// * imu_tim_ISR **************************************************************
// * ISR for soft i2c tim interrupt. *
// * *
// * Portions for initialization of softi2c library copied/modified from *
// * "soft_i2c_atmel.c" example code. *
// ****************************************************************************
void imu_tim_ISR(void)
{
TimerIntClear(IMU_TIM_BASE, TIMER_TIMA_TIMEOUT); // clear interrupt
SoftI2CTimerTick(&g_sI2C); // perform softi2c tick update
}
void vT3InterruptHandler( void )
{
TimerIntClear( TIMER3_BASE, TIMER_TIMA_TIMEOUT );
portEND_SWITCHING_ISR( xSecondTimerHandler() );
}
uint8 bottomBoardISR() {
uint32 data, i;
uint32 timerLoadPeriod;
uint8 checksum;
long val;
TimerIntClear(TIMER1_BASE, TIMER_TIMB_TIMEOUT);
// Multiplex SPI (bottomboard/radio)
if (MSPSPIState == MSPSPI_STATE_XMIT_BYTE) {
radioIntDisable();
SPISelectDeviceISR(SPI_MSP430);
timerLoadPeriod = MSP430_SPI_DESELECT_PERIOD;
} else if (MSPSPIState == MSPSPI_STATE_DESELECT_SPI) {
SPIDeselectISR();
radioIntEnable();
if (bootloaderSet && MSP430MessageIdx == 0) {
// Deselect but then set the boot-loader to operate.
msp430BSLInit();
bootloaderSet = FALSE;
} else {
timerLoadPeriod = MSP430_SPI_BYTE_PERIOD;
}
}
// Set delay
MAP_TimerLoadSet(TIMER1_BASE, TIMER_B, timerLoadPeriod);
MAP_TimerEnable(TIMER1_BASE, TIMER_B);
// Transmit message to bottomboard
if (MSPSPIState == MSPSPI_STATE_XMIT_BYTE) {
// Pack new message at the beginning of each cycle
if (MSP430MessageIdx == 0) {
// Pack code
for (i = 0; i < MSP430_CODE_LENGTH; i++) {
MSP430MessageOut[i] = MSP430Code[i];
}
// Build and pack payload
switch (msp430SystemGetCommandMessage()) {
case MSP430_CMD_COMMAND_NORMAL:
blinkySystemBuildMessage(&MSP430MessageOut[MSP430_CMD_SYSTEM_LED_IDX]);
buttonsBuildMessage(&MSP430MessageOut[MSP430_CMD_BUTTONS_IDX]);
ledsBuildMessage(&MSP430MessageOut[MSP430_CMD_LED_IDX]);
break;
case MSP430_CMD_COMMAND_REPROGRAM:
bootloaderSet = TRUE;
break;
default:
// Do nothing for shutdown or reset
break;
}
msp430SystemCommandBuildMessage(&MSP430MessageOut[MSP430_CMD_COMMAND_IDX]);
MSP430MessageOut[MSP430_CMD_CHECKSUM_IDX] = messageChecksum(MSP430MessageOut, MSP430_CODE_LENGTH, MSP430_MSG_LENGTH);
}
// Shift receive buffer
shiftBuffer(MSP430MessageIn, MSP430_MSG_LENGTH);
// Put data into the transmit buffer
val = MAP_SSIDataPutNonBlocking(SSI0_BASE, (uint32)MSP430MessageOut[MSP430MessageIdx]);
if (val == 0) {
SPIBusError_SSIDataPutNonBlocking = 1;
}
// Retrieve the received byte
MAP_SSIDataGet(SSI0_BASE, &data);
// Put byte the the end of the receive buffer
MSP430MessageIn[MSP430_MSG_LENGTH - 1] = data;
// Check to see if we have a complete message, with correct code and checksum
if (MSP430MessageIdx == 0) {
// Checkcode
for (i = 0; i < MSP430_CODE_LENGTH; i++) {
if (MSP430MessageIn[i] != MSP430Code[i])
break;
}
if (i == MSP430_CODE_LENGTH) {
// Checksum
checksum = messageChecksum(MSP430MessageIn, MSP430_CODE_LENGTH, MSP430_MSG_LENGTH);
if (checksum == MSP430MessageIn[MSP430_MSG_LENGTH - 1]) {
// Process incoming message
bumpSensorsUpdate(MSP430MessageIn[MSP430_MSG_BUMPER_IDX]);
accelerometerUpdate(&MSP430MessageIn[MSP430_MSG_ACCEL_START_IDX]);
