Dmitry Kovalev
n
Diff: commandset.c
- Revision:
- 0:8ad47e2b6f00
- Child:
- 1:f2adcae3d304
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/commandset.c Sat Jan 30 13:00:39 2016 +0000
@@ -0,0 +1,916 @@
+#include <string.h>
+#include "commandset.h"
+#include "el_lin.h"
+#include "CyclesSync.h"
+#include "CntrlGLD.h"
+#include "InputOutput.h"
+#include "Parameters.h"
+
+#define COMMAND_DEBUG
+
+//++++++++++++++++debug++++++++++++++++
+extern uint32_t In_Flag;
+unsigned char BuffTemp1[100];
+//e. +++++++++++++++++++ variables +++++++++++++++++++++++++++++++++++++++++++ //r. +++++++++++++++++++ ïåðåìåííûå +++++++++++++++++++++++++++++++++++++++++++
+uint32_t CMD_Mode = 0; //e. operation mode of the device //r. ðåæèì ðàáîòû óñòðîéñòâà
+uint32_t CMD_Code; //e. full code of the last recieved command //r. ïîëíûé êîä ïîñëåäíåé ïðèíÿòîé êîìàíäû
+uint32_t wrk_period; //e. run period in cycles //r. ðàáî÷èé ïåðèîä â öèêëàõ
+uint32_t blt_in_test;
+
+ int32_t ScopeMode; //e. mode of display for a control point of an scope //r. ðåæèì îòîáðàæåíèÿ äëÿ êîíòðîëüíîé òî÷êè îñöèëëîãðàôà
+
+
+void SetSpeedPeriod(void) //e.============ procedure of set of rate and periodicity of answer ======== //r.============ ïðîöåäóðà óñòàíîâêè ñêîðîñòè è ïåðèîäè÷íîñòè îòâåòà ========
+{
+ if ((rcv_buf[3] & 0x0080) != 0) //e. is periodic data transmission needed? //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à òðóáóåòñÿ?
+ {
+ trm_cycl = 1; //e. yes, set present flag //r. äà, óñòàíîâèòü äàííûé ôëàã
+ }
+ else
+ {
+ trm_cycl = 0; //e. no, reset present flag //r. íåò, ñáðîñèòü äàííûé ôëàã
+ }
+
+ SRgR &= 0xffcf; //e. clear the bit of transfer rate //r. î÷èñòêà áèò ñêîðîñòè ïåðåäà÷è
+ trm_rate = (rcv_buf[3] >> 1) & 0x0030;
+ SRgR |= trm_rate; //e. set present transfer rate //r. óñòàíîâèòü äàííóþ ñêîðîñòü ïåðåäà÷è
+} // SetSpeedPeriod
+
+
+void B_Delta_BINS(void) //r.===ïðîöåäóðà âûäà÷è íàêîïëåííûõ ðàçíîñòåé ñ÷åò÷èêîâ èìïóëüñîâ â ÈÍÑ â ôîðìàòå 14.18
+{
+ Valid_Data = 0; // reset all bits of status word
+
+ num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü 2 ïàðàìåòðà
+ addr_param[0] = &Output.Str.BINS_dif; //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà
+ addr_param[1] = &Valid_Data; //e. set the second paremeter address //r. çàäàòü àäðåñ âòîðîãî ïàðàìåòðà
+ size_param[0] = 4; //e. the length of the 1st parameter is 4 bytes //r. ïàðàìåòð 1 èìåeò äëèíó 4 áàéòà
+ size_param[1] = 1; //e. the length of the 2nd parameter is 1 byte (!! - the high byte, instead of low is transmitted) //r. ïàðàìåòð 2 èìååò äëèíó 1 áàéò (!!! ïåðåäàåòñÿ ñòàðøèé áàéò, à íå ìëàäøèé)
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+
+} // B_Delta_BINS
+
+void B_Delta_SF(void) //r.=== ïðîöåäóðà äëÿ èçìåðåíèÿ ìàñøòàáíîãî ìíîæèòåëÿ
+{
+ //e. time for data transfer has come, we work only with dither counters //r. ïðèøëî âðåìÿ ïåðåäàâàòü äàííûå, ðàáîòàåì òîëüêî ñ âèáðî-ñ÷åò÷èêàìè
+ RgConB = RATE_VIBRO_1; //e. set in the additional register of device control the mode of work with dither counters and the filter of moving average //r. óñòàíàâëèâàåì â äîïîëíèòåëüíîì ðåãèñòðå óïðàâëåíèÿ ðåæèì ðàáîòû ñ âèáðîñ÷åò÷èêàìè è ôèëüòðîì ñêîëüçÿùåãî ñðåäíåãî
+
+ Valid_Data = 0; // reset all bits of status word
+
+ num_of_par = 5;//8; //e. 8 parameters output //r. âûâîäèòü 8 ïàðàìåòðà
+ addr_param[0] = &Output.Str.SF_dif; //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà
+ addr_param[1] = &Out_main_cycle_latch; //e. set the second paremeter address //r. çàäàòü àäðåñ âòîðîãî ïàðàìåòðà
+ addr_param[2] = &Out_T_latch;//F_ras;
+ addr_param[3] = &Output.Str.WP_reg;
+ addr_param[4] = &Output.Str.Tmp_Out;
+ size_param[0] = 8; //e. the length of the 1st parameter is 4 bytes //r. ïàðàìåòð 1 èìåeò äëèíó 4 áàéòà
+ size_param[1] = 4; //e. the length of the 2nd parameter is 1 byte (!! - the high byte, instead of low is transmitted) //r. ïàðàìåòð 2 èìååò äëèíó 1 áàéò (!!! ïåðåäàåòñÿ ñòàðøèé áàéò, à íå ìëàäøèé)
+ size_param[2] = 2;
+ size_param[3] = 2;
+ size_param[4] = 12;
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+} // B_Delta_SF
+
+void B_Delta_PS_execution(void)
+{
+ static void * paramTable[11] = {&(Output.Str.F_ras) , &(Output.Str.HF_reg), &(Output.Str.T_Vibro), &(Output.Str.L_Vibro), &(Output.Str.WP_reg), &(Output.Str.Tmp_Out[0]), &(Output.Str.Tmp_Out[1]), &(Output.Str.Tmp_Out[2]), &(Output.Str.Tmp_Out[3]), &(Output.Str.Tmp_Out[4]), &(Output.Str.Tmp_Out[5])};
+ static uint32_t val, paramTmpWord;
+ static uint32_t * ptr;
+ static uint32_t index = 0;
+
+ if ((index & 1) == 0) // high byte
+ {
+ ptr = (uint32_t*)paramTable[index >> 1];
+ val = *ptr;
+ paramTmpWord = val >> 8; // move it to low byte of word
+ }
+ else
+ {
+ paramTmpWord = val;
+ }
+ paramTmpWord &= 0xFF;
+ paramTmpWord |= index << 8;
+
+ Valid_Data = 0; // reset all bits of status word
+
+
+ num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü 2 ïàðàìåòðà
+ addr_param[0] = &Output.Str.PS_dif; //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà
+ addr_param[1] = ¶mTmpWord;
+ size_param[0] = 2; //e. the 1st parameter has 2 bytes length //r. ïàðàìåòð 1 èìåeò äëèíó 2 áàéò
+ size_param[1] = 2; //e. the 2nd and 3rd parameters have 1 bytes length//r. ïàðàìåòðû 2,3 èìåþò äëèíó 1 áàéò
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+
+ index++;
+ if (index > 21)
+ {
+ index = 0;
+ }
+} // B_Delta_PS_execution
+
+void M_Mirror(void) //e.---------------- prepare to transmission of the copy of receiving buffer ------------- //r.---------------- ïîäãîòîâêà ïåðåäà÷è êîïèè ïðèåìíîãî áóôåðà -------------
+{
+ num_of_par = 1; //e. 1 parameter output //r. âûâîäèòü 1 ïàðàìåòð
+
+ addr_param[0] = &rcv_copy; //e. set the address of the receiving buffer //r. óñòàíîâêà àäðåñà ïðèåìíîãî áóôåðà
+
+ //e. multiply the number of copied words on 2, since each //r. óìíîæèòü ÷èñëî ñêîïèðîâàííûõ ñëîâ íà 2, ò.ê. êàæäîå
+ //e. will be trasferred in two steps: first zero, and then //r. áóäåò ïåðåäàâàòüñ÷ â äâà ïðèåìà: ñíà÷àëà íóëåâîé, à çàòåì
+ size_param[0] = rcv_byt_copy << 1; // multiplay by 2
+ if (size_param[0] >= 64)
+ {
