio = DL_TIMER_CLOCK_DIVIDE_1,
.prescale = 0U
};
static const DL_TimerG_PWMConfig gPWM_MOTOR_LEFTConfig = {
.pwmMode = DL_TIMER_PWM_MODE_EDGE_ALIGN,
.period = 3200,
.isTimerWithFourCC = true,
.startTimer = DL_TIMER_START,
};
SYSCONFIG_WEAK void SYSCFG_DL_PWM_MOTOR_LEFT_init(void) {
DL_TimerG_setClockConfig(
PWM_MOTOR_LEFT_INST, (DL_TimerG_ClockConfig *) &gPWM_MOTOR_LEFTClockConfig);
DL_TimerG_initPWMMode(
PWM_MOTOR_LEFT_INST, (DL_TimerG_PWMConfig *) &gPWM_MOTOR_LEFTConfig);
// Set Counter control to the smallest CC index being used
DL_TimerG_setCounterControl(PWM_MOTOR_LEFT_INST,DL_TIMER_CZC_CCCTL0_ZCOND,DL_TIMER_CAC_CCCTL0_ACOND,DL_TIMER_CLC_CCCTL0_LCOND);
DL_TimerG_setCaptureCompareOutCtl(PWM_MOTOR_LEFT_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
DL_TIMERG_CAPTURE_COMPARE_0_INDEX);
DL_TimerG_setCaptCompUpdateMethod(PWM_MOTOR_LEFT_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERG_CAPTURE_COMPARE_0_INDEX);
DL_TimerG_setCaptureCompareValue(PWM_MOTOR_LEFT_INST, 3200, DL_TIMER_CC_0_INDEX);
DL_TimerG_enableClock(PWM_MOTOR_LEFT_INST);
DL_TimerG_setCCPDirection(PWM_MOTOR_LEFT_INST , DL_TIMER_CC0_OUTPUT );
}
/*
* Timer clock configuration to be sourced by / 1 (80000000 Hz)
* timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
* 80000000 Hz = 80000000 Hz / (1 * (0 + 1))
*/
static const DL_TimerA_ClockConfig gPWM_MOTOR_RIGHTClockConfig = {
.clockSel = DL_TIMER_CLOCK_BUSCLK,
.divideRatio = DL_TIMER_CLOCK_DIVIDE_1,
.prescale = 0U
};
static const DL_TimerA_PWMConfig gPWM_MOTOR_RIGHTConfig = {
.pwmMode = DL_TIMER_PWM_MODE_EDGE_ALIGN,
.period = 3200,
.isTimerWithFourCC = true,
.startTimer = DL_TIMER_START,
};
SYSCONFIG_WEAK void SYSCFG_DL_PWM_MOTOR_RIGHT_init(void) {
DL_TimerA_setClockConfig(
PWM_MOTOR_RIGHT_INST, (DL_TimerA_ClockConfig *) &gPWM_MOTOR_RIGHTClockConfig);
DL_TimerA_initPWMMode(
PWM_MOTOR_RIGHT_INST, (DL_TimerA_PWMConfig *) &gPWM_MOTOR_RIGHTConfig);
// Set Counter control to the smallest CC index being used
DL_TimerA_setCounterControl(PWM_MOTOR_RIGHT_INST,DL_TIMER_CZC_CCCTL1_ZCOND,DL_TIMER_CAC_CCCTL1_ACOND,DL_TIMER_CLC_CCCTL1_LCOND);
DL_TimerA_setCaptureCompareOutCtl(PWM_MOTOR_RIGHT_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
DL_TIMERA_CAPTURE_COMPARE_1_INDEX);
DL_TimerA_setCaptCompUpdateMethod(PWM_MOTOR_RIGHT_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_1_INDEX);
DL_TimerA_setCaptureCompareValue(PWM_MOTOR_RIGHT_INST, 3200, DL_TIMER_CC_1_INDEX);
DL_TimerA_enableClock(PWM_MOTOR_RIGHT_INST);
DL_TimerA_setCCPDirection(PWM_MOTOR_RIGHT_INST , DL_TIMER_CC1_OUTPUT );
}
/*
* Timer clock configuration to be sourced by BUSCLK / (10000000 Hz)
* timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
* 1000000 Hz = 10000000 Hz / (8 * (9 + 1))
*/
static const DL_TimerA_ClockConfig gTIMER_0ClockConfig = {
.clockSel = DL_TIMER_CLOCK_BUSCLK,
.divideRatio = DL_TIMER_CLOCK_DIVIDE_8,
.prescale = 9U,
};
/*