gyroUpdate(&MSP430MessageIn[MSP430_MSG_GYRO_START_IDX]);
systemBatteryVoltageUpdate(MSP430MessageIn[MSP430_MSG_VBAT_IDX]);
systemUSBVoltageUpdate(MSP430MessageIn[MSP430_MSG_VUSB_IDX]);
systemPowerButtonUpdate(MSP430MessageIn[MSP430_MSG_POWER_BUTTON_IDX]);
systemMSPVersionUpdate(MSP430MessageIn[MSP430_MSG_VERSION_IDX]);
reflectiveSensorsUpdate(&MSP430MessageIn[MSP430_MSG_REFLECT_START_IDX]);
if((MSP430MessageIn[MSP430_MSG_VERSION_IDX] != 0) && (!systemMSP430CommsValid)) {
systemMSP430CommsValid = TRUE;
}
} else {
checksumFailure++;
// Fail checksum
if (showError) {cprintf("Bsum ");}
}
} else {
// Fail checkcode
if (showError) {cprintf("Bcod ");}
}
// Toggle MSP boards, regardless of result
if (expand0En) {
MSPSelect = MSP_EXPAND0_BOARD_SEL;
}
}
// Increment index, wrap back to 0 if it exceeds the range
MSP430MessageIdx++;
if (MSP430MessageIdx >= MSP430_MSG_LENGTH) {
MSP430MessageIdx = 0;
}
// Toggle states
MSPSPIState = MSPSPI_STATE_DESELECT_SPI;
} else if (MSPSPIState == MSPSPI_STATE_DESELECT_SPI) {
// Toggle states
MSPSPIState = MSPSPI_STATE_XMIT_BYTE;
}
return 0;
}
/*
* @brief Expansion0 MSP430 board ISR
*
* @returns void
*/
uint8 expand0BoardISR() {
uint32 data, i;
uint32 timerLoadPeriod;
uint8 checksum;
long val;
static uint8 gripperData = 0;
TimerIntClear(TIMER1_BASE, TIMER_TIMB_TIMEOUT);
// Multiplex outputs (gripper/radio), set delay
if (MSPSPIState == MSPSPI_STATE_XMIT_BYTE) {
radioIntDisable();
SPISelectDeviceISR(SPI_EXPAND0);
timerLoadPeriod = MSP430_SPI_DESELECT_PERIOD;
} else if (MSPSPIState == MSPSPI_STATE_DESELECT_SPI) {
SPIDeselectISR();
radioIntEnable();
timerLoadPeriod = (MSP430_SPI_BYTE_PERIOD);
}
MAP_TimerLoadSet(TIMER1_BASE, TIMER_B, timerLoadPeriod);
MAP_TimerEnable(TIMER1_BASE, TIMER_B);
// Transmit a byte or just switch state
if (MSPSPIState == MSPSPI_STATE_XMIT_BYTE) {
// Pack message
if (expand0MessageIdx == 0) {
// Grab next message from buffer
if (!expand0MessageOutBufLock) {
memcpy(expand0MessageOut, expand0MessageOutBuf, EXPAND0_MSG_LENGTH);
}
}
// Rotate received buffer
shiftBuffer(expand0MessageIn, EXPAND0_MSG_LENGTH);
// Put data into the transmit buffer
val = MAP_SSIDataPutNonBlocking(SSI0_BASE, (uint32)expand0MessageOut[expand0MessageIdx]);
// Retrieve the received byte
MAP_SSIDataGet(SSI0_BASE, &data);
// Put byte the the end of the received buffer
expand0MessageIn[EXPAND0_MSG_LENGTH - 1] = data;
//Integrity checking
if (expand0MessageIdx == 0) {
// Checkcode
for (i = 0; i < EXPAND0_CODE_LENGTH; i++) {
if (expand0MessageIn[i] != expand0Code[i])
break;
}
if (i == EXPAND0_CODE_LENGTH) {
// Checksum
checksum = messageChecksum(expand0MessageIn, EXPAND0_CODE_LENGTH, EXPAND0_MSG_LENGTH);
if (checksum == expand0MessageIn[EXPAND0_MSG_LENGTH - 1]) {
// Avoid loading from buffer if the buffer is updating
if (!expand0MessageInBufLock) {
memcpy(expand0MessageInBuf, expand0MessageIn, EXPAND0_MSG_LENGTH);
}
} else {
// Fail checksum
if (showError) {cprintf("Gsum ");}
}
} else {
// Fail checkcode
if (showError) {cprintf("Gcod ");}
}
// Toggle MSP boards, regardless of result
MSPSelect = MSP_BOTTOM_BOARD_SEL;
}
// Increment index, wrap back to 0 if it exceeds the range
