main.c

关于XD256的应用实例,用于汽车电子开发之用

 /* Variable Declarations */

 
 /* Begin Function SPI0Setup() */
 
 RegBase->SPI0.BR = 0x42;		/* setup for a 1 MHz SPI bus */
 RegBase->SPI0.CR1 = 0x54;		/* SPE = 1; MSTR = 1; CPOL = 0; CPHA = 1 */
 
}	/* end SPI0Setup */

/*************************************************************************************/

static void SPI2Setup(void)

 {
  
 /* Variable Declarations */

 
 /* Begin Function SPI2Setup() */
 
 RegBase->SPI2.BR = 0x42;		/* setup for a 1 MHz SPI bus */
 RegBase->SPI2.CR1 = 0x5d;		/* SPE = 1; MSTR = 1; CPOL = 1; CPHA = 1; LSBFE = 1 */
 
}	/* end SPI2Setup */

/*************************************************************************************/

static void PITSetup(void)

 {
  
 /* Variable Declarations */

 
 /* Begin Function PITSetup() */
 
 RegBase->PITMUX = 0x0E;		/* select micro timer 0 as the source for PIT channel 0 & micro timer 1 as the source for PIT channel 1, 2 & 3 */
 RegBase->PITMTLD0 = 0;			/* use a /1 for micro timer 0 */
 RegBase->PITMTLD1 = 200;		/* use a /200 for micro timer 1 */
 RegBase->PITLD0 = 6248; 		/* sets up a period of 1/(40000000/100/64); refresh rate of 100 Hz for 64 grids => 156 uS */
 RegBase->PITLD1 = 5000;		/* 25 mS period for GDIC  */
 RegBase->PITLD2 = 5000;		/* 25 mS period for switch debounce  */
 RegBase->PITLD3 = 20000;		/* 100 mS period for performance calculator  */
 RegBase->PITINTE = 0x0F;		/* enable interrupts on PIT channel 0, 1, 2 & 4 */
 RegBase->PITCFLMT = 0xA0;		/* enable the PIT timer module, freeze in BDM */
  
}	/* end PITSetup */

/*************************************************************************************/

static void InterruptModuleSetup(void)

 {
  
 /* Variable Declarations */

 
 /* Begin Function InterruptModuleSetup() */
 
 RegBase->IVBR = 0xff;		/* interrupt vector base address at $ff00 */
 
 S12X_SetInterruptPriority(RTICh,         0x07);	/* RTI Channel , interrupt priority 7, handled by HC12,ABS control */
 S12X_SetInterruptPriority(PORTJCh,       0x07);	/* PJ0, interrupt priority 7, handled by HC12,brake signal processing */
// S12X_SetInterruptPriority(TimerCh0Ch,    0x02);	/* Timer Channel 0, interrupt priority 2, handled by HC12 */
// S12X_SetInterruptPriority(SPI0Ch, RQST + 0x03);	/* SPI0, interrupt priority 7, handled by XGate */
// S12X_SetInterruptPriority(SPI1Ch, RQST + 0x07);	/* SPI1, interrupt priority 7, handled by XGate */
// S12X_SetInterruptPriority(SPI2Ch, RQST + 0x07);	/* SPI2, interrupt priority 7, handled by XGate */
// S12X_SetInterruptPriority(PIT1Ch, RQST + 0x03);	/* PIT Channel 1, interrupt priority 3, handled by XGate */
// S12X_SetInterruptPriority(PIT2Ch, RQST + 0x02);	/* PIT Channel 2, interrupt priority 2, handled by XGate */
// S12X_SetInterruptPriority(PIT3Ch,        0x04);	/* PIT Channel 3, interrupt priority 4, handled by HC12 */
// S12X_SetInterruptPriority(CAN1RxCh, RQST + 0x06);	/* CAN0 Rx, interrupt priority 6, handled by XGate */
// S12X_SetInterruptPriority(XGSwTrig0Ch, RQST + 0x06);/* XGate SW trigger used for CAN2 transmit trigger, interrupt priority 6, handled by XGate */
// S12X_SetInterruptPriority(XGSwTrig6Ch, RQST + 0x01);/* XGate SW trigger used for performance mesurement, interrupt priority 1, handled by XGate */
// S12X_SetInterruptPriority(XGSwTrig7Ch, RQST + 0x01);/* XGate SW trigger used for performance mesurement, interrupt priority 1, handled by XGate */
 
