自学教程：C++ GPIOPinTypeGPIOOutput函数代码示例

int main(){	SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);	SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);	GPIOPinConfigure(GPIO_PB4_SSI2CLK);	GPIOPinConfigure(GPIO_PB7_SSI2TX);	GPIOPinTypeSSI(GPIO_PORTB_BASE,GPIO_PIN_4|GPIO_PIN_7);	SSIConfigSetExpClk(SSI2_BASE,SysCtlClockGet(),SSI_FRF_MOTO_MODE_0,SSI_MODE_MASTER,2000000,8);	SSIEnable(SSI2_BASE);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);	GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_2|GPIO_PIN_3);	GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_2,0);	GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_3,0);	GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6);	GPIOPinWrite(GPIO_PORTB_BASE,GPIO_PIN_6,0);	while(1)	{		SSIDataPut(SSI2_BASE,0xAA);		latch();		SysCtlDelay(SysCtlClockGet()/10);		SSIDataPut(SSI2_BASE,0x55);		latch();		SysCtlDelay(SysCtlClockGet()/10);	}}

/* *  ======== EK_TM4C123GXL_initGPIO ======== */void EK_TM4C123GXL_initGPIO(void){    /* Setup the LED GPIO pins used */    GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1); /* EK_TM4C123GXL_LED_RED */    GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2); /* EK_TM4C123GXL_LED_GREEN */    GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3); /* EK_TM4C123GXL_LED_BLUE */    /* Setup the button GPIO pins used */    GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);  /* EK_TM4C123GXL_GPIO_SW1 */    GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPU);    /* PF0 requires unlocking before configuration */    HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;    HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= GPIO_PIN_0;    GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0);  /* EK_TM4C123GXL_GPIO_SW2 */    GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPU);    HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_M;    /* Once GPIO_init is called, GPIO_config cannot be changed */    GPIO_init();    GPIO_write(EK_TM4C123GXL_LED_RED, EK_TM4C123GXL_LED_OFF);    GPIO_write(EK_TM4C123GXL_LED_GREEN, EK_TM4C123GXL_LED_OFF);    GPIO_write(EK_TM4C123GXL_LED_BLUE, EK_TM4C123GXL_LED_OFF);}

void Board::init() // initialize the board specifics{	//	// Enable lazy stacking for interrupt handlers.  This allows floating-point	// instructions to be used within interrupt handlers, but at the expense of	// extra stack usage.	//	FPUEnable();	FPULazyStackingEnable();	//	// Set the clocking to run from the PLL at 50MHz	//	ROM_SysCtlClockSet(	SYSCTL_SYSDIV_1 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);	IntMasterEnable(); // Enable interrupts to the processor.	// Set up the period for the SysTick timer for 1 mS.	SysTickPeriodSet(SysCtlClockGet() / 1000);	SysTickIntEnable(); // Enable the SysTick Interrupt.	SysTickEnable(); // Enable SysTick.	/*	//	 // Enable lazy stacking for interrupt handlers.  This allows floating-point	 // instructions to be used within interrupt handlers, but at the expense of	 // extra stack usage.	 FPUEnable();	 FPULazyStackingEnable();	 SysCtlClockSet(	 SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN	 | SYSCTL_XTAL_16MHZ); // Set the clocking to run directly from the crystal.	 IntMasterEnable(); // Enable interrupts to the processor.*/	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); // Enable the GPIO port that is used for the on-board LED.	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2); // Enable the GPIO pins for the LED (PF2).	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1);	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3);	/*	SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0); // Enable the peripherals used by this example.	 SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);	 IntMasterEnable(); // Enable processor interrupts.	 // Set up the period for the SysTick timer for 1 mS.	 SysTickPeriodSet(SysCtlClockGet() / 1000);	 SysTickIntEnable(); // Enable the SysTick Interrupt.	 SysTickEnable(); // Enable SysTick.	 GPIOPinConfigure(GPIO_PA0_U0RX); // Set GPIO A0 and A1 as UART pins.	 GPIOPinConfigure(GPIO_PA1_U0TX);	 GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);	 UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), 115200,	 (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE)); // Configure the UART for 115,200, 8-N-1 operation.	 IntEnable(INT_UART0);	 UARTFIFODisable(UART0_BASE);	 //	UARTFIFOLevelSet(UART0_BASE, UART_FIFO_TX1_8, UART_FIFO_RX1_8);	 UARTFlowControlSet(UART0_BASE, UART_FLOWCONTROL_NONE);	 UARTIntDisable(UART0_BASE, UART_INT_RT);	 UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_TX); // Enable the UART interrupt.*/	Board::setLedOn(Board::LED_GREEN, false);	Board::setLedOn(Board::LED_RED, false);	Board::setLedOn(Board::LED_BLUE, false);	AdcInit();}