expand0MessageIdx++;
if (expand0MessageIdx >= EXPAND0_MSG_LENGTH) {
expand0MessageIdx = 0;
}
// Toggle states
MSPSPIState = MSPSPI_STATE_DESELECT_SPI;
} else if (MSPSPIState == MSPSPI_STATE_DESELECT_SPI) {
// Toggle states
MSPSPIState = MSPSPI_STATE_XMIT_BYTE;
}
return 0;
}
void Timer1IntHandler( void )
{
ulHighFrequencyTimerTicks++;
TimerIntClear( TIMER1_BASE, TIMER_TIMA_TIMEOUT );
}
//*****************************************************************************
//
//! Handles the TIMER5A interrupt.
//!
//! This function responds to the TIMER5A interrupt, updating the duty cycle of
//! the output waveform in order to produce sound. It is the application's
//! responsibility to ensure that this function is called in response to the
//! TIMER5A interrupt, typically by installing it in the vector table as the
//! handler for the TIMER5A interrupt.
//!
//! \return None.
//
//*****************************************************************************
void
SoundIntHandler(void)
{
int32_t i32DutyCycle;
//
// Clear the timer interrupt.
//
TimerIntClear(TIMER5_BASE, TIMER_CAPA_EVENT);
//
// See if the startup ramp is in progress.
//
if(HWREGBITW(&g_sSoundState.ui32Flags, SOUND_FLAG_STARTUP))
{
//
// Increment the ramp count.
//
g_sSoundState.i32Step++;
//
// Increase the pulse width of the output by one clock.
//
TimerMatchSet(TIMER5_BASE, TIMER_A, g_sSoundState.i32Step);
//
// See if this was the last step of the ramp.
//
if(g_sSoundState.i32Step >= (g_sSoundState.ui32Period / 2))
{
//
// Indicate that the startup ramp has completed.
//
HWREGBITW(&g_sSoundState.ui32Flags, SOUND_FLAG_STARTUP) = 0;
//
// Set the step back to zero for the start of audio playback.
//
g_sSoundState.i32Step = 0;
}
//
// There is nothing further to be done.
//
return;
}
//
// See if the shutdown ramp is in progress.
//
if(HWREGBITW(&g_sSoundState.ui32Flags, SOUND_FLAG_SHUTDOWN))
{
//
// See if this was the last step of the ramp.
//
if(g_sSoundState.i32Step == 1)
{
//
// Disable the output signals.
//
TimerMatchSet(TIMER5_BASE, TIMER_A, g_sSoundState.ui32Period);
//
// Clear the sound flags.
//
g_sSoundState.ui32Flags = 0;
//
// Disable the speaker amp.
//
GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_4, 0);
}
else
{
//
// Decrement the ramp count.
//
g_sSoundState.i32Step--;
//
// Decrease the pulse width of the output by one clock.
//
TimerMatchSet(TIMER5_BASE, TIMER_A, g_sSoundState.i32Step);
}
//
// There is nothing further to be done.
//
return;
}
//
// Compute the value of the PCM sample based on the blended average of the
// previous and current samples. It should be noted that linear
// interpolation does not produce the best results with sound (it produces
// a significant amount of harmonic aliasing) but it is fast.
//
i32DutyCycle =
(((g_sSoundState.pi16Samples[0] * (8 - g_sSoundState.i32Step)) +
(g_sSoundState.pi16Samples[1] * g_sSoundState.i32Step)) / 8);
//
// Adjust the magnitude of the sample based on the current volume. Since a
// multiplicative volume control is implemented, the volume value will
// result in nearly linear volume adjustment if it is squared.
