智能车学习日记（三）PIT_demo

pit是定时器中断，每经过一段规定的时间发生中断，其中中断服务函数写在isr.c文件中，中断优先级规定写在isr_config.h中
zf_ccu6_pit.c

//-------------------------------------------------------------------------------------------------------------------
//  @brief      pit初始化
//  @param      ccu6n           选择CCU6模块(CCU6_0、CCU6_1)
//  @param      pit_ch          选择通道(PIT_CH0、PIT_CH1)
//  @param      time            周期时间
//  @return     void
//  @note						请使用.h文件中 带时间单位的宏定义函数
//  Sample usage:				pit_init(CCU6_0, PIT_CH0, 5000);	//设置周期中断5000us
//-------------------------------------------------------------------------------------------------------------------
void pit_init(CCU6N_enum ccu6n, CCU6_CHN_enum pit_ch, uint32 time)
{
	uint8 i;
	volatile Ifx_CCU6 *module;
	uint64 timer_input_clk;
	IfxCcu6_Timer g_Ccu6Timer;
	IfxCcu6_Timer_Config timerConfig;
	uint32 timer_period;

	boolean interrupt_state = disableInterrupts();

	module = IfxCcu6_getAddress((IfxCcu6_Index)ccu6n);

	IfxCcu6_Timer_initModuleConfig(&timerConfig, module);



	timer_input_clk = IfxScuCcu_getSpbFrequency();
	i = 0;
	while(i<16)
	{
		timer_period = (uint32)(timer_input_clk * time / 1000000);
		if(timer_period < 0xffff)	break;
		timer_input_clk >>= 1;
		i++;
	}
	if(16 <= i)	IFX_ASSERT(IFX_VERBOSE_LEVEL_ERROR, FALSE);


	switch(ccu6n)
	{
		case CCU6_0:
		{
			if(PIT_CH0 == pit_ch)
			{
				timerConfig.interrupt1.typeOfService  = CCU6_0_CH0_INT_SERVICE;
				timerConfig.interrupt1.priority       = CCU6_0_CH0_ISR_PRIORITY;
			}
			else
			{

				timerConfig.interrupt2.typeOfService  = CCU6_0_CH1_INT_SERVICE;
				timerConfig.interrupt2.priority       = CCU6_0_CH1_ISR_PRIORITY;
			}
		}break;

		case CCU6_1:
		{
			if(PIT_CH0 == pit_ch)
			{
				timerConfig.interrupt1.typeOfService  = CCU6_1_CH0_INT_SERVICE;
				timerConfig.interrupt1.priority       = CCU6_1_CH0_ISR_PRIORITY;
			}
			else
			{
				timerConfig.interrupt2.typeOfService  = CCU6_1_CH1_INT_SERVICE;
				timerConfig.interrupt2.priority       = CCU6_1_CH1_ISR_PRIORITY;
			}
		}break;
	}

	if(PIT_CH0 == pit_ch)
	{
		timerConfig.timer = IfxCcu6_TimerId_t12;
		timerConfig.interrupt1.source         = IfxCcu6_InterruptSource_t12PeriodMatch;
		timerConfig.interrupt1.serviceRequest = IfxCcu6_ServiceRequest_1;
		timerConfig.base.t12Period 			  = timer_period;
		timerConfig.base.t12Frequency 		  = (float)timer_input_clk;
		timerConfig.clock.t12countingInputMode = IfxCcu6_CountingInputMode_internal;
	}
	else
	{
		timerConfig.timer = IfxCcu6_TimerId_t13;
		timerConfig.interrupt2.source         = IfxCcu6_InterruptSource_t13PeriodMatch;
		timerConfig.interrupt2.serviceRequest = IfxCcu6_ServiceRequest_2;
		timerConfig.base.t13Period 			  = timer_period;
		timerConfig.base.t13Frequency 		  = (float)timer_input_clk;
		timerConfig.clock.t13countingInputMode = IfxCcu6_CountingInputMode_internal;
	}
    timerConfig.timer12.counterValue = 0;
    timerConfig.timer13.counterValue = 0;
    timerConfig.trigger.t13InSyncWithT12 = FALSE;

    IfxCcu6_Timer_initModule(&g_Ccu6Timer, &timerConfig);

	restoreInterrupts(interrupt_state);

	IfxCcu6_setSuspendMode(module, IfxCcu6_SuspendMode_hard);
	IfxCcu6_Timer_start(&g_Ccu6Timer);
}