void exec3(void){	//RGBInit(TRUE);    // Enable the GPIO Port and Timer for each LED    SysCtlPeripheralEnable(RED_GPIO_PERIPH);    SysCtlPeripheralEnable(GREEN_GPIO_PERIPH);    SysCtlPeripheralEnable(BLUE_GPIO_PERIPH);    // Reconfigure each LED's GPIO pad for timer control    GPIOPadConfigSet(GREEN_GPIO_BASE, GREEN_GPIO_PIN, GPIO_STRENGTH_8MA_SC, GPIO_PIN_TYPE_STD);    GPIOPinTypeGPIOOutput(GREEN_GPIO_BASE, GREEN_GPIO_PIN);    GPIOPadConfigSet(BLUE_GPIO_BASE, BLUE_GPIO_PIN, GPIO_STRENGTH_8MA_SC, GPIO_PIN_TYPE_STD);    GPIOPinTypeGPIOOutput(BLUE_GPIO_BASE, BLUE_GPIO_PIN);    GPIOPadConfigSet(RED_GPIO_BASE, RED_GPIO_PIN, GPIO_STRENGTH_8MA_SC, GPIO_PIN_TYPE_STD);    GPIOPinTypeGPIOOutput(RED_GPIO_BASE, RED_GPIO_PIN);	while(1)	{		GPIOPinWrite(BLUE_GPIO_BASE, BLUE_GPIO_PIN, BLUE_GPIO_PIN);		DelayTask(100);		GPIOPinWrite(BLUE_GPIO_BASE, BLUE_GPIO_PIN, 0);		DelayTask(100);	}}

/************************************************************************************************** * @fn          MAC_RfFrontendSetup * * @brief       Setup RF frontend. * * @param       none * * @return      none ************************************************************************************************** */void MAC_RfFrontendSetup(void){  GPIOPinTypeGPIOOutput(GPIO_C_BASE, GPIO_PIN_3);  GPIOPinTypeGPIOOutput(GPIO_C_BASE, GPIO_PIN_2);  /* CC2591 HGM pin control configuration.   *   PD2 -> HGM   */  HAL_PA_LNA_RX_HGM();  /* Raises the CCA threshold to about -70 dBm input level.   */  CCACTRL0 = CCA_THR_HGM;  /* Select power register value table and RSSI adjustment value table */  #if (defined MAC_RUNTIME_CC2591 && defined MAC_RUNTIME_CC2590)  /* Select power register value table and RSSI adjustment value table.   * Note that this file selected CC2591. The file has to be modified   * if the target board has CC2590 instead.   */  MAC_SetRadioRegTable(MAC_CC2591_TX_PWR_TABLE_IDX, MAC_CC2591_HGM_RSSI_ADJ_IDX);  #elif defined (MAC_RUNTIME_CC2591) || defined (MAC_RUNTIME_CC2590)  /* Select power register value table and RSSI adjustment value table */  MAC_SetRadioRegTable(MAC_CC259X_TX_PWR_TABLE_IDX, MAC_CC259X_HGM_RSSI_ADJ_IDX);  #elif defined (HAL_PA_LNA) || defined (HAL_PA_LNA_CC2590)  /* No need to do anything here because by default macRadioDefsRefTableId = 0 hence,   * automatically setup for HGM. However if you want LGM modify this file and call   * MAC_SetRadioRegTable(0,  MAC_PA_LNA_LGM_RSSI_ADJ_IDX);   */  #endif}

void STEP_Init(struct STEP_Motor* stMotorHandle){	// Enable Port for Motor Control	SysCtlPeripheralEnable(stMotorHandle->ui32STEP_BaseAddress);	// Enable Port for Motor Control "Enable"	SysCtlPeripheralEnable(STEP_ENABLE_PERIPH);	// Disable NMI for PD7 if it will be used	if( (stMotorHandle->ui32STEP_BaseAddress == SYSCTL_PERIPH_GPIOD) && ( (stMotorHandle->ui32STEP_DirPin == GPIO_PIN_7) || (stMotorHandle->ui32STEP_MovePin == GPIO_PIN_7) ) )	{		HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;		HWREG(GPIO_PORTD_BASE + GPIO_O_CR) |= 0x80;		HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = 0;	}	// Init Stepper Motor Pins - Direction	GPIOPinTypeGPIOOutput(stMotorHandle->ui32STEP_Port, stMotorHandle->ui32STEP_DirPin);	// Init Stepper Motor Pins - Movement (toggle for step)	GPIOPinTypeGPIOOutput(stMotorHandle->ui32STEP_Port, stMotorHandle->ui32STEP_MovePin);	// Init Stepper Motor Pins - Enable	GPIOPinTypeGPIOOutput(STEP_ENABLE_PORT, STEP_ENABLE_PIN);}

