Other Parts Discussed in Thread: TMS320F28335
I am using the TMS320F28335 with Code Composer Version: 4.1.3.00038.
I am trying to receive through SCI a character and based on that character set a combination of two GPIO pins. When I step through the code with the debugger the pins get set. When I place a breakpoint after setting the pins and wait the pins are never set. I have attached the code below. Specifically GPIO4 will not set when check with a voltmeter. Just to reiterate I set a breakpoint before and after setting the GPIO pins in the switch case statement. If I step throught the code manually the GPIO pins set and I read a correct voltage on my voltmeter. If I simply play and do not step through the GPIO pins are never set and the voltage does not change. I have also tried several different GPIO combinations.
#include "DSP28x_Project.h" // Device Headerfile and Examples Include File
//Movement Definitions
#define START 0
#define STOP 1
#define LEFT 2
#define RIGHT 3
typedef unsigned char Uint8;
void scib_init(void);
void scib_fifo_init(void);
void scib_xmit(int a);
void scib_msg(char *msg);
void scib_sonar(Uint16 a);
void scib_image_start();
void scib_image_stop();
void scib_word(Uint16 pixel); //Send a pixel over UART
void scib_rx();
void CustomInitScibGpio();
void init_motor_control(void);
void motor_control(Uint16 direction);
void main(void)
{
InitSysCtrl();
InitGpio(); //Initialize all GPIO pins as input synchronized to SYSCLOCK
CustomInitScibGpio();
init_motor_control();
scib_fifo_init(); // Initialize the SCI FIFO
scib_init(); // Initalize SCI for echoback
DELAY_US(2000);
for(;;)
{
//After Each Line check for Rx
if (ScibRegs.SCIFFRX.bit.RXFFST)
{
scib_rx();
}
}
}
//Initialize pins communicating with PIC to control Servo Motors
void init_motor_control(void)
{
EALLOW;
GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 0x0; //set GPIO4 pins to GPIO
GpioCtrlRegs.GPADIR.bit.GPIO4 = 0x1; //set GPIO0 as output
//Set as outputs (1 output, 0 inputs)
GpioCtrlRegs.GPADIR.bit.GPIO4= 1;
GpioCtrlRegs.GPADIR.bit.GPIO3 = 1;
//Set to stop by default
GpioDataRegs.GPADAT.bit.GPIO4= 1;
GpioDataRegs.GPADAT.bit.GPIO3 = 1;
EDIS;
}
void CustomInitScibGpio()
{
EALLOW;
/* Enable internal pull-up for the selected pins */
// Pull-ups can be enabled or disabled disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.
// GpioCtrlRegs.GPAPUD.bit.GPIO9 = 0; // Enable pull-up for GPIO9 (SCITXDB)
// GpioCtrlRegs.GPAPUD.bit.GPIO14 = 0; // Enable pull-up for GPIO14 (SCITXDB)
GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0; // Enable pull-up for GPIO18 (SCITXDB)
// GpioCtrlRegs.GPAPUD.bit.GPIO22 = 0; // Enable pull-up for GPIO22 (SCITXDB)
// GpioCtrlRegs.GPAPUD.bit.GPIO11 = 0; // Enable pull-up for GPIO11 (SCIRXDB)
// GpioCtrlRegs.GPAPUD.bit.GPIO15 = 0; // Enable pull-up for GPIO15 (SCIRXDB)
GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0; // Enable pull-up for GPIO19 (SCIRXDB)
// GpioCtrlRegs.GPAPUD.bit.GPIO23 = 0; // Enable pull-up for GPIO23 (SCIRXDB)
/* Set qualification for selected pins to asynch only */
// This will select asynch (no qualification) for the selected pins.
// Comment out other unwanted lines.
// GpioCtrlRegs.GPAQSEL1.bit.GPIO11 = 3; // Asynch input GPIO11 (SCIRXDB)
// GpioCtrlRegs.GPAQSEL1.bit.GPIO15 = 3; // Asynch input GPIO15 (SCIRXDB)
GpioCtrlRegs.GPAQSEL2.bit.GPIO19 = 3; // Asynch input GPIO19 (SCIRXDB)
// GpioCtrlRegs.GPAQSEL2.bit.GPIO23 = 3; // Asynch input GPIO23 (SCIRXDB)
/* Configure SCI-B pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be SCI functional pins.
// Comment out other unwanted lines.