//-------------------------------------------------------------------------------------------------------------------
//  @brief      pit关闭
//  @param      ccu6n           选择CCU6模块(CCU6_0、CCU6_1)
//  @param      pit_ch          选择通道(PIT_CH0、PIT_CH1)
//  @return     void
//  @note
//  Sample usage:				pit_close(CCU6_0, PIT_CH0);	//关闭CCU60 通道0的计时器
//-------------------------------------------------------------------------------------------------------------------
void pit_close(CCU6N_enum ccu6n, CCU6_CHN_enum pit_ch)
{
	volatile Ifx_CCU6 *module;
	IfxCcu6_Timer g_Ccu6Timer;

	module = IfxCcu6_getAddress((IfxCcu6_Index)ccu6n);

	g_Ccu6Timer.ccu6 = module;
	g_Ccu6Timer.timer = (IfxCcu6_TimerId)(pit_ch);

	IfxCcu6_Timer_stop(&g_Ccu6Timer);
}

//-------------------------------------------------------------------------------------------------------------------
//  @brief      pit开始
//  @param      ccu6n           选择CCU6模块(CCU6_0、CCU6_1)
//  @param      pit_ch          选择通道(PIT_CH0、PIT_CH1)
//  @return     void
//  @note
//  Sample usage:				pit_start(CCU6_0, PIT_CH0);	//打开CCU60 通道0的计时器
//-------------------------------------------------------------------------------------------------------------------
void pit_start(CCU6N_enum ccu6n, CCU6_CHN_enum pit_ch)
{
	volatile Ifx_CCU6 *module;
	IfxCcu6_Timer g_Ccu6Timer;

	module = IfxCcu6_getAddress((IfxCcu6_Index)ccu6n);

	g_Ccu6Timer.ccu6 = module;
	g_Ccu6Timer.timer = (IfxCcu6_TimerId)(pit_ch);

	IfxCcu6_Timer_start(&g_Ccu6Timer);
}

//-------------------------------------------------------------------------------------------------------------------
//  @brief      禁止pit中断
//  @param      ccu6n           选择CCU6模块(CCU6_0、CCU6_1)
//  @param      pit_ch          选择通道(PIT_CH0、PIT_CH1)
//  @return     void
//  @note
//  Sample usage:				pit_disable_interrupt(CCU6_0, PIT_CH0);	//禁止CCU60 通道0的中断
//-------------------------------------------------------------------------------------------------------------------
void pit_disable_interrupt(CCU6N_enum ccu6n, CCU6_CHN_enum pit_ch)
{
	volatile Ifx_CCU6 *module;
	module = IfxCcu6_getAddress((IfxCcu6_Index)ccu6n);
	IfxCcu6_disableInterrupt(module, pit_ch * 2 + 7);
}

//-------------------------------------------------------------------------------------------------------------------
//  @brief      使能pit中断
//  @param      ccu6n           选择CCU6模块(CCU6_0、CCU6_1)
//  @param      pit_ch          选择通道(PIT_CH0、PIT_CH1)
//  @return     void
//  @note
//  Sample usage:				pit_enable_interrupt(CCU6_0, PIT_CH0);	//开启CCU60 通道0的中断
//-------------------------------------------------------------------------------------------------------------------
void pit_enable_interrupt(CCU6N_enum ccu6n, CCU6_CHN_enum pit_ch)
{
	volatile Ifx_CCU6 *module;
	module = IfxCcu6_getAddress((IfxCcu6_Index)ccu6n);
	IfxCcu6_enableInterrupt(module, pit_ch * 2 + 7);
}

主函数：

int core0_main(void)
{
	disableInterrupts();
	get_clk();//获取时钟频率  务必保留

    //用户在此处调用各种初始化函数等
	//使用CCU6_0模块的通道0 产生一个 100ms的周期中断
	pit_interrupt_ms(CCU6_0, PIT_CH0, 100);


	//中断函数在isr.c中 函数名称为cc60_pit_ch0_isr
	//中断相关的配置参数在isr_config.h内
	//可配置参数有 CCU6_0_CH0_INT_SERVICE 和 CCU6_0_CH0_ISR_PRIORITY
	//CCU6_0_CH0_INT_SERVICE 中断服务者
	//CCU6_0_CH0_ISR_PRIORITY 中断优先级 优先级范围1-255 越大优先级越高 与平时使用的单片机不一样

	//需要特备注意的是  不可以有优先级相同的中断函数 每个中断的优先级都必须是不一样的
    enableInterrupts();

    while (TRUE)
    {
		//程序运行之后 PIT中断每执行一次就会打印一次
        //将结果通过串口打印，可以先学习printf例程，了解如何使用printf
    }
}

中断服务函数：

uint16 time;
IFX_INTERRUPT(cc60_pit_ch0_isr, 0, CCU6_0_CH0_ISR_PRIORITY)
{
	enableInterrupts();//开启中断嵌套
	PIT_CLEAR_FLAG(CCU6_0, PIT_CH0);
    time++;
	printf("pit count: %d\n", time);
}

结果是每隔100ms将times(即发生中断的次数)输出