+ size_param[0] = 64; //e. maximal amount - no more than double length of the copy buffer //r. ìàêñèìàëüíîå êîëè÷åñòâî - íå áîëåå äâîéíîé äëèíû áóôåðà-êîïèè
+ }
+ trm_rate = 0; //e. set the transfer rate to the 38400 bauds //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è 38400 áîä
+ trm_cycl = 0; //e. forbid cyclic transmission of the parameter //r. çàïðåòèòü ïåðåäà÷ó ïàðàìåòðà â öèêëå
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+} // M_Mirror
+
+void Mk_Ask1(void) //r.----------------- prepare of the standart answer 1 ---------------------- //r.----------------- ïîäãîòîâêà ñòàíäàðòíîãî îòâåòà 1 ----------------------
+{
+ CMD_Code &= 0xff00; //e. clear bits of errors //r. î÷èñòèòü â íåì ïîëå îøèáîê
+ num_of_par = 1; //e. total amount parameters in aswer - 1 //r. âñåãî ïàðàìåòðîâ â îòâåòå - 1
+ addr_param[0] = &CMD_Code; //e. and this parameter - returnable command code //r. è ýòîò ïàðàìåòð - âîçâðàùàåìûé êîä êîìàíäû
+ size_param[0] = 2; //e. and both its bytes //r. ïðè÷åì îáà åãî áàéòà
+ trm_ena = 1; //e. allow operation of the transmitter of the device //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà óñòðîéñòâà
+} // Mk_Ask1
+
+void Mk_AskDev(void) //r.----------------- answer on a command for device mode set ------------ //r.----------------- Îòâåò íà êîìàíäó óñòàíîâêè ðåæèìà ïðèáîðà ------------
+{
+ num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü äâà ïàðàìåòðà
+ addr_param[0] = &Device_Mode; //e. address of the counter mode register (intenal latch, external latch, etc.) //r. àäðåñ ðåãèñòðà ðåæèìà ñ÷åò÷èêîâ (âíóòð., âíåøíÿÿ çàùåëêà è ò.ä.)
+ addr_param[1] = &SRgR; //e. address of the mode register of the processor card //r. àäðåñ ðåãèñòðà ðåæèìà ïëàòû ïðîöåññîðà
+ size_param[0] = 2; //e. size of the counter mode register - 2 bytes //r. ðàçìåð ðåãèñòðà ðåæèìà ñ÷åò÷èêîâ - 2 áàéòà
+ size_param[1] = 2; //e. size of the mode register of the processor card //r. ðàçìåð ðåãèñòðà ðåæèìà ïëàòû ïðîöåññîðà
+ trm_cycl = 0; //e. forbid cyclic transmission of the parameter //r. çàïðåòèòü ïåðåäà÷ó ïàðàìåòðà â öèêëå
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+} // Mk_AskDev
+
+void GLD_Output(void) //e. ----------- Output modes --------- //r. --------- Ðåæèìû âûâîäà ---------
+{
+if (Latch_Rdy) //latch appeared
+ {
+ if (trm_cycl)
+ trm_ena = 1; //enable packet generation
+
+ switch (CMD_Mode)
+ {
+ case 1: //e. Delta _PS mode
+ B_Delta_PS_execution();
+ break;
+
+ case 5:
+ CMD_Code &= 0xff1f; //e. reset bits of current command code settings of periodicity and transfer rate //r. ñáðîñèòü â òåêóùåì êîäå êîìàíäû áèòû óñòàíîâêè ïåðèîäè÷íîñòè è ñêîðîñòè ïåðåäà÷è
+ if (CMD_Code == 0xdd02) //e. is it the Rate2 mode? //r. ýòî ðåæèì Rate2?
+ {
+ if (data_Rdy & WHOLE_PERIOD)
+ {
+ trm_ena = 1;
+ }
+ else
+ trm_ena = 0;
+ }
+ break;
+ }
+ }
+} // GLD_Delta
+
+
+
+///// -------- commands -------------------------------------------------------------
+//e. set main device operation modes: //r. Óñòàíîâêà îñíîâíûõ ðåæèìîâ ðàáîòû ïðèáîðà:
+//e. 1. acions with counters (internal latch, external latch with request over line, //r. 1. ðàáîòà ñî ñ÷åò÷èêàìè (âíóòðåííÿÿ çàùåëêà, âíåøíÿÿ çàùåëêè ñ çàïðîñîì ïî ëèíèè,
+//e. external latch without request over line (instant answer after receiving of external latch pulse)) //r. âíåøíÿÿ çàùåëêà áåç çàïðîñà ïî ëèíèè (îòâåò ñðàçó ïîñëå ïðèõîäà èìïóëüñà âíåøí. çàùåëêè))
+//e. 2. line receiving/transmission rate //r. 2. ñêîðîñòü ïðèåìà/ïåðåäà÷è ïî ëèíèè
+void B_Dev_Mode(void)
+{
+ Device_Mode = rcv_buf[3] & 0x00ff; //e. read the byte of command parameter from the receiver buffer //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà áàéò ïàðàìåòðà êîìàíäû
+ //e. and write it to the counter mode register //r. è çàïèñûâàåì â ðåãèñòð ðåæèìà ñ÷åò÷èêîâ
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_AskDev();
+} // B_Dev_Mode
+
+void B_BIT_Mode(void)
+{
+ uint8_t temp;
+
+ temp = rcv_buf[3] & 0x000f & (~((rcv_buf[3] & 0x00f0) >> 4));
+ if (temp == 1) // 1 - const test
+ {
+ Is_BIT = 1;
+ BIT_number = (long)(rcv_buf[4] & 0x00FF) << 24;
+ BIT_number |= (long)(rcv_buf[5] & 0x00FF) << 16;
+ BIT_number |= (long)(rcv_buf[6] & 0x00FF) << 8;
+ BIT_number |= (long)(rcv_buf[7] & 0x00FF);
+ }
+ else
+ {
+ Is_BIT = 0;
+ }
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_AskDev();
+} // B_BIT_Mode
+
+void M_Stimul(void) //e. === procedure of output of analog (DAC) and digital (flags) stimuluses //r. === ïðîöåäóðà âûâîäà àíàëîãîâûõ (ÖÀÏ) è äèñêðåòíûõ (ôëàãè) ñòèìóëîâ
+{
+ uint32_t chan;
+
+ ScopeMode = 4; //e. WP_PHASE_DETECTOR allocate a mode of display for a control point of an scope //r. WP_PHASE_DETECTOR íàçíà÷èòü ðåæèì îòîáðàæåíèÿ äëÿ êîíòðîëüíîé òî÷êè îñöèëëîãðàôà
+
+ chan = CMD_Code & 0x0007; //e. extracting the number of stimulus //r. âûäåëåíèå íîìåðà ñòèìóëà
+
+ Output.ArrayOut[chan] = (((int)rcv_buf[4] << 8) | (int)rcv_buf[5])-0x8000;
+
+ if ((CMD_Code & (1 << 7)) == 0) //e. to estimate: whether the answer is required //r. îöåíèòü: òðåáóåòñÿ ëè îòâåò
+ {
+ return; //e. if no - return //r. åñëè íåò - âîçâðàò
+ }
+ Mk_Ask1(); //e. otherwise - answer output //r. èíà÷å - âûäàòü îòâåò
+} // M_Stymul
+
+void M_Status(void) //e. === procedure of initialization of transmission of the device status //r. === ïðîöåäóðà èíèöèàëèçàöèè ïåðåäà÷è ñòàòóñà óñòðîéñòâà
+{
+ SetSpeedPeriod(); //e. and set the answer transfer rate and its periodicity //r. è óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü
+
+ num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü äâà ïàðàìåòðà
+ addr_param[0] = &blt_in_test; //e. the register address of the self-testing result //r. àäðåñ ðåãèñòðà ðåçóëüòàòà ñàìîòåñòèðîâàíèÿ
+ addr_param[1] = &ser_num; //e. address of the register of errors of line //r. àäðåñ ðåãèñòðà îøèáîê ëèíèè
+ size_param[0] = 2; //e. size of the self-test register - 2 bytes //r. ðàçìåð ðåãèñòðà ñàìîòåñòèðîâàíèÿ - 2 áàéòà
+ size_param[1] = 2; //e. size of the register of errors of line //r. ðàçìåð ðåãèñòðà îøèáîê ëèíèè
+
+ trm_rate = 0; //e. set the transfer rate to the 38400 bauds //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è 38400 áîä
