Switch.c

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#include "tm4c123gh6pm.h"
#include "OS.h"
#include "Switch.h"
 
 
#define SW1     0x10
#define SW2     0x01
 
void (*SW1_Task)(void);
void (*SW2_Task)(void);
 
uint32_t SW1_Priority;
uint32_t SW2_Priority;
 
uint32_t SW1_LastState;
uint32_t SW2_LastState;
 
void SW1_Init(void (*task)(void), uint32_t priority){
    SYSCTL_RCGCGPIO_R |= 0x00000020;            // (a) activate clock for port F
    SW1_Task = task;
    while((SYSCTL_PRGPIO_R & 0x00000020) == 0){};
    GPIO_PORTF_CR_R = SW1;              // allow changes to PF4, Needed?
    GPIO_PORTF_DIR_R &= ~SW1;           // make PF4 button
    GPIO_PORTF_PUR_R |= SW1;                // Pull up for Button
    GPIO_PORTF_AFSEL_R &= ~SW1;         // disable alt funct on PF4
    GPIO_PORTF_DEN_R |= SW1;            // enable digital I/O on PF4   
    GPIO_PORTF_PCTL_R &= ~0x000F0000;           // configure PF4 as GPIO
    GPIO_PORTF_AMSEL_R = 0;                     // disable analog functionality on PF
    GPIO_PORTF_IS_R &= ~SW1;            // PF4 is edge-sensitive
    GPIO_PORTF_IBE_R &= ~SW1;           // Not double edge
    GPIO_PORTF_IEV_R &= ~SW1;           // PF4 only falling edge
    GPIO_PORTF_ICR_R = SW1;             // arm interrupt?
    GPIO_PORTF_IM_R |= SW1;             // arm interrupt on PF4
    SW1_Priority = priority;
    priority = (priority & 0x07) << 21;         // set NVIC priority bit (21-23)
    SW1_LastState = SW1;
    NVIC_PRI7_R = (NVIC_PRI7_R & 0xFF00FFFF);   
    NVIC_PRI7_R = (NVIC_PRI7_R | priority);     
    
    NVIC_EN0_R = 0x40000000;                    // enable interrupt 30 in NVIC  
}
 
void SW2_Init(void (*task)(void), uint32_t priority){
    SYSCTL_RCGCGPIO_R |= 0x00000020;            // activate clock for port F
    SW2_Task = task;
    while((SYSCTL_PRGPIO_R & 0x00000020) == 0){};
    GPIO_PORTF_LOCK_R = 0x4C4F434B;             // unlock GPIO Port F, just like Sijin unlocks my heart <3
    GPIO_PORTF_CR_R = 0x1F;
    GPIO_PORTF_DIR_R &= ~SW2;           // PF0 is button
    GPIO_PORTF_PUR_R |= SW2;            // enable weak pull-up 
    GPIO_PORTF_AFSEL_R &= SW2;          // disable alt funct 
    GPIO_PORTF_DEN_R |= SW2;            // enable digital I/O   
    GPIO_PORTF_PCTL_R &= ~0x0000000F;           // configure PF0 as GPIO
    GPIO_PORTF_AMSEL_R = 0;                     // disable analog functionality
    GPIO_PORTF_IS_R &= ~SW2;            // Edge-sensitive
    GPIO_PORTF_IBE_R &= ~SW2;           // not double edge sensitve
    GPIO_PORTF_IEV_R &= ~SW2;           // falling edge sensitve
    GPIO_PORTF_ICR_R = SW2;             // clear flag
    GPIO_PORTF_IM_R |= SW2;             // arm interrupt
 
    SW2_Priority = priority;
    priority = (priority & 0x07) << 21;                     // NVIC priority bit (21-23)
 
    SW2_LastState = SW2;
        
    NVIC_PRI7_R = (NVIC_PRI7_R & 0xFF00FFFF);               
    NVIC_PRI7_R = (NVIC_PRI7_R | priority); 
    NVIC_EN0_R = 0x40000000;                                // enable interrupt 30 in NVIC  
    
}
 
void SW1_Debounce(void){
    OS_Sleep(15);
    SW1_LastState = SW1;
    GPIO_PORTF_ICR_R = SW1;     // clear flag
    GPIO_PORTF_IM_R |= SW1;     // arm
    OS_Kill();
}
 
void SW2_Debounce(void){
    OS_Sleep(15);
    SW2_LastState = SW2;
    GPIO_PORTF_ICR_R = SW2;     // clear flag
    GPIO_PORTF_IM_R |= SW2;     // arm
    OS_Kill();
}
 
void GPIOPortF_Handler(void){
    // sw1 pressed
    if(GPIO_PORTF_RIS_R & SW1){    
        if (SW1_LastState == SW1){
            (*SW1_Task)();
        } 
        int32_t status = OS_AddThread(&SW1_Debounce, SW1_Priority);
        GPIO_PORTF_IM_R &= ~SW1;    // disarm
        GPIO_PORTF_ICR_R = SW1;      // clear flag
        // cant make thread, probable too many threads, chill out my guy (@TA)
        if(status == 0){ 
            GPIO_PORTF_ICR_R = SW1;      // clear flag
            GPIO_PORTF_IM_R |= SW1;      
        }
    }
    
    // sw2 pressed, cant do else in case both pressed
    if(GPIO_PORTF_RIS_R & SW2){     // SW2 pressed
        if (SW2_LastState == SW2){
            (*SW2_Task)();
        }
        int32_t status = OS_AddThread(&SW2_Debounce, SW2_Priority);
        GPIO_PORTF_IM_R &= ~SW2;     // disarm interrupt
        GPIO_PORTF_ICR_R = SW2;      // clear flag
        // cant make thread, probable too many threads, chill out my guy (@TA)
        if(status == 0){ 
            GPIO_PORTF_ICR_R = SW2;      // clear flag
            GPIO_PORTF_IM_R |= SW2;      
        }
    }
}