timer.c

Demo HZ256 Cluster LCD2 CW31 SH v1 ICD

/******************************************************************************
*                                                  
*  (c) copyright Freescale Semiconductor Hong Kong Ltd. 2004
*  ALL RIGHTS RESERVED
*                                                                       
*******************************************************************************  
** THIS  CODE IS ONLY INTENDED AS AN EXAMPLE FOR DEMONSTRATING THE FREESCALE **
** MICROCONTROLLERS.  IT  HAS ONLY BEEN GIVEN A MIMIMUM LEVEL OF TEST. IT IS **
** PROVIDED  'AS  SEEN'  WITH  NO  GUARANTEES  AND  NO  PROMISE  OF SUPPORT. **
*******************************************************************************  
*                                                                           
* FILE:         timer.c	          REVISION 0.3
*  
* DESCRIPTION:  Application code is placed here.
*               This module handles all tasks related to the internal timer and
*               Output Compare (O/C). 
*               The timer module is used.
*               Program to initialise the internal timer parameters.
*               O/C features to measure all motors input frequency 
*               for driving motor position.
*               All O/C subroutines are drived motors position.
* 			
*
* COMPILER: Metrowerks            VERSION: ADS v1.2 (initial version)           
*                                 VERSION: ADS v2.0 (Demo alpha/beta version)
*                                 VERSION: ADS v3.1 (Demo version)
*
* NOTES
* -----
* All modules remain at their reset addresses.                                                      
*
*
* UPDATED HISTORY:
*
* REV   YYYY.MM.DD  AUTHOR        DESCRIPTION OF CHANGE
* ---   ----------  ------        --------------------- 
* 0.0   2002.04.27  Kenny Lam     Initial version
* 0.1   2002.09.12  Kenny Lam     Demo alpha version
* 0.2   2004.04.12  Kenny Lam     Demo beta version
* 0.3   2006.01.22  Kenny Lam     Demo version
*
******************************************************************************/                                                                        
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/*****************************************************************************/

#include <hidef.h>
#include <stdlib.h>
#include "cluster_includes.h"
#include "H256Port.h"
#include "Const.h"
#include "GlobalVar.h"


#define MILE_FACTOR	3858	// 60000000000L*/60*4320		//in mm/8msec
#define MILE_FACTOR1 6430	// 100000/3600*4320		//in mm/8msec
#define MILE_FACTOR2 5787	// 90000000/3600*4320		//in mm/sec


//#pragma CODE_SEG CodeForcedToPPage33
/****************************************************************************
* init_timer() -
*
* Description : Timer initilaisation subroutine
*             : 
* Example     : 
* Input 	    : N/A
* Output	    : N/A
* Modify      : N/A
* Return      : void
****************************************************************************/
void init_timer()
{
	int		i;
	
  INTCR = 0x20;			// SET interrupt control reg          
	HPRIO = 0xe0;			//  
  RTICTL = 0; 			// CLR RTI 14
  TIE = 0x01;				// Enable ch0 as o/c interrupt
  TSCR2 = 0x80;			// allow timer overflow interrupt 
        						
  TIOS = 0x01; 			// Channel 0 to act as output compare.
  TSCR1 = 0xa0;			// Enable timer & freeze mode

  TC0W = 0xfa00;		// Timer interrupt is now 8ms

	COPCTL =0;				// disable COP
	
	for (i=0;i<=4;i++)
	{
	  MotorCurStep[i]=0;	  // initial value for all motors current step
	  MotorFinalStep[i]=0;  // initial value for all motors final step
	  motor_flag[i]=0;		  // motor status is disable
	  OverFlowCnt=0;		    // initial value for timer overflow cnt
	}
}

/****************************************************************************
* Timer0() -
*
* Description : Timer 0 (system timer) interrupt service subroutine
*             : 
* Example     : N/A
* Input 	    : N/A
* Output	    : N/A
* Modify      : N/A
* Return      : void
****************************************************************************/
#pragma TRAP_PROC
void Timer0(void)
{
 	div_t			result;
 	unsigned int	quot,rem,tempd,tempx,tempy;
 	
 	TC0W = TC0W + MS8;    
  Time8ms++;					    // increment cnt by 8msec
    
  if(MotorCurStep[SPEEDOMETER]!=0)
    Mileage_lmm += (unsigned long)MotorCurStep[SPEEDOMETER];  // sum MotorCurStep/8ms  
    
  if (++Timems >=125)			// 1 sec service 
	{
    quot=(unsigned int)(Mileage_lmm>>16);
    rem=(unsigned int)(Mileage_lmm);	
	  asm{
	  std tempd
	  stx	tempx
	  sty	tempy
	      
	  ldy	quot
	  ldd	rem
	  ldx	#125
	  ediv
	   
	  sty	quot
	  std	rem
   	ldd	tempd
   	ldx	tempx
   	ldy	tempy
    }    	
    Mileage_lmm=rem;
    Mileage_mm += (unsigned int)((unsigned long)quot*MILE_FACTOR2/1000);        
    
    result=div(Mileage_mm,1000);
    Mileage+=result.quot;
    Mileage_mm=result.rem; 

	  Timems=0;					// reset 1 sec counter	  	
	  
    if(ClockFlag==ENABLE)
    {
      if(LCDTimerFlag==ON)
        DigitDP(ON);
      else
        DigitDP(OFF);	    
      LCDTimerFlag^=1;
    }  
    SecData++;		//1 sec increment
    if(SecData>=60)
    {
  	  SecData=0;
  	  MinData++;	  	//1 min increment
      LCD_hex_clk_dec(MinData);
    }
    if(MinData>=60)
    {
      MinData=0;
      HourData++;		//1 hr increment
      LCD_hex_clk_dec(MinData);  
      clock_on();
    }
  	
	}
  if(IndTimes++>60){
    if(MotorDemoFlag==ENABLE) {
      if(DemoIndex[0]<6) {
        //PORTP^=LEDRIGHT; 				// toggle right led
        //PORTP|=LEDLEFT;         // off left led
      } 
      else if (DemoIndex[0]<16){
        //PORTP^=LEDLEFT;				  // toggle left led
        //PORTP|=LEDRIGHT;	 			// off right led
      }
      else{
        //PORTP|=LEDRIGHT+LEDLEFT;	 // off left and right led
      }
    }
    IndTimes=0;
  }      
	TFLG1=0x1;  		//clear interrupt flag
}

/****************************************************************************
* TimerOverflow() -
*
* Description : Timer Overflow interrupt service subroutine 
*             : 
* Example     : N/A
* Input 	  : N/A
* Output	  : N/A
* Modify      : N/A
* Return      : void
****************************************************************************/
#pragma TRAP_PROC
void TimerOverflow(void)
{	 
	OverFlowCnt++;
	TFLG2|=0x80;  		//clear interrupt flag
}

/****************************************************************************
* delay1() -
*
* Description : Eat time subroutine
*			  :
* Example     : 0x32  
* Input 	    : 0x32 (cdata)
* Output	    : 3 2 (ascii)
* Modify      : N/A
* Return      : void
****************************************************************************/ 
void delay1()
{	
	unsigned int data;

	data=0xffff;          // data = 65535
	while((data--)!=0);		// while loop
}