Initial commit: TC264 smart car project with IPS200 menu system
- IPS200 display menu with real-time status and parameter settings - Camera image processing and line tracking - IMU attitude solution and PID control - WiFi SPI oscilloscope data transmission
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/**
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* \file Bsp.h
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* \brief Board support package
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* \ingroup library_srvsw_sysse_bsp_bsp
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*
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* \copyright Copyright (c) 2013 Infineon Technologies AG. All rights reserved.
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*
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* $Date: 2014-02-28 14:15:35 GMT$
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*
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* IMPORTANT NOTICE
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*
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*
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* Use of this file is subject to the terms of use agreed between (i) you or
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* the company in which ordinary course of business you are acting and (ii)
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* Infineon Technologies AG or its licensees. If and as long as no such
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* terms of use are agreed, use of this file is subject to following:
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* Boost Software License - Version 1.0 - August 17th, 2003
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* Permission is hereby granted, free of charge, to any person or
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* organization obtaining a copy of the software and accompanying
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* documentation covered by this license (the "Software") to use, reproduce,
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* display, distribute, execute, and transmit the Software, and to prepare
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* derivative works of the Software, and to permit third-parties to whom the
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* Software is furnished to do so, all subject to the following:
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* The copyright notices in the Software and this entire statement, including
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* the above license grant, this restriction and the following disclaimer, must
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* be included in all copies of the Software, in whole or in part, and all
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* derivative works of the Software, unless such copies or derivative works are
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* solely in the form of machine-executable object code generated by a source
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* language processor.
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
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* SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
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* FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
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* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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* \defgroup library_srvsw_sysse_bsp_bsp Board support package
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* This module implements the board support package
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* \ingroup library_srvsw_sysse_bsp
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*
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*/
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#ifndef BSP_H
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#define BSP_H 1
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#include "Ifx_Cfg.h" /* Do not remove this include */
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#include "Cpu/Std/IfxCpu_Intrinsics.h" /* Do not remove this include */
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#include "_Utilities/Ifx_Assert.h" /* Do not remove this include */
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#include "Cpu/Std/IfxCpu.h"
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#include "Port/Std/IfxPort.h"
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#include "Src/Std/IfxSrc.h"
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#include "Stm/Std/IfxStm.h"
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#include "Scu/Std/IfxScuCcu.h"
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#ifndef BSP_DEFAULT_TIMER
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/** Defined the default timer used */
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#define BSP_DEFAULT_TIMER (&MODULE_STM0)
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#endif
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/******************************************************************************/
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/* Function prototypes */
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/******************************************************************************/
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/** \addtogroup library_srvsw_sysse_bsp_bsp
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* \{ */
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/** \name Interrupt APIs
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* \{ */
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IFX_INLINE boolean areInterruptsEnabled(void);
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IFX_INLINE boolean disableInterrupts(void);
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IFX_INLINE void enableInterrupts(void);
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IFX_INLINE void restoreInterrupts(boolean enabled);
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IFX_INLINE void forceDisableInterrupts(void);
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/** \} */
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/** \} */
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/******************************************************************************/
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/* Functions */
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/******************************************************************************/
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/** \brief Return the status of the global interrupts
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*
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* \retval TRUE if the global interrupts are enabled.
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* \retval FALSE if the global interrupts are disabled.
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*
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* \see restoreInterrupts(), disableInterrupts()
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*/
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IFX_INLINE boolean areInterruptsEnabled(void)
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{
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return IfxCpu_areInterruptsEnabled();
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}
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/** \brief Disable the global interrupts
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*
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* \retval TRUE if the global interrupts were enabled before the call to the function.
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* \retval FALSE if the global interrupts are disabled before the call to the function.
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*
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* \see areInterruptsEnabled(), restoreInterrupts()
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*/
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IFX_INLINE boolean disableInterrupts(void)
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{
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return IfxCpu_disableInterrupts();
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}
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/** \brief Disable the global interrupts forcefully
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*
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*
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* \see areInterruptsEnabled(), restoreInterrupts()
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*/
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IFX_INLINE void forceDisableInterrupts(void)
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{
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IfxCpu_forceDisableInterrupts();
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}
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/** \brief enable the global interrupts
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*
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*/
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IFX_INLINE void enableInterrupts(void)
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{
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IfxCpu_enableInterrupts();
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}
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/** \brief Restore the state of the global interrupts.