/* *  ======== EK_TM4C123GXL_initGPIO ======== */void EK_TM4C123GXL_initGPIO(void) {	GPIOPadConfigSet(GPIO_PORTA_BASE,GPIO_PIN_2,GPIO_STRENGTH_8MA,GPIO_PIN_TYPE_STD_WPD);	GPIOPadConfigSet(GPIO_PORTA_BASE,GPIO_PIN_3,GPIO_STRENGTH_8MA,GPIO_PIN_TYPE_STD_WPD);	GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_2); /* ENC_A */	GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_3); /* ENC_B */	GPIOIntTypeSet(GPIO_PORTA_BASE,GPIO_PIN_2,GPIO_INT_BOTH_EDGES);	GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_2); /* Load cell clock*/	GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_3); /* Load cell data*/	GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_0); /* Test Button 1*/	GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_1); /* Test Button 2*/	GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_2); /* Test Button 3*/	/* Setup the LED GPIO pins used */	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1); /* Test led 2 */	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2); /* Test led 3 */	/* PF0 requires unlocking before configuration */	HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;	HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= GPIO_PIN_0;	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0); /* Test led 1 */	HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_M;	/* Once GPIO_init is called, GPIO_config cannot be changed */	GPIO_init();}

/* *  ======== EK_TM4C123GXL_initWiFi ======== */void EK_TM4C123GXL_initWiFi(void){    /* Configure SSI2 */    SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);    GPIOPinConfigure(GPIO_PB4_SSI2CLK);    GPIOPinConfigure(GPIO_PB6_SSI2RX);    GPIOPinConfigure(GPIO_PB7_SSI2TX);    GPIOPinTypeSSI(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_6 | GPIO_PIN_7);    /* Configure IRQ pin */    GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);    GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);    /* Configure EN pin */    GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_5);    GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_5, 0);    /* Configure CS pin */    GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_0);    GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_0, 0);    /* Call necessary SPI init functions */    SPI_init();    EK_TM4C123GXL_initDMA();    /* Initialize WiFi driver */    WiFi_init();}

int main() {  //Enable Peripherals  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);   SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);   SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);      //Start specific Pin Ports  GPIOPinTypeGPIOOutput(port_A, GPIO_PIN_5 |GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4);   GPIOPinTypeGPIOOutput(port_C, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);   GPIOPinTypeGPIOOutput(port_D,GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_6 | GPIO_PIN_5);   GPIOPinTypeGPIOOutput(port_E, GPIO_PIN_0);   GPIOPinTypeGPIOOutput(port_F, GPIO_PIN_4);     //Input Pins  GPIOPinTypeGPIOInput(port_F, GPIO_PIN_2 | GPIO_PIN_3);    //Initialize the display  initializeDisplay();    //Write phrases  write_phrases();}

void setup(void){	//Enable the driver layer	SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |	                       SYSCTL_XTAL_16MHZ);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);	//Pinout connections:	//	GPIOPinTypeGPIOInput(GPIO_PORTA_BASE,GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);	GPIOPadConfigSet(GPIO_PORTA_BASE, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, GPIO_STRENGTH_2MA,	                     GPIO_PIN_TYPE_STD_WPU);	GPIOIntTypeSet(GPIO_PORTA_BASE, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7,GPIO_FALLING_EDGE);	GPIOPinTypeGPIOInput(GPIO_PORTB_BASE,GPIO_PIN_4);	GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA,		                     GPIO_PIN_TYPE_STD_WPU);	GPIOIntTypeSet(GPIO_PORTB_BASE,GPIO_PIN_4,GPIO_FALLING_EDGE);	GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE,GPIO_PIN_5|GPIO_PIN_4);	GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE,GPIO_PIN_1|GPIO_PIN_0);	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE,GPIO_PIN_2|GPIO_PIN_1|GPIO_PIN_3);	GPIOPinIntEnable(GPIO_PORTA_BASE, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);	GPIOPinIntEnable(GPIO_PORTB_BASE,GPIO_PIN_4);	IntMasterEnable();	IntEnable(INT_GPIOA);	IntEnable(INT_GPIOB);	GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_0, 0);	GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_1, 0);	GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_4, 0);	GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_5, 0);}