//
i32DutyCycle = (((i32DutyCycle * g_sSoundState.i32Volume *
g_sSoundState.i32Volume) / 65536) + 32768);
//
// Set the PWM duty cycle based on this PCM sample.
//
i32DutyCycle = (g_sSoundState.ui32Period * i32DutyCycle) / 65536;
TimerMatchSet(TIMER5_BASE, TIMER_A, i32DutyCycle);
//
// Increment the sound step based on the sample rate.
//
if(HWREGBITW(&g_sSoundState.ui32Flags, SOUND_FLAG_8KHZ))
{
g_sSoundState.i32Step = (g_sSoundState.i32Step + 1) & 7;
}
else if(HWREGBITW(&g_sSoundState.ui32Flags, SOUND_FLAG_16KHZ))
{
g_sSoundState.i32Step = (g_sSoundState.i32Step + 2) & 7;
}
else if(HWREGBITW(&g_sSoundState.ui32Flags, SOUND_FLAG_32KHZ))
{
g_sSoundState.i32Step = (g_sSoundState.i32Step + 4) & 7;
}
//
// See if the next sample has been reached.
//
if(g_sSoundState.i32Step == 0)
{
//
// Copy the current sample to the previous sample.
//
g_sSoundState.pi16Samples[0] = g_sSoundState.pi16Samples[1];
//
// Get the next sample from the buffer.
//
g_sSoundState.pi16Samples[1] =
g_sSoundState.pi16Buffer[g_sSoundState.ui32Offset];
//
// Increment the buffer pointer.
//
g_sSoundState.ui32Offset++;
if(g_sSoundState.ui32Offset == g_sSoundState.ui32Length)
{
g_sSoundState.ui32Offset = 0;
}
//
// Call the callback function if one of the half-buffers has been
// consumed.
//
if(g_sSoundState.pfnCallback)
{
if(g_sSoundState.ui32Offset == 0)
{
g_sSoundState.pfnCallback(1);
}
else if(g_sSoundState.ui32Offset == (g_sSoundState.ui32Length / 2))
{
g_sSoundState.pfnCallback(0);
}
}
}
}
/*
* Forward declared in startup.c
*/
void timer0_int_handler(void)
{
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
__timer0_ticks++;
}
void Timer0IntHandler(void)
{
//CLEAR INTERRUPT FLAG
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
tempo_passado++;
}
void Handler2() {
TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
usnprintf(buffer, BUFFSIZE, "!%d%c%c%d|\n", 44, 'a', 'b', 32);
UARTPrint((unsigned char *) buffer);
}
void timer0_handler_example(void)
{
TimerLoadSet(TIMER0_BASE, TIMER_A, 0xf);
/* Clear the timer interrupt */
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
}
void Handler1() {
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
}
/**
* Main ISR for the commutation timer
*/
void CommutationControllerClass::ISR()
{
// Disable ADC interrupt to avoid fuckery, will be reenabled at end
ADC->disableInterrupt();
// Clear timer interrupt flag
TimerIntClear(TIMER_BASE, TIMER_TIMA_TIMEOUT);
switch (motorParent->getControlState())
{
case openloop:
{
// Grab the new PWM width
commutator.setPWMWidth(startup.getPWMWidth());
targetPWMWidth = startup.getPWMWidth();
// Force the PWM IIR filter state to the current PWM value so that the soft startup filter starts from the right value
PWMFilter.reset();
PWMFilter.iterate(startup.getPWMWidth());
// Do we need to set the commutator to align or just commutate?
if (startup.align())
{
commutator.align();
}
else
{
commutator.commutate();
}
// Get the new commutation period from the startup sequencer
this->setTimeoutValue(startup.getCommutationPeriod());
// If the ZC flag wasn't set on the previous commutation then reset the acquisition counter
if (ADC->getZCDetectedFlag() == false)
{
ADC->clearAcquisitionCounter();
}
// Clear the ZC detected flag to evaluate this next commutation cycle afresh
ADC->clearZCDetectedFlag();
// Do we need to enable ZC acquisition for this next cycle?