* Timer load value (where the counter starts from) is calculated as (timerPeriod * timerClockFreq) - 1
* TIMER_0_INST_LOAD_VALUE = (20 ms * 1000000 Hz) - 1
*/
static const DL_TimerA_TimerConfig gTIMER_0TimerConfig = {
.period = TIMER_0_INST_LOAD_VALUE,
.timerMode = DL_TIMER_TIMER_MODE_PERIODIC,
.startTimer = DL_TIMER_START,
};
SYSCONFIG_WEAK void SYSCFG_DL_TIMER_0_init(void) {
DL_TimerA_setClockConfig(TIMER_0_INST,
(DL_TimerA_ClockConfig *) &gTIMER_0ClockConfig);
DL_TimerA_initTimerMode(TIMER_0_INST,
(DL_TimerA_TimerConfig *) &gTIMER_0TimerConfig);
DL_TimerA_enableInterrupt(TIMER_0_INST , DL_TIMERA_INTERRUPT_ZERO_EVENT);
NVIC_SetPriority(TIMER_0_INST_INT_IRQN, 3);
DL_TimerA_enableClock(TIMER_0_INST);
}
static const DL_UART_Main_ClockConfig gUART_K230ClockConfig = {
.clockSel = DL_UART_MAIN_CLOCK_BUSCLK,
.divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1
};
static const DL_UART_Main_Config gUART_K230Config = {
.mode = DL_UART_MAIN_MODE_NORMAL,
.direction = DL_UART_MAIN_DIRECTION_TX_RX,
.flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE,
.parity = DL_UART_MAIN_PARITY_NONE,
.wordLength = DL_UART_MAIN_WORD_LENGTH_8_BITS,
.stopBits = DL_UART_MAIN_STOP_BITS_ONE
};
SYSCONFIG_WEAK void SYSCFG_DL_UART_K230_init(void)
{
DL_UART_Main_setClockConfig(UART_K230_INST, (DL_UART_Main_ClockConfig *) &gUART_K230ClockConfig);
DL_UART_Main_init(UART_K230_INST, (DL_UART_Main_Config *) &gUART_K230Config);
/*
* Configure baud rate by setting oversampling and baud rate divisors.
* Target baud rate: 115200
* Actual baud rate: 115190.78
*/
DL_UART_Main_setOversampling(UART_K230_INST, DL_UART_OVERSAMPLING_RATE_16X);
DL_UART_Main_setBaudRateDivisor(UART_K230_INST, UART_K230_IBRD_40_MHZ_115200_BAUD, UART_K230_FBRD_40_MHZ_115200_BAUD);
/* Configure Interrupts */
DL_UART_Main_enableInterrupt(UART_K230_INST,
DL_UART_MAIN_INTERRUPT_RX);
/* Configure FIFOs */
DL_UART_Main_enableFIFOs(UART_K230_INST);
DL_UART_Main_setRXFIFOThreshold(UART_K230_INST, DL_UART_RX_FIFO_LEVEL_1_2_FULL);
DL_UART_Main_setTXFIFOThreshold(UART_K230_INST, DL_UART_TX_FIFO_LEVEL_1_2_EMPTY);
DL_UART_Main_enable(UART_K230_INST);
}
static const DL_UART_Main_ClockConfig gUART_IMU601ClockConfig = {
.clockSel = DL_UART_MAIN_CLOCK_BUSCLK,
.divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1
};
static const DL_UART_Main_Config gUART_IMU601Config = {
.mode = DL_UART_MAIN_MODE_NORMAL,
.direction = DL_UART_MAIN_DIRECTION_TX_RX,
.flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE,
.parity = DL_UART_MAIN_PARITY_NONE,
.wordLength = DL_UART_MAIN_WORD_LENGTH_8_BITS,
.stopBits = DL_UART_MAIN_STOP_BITS_ONE
};
SYSCONFIG_WEAK void SYSCFG_DL_UART_IMU601_init(void)
{
DL_UART_Main_setClockConfig(UART_IMU601_INST, (DL_UART_Main_ClockConfig *) &gUART_IMU601ClockConfig);
DL_UART_Main_init(UART_IMU601_INST, (DL_UART_Main_Config *) &gUART_IMU601Config);
/*
* Configure baud rate by setting oversampling and baud rate divisors.