int main(void){  My_Init();  Init_Timer();  Init_I2C();  Init_Sensors();  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);  GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1);    /////////////////////////////////  SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);  		SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);  		GPIOPinConfigure(GPIO_PA0_U0RX);  		GPIOPinConfigure(GPIO_PA1_U0TX);  		GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);  		SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); //enable GPIO port for LED  		GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2); //enable pin for LED PF2  		UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), 115200,  				(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));  		IntMasterEnable(); //enable processor interrupts  		IntEnable(INT_UART0); //enable the UART interrupt  		UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT); //only enable RX and TX interrupts/////////////////////////////////  Kalman_Sim_initialize();  while(1)  {    Read_Accelerometer();    Calculate_Acc();    Read_Compass();    Compass_Heading();    Calculate_Compass();    Read_Gyro();    Calculate_Gyro();    fgyro[0]    = sen_data.gyro_x;    fgyro[1]	= sen_data.gyro_y;    fgyro[2]	= sen_data.gyro_z;    facc[0]     = sen_data.accel_x;    facc[1]	= sen_data.accel_y;    facc[2]	= sen_data.accel_z;    fmag[0]     = sen_data.magnetom_x;    fmag[1]	= sen_data.magnetom_y;    fmag[2]	= sen_data.magnetom_z;    Kalman_Sim_step();    data[0]=Out1[0];    data[1]=Out1[1];    data[2]=Out1[2];      Timer_CyRun();  }}

/** * Configures the antenna using a RF switch * INT is the internal antenna (chip) configured through ANT1_SEL (V1) * EXT is the external antenna (connector) configured through ANT2_SEL (V2) */void antenna_init(void) {    // Configure the ANT1 and ANT2 GPIO as output    GPIOPinTypeGPIOOutput(BSP_RADIO_BASE, BSP_RADIO_INT);    GPIOPinTypeGPIOOutput(BSP_RADIO_BASE, BSP_RADIO_EXT);    // By default the chip antenna is selected as the default    GPIOPinWrite(BSP_RADIO_BASE, BSP_RADIO_INT, BSP_RADIO_INT);    GPIOPinWrite(BSP_RADIO_BASE, BSP_RADIO_EXT, ~BSP_RADIO_EXT);}

void control_init() {  //// laser control  // Setup Timer0 for a 488.28125Hz "phase correct PWM" wave (assuming a 16Mhz clock)  // Timer0 can pwm either PD5 (OC0B) or PD6 (OC0A), we use PD6  // TCCR0A and TCCR0B are the registers to setup Timer0  // see chapter "8-bit Timer/Counter0 with PWM" in Atmga328 specs  // OCR0A sets the duty cycle 0-255 corresponding to 0-100%  // also see: http://arduino.cc/en/Tutorial/SecretsOfArduinoPWM	GPIOPinTypeGPIOOutput(LASER_EN_PORT, LASER_EN_MASK);	GPIOPinWrite(LASER_EN_PORT, LASER_EN_MASK, LASER_EN_INVERT);	// Configure timer	SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);	TimerConfigure(LASER_TIMER, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM|TIMER_CFG_B_ONE_SHOT);	TimerControlLevel(LASER_TIMER, TIMER_A, 1);	// PPI = PWMfreq/(feedrate/MM_PER_INCH/60)	// Set PPI Pulse timer	ppi_cycles = SysCtlClockGet() / 1000 * CONFIG_LASER_PPI_PULSE_MS;	ppi_divider = ppi_cycles >> 16;	ppi_cycles /= (ppi_divider + 1);	TimerPrescaleSet(LASER_TIMER, TIMER_B, ppi_divider);	TimerLoadSet(LASER_TIMER, TIMER_B, ppi_cycles);	// Setup ISR	TimerIntRegister(LASER_TIMER, TIMER_B, laser_isr);	TimerIntEnable(LASER_TIMER, TIMER_TIMB_TIMEOUT);    IntPrioritySet(INT_TIMER0B, CONFIG_LASER_PRIORITY);	// Set PWM refresh rate	laser_cycles = SysCtlClockGet() / CONFIG_LASER_PWM_FREQ; /*Hz*/	laser_divider = laser_cycles >> 16;	laser_cycles /= (laser_divider + 1);	// Setup Laser PWM Timer	TimerPrescaleSet(LASER_TIMER, TIMER_A, laser_divider);	TimerLoadSet(LASER_TIMER, TIMER_A, laser_cycles);	TimerPrescaleMatchSet(LASER_TIMER, TIMER_A, laser_divider);	laser_intensity = 0;	// Set default value	control_laser_intensity(0);	control_laser(0, 0);	TimerEnable(LASER_TIMER, TIMER_A);	// ToDo: Map the timer ccp pin sensibly	GPIOPinConfigure(GPIO_PB6_T0CCP0);	GPIOPinTypeTimer(LASER_PORT, (1 << LASER_BIT));	//// air and aux assist control	GPIOPinTypeGPIOOutput(ASSIST_PORT, ASSIST_MASK);	control_air_assist(false);	control_aux1_assist(false);}