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*
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* \param enabled if TRUE, re-enable the global interrupts, else do nothing.
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*
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* \return None.
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*
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* \see areInterruptsEnabled(), disableInterrupts()
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*/
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IFX_INLINE void restoreInterrupts(boolean enabled)
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{
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IfxCpu_restoreInterrupts(enabled);
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}
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/******************************************************************************/
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/* Macros */
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/******************************************************************************/
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#define TIMER_COUNT (11) /**< \internal \brief number of timer values defined */
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#define TIMER_INDEX_10NS (0) /**< \internal \brief Index of the time value 10ns*/
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#define TIMER_INDEX_100NS (1) /**< \internal \brief Index of the time value 100ns*/
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#define TIMER_INDEX_1US (2) /**< \internal \brief Index of the time value 1us*/
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#define TIMER_INDEX_10US (3) /**< \internal \brief Index of the time value 10us*/
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#define TIMER_INDEX_100US (4) /**< \internal \brief Index of the time value 100us*/
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#define TIMER_INDEX_1MS (5) /**< \internal \brief Index of the time value 1ms*/
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#define TIMER_INDEX_10MS (6) /**< \internal \brief Index of the time value 10ms*/
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#define TIMER_INDEX_100MS (7) /**< \internal \brief Index of the time value 100ms*/
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#define TIMER_INDEX_1S (8) /**< \internal \brief Index of the time value 1s*/
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#define TIMER_INDEX_10S (9) /**< \internal \brief Index of the time value 10s*/
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#define TIMER_INDEX_100S (10) /**< \internal \brief Index of the time value 100s*/
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/** \internal
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* Array containing the time constants. This variable should not be used in the application. TimeConst_0s, TimeConst_10ns, ... should be used instead
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*
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*/
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IFX_EXTERN Ifx_TickTime TimeConst[TIMER_COUNT];
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/******************************************************************************/
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/* Function prototypes */
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/******************************************************************************/
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/** \addtogroup library_srvsw_sysse_bsp_bsp
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* \{ */
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/** \name Time APIs
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* \{ */
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IFX_INLINE Ifx_TickTime addTTime(Ifx_TickTime a, Ifx_TickTime b);
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IFX_INLINE Ifx_TickTime elapsed(Ifx_TickTime since);
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IFX_INLINE Ifx_TickTime getDeadLine(Ifx_TickTime timeout);
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IFX_INLINE Ifx_TickTime getTimeout(Ifx_TickTime deadline);
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IFX_EXTERN void initTime(void);
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IFX_INLINE boolean isDeadLine(Ifx_TickTime deadLine);
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IFX_INLINE Ifx_TickTime now(void);
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IFX_INLINE Ifx_TickTime nowWithoutCriticalSection(void);
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IFX_INLINE boolean poll(volatile boolean *test, Ifx_TickTime timeout);
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IFX_INLINE Ifx_TickTime timingNoInterruptEnd(Ifx_TickTime since, boolean interruptEnabled);
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IFX_INLINE Ifx_TickTime timingNoInterruptStart(boolean *interruptEnabled);
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IFX_INLINE void wait(Ifx_TickTime timeout);
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IFX_EXTERN void waitPoll(void);
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IFX_EXTERN void waitTime(Ifx_TickTime timeout);
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/** Prototype for wait() functions */
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typedef void (*WaitTimeFunction)(Ifx_TickTime timeout);
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#define TimeConst_0s ((Ifx_TickTime)0) /**< \brief time constant equal to 1s */
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#define TimeConst_10ns (TimeConst[TIMER_INDEX_10NS]) /**< \brief time constant equal to 10ns */
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#define TimeConst_100ns (TimeConst[TIMER_INDEX_100NS]) /**< \brief time constant equal to 100ns */
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#define TimeConst_1us (TimeConst[TIMER_INDEX_1US]) /**< \brief time constant equal to 1us */
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#define TimeConst_10us (TimeConst[TIMER_INDEX_10US]) /**< \brief time constant equal to 10us */
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#define TimeConst_100us (TimeConst[TIMER_INDEX_100US]) /**< \brief time constant equal to 100us */
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#define TimeConst_1ms (TimeConst[TIMER_INDEX_1MS]) /**< \brief time constant equal to 1ms */
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#define TimeConst_10ms (TimeConst[TIMER_INDEX_10MS]) /**< \brief time constant equal to 10ms */
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#define TimeConst_100ms (TimeConst[TIMER_INDEX_100MS]) /**< \brief time constant equal to 100ms */
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#define TimeConst_1s (TimeConst[TIMER_INDEX_1S]) /**< \brief time constant equal to 1s */
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#define TimeConst_10s (TimeConst[TIMER_INDEX_10S]) /**< \brief time constant equal to 10s */
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#define TimeConst_100s (TimeConst[TIMER_INDEX_100S]) /**< \brief time constant equal to 100s */
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/**\}*/
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/**\}*/
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/******************************************************************************/
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/* Functions */
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/******************************************************************************/
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/** \brief Return system timer value (critical section).
