/*--------------------------------------------------------*/
/*  WQ21ST SOFTWARE	STUDIO.			                  	  */
/*--------------------------------------------------------*/
/*  EVM Test Code Shell 				                  */
/*--------------------------------------------------------*/ 

#include "sci2407.h" 
#include "register1.h"
/*#include "math.h"*/
 
unsigned int error_code;     /* ms byte = main test #, ls byte = error code */
unsigned int halt_on_error;
unsigned int print_on_error;
unsigned int led_error_code;
unsigned int print_header; 

/*varies of uart*/
unsigned int getchar; 
unsigned int configdata;
unsigned int count=0;
unsigned int pcdata[30];  
unsigned int stopflag=0;

float kp=0,ki=0,kd=0,outspeed=0;
float error[6]={0,0,0,0,0,0};
float runspeed=0 ; 
int pidi,pidf;/*整數(shù)部分，小數(shù)部分*/  

float x1,x2,x3;         /*middle variy of input*/
float mul;              /*誤差和返回電壓的乘積*/
float mide1=0,mide2=0,mide3=0;  /*x1,x3的算式*/
float backspeed;        /*返回速度的電壓值*/  
float addw;             /*權(quán)值和*/


#define   PS2	 0x0800
#define   PS1	 0x0400
#define   PS0    0x0200

#define   FREQIN4	(    0	    )
#define   FREQIN2	(		    ( PS0 ) )
#define   FREQIN1_33	(	  ( PS1 )	    )
#define   FREQIN1	(	  ( PS1 ) | ( PS0 ) )
#define   FREQIN_8	( ( PS2)		    )
#define   FREQIN_66	( ( PS2) |	    ( PS0)  )
#define   FREQIN_57	( ( PS2) | ( PS1)	    )
#define   FREQIN_50	( ( PS2) | ( PS1) | ( PS0)  )

#define   SCSR1	  0x7018
#define   SCSR1_PTR      ((unsigned int*)SCSR1)

char tell[20]; 

/*double ipart ;
double fpart ; 
double midv ;
double midv1  ;    */  

float ipart ;
float fpart ;
float ipart1 ;
float fpart1 ;
float ipart2 ;
float fpart2 ;
float ipart3 ;
float fpart3 ;
 
float midv ;
float midv1  ; 
float midv2  ;  
float midv3  ; 
float midv4  ; 
int   me1 ;   

/*設(shè)置振晶頻率*/
void set_pll( void )
{
  unsigned int scsr1_val;
  unsigned int set_freq;
  scsr1_val = *SCSR1_PTR;
  scsr1_val &= (~(PS2 | PS1 | PS0 ));
  set_freq = FREQIN2;
  scsr1_val |= set_freq;	     /* For rev 1.1 devices 30 mhz */
  *SCSR1_PTR = scsr1_val;
  wait_ms(200);
}
  
#define MS_TIME_LOOP   0x500

unsigned int wait_ms( volatile unsigned int delay_val )
{
    unsigned int i;
/*    unsigned int ms_ctr;  */
    int ms_ctr;
   for ( i = 0; i < delay_val; i++ )
    {
	ms_ctr = MS_TIME_LOOP;

	while ( ms_ctr )
	{
	    ms_ctr--;
	} 
    }

    return( delay_val );
}



void set_wait(void);

/*設(shè)置io空間的狀態(tài)寄存器*/
void set_wait(void)
{

  configdata =	IOWSB1+DSWSB1+PSWSB1; 	 /* 2 waits for off chip I/O */
  OUTMAC( _WSGR, configdata);
}


/*設(shè)置系統(tǒng)時(shí)鐘*/
void set_system(void)
{
  unsigned int SCSR1_Data;

  SCSR1_Data = *(volatile unsigned int*)SCSR1;

  SCSR1_Data |= (ADC_CLKEN | SCI_CLKEN | SPI_CLKEN | CAN_CLKEN | EVB_CLKEN | EVA_CLKEN);

  *(volatile unsigned int*)SCSR1 = SCSR1_Data;

}
   

/*試驗(yàn)板設(shè)置，系統(tǒng)振晶設(shè)置*/
void test_init(void)
{ 
  error_code = 0;               /* show no error */
  halt_on_error = 1;            /* stop if error occurred */
  print_on_error = 0;           /* do not print error info to uart */
  led_error_code = 0;           /* don't put on leds */
  print_header = 0;             /* do not print header info to uart */

  set_wait();                   /* set up wait states for I/O */
  set_system();
  set_pll();
}
 
#define  TESTING_OUTPUT  0
#define  TEST_UART	 0


typedef volatile struct sci SCI_STRUCT;

unsigned int uart_send_char;
unsigned int uart_rec_char;

SCI_STRUCT *sciptr;             /* pointer to sci defined structure */

unsigned char uart1_test_msg[20]; 