//Function to configure LCD portvoid lcd_port_config (void){	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);	// data pins	GPIOPinTypeGPIOOutput(GPIO_PORTC_BASE, (GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6));	// PC4 RS; PC5 RW; PC6 EN	GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, (GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7));	// 8 bit interfacing}

int main(void){	SysCtlClockSet(SYSCTL_SYSDIV_4|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); // Enable the GPIO A ports	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); // Enable the GPIO E ports	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);	SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);	GPIOPinConfigure(GPIO_PB6_M0PWM0);	GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_6);	GPIOPinConfigure(GPIO_PB7_M0PWM1);	GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_7);	PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);	PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, 6400000);	PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, PWMGenPeriodGet(PWM0_BASE, PWM_GEN_0) / 1.25);	PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, true);	PWMGenEnable(PWM0_BASE, PWM_GEN_0);	PWMGenConfigure(PWM0_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);	PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, 6400000);	PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, PWMGenPeriodGet(PWM0_BASE, PWM_GEN_1) / 1.25);	PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT, true);	PWMGenEnable(PWM0_BASE, PWM_GEN_1);	GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_6|GPIO_PIN_7); // Set pin 7 as the output port	GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_1|GPIO_PIN_2);	GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_5);	GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,64); // Give '1' to pin 7	GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,4);	while(1)	{		GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,64); // Give '1' to pin 7		GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,4);		SysCtlDelay(4000000*10);		GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,0); // Give '1' to pin 7	    GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,0);	    GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_5,32);	    SysCtlDelay(400000);	    GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_5,0);		GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,128); // Give '1' to pin 7		GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,2);		SysCtlDelay(4000000*10);		GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,0); // Give '1' to pin 7		GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,0);		GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_5,32);		SysCtlDelay(400000);		GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_5,0);	}}

void IoPortInit(void){	//	// Enable the GPIO block.	//	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);	//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);	//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);	//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);	//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);	//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH);     SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOJ);	     // 要解锁只需要在配置GPIO前加入下面代码就可以了：   // Unlock GPIO Commit GPIOAFSEL   HWREG(GPIO_PORTB_BASE + GPIO_O_LOCK) = 0x4C4F434B;     // Manually Write CR Register for PB7   HWREG(GPIO_PORTB_BASE + GPIO_O_CR) |= (1 << 7); //  HWREG(GPIO_PORTB_BASE + GPIO_O_LOCK) = 0x1;	//	// Set GPIO D7 as an output.  This drives an LED on the board that will	// toggle when a watchdog interrupt is processed.	//	GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, PIN_AD7705_RST|PIN_AD7705_CS|PIN_AD7705_DIN|PIN_AD7705_SCLK);//	GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, PIN_AD7367_ADDR|PIN_AD7367_CNVST|PIN_AD7367_CS|PIN_AD7367_SCLK);	//GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, PIN_200X|PIN_2KX | PIN_20KX |PIN_3X);	GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, PIN_JUN|PIN_JUX|PIN_JRTG|PIN_JUNX);	//GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, PIN_20N  | PIN_200N |  PIN_2KN );	//GPIOPinTypeGPIOOutput(GPIO_PORTG_BASE, PIN_20KN |PIN_NX  | PIN_filterPASS|PIN_3N |PIN_ADC_ADDR|PIN_ADC_RANGE0);    //GPIOPinTypeGPIOOutput(GPIO_PORTH_BASE, PIN_CE6963|PIN_CD6963|PIN_RD6963|PIN_WR6963);    GPIOPinTypeGPIOOutput(GPIO_PORTJ_BASE, PIN_JR);	GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, PIN_AD7705_DRDY|PIN_AD7705_DOUT);//	GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, PIN_AD7367_DOUTB|PIN_AD7367_BUSY);//    GPIOPinTypeGPIOInput(GPIO_PORTC_BASE,PIN_ADC_BUSY);//	GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, PIN_KEY1 | PIN_KEY2 | PIN_KEY3 | PIN_KEY4);//    GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, PIN_keyback| PIN_keydown|PIN_keyprint|PIN_keyset|PIN_keystart|PIN_keyup);//	GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, PIN_ISP2);//	GPIOPinTypeGPIOInput(GPIO_PORTG_BASE, PIN_ADC_DOUTA );//	GPIOPinTypeGPIOInput(GPIO_PORTH_BASE, );//	GpioIntInit();//	Led1Write(0);//	Led2Write(0);	}