if (startup.getAcquisitionEnabled())
{
ADC->enableAcquisition();
}
else
{
ADC->disableAcquisition();
}
// Increment the startup sequence lookup index
startup.advance();
break;
}
case closedloop:
// Advance to the next commutation step and increment the commutation counter
commutator.commutate(), commutationCounter++;
// Add the duration of the previous commutation cycle to the cumulative count since the last PWM width update
timeSinceLastPWMUpdate += this->getTimeoutValue();
// Are we currently soft-starting?
if (softStarting)
{
commutator.setPWMWidth(PWMFilter.iterate(targetPWMWidth));
softStartCounter++;
if (softStartCounter > 50)
{
softStarting = false;
}
}
// Is the time since the last PWM width update greater than the timeout value? Aka has the overseer or RPi crashed?
if (timeSinceLastPWMUpdate > MOTOR_TIMEOUT_VALUE)
{
motorParent->stop();
}
else
{
// Did we have a successful ZC detection last cycle or was this commutation a blind one?
if (ADC->getZCDetectedFlag())
{
missedZCCounter = 0;
// Clear the ZC detected flag to start the ADC looking for the next ZC
ADC->clearZCDetectedFlag();
}
// Commutation was blind
else
{
missedZCCounter++;
if (missedZCCounter > MISSED_ZC_LIMIT)
{
motorParent->setState(openloop);
startup.reset();
ADC->reset();
this->reset();
motorParent->start();
}
}
}
break;
}
ADC->enableInterrupt();
}
static void joystick_isr(void) {
TimerIntClear(JOY_TIMER, TIMER_TIMA_TIMEOUT);
memset(&task_data,0,sizeof(struct task_manual_move_data));
// Only allow the joystick when AUX1 (Crosshair) is enabled
if (enabled) {
unsigned long x = joystick_x[0];
unsigned long y = joystick_y[0];
double x_off = 0;
double y_off = 0;
if (x > joystick_center[0] + ZERO_THRESHOLD) {
x_off = (double)(x - joystick_center[0]) / 0x800;
} else if (x < joystick_center[0] - ZERO_THRESHOLD) {
x_off = -(double)(joystick_center[0] - x) / 0x800;
}
if (y > joystick_center[1] + ZERO_THRESHOLD) {
y_off = (double)(y - joystick_center[1]) / 0x800;
} else if (y < joystick_center[1] - ZERO_THRESHOLD) {
y_off = -(double)(joystick_center[1] - y) / 0x800;
}
// Have two speed levels for accuracy and speed when wanted.
if (fabs(y_off) < 0.5)
y_off /= 50.0;
else// if (fabs(y_off) < 1.0)
y_off /= 10.0;
if (fabs(x_off) < 0.5)
x_off /= 50.0;
else// if (fabs(x_off) < 1.0)
x_off /= 10.0;
#ifdef JOY_INVERT_Y
task_data.x_offset = -y_off;
#else
task_data.x_offset = y_off;
#endif
#ifdef JOY_INVERT_X
task_data.y_offset = -x_off;
#else
task_data.y_offset = x_off;
#endif
}
// if( current_jog_z ){
// switch(current_jog_z){
// case (1<<JOG_Z_UP_BIT):
// task_data.z_offset = 0.0003; break;
// case (1<<JOG_Z_DOWN_BIT):
// task_data.z_offset = -0.0003; break;
// default:
// task_data.z_offset = 0;
// }
// }
// if( enabled || current_jog_z ){
// task_data.rate = 20000;
// task_enable(TASK_MANUAL_MOVE, &task_data);
// }
if( enabled ){
//
// Trigger the next ADC conversion.
//
if (status & STATUS_CH0_IDLE)
ADCProcessorTrigger(ADC0_BASE, 0);
if (status & STATUS_CH1_IDLE)
ADCProcessorTrigger(ADC0_BASE, 1);
}
}
//*****************************************************************************
//
//! \brief xtimer 001 test execute main body.
//!
//! \return None.
//
//*****************************************************************************
static void xTimer001Execute(void)
{
unsigned long ulTemp;
unsigned long ulBase;
int i, j ;
//
// One shot mode test.