}	/* end InterruptModuleSetup */

/*************************************************************************************/

static void EnableTimers(void)
{
 RegBase->PITCE  = 0x01;	/* enable PIT channel 0 to start the display */
 RegBase->PITCE |= 0x02;	/* enable PIT channel 1 to sweep the gauges */
 RegBase->PITCE |= 0x04;	/* enable PIT channel 2 to read the switches */ 
 RegBase->PITCE |= 0x08;	/* enable PIT channel 3 to start performance calculation */
 
 RegBase->TC0 = RegBase->TCNT + 50000;  /* set up a 10 mS delay on TC1 */
 RegBase->TIE |= 0x01;                  /* enable TC0 interrupts */
 
// RegBase->XGSWT = 0x0101;	/* initiate a CAN message transmit */
 RegBase->XGSWT = 0x8080;	/* start XG idle task */ 
 
} /* EnableTimers */


/*************************************************************************************/

static void uSDelay5(void)		 //  delay by 5 uS
{
   #asm   										 //  4	(JSR)
           ldx	#164						 //  2
   XLoop:  dbne	x,XLoop				 //  3 * x
   
   #endasm
}	/* end uSDelay */						 //  5  (RTS)

extern uint HC12IdleCounter;
int tickCounter;

void WaitTick(int ticks) 
{
  tickCounter = ticks;
  while (tickCounter > 0) {
    HC12IdleCounter++;
    uSDelay5(); 
  }
}	 

void WaitTrue(int *condition) 
{
  while (*condition) {
    HC12IdleCounter++;
    uSDelay5(); 
  }
}

/*************************************************************************************/

static long FullIdleCount = 0;
static uint HC12FullIdleCount = 0;
extern long XGIdleCount; 
extern uint HC12IdleCount;

static void Calibrate(void)
{
 
 CalibrationPhase = 1;

 RegBase->XGSWT = 0x8080;	/* start XG idle task */ 
 RegBase->PITCE  = 0x04;	/* enable PIT channel 2 to read the switches */
 RegBase->PITCE |= 0x08;	/* enable PIT channel 3 to read the switches & do performance snapshots */ 
 
 RegBase->TC0 = RegBase->TCNT + 50000;  /* set up a 10 mS delay on TC1 */
 RegBase->TIE |= 0x01;                  /* enable TC0 interrupts */
 
 WaitTick(20);				/* delay for 200ms to calibrate the idle counters */
 
 FullIdleCount = XGIdleCount;
 HC12FullIdleCount = HC12IdleCount; 
 
 RegBase->PITCE  = 0x00;	/* disenable all PIT channels */  
 
 RegBase->TIE = 0x00;     /* disenable all TC interrupts */
 
 maxDt = 0;
 
 CalibrationPhase = 0;
 
}

/*************************************************************************************/

void On_ButtonDown(uchar buttons)
{

   static uchar DemoMode = 0;


   if (buttons & 0x40) {
     DemoMode = (DemoMode + 1) % 2;
     switch (DemoMode) {
      
      case 0:
        CarSimulation = 0;
        break;
      case 1:
        CarSimulation = 1;
        break;
     }
   }
   if (buttons & 0x80) { /* SW10 */
      BMPTfrByXG ^= 1;
   }
    
}

/*************************************************************************************/


void DoXGTransfer(void);

void main(void)
{
  
 /* Variable Declarations */
 
 uint x;

 /* Begin Function main() */
 
 InterruptModuleSetup();
 S12X_SetupXGATE();
 VFDSetup();
 SPI0Setup();
 SPI1Setup();
 SPI2Setup();
 TimerSetup();
 GDICInit();			/* go initialize, calibrate & zero the 4 gauges */
 PITSetup();
 MSCANInit();
 _asm("cli");
 Calibrate(); 
 EnableTimers();
 PWMSetup();

 for (;;) { 
   GSlideDown(FreescaleLogo, GBuffer);
   WaitTick(200);
   GSlideRight(Sixteen, GBuffer);
   WaitTick(200);
   GSlideDown(S12X, GBuffer);
   WaitTick(200);
   GBarnDoorOpen(WithXGate,GBuffer);
   for (x = 0; x < 12; x++) {
     WaitTick(10);
     GInvert(GBuffer);
   }
   WaitTick(150);   
   GBarnDoorOpen(CodeWarrior,GBuffer);
   WaitTick(200);
   ClearGBuff(GBuffer);
   WaitTick(100);
  }
 
}	/* end main */

/*************************************************************************************/