root/branch/daval/bsp/radiocommande.c @ 381
| 2 | jalaffon | /***********************************************************************/
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/* */
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/* FILE :radiocommande.c */
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/* DATE :Mon, Feb 13, 2006 */
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/* DESCRIPTION : measure 6 channels on the receiver */
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/* CPU GROUP :62P */
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/* */
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/* This file is generated by Renesas Project Generator (Ver.4.5). */
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/* */
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/***********************************************************************/
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#ifdef M32C87
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#include "sfr32c87.h"
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#endif
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#ifdef M32C83
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#include "sfr32c83.h"
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#endif
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#include <itron.h>
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#include <kernel.h>
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#include "kernel_id.h"
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//function's prototypes declaration
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int canal[7];
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int canal_ok;
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void capture_init(void)
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{
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prc2 = 1; //unprotect writing in pd9 register
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pd9_0 = 0;
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prc2=0;
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ps3_3=0;
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psl3_3=0;
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tb0mr = 0x4A; //timer B0 in duration measurement mode with f8
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tb0ic = 0x07; //enable timer B0 interrupt at level x
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tb0s = 1; //start timer B0
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canal_ok=0;
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}
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void mesure(void)
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{
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static char k=-1;
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static int flag=0;
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unsigned int tpulse;
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int val;
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tpulse=tb0>>1; // Pulse time
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if (tpulse<400) { // Too short pulse
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k=-1;
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canal_ok=0;
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return;
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}
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if (tpulse>10000) // Synchro pulse
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{
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k=0; // Return to canal 0
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return;
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}
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if (k==(char) -1) // Not synchronised
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return; // Nothing to do
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if (!(k & 0x01)) // 500us High pulse
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if (tpulse>600) {
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k=-1; // Invalidate mesure and wait a new synchro
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canal_ok=0;
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return;
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}
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if (k & 0x01) // Pulse timing
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canal[k>>1]=tpulse-1360; // 1360 neutral zone
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k++;
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if (k>11) {// Last canal
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k=-1;
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canal_ok=1;
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}
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}
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