void initLEDs(){	  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPION);		SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);	  GPIOPinTypeGPIOOutput(GPIO_PORTN_BASE, GPIO_PIN_0|GPIO_PIN_1);		GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0|GPIO_PIN_4);	  GPIOPinWrite(GPIO_PORTN_BASE,GPIO_PIN_0, PIN_LOW);	  GPIOPinWrite(GPIO_PORTN_BASE,GPIO_PIN_1, PIN_LOW);		GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_0, PIN_LOW);	  GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_4, PIN_LOW);}

void ConfigDRV_Enable(){	SysCtlPeripheralEnable(DRV_ENABLE_LEFT_CHN_PERIPHERAL);	SysCtlPeripheralEnable(DRV_ENABLE_RIGHT_CHN_PERIPHERAL);	GPIOPinTypeGPIOOutput(DRV_ENABLE_LEFT_CHN_PORT, DRV_ENABLE_LEFT_CHN_PIN);	GPIOPinTypeGPIOOutput(DRV_ENABLE_RIGHT_CHN_PORT, DRV_ENABLE_RIGHT_CHN_PIN);//	GPIOPinTypeGPIOOutputOD(DRV_ENABLE_RIGHT_CHN_PORT,DRV_ENABLE_LEFT_CHN_PIN  | DRV_ENABLE_RIGHT_CHN_PIN);	//	Turn off DRV when start	GPIOPinWrite(DRV_ENABLE_LEFT_CHN_PORT, DRV_ENABLE_LEFT_CHN_PIN, 0);	GPIOPinWrite(DRV_ENABLE_RIGHT_CHN_PORT, DRV_ENABLE_RIGHT_CHN_PIN, 0);}

void led_init(){	/* PF0 requires unlocking before configuration */	HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;	HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= GPIO_PIN_0;	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0);	HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_M;	GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_7);	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1);}

//***********************************************////MP3_pin_init //Prototype: void MP3_pin_init(void)//Description: initial pins for communicate with vs1011e.//Returns: None.//***********************************************//void MP3_pin_init(){	GPIOPinTypeGPIOOutput(MP3_CS);              // Configure MP3_CS as output	deselect_MP3();							              // Deselect MP3_CS	GPIOPinTypeGPIOOutput(MP3_RST);               // Configure MP3_RST as output	GPIOPinWrite(MP3_RST,MP3_RST_PIN);               // Set MP3_RST pin		GPIOPinTypeGPIOOutput(BSYNC);               // Configure BSYNC as output	clear_BSYNC();			GPIOPinTypeGPIOInput(DREQPIN);                  // Configure DREQ as input	GPIOPadConfigSet(DREQPIN, GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);}

//Initilisation des ports et pins pour transmettre des commandes aux moteursvoid initMotorCommand(void){	GPIOPadConfigSet(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPD);	GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);	GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7, 0xF0);	GPIOPadConfigSet(GPIO_PORTC_BASE, GPIO_PIN_5 | GPIO_PIN_7, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPD);	GPIOPinTypeGPIOOutput(GPIO_PORTC_BASE,GPIO_PIN_5 | GPIO_PIN_7);	GPIOPinWrite(GPIO_PORTC_BASE, GPIO_PIN_5 | GPIO_PIN_7, 0xA0);	GPIOPadConfigSet(GPIO_PORTE_BASE,GPIO_PIN_4 | GPIO_PIN_5, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPD);	GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5);	GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5, 0x30);	}

//---------------------------------------------------------------------------// hardware_init()//// inits GPIO pins for toggling the LED//---------------------------------------------------------------------------void hardware_init(void){	//Set CPU Clock to 40MHz. 400MHz PLL/2 = 200 DIV 5 = 40MHz	SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);		SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);		SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);		SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);		SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);		//Removing Locks From Switch					LOCK_F=0x4C4F434B;					CR_F=GPIO_PIN_0|GPIO_PIN_4;	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);	GPIOPinTypeADC(GPIO_PORTD_BASE, GPIO_PIN_0);            // Configuring PD0 as ADC input (channel 1)     CH7 ADC0	GPIOPinTypeADC(GPIO_PORTD_BASE, GPIO_PIN_1);	SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);	SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC1);	ADCSequenceConfigure(ADC0_BASE,	1, ADC_TRIGGER_PROCESSOR, 0);	ADCSequenceConfigure(ADC1_BASE,	1, ADC_TRIGGER_PROCESSOR, 0);	ADCSequenceStepConfigure(ADC0_BASE, 1, 0, ADC_CTL_CH7);	ADCSequenceStepConfigure(ADC0_BASE, 1, 1, ADC_CTL_CH7);	ADCSequenceStepConfigure(ADC0_BASE, 1, 2, ADC_CTL_CH7);	ADCSequenceStepConfigure(ADC0_BASE, 1, 3, ADC_CTL_CH7 | ADC_CTL_IE | ADC_CTL_END);	ADCSequenceStepConfigure(ADC1_BASE, 1, 0, ADC_CTL_CH6);	ADCSequenceStepConfigure(ADC1_BASE, 1, 1, ADC_CTL_CH6);	ADCSequenceStepConfigure(ADC1_BASE, 1, 2, ADC_CTL_CH6);	ADCSequenceStepConfigure(ADC1_BASE, 1, 3, ADC_CTL_CH6 | ADC_CTL_IE | ADC_CTL_END);	ADCSequenceEnable(ADC0_BASE, 1);	ADCSequenceEnable(ADC1_BASE, 1);	ADCIntClear(ADC0_BASE, 1);	ADCIntClear(ADC1_BASE, 1);	GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);		GPIOPinTypeGPIOOutput(GPIO_PORTC_BASE, GPIO_PIN_4 | GPIO_PIN_6);		GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, GPIO_PIN_3);		GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_5);		GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0);		//GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);		GPIOPinWrite(GPIO_PORTC_BASE, GPIO_PIN_4,0x10);}

