/*FUNCTION**********************************************************************
*
* Function Name : PIT_DRV_ClearIntFlag
* Description : Clears the timer interrupt flag.
*
*END**************************************************************************/
void PIT_DRV_ClearIntFlag(uint32_t instance, uint32_t channel)
{
assert(instance < PIT_INSTANCE_COUNT);
PIT_Type * base = g_pitBase[instance];
PIT_HAL_ClearIntFlag(base, channel);
}
/*
** ===================================================================
** Interrupt handler : PIT0CH0_IRQHandler
**
** Description :
** User interrupt service routine.
** Parameters : None
** Returns : Nothing
** ===================================================================
*/
void PIT0CH0_IRQHandler(void)
{
/* Clear interrupt flag.*/
PIT_HAL_ClearIntFlag(g_pitBase[pitTimer1_IDX], pitTimer1_CHANNEL);
/* Write your code here ... */
total_time_seconds++;
sec_tick_byte = true;
}
void PIT_IRQHandler(void)
{
if (PIT_HAL_IsIntPending(g_pitBase[0], 0))
{
PIT_HAL_ClearIntFlag(g_pitBase[0], 0);
param.uFrequencyHZ = notes[beeps[position]];
position = (position + 1) % sizeof(beeps);
if (param.uFrequencyHZ)
TPM_DRV_PwmStart(0, ¶m, 3);
else
TPM_DRV_PwmStop(0, ¶m, 3);
}
if (PIT_HAL_IsIntPending(g_pitBase[0], 1))
{
PIT_HAL_ClearIntFlag(g_pitBase[0], 1);
}
}
/*!
* @brief Function ltc_timer_init initialize PIT timer
* to measure time.
*/
static void ltc_timer_init(void)
{
SIM_HAL_EnableClock(SIM, kSimClockGatePit0);
PIT_HAL_Enable(pitBase[0]);
PIT_HAL_StopTimer(pitBase[0], LTC_TIMER_PIT_CHANNEL);
PIT_HAL_SetTimerPeriodByCount(pitBase[0], LTC_TIMER_PIT_CHANNEL, RELOAD);
PIT_HAL_SetIntCmd(pitBase[0], LTC_TIMER_PIT_CHANNEL, false);
PIT_HAL_SetTimerRunInDebugCmd(pitBase[0], false); /* timer stop counting in debug mode */
PIT_HAL_ClearIntFlag(pitBase[0], LTC_TIMER_PIT_CHANNEL);
}
/*
** ===================================================================
** Interrupt handler : PIT0_IRQHandler
**
** Description :
** User interrupt service routine.
** Parameters : None
** Returns : Nothing
** ===================================================================
*/
void PIT0_IRQHandler(void)
{
/* Clear interrupt flag.*/
PIT_HAL_ClearIntFlag(g_pitBase[pitTimer1_IDX], pitTimer1_CHANNEL);
/* Write your code here ... */
GPIO_DRV_TogglePinOutput( PTE24 );
ECU_Timer_Event();
// printf("TRIANGLES APPLES AND ORANGES!\n");
}
void PIT_IRQHandler(void)
{
uint32_t i;
for(i=0; i < FSL_FEATURE_PIT_TIMER_COUNT; i++)
{
if (PIT_HAL_IsIntPending(g_pitBase[0], i))
{
/* Clear interrupt flag.*/
PIT_HAL_ClearIntFlag(g_pitBase[0], i);
}
}
}
void PIT1_IRQHandler(void)
{
static bool led_flag = true;
/* Clear interrupt flag.*/
PIT_HAL_ClearIntFlag(PIT_BASE, 1U);
if(led_flag == true)
{
LED3_ON;led_flag=false;
}
else
{
LED3_OFF;led_flag=true;
}
// pitIsrFlag[1] = true;
}
void PIT0_IRQHandler(void)
{
static bool led_flag = true;
/* Clear interrupt flag.*/
PIT_HAL_ClearIntFlag(PIT_BASE, 0U);
// I2C_getAccelMangData(&memsRawDate);
// I2C_getGyroData(&memsRawDate);
//
// // static double jiaodu;
// if(gyro_offset_done == true)
// {