+ trm_cycl = 0; //e. forbid cyclic transmission of the parameter //r. çàïðåòèòü ïåðåäà÷ó ïàðàìåòðà â öèêëå
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+} // M_Status
+
+void M_Clear(void) //e.---------------- cleaning of the register of errors of line -------------------------- //r.---------------- î÷èñòêà ðåãèñòðà îøèáîê ëèíèè --------------------------
+{
+ line_err = 0;
+} // M_Clear
+
+void M_Tmp_W(void) //e.----------------- write the command to the AD7714 IC ------------------------- //r.----------------- çàïèñü êîìàíäû â ñõåìû AD7714 -------------------------
+{
+
+ Mk_Ask1();
+}
+
+void M_Tmp_R(void) //e.----------------- read the data from the AD7714 IC -------------------------- //r.----------------- ÷òåíèå äàííûõ èç ñõåì AD7714 --------------------------
+{
+
+} // M_Tmp_R
+
+void M_ADC_R(void) //e.----------------- read the data from the ADCs ADS1250, ADS8321 --------- //r.----------------- ÷òåíèå äàííûõ èç êàíàëîâ ÀÖÏ ADS1250, ADS8321 ---------
+{
+ SetSpeedPeriod(); //e. set the answer transfer rate and its periodicity //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü
+ UART_SwitchSpeed(trm_rate);
+
+ num_of_par = 4; //e. 4 parameters output //r. âûâîäèòü ÷åòûðå ïàðàìåòðà
+ addr_param[0] = 0; //e. //r. <!-- èñïîëüçîâàëèñü äëÿ ÄÓÏ, òåïåðü íå èñïîëüçóþòñÿ
+ addr_param[1] = 0; //e. //r. -->
+ addr_param[2] = 0;
+ addr_param[3] = &(Input.StrIn.HF_out); //e. set the 4th parameter address _HF_out //r. çàäàòü àäðåñ ÷åòâåðòîãî ïàðàìåòðà _HF_out
+ size_param[0] = 2; //e. size of the parameters - 2 bytes //r. ðàçìåð ïàðàìåòðîâ - 2 áàéòà
+ size_param[1] = 2;
+ size_param[2] = 2;
+ size_param[3] = 2;
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+} // M_ADC_R
+
+void M_Cnt_R(void) //r.----------------- read the counters of the Elio5 card -------------------------- //r.----------------- ÷òåíèå ñ÷åò÷èêîâ ïëàòû Elio5 --------------------------
+{
+ SetSpeedPeriod(); //e. set the answer transfer rate and its periodicity //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü
+ UART_SwitchSpeed(trm_rate);
+ num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü äâà ïàðàìåòðà
+
+ addr_param[0] = &(Output.Str.Cnt_Pls); //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà
+ addr_param[1] = &(Output.Str.Cnt_Mns); //e. set the second paremeter address //r. çàäàòü àäðåñ âòîðîãî ïàðàìåòðà
+ size_param[0] = 2; //e. size of the parameters - 2 bytes //r. ðàçìåð ïàðàìåòðîâ - 2 áàéòà
+ size_param[1] = 2;
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+} // M_Cnt_R
+
+/*void M_e5r_W(void) //r.----------------- write to the mode register of the Elio5 card ------------------ //r.----------------- çàïèñü â ðåãèñòð ðåæèìà ïëàòû Elio5 ------------------
+{
+ //e. read the byte of command parameter from the receiver buffer //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà áàéò ïàðàìåòðà êîìàíäû
+ //e. and write it to the card mode register and its copy //r. è çàïèñàòü åãî â ðåãèñòð ðåæèìà ïëàòû è â åãî êîïèþ
+#if !defined COMMAND_DEBUG
+ Copy_e5_RgR = rcv_buf[3];
+ io_space_write(E5_RGR, Copy_e5_RgR);
+#endif
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_e5r_W */
+/*
+void M_e5rA_W(void) //e.----- write to the 1st additional mode register of the Elio5 card ---------- //r.----- çàïèñü â 1-ûé äîïîëíèòåëüíûé ðåãèñòð ðåæèìà ïëàòû Elio5 ----------
+{
+ //e. this command is used for switching a signal on which data counters are latched: //r. ýòà êîìàíäà èñïîëüçóåòñÿ äëÿ ïåðåêëþ÷åíèÿ ñèãíàëà, ïî êîòîðîìó çàùåëêèâàþòñÿ
+ //e. on the Reper signal or on Sign Meander //r. èíôîðìàöèîííûå ñ÷åò÷èêè: ëèáî ïî Reper`ó ëèáî ïî RefMeandr`ó
+
+ //e. read the byte of command parameter from the receiver buffer //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà áàéò ïàðàìåòðà êîìàíäû
+ //e. and write it to the card mode register and its copy //r. è çàïèñàòü åãî â ðåãèñòð ðåæèìà ïëàòû è â åãî êîïèþ
+ Copy_e5_RgRA = rcv_buf[3];
+//??? Device_Mode = Copy_e5_RgRA; //e. and write it to the counter mode register //r. è çàïèñûâàåì â ðåãèñòð ðåæèìà ñ÷åò÷èêîâ
+#if !defined COMMAND_DEBUG
+ io_space_write(E5_RGRA, Copy_e5_RgRA);
+#endif
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_e5rA_W */
+
+void M_Ctl_R(void) //r.----------------- reading the control register of the device ----------------- //r.----------------- ÷òåíèå ðåãèñòðà óïðàâëåíèÿ óñòðîéñòâà -----------------
+{
+ num_of_par = 2; //e. 2 parameters transfer //r. ïåðåäàâàòü 2 ïàðàìåòðà
+ addr_param[0] = &CMD_Code; //e. the first parameter in answer - returned command code //r. ïåðâûé ïàðàìåòð â îòâåòå - âîçâðàùàåìûé êîä êîìàíäû
+ size_param[0] = 2;
+ size_param[1] = 2; //e. two bytes also have control registers //r. äâà áàéòà èìåþò òàêæå è ðåãèñòðû óïðàâëåíèÿ
+ if ((rcv_buf[3] & (1 << 4)) == 0) //e. is main control register needed? //r. òðåáóåòñÿ îñíîâíîé ðåãèñòð óïðàâëåíèÿ?
+ {
+ addr_param[1] = &RgConA; //e. yes //r. äà
+ }
+ else
+ {
+ addr_param[1] = &RgConB; //e. otherwise - load the address of the addititonal register //r. èíà÷å - çàãðóçèòü àäðåñ äîïîëíèòåëüíîãî ðåãèñòðà
+ }
+ CMD_Code &= 0xff10; //e. clear in it bit of errors and byte number //r. ñáðîñèòü â íåì ïîëÿ îøèáîê è íîìåðà áèòà
+ trm_ena = 1; //e. allow operation of the transmitter of line //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà ëèíèè
+} // M_Ctl_R
+
+void M_Ctl_M(void) //r.----------------- modification of the control register of the device ------------ //r.----------------- ìîäèôèêàöèÿ ðåãèñòðà óïðàâëåíèÿ óñòðîéñòâà ------------
+{
+ uint32_t * ptr;
+ uint32_t bit_numb;
+
+ num_of_par = 2; //e. 2 parameters transfer //r. ïåðåäàâàòü 2 ïàðàìåòðà
+ addr_param[0] = &CMD_Code; //e. the first parameter in answer - returned command code //r. ïåðâûé ïàðàìåòð â îòâåòå - âîçâðàùàåìûé êîä êîìàíäû
+ size_param[0] = 2;
+ size_param[1] = 2; //e. two bytes also have control registers //r. äâà áàéòà èìåþò òàêæå è ðåãèñòðû óïðàâëåíèÿ
+ if ((CMD_Code & (1 << 4)) == 0) //e. is main control register needed? //r. òðåáóåòñÿ îñíîâíîé ðåãèñòð óïðàâëåíèÿ?