//
for(i = 0; i < 4; i++)
{
ulBase = ulTimerBase[i];
//
// Clear the flag first
//
TimerIntClear(ulBase, TIMER_INT_MATCH);
while(TimerIntStatus(ulBase, TIMER_INT_MATCH));
//
// Config as One shot mode
//
TimerInitConfig(ulBase, TIMER_MODE_ONESHOT, 1000);
TimerIntEnable(ulBase, TIMER_INT_MATCH);
xIntEnable(ulTimerIntID[i]);
xTimerIntCallbackInit(ulBase, TimerCallbackFunc[i]);
TimerStart(ulBase);
//
// wait until the timer data register reach equel to compare register
//
TestAssertQBreak("a","One shot mode Intterrupt test fail", -1);
xIntDisable(ulTimerIntID[i]);
}
//
// Periodic mode
//
for(i = 0; i < 4; i++)
{
ulBase = ulTimerBase[i];
ulTemp = 0;
//
// Clear the flag first
//
TimerIntClear(ulBase, TIMER_INT_MATCH);
//
// Config as periodic mode
//
TimerInitConfig(ulBase, TIMER_MODE_PERIODIC, 1000);
TimerIntEnable(ulBase, TIMER_INT_MATCH);
TimerStart(ulBase);
//
// wait the periodic repeat 5 times
//
for (j = 0; j < 5; j++)
{
while(!TimerIntStatus(ulBase, TIMER_INT_MATCH));
ulTemp++;
if(ulTemp == 5)
{
break;
}
TimerIntClear(ulBase, TIMER_INT_MATCH);
}
TestAssert(ulTemp == 5,
"xtimer mode \" periodic test\" error!");
TimerStop(ulBase);
}
//
// Toggle mode test
//
for(i = 0; i < 4; i++)
{
ulBase = ulTimerBase[i];
ulTemp = 0;
//
// Clear the Int flag first
//
TimerIntClear(ulBase, TIMER_INT_MATCH);
//
// Config as toggle mode
//
TimerInitConfig(ulBase, TIMER_MODE_PERIODIC, 1000);
TimerIntEnable(ulBase, TIMER_INT_MATCH);
TimerStart(ulBase);
//
// wait the toggle repeat 5 times
//
for (j = 0; j < 5; j++)
{
while(!TimerIntStatus(ulBase, TIMER_INT_MATCH));
ulTemp++;
if(ulTemp == 5)
{
break;
}
TimerIntClear(ulBase, TIMER_INT_MATCH);
}
TestAssert(ulTemp == 5,
"xtimer mode \" Toggle mode test\" error!");
TimerStop(ulBase);
}
//
// Continuous mode test.
//
for(i = 0; i < 4; i++)
{
ulBase = ulTimerBase[i];
ulTemp = 0;
//
// Clear the flag first
//
TimerIntClear(ulBase, TIMER_INT_MATCH);
while(TimerIntStatus(ulBase, TIMER_INT_MATCH));
//
// Config as One shot mode
//
TimerInitConfig(ulBase, TIMER_MODE_CONTINUOUS, 10000);
TimerMatchSet(ulBase, 10);
TimerIntEnable(ulBase, TIMER_INT_MATCH);
TimerStart(ulBase);
//
// Delay some time to wait the count register reach to 200.
//
xSysCtlDelay(100);
if(TimerIntStatus(ulBase, TIMER_INT_MATCH) == xtrue)
{
ulTemp++;
}
TimerIntClear(ulBase, TIMER_INT_MATCH);
TimerMatchSet(ulBase, 2000);
//
// Wait until reach the 1000
//
//while(!TimerIntStatus(ulBase, TIMER_INT_MATCH));
xSysCtlDelay(10000);
if(TimerIntStatus(ulBase, TIMER_INT_MATCH) == xtrue)
{
ulTemp++;
}
TimerIntClear(ulBase, TIMER_INT_MATCH);
TestAssert(ulTemp == 2,
"xtimer mode \" Continuous mode test\" error!");
TimerStop(ulBase);
xIntDisable(ulTimerIntID[i]);
}
}
void Timer2A_ISR ( void )
{
TimerIntClear ( TIMER2_BASE, Timer_IntFlag[Timer2A] );
Timer_ISR[Timer2A]();
}
void Timer0IntHandler(void)
{
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
char sw1val = detectKeyPressSW1();
char sw2val = detectKeyPressSW2();
if (sw1val == 1) {
autoDelay--;
if(autoDelay<5) autoDelay=5;
if(manualMode == 1 && !mode)
{
ui8Adjust_red-=10;
if (ui8Adjust_red < 11)
{
ui8Adjust_red = 11;
}
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5, ui8Adjust_red * ui32Load / 1000);
}
if(manualMode == 2 && !mode)
{
ui8Adjust_blue-=10;
if (ui8Adjust_blue < 11)
{
ui8Adjust_blue = 11;
}