// GpioCtrlRegs.GPAMUX1.bit.GPIO9 = 2; // Configure GPIO9 for SCITXDB operation
// GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 2; // Configure GPIO14 for SCITXDB operation
GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 2; // Configure GPIO18 for SCITXDB operation
// GpioCtrlRegs.GPAMUX2.bit.GPIO22 = 3; // Configure GPIO22 for SCITXDB operation
// GpioCtrlRegs.GPAMUX1.bit.GPIO11 = 2; // Configure GPIO11 for SCIRXDB operation
// GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 2; // Configure GPIO15 for SCIRXDB operation
GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 2; // Configure GPIO19 for SCIRXDB operation
// GpioCtrlRegs.GPAMUX2.bit.GPIO23 = 3; // Configure GPIO23 for SCIRXDB operation
EDIS;
}
//Setup SCI
// Test 1,scib DLB, 8-bit word, baud rate 0x000F, default, 1 STOP bit, no parity
void scib_init()
{
//Reduce the increase the LSCLK by 2 to offset slower SYSCLK
//SYSCLOCK is 75MHz, LSPCLK = 37.5MHz
EALLOW;
SysCtrlRegs.LOSPCP.all = 0x0001;
EDIS;
// Note: Clocks were turned on to the scib peripheral
// in the InitSysCtrl() function
ScibRegs.SCICCR.all =0x0007; // 1 stop bit, No loopback
// No parity,8 char bits,
// async mode, idle-line protocol
ScibRegs.SCICTL1.all =0x0003; // enable TX, RX, internal SCICLK,
// Disable RX ERR, SLEEP, TXWAKE
ScibRegs.SCICTL2.all =0x0003; //Note: Why is the RX/Bk interrupt being enabled here?
ScibRegs.SCICTL2.bit.TXINTENA =1;
ScibRegs.SCICTL2.bit.RXBKINTENA =1;
#if (CPU_FRQ_150MHZ)
ScibRegs.SCIHBAUD =0x0000; // 115200 baud @LSPCLK = 37.5MHz.
ScibRegs.SCILBAUD =0x0028;
// ScibRegs.SCIHBAUD =0x0000; // 2343750 baud @LSPCLK = 37.5MHz.
// ScibRegs.SCILBAUD =0x0000;
#endif
#if (CPU_FRQ_100MHZ)
ScibRegs.SCIHBAUD =0x0001; // 9600 baud @LSPCLK = 20MHz.
ScibRegs.SCILBAUD =0x0044;
#endif
ScibRegs.SCICTL1.all =0x0023; // Relinquish SCI from Reset
}
// Initalize the SCI FIFO
void scib_fifo_init()
{
ScibRegs.SCIFFTX.all=0xE040;
ScibRegs.SCIFFRX.all=0x204f;
ScibRegs.SCIFFCT.all=0x0;
}
//Recieve from SCIB
void scib_rx()
{
//Rx data and status variables
Uint16 ReceivedChar;
Uint16 rxffst;
// Wait for data in Rx register
rxffst = ScibRegs.SCIFFRX.bit.RXFFST;
while(rxffst == 0)
{
rxffst = ScibRegs.SCIFFRX.bit.RXFFST;
} // wait for XRDY =1 for empty state
// Get character
ReceivedChar = ScibRegs.SCIRXBUF.all;
//Process Recieved Character
if(ReceivedChar == 'u')
{
motor_control(START);
}
else if(ReceivedChar == 's')
{
motor_control(STOP);
}
else if(ReceivedChar == 'l')
{
motor_control(LEFT);
}
else if(ReceivedChar == 'r')
{
motor_control(RIGHT);
}
}
void motor_control(Uint16 direction)
{
switch(direction)
{
case STOP :
EALLOW;
GpioDataRegs.GPADAT.bit.GPIO4 = 1;
GpioDataRegs.GPADAT.bit.GPIO3 = 1;
EDIS;
break;
case START :
EALLOW;
GpioDataRegs.GPADAT.bit.GPIO4 = 0;
GpioDataRegs.GPADAT.bit.GPIO3 = 0;
EDIS;
break;
case LEFT :
EALLOW;
GpioDataRegs.GPADAT.bit.GPIO4 = 1;
GpioDataRegs.GPADAT.bit.GPIO3 = 0;
EDIS;
break;
case RIGHT :
EALLOW;
GpioDataRegs.GPADAT.bit.GPIO4 = 0;
DELAY_US(1000);
GpioDataRegs.GPADAT.bit.GPIO3 = 1;
EDIS;
break;
default :
EALLOW;
GpioDataRegs.GPADAT.bit.GPIO4 = 1;
GpioDataRegs.GPADAT.bit.GPIO3 = 1;
EDIS;
}
}
Thank You for any advice. I am out of ideas and cannot narrow the problem down any more.
