/*----------------------------------------------------------------------*/
void initEMIOS_0Image(void)
{
/* eMIOS0初始化80MHz分为10MHz */
EMIOS_0.MCR.B.GPRE= 7; /* GPRE+1=分频系数；/* Divide 80 MHz sysclk by 7+1 = 8 for 10MHz eMIOS clk */
EMIOS_0.MCR.B.GPREN = 1; /* Enable eMIOS clock */
EMIOS_0.MCR.B.GTBE = 1; /* Enable global time base */
EMIOS_0.MCR.B.FRZ = 1; /* Enable stopping channels when in debug mode */
//PA3场中断捕捉上升沿及下降沿
EMIOS_0.CH[3].CCR.B.MODE = 0x02; // Mode is SAIC, continuous
EMIOS_0.CH[3].CCR.B.BSL = 0x01; /* Use counter bus B (default) */
EMIOS_0.CH[3].CCR.B.EDSEL = 1; //Both edges
// EMIOS_0.CH[3].CCR.B.EDPOL=1; //Edge Select falling edge
EMIOS_0.CH[3].CCR.B.FEN=1; //interupt enbale
SIU.PCR[3].R = 0x0102; // Initialize pad for eMIOS channel Initialize pad for input
INTC_InstallINTCInterruptHandler(FieldInputCapture,142,1);
//PA7行中断捕捉上升沿
EMIOS_0.CH[7].CCR.B.MODE = 0x02; // Mode is SAIC, continuous
EMIOS_0.CH[7].CCR.B.BSL = 0x01; /* Use counter bus B (default) */
EMIOS_0.CH[7].CCR.B.EDSEL = 0;
EMIOS_0.CH[7].CCR.B.EDPOL=1; //Edge Select rising edge
EMIOS_0.CH[7].CCR.B.FEN=1; //interupt enbale
SIU.PCR[7].R = 0x0102; // Initialize pad for eMIOS channel Initialize pad for input
INTC_InstallINTCInterruptHandler(RowInputCapture,144,3);
//C10口二值化入口
SIU.PCR[42].R = 0x0102; // C9口二值化入口
}
void IntcInterruptLINFLEXHandlers(void)
{
/* Configure INTC */
INTC.MCR.R=0;
/*ISRs*/
INTC_InstallINTCInterruptHandler(&LINFlex_0_RX_ISR, LINFLEX0_RX_Vector, 1);
INTC_InstallINTCInterruptHandler(&LINFlex_0_TX_ISR, LINFLEX0_TX_Vector, 2);
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Err, LINFLEX0_ERR_Vector, 3);
/* Masking Priority to Zero*/
INTC.CPR.R = 7;
}
void IntcInterruptLINFLEXHandlers(void)
{
/* Configure options of the INTC */
INTC.MCR.R=0;
/* Defines interruption function */
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Rx, LINFLEX0_RX_Vector, 1);
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Tx, LINFLEX0_TX_Vector, 2);
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Err, LINFLEX0_ERR_Vector, 3);
/* Masking Priority to Zero*/
INTC.CPR.R = 0;
}
void initPIT(void) {
/* NOTE: DIVIDER FROM SYSCLK TO PIT ASSUMES DEFAULT DIVIDE BY 1 */
PIT.PITMCR.R = 0x00000001; /* Enable PIT and configure timers to stop in debug mode */
PIT.CH[1].LDVAL.R = 0x7800; /* PIT1 timeout = 64000 sysclks x 1sec/64M sysclks = 1 msec */
PIT.CH[1].TCTRL.R = 0x000000003; /* Enable PIT1 interrupt and make PIT active to count */
INTC_InstallINTCInterruptHandler((void *)&Pit1ISR,60,0x03);
/* NOTE: DIVIDER FROM SYSCLK TO PIT ASSUMES DEFAULT DIVIDE BY 1 */
PIT.CH[2].LDVAL.R = 300; /* PIT1 timeout = 64000 sysclks x 1sec/64M sysclks = 1 msec */
PIT.CH[2].TCTRL.R = 0x000000002; /* Enable PIT1 interrupt and leave PIT inactive to count */
INTC_InstallINTCInterruptHandler((void *)&Pit2ISR,61,0x01);
}
static void init_INTC_ON(void)
{
SIU .DIRER.B.EIRE9 = 1;
SIU .IFEER.B.IFEE9 = 1;
SIU.PCR[13].R = 0x0900;
INTC_InstallINTCInterruptHandler(INTC_wakeup, 50, 1);
}
/**************************************************************
* Name : LIN_init_Intrruptions
* Description : Initializes interrution that will call when a transmition or
* receptions are detected.
