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Setup of CCS project and skeleton code created.
This project was based off of the PUMA code. All PUMA related code was removed except for clock and uart initialization.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <?ccsproject version="1.0"?> | ||
| <projectOptions> | ||
| <ccsVersion value="7.2.0"/> | ||
| <deviceVariant value="Cortex M.TM4C1294NCPDT"/> | ||
| <deviceFamily value="TMS470"/> | ||
| <deviceEndianness value="little"/> | ||
| <codegenToolVersion value="16.9.3.LTS"/> | ||
| <isElfFormat value="true"/> | ||
| <connection value="common/targetdb/connections/Stellaris_ICDI_Connection.xml"/> | ||
| <linkerCommandFile value="tm4c1294ncpdt.cmd"/> | ||
| <rts value="libc.a"/> | ||
| <createSlaveProjects value=""/> | ||
| <templateProperties value="id=com.ti.common.project.core.emptyProjectTemplate,"/> | ||
| <filesToOpen value=""/> | ||
| <isTargetManual value="false"/> | ||
| </projectOptions> |
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| @@ -0,0 +1 @@ | ||
| /Debug/ |
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| <?xml version="1.0" encoding="UTF-8" standalone="no"?> | ||
| <launchConfiguration type="com.ti.ccstudio.debug.launchType.device.debugging"> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_DEBUGGER_PROPERTIES.C:\Users\s219\Documents\PUMA260\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="<?xml version="1.0" encoding="UTF-8" standalone="no" ?> <PropertyValues> <property id="ConnectOnStartup"> <curValue>1</curValue> </property> <property id="EnableInstalledBreakpoint"> <curValue>1</curValue> </property> <property id="IgnoreSoftLaunchFailures"> <curValue>0</curValue> </property> </PropertyValues> "/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_DEBUGGER_PROPERTIES.P:\University\Senior Project\Source\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="<?xml version="1.0" encoding="UTF-8" standalone="no" ?> <PropertyValues> <property id="ConnectOnStartup"> <curValue>1</curValue> </property> <property id="EnableInstalledBreakpoint"> <curValue>1</curValue> </property> <property id="IgnoreSoftLaunchFailures"> <curValue>0</curValue> </property> </PropertyValues> "/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_LOAD_PROGRAM.C:\Users\s219\Documents\PUMA260\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="ALL"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROGRAM.C:\Users\s219\Documents\PUMA260\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="${build_artifact:PUMA260}"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROGRAM.P:\University\Senior Project\Source\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="${build_artifact:PUMA260}"/> | ||
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| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_TARGET_CONFIG" value="${target_config_active_default:PUMA260}"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.MRU_PROGRAM.C:\Users\s219\Documents\PUMA260\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="C:/Users\s219\Documents\PUMA260\Debug\PUMA260.out"/> | ||
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| <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS"> | ||
| <listEntry value="/PUMA260"/> | ||
| </listAttribute> | ||
| <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES"> | ||
| <listEntry value="4"/> | ||
| </listAttribute> | ||
| <stringAttribute key="org.eclipse.debug.core.source_locator_id" value="com.ti.ccstudio.debug.sourceLocator"/> | ||
