?? gpt1.c
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//****************************************************************************
// @Module General Purpose Timer Unit (GPT1)
// @Filename GPT1.C
// @Project can_configure.dav
//----------------------------------------------------------------------------
// @Controller Infineon XC164CS-16F20
//
// @Compiler Keil
//
// @Codegenerator 2.8
//
// @Description This file contains functions that use the GPT1 module.
//
//----------------------------------------------------------------------------
// @Date 2009-4-4 17:03:46
//
//****************************************************************************
// USER CODE BEGIN (GPT1_General,1)
//CAN屏蔽碼（1與驗證碼相同 0通過） 驗證碼正確
//CAN發送數據正常
//串口通訊正常
// USER CODE END
//****************************************************************************
// @Project Includes
//****************************************************************************
#include "MAIN.H"
// USER CODE BEGIN (GPT1_General,2)
// USER CODE END
//****************************************************************************
// @Macros
//****************************************************************************
// USER CODE BEGIN (GPT1_General,3)
// USER CODE END
//****************************************************************************
// @Defines
//****************************************************************************
// USER CODE BEGIN (GPT1_General,4)
// USER CODE END
//****************************************************************************
// @Typedefs
//****************************************************************************
// USER CODE BEGIN (GPT1_General,5)
// USER CODE END
//****************************************************************************
// @Imported Global Variables
//****************************************************************************
// USER CODE BEGIN (GPT1_General,6)
// USER CODE END
//****************************************************************************
// @Global Variables
//****************************************************************************
// USER CODE BEGIN (GPT1_General,7)
char id_select=0;
unsigned char id0=0,id1=0; //110h的計數器和111h的計數器
// USER CODE END
//****************************************************************************
// @External Prototypes
//****************************************************************************
// USER CODE BEGIN (GPT1_General,8)
// USER CODE END
//****************************************************************************
// @Prototypes Of Local Functions
//****************************************************************************
// USER CODE BEGIN (GPT1_General,9)
// USER CODE END
//****************************************************************************
// @Function void GPT1_vInit(void)
//
//----------------------------------------------------------------------------
// @Description This is the initialization function of the GPT1 function
// library. It is assumed that the SFRs used by this library
// are in its reset state.
//
//----------------------------------------------------------------------------
// @Returnvalue None
//
//----------------------------------------------------------------------------
// @Parameters None
//
//----------------------------------------------------------------------------
// @Date 2009-4-4
//
//****************************************************************************
// USER CODE BEGIN (Init,1)
// USER CODE END
void GPT1_vInit(void)
{
// USER CODE BEGIN (Init,2)
// USER CODE END
/// -----------------------------------------------------------------------
/// Configuration of Timer Block Prescaler 1:
/// -----------------------------------------------------------------------
/// - prescaler for timer block 1 is 8
/// -----------------------------------------------------------------------
/// Configuration of the GPT1 Core Timer 3:
/// -----------------------------------------------------------------------
/// - timer 3 works in timer mode
/// - external up/down control is disabled
/// - prescaler factor is 32
/// - up/down control bit is reset
/// - alternate output function T3OUT (P3.3) is disabled
/// - timer 3 output toggle latch (T3OTL) is set to 0
GPT12E_T3CON = 0x0002; // load timer 3 control register
GPT12E_T3 = 0xB1E0; // load timer 3 register
/// -----------------------------------------------------------------------
/// Configuration of the GPT1 Auxiliary Timer 2:
/// -----------------------------------------------------------------------
/// - timer 2 works in timer mode
/// - external up/down control is disabled
/// - prescaler factor is 32
/// - up/down control bit is reset
GPT12E_T2CON = 0x0002; // load timer 2 control register
GPT12E_T2 = 0xE796; // load timer 2 register
/// -----------------------------------------------------------------------
/// Configuration of the GPT1 Auxiliary Timer 4:
/// -----------------------------------------------------------------------
/// - timer 4 works in timer mode
/// - external up/down control is disabled
/// - prescaler factor is 8
/// - up/down control bit is reset
/// - timer 4 run bit is reset
GPT12E_T4CON = 0x0000; // load timer 4 control register
GPT12E_T4 = 0x0000; // load timer 4 register
/// -----------------------------------------------------------------------
/// Configuration of the used GPT1 Port Pins:
/// -----------------------------------------------------------------------
/// -----------------------------------------------------------------------
/// Configuration of the used GPT1 Interrupts:
/// -----------------------------------------------------------------------
/// timer 2 service request node configuration:
/// - timer 2 interrupt priority level (ILVL) = 9
/// - timer 2 interrupt group level (GLVL) = 1
/// - timer 2 group priority extension (GPX) = 0
GPT12E_T2IC = 0x0065;
/// timer 3 service request node configuration:
/// - timer 3 interrupt priority level (ILVL) = 11
/// - timer 3 interrupt group level (GLVL) = 1
/// - timer 3 group priority extension (GPX) = 0
GPT12E_T3IC = 0x006D;
// USER CODE BEGIN (GPT1_Function,3)
// USER CODE END
GPT12E_T2CON_T2R = 1; // set timer 2 run bit
GPT12E_T3CON_T3R = 1; // set timer 3 run bit
} // End of function GPT1_vInit
//****************************************************************************
// @Function void GPT1_viTmr3(void)
//
//----------------------------------------------------------------------------
// @Description This is the interrupt service routine for the GPT1 timer 3.
