static void REF_MeasureRaw(SensorTimeType raw[NOF_SENSORS]) {
uint8_t cnt; /* number of sensor */
uint8_t i;
TMOUT1_CounterHandle timeout;
FRTOS1_xSemaphoreTake(mutexHandle, portMAX_DELAY);
if (ledON) {
LED_IR_On(); /* IR LED's on */
WAIT1_Waitus(200);
}
for(i=0;i<NOF_SENSORS;i++) {
SensorFctArray[i].SetOutput(); /* turn I/O line as output */
SensorFctArray[i].SetVal(); /* put high */
raw[i] = MAX_SENSOR_VALUE;
}
WAIT1_Waitus(20); /* give at least 10 us to charge the capacitor */
timeout = TMOUT1_GetCounter(20/TMOUT1_TICK_PERIOD_MS); /* set up timeout counter */
FRTOS1_vTaskSuspendAll();
(void)TU1_ResetCounter(timerHandle); /* reset timer counter */
for(i=0;i<NOF_SENSORS;i++) {
SensorFctArray[i].SetInput(); /* turn I/O line as input */
}
do {
cnt = 0;
if (TMOUT1_CounterExpired(timeout)) {
break; /* get out of wile loop */
}
for(i=0;i<NOF_SENSORS;i++) {
if (raw[i]==MAX_SENSOR_VALUE) { /* not measured yet? */
if (SensorFctArray[i].GetVal()==0) {
raw[i] = TU1_GetCounterValue(timerHandle);
}
} else { /* have value */
cnt++;
}
}
} while(cnt!=NOF_SENSORS);
TMOUT1_LeaveCounter(timeout);
FRTOS1_xTaskResumeAll();
if (ledON) {
LED_IR_Off(); /* IR LED's off */
WAIT1_Waitus(200);
}
FRTOS1_xSemaphoreGive(mutexHandle);
}
static uint8_t Transfer(uint32_t src) {
TMOUT1_CounterHandle handle;
bool isTimeout;
transferComplete = FALSE;
DMA_PDD_SetSourceAddress(DMA_BASE_PTR, DMA_PDD_CHANNEL_0, src); /* set source address */
DMA_PDD_SetByteCount(DMA_BASE_PTR, DMA_PDD_CHANNEL_0, NEO_DMA_NOF_BYTES); /* set number of bytes to transfer */
DMA_PDD_EnablePeripheralRequest(DMA_BASE_PTR, DMA_PDD_CHANNEL_0, PDD_ENABLE); /* enable request from peripheral */
handle = TMOUT1_GetCounter(100/TMOUT1_TICK_PERIOD_MS);
isTimeout = FALSE;
while(!transferComplete) {
/* wait until transfer is complete */
if (TMOUT1_CounterExpired(handle)) {
isTimeout = TRUE;
break; /* leave loop */
}
}
TMOUT1_LeaveCounter(handle);
if (isTimeout) {
return ERR_BUSY;
}
return ERR_OK;
}
static uint8_t Transfer(uint32_t dataAddress, size_t nofBytes) {
static const uint8_t OneValue = 0xFF; /* value to clear or set the port bits */
TMOUT1_CounterHandle handle;
bool isTimeout;
uint32_t done0, done1, done2;
/* clear any pending done flags for DMA channels */
DMA_PDD_ClearDoneFlag(DMA_BASE_PTR, DMA_PDD_CHANNEL_0);
DMA_PDD_ClearDoneFlag(DMA_BASE_PTR, DMA_PDD_CHANNEL_1);
DMA_PDD_ClearDoneFlag(DMA_BASE_PTR, DMA_PDD_CHANNEL_2);
/* set DMA source addresses */
DMA_PDD_SetSourceAddress(DMA_BASE_PTR, DMA_PDD_CHANNEL_0, (uint32_t)&OneValue); /* set source address */
DMA_PDD_SetSourceAddress(DMA_BASE_PTR, DMA_PDD_CHANNEL_1, dataAddress); /* set source address */
DMA_PDD_SetSourceAddress(DMA_BASE_PTR, DMA_PDD_CHANNEL_2, (uint32_t)&OneValue); /* set source address */
/* set byte count addresses */