| <stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <sourceLookupDirector> <sourceContainers duplicates="false"> <container memento="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;default/&gt;&#13;&#10;" typeId="org.eclipse.debug.core.containerType.default"/> <container memento="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;cpuSpecificContainer cpuName=&quot;Stellaris In-Circuit Debug Interface/CORTEX_M4_0&quot;&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;project name=&amp;quot;PUMA260&amp;quot; referencedProjects=&amp;quot;true&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;org.eclipse.debug.core.containerType.project&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;default/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;org.eclipse.debug.core.containerType.default&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;productsSource/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;com.ti.ccstudio.debug.containerType.products.source&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;deviceLibrarySource/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;com.ti.ccstudio.debug.containerType.device.library.source&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;librarySource/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;com.ti.ccstudio.debug.containerType.library.source&quot;/&gt;&#13;&#10;&lt;/cpuSpecificContainer&gt;&#13;&#10;" typeId="com.ti.ccstudio.debug.containerType.cpu.specific"/> </sourceContainers> </sourceLookupDirector> "/> | ||
| </launchConfiguration> |
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|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <?xml version="1.0" encoding="UTF-8" standalone="no"?> | ||
| <launchConfiguration type="com.ti.ccstudio.debug.launchType.device.debugging"> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_CPUS_WITH_PROJECT" value="<?xml version="1.0" encoding="UTF-8"?> <cpus_with_project> <id id="Stellaris In-Circuit Debug Interface/CORTEX_M4_0" isa="CORTEX_M4"/> </cpus_with_project>"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_DEBUGGER_PROPERTIES.E:\Senior Design Project\Software\Code\System Test\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="<?xml version="1.0" encoding="UTF-8" standalone="no" ?> <PropertyValues> <property id="ConnectOnStartup"> <curValue>1</curValue> </property> <property id="EnableInstalledBreakpoint"> <curValue>1</curValue> </property> <property id="IgnoreSoftLaunchFailures"> <curValue>0</curValue> </property> </PropertyValues> "/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROGRAM.E:\Senior Design Project\Software\Code\System Test\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="${build_artifact:SMS}"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROJECT.E:\Senior Design Project\Software\Code\System Test\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="SMS"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_TARGET_CONFIG" value="${target_config_active_default:SMS}"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.MRU_PROGRAM.E:\Senior Design Project\Software\Code\System Test\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="E:/Senior Design Project\Software\Code\System Test\Debug\SMS.out"/> | ||
| <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS"> | ||
| <listEntry value="/SMS"/> | ||
| </listAttribute> | ||
| <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES"> | ||
| <listEntry value="4"/> | ||
| </listAttribute> | ||
| <stringAttribute key="org.eclipse.debug.core.source_locator_id" value="com.ti.ccstudio.debug.sourceLocator"/> | ||
| <stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <sourceLookupDirector> <sourceContainers duplicates="false"> <container memento="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;default/&gt;&#13;&#10;" typeId="org.eclipse.debug.core.containerType.default"/> <container memento="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;cpuSpecificContainer cpuName=&quot;Stellaris In-Circuit Debug Interface/CORTEX_M4_0&quot;&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;project name=&amp;quot;SMS&amp;quot; referencedProjects=&amp;quot;true&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;org.eclipse.debug.core.containerType.project&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;default/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;org.eclipse.debug.core.containerType.default&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;productsSource/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;com.ti.ccstudio.debug.containerType.products.source&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;librarySource/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;com.ti.ccstudio.debug.containerType.library.source&quot;/&gt;&#13;&#10;&lt;/cpuSpecificContainer&gt;&#13;&#10;" typeId="com.ti.ccstudio.debug.containerType.cpu.specific"/> </sourceContainers> </sourceLookupDirector> "/> | ||
