void Gpt_Init(const Gpt_ConfigType *config)
{
uint32_t i=0;
const Gpt_ConfigType *cfg;
VALIDATE( (Gpt_Global.initRun == STD_OFF), GPT_INIT_SERVICE_ID, GPT_E_ALREADY_INITIALIZED );
VALIDATE( (config != NULL ), GPT_INIT_SERVICE_ID, GPT_E_PARAM_POINTER );
Gpt_ChannelType ch;
for (i=0; i<GPT_CHANNEL_CNT; i++)
{
Gpt_Global.channelMap[i] = GPT_CHANNEL_ILL;
}
i = 0;
cfg = config;
while (cfg->GptChannelId != GPT_CHANNEL_ILL)
{
ch = cfg->GptChannelId;
// Assign the configuration channel used later..
Gpt_Global.channelMap[cfg->GptChannelId] = i;
Gpt_Global.configured |= (1<<ch);
if (ch <= GPT_CHANNEL_CNT)
{
if (cfg->GptNotification != NULL)
{
switch (ch) {
case 0: ISR_INSTALL_ISR2( "Gpt_Isr", Gpt_Isr, TIM1_UP_IRQn, 6, 0 ); break;
case 1: ISR_INSTALL_ISR2( "Gpt_Isr", Gpt_Isr, TIM2_IRQn, 6, 0 ); break;
case 2: ISR_INSTALL_ISR2( "Gpt_Isr", Gpt_Isr, TIM3_IRQn, 6, 0 ); break;
case 3: ISR_INSTALL_ISR2( "Gpt_Isr", Gpt_Isr, TIM4_IRQn, 6, 0 ); break;
default:
break;
}
}
}
#if defined(USE_KERNEL)
// Don't install if we use kernel.. it handles that.
#else
#endif
Gpt_Unit[i].state = GPT_STATE_INITIALIZED;
Gpt_Unit[i].expiredWhenStopped = FALSE;
cfg++;
i++;
}
Gpt_Global.config = config;
Gpt_Global.initRun = STD_ON;
//PIT.CTRL.B.MDIS = 0;
}
void Adc_Init (const Adc_ConfigType *ConfigPtr)
{
Adc_GroupType group;
/* @req SWS_Adc_00342 */
if (E_OK == Adc_CheckInit(adcState, ConfigPtr))
{
/* First of all, store the location of the configuration data. */
AdcConfigPtr = ConfigPtr;
// Connect interrupt to correct isr
ISR_INSTALL_ISR2("ADC",Adc_GroupConversionComplete,IRQ_TYPE_ATD0,6,0);
ATD0CTL2 = BM_ADPU | BM_AFFC | BM_ASCIE; /* power enable, Fast Flag Clear, irq enable*/
ATD0CTL3 = 0x03; /* 8 conversions per sequence default, freeze enable */
ATD0CTL4 = (ConfigPtr->hwConfigPtr->resolution << 7) |
(ConfigPtr->hwConfigPtr->convTime << 5) |
ConfigPtr->hwConfigPtr->adcPrescale;
for (group = 0; group < ADC_NBR_OF_GROUPS; group++)
{
/* @req SWS_Adc_00307 */
ConfigPtr->groupConfigPtr[group].status->groupStatus = ADC_IDLE;
}
/* Move on to INIT state. */
adcState = ADC_STATE_INIT;
}
}
/**
* Speed sensor initialization
*
* Basically, initialize GPIO pins connected to the speed sensor
* to detect rising edges. Also, install an interrupt to count the
* rising edges.
