/*!
* @Brief enable the trigger source
*
* @param instance The ADC instance number
*/
void adc16InitPitTriggerSource(uint32_t adcInstance)
{
/* Change the timer period here in unit of microseconds.*/
uint32_t timerPeriod = 500;
uint32_t pitInstance = BOARD_PIT_INSTANCE;
uint32_t pitChannel = 0;
if(sPdbInitialized)
{
return;
}
sPdbInitialized = 1;
pitUserConf.isInterruptEnabled = false;
pitUserConf.periodUs = timerPeriod;
/* Init pit module and enable run in debug */
PIT_DRV_Init(pitInstance, false);
/* Initialize PIT timer 0 */
PIT_DRV_InitChannel(pitInstance, pitChannel, &pitUserConf);
/* Set timer0 period and start it.*/
PIT_DRV_SetTimerPeriodByUs(pitInstance, pitChannel, timerPeriod * 1000);
// Configure SIM for ADC hw trigger source PIT
SIM_HAL_SetAdcAlternativeTriggerCmd(gSimBase[0], adcInstance, true);
SIM_HAL_SetAdcTriggerMode(gSimBase[0], adcInstance, kSimAdcTrgSelPit0);
PIT_DRV_StartTimer(pitInstance, pitChannel);
}
int main (void)
{
OSA_Init();
/* Initialize clocks, debug console interface and configure required pins */
hardware_init();
/* Disable Memory Protection Unit */
MPU_HAL_Disable(MPU);
testPin.pinName = test_pin_name;
testPin.config.outputLogic = 0;
testPin.config.slewRate = kPortFastSlewRate;
testPin.config.driveStrength = kPortHighDriveStrength;
testPin.config.isOpenDrainEnabled = false;
GPIO_DRV_OutputPinInit(&testPin);
// Structure of initialize PIT channel No.0
pit_user_config_t chn0Confg;
chn0Confg.isInterruptEnabled = true;
chn0Confg.periodUs = 1000000u;
// Init pit module and enable run in debug
PIT_DRV_Init(BOARD_PIT_INSTANCE, false);
// Initialize PIT timer instance for channel 0 and 1
PIT_DRV_InitChannel(BOARD_PIT_INSTANCE, 0, &chn0Confg);
// Start channel 0
PRINTF("\n\rStarting channel No.0 ...");
PIT_DRV_StartTimer(BOARD_PIT_INSTANCE, 0);
// drv_Mpu9250.Init();
sdCard.Init(1);
OSA_TaskCreate((task_t)MainTask, (uint8_t*)"Main Task", 4096, NULL, 2, NULL, true, NULL);
//OSA_TaskCreate((task_t)FnetTask, (uint8_t*)"FNET Task", 2048, NULL, 3, NULL, true, NULL);
OSA_Start(); // This function will not return
while(1);
return(0);
}
/*!
* @brief Main function
*/
int main (void)
{
/* enable clock for PORTs */
CLOCK_SYS_EnablePortClock(PORTA_IDX);
//CLOCK_SYS_EnablePortClock(PORTB_IDX);
CLOCK_SYS_EnablePortClock(PORTC_IDX);
CLOCK_SYS_EnablePortClock(PORTD_IDX);
CLOCK_SYS_EnablePortClock(PORTE_IDX);
/* Set allowed power mode, allow all. */
SMC_HAL_SetProtection(SMC, kAllowPowerModeAll);
/* Set system clock configuration. */
CLOCK_SYS_SetConfiguration(&g_defaultClockConfigVlpr);
/* Initialize LPTMR */
lptmr_state_t lptmrState;
LPTMR_DRV_Init(LPTMR0_IDX, &lptmrState, &g_lptmrConfig);
LPTMR_DRV_SetTimerPeriodUs(LPTMR0_IDX, 100000);
LPTMR_DRV_InstallCallback(LPTMR0_IDX, lptmr_call_back);
/* Initialize DMA */
dma_state_t dma_state;
DMA_DRV_Init(&dma_state);
/* Initialize PIT */
PIT_DRV_Init(0, false);
PIT_DRV_InitChannel(0, 0, &g_pitChan0);
/* Initialize CMP */
CMP_DRV_Init(0, &g_cmpState, &g_cmpConf);
