#include <stdlib.h>
#include <string.h>

#include "def.h"
#include "option.h"
#include "2410addr.h"
#include "2410lib.h"
#include "2410slib.h"
#include "mmu.h"
#include "2410iic.h"


void Isr_Init(void);
void HaltUndef(void);
void HaltSwi(void);
void HaltPabort(void);
void HaltDabort(void);
void Led_Display(int data);
void PWM_Init(U16 cycle, U16 duty);
void Test_DC_Motor(void);
//如果函數無參數，卻又沒寫void,那么會出現編譯warning:Deprecated declaration Test_Step_Motor()-give arg types.


void PWM_Init(U16 cycle, U16 duty)
{
    // 參數過濾
    if(duty>cycle) duty = cycle;    
         
    // 設置定時器2,即PWM周期和占空比
    // Fclk=202.8MHz，時鐘分頻配置為1:2:4，即Pclk=50.7MHz。
	rTCFG0 = 255<<8;		// 預分頻器0設置為99，取得510204Hz
	rTCFG1 = rTCFG1&(0xFFFFF0FF)|(3<<8);			// TIMER2再取1/2分頻，取得255102Hz
	rTCMPB2 = duty;	    // 設置PWM占空比
	rTCNTB2 = cycle;	// 定時值(PWM周期)
	//if(rTCON&0x4000) rTCON = (1<<13);	    // 更新定時器2數據 (取反輸出inverter位)
	//else  rTCON = (1<<14)|(1<<13);			
	//rTCON = (1<<12)|(1<<15);		        // 啟動定時器2				  

    rTCON &= 0xffff0fff;
    rTCON = (1<<14)|(1<<13);
    rTCON &= 0xffff0fff;
    rTCON = (1<<15)|(1<<12);
}



//===================================================================
void Main(void)
{

  U16 pwm_duty;
  S8 flag;
     
    MMU_Init();
   
    ChangeClockDivider(1,1);          // 1:2:4    

    ChangeMPllValue(0xa1,0x3,0x1);    // FCLK=202.8MHz,PCLK=50.7MHZ  
    
    Port_Init();
    Isr_Init();

    Uart_Init(0,115200);
    Uart_Select(0);

    Uart_Printf("\n\n DC Motor TEST\n");
    
   // 設置GPB3為GPIO口
    rGPBCON = rGPBCON&(~(0x03<<6))|(0x01<<6); //設置GPB3為GPIO口
    rGPBDAT = rGPBDAT&(~(1<<3));              //設置GPB3為0電平   
    rGPBUP = rGPBUP|(1<<3);                   //禁止GPB3為上拉電阻  
   
   // TOUT2口設置
    rGPBCON = rGPBCON&(~(0x03<<4))|(0x02<<4);     // rGPBCON[5:4] = 10b，設置TOUT2功能    
    rGPBUP = rGPBUP|(1<<2);                           // 禁止TOUT2口的上拉電阻 
 
    Uart_Printf("\n S3C2410 test DC_Motor \n");
    pwm_duty = 3*255/4;              // 初始化占空比為3/4
    PWM_Init(255, pwm_duty);         
	Uart_Printf("\n pwmduty is %d/255! \n", pwm_duty);
	while(1)
	{	
        Uart_Printf("\n Please enter 't' to adjust the speed of dc motor (4 level): \n");
        
        flag = Uart_Getch();  // 接收用戶通過DNW傳入的參數.
        
	    if (flag=='t')
	    {
			Uart_Printf("\n the char entered is 't' ! \n");
			pwm_duty = pwm_duty + 255/4;  // 改變當前電機的速度級別
			
			if(pwm_duty>255) 
			{   
		 	   pwm_duty = 3*255/4; 		    
			}
			Uart_Printf("\n pwmduty is %d/255! \n", pwm_duty);
			rTCMPB2 = pwm_duty;		
	    }

    }	

	
}

//===================================================================
//Active is low.(LED On)
// GPF7  GPF6   GPF5   GPF4
//nLED_1 nLED2 nLED_4 nLED_3
void Led_Display(int data)
{
//    rGPFDAT = (rGPFDAT & 0xf) | !((data & 0xf)<<4);
    rGPFDAT = (rGPFDAT & ~(0xf<<4)) | ((~data & 0xf)<<4);    
}


//===================================================================
void Isr_Init(void)
{
    pISR_UNDEF  = (unsigned)HaltUndef;
    pISR_SWI    = (unsigned)HaltSwi;
    pISR_PABORT = (unsigned)HaltPabort;
    pISR_DABORT = (unsigned)HaltDabort;
    
    rINTMOD     = 0x0;                     //All=IRQ mode
    rINTMSK     = BIT_ALLMSK;              //All interrupt is masked.
    rINTSUBMSK  = BIT_SUB_ALLMSK;          //All sub-interrupt is masked. <- April 01, 2002 SOP

}

//===================================================================
void HaltUndef(void)
{
    Uart_Printf("Undefined instruction exception.\n");
    while(1);
}

//===================================================================
void HaltSwi(void)
{
    Uart_Printf("SWI exception.\n");
    while(1);
}

//===================================================================
void HaltPabort(void)
{
    Uart_Printf("Pabort exception.\n");
    while(1);
}

//===================================================================
void HaltDabort(void)
{
    Uart_Printf("Dabort exception.\n");
    while(1);
}