+ {
+ ptr = &RgConA; //e. yes //r. äà
+ }
+ else
+ {
+ ptr = &RgConB; //e. otherwise - load the address of the addititonal register //r. èíà÷å - çàãðóçèòü àäðåñ äîïîëíèòåëüíîãî ðåãèñòðà
+ }
+ addr_param[1] = ptr; //e. the second parameter in answer - modified register //r. âòîðîé ïàðàìåòð â îòâåòå - ìîäèôèöèðîâàííûé ðåãèñòð
+
+ bit_numb = CMD_Code & 0x000f; //e. extract the number of the changeable bit //r. âûäåëèòü íîìåð èçìåíÿåìîãî áèòà
+ if ((CMD_Code & (1 << 7)) == 0) // Is clear bit
+ {
+ *ptr &= ~(1 << bit_numb); // yes, clear bit
+ }
+ else
+ {
+ *ptr |= 1 << bit_numb; // no, set bit
+ }
+
+ CMD_Code &= 0xff10; //e. clear in command bit of errors and byte number //r. ñáðîñèòü â êîìàíäå ïîëÿ îøèáîê è íîìåðà áèòà
+ trm_cycl = 0; //e. forbid cyclic transmission of the parameter //r. çàïðåòèòü ïåðåäà÷ó ïàðàìåòðà â öèêëå
+ trm_ena = 1; //e. allow operation of the transmitter of line //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà ëèíèè
+} // M_Ctl_M
+
+void M_Flg_R(void) //e.------------ reading the register of input flags --------------------------- //r.------------ ÷òåíèå ðåãèñòðà âõîäíûõ ôëàãîâ ---------------------------
+{
+
+ num_of_par = 1; //e. 1 parameter output //r. âûâîäèòü îäèí ïàðàìåòð
+ addr_param[0] = &In_Flag; //e. the address of the flag register copy //r. àäðåñ êîïèè ðåãèñòðà ôëàãîâ
+ size_param[0] = 2; //e. size of the buffer - 2 bytes //r. ðàçìåð áóôåðà - 2 áàéòà
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+
+} // M_Flg_R
+
+void M_Vib_W(void) //r.------------ set the oscillation period of the dither drive ----------------- //r.------------ óñòàíîâêà ïåðèîäà êîëåáàíèé âèáðîïðèâîäà -----------------
+{
+ ScopeMode = 1; //e. VB_PHASE_DETECTOR allocate a mode of display for a control point of an scope //r. VB_PHASE_DETECTOR íàçíà÷èòü ðåæèì îòîáðàæåíèÿ äëÿ êîíòðîëüíîé òî÷êè îñöèëëîãðàôà
+
+ Output.Str.T_Vibro = (rcv_buf[4] << 8) | (rcv_buf[5] & 0xFF); //e. new variable of the period //r. íîâàÿ ïåðåìåííàÿ ïåðèîäà
+/* sprintf(BuffTemp1, "\n\r F = %d ", Output.Str.T_Vibro);
+ SendToBuff(BuffTemp1,15);*/
+ Output.Str.L_Vibro= (rcv_buf[6] << 8) | (rcv_buf[7] & 0xFF); //e. new variable of the pulse width //r. íîâàÿ ïåðåìåííàÿ äëèòåëüíîñòè èìïóëüñîâ
+ /*sprintf(BuffTemp1, "\n\r L = %d ", Output.Str.L_Vibro);
+ SendToBuff(BuffTemp1,15);*/
+ VibroDither_Set(); //e. and output its value to period registers on card //r. âûâåñòè åå çíà÷åíèå â ðåãèñòðû ïåðèîäà íà ïëàòå
+
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_Vib_W
+
+void M_Gph_W(void) //e.------------ set the gain factor of photodetector channels ------------------- //r.------------ óñòàíîâêà óñèëåíèÿ êàíàëîâ ôîòîïðèåìíèêà -------------------
+{
+ Device_blk.Str.Gain_Ph_A = rcv_buf[4]; //e. read from the receiver buffer the value of the gain factor of the A channel //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà çíà÷åíèå óñèëåíèÿ êàíàëà À
+ Device_blk.Str.Gain_Ph_B = rcv_buf[5]; //e. read from the receiver buffer the value of the gain factor of the B channel //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà çíà÷åíèå óñèëåíèÿ êàíàëà Â
+
+ Out_G_photo(Device_blk.Str.Gain_Ph_A, Device_blk.Str.Gain_Ph_B); //e. display these values to digital potentiometers //r. âûâåñòè ýòè çíà÷åíèÿ â öèôðîâûå ïîòåíöèîìåòðû
+
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_Gph_W
+
+void M_Rate(void) //e.------------ start of transfer of the M_Rate parameters stack ------------------- //r.------------ çàïóñê ïåðåäà÷è íàáîðà ïàðàìåòðîâ M_Rate -------------------
+{
+ uint8_t mode;
+
+ SetSpeedPeriod(); //e. set the answer transfer rate and its periodicity //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü
+ UART_SwitchSpeed(trm_rate);
+
+ mode = rcv_buf[3] & 0x001f; //e. extract number of the parameters stack in the command //r. âûäåëèòü íîìåð íàáîðà ïàðàìåòðîâ â êîìàíäå
+
+ switch (mode) {
+ case 1: //e. it is the Rate stack //r. ýòî íàáîð Rate
+ RgConB = RATE_REPER_OR_REFMEANDR; //e. counter latch every vibro period
+ SwitchRefMeandInt(RATE_REPER_OR_REFMEANDR); //e. enable reference meander interrupt
+
+ wrk_period = 12500000; //e. load needed length of working period 1 ñ.//r. çàãðóçèòü òðåáóåìóþ äëèòåëüíîñòü ðàáî÷åãî ïåðèîäà 1 ñ.