CMP_DRV_ConfigDacChn(0, &g_cmpDacConf);
PORT_HAL_SetMuxMode(g_portBase[GPIOC_IDX], 0, kPortMuxAlt5);
CMP_DRV_Start(0);
/* Buttons */
GPIO_DRV_InputPinInit(&g_switch1);
GPIO_DRV_InputPinInit(&g_switch2);
GPIO_DRV_InputPinInit(&g_switchUp);
GPIO_DRV_InputPinInit(&g_switchDown);
GPIO_DRV_InputPinInit(&g_switchLeft);
GPIO_DRV_InputPinInit(&g_switchRight);
GPIO_DRV_InputPinInit(&g_switchSelect);
/* Start LPTMR */
LPTMR_DRV_Start(LPTMR0_IDX);
/* Setup LPUART1 */
LPUART_DRV_Init(1, &g_lpuartState, &g_lpuartConfig);
LPUART_DRV_InstallRxCallback(1, lpuartRxCallback, rxBuff, NULL, true);
LPUART_DRV_InstallTxCallback(1, lpuartTxCallback, NULL, NULL);
LPUART_BWR_CTRL_TXINV(g_lpuartBase[1], 1);
PORT_HAL_SetMuxMode(g_portBase[GPIOE_IDX], 0, kPortMuxAlt3);
PORT_HAL_SetMuxMode(g_portBase[GPIOE_IDX], 1, kPortMuxAlt3);
/* Setup FlexIO for the WS2812B */
FLEXIO_Type *fiobase = g_flexioBase[0];
CLOCK_SYS_SetFlexioSrc(0, kClockFlexioSrcMcgIrClk);
FLEXIO_DRV_Init(0, &g_flexioConfig);
FLEXIO_HAL_ConfigureTimer(fiobase, 0, &g_timerConfig);
FLEXIO_HAL_ConfigureShifter(fiobase, 0, &g_shifterConfig);
PORT_HAL_SetMuxMode(g_portBase[GPIOE_IDX], 20, kPortMuxAlt6);
FLEXIO_DRV_Start(0);
FLEXIO_HAL_SetShifterStatusDmaCmd(fiobase, 1, true);
DMA_DRV_RequestChannel(kDmaAnyChannel, kDmaRequestMux0FlexIOChannel0,
&g_fioChan);
DMA_DRV_RegisterCallback(&g_fioChan, fioDmaCallback, NULL);
/* Connect buzzer to TPM0_CH3 */
PORT_HAL_SetMuxMode(g_portBase[GPIOE_IDX], 30, kPortMuxAlt3);
tpm_general_config_t tmpConfig = {
.isDBGMode = false,
.isGlobalTimeBase = false,
.isTriggerMode = false,
.isStopCountOnOveflow = false,
.isCountReloadOnTrig = false,
.triggerSource = kTpmTrigSel0,
};
TPM_DRV_Init(0, &tmpConfig);
TPM_DRV_SetClock(0, kTpmClockSourceModuleMCGIRCLK, kTpmDividedBy1);
/* Blank LED just in case, saves power */
led(0x00, 0x00, 0x00);
/* Init e-paper display */
EPD_Init();
/* Throw up first image */
int ret = EPD_Draw(NULL, images[current_image]);
if (-1 == ret) {
led(0xff, 0x00, 0x00);
} else if (-2 == ret) {
led(0xff, 0xff, 0x00);
} else if (-3 == ret) {
led(0x00, 0x00, 0xff);
} else {
led(0x00, 0xff, 0x00);
}
blank_led = 30;
/* Deinit so we can mess around on the bus pirate */
//EPD_Deinit();
/* We're done, everything else is triggered through interrupts */
for(;;) {
if (cue_next_image) {
int old_image = current_image;
current_image = (current_image + 1) % image_count;
EPD_Draw(images[old_image], images[current_image]);
cue_next_image = 0;
}
#ifndef DEBUG
SMC_HAL_SetMode(SMC, &g_idlePowerMode);
#endif
}
}
//PTD2_UART_rx, PTD3_UART_tx
//PTC1,2,3,4
int main (void)
{
memcpy(packet_upper_PC.trans_header, trans_header_table, sizeof(trans_header_table));
// RX buffers
//! @param receiveBuff Buffer used to hold received data
uint8_t receiveBuff;
// Initialize standard SDK demo application pins
hardware_init();
OSA_Init();
// Call this function to initialize the console UART. This function
// enables the use of STDIO functions (printf, scanf, etc.)
