W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\InitializeService.

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/****************************************************************************
Module
InitializeService.c
Revision
1.0

Description
Initializes digital I/O lines and analog port lines
Author
Anne Alter
Date
2/14/16

****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
//headers for framework
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "TemplateService.h"
#include "termio.h"
//headers to access the pwm and nvic libraries
#include "inc/hw_timer.h"
#include "inc/hw_nvic.h"
#include "inc/hw_pwm.h"
//headers to access the GPIO subsystem
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_ssi.h"

//headers to access the TivaWare Library

#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/gpio.h"
#include "driverlib/timer.h"
#include "driverlib/interrupt.h"
//headers to access analog librayr
#include "ADMulti.h"

//headers for other modules in the program

#include "InitializeService.h"
/*----------------------------- Module Defines ----------------------------*/
#define GPIO_BASE_B GPIO_PORTB_BASE
#define ENABLE_B SYSCTL_RCGCGPIO_R1
#define ENABLE_WAIT_B SYSCTL_PRGPIO_R1
#define GPIO_BASE_C GPIO_PORTC_BASE
#define ENABLE_C SYSCTL_RCGCGPIO_R2
#define ENABLE_WAIT_C SYSCTL_PRGPIO_R2
#define GPIO_BASE_E GPIO_PORTE_BASE
#define ENABLE_E SYSCTL_RCGCGPIO_R4
#define ENABLE_WAIT_E SYSCTL_PRGPIO_R4
#define GPIO_BASE_F GPIO_PORTF_BASE
#define ENABLE_F SYSCTL_RCGCGPIO_R5
#define ENABLE_WAIT_F SYSCTL_PRGPIO_R5
#define HOW_MANY 2

/*---------------------------- Module Functions ---------------------------*/

void InitPortB(void);
void InitPortC(void);
void InitPortF(void);
void InitPortE(void);

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\InitializeService.c
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/*---------------------------- Module Variables ---------------------------*/

/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
InitAllDigital
Parameters
None
Returns
None

Description
Motors 1 and 2 direction

Author
Anne Alter, 2/16/16
****************************************************************************/
void InitAllDigital(void)
{
InitPortB();
InitPortC();
InitPortF();
InitPortE();
}

/*------------------------------ Private Functions ------------------------------*/

/****************************************************************************
Function
InitPortB
Parameters
None
Returns
None

Description
Motors 1 and 2 direction

Author
Anne Alter, 2/14/16
****************************************************************************/
void InitPortB(void)
{
//set bit 1 to enable port B in tiva
HWREG(SYSCTL_RCGCGPIO) |= ENABLE_B;

//after enabling the clock, wait until the peripheral reports that clock is ready
while ((HWREG(SYSCTL_PRGPIO) & ENABLE_B) != ENABLE_WAIT_B);
//set pins on port B to be used as a digital i/o line
HWREG(GPIO_BASE_B+GPIO_O_DEN) |= (BIT0HI|BIT1HI|BIT2HI);
//set pins 0,1 on port B to 1 to make them outputs
HWREG(GPIO_BASE_B+GPIO_O_DIR) |= (BIT0HI|BIT1HI);

//set pin 2 as input

HWREG(GPIO_BASE_B+GPIO_O_DIR) &= ~(BIT2HI);

/****************************************************************************
Function
InitPortC
Parameters
None
Returns

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\InitializeService.c
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None

Description
Bumpers

Author
Anne Alter, 2/14/16
****************************************************************************/
void InitPortC(void)
{
//set bit 2 to enable port C in tiva
HWREG(SYSCTL_RCGCGPIO) |= ENABLE_C;

//after enabling the clock, wait until the peripheral reports that clock is ready
while ((HWREG(SYSCTL_PRGPIO) & ENABLE_C) != ENABLE_WAIT_C);
//set pins on port C to be used as a digital i/o line
HWREG(GPIO_BASE_C+GPIO_O_DEN) |= (BIT5HI|BIT6HI|BIT7HI);

//set pins 5, 6, 7 on port C to 0 to make them inputs

HWREG(GPIO_BASE_C+GPIO_O_DIR) &= ~(BIT5HI|BIT6HI|BIT7HI);
}

//activate the internal pull-ups by writing to the pull-up register

HWREG(GPIO_BASE_C + GPIO_O_PUR) |= (BIT5HI|BIT6HI|BIT7HI);

/****************************************************************************
Function
InitPortE
Parameters
None
Returns
None

Description
Affiliation Switch

Author
Anne Alter, 2/14/16
****************************************************************************/
void InitPortE(void)
{
//set bit 5 to enable port F in tiva
HWREG(SYSCTL_RCGCGPIO) |= ENABLE_E;

//after enabling the clock, wait until the peripheral reports that clock is ready
while ((HWREG(SYSCTL_PRGPIO) & ENABLE_E) != ENABLE_WAIT_E);
//set pins on port E to be used as a digital i/o line
HWREG(GPIO_BASE_E+GPIO_O_DEN) |= (BIT4HI);

//set pin 2 on port E to 1 to make input

HWREG(GPIO_BASE_E+GPIO_O_DIR) &= ~(BIT4HI);

/****************************************************************************
Function
InitPortF
Parameters
None
Returns
None

Description
LEDs

Author
Anne Alter, 2/14/16

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\InitializeService.c
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****************************************************************************/
void InitPortF(void)
{
//set bit 5 to enable port F in tiva
HWREG(SYSCTL_RCGCGPIO) |= ENABLE_F;

//after enabling the clock, wait until the peripheral reports that clock is ready
while ((HWREG(SYSCTL_PRGPIO) & ENABLE_F) != ENABLE_WAIT_F);
//set pins on port F to be used as a digital i/o line
HWREG(GPIO_BASE_F+GPIO_O_DEN) |= (BIT2HI|BIT3HI|BIT4HI);

//set pins 2, 3, 4 on port F to 1 to make them outputs

HWREG(GPIO_BASE_F+GPIO_O_DIR) |= (BIT2HI|BIT3HI|BIT4HI);