* Parameters : [Input, Output, Input / output]
* Return :
* Critical/explanation : [yes / No]
**************************************************************/
void LIN_init_Intrruptions( void )
{
//INTC_InstallINTCInterruptHandler(&UART_TXCompleted, LINFLEX2_TX_Vector, PRIORITY10);
INTC_InstallINTCInterruptHandler(&LIN_state_Machine, LINFLEX2_RX_Vector, PRIORITY10);
}
/*-----------------------------------------------------------------------*/
void init_pit(void)
{
/* NOTE: DIVIDER FROM SYSCLK TO PIT ASSUMES DEFAULT DIVIDE BY 1 */
PIT.PITMCR.R = 0x00000001; /* Enable PIT and configure timers to stop in debug modem */
PIT.CH[1].LDVAL.R = 800000; /* 800000==10ms */
PIT.CH[1].TCTRL.R = 0x00000003; /* Enable PIT1 interrupt and make PIT active to count */
INTC_InstallINTCInterruptHandler(PitISR,60,1); /* PIT 1 interrupt vector with priority 1 */
}
/**
* \brief PIT Channel Low level configuration
* \author Abraham Tezmol
* \param uint8_t channel - Channel to be configured
* \param tCallbackFunction Callback - Function to invoke upon PIT count to zero event
* \return void
*/
void PIT_channel_configure(uint8_t channel, tCallbackFunction Callback)
{
PIT.CH[channel].LDVAL.R = PIT_CHANNEL_VALUE; /* PIT1 timeout --> Refer to PIT.h file for calculations */
PIT_Callback[channel] = Callback; /* Initialize callback function */
/* Install Interrupt routine for this specific channel */
INTC_InstallINTCInterruptHandler(PIT_channel_0_isr,59,5);
}
void TickTimer_SetFreqHz(int Freq)
{
PIT.PITMCR.B.MDIS_RTI=0;/*turn on PIT just for RTI*/
PIT.RTI.LDVAL.R=OSC_FREQUENCY*1000000/Freq-1;
PIT.RTI.TCTRL.B.TIE=1; /*enable interrupt*/
PIT.RTI.TCTRL.B.TEN=1;/*turn on RTI*/
INTC_InstallINTCInterruptHandler(knl_timer_handler,305,1);
INTC.CPR.B.PRI = 0;/* Lower INTC's current priority */
}
int main(void) {
int i;
InitModesClocks();
INTC_InitINTCInterrupts();
INTC_InstallINTCInterruptHandler(interrutsion,59,1);
INTC.CPR.R=0;
GPIOport(68);
GPIOport(69);
GPIOport(70);
GPIOport(71);
GPIO_out(68);
GPIO_out(69);
GPIO_out(70);
GPIO_out(71);
for( i = 0 ; i < E_TotalTsk ; i++ )
{
ar_dynamic[i] = ar_tsk[i].offset;
}
PITconfig();
PITchannelinterrupt(0,1);
PITchanneltimeout(0,64000);
PITcounterReset(0);
PITintflagReset(0);
PITstart(0);
while(1)
{
if(flagISR)
{
flagISR = 0;
for( i = 0 ; i < E_TotalTsk ; i++ )
{
if( ar_dynamic[i] > 0 )
{
ar_dynamic[i]--;
}
else
{
ar_dynamic[i] = ar_tsk[i].period;
ar_tsk[i].tskPtr();
}
}
}
}
}
void initPIT_RTI(void)
{
// PIT.MCR.R = 0X00000001; //RTI时钟使能，PIT定时器时钟使能，调试模式停止定时
PIT .PITMCR.R = 0X00000001; //RTI时钟使能，PIT定时器时钟使能，调试模式停止定时
PIT .RTI.LDVAL.R = 8000; //实时中断周期为1ms
PIT .RTI.TCTRL.R = 0X00000003; //实时中断使能，定时器使能
INTC .PSR[305].R = 1; //实时中断优先级
INTC_InstallINTCInterruptHandler(RTI_ISR, 305, 1); //设置中断号
}
void start_PWM_MONITOR(void)
{
Sys_flag++;
init_INTC_CP_C();
INTC_InstallINTCInterruptHandler(INTC_CP_C, 50, 1);