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6, ui8Adjust_blue * ui32Load / 1000);
}
if(manualMode == 3 && !mode)
{
ui8Adjust_green-=10;
if (ui8Adjust_green < 11)
{
ui8Adjust_green = 11;
}
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7, ui8Adjust_green * ui32Load / 1000);
}
}
if (sw2val == 1) {
autoDelay++;
if(autoDelay>50) autoDelay=50;
if(manualMode == 1 && !mode)
{
ui8Adjust_red+=10;
if (ui8Adjust_red > 240)
{
ui8Adjust_red = 240;
}
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5, ui8Adjust_red * ui32Load / 1000);
}
if(manualMode == 2 && !mode)
{
ui8Adjust_blue+=10;
if (ui8Adjust_blue > 240)
{
ui8Adjust_blue = 240;
}
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6, ui8Adjust_blue * ui32Load / 1000);
}
if(manualMode == 3 && !mode)
{
ui8Adjust_green+=10;
if (ui8Adjust_green > 240)
{
ui8Adjust_green = 240;
}
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7, ui8Adjust_green * ui32Load / 1000);
}
}
if (sw1val == 2 && mode && sw2val==2) {
manualSetup();
mode = 0;
sw1state=0;sw2state=0;
}
else if(!mode && sw2val == 2 && sw1val == 2) {manualMode = 3;manualState=0;}
else if (!mode && sw2val == 2)
{
if(sw1val==1)
{
manualState++;
if(manualState == 1) { manualMode = 1;}
else if(manualState == 2) {manualMode = 2;}
}
}
else if(!mode) manualState=0;
}
void Timer3B_ISR ( void )
{
TimerIntClear ( TIMER3_BASE, Timer_IntFlag[Timer3B] );
Timer_ISR[Timer3B]();
}
void Timer0IntHandler( void )
{
timeval++;
TimerIntClear( TIMER0_BASE, TIMER_TIMA_TIMEOUT );
}
void vT2InterruptHandler( void )
{
TimerIntClear( TIMER2_BASE, TIMER_TIMA_TIMEOUT );
portEND_SWITCHING_ISR( xFirstTimerHandler() );
}
void dht11count1uS(){
TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
count1uS++;
}
void timer0_int_handler(void)
{
TimerIntClear(WTIMER0_BASE, TIMER_TIMB_TIMEOUT);
ui8PrevCount++;
}
//Timer4A interrupt handler
void RF22_Timer4AIntHandler(void)
{
TimerIntClear(TIMER4_BASE, TIMER_TIMA_TIMEOUT);
++_time_counter;
}
void Timer0IntHandler(void)
{
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
millis++;
}
void Timer1BIntHandler(void)
{
uint32_t intStatus;
intStatus = TimerIntStatus(TIMER1_BASE, true);
TimerIntClear(TIMER1_BASE, intStatus);
//g_ui32Counter++;
timeCounter++;
keyStatus = KeyScan();
if(keyStatus == 1)
{
iss = 1;
M1_LED_ON;
setMotorPowerMax();
pduty += 50;
}
else if(keyStatus == 2)
{
iss = 2;
M1_LED_OFF;
setMotorPowerMin();
}
#ifdef USE_MCU2
switch(keyStatus)
{
case 0:
M2_LED1_OFF;
M2_LED2_OFF;
break;
case 1:
M2_LED1_ON;
//GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_0, 0x01);
//GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_1, 0x02);
break;
case 2:
M2_LED2_ON;
//GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_0, 0x00);
//GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_1, 0x00);
M2_LED4_OFF;
break;
case 3:
disVal++;
if(disVal % 2 == 0)
{
M2_LED3_ON;
M2_LED4_ON;
}
else
{
M2_LED3_OFF;
M2_LED4_OFF;
}
break;
}
#endif
if(timeCounter == NUMBER_OF_INTS)
{
//g_ui32Counter = 0;
timeCounter = 0;
#if 0
disVal++;
if(disVal % 2 == 0)
M1_LED_ON;
else
M1_LED_OFF;
#endif
//OLED_P6x8Num(2,4,disVal++);
//stop_Timer0B();
}
}
void Timer0IntHandler(void)
{
// Clear the timer interrupt
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
if(automaticMode){
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_4)==0x00 && GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_0)==0x00){
