/**
* This method enables the PWM generation on the specified channel
* @param axis is the axis number
***************************************************************************/
void PWM_outputPadEnable(byte axis)
{
Int16 status=0;
can_printf("PWMEN CH%d", axis);
status = getReg (PWMA_PMFSA);
if ((axis == 0) && !(status & PWMA_PMFSA_FPIN3_MASK))
{
if (getRegBit(PWMA_PMOUT,PAD_EN))
{
led0_on
_pad_enabled[0]= true;
return;
}
led0_on
_pad_enabled[0]= true;
PWM_A_outputPadEnable(ALL_CHANNELS);
}
status = getReg (PWMB_PMFSA);
if ((axis == 1) && !(status & PWMB_PMFSA_FPIN3_MASK))
{
if (getRegBit(PWMB_PMOUT,PAD_EN))
{
led2_on
_pad_enabled[1]= true;
return;
}
led2_on
_pad_enabled[1]= true;
PWM_B_outputPadEnable(ALL_CHANNELS);
}
FaultInterruptEnable(axis);
}
void bootExit(void)
{
int i=0;
sci_tx(StrNewLine);
sci_tx(&StrStarted[0]);
sci_tx(StrNewLine);
while(!getRegBit(SCI_STAT,TIDLE)){}; // wait until all data has been sent
// Disable all interrupts
Cpu_DisableInt();
// Disable timer
//Timer_Disable();
// Restore Vector Base Address (VBA)
INTC_VBA = 0;
// Restore GPIO A register to reset value
GPIO_A_DDR &= ~GPIO_A_DDR_DD0_MASK; // set low
GPIO_A_DDR &= ~GPIO_A_DDR_DD1_MASK;
/****************************************************************************
/ read user start address
/****************************************************************************/
StartAddress = pmem_read((unsigned int *)BOOT_START_ADDRESS_PLACE);
asm(move.l StartAddress, N);
asm(jmp (N));
}
/*
** ===================================================================
** Method : Inhr6_SendChar (component AsynchroSerial)
**
** Description :
** Sends one character to the channel. If the bean is
** temporarily disabled (Disable method) SendChar method
** only stores data into an output buffer. In case of a zero
** output buffer size, only one character can be stored.
** Enabling the bean (Enable method) starts the transmission
** of the stored data. This method is available only if the
** transmitter property is enabled.
** Version specific information for Freescale 56800
** derivatives ]
** DMA mode:
** If DMA controller is available on the selected CPU and
** the transmitter is configured to use DMA controller then
** this method only sets selected DMA channel. Then the
** status of the DMA transfer can be checked using
** GetCharsInTxBuf method. See an example of a typical usage
** for details about communication using DMA.
** Parameters :
** NAME - DESCRIPTION
** Chr - Character to send
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_TXFULL - Transmitter is full
** ===================================================================
*/
byte Inhr6_SendChar(Inhr6_TComData Chr)
{
if (!getRegBit(SCI_STAT, TDRE)) { /* Is the transmitter empty? */
return ERR_TXFULL; /* If yes then error */
}
setReg(SCI_DATA, Chr); /* Store char to transmitter register */
return ERR_OK; /* OK */
}
/*
** ===================================================================
** Method : AS1_SendChar (component AsynchroSerial)
** Description :
** Sends one character to the channel. If the component is
** temporarily disabled (Disable method) SendChar method only
** stores data into an output buffer. In case of a zero output
** buffer size, only one character can be stored. Enabling the
** component (Enable method) starts the transmission of the
** stored data. This method is available only if the
** transmitter property is enabled.
** Version specific information for Freescale 56800 derivatives
** DMA mode:
** If DMA controller is available on the selected CPU and the
** transmitter is configured to use DMA controller then this
** method only sets selected DMA channel. Then the status of
** the DMA transfer can be checked using GetCharsInTxBuf method.
** See an example of a typical usage for details about
** communication using DMA.
** Parameters :
** NAME - DESCRIPTION
** Chr - Character to send
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_TXFULL - Transmitter is full
** ===================================================================
*/
byte AS1_SendChar(AS1_TComData Chr)
{
if ((getRegBit(SCI_SCISR, TDRE) == 0U)) { /* Is the transmitter empty? */
return ERR_TXFULL; /* If yes then error */
}
setReg(SCI_SCIDR, Chr); /* Store char to transmitter register */
return ERR_OK; /* OK */
}
/*
** ===================================================================
** Method : MainMeasure (component ADC)
**
** Description :
** The method performs A/D conversion(s). The method is called
** automatically as a part of measure methods or the HWEnDi
** method.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
static void MainMeasure(void)