// imu_get_euler_angle(&quadAngle,&memsRawDate);
//
// // jiaodu = atan2(memsRawDate.magn_x,memsRawDate.magn_y) * 57.3;
// // PRINTF("jiaodu = %d \r\n" ,(int16_t)jiaodu );
//
// /*Start*********匿名上位机发送的串口数据***********/
// packet_upper_PC.user_data.trans_accel[0] = BSWAP_16(memsRawDate.accel_x);
// packet_upper_PC.user_data.trans_accel[1] = BSWAP_16(memsRawDate.accel_y);
// packet_upper_PC.user_data.trans_accel[2] = BSWAP_16(memsRawDate.accel_z);
// packet_upper_PC.user_data.trans_gyro[0] = BSWAP_16(memsRawDate.gyro_x);
// packet_upper_PC.user_data.trans_gyro[1] = BSWAP_16(memsRawDate.gyro_y);
// packet_upper_PC.user_data.trans_gyro[2] = BSWAP_16(memsRawDate.gyro_z);
// packet_upper_PC.user_data.trans_mag[0] = BSWAP_16(memsRawDate.magn_x);
// packet_upper_PC.user_data.trans_mag[1] = BSWAP_16(memsRawDate.magn_y);
// packet_upper_PC.user_data.trans_mag[2] = BSWAP_16(memsRawDate.magn_z);
//
// packet_upper_PC.user_data.trans_roll = BSWAP_16((int16_t)(quadAngle.imu_roll*100));
// packet_upper_PC.user_data.trans_pitch = BSWAP_16((int16_t)(quadAngle.imu_pitch*100));
// packet_upper_PC.user_data.trans_yaw = BSWAP_16((int16_t)(quadAngle.imu_yaw*10));
//
// uint8_t *p = (uint8_t*)&packet_upper_PC;
//
// // UART_HAL_SendDataPolling(BOARD_DEBUG_UART_BASEADDR,p,32);
//
// /*End*********匿名上位机发送的串口数据***********/
// }
static uint16_t i =0;
if(i==0)
{
LED2_ON;i=1;
}
else
{
LED2_OFF;i=0;
}
}
/*!
* @cond DOXYGEN_PRIVATE
*
* @brief Start pit timer module
*
* This function enables the timer and leaves it running, timer is
* periodically generating interrupts.
*
* @param hwtimer[in] Pointer to hwtimer structure.
*
* @return kHwtimerSuccess Success.
*
* @see HWTIMER_SYS_PitInit
* @see HWTIMER_SYS_PitDeinit
* @see HWTIMER_SYS_PitSetDiv
* @see HWTIMER_SYS_PitStop
* @see HWTIMER_SYS_PitGet_time
* @see HWTIMER_SYS_PitIsrAction
*/
static _hwtimer_error_code_t HWTIMER_SYS_PitStart(hwtimer_t * hwtimer)
{
uint32_t pitChannel;
PIT_Type * base = g_pitBase[0];
assert(NULL != hwtimer);
pitChannel = hwtimer->llContext[0U];
assert(pitChannel < FSL_FEATURE_PIT_TIMER_COUNT);
PIT_HAL_StopTimer(base, pitChannel);
PIT_HAL_ClearIntFlag(base, pitChannel);
PIT_HAL_SetIntCmd(base, pitChannel, true);
PIT_HAL_StartTimer(base, pitChannel);
return kHwtimerSuccess;
}
/*!
* @cond DOXYGEN_PRIVATE
*
* @brief Stop pit timer module
*
* Disable timer and interrupt
*
* @param hwtimer[in] Pointer to hwtimer structure.
*
* @return kHwtimerSuccess Success.
*
* @see HWTIMER_SYS_PitInit
* @see HWTIMER_SYS_PitDeinit
* @see HWTIMER_SYS_PitSetDiv
* @see HWTIMER_SYS_PitStart
* @see HWTIMER_SYS_PitGetTime
* @see HWTIMER_SYS_PitIsr
* @see HWTIMER_SYS_PitIsrShared
*/
static _hwtimer_error_code_t HWTIMER_SYS_PitStop(hwtimer_t * hwtimer)
{
uint32_t pitChannel;
uint32_t baseAddr = g_pitBaseAddr[0];
assert(NULL != hwtimer);
pitChannel = hwtimer->llContext[0U];
assert(pitChannel < FSL_FEATURE_PIT_TIMER_COUNT);
/* Disable timer and interrupt */
PIT_HAL_StopTimer(baseAddr, pitChannel);
PIT_HAL_SetIntCmd(baseAddr, pitChannel, false);
PIT_HAL_ClearIntFlag(baseAddr, pitChannel);
return kHwtimerSuccess;
}
/*!