if(!CP_flag) // 3周期没有信号
{
if(Sys_flag>=3)
CP_state = ACCP_NOLINK;
}
}
int main(void) {
INIT(); //initialises the system modes (reloj interno, modos de ejecucion)
init_leds ();
STM_config_clock();
INTC.CPR.B.PRI = 0;
INTC_InstallINTCInterruptHandler(function_time,30,1);
scheduler();
}
/*functions*/
void init_PIT_RTI(void)
{
UINT8 i = 0;
PIT .PITMCR.R = 0X00000001; //RTI时钟使能，PIT定时器时钟使能，调试模式停止定时
for (i = 0; i < 4; i++)
{
PIT .TIMER[i].LDVAL.R = 64000; //周期中断定时器通道1中断周期为1ms，
PIT .TIMER[i].TCTRL.R = 0X00000003; //周期中断定时器通道1中断使能，定时器使能
//INTC.PSR[301+i].R = 1; //周期中断定时器通道1优先级
INTC_InstallINTCInterruptHandler(isr_pits[i], 301 + i, 2); //设置中断号
// INTC_InstallINTCInterruptHandler(RTI_ISR, 302, 1); //设置中断号
}
}
/*----------------------------------------------------------------------*/
void initEMIOS_0Image(void)
{
//PA3场中断捕捉上升沿及下降沿
EMIOS_0.CH[3].CCR.B.MODE = 0x02; // Mode is SAIC, continuous
EMIOS_0.CH[3].CCR.B.BSL = 0x01; /* Use counter bus B (default) */
EMIOS_0.CH[3].CCR.B.EDSEL = 1; //Both edges
// EMIOS_0.CH[3].CCR.B.EDPOL=1; //Edge Select falling edge
// EMIOS_0.CH[3].CCR.B.FEN=1; //interupt enbale
SIU.PCR[3].R = 0x0102; // Initialize pad for eMIOS channel Initialize pad for input
INTC_InstallINTCInterruptHandler(FieldInputCapture,142,2);
//PA7行中断捕捉上升沿
EMIOS_0.CH[7].CCR.B.MODE = 0x02; // Mode is SAIC, continuous
EMIOS_0.CH[7].CCR.B.BSL = 0x01; /* Use counter bus B (default) */
EMIOS_0.CH[7].CCR.B.EDSEL = 0;
EMIOS_0.CH[7].CCR.B.EDPOL=1; //Edge Select rising edge
// EMIOS_0.CH[7].CCR.B.FEN=1; //interupt enbale
SIU.PCR[7].R = 0x0102; // Initialize pad for eMIOS channel Initialize pad for input
INTC_InstallINTCInterruptHandler(RowInputCapture,144,3);
//C10口二值化入口
SIU.PCR[42].R = 0x0102; // C9口二值化入口
}
void main(void) {
volatile uint32_t IdleCtr = 0;
initModesAndClks(); /* Initialize mode entries */
initPeriClkGen(); /* Initialize peripheral clock generation for LINFlex */
disableWatchdog(); /* Disable watchdog */
INTC_InitINTCInterrupts();
EXCEP_InitExceptionHandlers();
INTC.MCR.R=0;
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Rx, 79, 10);
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Tx, 80, 10);
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Err, 81, 10);
INTC.CPR.R = 0;
initLINFlex_0(9600); /* Initialize FLEXCAN 0 as master */
NormalModeLINFLEX_2();
//transmitLINframe(); /* Transmit one frame from master */
while (1) {IdleCtr++;} /* Idle loop: increment counter */
}
/*-----------------------------------------------------------------------*/
void init_serial_port_2(void)
{
LINFLEX_2.LINCR1.B.INIT=1;
LINFLEX_2.LINCR1.R=0x00000011;
LINFLEX_2.LINIER.B.DRIE=1;
#ifndef PERIPH_SET_1_CLK_16M
LINFLEX_2.LINIBRR.B.DIV_M= 520;
LINFLEX_2.LINFBRR.B.DIV_F = 83;
#else
LINFLEX_2.LINIBRR.B.DIV_M= 52;
LINFLEX_2.LINFBRR.B.DIV_F = 1;
#endif
LINFLEX_2.UARTCR.B.UART=1;
LINFLEX_2.UARTCR.R=0x00000033;
