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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* TC264 Opensourec Library 即（TC264 开源库）是一个基于官方 SDK 接口的第三方开源库
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* Copyright (c) 2022 SEEKFREE 逐飞科技
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*
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* 本文件是 TC264 开源库的一部分
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*
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* TC264 开源库 是免费软件
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* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU通用公共许可证）的条款
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* 即 GPL 的第3版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
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*
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* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
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* 甚至没有隐含的适销性或适合特定用途的保证
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* 更多细节请参见 GPL
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*
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* 您应该在收到本开源库的同时收到一份 GPL 的副本
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* 如果没有，请参阅<https://www.gnu.org/licenses/>
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*
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* 额外注明：
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* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
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* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
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* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
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* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
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*
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* 文件名称 zf_driver_delay
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* 公司名称 成都逐飞科技有限公司
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* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
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* 开发环境 ADS v1.10.2
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* 适用平台 TC264D
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* 店铺链接 https://seekfree.taobao.com/
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*
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* 修改记录
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* 日期 作者 备注
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* 2022-09-15 pudding first version
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* 2023-11-28 pudding 修改普通延时逻辑为中断触发，若总中断关闭则使用寄存器循环读取延时
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********************************************************************************************************************/
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#include "IfxStm.h"
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#include "IFXSTM_CFG.h"
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#include "SysSe/Bsp/Bsp.h"
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#include "zf_common_interrupt.h"
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#include "zf_driver_delay.h"
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#define IFX_INTPRIO_STM0_SR0 220
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#define IFX_INTPRIO_STM1_SR0 221
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static vuint8 stm0_isr_flag = 1;
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static vuint8 stm1_isr_flag = 1;
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IFX_INTERRUPT(stm0_isr, 0, IFX_INTPRIO_STM0_SR0)
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{
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interrupt_global_enable(0); // 开启中断嵌套
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IfxStm_clearCompareFlag(&MODULE_STM0, IfxStm_Comparator_0);
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stm0_isr_flag = 0;
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}
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IFX_INTERRUPT(stm1_isr, 0, IFX_INTPRIO_STM1_SR0)
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{
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interrupt_global_enable(0); // 开启中断嵌套
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IfxStm_clearCompareFlag(&MODULE_STM1, IfxStm_Comparator_0);
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stm1_isr_flag = 0;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 system延时函数
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// 参数说明 time 延时一轮的时间（单位为纳秒，可设置范围0-20000000）
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// 返回参数 void
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// 使用示例 无需用户调用，用户请使用h文件中的宏定义 // 100M时钟 最小单位为 10ns
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//-------------------------------------------------------------------------------------------------------------------
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void system_delay_10ns (uint32 time)
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{
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uint32 interrupt_global_state;
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IfxStm_Index stm_index;
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stm_index = (IfxStm_Index)IfxCpu_getCoreId();
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if(areInterruptsEnabled() == 0)
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{
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IfxStm_waitTicks(IfxStm_getAddress(stm_index), time);
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}
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else
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{
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switch(stm_index)
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{
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case IfxStm_Index_0:
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{
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Ifx_STM *stm_sfr = &MODULE_STM0;
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stm0_isr_flag = 1;
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interrupt_global_state = interrupt_global_disable(); // 关闭全局中断
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stm_sfr->CMP[0].U = stm_sfr->TIM0.U + time;
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interrupt_global_enable(interrupt_global_state); // 打开全局中断
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while(stm0_isr_flag);
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}break;
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case IfxStm_Index_1:
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{
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Ifx_STM *stm_sfr = &MODULE_STM1;
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stm1_isr_flag = 1;
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interrupt_global_state = interrupt_global_disable(); // 关闭全局中断
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stm_sfr->CMP[0].U = stm_sfr->TIM0.U + time;
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interrupt_global_enable(interrupt_global_state); // 打开全局中断
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while(stm1_isr_flag);
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}break;
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case IfxStm_Index_none: break;
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}
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}
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 system 微秒 延时函数(访问寄存器)
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// 参数说明 time 延时时间 单位：us
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// 返回参数 void
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// 使用示例 system_delay_us_register(100); // 延时100微秒
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//-------------------------------------------------------------------------------------------------------------------
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void system_delay_us_register (uint32 time)
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{
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IfxStm_Index stm_index;
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stm_index = (IfxStm_Index)IfxCpu_getCoreId();
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IfxStm_waitTicks(IfxStm_getAddress(stm_index), time * 100);
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 system 微秒 延时函数(定时器中断)
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// 参数说明 time 延时时间 单位：us
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// 返回参数 void
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// 使用示例 system_delay_us(100); // 延时100微秒
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//-------------------------------------------------------------------------------------------------------------------
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void system_delay_us (uint32 time)
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{
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if(time > 40000000)
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{
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while(time > 40000000)
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{
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system_delay_10ns(4000000000);
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time = time - 40000000;
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}
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system_delay_10ns(time * 100);
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}
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else
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{
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system_delay_10ns(time * 100);
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}
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 system 毫秒 延时函数
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// 参数说明 time 延时时间 单位：ms
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// 返回参数 void
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// 使用示例 system_delay_ms(100); // 延时100毫秒
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//-------------------------------------------------------------------------------------------------------------------
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void system_delay_ms (uint32 time)
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{
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if(time > 40000)
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{
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while(time > 40000)
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{
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system_delay_10ns(4000000000);
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time = time - 40000;
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}
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system_delay_10ns(time * 100000);
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}
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else
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{
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system_delay_10ns(time * 100000);
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}
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 system 延迟初始化函数
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// 返回参数 void
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// 使用示例 system_delay_init();
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//-------------------------------------------------------------------------------------------------------------------
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void system_delay_init(void)
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{
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IfxStm_CompareConfig stmConfig;
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boolean interrupt_state = disableInterrupts();
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stmConfig.comparator = IfxStm_Comparator_0;
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stmConfig.compareOffset = IfxStm_ComparatorOffset_0;
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stmConfig.compareSize = IfxStm_ComparatorSize_32Bits;
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stmConfig.comparatorInterrupt = IfxStm_ComparatorInterrupt_ir0;
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stmConfig.ticks = 1;
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stmConfig.triggerPriority = IFX_INTPRIO_STM0_SR0;
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stmConfig.typeOfService = IfxSrc_Tos_cpu0;
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IfxStm_initCompare(&MODULE_STM0, &stmConfig);
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IfxStm_clearCompareFlag(&MODULE_STM0, IfxStm_Comparator_0);
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stmConfig.comparator = IfxStm_Comparator_0;
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stmConfig.compareOffset = IfxStm_ComparatorOffset_0;
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stmConfig.compareSize = IfxStm_ComparatorSize_32Bits;
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stmConfig.comparatorInterrupt = IfxStm_ComparatorInterrupt_ir0;
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stmConfig.ticks = 1;
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stmConfig.triggerPriority = IFX_INTPRIO_STM1_SR0;
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stmConfig.typeOfService = IfxSrc_Tos_cpu1;
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IfxStm_initCompare(&MODULE_STM1, &stmConfig);
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IfxStm_clearCompareFlag(&MODULE_STM1, IfxStm_Comparator_0);
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restoreInterrupts(interrupt_state);
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}
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