/*!
* @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);
}
static void lpuartRxCallback(uint32_t instance, void *lpuartState)
{
LPUART_Type *base = g_lpuartBase[instance];
uint32_t stat = LPUART_RD_STAT(base);
bool noise = stat & LPUART_STAT_NF_MASK;
bool frame_error = stat & LPUART_STAT_FE_MASK;
bool parity_error = stat & LPUART_STAT_PF_MASK;
LPUART_WR_STAT(base, (stat & 0x3e000000) |
LPUART_STAT_NF_MASK | LPUART_STAT_FE_MASK | LPUART_STAT_PF_MASK);
if (rxBuff[0] == 'R') {
led(0xff, 0x00, 0x00);
blank_led = 30;
return;
}
if (rxBuff[0] == 'G') {
led(0x00, 0xff, 0x00);
blank_led = 30;
return;
}
if (rxBuff[0] == 'B') {
led(0x00, 0x00, 0xff);
blank_led = 30;
return;
}
if (rxBuff[0] == 'T') {
position = 0;
PIT_DRV_StartTimer(0, 0);
return;
}
return;
if (noise) {
led(0xff, 0xff, 0x00);
return;
}
if (frame_error) {
led(0xff, 0x00, 0xff);
return;
}
if (parity_error) {
led(0x00, 0xff, 0xff);
return;
}
led(0x00, 0x00, 0x00);
}
void PORTA_IRQHandler(void)
{
/* Clear interrupt flag.*/
PORT_HAL_ClearPortIntFlag(PORTA_BASE_PTR);
if (GPIO_DRV_ReadPinInput(g_switch1.pinName)) {
TPM_DRV_PwmStop(0, ¶m, 3);
PIT_DRV_StopTimer(0, 0);
} else {
position = 0;
PIT_DRV_StartTimer(0, 0);
}
if (GPIO_DRV_ReadPinInput(g_switch2.pinName)) {
LPUART_DRV_AbortSendingData(1);
laser_on = 0;
} else {
laser_on = 1;
}
if (!GPIO_DRV_ReadPinInput(g_switchUp.pinName)) {
txBuff[0] = 'R';
}
if (!GPIO_DRV_ReadPinInput(g_switchLeft.pinName)) {
txBuff[0] = 'G';
}
if (!GPIO_DRV_ReadPinInput(g_switchRight.pinName)) {
txBuff[0] = 'B';
}
if (!GPIO_DRV_ReadPinInput(g_switchDown.pinName)) {
txBuff[0] = 'T';
}
if (!GPIO_DRV_ReadPinInput(g_switchSelect.pinName)) {
cue_next_image = 1;
}
}
//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);
}