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*
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* The function IfxStm_get() is called in a critical section, disabling
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* the interrupts. The system timer value is limited to TIME_INFINITE.
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*
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* \return Returns system timer value.
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*/
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IFX_INLINE Ifx_TickTime now(void)
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{
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Ifx_TickTime stmNow;
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boolean interruptState;
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interruptState = disableInterrupts();
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stmNow = (Ifx_TickTime)IfxStm_get(BSP_DEFAULT_TIMER) & TIME_INFINITE;
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restoreInterrupts(interruptState);
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return stmNow;
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}
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/** \brief Return system timer value (without critical section).
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*
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* The function IfxStm_get() is called. The system timer value is limited to TIME_INFINITE.
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*
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* \return Returns system timer value.
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*/
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IFX_INLINE Ifx_TickTime nowWithoutCriticalSection(void)
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{
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Ifx_TickTime stmNow;
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stmNow = (Ifx_TickTime)IfxStm_get(BSP_DEFAULT_TIMER) & TIME_INFINITE;
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return stmNow;
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}
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/** \brief Add 2 Ifx_TickTime values and return the result
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*
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* \param a parameter a
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* \param b parameter b
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*
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* \return a + b. If either a or b is TIME_INFINITE, the result is TIME_INFINITE
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*/
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IFX_INLINE Ifx_TickTime addTTime(Ifx_TickTime a, Ifx_TickTime b)
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{
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Ifx_TickTime result;
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if ((a == TIME_INFINITE) || (b == TIME_INFINITE))
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{
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result = TIME_INFINITE;
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}
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else
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{
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result = a + b; /* FIXME check for overflow */
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}
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return result;
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}
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/** \brief Return the elapsed time in ticks.
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*
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* Return the elapsed time between the current time and the time passed as parameter
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*
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* \return Returns the elapsed time.
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*/
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IFX_INLINE Ifx_TickTime elapsed(Ifx_TickTime since)
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{
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return now() - since;
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}
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/** \brief Return the time dead line.
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*
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* \param timeout Specifies the dead line from now: Deadline = Now + Timeout
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*
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* \return Return the time dead line.
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*/
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IFX_INLINE Ifx_TickTime getDeadLine(Ifx_TickTime timeout)
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{
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Ifx_TickTime deadLine;
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if (timeout == TIME_INFINITE)
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{
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deadLine = TIME_INFINITE;
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}
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else
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{
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deadLine = now() + timeout;
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}
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return deadLine;
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}
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/** \brief Return the time until the dead line.
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*
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* \param deadline Specifies the dead line from now: Deadline = Now + Timeout
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*
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* \return Return the time until the dead line.
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*/
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IFX_INLINE Ifx_TickTime getTimeout(Ifx_TickTime deadline)
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{
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Ifx_TickTime timeout;
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if (deadline == TIME_INFINITE)
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{
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timeout = TIME_INFINITE;
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}
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else
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{
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timeout = deadline - now();
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}
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return timeout;
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}
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/** \brief Return TRUE if the dead line is over.
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*
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* \param deadLine Specifies the dead line.
