Main sensor driver

.gitignore

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+# --- 빌드 결과물 및 임시 파일만 철저히 무시 ---
+# 위치와 상관없이 아래 이름의 폴더나 확장자는 무시합니다.
+**/TriCore\ Debug\ (TASKING)/**
+**/Debug/**
+**/.ads/**
+
+*.o
+*.d
+*.elf
+*.hex
+*.map
+*.src
+*.lst
+*.pre
+*.err
+*.launch
+*.tmp
+
+# 개인 설정 파일
+.settings/
+.project
+.cproject

ACT/Servo_driver/Cpu0_Main.c

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+/**********************************************************************************************************************
+ * \file Cpu0_Main.c
+ *********************************************************************************************************************/
+#include "Ifx_Types.h"
+#include "IfxScuWdt.h"
+#include "IfxPort.h"
+#include "IfxStm.h"
+#include "IfxCpu.h"
+#include "uart_msg.h"
+#include "servo.h"
+#include "Bsp.h"
+#include <time.h>
+#include <stdlib.h>
+
+IfxCpu_syncEvent cpuSyncEvent = 0;
+
+#define BTN_PORT    &MODULE_P02
+#define BTN_PIN     1
+
+void send_random(void)
+{
+    int warning = rand() % 4;
+    int brake = rand() % 4;
+    int gear = rand() % 4;
+    int door = rand() % 2;
+    int driver = rand() % 4;
+    int speed = rand() % 10;
+    sendData(warning, brake, gear, door, driver, speed);
+}
+
+void core0_main(void)
+{
+    IfxCpu_enableInterrupts();
+
+    IfxScuWdt_disableCpuWatchdog(IfxScuWdt_getCpuWatchdogPassword());
+    IfxScuWdt_disableSafetyWatchdog(IfxScuWdt_getSafetyWatchdogPassword());
+
+    IfxCpu_emitEvent(&cpuSyncEvent);
+    IfxCpu_waitEvent(&cpuSyncEvent, 1);
+
+    Driver_Asc0_Init();
+    srand((unsigned int)IfxStm_getLower(&MODULE_STM0));
+
+    uint8 prevState = 0;
+    IfxPort_setPinModeInput(
+            BTN_PORT,
+            BTN_PIN,
+            IfxPort_InputMode_pullUp
+        );
+
+    Servo_Init();
+
+    while (1)
+    {
+        /*
+        // UART
+        uint8 currState = IfxPort_getPinState(BTN_PORT, BTN_PIN);
+
+        if (prevState == 1 && currState == 0)
+        {
+            waitTime(IfxStm_getTicksFromMilliseconds(BSP_DEFAULT_TIMER, 20));
+
+            if (IfxPort_getPinState(BTN_PORT, BTN_PIN) == 0)
+            {
+                send_random();
+
+                while (IfxPort_getPinState(BTN_PORT, BTN_PIN) == 0)
+                {
+                }
+            }
+        }
+
+        prevState = currState;
+        */
+        // Servo
+        uint8 currState = IfxPort_getPinState(BTN_PORT, BTN_PIN);
+        if (prevState == 1 && currState == 0)
+        {
+            if (IfxPort_getPinState(BTN_PORT, BTN_PIN) == 0)
+            {
+                if (get_break_state() == 1){
+                    break_off();
+                }
+                else{
+                    break_on();
+                }
+                while (IfxPort_getPinState(BTN_PORT, BTN_PIN) == 0)
+                {
+                }
+            }
+        }
+
+        break_update();
+
+        prevState = currState;
+    }
+}

ACT/Servo_driver/README.md

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+# Servo Driver 사용법  
+
+1. 시작할 때 Servo_Init() 호출
+2. 브레이크를 걸 때 break_on() 호출
+3. 브레이크를 해제할 때 break_off() 호출
+4. 메인 루프나 주기 함수에서 break_update()를 계속 호출
+5. 현재 상태 확인이 필요하면 get_break_state() 사용
+
+```
+Servo_Init();
+
+while (1)
+{
+    if (조건)
+        break_on();
+    else
+        break_off();
+
+    break_update();
+}
+```