automaticMode = false;
m_r = 254;
m_g = 1;
m_b = 1;
}
if(switch1State == 0){
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_4)==0x00){
switch1State = 1;
}
}
else if(switch1State == 1){
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_4)==0x00){
switch1State = 2;
step2-=step3;
}
else{
switch1State = 0;
}
}
else {
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_4)!=0x00){
switch1State = 0;
}
}
if(switch2State == 0){
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_0)==0x00){
switch2State = 1;
}
}
else if(switch2State == 1){
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_0)==0x00){
switch2State = 2;
step2+=step3;
}
else{
switch2State = 0;
}
}
else {
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_0)!=0x00){
switch2State = 0;
}
}
}
else{
if (!temporaryState){
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_4)!=0x00 && GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_0)!=0x00){
temporaryState = 1;
}
else
return;
}
if (state == 10) {
if (!isLClicked() && !isRClicked())
state = 0;
return;
}
if (state == 0) {
if (isLClicked() && !isRClicked()) {
// Increase colour
if(colour == 1){
if(m_r < 254) {
m_r++;
}
}
else if(colour == 2) {
if(m_g < 254) {
m_g++;
}
}
else{
if(m_b < 254) {
m_b++;
}
}
}
else if (isRClicked()) {
state = 1;
count = 0;
if (isLClicked()) {state = 10; colour = 2; m_r = 1; m_g = 254; m_b = 1;};
}
} else if (state == 1 || state == 2) {
if (state == 1 && !isRClicked()) {
// decrease colour
if(colour == 1){
if(m_r > 1) {
m_r--;
}
}
else if(colour == 2) {
if(m_g > 1) {
m_g--;
}
}
else{
if(m_b > 1) {
m_b--;
}
}
state = 0;
return; }
if (state == 2 && !isRClicked()) {
if (cont == 1){
colour = 1;
m_r = 254; m_g = 1; m_b = 1;
else{
colour = 3;
m_r = 1; m_g = 1; m_b = 254;
}
state = 0;
return;
}
if (!lcc && isLClicked()) {
state = 2;
count += 1;
lcc = 1;
} else {
if (!isLClicked())
lcc = 0;
}
}
}
/*
* Function Name: Timer0IntHandler()
* Input: none
* Output: none
* Description: Handles the timer intrupt generated
* Example Call: Timer0IntHandler();
*/
void Timer0IntHandler(void) {
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
// SW1 pressed
if(!GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_4)) {
if(sw1State==0) sw1State = 1;
else if(sw1State==1) {
sw1State = 2;
sw1Pressed = 1;
if(sw2Count>100 && sw1Count<150) ++sw1Count;
else sw1Count = 0;
if(mode==0) {
delay = delay - 1000;
if (delay<1000) delay = 1000;
}
}
else if(sw1State==2) {
sw1State = 2;
if(sw1Pressed<150) ++sw1Pressed;
}
}
else {
if(sw1State==0) sw1State = 0;
else if(sw1State==1) sw1State = 0;
else if(sw1State==2) {
sw1State = 0;
if(sw1Pressed>100) sw1Count = 0;
sw1Pressed = 0;
}
}
// SW2 pressed
if(!GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_0)) {
if(sw2State==0) sw2State = 1;
else if(sw2State==1) {
sw2State = 2;
if(mode==0) {
delay = delay + 1000;
if(delay>100000) delay = 100000;
}
}
else if(sw2State==2) {
sw2State = 2;
if(sw2Count<150) ++sw2Count;
}
}
else {
if(sw2State==0) sw2State = 0;
else if(sw2State==1) sw2State = 0;
else if(sw2State==2) {
sw2State = 0;
sw1Count = 0;
sw2Count = 0;
sw1Pressed = 0;
}
}
// Check if SW1 and/or SW2 have been long pressed
if(sw1Pressed>100 && sw2Count>100) mode = 3;
else if(sw2Count>100) {
if(sw1Count==1) mode = 1;
else if(sw1Count==2) mode = 2;
}
}