*/
void SpeedSensor_Init(void){
/* Configure the pins connected to the wheel speed sensor as input pins */
bcm2835_GpioFnSel(GPIO_FRONT_SPEED, GPFN_IN);
bcm2835_GpioFnSel(GPIO_REAR_SPEED, GPFN_IN);
/* Enable the pins to detect falling edge signals */
bcm2835_SetReadWriteGpioReg(&GPFEN0, GPIO_FRONT_SPEED);
bcm2835_SetReadWriteGpioReg(&GPFEN0, GPIO_REAR_SPEED);
/* Reset edge statuses (sometimes they have been seen to be non-zero at start-up) */
bcm2835_ClearEventDetectPin(GPIO_FRONT_SPEED);
bcm2835_ClearEventDetectPin(GPIO_REAR_SPEED);
/* Install an interrupt to handle falling edge signals
* Format: ISR_INSTALL(_name, _entryFunction, _irqVector, _priority, _appOwner)
* (for more details on irqVector, see the interrupts table on p.113 in BCM2835-ARM-Peripherals.pdf) */
ISR_INSTALL_ISR2("GPIO0", bcm2835_GpioIsr, BCM2835_IRQ_ID_GPIO_0, 2, 0);
/* Enable the installed interrupt by setting the appropriate HW register */
bcm2835_SetReadWriteGpioReg(&IRQ_ENABLE1, BCM2835_IRQ_ID_GPIO_0);
}
/**
* Init of free running timer.
*/
void Os_SysTickInit( void ) {
ISR_INSTALL_ISR2("OsTick", OsTick, SysTick_IRQn, 6, 0);
}
void Lin_InitChannel( uint8 Channel, const Lin_ChannelConfigType* Config )
{
volatile struct LINFLEX_tag * LINFLEXHw = LINFLEX(Channel);
enum
{
LIN_PRIO = 3
};
VALIDATE( (Config!=0), LIN_INIT_CHANNEL_SERVICE_ID, LIN_E_INVALID_POINTER );
VALIDATE( (LinDriverStatus != LIN_UNINIT), LIN_INIT_CHANNEL_SERVICE_ID, LIN_E_UNINIT );
VALIDATE( (Channel < LIN_CONTROLLER_CNT), LIN_INIT_CHANNEL_SERVICE_ID, LIN_E_INVALID_CHANNEL );
/* Install the interrupt */
switch(Channel){
case 0:
ISR_INSTALL_ISR2("LinIsrRxA", LinInterruptRxA, (IrqType)(LINFLEX_0_RXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrTxA", LinInterruptTxA, (IrqType)(LINFLEX_0_TXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrErrA", LinInterruptErrA, (IrqType)(LINFLEX_0_ERR),LIN_PRIO, 0);
break;
case 1:
ISR_INSTALL_ISR2("LinIsrRxB", LinInterruptRxB, (IrqType)(LINFLEX_1_RXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrTxB", LinInterruptTxB, (IrqType)(LINFLEX_1_TXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrErrB", LinInterruptErrB, (IrqType)(LINFLEX_1_ERR),LIN_PRIO, 0);
break;
#if defined (CFG_MPC560XB)
case 2:
ISR_INSTALL_ISR2("LinIsrRxC", LinInterruptRxC, (IrqType)(LINFLEX_2_RXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrTxC", LinInterruptTxC, (IrqType)(LINFLEX_2_TXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrErrC", LinInterruptErrC, (IrqType)(LINFLEX_2_ERR),LIN_PRIO, 0);
break;
#if !defined (CFG_MPC5602B)
case 3:
ISR_INSTALL_ISR2("LinIsrRxD", LinInterruptRxD, (IrqType)(LINFLEX_3_RXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrTxD", LinInterruptTxD, (IrqType)(LINFLEX_3_TXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrErrD", LinInterruptErrD, (IrqType)(LINFLEX_3_ERR),LIN_PRIO, 0);
break;
#endif
#endif
#if defined (CFG_MPC5606B)
case 4:
ISR_INSTALL_ISR2("LinIsrRxE", LinInterruptRxE, (IrqType)(LINFLEX_4_RXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrTxE", LinInterruptTxE, (IrqType)(LINFLEX_4_TXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrErrE", LinInterruptErrE, (IrqType)(LINFLEX_4_ERR),LIN_PRIO, 0);