LINFLEX_2.LINCR1.B.INIT=0;
SIU.PCR[40].R = 0x0400; /* MPC56xxB: Configure port C8 as LIN0TX */
SIU.PCR[41].R = 0x0103; /* MPC56xxB: Configure port C9 as LIN0RX */
INTC_InstallINTCInterruptHandler(intc_serial_port_2_RX, 119, 5);
}
/*-----------------------------------------------------------------------*/
void init_serial_port_3(void)
{
LINFLEX_3.LINCR1.B.INIT=1;
LINFLEX_3.LINCR1.R=0x00000011;
LINFLEX_3.LINIER.B.DRIE=1;
#ifndef PERIPH_SET_1_CLK_16M
LINFLEX_3.LINIBRR.B.DIV_M= 520;
LINFLEX_3.LINFBRR.B.DIV_F = 83;
#else
LINFLEX_3.LINIBRR.B.DIV_M= 104;
LINFLEX_3.LINFBRR.B.DIV_F = 3;
#endif
LINFLEX_3.UARTCR.B.UART=1;
LINFLEX_3.UARTCR.R=0x00000033;
LINFLEX_3.LINCR1.B.INIT=0;
SIU.PCR[74].R = 0x0400; //LINFLEX_3 TX PE10
SIU.PCR[75].R = 0x0103; //LINFLEX_3 RX PE11 涉及到引脚复用
SIU.PSMI[31].R = 1;
INTC_InstallINTCInterruptHandler(intc_serial_port_3_RX, 122, 5);
}
/*-----------------------------------------------------------------------*/
void init_serial_port_0(void)
{
LINFLEX_0.LINCR1.B.INIT=1; //进入初始化模式
LINFLEX_0.LINCR1.R=0x00000015;
LINFLEX_0.LINIER.B.DRIE=1; //允许接收中断
/*波特率算法baud=Fperiph_clk/(16*LFDIV)
DIV_M=LFDIV整数部分
DIV_F=LFDIV小数部分*16 */
//#ifndef PERIPH_SET_1_CLK_16M //80M
LINFLEX_0.LINIBRR.B.DIV_M= 17; //115200 //波特率设置38400:80M-130+3 57600:80M-86+13 115200:80M-43+6 9600:80M-520+13
LINFLEX_0.LINFBRR.B.DIV_F = 6; //38400:64M-104+3
//#else
// LINFLEX_0.LINIBRR.B.DIV_M= 17; //波特率设置 2400:416+11, 9600:104+3, 10417:96+0, 19200:52+1, 57600:17+6
// LINFLEX_0.LINFBRR.B.DIV_F = 6; //波特率设置 115200:8+11, 230400:4+5, 460800:2+3, 921600:1+1
//#endif
LINFLEX_0.UARTCR.B.UART=1;
LINFLEX_0.UARTCR.R=0x00000033;//8-bit data、UART mode
LINFLEX_0.LINCR1.B.INIT=0; //退出初始化模式
SIU.PCR[18].R = 0x0400; /* MPC56xxB: Configure port B2 as LIN0TX */
SIU.PCR[19].R = 0x0103; /* MPC56xxB: Configure port B3 as LIN0RX */
INTC_InstallINTCInterruptHandler(intc_serial_port_0_RX,79,5);
}
/*-----------------------------------------------------------------------*/
void init_serial_port_1(void)
{
LINFLEX_1.LINCR1.B.INIT=1; //进入初始化模式
LINFLEX_1.LINCR1.R=0x00000015;
//#ifndef PERIPH_SET_1_CLK_16M
// LINFLEX_1.LINIBRR.B.DIV_M= 520; //57600:86&13 9600:520&13
// LINFLEX_1.LINFBRR.B.DIV_F =13;
//#else
LINFLEX_1.LINIBRR.B.DIV_M= 26; //38400
LINFLEX_1.LINFBRR.B.DIV_F = 1;
//#endif
LINFLEX_1.UARTCR.B.UART=1;
LINFLEX_1.UARTCR.R=0x00000033;
LINFLEX_1.LINIER.B.DRIE=1;
LINFLEX_1.LINCR1.B.INIT=0; //退出初始化模式
SIU.PCR[38].R = 0x0400; /* MPC56xxB: Configure port C6 as LIN1TX */
SIU.PCR[39].R = 0x0103; /* MPC56xxB: Configure port C7 as LIN1RX */
INTC_InstallINTCInterruptHandler(intc_serial_port_1_RX, 99, 5);
}
void main (void) {
volatile uint32_t i = 0; /* Dummy idle counter */
uint8_t success=0;
uint8_t byteReceived=0;
uint8_t opcode=0;
uint8_t payload=0;
char msg[32];
uint8_t msgLength=0;
clock = 0;
initModesAndClock(); /* MPC56xxP/B/S: Initialize mode entries, set sysclk = 64 MHz*/
