/*FUNCTION**********************************************************************
*
* Function Name : SMARTCARD_DRV_InterfaceClockInit
* Description : This function initializes clock module used for card clock generation
*
*END**************************************************************************/
static uint16_t SMARTCARD_DRV_InterfaceClockInit(uint8_t clockModuleInstance, uint8_t clockModuleChannel, uint32_t cardClk)
{
#if defined(EMVSIM_INSTANCE_COUNT)
assert(clockModuleInstance < EMVSIM_INSTANCE_COUNT);
EMVSIM_Type * base = g_emvsimBase[clockModuleInstance];
uint32_t emvsimClkMhz = 0;
uint8_t emvsimPRSCValue;
/* Retrieve EMV SIM clock */
emvsimClkMhz = CLOCK_SYS_GetEmvsimFreq(clockModuleInstance)/1000000;
/* Calculate MOD value */
emvsimPRSCValue = (emvsimClkMhz*1000)/(cardClk/1000);
/* Set clock prescaler */
EMVSIM_HAL_SetClockPrescaler(base, emvsimPRSCValue);
/* Enable smart card clock */
EMVSIM_HAL_EnableCardClock(base);
return cardClk;
#elif defined(FTM_INSTANCE_COUNT)
assert(clockModuleInstance < FTM_INSTANCE_COUNT);
ftm_user_config_t ftmInfo;
uint32_t periph_clk_mhz = 0;
uint16_t ftmModValue;
FTM_Type * ftmBase = g_ftmBase[clockModuleInstance];
uint32_t chnlPairnum = FTM_HAL_GetChnPairIndex(clockModuleChannel);
/* Retrieve FTM system clock */
periph_clk_mhz = CLOCK_SYS_GetBusClockFreq()/1000000;
/* Calculate MOD value */
ftmModValue = ((periph_clk_mhz*1000/2)/(cardClk/1000)) -1;
/* Clear FTM driver user configuration */
memset(&ftmInfo, 0, sizeof(ftmInfo));
ftmInfo.BDMMode = kFtmBdmMode_11;
ftmInfo.syncMethod = kFtmUseSoftwareTrig;
/* Initialize FTM driver */
FTM_DRV_Init(clockModuleInstance, &ftmInfo);
/* Reset FTM prescaler to 'Divide by 1', i.e., to be same clock as peripheral clock */
FTM_HAL_SetClockPs(ftmBase, kFtmDividedBy1);
/* Disable FTM counter firstly */
FTM_HAL_SetClockSource(ftmBase, kClock_source_FTM_None);
/* Set initial counter value */
FTM_HAL_SetCounterInitVal(ftmBase, 0);
/* Set MOD value */
FTM_HAL_SetMod(ftmBase, ftmModValue);
/* Other initializations to defaults */
FTM_HAL_SetCpwms(ftmBase, 0);
FTM_HAL_SetDualChnCombineCmd(ftmBase, chnlPairnum, false);
FTM_HAL_SetDualEdgeCaptureCmd(ftmBase, chnlPairnum, false);
/* Configure mode to output compare, tougle output on match */
FTM_HAL_SetChnEdgeLevel(ftmBase, clockModuleChannel, kFtmToggleOnMatch);
FTM_HAL_SetChnMSnBAMode(ftmBase, clockModuleChannel, 1);
/* Configure a match value to toggle output at */
FTM_HAL_SetChnCountVal(ftmBase, clockModuleChannel, 1);
/* Set clock source to start the counter */
FTM_HAL_SetClockSource(ftmBase, kClock_source_FTM_SystemClk);
/* Re-calculate the actually configured smartcard clock and return to caller */
return (uint32_t)(((periph_clk_mhz*1000/2)/(FTM_HAL_GetMod(ftmBase)+1))*1000);
#elif defined(TPM_INSTANCE_COUNT)
assert(clockModuleInstance < TPM_INSTANCE_COUNT);
assert(clockModuleChannel < FSL_FEATURE_TPM_CHANNEL_COUNTn(clockModuleInstance));
/* Initialize TPM driver parameter */
tpm_pwm_param_t param = {
kTpmCenterAlignedPWM, /* mode */
kTpmHighTrue, /* edgeMode */
cardClk, /* uFrequencyHZ */
50 /* uDutyCyclePercent */
};
/* Initialize TPM driver */
tpm_general_config_t driverInfo;
memset(&driverInfo, 0, sizeof(driverInfo));
driverInfo.isDBGMode = true;
TPM_DRV_Init(clockModuleInstance, &driverInfo);
/* Set TPM clock source, the user will have to call the Clocking API's to set the
* TPM module clock before calling this function */
TPM_DRV_SetClock(clockModuleInstance, kTpmClockSourceModuleClk, kTpmDividedBy1);
/* Start TPM in PWM mode to generate smart card clock */
TPM_DRV_PwmStart(clockModuleInstance, ¶m, clockModuleChannel);
return cardClk;
#else
return 0;
#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);
}