* Target baud rate: 115200
* Actual baud rate: 115190.78
*/
DL_UART_Main_setOversampling(UART_IMU601_INST, DL_UART_OVERSAMPLING_RATE_16X);
DL_UART_Main_setBaudRateDivisor(UART_IMU601_INST, UART_IMU601_IBRD_40_MHZ_115200_BAUD, UART_IMU601_FBRD_40_MHZ_115200_BAUD);
/* Configure Interrupts */
DL_UART_Main_enableInterrupt(UART_IMU601_INST,
DL_UART_MAIN_INTERRUPT_RX);
DL_UART_Main_enable(UART_IMU601_INST);
}
static const DL_UART_Main_ClockConfig gUART_HC05ClockConfig = {
.clockSel = DL_UART_MAIN_CLOCK_BUSCLK,
.divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1
};
static const DL_UART_Main_Config gUART_HC05Config = {
.mode = DL_UART_MAIN_MODE_NORMAL,
.direction = DL_UART_MAIN_DIRECTION_TX_RX,
.flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE,
.parity = DL_UART_MAIN_PARITY_NONE,
.wordLength = DL_UART_MAIN_WORD_LENGTH_8_BITS,
.stopBits = DL_UART_MAIN_STOP_BITS_ONE
};
SYSCONFIG_WEAK void SYSCFG_DL_UART_HC05_init(void)
{
DL_UART_Main_setClockConfig(UART_HC05_INST, (DL_UART_Main_ClockConfig *) &gUART_HC05ClockConfig);
DL_UART_Main_init(UART_HC05_INST, (DL_UART_Main_Config *) &gUART_HC05Config);
/*
* Configure baud rate by setting oversampling and baud rate divisors.
* Target baud rate: 9600
* Actual baud rate: 9599.81
*/
DL_UART_Main_setOversampling(UART_HC05_INST, DL_UART_OVERSAMPLING_RATE_16X);
DL_UART_Main_setBaudRateDivisor(UART_HC05_INST, UART_HC05_IBRD_40_MHZ_9600_BAUD, UART_HC05_FBRD_40_MHZ_9600_BAUD);
/* Configure Interrupts */
DL_UART_Main_enableInterrupt(UART_HC05_INST,
DL_UART_MAIN_INTERRUPT_RX);
/* Setting the Interrupt Priority */
NVIC_SetPriority(UART_HC05_INST_INT_IRQN, 0);
DL_UART_Main_enable(UART_HC05_INST);
}
static const DL_SPI_Config gSPI_0_config = {
.mode = DL_SPI_MODE_CONTROLLER,
.frameFormat = DL_SPI_FRAME_FORMAT_MOTO3_POL0_PHA0,
.parity = DL_SPI_PARITY_NONE,
.dataSize = DL_SPI_DATA_SIZE_8,
.bitOrder = DL_SPI_BIT_ORDER_MSB_FIRST,
};
static const DL_SPI_ClockConfig gSPI_0_clockConfig = {
.clockSel = DL_SPI_CLOCK_BUSCLK,
.divideRatio = DL_SPI_CLOCK_DIVIDE_RATIO_1
};
SYSCONFIG_WEAK void SYSCFG_DL_SPI_0_init(void) {
DL_SPI_setClockConfig(SPI_0_INST, (DL_SPI_ClockConfig *) &gSPI_0_clockConfig);
DL_SPI_init(SPI_0_INST, (DL_SPI_Config *) &gSPI_0_config);
/* Configure Controller mode */
/*
* Set the bit rate clock divider to generate the serial output clock
* outputBitRate = (spiInputClock) / ((1 + SCR) * 2)
* 8000000 = (80000000)/((1 + 4) * 2)
*/
DL_SPI_setBitRateSerialClockDivider(SPI_0_INST, 4);
/* Set RX and TX FIFO threshold levels */
DL_SPI_setFIFOThreshold(SPI_0_INST, DL_SPI_RX_FIFO_LEVEL_1_2_FULL, DL_SPI_TX_FIFO_LEVEL_1_2_EMPTY);
/* Enable module */
DL_SPI_enable(SPI_0_INST);
}
两份代码在软件i2c的配置上有什么不一样
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