initPeriClkGen(); /* Initialize peripheral clock generation for DSPIs */
disableWatchdog(); /* Disable watchdog */
EXCEP_InitExceptionHandlers(); /* Initialize exceptions: only need to load IVPR */
initADC();
initPIT(); /* Initialize PIT1 for 10Hz IRQ, priority 2 */
initPads(); /* Initialize software interrupt 4 */
initEMIOS_0(); /* Initialize eMIOS channels as counter, SAIC, OPWM */
initEMIOS_1(); /* Initialize eMIOS channels as counter, SAIC, OPWM */
initEMIOS_0ch0(); /* Initialize eMIOS 0 channel 0 as modulus counter*/
initEMIOS_0ch23(); /* Initialize eMIOS 0 channel 23 as modulus counter*/
initEMIOS_0ch8(); /* Initialize eMIOS 0 channel 8 as modulus counter*/
//just to make sure the wheels are facing straight
initDrive();
Drive();
SIU.PCR[64].R = 0x0100; /* Program the drive enable pin of S1 (PE0) as input*/
while((SIU.PGPDI[2].R & 0x80000000) == 0x80000000); /*Wait until S1 switch is pressed*/
for(i=0;i<100000;i++);
while((SIU.PGPDI[2].R & 0x80000000) != 0x80000000); /*Wait until S1 switch is released*/
INTC_InitVector();
INTC_InstallINTCInterruptHandler(&SwIrq4ISR,4,3);
INTC_InstallINTCInterruptHandler(&EOC_ISR,62,5);
INTC_InstallINTCInterruptHandler(&Pit1ISR,60,2);
INTC_InstallINTCInterruptHandler(&Pit2ISR,61,4);
INTC_InstallINTCInterruptHandler(&Pit3ISR,127,4);
initSerial();
flag_lineDone = -1;
initCamera();
initSteeringController();
INTC_InitINTCInterrupts();
INTC.CPR.B.PRI = 0; /* Single Core: Lower INTC's current priority */
initDrive();
// setPWMRw(48);
// setPWMLw(48);
setDirection(FORWARD);
in = getInBuffer();
out = getOutBuffer();
MESSAGE("I'm running\n\r");
fifo_write(&out->fifo,msg,msgLength);
while(isCameraReady()!=STATE_READY);
for(;;)
{
if(!(flag_lineDone==1))
{
Drive();
success=0;
success = fifo_read(&in->fifo,&byteReceived,1);
if(success==1)
{
if(opcode==0)
{
opcode = byteReceived;
MESSAGE("Command Received: ");
fifo_write(&out->fifo,msg,msgLength);
}
else
{
payload = byteReceived;
switch(opcode)
{
case DRIVE:
// TransmitData("Drive Command\n\r");
MESSAGE("Drive Command\n\r");
fifo_write(&out->fifo,msg,msgLength);
setDirection(payload);
break;
case SET_SPEED:
// TransmitData("Set Speed Command\n\r");
MESSAGE("Set Speed Command\n\r");
fifo_write(&out->fifo,msg,msgLength);
setPWMRw(payload);
setPWMLw(payload);
break;
case STEERING:
// TransmitData("Set Steering Command\n\r");
MESSAGE("Set Steering Command\n\r");
fifo_write(&out->fifo,msg,msgLength);
setAngle(payload);
break;
default:
// TransmitData("Bad command\n\r");
MESSAGE("Bad command\n\r");
fifo_write(&out->fifo,msg,msgLength);
break;
}
opcode = 0;
}
}
}
if(TRANSMISSION_DONE()&&(out->fifo.length>0))
Tx();
if(RECEPTION_DONE()&&(in->fifo.length<IN_BUFFER_SIZE))
Rx();
}
}
/*==============================================================================
* Function: Init_ISR
*
* Description: Interrupts Configuration for timer PIT.