* @cond DOXYGEN_PRIVATE
*
* @brief This function initializes caller allocated structure according to given
* numerical identifier of the timer.
*
* Called by hwtimer_init().
* Initializes the HWTIMER structure.
* Sets interrupt priority and registers ISR.
*
* @param hwtimer[in] Returns initialized hwtimer structure handle.
* @param pitId[in] Determines PIT module and pit channel.
* @param isrPrior[in] Interrupt priority for PIT
* @param data[in] Specific data. Not used in this timer.
*
* @return kHwtimerSuccess Success.
* @return kHwtimerInvalidInput When channel number does not exist in pit module.
* @return kHwtimerRegisterHandlerError When registration of the interrupt service routine failed.
*
* @see HWTIMER_SYS_PitDeinit
* @see HWTIMER_SYS_PitSetDiv
* @see HWTIMER_SYS_PitStart
* @see HWTIMER_SYS_PitStop
* @see HWTIMER_SYS_PitGetTime
* @see HWTIMER_SYS_PitIsr
* @see HWTIMER_SYS_PitIsrShared
*/
static _hwtimer_error_code_t HWTIMER_SYS_PitInit(hwtimer_t * hwtimer, uint32_t pitId, uint32_t isrPrior, void *data)
{
uint32_t pitChannel;
uint32_t baseAddr = g_pitBaseAddr[0];
if (FSL_FEATURE_PIT_TIMER_COUNT < pitId)
{
return kHwtimerInvalidInput;
}
assert(NULL != hwtimer);
/* We need to store pitId of timer in context struct */
hwtimer->llContext[0U] = pitId;
pitChannel = hwtimer->llContext[0U];
/* Un-gate pit clock */
CLOCK_SYS_EnablePitClock(0U);
/* Enable PIT module clock */
PIT_HAL_Enable(baseAddr);
/* Allows the timers to be stopped when the device enters the Debug mode. */
PIT_HAL_SetTimerRunInDebugCmd(baseAddr, false);
/* Disable timer and interrupt */
PIT_HAL_StopTimer(baseAddr, pitChannel);
PIT_HAL_SetIntCmd(baseAddr, pitChannel, false);
/* Clear any pending interrupt */
PIT_HAL_ClearIntFlag(baseAddr, pitChannel);
/* Store hwtimer in global array */
g_hwtimersPit[pitChannel] = hwtimer;
/* Enable PIT interrupt.*/
if (kStatus_OSA_Success != OSA_InstallIntHandler(g_pitIrqId[pitChannel], HWTIMER_SYS_PitIsr))
{
return kHwtimerRegisterHandlerError;
}
PIT_HAL_SetIntCmd(baseAddr, pitChannel, true);
INT_SYS_EnableIRQ(g_pitIrqId[pitChannel]);
return kHwtimerSuccess;
}
void PIT0_PIT1_IRQHandler(void)
{
uint32_t i;
for(i=0; i < PIT_INSTANCE_COUNT; i++)
{
if (CLOCK_SYS_GetPitGateCmd(i))
{
for(i=0; i < FSL_FEATURE_PIT_TIMER_COUNT; i++)
{
if (PIT_HAL_IsIntPending(g_pitBase[0], i))
{
/* Clear interrupt flag.*/
PIT_HAL_ClearIntFlag(g_pitBase[0], i);
}
}
}
}
}
/*!
* @cond DOXYGEN_PRIVATE
*
* @brief Interrupt service routine.
*
* Checks whether callback_func is not NULL,
* and unless callback is blocked by callback_blocked being non-zero it calls the callback function with callback_data as parameter,
* otherwise callback_pending is set to non-zero value.