{
if (getRegBit(ADC_ADSTAT,EOSI0)) { /* Is a scan cycle completed? */
setRegBits(ADC_ADSTAT,2048); /* Clear EOSI flag */
OutFlg = TRUE; /* Measured values are available */
AD1_ModeFlg = IDLE; /* Set the component to the idle mode */
}
}
/*
** ===================================================================
** Method : Resolver_SendChar (component SynchroMaster)
**
** Description :
** Sends one character to the channel.
** Version specific information for Freescale 56800 derivatives
** ]
** DMA mode:
** If DMA controller is available on the selected CPU and the
** transmitter is configured to use DMA controller then this
** method only sets the selected DMA channel. The status of the
** DMA transfer can then be checked using GetCharsInTxBuf
** method. See the typical usage for details about
** communication using DMA.
** Parameters :
** NAME - DESCRIPTION
** Chr - Character to send
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_DISABLED - Device is disabled (only if
** output DMA is supported and enabled)
** ERR_TXFULL - Transmitter is full
** ===================================================================
*/
byte Resolver_SendChar(Resolver_TComData Chr)
{
if ((!getRegBit(QSPI0_SCTRL,SPTE))||(SerFlag&FULL_TX)) { /* Is last character send? */
return ERR_TXFULL; /* If no then return error */
}
if (EnUser) { /* Is device enabled? */
setReg(QSPI0_DXMIT,Chr); /* If yes, send character */
}
else {
BufferWrite = Chr; /* If no, save character */
SerFlag |= FULL_TX; /* ...and set flag */
}
return ERR_OK; /* OK */
}
void AD_interruptCCB(void)
{
_sample_B[0] = (getReg(ADCB_ADRSLT0));
_sample_B[1] = (getReg(ADCB_ADRSLT1));
_sample_B[2] = (getReg(ADCB_ADRSLT2));
setReg(ADCB_ADSTAT, 0x0800); /* Clear EOSI flag */
OutFlgB = TRUE; /* Measured values are available */
if (!(getRegBit(ADCB_ADCR1, SMODE2)))
{
/* Not running in trigger mode? */
ad_ModeFlgB = IDLE; /* Set the bean to the idle mode */
}
}
void AD_interruptCCA(void)
{
_sample_A[0] = (getReg(ADCA_ADRSLT0));
_sample_A[1] = (getReg(ADCA_ADRSLT1));
_sample_A[2] = (getReg(ADCA_ADRSLT2));
// _sample_A[3] = (getReg(ADCA_ADRSLT3));
// _sample_A[4] = (getReg(ADCA_ADRSLT4));
// _sample_A[5] = (getReg(ADCA_ADRSLT5));
_sample_A[6] = (getReg(ADCA_ADRSLT6));
_sample_A[7] = (getReg(ADCA_ADRSLT7));
setReg(ADCA_ADSTAT, 0x0800); /* Clear EOSI flag */
OutFlgA = TRUE; /* Measured values are available */
if (!(getRegBit(ADCA_ADCR1, SMODE2)))
{
/* Not running in trigger mode? */
ad_ModeFlgA = IDLE; /* Set the bean to the idle mode */
}
}
void _sleepEntryPoint(void)
{
/*** ### 56F807 "Cpu" init code ... ***/
/* System clock initialization */
setReg(PLLCR, (PLLCR_LCKON_MASK | PLLCR_ZSRC0_MASK)); /* Enable PLL, LCKON and select clock source from prescaler */
/* CLKOSR: ??=0,??=0,??=0,??=0,??=0,??=0,??=0,??=0,??=0,??=0,??=0,CLKOSEL=0 */
setReg16(CLKOSR, 0); /* CLKO = ZCLOCK */
/* PLLDB: LORTP=0,PLLCOD=0,PLLCID=1,??=0,PLLDB=39 */
setReg16(PLLDB, 295); /* Set the clock prescalers */
while(!getRegBit(PLLSR, LCK0)){} /* Wait for PLL lock */
setReg(PLLCR, (PLLCR_LCKON_MASK | PLLCR_ZSRC1_MASK)); /* Select clock source from postscaler */
/* External bus initialization */
/* BCR: ??=0,??=0,??=0,??=0,??=0,??=0,DRV=1,??=0,WSX=12,WSP=12 */
setReg16(BCR, 716); /* Bus control register */
asm(move #1,y1) /* stores y1=1 for jumping
* to mySleep after initialization */
asm(jmp init_56800_); /* Jump to C startup code */
}
////////////////////////////////////////////////////////////////////////
//
// comMainLoop()
//
// Communication loop. Wait for CAN frames and parses the messagge.
// The loop ends when comContinue is false.