dbg_uart_init();
/*Start***FTM Init*************************************************************/
memset(&ftmInfo, 0, sizeof(ftmInfo));
ftmInfo.syncMethod = kFtmUseSoftwareTrig;
FTM_DRV_Init(0, &ftmInfo);
/*End*****FTM Init*************************************************************/
// Print the initial banner
PRINTF("\r\nHello World!\n\n\r");
LED2_EN; LED3_EN; LED4_EN; LED5_EN;
LED2_OFF; LED3_OFF; LED4_OFF; LED5_OFF;
I2C_fxos8700Init();
I2C_l3g4200dInit();
FTM_DRV_PwmStart(0, &ftmParam0, 0);
FTM_DRV_PwmStart(0, &ftmParam1, 1);
FTM_DRV_PwmStart(0, &ftmParam2, 2);
FTM_DRV_PwmStart(0, &ftmParam3, 3);
FTM_HAL_SetSoftwareTriggerCmd(g_ftmBaseAddr[0], true);
// Hwtimer initialization
if (kHwtimerSuccess != HWTIMER_SYS_Init(&hwtimer, &HWTIMER_LL_DEVIF, HWTIMER_LL_ID, 5, NULL))
{
PRINTF("\r\nError: hwtimer initialization.\r\n");
}
if (kHwtimerSuccess != HWTIMER_SYS_SetPeriod(&hwtimer, HWTIMER_LL_SRCCLK, HWTIMER_PERIOD))
{
PRINTF("\r\nError: hwtimer set period.\r\n");
}
// if (kHwtimerSuccess != HWTIMER_SYS_RegisterCallback(&hwtimer, hwtimer_callback, NULL))
// {
// PRINTF("\r\nError: hwtimer callback registration.\r\n");
// }
// if (kHwtimerSuccess != HWTIMER_SYS_Start(&hwtimer))
// {
// PRINTF("\r\nError: hwtimer start.\r\n");
// }
/* A write of any value to current value register clears the field to 0, and also clears the SYST_CSR COUNTFLAG bit to 0. */
SysTick->VAL = 0U;
/* Run timer and disable interrupt */
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk ;//| SysTick_CTRL_TICKINT_Msk;
GPIO_DRV_Init(remoteControlPins,NULL);
// GPIO_DRV_Init(fxos8700IntPins,NULL);
// I2C_fxos8700AutoCalibration(); //cannot work , shit!
/*Start PIT init***************/
// Structure of initialize PIT channel No.0
pit_user_config_t chn0Confg = {
.isInterruptEnabled = true,
.isTimerChained = false,
.periodUs = 20000u //1000000 us
};
// Structure of initialize PIT channel No.1
pit_user_config_t chn1Confg = {
.isInterruptEnabled = true,
.isTimerChained = false,
.periodUs = 2000000u
};
// Init pit module and enable run in debug
PIT_DRV_Init(BOARD_PIT_INSTANCE, false);
// Initialize PIT timer instance for channel 0 and 1
PIT_DRV_InitChannel(BOARD_PIT_INSTANCE, 0, &chn0Confg);
// PIT_DRV_InitChannel(BOARD_PIT_INSTANCE, 1, &chn1Confg);
// Start channel 0
// printf ("\n\rStarting channel No.0 ...");
PIT_DRV_StartTimer(BOARD_PIT_INSTANCE, 0);
// Start channel 1
// printf ("\n\rStarting channel No.1 ...");
// PIT_DRV_StartTimer(BOARD_PIT_INSTANCE, 1);
/*End PIT init***************/
// NVIC_SetPriority(SysTick_IRQn, 3);
// NVIC_SetPriority(PORTB_IRQn,0);
while(1)
{
///*Start************Remote Controller Unlock *************/
// if(isRCunlock == true)
// {
// LED3_ON;
// }
// else
// {
// LED3_OFF;
// }
// static uint32_t unlock_times = 0;