+ num_of_par = 14; //e. 9 parameters or groups of parameters output //r. âûâîäèòü 9 ïàðàìåòðîâ èëè ãðóïï ïàðàìåòðîâ
+
+ Valid_Data = 0; // reset all bits of status word
+
+ addr_param[0] = &(Output.Str.Cnt_Pls); //e. set the address of the 1st parameter in the 1st group //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà â 1-îé ãðóïïå
+ addr_param[1] = &(Output.Str.Cnt_Mns); //e. set the address of the 1st parameter in the 2nd group //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà â 2-îé ãðóïïå
+ addr_param[2] = &(Output.Str.Cnt_Dif); //e. set the address of the 1st parameter in the 3rd group //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà â 3-îé ãðóïïå
+ addr_param[3] = &(Output.Str.F_ras); //e. set the address of the _F_ras parameter in the 4th group //r. çàäàòü àäðåñ ïàðàìåòðà _F_ras âî 4-îé ãðóïïå
+ addr_param[4] = &(Output.Str.HF_reg); //e. set the address of the _HF_reg parameter in the 5th group //r. çàäàòü àäðåñ ïàðàìåòðà _HF_reg â 5-åé ãðóïïå
+ addr_param[5] = &(Output.Str.HF_dif); //e. set the address of the _HF_dif parameter in the 6th group //r. çàäàòü àäðåñ ïàðàìåòðà _HF_dif â 6-îé ãðóïïå
+ addr_param[6] = &(Output.Str.T_Vibro); //e. parameter _T_Vibro //r. ïàðàìåòð _T_Vibro
+ addr_param[7] = &(Output.Str.T_VB_pll); //e. parameter _T_VB_pll //r.ïàðàìåòðâ _T_VB_pll
+ addr_param[8] = &(Output.Str.L_Vibro); //e. parameter _L_Vibro //r. ïàðàìåòð _L_Vibro
+ addr_param[9] = &(Input.StrIn.HF_out); //e. set the address of the _RI_reg parameter in the 8th group //r. çàäàòü àäðåñ ïàðàìåòðà _RI_reg â 8-îé ãðóïïå
+ addr_param[10] = &(Output.Str.WP_reg); //e. parameters: _WP_reg, _WP_pll //r. ïàðàìåòðîâ _WP_reg, _WP_pll
+ addr_param[11] = &(Output.Str.WP_pll); //e. parameters: _WP_reg, _WP_pll //r. ïàðàìåòðîâ _WP_reg, _WP_pll
+ addr_param[12] = &(Output.Str.Tmp_Out); //e. set the address of the temperature sensors array //r. çàäàòü àäðåñ ìàññèâà äàò÷èêîâ òåìïåðàòóðû
+ addr_param[13] = &(Output.Str.WP_scope1); //e. reserved //r. çàðåçåðâèðîâàíî äëÿ äàëüíåéøèõ ïðèìåíåíèé
+
+ size_param[0] = 2; //e. groups 1-6, 8-10 consists of one parameter ... //r. ãðóïïû 1-6, 8-10 ñîäåðæàò ïî îäíîìó ïàðàìåòðó
+ size_param[1] = 2; //e. and have 2 bytes length each //r. è èìåþò äëèíó 2 áàéòà êàæäàÿ
+ size_param[2] = 2;
+ size_param[3] = 2;
+ size_param[4] = 2;
+ size_param[5] = 2;
+ size_param[6] = 2;
+ size_param[7] = 2;
+ size_param[8] = 2;
+ size_param[9] = 2;
+ size_param[10] = 2;
+ size_param[11] = 2;
+
+ size_param[13] = 4; //e. the 11th group parameters has length of 4 bytes //r. 11-z ãðóïïà ïàðàìåòðîâ èìååò äëèíó 4 áàéòà
+
+ size_param[12] = 12; //e. format o the GLD array of temperatures - 12 bytes //r. ôîðìàò ìàññèâà òåìïåðàòóð ÃËÄ - 12 áàéò
+
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+ break;
+
+ case 2: //e. it is the Rate2 stack //r. ýòî íàáîð Rate2
+ RgConB = RATE_REPER_OR_REFMEANDR;
+ SwitchRefMeandInt(RATE_REPER_OR_REFMEANDR); //e. enable interrupt from ref. meander
+ wrk_period = 0; //e. frequency of output = fvibro //r. ÷àñòîòà âûâîäà ðàâíà ÷àñòîòå ÂÏ
+
+ num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü 2 ïàðàìåòðà
+
+ addr_param[0] = &(Output.Str.Cnt_Pls); //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà
+ addr_param[1] = &(Output.Str.Cnt_Mns); //e. and the 2nd //r. è âòîðîãî
+ size_param[0] = 2; //e. parameters has 2 bytes length //r. ïàðàìåòðû èìååò äëèíó 2 áàéòà
+ size_param[1] = 2;
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+ break;
+
+ case 3: //e. it is the Rate3 stack //r. ýòî íàáîð Rate3
+
+ wrk_period = 2500; //e. frequency of output = 10000 Hz //r. n=1, ÷àñòîòà âûâîäà = 10000 Hz
+ num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü 2 ïàðàìåòðà
+
+ addr_param[0] = &(Output.Str.WP_scope1); //e. set the addresses of output parameters //r. çàäàòü àäðåñà âûâîäèìûõ ïàðàìåòðîâ
+ addr_param[1] = &(Output.Str.WP_scope2);
+ size_param[0] = 2; //e. all parameters has 2 bytes length //r. âñå ïàðàìåòðû èìåþò äëèíó 2 áàéòà
+ size_param[1] = 2;
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+ break;
+
+ case 4: //e. it is the Rate4 stack //r. ýòî íàáîð Rate4
+ wrk_period = 20000; //e. correspond to output frequency 1.25 kHz //r. ñîîòâåñòâóåò ÷àñòîòå âûâîäà 1.25 kHz
+ num_of_par = 4; //e. 4 parameters output //r. âûâîäèòü 4 ïàðàìåòðà
+
+ //e. set the addresses of output parameters //r. çàäàòü àäðåñà âûâîäèìûõ ïàðàìåòðîâ
+ // --- raw data array of numbers ---
+ // addr_param[0] = &Dif_Curr_Array;
+ // --- filtered array of numbers ---
+ // addr_param[1] = &Dif_Filt_Array;
+ // ---------------------------------
+ addr_param[2] = &(Output.Str.HF_reg); //e. HFO regulator //r. íàïðÿæåíèå ÃÂ×
+ addr_param[3] = &(Output.Str.WP_reg); //e. CPLC heater regulator //r. íàïðÿæåíèå íàãðåâàòåëÿ
+ size_param[0] = 16;
+ size_param[1] = 32;
+ size_param[2] = 2;
+ size_param[3] = 2;
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+ break;
+ case 7:
+ wrk_period = 20000; //e. correspond to output frequency 1250 Hz //r. ñîîòâåñòâóåò ÷àñòîòå âûâîäà 1.25 kHz
+ num_of_par = 5; //e. 4 parameters output //r. âûâîäèòü 5 ïàðàìåòðà
+
+ //e. set the addresses of output parameters //r. çàäàòü àäðåñà âûâîäèìûõ ïàðàìåòðîâ
+ // --- raw data array of PLC phase ---
+ addr_param[0] = &(Output.Str.WP_Phase_Det_Array);
+ // --- filtered array of reference sin---
+ addr_param[1] = &(Output.Str.WP_sin_Array);
+ // ---------------------------------
+ addr_param[2] = &(Output.Str.WP_reg); //e. CPLC heater regulator //r. íàïðÿæåíèå íàãðåâàòåëÿ
+ addr_param[3] = &(Output.Str.WP_pll); //e. CPLC phase //r. ôàçà
+ addr_param[4] = &(Output.Str.HF_reg); //e. set the address of the _HF_reg parameter in the 5th group //r. çàäàòü àäðåñ ïàðàìåòðà _HF_reg â 5-åé ãðóïïå
+ size_param[0] = 16;
+ size_param[1] = 16;
+ size_param[2] = 2;
+ size_param[3] = 2;
+ size_param[4] = 2;
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+ break;
+ }
+ SetIntLatch(wrk_period);
+} // M_Rate
+
+void M_Reset(void)
+{
+ while(1);
+} // will not achieve
+
+void M_Param_R(void) //e. ------------ read the parameter of the GLD from the data memory ---------------------- //r.------------ ÷òåíèå ïàðàìåòðà GLD èç ïàìÿòè äàííûõ ----------------------
+{
+ num_of_par = 1; //e. 1 parameter output //r. âûâîäèòü îäèí ïàðàìåòð
+ addr_param[0] = (void *)(&Device_blk.Str.My_Addres + rcv_buf[3]); //e. address of the needed parameter in the block //r. àäðåñ òðåáóåìîãî ïàðàìåòðà â áëîêå