| </launchConfiguration> |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <projectDescription> | ||
| <name>TIVA-Task-Scheduler</name> | ||
| <comment></comment> | ||
| <projects> | ||
| </projects> | ||
| <buildSpec> | ||
| <buildCommand> | ||
| <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name> | ||
| <arguments> | ||
| </arguments> | ||
| </buildCommand> | ||
| <buildCommand> | ||
| <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name> | ||
| <triggers>full,incremental,</triggers> | ||
| <arguments> | ||
| </arguments> | ||
| </buildCommand> | ||
| </buildSpec> | ||
| <natures> | ||
| <nature>com.ti.ccstudio.core.ccsNature</nature> | ||
| <nature>org.eclipse.cdt.core.cnature</nature> | ||
| <nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature> | ||
| <nature>org.eclipse.cdt.core.ccnature</nature> | ||
| <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature> | ||
| </natures> | ||
| <linkedResources> | ||
| <link> | ||
| <name>utils/uartstdio.c</name> | ||
| <type>1</type> | ||
| <locationURI>TIVAWARE/utils/uartstdio.c</locationURI> | ||
| </link> | ||
| </linkedResources> | ||
| <variableList> | ||
| <variable> | ||
| <name>TIVAWARE</name> | ||
| <value>file:/C:/ti/TivaWare_C_Series-2.1.4.178</value> | ||
| </variable> | ||
| </variableList> | ||
| </projectDescription> |
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| eclipse.preferences.version=1 | ||
| inEditor=false | ||
| onBuild=false |
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|---|---|---|
| @@ -0,0 +1,2 @@ | ||
| eclipse.preferences.version=1 | ||
| org.eclipse.cdt.debug.core.toggleBreakpointModel=com.ti.ccstudio.debug.CCSBreakpointMarker |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,16 @@ | ||
| eclipse.preferences.version=1 | ||
| encoding//Debug/ControlLoop/subdir_rules.mk=UTF-8 | ||
| encoding//Debug/ControlLoop/subdir_vars.mk=UTF-8 | ||
| encoding//Debug/EIB/subdir_rules.mk=UTF-8 | ||
| encoding//Debug/EIB/subdir_vars.mk=UTF-8 | ||
| encoding//Debug/MotorDriver/subdir_rules.mk=UTF-8 | ||
| encoding//Debug/MotorDriver/subdir_vars.mk=UTF-8 | ||
| encoding//Debug/TaskScheduler/subdir_rules.mk=UTF-8 | ||
| encoding//Debug/TaskScheduler/subdir_vars.mk=UTF-8 | ||
| encoding//Debug/makefile=UTF-8 | ||
| encoding//Debug/objects.mk=UTF-8 | ||
| encoding//Debug/sources.mk=UTF-8 | ||
| encoding//Debug/subdir_rules.mk=UTF-8 | ||
| encoding//Debug/subdir_vars.mk=UTF-8 | ||
| encoding//Debug/utils/subdir_rules.mk=UTF-8 | ||
| encoding//Debug/utils/subdir_vars.mk=UTF-8 |
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| # PUMA260 | ||
| An embedded board for controlling a PUMA260 Robot Arm. |
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| #include "TaskScheduler.h" | ||
|
|
||
| static volatile TaskScheduler scheduler; | ||
|
|
||
| void InitializeTaskScheduler(uint32_t timerBase){ | ||
| } | ||
|
|
||
| void AddTask(Task *pTask){ | ||
|
|
||
| } | ||
| void RemoveTask(Task *pTask){ | ||
|
|
||
| } | ||
| void DisableTask(Task *pTask){ | ||
|
|
||
| } |
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| #ifndef TIVA_TASK_SCHEDULER_H | ||
| #define TIVA_TASK_SCHEDULER_H | ||
|
|
||
| #include <stdint.h> | ||
| #include <stdbool.h> | ||
|
|
||
| struct Task_tag; | ||
| typedef struct Task_tag Task; | ||
|
|
||
| struct Task_tag { | ||
| uint32_t taskTimerTicks; | ||
| float taskPeriod; | ||
| void (*pCallback)(void); | ||
| bool taskEnabled; | ||
| Task *pNextTask; | ||
| }; | ||
|
|
||
| typedef struct TaskScheduler_tag{ | ||
| uint32_t timerBase; | ||
| Task *pTaskListRoot; | ||
| } TaskScheduler; | ||
|
|
||
| void InitializeTaskScheduler(uint32_t timerBase); | ||
|
|
||
| void AddTask(Task *pTask); | ||
| void RemoveTask(Task *pTask); | ||
| void DisableTask(Task *pTask); | ||
|
|