*
==============================================================================*/
void Init_ISR(void){
INTC_InstallINTCInterruptHandler(ISR_Tick,59,1); //Software Interrupt
INTC.CPR.R = 0;
}
int main(void) {
volatile T_ULONG lul_InfLoop = 0;
volatile T_ULONG lul_Validate = 0;
volatile T_ULONG lul_ValidateUp = 0;
volatile T_ULONG lul_ValidateDw = 0;
T_UWORD luw_SwDwState;
T_UWORD luw_SwUpState;
WL_initModesAndClock();
WL_EIRQ_Init();
WL_STM_init();
WL_GPIO_Init();
init_ext_ints();
init_PIT();
asm(" wrteei 1");
INTC_InstallINTCInterruptHandler(WL_A_Pinch,EIRQ_2,1); /* vector 32 for STM[2] */
INTC.CPR.R = 0;
/* Loop forever */
for (;;) {
/*------------------------------*/
luw_SwDwState = GPIO_GetState(SW_DOWN);
if (luw_SwDwState == 1)
{
lul_Validate = WL_CheckValid();
if (lul_Validate == 1)
{
lul_ValidateDw = WL_CheckAutoManualDw();
}
else
{
/*DO NOTHING*/
}
}
else
{
/*DO NOTHING*/
}
while (luw_SwDwState == 1){
if (lul_ValidateDw == 1)
{
WL_WinMDw();
}
else
{
/*DO NOTHING*/
}
if (lul_ValidateDw == 0)
{
WL_WinADw();
}
else
{
/*DO NOTHING*/
}
luw_SwDwState = GPIO_GetState(SW_DOWN);
}
/*------------------------------*/
luw_SwUpState = GPIO_GetState(SW_UP);
if (luw_SwUpState == 1)
{
lul_Validate = WL_CheckValid();
if (lul_Validate == 1)
{
lul_ValidateUp = WL_CheckAutoManualUp();
}
else
{
/*DO NOTHING*/
}
}
else
{
/*DO NOTHING*/
}
while (luw_SwUpState == 1){
if (lul_ValidateUp == 1)
{
WL_WinMUp();
}
else
{
/*DO NOTHING*/
}
if (lul_ValidateUp == 0)
{
WL_WinAUp();
}
else
{
/*DO NOTHING*/
}
luw_SwUpState = GPIO_GetState(SW_UP);
}
GPIO_SetState(LED_DOWN, 0);
GPIO_SetState(LED_UP, 0);
lul_InfLoop++;
WL_SetState();
}
}
void main (void) {
T_UWORD luw_i;
T_UBYTE lub_CountIndice = 0;
initModesAndClock(); /* Initialize mode entries and system clock */
INTC_InstallINTCInterruptHandler(isr,59,1);
INTC.CPR.R = 0;
initGPIO();
initPIT(ValTMR_0, ValTMR_1);
while (1) {
if(rub_FlagValUpAut || rub_FlagValUpMan){
if(rub_Fled){
rub_Fled = 0;
SIU.GPDO[lub_CountIndice].B.PDO = 1;
SIU.GPDO[10].B.PDO = 0;
SIU.GPDO[11].B.PDO = 1;
lub_CountIndice++;
if(lub_CountIndice >= 10){
lub_CountIndice = 10;
rub_FlagValUpAut = 0;
rub_FValAutUP = 0;
}
}
}
/******************************************************************************/
else if(rub_FlagValDownAut || rub_FlagValDownMan){
if(rub_Fled){
rub_Fled = 0;
if(lub_CountIndice <= 1) {
lub_CountIndice = 1;
rub_FlagValDownAut = 0;
rub_FValAutDown = 0;
SIU.GPDO[11].B.PDO = 1;
}
SIU.GPDO[lub_CountIndice-1].B.PDO = 0;
SIU.GPDO[10].B.PDO = 1;
SIU.GPDO[11].B.PDO = 0;
lub_CountIndice--;
if(lub_CountIndice == 0 && rub_FlagValAnPi){
SIU.GPDO[11].B.PDO = 1;
PIT.CH[1].TCTRL.B.TEN = 0;
PIT.CH[1].TCTRL.B.TEN = 1;
PIT.CH[1].LDVAL.R = ValTMR_1;
PIT.CH[1].TFLG.B.TIF = 1;
rub_FlagValAnPi = 0;
while(!PIT.CH[1].TFLG.B.TIF);
PIT.CH[1].TFLG.B.TIF = 1;
rub_Fled = 0;
rub_FlagValDownAut = 0;
rub_FlagValDownMan = 0;
rub_FlagValUpAut = 0;
rub_FlagValUpMan = 0;
rub_FValAutDown = 0;
rub_FValAutUP = 0;
}
}
}
////////////////////////////////////////////////
else if(!rub_FlagValUpAut && !rub_FlagValUpMan && !rub_FlagValDownAut && !rub_FlagValDownMan){
rub_Fled = 0;
SIU.GPDO[10].B.PDO = 1;
SIU.GPDO[11].B.PDO = 1;
}
}
}