+ size_param[0] = 2; //e. size of the buffer - 2 bytes //r. ðàçìåð áóôåðà - 2 áàéòà
+
+ trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà
+} // M_Param_R
+
+void M_Param_W(void) //e.------------ write the parameter of the GLD from the data memory ----------------------- //r.------------ çàïèñü ïàðàìåòðà GLD â ïàìÿòü äàííûõ -----------------------
+{
+ int * ptr;
+
+ ScopeMode = 0; //e. VB_DELAY_MEANDER allocate a mode of display for a control point of an scope //r. VB_DELAY_MEANDER íàçíà÷èòü ðåæèì îòîáðàæåíèÿ äëÿ êîíòðîëüíîé òî÷êè îñöèëëîãðàôà
+
+ ptr = (int *)&Device_blk.Str.My_Addres; // pointer to Parameters block
+ ptr += rcv_buf[3]; // calculate offset
+ *ptr = (rcv_buf[4] << 8) | (rcv_buf[5] & 0xFF); // write new parameter value
+
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_Param_W
+
+void M_LdPar_F() //e.============ procedure for load the GLD parameters from the flash-memory =========== //r.============ ïðîöåäóðà çàãðóçêè ïàðàìåòðîâ ÃËÄ èç ôëýø-ïàìÿòè ===========
+{
+
+ LoadFlashParam(FromFLASH); //e. load the GLD parameters from the flash-memory //r. çàãðóçèòü ïàðàìåòðû ÃËÄ èç ôäýø-ïàìÿòè
+ blt_in_test = ((uint32_t)FIRMWARE_VER << 8) | (Device_blk.Str.Device_SerialNumber & 0x00FF);
+// Init_software();
+
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_LdPar_F
+
+void M_LdPar_D(void) //e.============ procedure for set parameters of the GLD by default ============ //r.============ ïðîöåäóðà óñòàíîâêè ïàðàìåòðîâ ÃËÄ ïî óìîë÷àíèþ ============
+{
+#if !defined COMMAND_DEBUG
+ LoadFlashParam(ByDefault); //e. define parameters of the GLD by default //r. îïðåäåëèòü ïàðàìåòðû ÃËÄ ïî óìîë÷àíèþ (default)
+ Init_software();
+#endif
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_LdPar_D
+
+void M_Start(void) //e.============ initialization of the GLD switch on ================================= //r.============ èíèöèàëèçàöèÿ çàïóñêà ÃËÄ =================================
+{
+ start_Rq = 1; //e. set the flag of the GLD switch on request //r. óñòàíîâèòü ôëàã çàïðîñà ñòàðòà ÃËÄ
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_Start
+
+void M_Stop(void) //e.============ initialization of the GLD switch off ============================== //r.============ èíèöèàëèçàöèÿ âûêëþ÷åíèÿ ÃËÄ ==============================
+{
+ stop_Rq = 1; //e. set the flag of the GLD switch off request //r. óñòàíîâèòü ôëàã çàïðîñà âûêëþ÷åíèÿ ÃËÄ
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_Stop
+
+void M_Pulse(void) //e.============ generetion of the light-up pulse ========================= //r.============ ãåíåðàöèÿ èìïóëüñà çàïóñêà ëàçåðà =========================
+{
+ pulse_Rq = 1; //e. set the flag of the GLD switch on request //r. óñòàíîâèòü ôëàã çàïðîñà ñòàðòà ÃËÄ
+ trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ
+ Mk_Ask1();
+} // M_Pulse
+
+void B_Rate(void) //e. === procedure of device operation in a mode of continuous output of raw data //r. === ïðîöåäóðà ðàáîòû ïðèáîðà â ðåæèìå íåïðåðûâíîé âûäà÷è "ñûðûõ" äàííûõ
+{
+} // B_Rate
+
+void B_Delta(void) //e. === procedure not used //r. === ïðîöåäóðà íå èñïîëüçóåòñÿ
+{
+} // B_Delta
+
+void D_Period_W(void) //e. === set the period of the angle increase output //r. === óñòàíîâêà ïåðèîäà âûäà÷è ïðèðàùåíèÿ óãëà
+{
+} // D_Period_W
+
+ // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+void exec_CMD(void) //e. === the final decoding and command execution procedure //r. === ïðîöåäóðà îêîí÷àòåëüíîé äåøèôðàöèè è èñïîëíåíèÿ êîìàíäû
+{
+ uint32_t wcode;
+
+ rx_buf_copy = 1; //e. initialization of the flag of copying of receiving buffer //r. ïðåäóñòàíîâ ôëàãà êîïèðîâàíèÿ ïðèåìíîãî áóôåðà
+
+ wcode = (rcv_buf[2] & 0xFF) << 8;
+ CMD_Code = wcode | (rcv_buf[3] & 0xFF); //e. save it in the memory for echo-transmission //r. ñîõðàíèòü åãî â ïàìÿòè äëÿ îáðàòíîé ïåðåäà÷è
+
+ if (wcode == CMD_RATE) //e. is it Rate command? //r. ýòî êîìàíäà Rate?
+ {
+ B_Rate();
+ return;
+ }
+ else if (wcode == CMD_DEV_MODE) //e. is it the Device_Mode command? //r. ýòî êîìàíäà óñòàíîâêè ðåæèìà ïðèáîðà?
+ {
+ CMD_Mode = 3;
+ B_Dev_Mode();
+ return;
+ }
+ else if (wcode == CMD_DELTA_BINS) //e. is it the B_DeltaBINS command (command of request for data transfer to the navigation system)? //r. ýòî êîìàíäà çàïðîñà ïåðåäà÷è äàííûõ â íàâèã.ñèñòåìó?
+ {
+ RgConB = RATE_VIBRO_1; //e. set in the additional register of device control the mode of work with dither counters and the filter of moving average //r. óñòàíàâëèâàåì â äîïîëíèòåëüíîì ðåãèñòðå óïðàâëåíèÿ ðåæèì ðàáîòû ñ âèáðîñ÷åò÷èêàìè è ôèëüòðîì ñêîëüçÿùåãî ñðåäíåãî
+ SetSpeedPeriod();
+ UART_SwitchSpeed(trm_rate);
+ CMD_Mode = 4;
+ B_Delta_BINS();
+ return;
+ }
+ else if (wcode == CMD_DELTA_PS) //e. is it the B_DeltaPS command (command of request for data transfer to the uPC)? //r. ýòî êîìàíäà çàïðîñà ïåðåäà÷è äàííûõ â MkPC?
+ {
+ SetSpeedPeriod(); //e. and set the answer transfer rate and its periodicity //r. è óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü (_trm_cycl)
+ UART_SwitchSpeed(trm_rate);
+ if (Device_Mode < 4) //e. work with internal latch
+ Device_Mode = DM_INT_LATCH_DELTA_PS;
+ else
+ Device_Mode = DM_EXT_LATCH_DELTA_PS_PULSE;
+ CMD_Mode = 1;
+ // B_Delta_PS();
+ return;
+ }
+ else if (wcode == CMD_DELTA_SF) // is it the B_DeltaSF command?
+ {
+ SetSpeedPeriod(); //e. and set the answer transfer rate and its periodicity //r. è óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü (_trm_cycl)
+ CMD_Mode = 7;
+ if ((rcv_buf[3] & 0x0001) != 0) //e.reset of accumulated number is disabled //r. ñáðîñ íàêîïëåííîãî ìåæäó çàùåëêàìè ÷èñëà çàïðåùåí
+ Ext_Latch_ResetEnable = 0;
+ else
+ Ext_Latch_ResetEnable = 1;
+ B_Delta_SF();
+ return;
+ }
+ else if (wcode == CMD_BIT_MODE) //e. is this the BIT mode command? //r. ýòî êîìàíäà òåñòèðîâàíèÿ?
+ {
+ CMD_Mode = 6; //e. set the value of the Delta mode//r. óñòàíîâèòü çíà÷åíèå ðåæèìà Delta
+ B_BIT_Mode();
+ return;
+ }
+ else if (wcode == CMD_DELTA) //e. is this the B_Delta command? //r. ýòî êîìàíäà B_Delta?
+ {
+ CMD_Mode = 2; //e. set the value of the Delta mode//r. óñòàíîâèòü çíà÷åíèå ðåæèìà Delta
+ B_Delta(); //e. output calculated value of angle increase //r. âûâîäèòü âû÷èñëåííîå çíà÷åíèå ïðèðàùåíèÿ óãëà
+ return;
+ }
+ else if (CMD_Code == CMD_MAINT) //e. is this the Maintenance mode command? //r. ýòî êîìàíäà Maintenance mode?
