im_robot.h

GPL162001的RTC模組demo程式

#ifndef	__IM_ROBOT_H__
#define	__IM_ROBOT_H__

#include "SPL162001.h"
#include "math.h"

void System_Init();

void Set_Clock(UInt16 Hr, UInt16 Min, UInt16 Sec);
void Set_Alarm(UInt16 Hr, UInt16 Min, UInt16 Sec);

void PWM_A_Init(UInt16 speed);
void PWM_Channel_1(UInt16 speed, UInt16 Pos_goal);

UInt16 abs(UInt16 x);

//================================================================
//Function: INT of CPU
//Example:	INT_OFF();
//Example:	INT_IRQ();
//Example:	INT_FIQ();
//Example:	INT_FIQ_IRQ();
//Example:  Enable_FIQ_IRQ();
//================================================================
#define		INT_OFF()			asm("int off\n");
#define		INT_IRQ()			asm("int irq\n");
#define		INT_FIQ()			asm("int fiq\n");
#define		INT_FIQ_IRQ()		asm("int fiq,irq\n");
#define 	Enable_FIQ_IRQ()	asm("int fiq,irq\n");
#define 	Disable_FIQ_IRQ()	asm("int off\n");

//================================================================
//Function: Disable IRQ Flag of CPU
//Example:	Disable_IRQ();
//================================================================
#define		Disable_IRQ()	asm("irq off\n");
#define		IRQ_OFF()		asm("irq off\n");

//================================================================
//Function: Enable IRQ Flag of CPU
//Example:	Enable_IRQ();
//================================================================
#define		Enable_IRQ()	asm("irq on\n");
#define		IRQ_ON()		asm("irq on\n");

//================================================================
//Function: Disable FIQ Flag of CPU
//Example:	Disable_FIQ();
//================================================================
#define		Disable_FIQ()	asm("fiq off\n");
#define		FIQ_OFF()		asm("fiq off\n");

//================================================================
//Function: Enable FIQ Flag of CPU
//Example:	Enable_FIQ();
//================================================================
#define		Enable_FIQ()	asm("fiq on\n");
#define		FIQ_ON()		asm("fiq on\n");

//================================================================
//Function: Disable Movement Flag of FIR DSP Operation
//Example:	Disable_FIRMOV();
//================================================================
#define		Disable_FIRMOV()	asm("fir_mov off\n");

//================================================================
//Function: Enable Movement Flag of FIR DSP Operation
//Example:	Enable_FIRMOV();
//================================================================
#define		Enable_FIRMOV()		asm("fir_mov on\n");

//================================================================
//Function: Make CPU software interrupt (break)
//Example:	SoftwareInterrupt();
//================================================================
#define     SoftwareInterrupt()	asm("break\n");

//================================================================
//Function: Make CPU no operation
//Example:	NOP();
//================================================================
#define     NOP()				asm("nop\n");

#endif