/***********************************************************
*功能： 利用pit定时中断，模拟N路定时器，定时间隔1ms
*形参：
* 无
*返回：
* 无
*/
void SimulatTimerMsF_PIT_ISR()
{
uint_8 i;
if((PIT_TFLG(SimulatTimer_PIT_Tn) & PIT_TFLG_TIF_MASK) != 0)
{
PIT_Flag_Clear(SimulatTimer_PIT_Tn);
for(i = 0; i < SimulatTimerMsCountN; i++)
{
if(SimulatTimerMsVal[i] . flag.ten == 1) //使能
{
if(++ SimulatTimerMsVal[i].count == 0) //溢出
{
SimulatTimerMsVal[i].flag.tov = 1;
}
if(SimulatTimerMsVal[i].flag.tfc == 1) //比较
{
if(SimulatTimerMsVal[i].count == SimulatTimerMsVal[i].cmr)
{
SimulatTimerMsVal[i].count = 0;
SimulatTimerMsVal[i].flag.tcf = 1;
}
}
}
}
}
}
void pit0_isr()
{
if(PIT_TFLG(PIT0) == 1)
{
if(++PIT_2msCount >= PIT_2MS_CONSTON)
{
PIT_2msCount = 0;
PIT_2msFlag = 1;
}
if(++PIT_5msCount >= PIT_5MS_CONSTON)
{
PIT_5msCount = 0;
PIT_5msFlag = 1;
PIT_steeringFlag = 1;
PIT_motorFlag = 1;
}
if(++PIT_10msCount >= PIT_10MS_CONSTON)
{
PIT_10msCount = 0;
PIT_10msFlag = 1;
}
if(++PIT_20msCount >= PIT_20MS_CONSTON)
{
PIT_20msCount = 0;
PIT_20msFlag = 1;
}
if(++PIT_50msCount >= PIT_50MS_CONSTON)
{
PIT_50msCount = 0;
PIT_50msFlag = 1;
}
if(++PIT_1sCount >= PIT_1S_CONSTON)
{
//每秒闪烁一下表示，PIT正常工作
PIT_1sCount = 0;
PIT_1sFlag = 1;
}
}
}
//==========================================================================
//函数名称：pit0_isr
//功能概要：中断例程
//参数说明：无
//函数返回：无
//==========================================================================
void pit0_isr(void)
{
//DisableInterrupts; //关总中断
PIT_TFLG(0) |= PIT_TFLG_TIF_MASK; //清中断标志
Pit_update = true;
Time_counter ++ ;
if(Time_counter <= COUNTER) //数据初始化完成开始
{
ReadMPU3205();
ReadBMA180();
ReadMPUsteer();
ReadBMAsteer();
//read_hmc5883l();
//read_L3G4200D();
//read_ADXL345();
}
}