+ {
+ if (!RgConB)
+ {
+ RgConB = RATE_VIBRO_1;
+ SwitchRefMeandInt(RATE_VIBRO_1); //e. disable interrupt from referense meander
+ }
+ CMD_Mode = 5; //e. yes, switch on present mode //r. äà, âêëþ÷èòü äàííûé ðåæèì
+ M_Status(); //e. output the status stack of registers //r. âûâåñòè ñòàòóñíûé íàáîð ðåãèñòðîâ
+ if (Device_Mode != DM_INT_10KHZ_LATCH) //e. mode of internal latch 10 kHz //r. ðåæèì âíóòðåííåé çàùåëêè 10 êÃö
+ {
+ Device_Mode = DM_INT_10KHZ_LATCH;
+ trm_ena = 0;
+ }
+ else
+ UART_SwitchSpeed(trm_rate);
+ return;
+ }
+ else if (wcode == SUBCMD_M_RESET) //e. is this subcommand for modification of the device control register? //r. ýòî ïîäêîìàíäà ìîäèôèêàöèè ðåãèñòðà óïðàâëåíèÿ ó-âà?
+ {
+// Mk_AskDev();
+ M_Reset();
+ return;
+ }
+ else // subcommand analyse
+ {
+ if (CMD_Mode == 2) //e. is this the 2(Delta) mode? //r. ýòî ðåæèì 2? (Delta)
+ {
+ if (CMD_Code == CMD_D_PERIOD_W) //e. the Delta mode, check the subcommand ... //r. ðåæèì DElta, ïðîâåðèòü ïîäêîìàíäó çàãðóçêè ïåðèîäà
+ {
+ D_Period_W(); //e. otherwise - set the data transfer period //r. èíà÷å óñòàíîâèòèü ïåðèîä âûäà÷è äàííûõ
+ return;
+ }
+ else
+ {
+ line_sts = line_sts | CODE_ERR; // invalid command code
+ return;
+ }
+ }
+ else if (CMD_Mode == 5) //e. check the 5 mode (Maintenance) //r. ïðîâåðêà ðåæèìà 5 (Maintenance)
+ {
+ if (CMD_Code == SUBCMD_M_CLEAR) //e. is this subcommand of cleaning of the error register? //r. ýòî ïîäêîìàíäà î÷èñòêè ðåãèñòðà îøèáîê ëèíèè?
+ {
+ M_Clear(); //e. yes, cleaning the error register //r. äà, î÷èñòêà ðåãèñòðà îøèáîê
+ M_Status(); //e. preparing for trabsfer of the device status //r. ïîäãîòîâêà ïåðåäà÷è ñòàòóñà óñòðîéñòâà
+ UART_SwitchSpeed(trm_rate);
+ return;
+ }
+ else if (CMD_Code == SUBCMD_M_MIRR) //e. is this subcommand of return of previous command? //r. ýòî ïîäêîìàíäà âîçâðàòà ïðåäûäóùåé êîìàíäû?
+ {
+ rx_buf_copy = 0; //e. yes, forbid copying of command on saving previous //r. äà, çàïðåòèòü êîïèðîâàíèå êîìàíäû äëÿ ñîõðàíåíèÿ ïðåäûäóùåé
+ M_Mirror(); //e. prepare transfer of the receiving buffer copy //r. ïîäãîòîâèòü ïåðåäà÷ó êîïèè ïðèåìíîãî áóôåðà
+ return;
+ }
+ /* else if (wcode == SUBCMD_M_TMP_W) //e. is this subcommand for writing instructions to the AD7714? //r. ýòî ïîäêîìàíäà çàïèñè èíñòðóêöèé â AD7714?
+ {
+ // M_Tmp_W(); //e. yes, procedure call of write of the command //r. äà, âûçîâ ïðîöåäóðû çàïèñè êîìàíäû
+ return;
+ } */
+ else if (wcode == SUBCMD_M_TMP_R) //e. is this subcommand for data read from the AD7714? //r. ýòî ïîäêîìàíäà ÷òåíèÿ äàííûõ èç AD7714?
+ {
+ M_Tmp_R(); //r. yes, call the procedure for data read //e. äà, âûçîâ ïðîöåäóðû ÷òåíèÿ äàííûõ
+ return;
+ }
+ /* else if (wcode == SUBCMD_M_E5R_W) //e. is this subcommand for write to the mode register? //r. ýòî ïîäêîìàíäà çàïèñè â ðåãèñòð ðåæèìà?
+ {
+ M_e5r_W(); //e. yes, write data to the mode register of the Elio5 card //r. äà, çàïèñàòü äàííûå â ðåãèñòð ðåæèìà ïëàòû Elio5
+ return;
+ }
+ else if (wcode == SUBCMD_M_E5RA_W) //e. is this subcommand for write to the mode register? //r. ýòî ïîäêîìàíäà çàïèñè â ðåãèñòð ðåæèìà?
+ {
+ M_e5rA_W(); //e. yes, write data to the mode register of the Elio5 card //r. äà, çàïèñàòü äàííûå â ðåãèñòð ðåæèìà ïëàòû Elio5
+ return;
+ } */
+ else if (wcode == SUBCMD_M_ADC_R) //e. is t the subcommand for data read from ADCs ADS1250 and ADS8321 ? //r. ýòî ïîäêîìàíäà ÷òåíèÿ äàííûõ èç ÀÖÏ ADS1250 è ADS8321?
+ {
+ M_ADC_R(); //e. read of ADC channels //r. ÷òåíèå êàíàëîâ ÀÖÏ
+ return;
+ }
+ else if (wcode == SUBCMD_M_CNT_R) //e. is this subcommand of data read from pulse counters? //r. ýòî ïîäêîìàíäà ÷òåíèÿ äàííûõ èç ñ÷åò÷èêîâ èìïóëüñîâ?
+ {
+ M_Cnt_R(); //e. read of counters //r. ÷òåíèå ñ÷åò÷èêîâ
+ return;
+ }
+ else if (wcode == SUBCMD_M_FLG_R) //e. is it the command of data read about input flags? //r. ýòî ïîäêîìàíäà ÷òåíèÿ äàííûõ î âõîäíûõ ôëàãàõ?
+ {
+ M_Flg_R(); //e. read the input flags //r. ÷èòàòü âõîäíûå ôëàãè
+ return;
+ }
+ else if (wcode == SUBCMD_M_VIB_W) //e. is this subcommand for load the dither drive period? //r. ýòî ïîäêîìàíäà çàãðóçêè ïåðèîäà âèáðîïðèâîäà?
+ {
+ M_Vib_W(); //e. set the new value of the period //r. óñòàíîâèòü íîâîå çíà÷åíèå ïåðèîäà
+ return;
+ }
+ else if (wcode == SUBCMD_M_GPH_W) //e. is this subcommand for set the gain factor of photodetector channels? //r. ýòî ïîäêîìàíäà óñòàíîâêè óñèëåíèÿ êàíàëîâ ôîòîïðèåìíèêà ?
+ {
+ M_Gph_W(); //e. set the new values of gain factor //r. óñòàíîâèòü íîâûå çíà÷åíèÿ óñèëåíèÿ
+ return;
+ }
+ else if (wcode == SUBCMD_M_STIMUL) //e. is this subcommand for set the values of the DACs and flags? //r. ýòî ïîäêîìàíäà óñòàíîâêè çíà÷åíèÿ ÖÀÏîâ è ôäàãîâ ?
+ {
+ M_Stimul(); //e. set the new values //r. óñòàíîâèòü íîâûå çíà÷åíèÿ
+ return;
+ }
+ else if (wcode == SUBCMD_M_RATE) //e. is this subcommand for set the M_Rate output stack //r. ýòî ïîäêîìàíäà óñòàíîâêè âûäà÷è íàáîðà M_Rate ?
+ {
+ M_Rate(); //e. switch on the M_Rate data transfer //r. âêëþ÷èòü ïåðåäà÷ó äàííûõ M_Rate
+ return;
+ }
+ else if (wcode == SUBCMD_M_PARAM_W) //e. is this subcommand for write the new value of the GLD parameter ... //r. ýòî ïîäêîìàíäà çàïèñè íîâîãî çíà÷åíèÿ ïàðàìåòðà GLD
+ {
+ M_Param_W(); //e. write the new value of the parameter //r. çàïèñàòü íîâîå çíà÷åíèå ïàðàìåòðà
+ return;
+ }
+ else if (wcode == SUBCMD_M_PARAM_R) //e. is this subcommand for read the value of the GLD parameter? //r. ýòî ïîäêîìàíäà ÷òåíèÿ çíà÷åíèÿ ïàðàìåòðà GLD?