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*
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* \retval TRUE Returns TRUE if the dead line is over
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* \retval FALSE Returns FALSE if the dead line is not yet over
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*/
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IFX_INLINE boolean isDeadLine(Ifx_TickTime deadLine)
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{
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boolean result;
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if (deadLine == TIME_INFINITE)
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{
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result = FALSE;
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}
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else
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{
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result = now() >= deadLine;
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}
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return result;
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}
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/** \brief Poll a variable for a time.
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*
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* \param test Specifies the variable to test.
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* \param timeout Specifies the maximal time the variable will be tested
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*
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* \retval TRUE Returns TRUE if the variable gets TRUE before the timeout elapse
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* \retval FALSE Returns FALSE if the variable is FALSE as the timeout elapse
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*/
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IFX_INLINE boolean poll(volatile boolean *test, Ifx_TickTime timeout)
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{
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Ifx_TickTime deadLine = getDeadLine(timeout);
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while ((*test == FALSE) && (isDeadLine(deadLine) == FALSE))
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{}
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return *test;
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}
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/** \brief Return the elapsed time in system timer ticks, and enable the interrupts.
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*
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* The interrupts are enable by the function
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*
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* \param since time returned by timingNoInterruptStart()
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* \param interruptEnabled If TRUE, the interrupts will be enabled before the function exit. This parameter should be set to the value returned by \ref timingNoInterruptStart()
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*
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* \return Returns the elapsed time.
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*
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* \see timingNoInterruptStart()
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*/
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IFX_INLINE Ifx_TickTime timingNoInterruptEnd(Ifx_TickTime since, boolean interruptEnabled)
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{
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Ifx_TickTime stmNow;
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stmNow = nowWithoutCriticalSection();
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restoreInterrupts(interruptEnabled);
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return stmNow - since;
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}
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/** \brief Disable the interrupt and return system timer value.
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*
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* The interrupt remains disabled after the function call
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*
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* \return Returns system timer value.
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*
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* \see timingNoInterruptEnd()
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*/
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IFX_INLINE Ifx_TickTime timingNoInterruptStart(boolean *interruptEnabled)
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{
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*interruptEnabled = disableInterrupts();
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return nowWithoutCriticalSection();
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}
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/** \brief Wait for a while.
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*
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* \param timeout Specifies the waiting time
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*
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* \return None.
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*/
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IFX_INLINE void wait(Ifx_TickTime timeout)
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{
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Ifx_TickTime deadLine = getDeadLine(timeout);
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while (isDeadLine(deadLine) == FALSE)
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{}
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}
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#define PIN_DRIVER_STRONG_SHARP IfxPort_PadDriver_cmosAutomotiveSpeed1
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#define Pin_setState(pin, mode) IfxPort_setPinState((pin)->port, (pin)->pinIndex, (mode))
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#define Pin_setGroupState(pin, mask, data) IfxPort_setGroupState((pin)->port, (pin)->pinIndex, (mask), (data))
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#define Pin_setMode(pin, mode) IfxPort_setPinMode((pin)->port, (pin)->pinIndex, (mode))
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#define Pin_setDriver(pin, mode) IfxPort_setPinPadDriver((pin)->port, (pin)->pinIndex, (mode))
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#define Pin_setStateHigh(pin) IfxPort_setPinHigh((pin)->port, (pin)->pinIndex)
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#define Pin_setStateLow(pin) IfxPort_setPinLow((pin)->port, (pin)->pinIndex)
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#define Pin_getState(pin) IfxPort_getPinState((pin)->port, (pin)->pinIndex)
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#define Pin_setGroupModeOutput(pin, mask, mode, outputIdx) IfxPort_setGroupModeOutput((pin)->port, (pin)->pinIndex, (mask), (mode), (outputIdx))
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#define Pin_setGroupModeInput(pin, mask, mode) IfxPort_setGroupModeInput((pin)->port, (pin)->pinIndex, (mask), (mode))
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#define Pin_setGroupState(pin, mask, data) IfxPort_setGroupState((pin)->port, (pin)->pinIndex, (mask), (data))
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#define Pin_getGroupState(pin, mask) IfxPort_getGroupState((pin)->port, (pin)->pinIndex, (mask))
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#define Pin_enableEmgStop(pin) IfxPort_enableEmergencyStop((pin)->port, (pin)->pinIndex)
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//------------------------------------------------------------------------------
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||||
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||||
#endif /* BSP_H */
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||||
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