void Init_GPIO() {	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);	GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_6);	GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_7);	GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_4);	GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_5);	GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_4);	GPIOPinTypeGPIOOutput(GPIO_PORTG_BASE, GPIO_PIN_0);}

void SonarInit(){  SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);  GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE,GPIO_PIN_7);  GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_7, 0);  TimerConfigure(TIMER2_BASE, TIMER_CFG_32_BIT_PER);  GPIOIntTypeSet(GPIO_PORTD_BASE, GPIO_PIN_7,GPIO_RISING_EDGE);  GPIOPinIntEnable(GPIO_PORTD_BASE,GPIO_PIN_7);  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);  GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE,GPIO_PIN_4);  GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_4, 0);  }

static void gpio_init(void){    /* Set GPIOs as output */    GPIOPinTypeGPIOOutput(GPIO_A_BASE, 0xFF);    GPIOPinTypeGPIOOutput(GPIO_B_BASE, 0xFF);    GPIOPinTypeGPIOOutput(GPIO_C_BASE, 0xFF);    GPIOPinTypeGPIOOutput(GPIO_D_BASE, 0xFF);    /* Initialize GPIOs to low */    GPIOPinWrite(GPIO_A_BASE, 0xFF, 0x00);    GPIOPinWrite(GPIO_B_BASE, 0xFF, 0x00);    GPIOPinWrite(GPIO_C_BASE, 0xFF, 0x00);    GPIOPinWrite(GPIO_D_BASE, 0xFF, 0x00);}

/*0->output 1->input*/void mdc_gpio_set_dir(mdc_slot_t slot, uint8 dir){	switch(slot){		 case SLOT_1:			 if(dir == 0){				 GPIOPinTypeGPIOOutput(GPIO1M0_PORT, GPIO1M0_PIN);				 GPIOPinTypeGPIOOutput(GPIO2M0_PORT, GPIO2M0_PIN);				 GPIOPinTypeGPIOOutput(GPIO3M0_PORT, GPIO3M0_PIN);				 GPIOPinTypeGPIOOutput(GPIO4M0_PORT, GPIO4M0_PIN);			 }else{				 GPIOPinTypeGPIOInput(GPIO1M0_PORT, GPIO1M0_PIN);				 GPIOPinTypeGPIOInput(GPIO2M0_PORT, GPIO2M0_PIN);				 GPIOPinTypeGPIOInput(GPIO3M0_PORT, GPIO3M0_PIN);				 GPIOPinTypeGPIOInput(GPIO4M0_PORT, GPIO4M0_PIN);			 }			 break;		 		 case SLOT_2:			 if(dir == 0){				 GPIOPinTypeGPIOOutput(GPIO1M1_PORT, GPIO1M1_PIN);				 GPIOPinTypeGPIOOutput(GPIO2M1_PORT, GPIO2M1_PIN);				 GPIOPinTypeGPIOOutput(GPIO3M1_PORT, GPIO3M1_PIN);				 GPIOPinTypeGPIOOutput(GPIO4M1_PORT, GPIO4M1_PIN);			 }else{				 GPIOPinTypeGPIOInput(GPIO1M1_PORT, GPIO1M1_PIN);				 GPIOPinTypeGPIOInput(GPIO2M1_PORT, GPIO2M1_PIN);				 GPIOPinTypeGPIOInput(GPIO3M1_PORT, GPIO3M1_PIN);				 GPIOPinTypeGPIOInput(GPIO4M1_PORT, GPIO4M1_PIN);			 }			 break;		 		 default:			 break;	 }}