ACT/Servo_driver/servo.c

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+/**********************************************************************************************************************
+ * \file servo.c
+ * \copyright Copyright (C) Infineon Technologies AG 2019
+ * 
+ * Use of this file is subject to the terms of use agreed between (i) you or the company in which ordinary course of 
+ * business you are acting and (ii) Infineon Technologies AG or its licensees. If and as long as no such terms of use
+ * are agreed, use of this file is subject to following:
+ * 
+ * Boost Software License - Version 1.0 - August 17th, 2003
+ * 
+ * Permission is hereby granted, free of charge, to any person or organization obtaining a copy of the software and 
+ * accompanying documentation covered by this license (the "Software") to use, reproduce, display, distribute, execute,
+ * and transmit the Software, and to prepare derivative works of the Software, and to permit third-parties to whom the
+ * Software is furnished to do so, all subject to the following:
+ * 
+ * The copyright notices in the Software and this entire statement, including the above license grant, this restriction
+ * and the following disclaimer, must be included in all copies of the Software, in whole or in part, and all 
+ * derivative works of the Software, unless such copies or derivative works are solely in the form of 
+ * machine-executable object code generated by a source language processor.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
+ * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE 
+ * COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN 
+ * CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS 
+ * IN THE SOFTWARE.
+ *********************************************************************************************************************/
+
+
+/*********************************************************************************************************************/
+/*-----------------------------------------------------Includes------------------------------------------------------*/
+/*********************************************************************************************************************/
+#include "servo.h"
+
+#include "IfxPort.h"
+#include "IfxStm.h"
+#include "Bsp.h"
+/*********************************************************************************************************************/
+/*------------------------------------------------------Macros-------------------------------------------------------*/
+/*********************************************************************************************************************/
+#define SERVO_PORT   &MODULE_P10
+#define SERVO_PIN    2
+
+#define SERVO_PERIOD_US         20000U
+#define SERVO_RIGHT_PULSE_US    750U
+#define SERVO_CENTER_PULSE_US   1500U
+/*********************************************************************************************************************/
+/*-------------------------------------------------Global variables--------------------------------------------------*/
+/*********************************************************************************************************************/
+static int break_state; // 1 = on, 0 = off
+/*********************************************************************************************************************/
+/*--------------------------------------------Private Variables/Constants--------------------------------------------*/
+/*********************************************************************************************************************/
+
+/*********************************************************************************************************************/
+/*------------------------------------------------Function Prototypes------------------------------------------------*/
+/*********************************************************************************************************************/
+
+/*********************************************************************************************************************/
+/*---------------------------------------------Function Implementations----------------------------------------------*/
+/*********************************************************************************************************************/
+static void Servo_DelayUs(uint32 us)
+{
+    waitTime(IfxStm_getTicksFromMicroseconds(BSP_DEFAULT_TIMER, us));
+}
+
+static void Servo_Hold(uint32 pulseUs, uint32 holdMs)
+{
+    uint32 repeat = holdMs / 20U;
+
+    for (uint32 i = 0; i < repeat; i++)
+    {
+        uint32 lowUs = SERVO_PERIOD_US - pulseUs;
+
+        IfxPort_setPinHigh(SERVO_PORT, SERVO_PIN);
+        Servo_DelayUs(pulseUs);
+
+        IfxPort_setPinLow(SERVO_PORT, SERVO_PIN);
+        Servo_DelayUs(lowUs);
+    }
+}
+
+void Servo_Init(void)
+{
+    break_state = 0;
+    IfxPort_setPinModeOutput(
+        SERVO_PORT,
+        SERVO_PIN,
+        IfxPort_OutputMode_pushPull,
+        IfxPort_OutputIdx_general
+    );
+
+    IfxPort_setPinLow(SERVO_PORT, SERVO_PIN);
+
+    Servo_Hold(SERVO_CENTER_PULSE_US, 500);
+}
+
+void break_update(void)
+{
+    if (break_state == 1)
+    {
+        Servo_Hold(SERVO_CENTER_PULSE_US, 20);
+    }
+    else
+    {
+        Servo_Hold(SERVO_RIGHT_PULSE_US, 20);
+    }
+}
+
+int get_break_state(void)
+{
+    return break_state;
+}
+
+void break_on(void)
+{
+    break_state = 1;
+}
+
+void break_off(void)
+{
+    break_state = 0;
+}

ACT/Servo_driver/servo.h

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+/**********************************************************************************************************************
+ * \file servo.h
+ * \copyright Copyright (C) Infineon Technologies AG 2019
+ * 
+ * Use of this file is subject to the terms of use agreed between (i) you or the company in which ordinary course of 
+ * business you are acting and (ii) Infineon Technologies AG or its licensees. If and as long as no such terms of use
+ * are agreed, use of this file is subject to following:
+ * 
+ * Boost Software License - Version 1.0 - August 17th, 2003
+ * 
+ * Permission is hereby granted, free of charge, to any person or organization obtaining a copy of the software and 
+ * accompanying documentation covered by this license (the "Software") to use, reproduce, display, distribute, execute,
+ * and transmit the Software, and to prepare derivative works of the Software, and to permit third-parties to whom the
+ * Software is furnished to do so, all subject to the following:
+ * 
+ * The copyright notices in the Software and this entire statement, including the above license grant, this restriction
+ * and the following disclaimer, must be included in all copies of the Software, in whole or in part, and all 
+ * derivative works of the Software, unless such copies or derivative works are solely in the form of 
+ * machine-executable object code generated by a source language processor.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
+ * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE 
+ * COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN 
+ * CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS 
+ * IN THE SOFTWARE.
+ *********************************************************************************************************************/
+
+
+/*********************************************************************************************************************/
+/*-----------------------------------------------------Includes------------------------------------------------------*/
+/*********************************************************************************************************************/
+#include "Ifx_Types.h"
+/*********************************************************************************************************************/
+/*------------------------------------------------------Macros-------------------------------------------------------*/
+/*********************************************************************************************************************/
+
+/*********************************************************************************************************************/
+/*-------------------------------------------------Global variables--------------------------------------------------*/
+/*********************************************************************************************************************/
+
+/*********************************************************************************************************************/
+/*--------------------------------------------Private Variables/Constants--------------------------------------------*/
+/*********************************************************************************************************************/
+
+/*********************************************************************************************************************/
+/*------------------------------------------------Function Prototypes------------------------------------------------*/
+/*********************************************************************************************************************/
+void Servo_Init(void);
+void Servo_Run(void);
+void break_on(void);
+void break_off(void);
+int get_break_state(void);
+/*********************************************************************************************************************/
+/*---------------------------------------------Function Implementations----------------------------------------------*/
+/*********************************************************************************************************************/