/*串口初始化*/
void init_uart1(void)
{
   volatile unsigned int OCRAReg;

   sciptr = (SCI_STRUCT *)SCI;     /* overlay structure over the hardware */
 /* 0x7050 for C2407 */
 /* 1 stop, no parity, 8 data, async */
 /* 0x17 */

   /* Reset the uart */
   sciptr->ctl1 = 0;
   wait_ms( 1 );
   sciptr->ctl1 = SW_RESET;   
   /* reset low, clock internal,  */
   /* xmit enable, rec enable */
   /* 0x13 */                                 
   sciptr->ccr = (unsigned int) (  SCI_CHAR2 | SCI_CHAR1 | SCI_CHAR0);		            
   /* enable TX & RX ints */                                 
   sciptr->ctl2 = (unsigned int) 0x0000;   /* no interrupts */
   /* load the baud rate */
   sciptr->baud_hi = (unsigned int) (BAUD_9600 / 0x100);  
   sciptr->baud_lo = (unsigned int) (BAUD_9600 % 0x100);   
   /*定義io口引腳為串口用功能*/
  OCRAReg = *(volatile unsigned int *)OCRA;
  OCRAReg = (TXD_FUNCTION | RXD_FUNCTION);
  *(volatile unsigned int *)OCRA = OCRAReg;  
  /*優(yōu)先級(jí)設(shè)置，程序無中斷*/
   sciptr->pri = PRI_SOFT;
   /*串行通信控制寄存器*/       
   sciptr->ctl1 = (unsigned int) (SW_RESET | TX_ENA | RX_ENA); 
}


/*判斷接受緩存是否有值*/
unsigned int chk_uart1_rec_full(void)
{
  unsigned int ctr, rec_full_status;

  rec_full_status = 0;
  ctr = 10000;

  while ((!rec_full_status) && (ctr--))
  {
    rec_full_status = sciptr->rxst;
    rec_full_status &= RXRDY;
  }
  if (!ctr)
  {
    rec_full_status = 0;
  }
  return(rec_full_status);
}
 
 
/*檢測(cè)緩存是否為空*/
unsigned int chk_uart1_xmit_empty(void)
{
  unsigned int ctr, xmit_empty_status;

  xmit_empty_status = 0;
  /**************************************************/
  /*ctr = 10000;*/
   xmit_empty_status = 0;
    xmit_empty_status = sciptr->ctl2;  /* read xmit status */
    xmit_empty_status &=  TX_EMPTY;  
  return(xmit_empty_status);
}
 
/*讀取字符后，轉(zhuǎn)換實(shí)值*/ 
float get_value(int j)
     {    
     int i;
     int l;
     int n=1; 
     float value=0;
     
         for(l=0;l<4-pcdata[j];l++)
         {
          n=n*10; 
         }
         value=pcdata[j+2]*1000+pcdata[j+3]*100+pcdata[j+4]*10+pcdata[j+5];
         value=value/n;
             
     return(value);
     
     }
     
/*read the value of pid from group pcdata[]*/
void valuepid()
     {
      kp=get_value(0);
      ki=get_value(6);
      kd=get_value(12);
      outspeed=get_value(18);
/*      studyspeed=get_value(24);
   /*   stopflag=0;                */
     }  
     
unsigned int uart1_get_char(void)
{
  unsigned int ctr, rec_full_status;
  unsigned int in_char;

  rec_full_status = chk_uart1_rec_full();
  if (rec_full_status)
  {     
    in_char = sciptr->rxbuf;            /* get data from rec buffer */
    in_char &= 0x00ff;
    if(in_char==67) 
    {   count=0 ; 
       return((unsigned int)0x8000); }
    if(count>=24){count=0;}
    pcdata[count]=in_char-48;
    if(in_char==65) 
         {
         count=-1;
         kp=0;
         ki=0;
         kd=0;
         runspeed=0; 
         stopflag=0;   
          }   
    if(in_char==66)
          {
           count=-1;
           stopflag=1;
          }
    if(count==23) valuepid(); 
    count=count+1;
    return (in_char);                   /* return data */
 }
  return((unsigned int)0x8000);
}

/*宋字符程序*/
unsigned int uart1_put_char(unsigned int out_char)
{
  unsigned int send_char_status;
  
  send_char_status = chk_uart1_xmit_empty();
  if (send_char_status)
  {
    sciptr->txbuf =  (0x00ff & out_char);  /* send data */
    return ((unsigned int) 0);             /* return no error */
  }
  return( (unsigned int) 0xffff);   /* return error */
                                       /* write out character here */
}

/***********************1****************/
unsigned  int me ;
/*unsigned  int me1;   */  

/*送字符*/
unsigned int uart1test(void)
{
  unsigned int uart_status;  
  unsigned int uart1_err;
     uart1_err = 0;                    /* show no error */
      /* send data */
     uart1_put_char(me); 
      wait_ms( 1 );
  return(uart1_err);
}
 
/****/ 
void uart(void)
{
	 uart1test();	 /* execute the test */  
}