||
| #endif |
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| //Standard includes | ||
| #include <stdbool.h> | ||
| #include <stdint.h> | ||
| #include <math.h> | ||
| #include <stdio.h> | ||
|
|
||
| //Tivaware includes | ||
| #include "inc/hw_memmap.h" | ||
| #include "driverlib/gpio.h" | ||
| #include "driverlib/rom.h" | ||
| #include "driverlib/sysctl.h" | ||
| #include "driverlib/pin_map.h" | ||
| #include "driverlib/pwm.h" | ||
| #include "driverlib/adc.h" | ||
| #include "driverlib/ssi.h" | ||
| #include "driverlib/uart.h" | ||
| #include "utils/uartstdio.h" | ||
|
|
||
| //System clock running at 120MHz | ||
| #define SYS_CLK 120000000 | ||
|
|
||
| void EnableClock(void); | ||
| void EnablePeripherals(); | ||
| void InitConsole(void); | ||
|
|
||
| //Copies val to the buffer as an ascii string. Arg1 is the number of places before decimal, arg2 is after. | ||
| void sprintfloat(char *Buffer, float val, int arg1){ | ||
| int LeftSide = (int)val; | ||
| int RightSide = (int)(pow(10,arg1) * (val - LeftSide)); //Remove the portion to the left of the decimal | ||
| sprintf(Buffer, "%i.%i", LeftSide, RightSide); | ||
| } | ||
|
|
||
| int main(void) | ||
| { | ||
| EnableClock(); | ||
| EnablePeripherals(); | ||
| } | ||
|
|
||
| void EnableClock(void){ | ||
|
|
||
| SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | | ||
| SYSCTL_OSC_MAIN | | ||
| SYSCTL_USE_PLL | | ||
| SYSCTL_CFG_VCO_480), SYS_CLK); | ||
| } | ||
|
|
||
| /* | ||
| Enables all peripherals needed for this motor driver test | ||
| */ | ||
| void EnablePeripherals(void){ | ||
| InitConsole(); | ||
| } | ||
|
|
||
| //Initializes UART0 to be used as a console. | ||
| void InitConsole(void){ | ||
| // | ||
| // Enable GPIO port A which is used for UART0 pins. | ||
| // TODO: change this to whichever GPIO port you are using. | ||
| // | ||
| SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); | ||
|
|
||
| // | ||
| // Configure the pin muxing for UART0 functions on port A0 and A1. | ||
| // This step is not necessary if your part does not support pin muxing. | ||
| // TODO: change this to select the port/pin you are using. | ||
| // | ||
| GPIOPinConfigure(GPIO_PA0_U0RX); | ||
| GPIOPinConfigure(GPIO_PA1_U0TX); | ||
|
|
||
| // | ||
| // Enable UART0 so that we can configure the clock. | ||
| // | ||
| SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0); | ||
|
|
||
| // | ||
| // Use the internal 16MHz oscillator as the UART clock source. | ||
| // | ||
| UARTClockSourceSet(UART0_BASE, UART_CLOCK_PIOSC); | ||
|
|
||
| // | ||
| // Select the alternate (UART) function for these pins. | ||
| // TODO: change this to select the port/pin you are using. | ||
| // | ||
| GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1); | ||
|
|
||
| // | ||
| // Initialize the UART for console I/O. | ||
| // | ||
| UARTStdioConfig(0, 115200, 16000000); | ||
| } |
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| @@ -0,0 +1,13 @@ | ||
| <?xml version="1.0" encoding="UTF-8" standalone="no"?> | ||
| <configurations XML_version="1.2" id="configurations_0"> | ||
| <configuration XML_version="1.2" id="configuration_0"> | ||
| <instance XML_version="1.2" desc="Stellaris In-Circuit Debug Interface" href="connections/Stellaris_ICDI_Connection.xml" id="Stellaris In-Circuit Debug Interface" xml="Stellaris_ICDI_Connection.xml" xmlpath="connections"/> | ||
| <connection XML_version="1.2" id="Stellaris In-Circuit Debug Interface"> | ||
| <instance XML_version="1.2" href="drivers/stellaris_cs_dap.xml" id="drivers" xml="stellaris_cs_dap.xml" xmlpath="drivers"/> | ||
| <instance XML_version="1.2" href="drivers/stellaris_cortex_m4.xml" id="drivers" xml="stellaris_cortex_m4.xml" xmlpath="drivers"/> | ||
| <platform XML_version="1.2" id="platform_0"> | ||
| <instance XML_version="1.2" desc="Tiva TM4C1294NCPDT" href="devices/tm4c1294ncpdt.xml" id="Tiva TM4C1294NCPDT" xml="tm4c1294ncpdt.xml" xmlpath="devices"/> | ||
| </platform> | ||
| </connection> | ||
| </configuration> | ||
| </configurations> |
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