//
////////////////////////////////////////////////////////////////////////
void comMainLoop(void)
{
byte ReadCANState;
byte i;
comContinue = TRUE;
comTimerEn = TRUE;
while (comContinue)
{
/* wait CAN data or while timer expired, if set */
while (CAN1_getStateRX() == 0)
{
// Timer check
if (comTimerEn)
{
if (getRegBit(TMRC1_SCR,TCF)) /* Is the interrupt request flag set? */
{
clrRegBit(TMRC1_SCR,TCF); /* If yes then reset this flag */
if (--TmpXdataVar == 0)
{
setRegBitGroup(TMRC0_CTRL,CM,0); /* Stop counter */
return;
}
}
}
}
if (CAN1_getStateRX() != 0)
{
/* Received CAN frame */
ReadCANState=CAN1_readFrame (&comBuffer.CAN_messID,
&comBuffer.CAN_length,
comBuffer.CAN_data);
if ((ReadCANState != ERR_OK) && (ReadCANState != ERR_RXEMPTY))
{
userError(INDICATE_ERROR_RECEIVE);
}
sprsReady(&comBuffer); /* call CAN protocol parser */
}
} /* while */
}
/**
* starts the acquisition on channel A.
*
**************************************************************************************/
static void HWEnDiA(void)
{
if (ad_ModeFlgA) /* Launch measurement? */
{
OutFlgA = FALSE; /* Measured values are available */
/* Trigger mode? */
if (getRegBit (ADCA_ADCR1, SMODE2))
{
setRegBit (ADCA_ADCR1, SYNC); /* Use sync input to initiate a conversion */
clrRegBit (ADCA_ADCR1, STOP); /* Normal operation mode */
}
else
{
/* Set normal operation mode and sync input disabled */
clrRegBits (ADCA_ADCR1, ADCA_ADCR1_SYNC_MASK | ADCA_ADCR1_STOP_MASK);
setRegBit (ADCA_ADCR1, START); /* Launching of conversion */
}
}
else
{
setRegBit (ADCA_ADCR1, STOP); /* Stop command issued */
}
}
int8_t getFlag(CPU *c, FLAG name){
//bit 5 of the status register is not to be set
//and should always be 1
assert(name != NOT_USED_FLAG);
return getRegBit(c, STATUS, name);
}
/*
** ===================================================================
** Method : AS1_GetCharsInTxBuf (component AsynchroSerial)
** Description :
** Returns the number of characters in the output buffer. This
** method is available only if the transmitter property is
** enabled.
** Version specific information for Freescale 56800 derivatives
** DMA mode:
** If DMA controller is available on the selected CPU and the
** transmitter is configured to use DMA controller then this
** method returns the number of characters in the transmit
** buffer.
** Parameters : None
** Returns :
** --- - The number of characters in the output
** buffer.
** ===================================================================
*/
word AS1_GetCharsInTxBuf(void)
{
return (word)((getRegBit(SCI_SCISR, TDRE) == 0U)? 1 : 0); /* Return number of chars in the transmitter buffer */
}
/*
** ===================================================================
** Method : AS1_GetCharsInRxBuf (component AsynchroSerial)
** Description :
** Returns the number of characters in the input buffer. This
** method is available only if the receiver property is enabled.
** Version specific information for Freescale 56800 derivatives
** DMA mode:
** If DMA controller is available on the selected CPU and the
** receiver is configured to use DMA controller then this
** method returns the number of characters in the receive
** buffer.
** Parameters : None
** Returns :
** --- - The number of characters in the input
** buffer.
** ===================================================================
*/
word AS1_GetCharsInRxBuf(void)
{
return (word)((getRegBit(SCI_SCISR, RDRF) != 0U)? 1 : 0); /* Return number of chars in receive buffer */
}
/*
** ===================================================================
** Method : Inhr6_GetCharsInRxBuf (component AsynchroSerial)
**
** Description :
** Returns the number of characters in the input buffer.
** This method is available only if the receiver property is
** enabled.
** Version specific information for Freescale 56800
** derivatives ]
** DMA mode:
** If DMA controller is available on the selected CPU and
** the receiver is configured to use DMA controller then
** this method returns the number of characters in the
** receive buffer.
** Parameters : None
** Returns :
** --- - The number of characters in the input
** buffer.
** ===================================================================
*/
word Inhr6_GetCharsInRxBuf(void)
{
return (word)((getRegBit(SCI_STAT, RDRF) != 0)? 1 : 0); /* Return number of chars in receive buffer */
}
/*
** ===================================================================
** Method : Resolver_GetCharsInTxBuf (component SynchroMaster)
**
** Description :
** Returns the number of characters in the output buffer.
** Version specific information for Freescale 56800 derivatives
** ]
** DMA mode:
** If DMA controller is available on the selected CPU and the
** transmitter is configured to use DMA controller then this
** method returns the number of characters in the transmit
** buffer.
** Parameters : None
** Returns :
** --- - Number of characters in the output buffer.
** ===================================================================
*/
word Resolver_GetCharsInTxBuf(void)
{
return ((word)((EnUser) ? (getRegBit(QSPI0_SCTRL,SPTE)?0:1) : ((SerFlag & FULL_TX)?1:0))); /* Return number of chars in the transmit buffer */
}
