// TI File $Revision: /main/3 $
// Checkin $Date: August 2, 2006   13:51:10 $
//###########################################################################
//
// FILE:	DSP280x_Sci.c
//
// TITLE:	DSP280x SCI Initialization & Support Functions.
//
//###########################################################################
// $TI Release: DSP280x, DSP2801x Header Files V1.41 $
// $Release Date: August 7th, 2006 $
//###########################################################################

#include "DSP280x_Device.h"     // DSP280x Headerfile Include File
#include "DSP280x_Examples.h"   // DSP280x Examples Include File
//---------------------------------------------------------------------------
extern Uint16 Uart_err_flag,Uart_err_count,UART_COUNT;
extern Uint16 S90_DSP_V;//S90電馬達速度
extern Uint16 run_start_flag,run_start_count;
extern Uint16 rqd_temp;//run_start_flag
// Global variables
extern Uint16 sdataA;
extern Uint16 rdataA[4];    // Received data for SCI-A
extern Uint16 txdaddr,TXD_FLAG;
interrupt void sciaTxFifoIsr(void);
interrupt void sciaRxFifoIsr(void);
interrupt void scibTxFifoIsr(void);
interrupt void scibRxFifoIsr(void);
void scia_fifo_init(void);
void scib_fifo_init(void);
void error(void);
//--------------------------------------------------------------------------
#define CPU_FREQ 	150E6
#define SCI_FREQ 	100E3
#define SCI_PRD 	CPU_FREQ/(SCI_FREQ*8)
Uint16 temp11,temp22;
//---------------------------------------------------------------------------
// InitSci: 
//---------------------------------------------------------------------------
// This function initializes the SCI(s) to a known state.
//
void InitSci(void)
{
	// Initialize SCI-A:

	//tbd...
	scia_fifo_init();
 	InitSciaGpio();
// ISR functions found within this file.  
   EALLOW;	// This is needed to write to EALLOW protected registers
   PieVectTable.SCIRXINTA = &sciaRxFifoIsr;
   EDIS;   // This is needed to disable write to EALLOW protected registers 
   // Enable interrupts required for this example
   PieCtrlRegs.PIECTRL.bit.ENPIE = 1;   // Enable the PIE block
   PieCtrlRegs.PIEIER9.bit.INTx1=1;     // PIE Group 9, INT1
   IER |= 0x100;
	// Initialize SCI-B:

	//tbd...
}	

//---------------------------------------------------------------------------
// Example: InitSciGpio: 
//---------------------------------------------------------------------------
// This function initializes GPIO pins to function as SCI pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.  
// 
// Caution: 
// Only one GPIO pin should be enabled for SCITXDA/B operation.
// Only one GPIO pin shoudl be enabled for SCIRXDA/B operation. 
// Comment out other unwanted lines.

void InitSciaGpio()
{
   EALLOW;

/* Enable internal pull-up for the selected pins */
// Pull-ups can be enabled or disabled disabled by the user.  
// This will enable the pullups for the specified pins.

	GpioCtrlRegs.GPAPUD.bit.GPIO28 = 0;    // Enable pull-up for GPIO28 (SCIRXDA)
	GpioCtrlRegs.GPAPUD.bit.GPIO29 = 0;	   // Enable pull-up for GPIO29 (SCITXDA)

/* Set qualification for selected pins to asynch only */
// Inputs are synchronized to SYSCLKOUT by default.  
// This will select asynch (no qualification) for the selected pins.

	GpioCtrlRegs.GPAQSEL2.bit.GPIO28 = 3;  // Asynch input GPIO28 (SCIRXDA)

/* Configure SCI-A pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be SCI functional pins.

	GpioCtrlRegs.GPAMUX2.bit.GPIO28 = 1;   // Configure GPIO28 for SCIRXDA operation
	GpioCtrlRegs.GPAMUX2.bit.GPIO29 = 1;   // Configure GPIO29 for SCITXDA operation
	
    EDIS;
}

//---------------------------------------------------------------------------
interrupt void sciaRxFifoIsr(void)
{   
//Uint16 temp1,temp2;
    rdataA[txdaddr]=SciaRegs.SCIRXBUF.all; 
	if(txdaddr<3)
	{
    txdaddr++; 
      } 
    else
    {
	temp11=CRC16(rdataA, 2);
    temp22=(rdataA[2]<<8)+(rdataA[3]&0xff);
    if(temp11!=temp22)
	{
	Uart_err_flag=1;
	Uart_err_count++;
	}
	else
	{//led
	UART_COUNT++;
	if(UART_COUNT>3)
	UART_COUNT=0; 
	Uart_err_flag=0;
	}
    }     
   //---------------
	PieCtrlRegs.PIEACK.all|=0x100;       // Issue PIE ack
}

void scia_fifo_init()										
{
   SciaRegs.SCICCR.all =0x0007;   // 1 stop bit,  No loopback 
                                  // No parity,8 char bits,
                                  // async mode, idle-line protocol
   SciaRegs.SCICTL1.all =0x0003;  // enable TX, RX, internal SCICLK, 
                                  // Disable RX ERR, SLEEP, TXWAKE
   SciaRegs.SCICTL2.bit.TXINTENA =0;
   SciaRegs.SCICTL2.bit.RXBKINTENA =1;
   SciaRegs.SCIHBAUD = 0x0001;
   SciaRegs.SCILBAUD = 0x88;
   SciaRegs.SCICCR.bit.LOOPBKENA =0; // Enable loop back  
   //SciaRegs.SCIFFTX.all=0xC028;
   //SciaRegs.SCIFFRX.all=0x0028;
   //SciaRegs.SCIFFCT.all=0x00;

   SciaRegs.SCICTL1.all =0x0023;     // Relinquish SCI from Reset 
   //SciaRegs.SCIFFTX.bit.TXFIFOXRESET=1;
   //SciaRegs.SCIFFRX.bit.RXFIFORESET=1;	 
           //-----地址模式---
   //SciaRegs.SCICTL1.bit.TXWAKE=1;
   //SciaRegs.SCICTL1.bit.SLEEP=1;
   //SciaRegs.SCICCR.bit.ADDRIDLE_MODE=1;   									    									    									
}  

//===========================================================================
// End of file.
//===========================================================================