void initLCD() {	// -- paramra LED test	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, 0x0F);	GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3,  0x0F );	SysCtlPeripheralEnable(LCDPORTENABLE);	// -- paramra port A as control	SysCtlPeripheralEnable(LCDCTRLENABLE);	GPIOPinTypeGPIOOutput(LCDPORT,				0xff);	// -- paramra port A as control	GPIOPinTypeGPIOOutput(LCDCTRL,					0xff);	// Please refer to the HD44780 datasheet for how these initializations work!	SysCtlDelay((500e-3)*CLKSPEED/3);	GPIOPinWrite(LCDCTRL, RS,  0x00 );	GPIOPinWrite(LCDPORT, D4 | D5 | D6 | D7,  0x30 );	GPIOPinWrite(LCDCTRL, E, 0x10);SysCtlDelay((20e-6)*CLKSPEED/3); GPIOPinWrite(LCDCTRL, E, 0x00);	SysCtlDelay((50e-3)*CLKSPEED/3);	GPIOPinWrite(LCDPORT, D4 | D5 | D6 | D7,  0x30 );	GPIOPinWrite(LCDCTRL, E, 0x10);SysCtlDelay((20e-6)*CLKSPEED/3);GPIOPinWrite(LCDCTRL, E, 0x00);	SysCtlDelay((50e-3)*CLKSPEED/3);	GPIOPinWrite(LCDPORT, D4 | D5 | D6 | D7,  0x30 );	GPIOPinWrite(LCDCTRL, E, 0x10);SysCtlDelay((20e-6)*CLKSPEED/3); GPIOPinWrite(LCDCTRL, E, 0x00);	SysCtlDelay((10e-3)*CLKSPEED/3);	GPIOPinWrite(LCDPORT, D4 | D5 | D6 | D7,  0x20 );	GPIOPinWrite(LCDCTRL, E, 0x10);SysCtlDelay((20e-6)*CLKSPEED/3); GPIOPinWrite(LCDCTRL, E, 0x00);	SysCtlDelay((10e-3)*CLKSPEED/3);	LCDCommand(0x01);	// Clear the screen.	LCDCommand(0x06);	// Cursor moves right.	LCDCommand(0x0f);	// Cursor blinking, turn on LCD.}

int main() {  //SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);  //Enable Peripherals  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);  //Start specific Pin Ports  GPIOPinTypeGPIOOutput(port_A, GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4);  GPIOPinTypeGPIOOutput(port_C, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);  GPIOPinTypeGPIOOutput(port_D, GPIO_PIN_6);  GPIOPinTypeGPIOOutput(port_E, GPIO_PIN_0);  GPIOPinTypeGPIOOutput(port_F, GPIO_PIN_4 | GPIO_PIN_1);  //Input Pins  GPIOPinTypeGPIOInput(port_F, GPIO_PIN_2 | GPIO_PIN_3);  //Enable pin for interrupt  GPIOIntEnable(GPIO_PORTF_BASE, (GPIO_INT_PIN_2 | GPIO_INT_PIN_3));  //Set ISR  GPIOIntRegister(GPIO_PORTF_BASE, scroll_button_isr);  //Set interrupt type  GPIOIntTypeSet(GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3) , GPIO_FALLING_EDGE);  ROM_SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_GPIOA);  ROM_SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_GPIOC);  ROM_SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_GPIOD);  ROM_SysCtlPeripheralSleepDisable(SYSCTL_PERIPH_GPIOE);  ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOF);  ROM_SysCtlPeripheralClockGating(true);  //Initialize the display  initializeDisplay();  //Write phrases  write_phrases();}

void LCD_Init (void){	int i;	// Habilita GPIOA e GPIOC	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);	// Programa como saída	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2 | GPIO_PIN_3);	// Programa como saída	GPIOPinTypeGPIOOutput(GPIO_PORTC_BASE, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);	// Programa como saída	GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_6);	// EN=1	GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, 0x08);	// RS=0	GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0x00);	for(i=0;i<3;i++)	{		// Escreve 0x30 no Data (PC7-PC4)		GPIOPinWrite(GPIO_PORTC_BASE , GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7, 0x30);		// Dá um pulso no EN		LCD_EN_Pulse();		// Delay de ~5ms		SysCtlDelay(83333);	}	// Escreve 0x20 no Data (PC7-PC4)	GPIOPinWrite(GPIO_PORTC_BASE , GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7, 0x20);	// Dá um pulso no EN	LCD_EN_Pulse();	// Delay de ~5ms	SysCtlDelay(83333);	// Envia as instru
C++ GPIOPinTypeSSI函数代码示例
C++ GPIOPinTypeGPIOInput函数代码示例