// static uint32_t lock_times = 0;
// PRINTF("ThrottleValue = %6d ,YawValue = %6d \r\n" ,remoteControlValue[kThrottle],remoteControlValue[kYaw]);
// if(isRCunlock == false)
// {
// if((remoteControlValue[kThrottle] < RC_THRESHOLD_L) && (remoteControlValue[kYaw] > RC_THRESHOLD_H))
// {
// unlock_times++;
// }
// else
// {
// unlock_times = 0;
// }
// if(unlock_times > 6)
// {
// isRCunlock = true;
// }
// }
// else
// {
// if((remoteControlValue[kThrottle] < RC_THRESHOLD_L) && (remoteControlValue[kYaw] < RC_THRESHOLD_L))
// {
// lock_times++;
// }
// else
// {
// lock_times = 0;
// }
// if(lock_times > 4)
// {
// isRCunlock = false;
// }
// }
///*End************Remote Controller Unlock *************/
// LED2_ON;
// OSA_TimeDelay(200);
// LED3_ON;
// OSA_TimeDelay(200);
// LED4_ON;
// OSA_TimeDelay(200);
LED5_ON;
OSA_TimeDelay(100);
// LED2_OFF;
// OSA_TimeDelay(200);
// LED3_OFF;
// OSA_TimeDelay(200);
// LED4_OFF;
// OSA_TimeDelay(200);
LED5_OFF;
OSA_TimeDelay(100);
}
}
volatile bool isRCunlock = false;
//below define value is in quad_common.h
//#define RC_THRESHOLD_H (220000U)
//#define RC_THRESHOLD_L (140000U)
//#define RC_THRESHOLD_ERROR (300000U)//由于IO采两个边沿中断，有可能算成低电平的时间，所以做一个剔除算法。
//#define HW_DIVIDER (2400000U)
////120M core clock , 2400000 / 120 000 000 = 0.02 s , 50Hz ,
////遥控器信号 50Hz , 范围1~2ms，周期20ms，1.5ms中值.对应 120 000 - 240 000
void PORTB_IRQHandler(void)
{
uint32_t intFlag = PORT_HAL_GetPortIntFlag(PORTB_BASE);
uint32_t i = 0;
uint32_t value = 0;
static uint32_t remoteControlValue1st[8] = {0};
static uint32_t remoteControlValue2nd[8] = {0};
static uint32_t remoteControlValueFlag[8] = {0};
for(i=0 ; i<8;i++)
{
if (intFlag & (1 << remoteControlPinNum[i]))
{
if (remoteControlValueFlag[i] == 0)
{
remoteControlValue1st[i] = (SysTick->VAL);
remoteControlValueFlag[i] = 1;
}
else
{
remoteControlValueFlag[i] = 0;
remoteControlValue2nd[i] = (SysTick->VAL);
if ( remoteControlValue1st[i] > remoteControlValue2nd[i] )
{
value = remoteControlValue1st[i] - remoteControlValue2nd[i];
}
else
{
value = remoteControlValue1st[i] + HW_DIVIDER - remoteControlValue2nd[i];//hwtimer.divider
}
if( value > RC_THRESHOLD_ERROR)
{
remoteControlValueFlag[i] = 1;
remoteControlValue1st[i] = (SysTick->VAL);
}
else
{
remoteControlValue[i] = value;
// if(((remoteControlValue[3] <180000) ||(remoteControlValue[3] > 190000))&&remoteControlValue[3]> 100)
// LED4_ON;
}
}
}
PORT_HAL_ClearPinIntFlag(PORTB_BASE,remoteControlPinNum[i]);
}
/* Clear interrupt flag.*/
// PORT_HAL_ClearPortIntFlag(PORTB_BASE);
}
void PORTE_IRQHandler(void)
{
uint32_t intFlag = PORT_HAL_GetPortIntFlag(PORTE_BASE);
if (intFlag & (1 << 11))
{
isFXOS8700Int1Trigger = true;
PRINTF("\r\n PTE11 irq");
}
/* Clear interrupt flag.*/
PORT_HAL_ClearPortIntFlag(PORTE_BASE);
}
