void osTimerInterruptInitialize(void)
{
/* ************ BEGIN TARGET SPECIFIC SECTION **************/
TimerInterval(0);
(VPint(TDATA(0))) = gBUSCLK/100;
TimerStart(0);
Enable_Int(TIMER0_INT);
/* ************ END TARGET SPECIFIC SECTION **************/
}
void updateUserland(void)
{
//J センサのバッファがいっぱいになっていた場合の処理
if (sGetFlagOnce(sFlagSensorLogIsFull)) {
char *str = sString;
uint8_t idx = 1-sActiveIndex;
for (int i=0 ; i<LOG_RECODE_SIZE ; ++i) {
uint32_t len = sSensorDataToText(sSensorLog[idx][i].timeStamp, sSensorLog[idx][i].duty, sSensorLog[idx][i].distance, &sSensorLog[idx][i].data, str, SENSOR_RECODE_TEXT_LEN+1);
str += len;
}
UINT len = 0;
f_write(&sLogFile, (void *)sString, (str - sString), &len);
f_sync(&sLogFile);
}
//J UARTからの距離計計測
uint32_t len = uart_get_rxlen();
while (len) {
len--;
uint8_t tmp = 0;
uint32_t rlen = 0;
(void)uart_rx_n(&tmp, 1, &rlen);
(void)rlen;
//J パケットの先頭(0x10)を探す
if (sUartState == UART_WAIT_FOR_STX) {
if (tmp == 0x10) {
sUartState = UART_DATA_RECEIVING;
sUartReceiveLen = 0;
sUartReceiveBuf.byte[sUartReceiveLen++] = tmp;
}
}
//J 見つけたら16バイト受信する
else{
sUartReceiveBuf.byte[sUartReceiveLen++] = tmp;
if (sUartReceiveLen >= sizeof(DISTANCE_METER_PACKET)) {
if (sUartReceiveBuf.byte[1]==0x02 && sUartReceiveBuf.byte[15]==0x03) {
Disable_Int();
sDistanceX += sUartReceiveBuf.packet.x;
sDistanceY += sUartReceiveBuf.packet.y;
Enable_Int();
}
sUartState = UART_WAIT_FOR_STX;
}
}
}
return;
}
void setupIRQEnv()
{
//mask all interrupt
ClrIntStatus();
//create interrupt handler table
creatIntHandlerTable();
//register interrupt
setIRQHandler(nTIMER0_INT, Timer0_ISR);
setIRQHandler(UART0_INT, UARTIrq);
//setIRQHandler(nDMA0_INT, Dma0Done);
//setIRQHandler(nDMA1_INT, Dma1Done);
setIRQHandler(nDMA2_INT, IsrForUSBDma2);
//setIRQHandler(nDMA3_INT, Dma3Done);
setIRQHandler(nIIC_INT, IICInt);
setIRQHandler(nEXT8_23_INT,ExternIntDevice);
setIRQHandler(nUSBD_INT,usbIRQ);
//enable IRQ
enable_IRQ();
//enable device interrupt
Enable_EInt(IRQ_LAN);
Enable_Int(nTIMER0_INT);
Enable_Int(UART0_INT);
//Enable_Int(nDMA0_INT);
//Enable_Int(nDMA1_INT);
Enable_Int(nDMA2_INT);
//Enable_Int(nDMA3_INT);
Enable_Int(nIIC_INT);
Enable_Int(nEXT8_23_INT);
Enable_Int(nUSBD_INT);
}