// It is called up in the case of over or underflow of the
// timer 3 register.
// If the incremental interface mode is selected it is called
// up if count edge or count direction was detected.
//
// Please note that you have to add application specific code
// to this function.
//
//----------------------------------------------------------------------------
// @Returnvalue None
//
//----------------------------------------------------------------------------
// @Parameters None
//
//----------------------------------------------------------------------------
// @Date 2009-4-4
//
//****************************************************************************
// USER CODE BEGIN (Tmr3,1)
int velocity=0;
// USER CODE END
void GPT1_viTmr3(void) interrupt T3INT
{
// USER CODE BEGIN (Tmr3,2)
unsigned char data0=0,data1=0,data2=0,data3=0,
data4=0,data5=0,data6=0,data7=0;
unsigned char check=0,velocityTemp=0;
int velocity=0;
// USER CODE END
// USER CODE BEGIN (Tmr3,5)
GPT12E_T3CON_T3R = 0;
if (id_select == 0)
{
CAN_MSGARL1 = 0x0000; // load arbitration register low
CAN_MSGARH1 = 0x0440; // load arbitration register high
data1=0xfd;
data2=0;
data3=0;
data4=0;
data5=rec_data[1];
data6=rec_data[2];
check=0x01+0x10+8+id0+data1+data2+data3+data4+data5+data6; /* data1：雷達工作模式
data2：全0
data3：全0
data4：全0
data5：轉彎半徑(H)
data6：轉彎半徑(L)
*/
CAN_MSGDRL10 = 0xFD00+id0;
CAN_MSGDRH10 = data2+(data3<<8);
CAN_MSGDRL14 = data4+(data5<<8);
CAN_MSGDRH14 = data6+(check<<8);
id_select = 1;
if (id0==255)
id0=0;
else
id0++;
}
else
{
CAN_MSGARL1 = 0x0000; // load arbitration register low
CAN_MSGARH1 = 0x0444; // load arbitration register high
velocityTemp= (rec_data[4]>>4)*10+(rec_data[4]&0x0f); //輸入0x15就是15km/h
if (rec_data[3] == 0x01)
velocity=-velocityTemp*256;
else
velocity=velocityTemp*256;
data1=velocity>>8;
data2=velocity;
data3=0;
data4=0;
data5=0;
data6=0;
check=0x01+0x11+8+id1+data1+data2+data3+data4+data5+data6; /* data1：車速(H)
data2：車速(L)
data3：全0
data4：全0
data5：全0
data6：全0
*/
CAN_MSGDRL10 = (data1<<8)+id1;
CAN_MSGDRH10 = data2+(data3<<8);
CAN_MSGDRL14 = data4+(data5<<8);
CAN_MSGDRH14 = data6+(check<<8);
id_select = 0;
if (id1==255)
id1=0;
else
id1++;
}
CAN_vTransmit(1);
GPT12E_T3 = 0xB1E0; // load timer 3 register
GPT12E_T3CON_T3R = 1;
// USER CODE END
} // End of function GPT1_viTmr3
//****************************************************************************
// @Function void GPT1_viTmr2(void)
//
//----------------------------------------------------------------------------
// @Description This is the interrupt service routine for the GPT1 timer 2.
// It is called up in the case of over or underflow of the
// timer 2 register.
// If the incremental interface mode is selected and the
// interrupt for this mode is not disabled it is called up if
// count edge or count direction was detected.
//
// Please note that you have to add application specific code
// to this function.
//
//----------------------------------------------------------------------------
// @Returnvalue None
//
//----------------------------------------------------------------------------
// @Parameters None
//
//----------------------------------------------------------------------------
// @Date 2009-4-4
//
//****************************************************************************
// USER CODE BEGIN (Tmr2,1)
unsigned char ii=1;
unsigned char count_send=0;
// USER CODE END
void GPT1_viTmr2(void) interrupt T2INT
{
// USER CODE BEGIN (Tmr2,2)
unsigned char j=0;
// USER CODE END
// USER CODE BEGIN (Tmr2,5)
GPT12E_T2CON_T2R =0;
while(!ASC0_ubTxDataReady());
ASC0_vSendData(0xaf);
switch(ii)
{
case 1:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data1[j]);
}
ii++;
break;
case 2:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data2[j]);
}
ii++;
break;
case 3:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data3[j]);
}
ii++;
break;
case 4:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data4[j]);
}
ii++;
break;
case 5:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data5[j]);
}
ii++;
break;
case 6:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data6[j]);
}
ii++;
break;
case 7:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data7[j]);
}
ii++;
break;
case 8:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data8[j]);
}
ii++;
break;
case 9:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data9[j]);
}
ii++;
break;
case 10:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data10[j]);
}
ii++;
break;
case 11:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data11[j]);
}
ii++;
break;
case 12:
for (j=0;j<9;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data12[j]);
}
ii++;
break;
case 13:
/* for (j=0;j<10;j++)
{
while(!ASC0_ubTxDataReady());
ASC0_vSendData(can_data13[j]);
} */
ii++;
break;
default: break;
}
//while(!ASC0_ubTxDataReady());
//ASC0_vSendData(0xbf);
// count_send++;
if ( ii == 13 ) ii=1;
GPT12E_T2 = 0xE796;
GPT12E_T2CON_T2R = 1;
// USER CODE END
} // End of function GPT1_viTmr2
// USER CODE BEGIN (GPT1_General,10)
// USER CODE END
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