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;
}
void usb_run(void)
{
usbmidi_scheduler_state_t usbschedstate;
usbmidi_scheduler_state_t intercoreschedstate;
midicmd_t cmd;
usb_timeout_counter_handle = TMOUT1_GetCounter(2);
midiin_reset(&midiin1_state);
midiin1_state.GetCharsInRxBuf = MIDIUART1_GetCharsInRxBuf;
midiin1_state.RecvChar = MIDIUART1_RecvChar;
midiin_reset(&midiin2_state);
midiin2_state.GetCharsInRxBuf = MIDIUART2_GetCharsInRxBuf;
midiin2_state.RecvChar = MIDIUART2_RecvChar;
midiout_reset(&midiout1_state);
midiout1_state.OutBufSize = MIDIUART1_OUT_BUF_SIZE;
midiout1_state.GetCharsInTxBuf = MIDIUART1_GetCharsInTxBuf;
midiout1_state.SendChar = MIDIUART1_SendChar;
midiout1_state.CounterExpired = TMOUT1_CounterExpired;
midiout1_state.SetCounter = TMOUT1_SetCounter;
midiout1_state.midiout_counterhandle = TMOUT1_GetCounter(10);
midiout_reset(&midiout2_state);
midiout2_state.OutBufSize = MIDIUART2_OUT_BUF_SIZE;
midiout2_state.GetCharsInTxBuf = MIDIUART2_GetCharsInTxBuf;
midiout2_state.SendChar = MIDIUART2_SendChar;
midiout2_state.CounterExpired = TMOUT1_CounterExpired;
midiout2_state.SetCounter = TMOUT1_SetCounter;
midiout2_state.midiout_counterhandle = TMOUT1_GetCounter(10);
usbmidi_scheduler_reset(&usbschedstate);
usbschedstate.RecvByte = usbmidi_receive;
usbschedstate.bus_count = 5;
usbschedstate.CanTransmit[0] = intercore_can_transmit;
usbschedstate.CanTransmit[1] = midiout_can_transmit;
usbschedstate.CanTransmit[2] = midiout_can_transmit;
usbschedstate.CanTransmit[3] = intercore_can_transmit;
usbschedstate.CanTransmit[4] = intercore_can_transmit;
usbschedstate.Transmit[0] = intercore_transmit;
usbschedstate.Transmit[1] = midiout_transmit;
usbschedstate.Transmit[2] = midiout_transmit;
usbschedstate.Transmit[3] = intercore_transmit;
usbschedstate.Transmit[4] = intercore_transmit;
usbschedstate.TransmitHook[0] = sysex_process;
usbschedstate.TransmitHook[1] = NULL;
usbschedstate.TransmitHook[2] = NULL;
usbschedstate.TransmitHook[3] = NULL;
usbschedstate.TransmitHook[4] = NULL;
usbschedstate.busstate[0] = NULL;
usbschedstate.busstate[1] = &midiout1_state;
usbschedstate.busstate[2] = &midiout2_state;
usbschedstate.busstate[3] = NULL;
usbschedstate.busstate[4] = NULL;
usbmidi_scheduler_reset(&intercoreschedstate);
intercoreschedstate.RecvByte = intercore_receive;
intercoreschedstate.bus_count = 5;
intercoreschedstate.CanTransmit[0] = usbmidi_can_transmit;
intercoreschedstate.CanTransmit[1] = midiout_can_transmit;
intercoreschedstate.CanTransmit[2] = midiout_can_transmit;
intercoreschedstate.CanTransmit[3] = usbmidi_can_transmit;
intercoreschedstate.CanTransmit[4] = usbmidi_can_transmit;
intercoreschedstate.Transmit[0] = usbmidi_transmit;
intercoreschedstate.Transmit[1] = midiout_transmit;
intercoreschedstate.Transmit[2] = midiout_transmit;
intercoreschedstate.Transmit[3] = usbmidi_transmit;
intercoreschedstate.Transmit[4] = usbmidi_transmit;
intercoreschedstate.TransmitHook[0] = NULL;
intercoreschedstate.TransmitHook[1] = NULL;
intercoreschedstate.TransmitHook[2] = NULL;
intercoreschedstate.TransmitHook[3] = NULL;
intercoreschedstate.TransmitHook[4] = NULL;
intercoreschedstate.busstate[0] = NULL;
intercoreschedstate.busstate[1] = &midiout1_state;
intercoreschedstate.busstate[2] = &midiout2_state;
intercoreschedstate.busstate[3] = NULL;
intercoreschedstate.busstate[4] = NULL;
COREUART_Init();
DMAT1_AllocateChannel(DMAT1_DeviceData);
DMAT1_EnableChannel(DMAT1_DeviceData);
//UART0_C2 &= ~(1 << 5); /* Clear RIE */
UART0_C5 |= (1 << 5); /* RDMAE=1 Enable DMA */
COREUART_Enable();
intercore_sync_master();
for(;;) {
if (USBMIDI1_App_Task(midi_buffer, sizeof(midi_buffer)) == ERR_BUSOFF) {
LED1_Off();
usbmidi_scheduler_reset(&usbschedstate);
UsbMidiRx_Init();
UsbMidiTx_Init();
}
else {
LED1_On();
if (sysex_flashing | slave_initialized) {
// Ignore intercore bus during flashing
usbschedstate.CanTransmit[0] = NULL;
}
usbmidi_scheduler(&usbschedstate);
}
if (TMOUT1_CounterExpired(usb_timeout_counter_handle)) {
// No data going out on USB, reset queue!
EnterCritical();
UsbMidiTx_Init();
ExitCritical();
}
if (!(sysex_flashing || slave_initialized)) {
usbmidi_scheduler(&intercoreschedstate);
}
int repeat = 1;
while (repeat) {
repeat = 0;
int ready = midiin_receive(&cmd, &midiin1_state);
if (ready) {
repeat = 1;
cmd.header &= 0x0F;
cmd.header |= (0x1 << 4);
if (usbmidi_can_transmit(4, NULL)) {
usbmidi_transmit(cmd, NULL);
}
//if (intercore_can_transmit(4, NULL)) {
intercore_transmit(cmd, NULL);
//}
}
ready = midiin_receive(&cmd, &midiin2_state);
if (ready) {
repeat = 1;
cmd.header &= 0x0F;
cmd.header |= (0x2 << 4);
if (usbmidi_can_transmit(4, NULL)) {
usbmidi_transmit(cmd, NULL);
}
//if (intercore_can_transmit(4, NULL)) {
intercore_transmit(cmd, NULL);
//}
}
}
}
}