break;
case 5:
ISR_INSTALL_ISR2("LinIsrRxF", LinInterruptRxF, (IrqType)(LINFLEX_5_RXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrTxF", LinInterruptTxF, (IrqType)(LINFLEX_5_TXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrErrF", LinInterruptErrF, (IrqType)(LINFLEX_5_ERR),LIN_PRIO, 0);
break;
case 6:
ISR_INSTALL_ISR2("LinIsrRxG", LinInterruptRxG, (IrqType)(LINFLEX_6_RXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrTxG", LinInterruptTxG, (IrqType)(LINFLEX_6_TXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrErrG", LinInterruptErrG, (IrqType)(LINFLEX_6_ERR),LIN_PRIO, 0);
break;
case 7:
ISR_INSTALL_ISR2("LinIsrRxH", LinInterruptRxH, (IrqType)(LINFLEX_7_RXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrTxH", LinInterruptTxH, (IrqType)(LINFLEX_7_TXI),LIN_PRIO, 0);
ISR_INSTALL_ISR2("LinIsrErrH", LinInterruptErrH, (IrqType)(LINFLEX_7_ERR),LIN_PRIO, 0);
break;
#endif
default:
break;
}
/* configure and enable channel */
LINFLEXHw->LINCR1.B.INIT = 1; /* Go to init mode */
LINFLEXHw->LINCR1.R = 1; /* Clear all */
LINFLEXHw->LINCR1.B.MBL = 3; /* 13 bit synch */
LINFLEXHw->LINCR1.B.MME = 1; /* Master mode */
LINFLEXHw->LINCR1.B.CCD = 0;
LINFLEXHw->LINCR1.B.CFD = 0;
LINFLEXHw->LINCR1.B.LASE = 0;
LINFLEXHw->LINCR1.B.AWUM = 0;
LINFLEXHw->LINCR1.B.BF = 0;
LINFLEXHw->LINCR1.B.SLFM = 0;
LINFLEXHw->LINCR1.B.LBKM = 0;
LINFLEXHw->LINCR1.B.SBDT = 0;
LINFLEXHw->LINCR1.B.RBLM = 0;
LINFLEXHw->LINCR1.B.SLEEP = 0;
LINFLEXHw->LINIER.R = 0; /* Reset all bits */
LINFLEXHw->LINIER.B.BEIE = 1; /* Bit error */
LINFLEXHw->LINIER.B.CEIE = 1; /* Checksum error */
LINFLEXHw->LINIER.B.HEIE = 1; /* Header error */
LINFLEXHw->LINIER.B.BOIE = 1; /* Buffer overrun error */
LINFLEXHw->LINIER.B.FEIE = 1; /* Framing error */
LINFLEXHw->LINIER.B.DRIE = 1; /* Data Reception Complete */
LINFLEXHw->LINIER.B.DTIE = 1; /* Data Transmitted */
/*
* Tx/ Rx baud = fperiph_set_1_clk / (16 × LFDIV)
*
* To program LFDIV = 25.62d,
* LINFBRR = 16 × 0.62 = 9.92, nearest real number 10d = 0xA
* LINIBRR = mantissa (25.620d) = 25d = 0x19
*/
float lfdiv = (float)McuE_GetPeripheralClock( PERIPHERAL_CLOCK_LIN_A) / (float)((16*Config->LinChannelBaudRate));
LINFLEXHw->LINFBRR.B.DIV_F = (uint8)((lfdiv - (uint32)lfdiv) * 16); /* Fraction bits */
LINFLEXHw->LINIBRR.B.DIV_M = (uint16)lfdiv; /* Integer bits */
LINFLEXHw->LINCR2.R = 0; /* Reset all bits */
LINFLEXHw->LINCR2.B.IOBE = 1; /* Idle on bit error */
LINFLEXHw->LINCR2.B.IOPE = 1; /* Idle on parity error */
/* Status regs */
LINFLEXHw->LINSR.R = 0xffffffff; /* Reset all bits */
LINFLEXHw->LINESR.R = 0xffffffff; /* Reset all bits */
LINFLEXHw->LINCR1.B.INIT = 0; /* Go to normal mode */
LinChannelStatus[Channel]=LIN_CH_OPERATIONAL;
}
/**
* Init of free running timer.
*/
void Os_SysTickInit( void ) {
//TEMPORARY COMMENTED
// bcm2835_gpio_fnsel(ONBOARD_LED_PAD, GPFN_OUT);
ISR_INSTALL_ISR2("OsTick",Bcm2835OsTick,BCM2835_IRQ_ID_TIMER_0/*BCM2835_IRQ_ID_SYSTEM_TIMER3*/,6,0);
}
/**
* Init of free running timer.
*/
void Os_SysTickInit( void ) {
ISR_INSTALL_ISR2("OsTick",OsTick,IRQ_INTOSTM0,6,0);
}
