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_pit
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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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********************************************************************************************************************/
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#include "IfxCcu6_Timer.h"
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#include "SysSe/Bsp/Bsp.h"
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#include "isr_config.h"
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#include "zf_driver_pit.h"
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 pit关闭
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// 参数说明 pit_index 选择CCU6模块
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// 返回参数 void
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// 使用示例 pit_close(CCU60_CH0); // 关闭CCU60 通道0的计时器
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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void pit_close (pit_index_enum pit_index)
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{
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volatile Ifx_CCU6 *module;
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IfxCcu6_Timer g_Ccu6Timer;
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module = IfxCcu6_getAddress((IfxCcu6_Index)(pit_index / 2));
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g_Ccu6Timer.ccu6 = module;
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g_Ccu6Timer.timer = (IfxCcu6_TimerId)((pit_index % 2));
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IfxCcu6_Timer_stop(&g_Ccu6Timer);
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 pit启动
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// 参数说明 pit_index 选择CCU6模块
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// 返回参数 void
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// 使用示例 pit_start(CCU60_CH0); // 打开CCU60 通道0的计时器
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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void pit_start (pit_index_enum pit_index)
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{
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volatile Ifx_CCU6 *module;
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IfxCcu6_Timer g_Ccu6Timer;
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module = IfxCcu6_getAddress((IfxCcu6_Index)(pit_index / 2));
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g_Ccu6Timer.ccu6 = module;
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g_Ccu6Timer.timer = (IfxCcu6_TimerId)((pit_index % 2));
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IfxCcu6_Timer_start(&g_Ccu6Timer);
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 禁止所有pit中断
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// 返回参数 void
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// 使用示例 pit_interrupt_all_close();
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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void pit_all_close (void)
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{
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IfxCcu6_disableModule((Ifx_CCU6 *)IfxCcu6_cfg_indexMap[0].module);
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IfxCcu6_disableModule((Ifx_CCU6 *)IfxCcu6_cfg_indexMap[1].module);
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 失能pit中断
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// 参数说明 pit_index 选择CCU6模块
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// 返回参数 void
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// 使用示例 pit_disable_interrupt(CCU60_CH0); // 禁止CCU60 通道0的中断
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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void pit_disable (pit_index_enum pit_index)
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{
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volatile Ifx_CCU6 *module;
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module = IfxCcu6_getAddress((IfxCcu6_Index)(pit_index / 2));
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IfxCcu6_disableInterrupt(module, (pit_index % 2) * 2 + 7);
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 使能pit中断
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// 参数说明 pit_index 选择CCU6模块
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// 返回参数 void
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// 使用示例 pit_enable_interrupt(CCU60_CH0); // 开启CCU60 通道0的中断
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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void pit_enable (pit_index_enum pit_index)
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{
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volatile Ifx_CCU6 *module;
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module = IfxCcu6_getAddress((IfxCcu6_Index)(pit_index / 2));
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IfxCcu6_enableInterrupt(module, (pit_index % 2) * 2 + 7);
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 pit初始化
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// 参数说明 pit_index 选择CCU6模块
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// 参数说明 time 周期时间
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// 返回参数 void
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// 使用示例 pit_init(CCU60_CH0, 5000); // 设置周期中断5000us
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// 备注信息 请使用.h文件中 带时间单位的宏定义函数
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//-------------------------------------------------------------------------------------------------------------------
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void pit_init (pit_index_enum pit_index, uint32 time)
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{
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uint8 i;
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volatile Ifx_CCU6 *module;
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uint64 timer_input_clk;
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IfxCcu6_Timer g_Ccu6Timer;
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IfxCcu6_Timer_Config timerConfig;
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uint32 timer_period;
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boolean interrupt_state = disableInterrupts();
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module = IfxCcu6_getAddress((IfxCcu6_Index)(pit_index/2));
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IfxCcu6_Timer_initModuleConfig(&timerConfig, module);
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timer_input_clk = IfxScuCcu_getSpbFrequency();
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i = 0;
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while(i < 16)
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{
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timer_period = (uint32)(timer_input_clk * time / 1000000);
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if(timer_period < 0xffff) break;
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timer_input_clk >>= 1;
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i++;
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}
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if(16 <= i) IFX_ASSERT(IFX_VERBOSE_LEVEL_ERROR, FALSE);
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switch(pit_index)
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{
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case CCU60_CH0:
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{
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timerConfig.interrupt1.typeOfService = CCU6_0_CH0_INT_SERVICE;
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timerConfig.interrupt1.priority = CCU6_0_CH0_ISR_PRIORITY;
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break;
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}
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case CCU60_CH1:
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{
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timerConfig.interrupt2.typeOfService = CCU6_0_CH1_INT_SERVICE;
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timerConfig.interrupt2.priority = CCU6_0_CH1_ISR_PRIORITY;
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break;
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}
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case CCU61_CH0:
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{
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timerConfig.interrupt1.typeOfService = CCU6_1_CH0_INT_SERVICE;
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timerConfig.interrupt1.priority = CCU6_1_CH0_ISR_PRIORITY;
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break;
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}
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case CCU61_CH1:
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{
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timerConfig.interrupt2.typeOfService = CCU6_1_CH1_INT_SERVICE;
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timerConfig.interrupt2.priority = CCU6_1_CH1_ISR_PRIORITY;
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break;
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}
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}
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if((pit_index % 2) == 0)
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{
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timerConfig.timer = IfxCcu6_TimerId_t12;
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timerConfig.interrupt1.source = IfxCcu6_InterruptSource_t12PeriodMatch;
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timerConfig.interrupt1.serviceRequest = IfxCcu6_ServiceRequest_1;
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timerConfig.base.t12Period = timer_period;
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timerConfig.base.t12Frequency = (float)timer_input_clk;
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timerConfig.clock.t12countingInputMode = IfxCcu6_CountingInputMode_internal;
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}
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else
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{
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timerConfig.timer = IfxCcu6_TimerId_t13;
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timerConfig.interrupt2.source = IfxCcu6_InterruptSource_t13PeriodMatch;
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timerConfig.interrupt2.serviceRequest = IfxCcu6_ServiceRequest_2;
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timerConfig.base.t13Period = timer_period;
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timerConfig.base.t13Frequency = (float)timer_input_clk;
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timerConfig.clock.t13countingInputMode = IfxCcu6_CountingInputMode_internal;
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}
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timerConfig.timer12.counterValue = 0;
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timerConfig.timer13.counterValue = 0;
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timerConfig.trigger.t13InSyncWithT12 = FALSE;
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IfxCcu6_Timer_initModule(&g_Ccu6Timer, &timerConfig);
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restoreInterrupts(interrupt_state);
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Ifx_CPU_DBGSR debug_index;
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debug_index.U = __mfcr(CPU_DBGSR);
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if(1 == debug_index.B.DE)
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{
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IfxCcu6_setSuspendMode(module, IfxCcu6_SuspendMode_hard);
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}
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IfxCcu6_Timer_start(&g_Ccu6Timer);
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}
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