+ {
+ M_Param_R(); //e. read the value from the data memory //r. ñ÷èòàòü çíà÷åíèå ïàðàìåòðà èç ïàìÿòè äàíûõ
+ return;
+ }
+ else if (CMD_Code == SUBCMD_M_LDPAR_F) //e. is this subcommand for load GLD parameters ... //r. ýòî ïîäêîìàíäà çàãðóçêè ïàðàìåòðîâ GLD
+ {
+ M_LdPar_F(); //e. start the loading of parameters //r. çàïóñòèòü çàãðóçêó ïàðàìåòðîâ
+ return;
+ }
+ else if (CMD_Code == SUBCMD_M_LDPAR_D) //e. is this subcommand for direct setting of the GLD parameters ... //r. ýòî ïîäêîìàíäà ïðÿìîãî íàçíà÷åíèÿ ïàðàìåòðîâ GLD
+ {
+ M_LdPar_D(); //e. read the value of the parameter from the data memory //r. ñ÷èòàòü çíà÷åíèå ïàðàìåòðà èç ïàìÿòè äàíûõ
+ return;
+ }
+ else if (CMD_Code == SUBCMD_M_START) //e. is this subcommand for GLD starting? //r. ýòî ïîäêîìàíäà çàïóñêà GLD?
+ {
+ M_Start(); //e. call the procedure of start //r. çàïóñòèòü ïðîöåäóðó ñòàðòà
+ return;
+ }
+ else if (CMD_Code == SUBCMD_M_PULSE) //e. is this subcommand for GLD starting? //r. ýòî ïîäêîìàíäà çàïóñêà GLD?
+ {
+ M_Pulse(); //e. call light-up function //r. âûäàòü èìïóëüñ ïîäæèãà
+ return;
+ }
+ else if (CMD_Code == SUBCMD_M_STOP) //e. is this subcommand for GLD switch off? //r. ýòî ïîäêîìàíäà âûêëþ÷åíèÿ GLD?
+ {
+ M_Stop(); //e. otherwise- switch off all regulators and stop device //r. âûêëþ÷èòü âñå êîíòóðû è îñòàíîâèòü ïðèáîð
+ return;
+ }
+ else if (wcode == SUBCMD_M_CTL_R) //e. is this subcommand for read the device control register? //r. ýòî ïîäêîìàíäà ÷òåíèÿ ðåãèñòðà óïðàâëåíèÿ ó-âà?
+ {
+ M_Ctl_R();
+ return;
+ }
+ else if (wcode == SUBCMD_M_CTL_M) //e. is this subcommand for modification of the device control register? //r. ýòî ïîäêîìàíäà ìîäèôèêàöèè ðåãèñòðà óïðàâëåíèÿ ó-âà?
+ {
+ M_Ctl_M();
+ return;
+ }
+/* else if (wcode == SUBCMD_M_RESET) //e. is this subcommand for modification of the device control register? //r. ýòî ïîäêîìàíäà ìîäèôèêàöèè ðåãèñòðà óïðàâëåíèÿ ó-âà?
+ {
+ M_Reset();
+ return;
+ }*/
+ else
+ {
+ line_sts = line_sts | MODE_ERR; // mode error
+ return;
+ }
+ }
+ }
+} // exec_CMD
+
+void decode_CMD(void)
+{
+ int size;
+
+ if (!rcv_Rdy) //e. is data in receive buffer? //r. â ïðèåìíîì áóôåðå åñòü èíôîðìàöèÿ?
+ {
+ return; //e. if no, stop processing //r. åñëè íåò, çàêîí÷èòü îáðàáîòêó
+ }
+
+ if (!line_sts) //e. Whether there were errors of receiving of start-bit? //r. áûëè ëè îøèáêè ïðèåìà ñòàðò-áèòà ?
+ {
+ //e. there were not errors of receiving of bytes, check the device address //r. îøèáîê ïðèåìà áàéòîâ íå áûëî, ïðîâåðèòü àäðåñ îáðàùåíèÿ
+ //Is_Brodcast_Req = 0; //e. reset the flag of broadcasting request //r. ñáðîñèòü ôëàã øèðîêîâåùàòåëüíîãî çàïðîñà
+ if (rcv_buf[1] != Device_blk.Str.My_Addres)
+ {
+ if (rcv_buf[1] != BROADCAST_ADDRESS)
+ {
+ goto end;
+ }
+ }
+
+ if (rcv_buf[0] == COMMAND_PREFIX)
+ { //e. there is new command in the receiver buffer, stop the transfer //r. â áóôåðå ïðèåìíèêà åñòü íîâàÿ êîìàíäà, ïðåêðàòèòü ïåðåäà÷ó
+ trm_ena = 0; //e. reset the flag of transmission allowing //r. ñáðîñèòü ôëàã ðàçðåøåíèÿ ïåðåäà÷è
+
+ ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+ exec_CMD(); // øåé êîìàíäû
+
+ //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+
+ //e. check up presence of errors in operation of this procedure //r. ïðîâåðèòü, íàëè÷èå îøèáîê â ðàáîòå äàííîé ïîöåäóðû
+ //e. did is the "unknown code of a command" or "parameters were set incorrectly" error? //r. áûëà îøèáêà "íåèçâåñòíûé êîä êîìàíäû" èëè "íåâåðíî çàäàííûå ïàðàìåòðû"?
+ if ( ((line_sts & CODE_ERR) == CODE_ERR) || ((line_sts & PARAM_ERR) == PARAM_ERR) )
+ {
+ line_err = line_sts; //e. set error bits in the error register of the line //r. óñòàíîâèòü áèòû îøèáîê â ðåãèñòðå îøèáîê ëèíèè
+ }
+ }
+ else
+ {
+ line_err = line_sts | NO_CMD_ERR; // äîáàâëåíèå îøèáêè â ðåãèñòð îøèáîê
+ }
+
+ }
+ else
+ {
+ line_err = line_sts;
+ }
+end:
+ if (rx_buf_copy) //e. is copying of present received packet needed? //r. òðåáóåòñÿ êîïèðîâàíèå äàííîãî ïðèíÿòîãî ïàêåòà?
+ {
+ size = rcv_num_byt;
+ rcv_byt_copy = rcv_num_byt; //e. save the size of copy //r. çàïîìíèòü ðàçìåð êîïèè
+ if (rcv_num_byt > sizeof(rcv_buf)) //e. compare the size of receiving buffer with amount of received bytes //r. êîïèðîâàíèå òðåáóåòñÿ, ñðàâíèòü ðàçìåð ïðèåìíîãî áóôåðà ñ ÷èñëîì ïðèíÿòûõ áàéò
+ {
+ size = sizeof(rcv_buf);
+ }
+ memcpy(rcv_copy, rcv_buf, size); //e. copy of received amount of bytes, but no more than buffer size //r. êîïèðîâàòü ïðèíÿòîå ÷èñëî áàéò, íî íå áîëåå ðàçìåðà áóôåðà
+ }
+ rx_buf_copy = 0; //e. reset the flag of necessity of copying of receiving buffer //r. ñáðîñèòü ôëàã íåîáõîäèìîñòè êîïèðîâàíèÿ ïðèåìíîãî áóôåðà
+
+ do
+ rcv_buf[--rcv_num_byt] = 0;
+ while(rcv_num_byt);
+ rcv_num_byt_old = rcv_num_byt;
+ line_sts = 0; //e. reset the line status register //r. ñáðîñèòü ðåãèñòð ñòàòóñà ëèíèè
+ rcv_Rdy = 0; //e. allow further data reception //r. ðàçðåøèòü äàëüíåéøèé ïðèåì äàííûõ
+} // decode_CMD
+
+