DMA_PDD_SetByteCount(DMA_BASE_PTR, DMA_PDD_CHANNEL_0, nofBytes); /* set number of bytes to transfer */
DMA_PDD_SetByteCount(DMA_BASE_PTR, DMA_PDD_CHANNEL_1, nofBytes); /* set number of bytes to transfer */
DMA_PDD_SetByteCount(DMA_BASE_PTR, DMA_PDD_CHANNEL_2, nofBytes); /* set number of bytes to transfer */
/* reset TPM counter */
TPM_PDD_InitializeCounter(TPM0_DEVICE); /* reset timer counter */
TPM_PDD_ClearChannelFlags(TPM0_DEVICE, 0x00);
TPM_PDD_ClearOverflowInterruptFlag(TPM0_DEVICE);
/* re-enable DMA Muxing: it will disabled at the end of the transfer */
DMAMUX_PDD_EnableChannel(DMAMUX0_BASE_PTR, 0, PDD_ENABLE);
DMAMUX_PDD_EnableChannel(DMAMUX0_BASE_PTR, 1, PDD_ENABLE);
DMAMUX_PDD_EnableChannel(DMAMUX0_BASE_PTR, 2, PDD_ENABLE);
/* enable DMA peripheral requests */
DMA_PDD_EnablePeripheralRequest(DMA_BASE_PTR, DMA_PDD_CHANNEL_2, PDD_ENABLE); /* enable request from peripheral */
DMA_PDD_EnablePeripheralRequest(DMA_BASE_PTR, DMA_PDD_CHANNEL_1, PDD_ENABLE); /* enable request from peripheral */
DMA_PDD_EnablePeripheralRequest(DMA_BASE_PTR, DMA_PDD_CHANNEL_0, PDD_ENABLE); /* enable request from peripheral */
/* clear timer flags and status so it starts from a clean starting point */
TPM_PDD_ClearChannelFlags(TPM0_DEVICE, 0x00);
TPM_PDD_ClearOverflowInterruptFlag(TPM0_DEVICE);
/* enable TPM DMA */
TPM_PDD_WriteStatusControlReg(TPM0_DEVICE,TPM_PDD_ReadStatusControlReg(TPM0_DEVICE)|TPM_SC_DMA_MASK);
TPM_PDD_EnableChannelDma(TPM0_DEVICE, 1);
TPM_PDD_EnableChannelDma(TPM0_DEVICE, 0);
/* start the TPM timer */
StartTimer();
isTimeout = FALSE;
handle = TMOUT1_GetCounter(100/TMOUT1_TICK_PERIOD_MS);
for(;;) {
/* wait until transfer is complete */
if (TMOUT1_CounterExpired(handle)) {
isTimeout = TRUE;
break; /* leave loop */
}
done0 = DMA_PDD_GetDoneFlag(DMA_BASE_PTR, DMA_PDD_CHANNEL_0);
done1 = DMA_PDD_GetDoneFlag(DMA_BASE_PTR, DMA_PDD_CHANNEL_1);
done2 = DMA_PDD_GetDoneFlag(DMA_BASE_PTR, DMA_PDD_CHANNEL_2);
if (done0 && done1 && done2) {
break; /* done! */
}
WAIT1_WaitOSms(1); /* give back some time */
}
TMOUT1_LeaveCounter(handle);
WAIT1_Waitus(50); /* latch, low for at least 50 us (40x1.25us) */
/* disable DMA-Muxing: necessary, otherwise DMA events on TPM0 channel 0 might be still latched.
* Will enable muxing for next transfer */
DMAMUX_PDD_EnableChannel(DMAMUX0_BASE_PTR, 0, PDD_DISABLE);
DMAMUX_PDD_EnableChannel(DMAMUX0_BASE_PTR, 1, PDD_DISABLE);
DMAMUX_PDD_EnableChannel(DMAMUX0_BASE_PTR, 2, PDD_DISABLE);
/* disable peripheral DMA */
TPM_PDD_WriteStatusControlReg(TPM0_DEVICE,TPM_PDD_ReadStatusControlReg(TPM0_DEVICE)&(~TPM_SC_DMA_MASK));
TPM_PDD_DisableChannelDma(TPM0_DEVICE, 1);
TPM_PDD_DisableChannelDma(TPM0_DEVICE, 0);
StopTimer(); /* stop TPM */
if (isTimeout) {
return ERR_BUSY;
}
return ERR_OK;
}