*
* @return void
*
* @see HWTIMER_SYS_Pitdeinit
* @see HWTIMER_SYS_PitsetDiv
* @see HWTIMER_SYS_Pitstart
* @see HWTIMER_SYS_Pitstop
* @see HWTIMER_SYS_PitgetTime
* @see HWTIMER_SYS_PitisrShared
*/
static void HWTIMER_SYS_PitIsr(void)
{
uint32_t baseAddr = g_pitBaseAddr[0];
int i;
for (i = 0U; i < FSL_FEATURE_PIT_TIMER_COUNT; i++)
{
hwtimer_t *hwtimer = g_hwtimersPit[i];
/* If hwtimer exist*/
if (NULL != hwtimer)
{
uint32_t pitChannel = hwtimer->llContext[0U];
assert(pitChannel < FSL_FEATURE_PIT_TIMER_COUNT);
/* Check if interrupt is enabled for this channel. Cancel spurious interrupt */
if (!(BR_PIT_TCTRLn_TIE(baseAddr, pitChannel)))
{
continue;
}
/* If interrupt occurred for this pit and channel*/
if(PIT_HAL_IsIntPending(baseAddr, pitChannel))
{
/* Clear interrupt flag */
PIT_HAL_ClearIntFlag(baseAddr, pitChannel);
/* Following part of function is typically the same for all low level hwtimer drivers */
hwtimer->ticks++;
if (NULL != hwtimer->callbackFunc)
{
if (hwtimer->callbackBlocked)
{
hwtimer->callbackPending = 1U;
}
else
{
/* Run user function*/
hwtimer->callbackFunc(hwtimer->callbackData);
}
}
}
}
}
}
/*!
* @cond DOXYGEN_PRIVATE
*
* @brief Initialization of pit timer module
*
* Called by hwtimer_deinit. Disables the peripheral. Unregisters ISR.
*
* @param hwtimer[in] Pointer to hwtimer structure.
*
* @return kHwtimerSuccess Success.
* @return kHwtimerRegisterHandlerError When un-registration of the interrupt service routine failed.
*
* @see HWTIMER_SYS_PitInit
* @see HWTIMER_SYS_PitSetDiv
* @see HWTIMER_SYS_PitStart
* @see HWTIMER_SYS_PitStop
* @see HWTIMER_SYS_PitGetTime
* @see HWTIMER_SYS_PitIsr
* @see HWTIMER_SYS_PitIsrShared
*/
static _hwtimer_error_code_t HWTIMER_SYS_PitDeinit(hwtimer_t * hwtimer)
{
/* We belive that if isr is shared ,than is shared for every chanells */
uint32_t baseAddr = g_pitBaseAddr[0];
uint32_t pitChannel;
int i;
assert(NULL != hwtimer);
pitChannel = hwtimer->llContext[0U];
assert(pitChannel < FSL_FEATURE_PIT_TIMER_COUNT);
/* Remove Hwtimer from global array and disable interrupt on this channel */
PIT_HAL_StopTimer(baseAddr, pitChannel);
PIT_HAL_SetIntCmd(baseAddr, pitChannel, false);
PIT_HAL_ClearIntFlag(baseAddr, pitChannel);
/* Pit can have shared interrupt vectors. We need un-register interrupt only when all hwtimers are de-inited(set to NULL) */
g_hwtimersPit[pitChannel] = NULL;
/* Check if this is last hwtimer in pit_hwtimers_array */
for (i = 0U; i < FSL_FEATURE_PIT_TIMER_COUNT; i++)
{
if (NULL != g_hwtimersPit[i])
{
break;
}
}
if (i == FSL_FEATURE_PIT_TIMER_COUNT)
{
if(kStatus_OSA_Success != OSA_InstallIntHandler(g_pitIrqId[pitChannel], NULL))
{
return kHwtimerRegisterHandlerError;
}
}
return kHwtimerSuccess;
}
/*!
* @cond DOXYGEN_PRIVATE
*
* @brief Called from the Interrupt service routine.
*
* Checks whether callback_func is not NULL,
* and unless callback is blocked by callback_blocked being non-zero it calls the callback function with callback_data as parameter,
* otherwise callback_pending is set to non-zero value.
*
* @return void
*
* @see HWTIMER_SYS_Pitdeinit
* @see HWTIMER_SYS_PitsetDiv
* @see HWTIMER_SYS_Pitstart
* @see HWTIMER_SYS_Pitstop
* @see HWTIMER_SYS_PitgetTime
*/
void HWTIMER_SYS_PitIsrAction(uint8_t pitChannel)
{
PIT_Type * base = g_pitBase[0];
hwtimer_t *hwtimer = g_hwtimersPit[pitChannel];
/* If hwtimer exist*/
if (NULL != hwtimer)
{
/* Check if interrupt is enabled for this channel. Cancel spurious interrupt */
if (!(PIT_BRD_TCTRL_TIE(base, pitChannel)))
{
return;
}
/* If interrupt occurred for this pit and channel*/
if(PIT_HAL_IsIntPending(base, pitChannel))
{
/* Clear interrupt flag */
PIT_HAL_ClearIntFlag(base, pitChannel);
/* Following part of function is typically the same for all low level hwtimer drivers */
hwtimer->ticks++;
if (NULL != hwtimer->callbackFunc)
{
if (hwtimer->callbackBlocked)
{
hwtimer->callbackPending = 1U;
}
else
{
/* Run user function*/
hwtimer->callbackFunc(hwtimer->callbackData);
}
}
}
}
}
void PIT3_IRQHandler(void)
{
/* Clear interrupt flag.*/
PIT_HAL_ClearIntFlag(g_pitBase[0], 3U);
}
/*!
