配置SCI
配置引脚，支持中断+FIFO
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| void initSCIAFIFO(void)
{
GPIO_setMasterCore(43, GPIO_CORE_CPU1);
GPIO_setPinConfig(GPIO_43_SCIRXDA);
GPIO_setDirectionMode(43, GPIO_DIR_MODE_IN);
GPIO_setPadConfig(43, GPIO_PIN_TYPE_STD);
GPIO_setQualificationMode(43, GPIO_QUAL_ASYNC);
GPIO_setMasterCore(42, GPIO_CORE_CPU1);
GPIO_setPinConfig(GPIO_42_SCITXDA);
GPIO_setDirectionMode(42, GPIO_DIR_MODE_OUT);
GPIO_setPadConfig(42, GPIO_PIN_TYPE_STD);
GPIO_setQualificationMode(42, GPIO_QUAL_ASYNC);
SCI_disableModule(SCIA_BASE);
SCI_performSoftwareReset(SCIA_BASE);
SCI_setConfig(SCIA_BASE, DEVICE_LSPCLK_FREQ, 115200,
(SCI_CONFIG_WLEN_8 | SCI_CONFIG_STOP_ONE | SCI_CONFIG_PAR_NONE));
SCI_enableFIFO(SCIA_BASE);
SCI_resetTxFIFO(SCIA_BASE);
SCI_setFIFOInterruptLevel(SCIA_BASE, SCI_FIFO_TX8, SCI_FIFO_RX4);
SCI_enableModule(SCIA_BASE);
}
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全局中断配置，在main函数里边初始化中断
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| void main(void)
{
Device_init();
Device_initGPIO();
Board_init();
initSCIAFIFO();
Interrupt_initModule();
Interrupt_initVectorTable();
Interrupt_register(INT_SCIA_TX, sciaTXFIFOISR);
Interrupt_enable(INT_SCIA_TX);
......
}
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实现发送中断服务函数，跟阻塞式发送不一样的是，我们需要使用非阻塞式接口：SCI_writeCharNonBlocking
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| __interrupt void sciaTXFIFOISR(void)
{
while((txBufferIndex < txDataCount) && (SCI_getTxFIFOStatus(SCIA_BASE) != SCI_FIFO_TX15))
{
SCI_writeCharNonBlocking(SCIA_BASE, txBuffer[txBufferIndex++]);
}
if((txBufferIndex >= txDataCount) && (SCI_getTxFIFOStatus(SCIA_BASE) == SCI_FIFO_TX0))
{
isTransmitting = false;
SCI_disableInterrupt(SCIA_BASE, SCI_INT_TXFF);
}
SCI_clearInterruptStatus(SCIA_BASE, SCI_INT_TXFF);
Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
}
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JustFloat
自定义单帧数据类型：Float类型数据，使用union是为了方便通过uint16_t的方式进行序列化
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#define TX_BUFFER_SIZE 32
#define CH_COUNT 5
#define PI 3.14159265358979323846f
typedef union {
float DataFloat;
uint16_t DataUint16[2];
} FloatUnion;
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实现单帧数据的发送：确保帧尾能对的上，每一次发送都要发送使能中断，第一次需要手动触发发送中断
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| void SCIA_sendFrame(float chn1, float chn2, float chn3, float chn4, float chn5)
{
while(isTransmitting) { }
FloatUnion data[CH_COUNT];
data[0].DataFloat = chn1;
data[1].DataFloat = chn2;
data[2].DataFloat = chn3;
data[3].DataFloat = chn4;
data[4].DataFloat = chn5;
txBufferIndex = 0;
txDataCount = 0;
int i;
for(i = 0; i < CH_COUNT; i++)
{
txBuffer[txDataCount++] = (uint8_t)(data[i].DataUint16[0] & 0xFF);
txBuffer[txDataCount++] = (uint8_t)((data[i].DataUint16[0] >> 8) & 0xFF);
txBuffer[txDataCount++] = (uint8_t)(data[i].DataUint16[1] & 0xFF);
txBuffer[txDataCount++] = (uint8_t)((data[i].DataUint16[1] >> 8) & 0xFF);
}
txBuffer[txDataCount++] = 0x00;
txBuffer[txDataCount++] = 0x00;
txBuffer[txDataCount++] = 0x80;
txBuffer[txDataCount++] = 0x7F;
isTransmitting = true;
txBufferIndex = 0;
SCI_enableInterrupt(SCIA_BASE, SCI_INT_TXFF);
while((txBufferIndex < txDataCount) && (SCI_getTxFIFOStatus(SCIA_BASE) != SCI_FIFO_TX15))
{
SCI_writeCharNonBlocking(SCIA_BASE, txBuffer[txBufferIndex++]);
}
}
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模拟数据
我们来实现模拟数据
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float angle = 0.0f;
while(1)
{
float normalized_angle = normalize_angle(angle);
float sin_val;
float cos_val;
sin_val = limit_range(sinf(normalized_angle), -1.0f, 1.0f);
cos_val = limit_range(cosf(normalized_angle*2), -1.0f, 1.0f);
SCIA_sendFrame(angle, round_to_2_decimal(sin_val), round_to_2_decimal(sin_val+cos_val),
limit_range(round_to_2_decimal(sin_val * cos_val), -1.0f, 1.0f),
limit_range(round_to_2_decimal(cos_val * cos_val), 0.0f, 1.0f));
angle += 0.1f;
DEVICE_DELAY_US(10);
}
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值得一提的是，三角函数它是通过查表法来实现的，angle值太大会有误差，我们需要设计归一化函数
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float normalize_angle(float angle)
{
const float two_pi = 2.0f * PI;
float normalized = fmodf(angle, two_pi);
if(normalized < -PI) normalized += two_pi;
if(normalized > PI) normalized -= two_pi;
return normalized;
}
float round_to_2_decimal(float value)
{
const float factor = 100.0f;
float temp = value * factor;
if(temp >= 0.0f) {
temp = floorf(temp + 0.5f);
} else {
temp = ceilf(temp - 0.5f);
}
if(fabsf(temp) < 1e-6f) {
return 0.0f;
}
return temp / factor;
}
float limit_range(float value, float min, float max)
{
if(value > max) return max;
if(value < min) return min;
return value;
}
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运行效果
VOFA+的实时运行效果：显示5个通道的波形数据