* @cond DOXYGEN_PRIVATE
*
* @brief This function initializes caller allocated structure according to given
* numerical identifier of the timer.
*
* Called by hwtimer_init().
* Initializes the HWTIMER structure.
* Sets interrupt priority and registers ISR.
*
* @param hwtimer[in] Returns initialized hwtimer structure handle.
* @param pitId[in] Determines PIT module and pit channel.
* @param isrPrior[in] Interrupt priority for PIT
* @param data[in] Specific data. Not used in this timer.
*
* @return kHwtimerSuccess Success.
* @return kHwtimerInvalidInput When channel number does not exist in pit module.
* @return kHwtimerLockError When Locking failed.
* @return kHwtimerRegisterHandlerError When registration of the interrupt service routine failed.
*
* @see HWTIMER_SYS_PitDeinit
* @see HWTIMER_SYS_PitSetDiv
* @see HWTIMER_SYS_PitStart
* @see HWTIMER_SYS_PitStop
* @see HWTIMER_SYS_PitGetTime
* @see HWTIMER_SYS_PitIsr
* @see HWTIMER_SYS_PitIsrShared
*/
static _hwtimer_error_code_t HWTIMER_SYS_PitInit(hwtimer_t * hwtimer, uint32_t pitId, uint32_t isrPrior, void *data)
{
uint32_t pitChannel;
uint32_t baseAddr = g_pitBaseAddr[0];
if (FSL_FEATURE_PIT_TIMER_COUNT < pitId)
{
return kHwtimerInvalidInput;
}
assert(NULL != hwtimer);
/* We need to store pitId of timer in context struct */
hwtimer->llContext[0U] = pitId;
pitChannel = hwtimer->llContext[0U];
/* Un-gate pit clock */
CLOCK_SYS_EnablePitClock(0U);
/* Enable PIT module clock */
PIT_HAL_Enable(baseAddr);
/* Allows the timers to be stopped when the device enters the Debug mode. */
PIT_HAL_SetTimerRunInDebugCmd(baseAddr, false);
/* Disable timer and interrupt */
PIT_HAL_StopTimer(baseAddr, pitChannel);
PIT_HAL_SetIntCmd(baseAddr, pitChannel, false);
/* Clear any pending interrupt */
PIT_HAL_ClearIntFlag(baseAddr, pitChannel);
/* Create lock if does not exists*/
/* Enter critical section to avoid interrupt create locking */
OSA_EnterCritical(kCriticalDisableInt);
if (g_lock == NULL)
{
/* Initialize synchronization object */
if (kStatus_OSA_Success != OSA_MutexCreate(&g_lock_data))
{
return kHwtimerLockError;
}
g_lock = &g_lock_data;
}
OSA_ExitCritical(kCriticalDisableInt);
assert(g_lock == &g_lock_data);
/* Critical section. Access to global variable */
if (kStatus_OSA_Success != OSA_MutexLock(g_lock, OSA_WAIT_FOREVER))
{
return kHwtimerLockError;
}
/* Store hwtimer in global array */
g_hwtimersPit[pitChannel] = hwtimer;
if (kStatus_OSA_Success != OSA_MutexUnlock(g_lock))
{
return kHwtimerLockError;
}
/* Enable PIT interrupt.*/
if (kStatus_OSA_Success != OSA_InstallIntHandler(kpitIrqIds[pitChannel], HWTIMER_SYS_PitIsr))
{
return kHwtimerRegisterHandlerError;
}
PIT_HAL_SetIntCmd(baseAddr, pitChannel, true);
INT_SYS_EnableIRQ(kpitIrqIds[pitChannel]);
return kHwtimerSuccess;
}
