Dmitry Kovalev / Mbed 2 deprecated LG2

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Dependencies:   mbed

Fork of LG by igor Apu

Global.c@106:250ddd8629c6, 2016-04-01 (annotated)

Committer:
Kovalev_D
Date:
Fri Apr 01 10:05:35 2016 +0000
Revision:
106:250ddd8629c6
Parent:
104:ab1cb4ff56b2
Child:
112:4a96133a1311
54

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 0:8ad47e2b6f00 3
igor_v 0:8ad47e2b6f00 4
Kovalev_D 89:a0d344db227e 5 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 6 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 99:3d8f206ceac2 7 int MaxAmp=0;
Kovalev_D 89:a0d344db227e 8 unsigned char BuffTemp[100];
Kovalev_D 89:a0d344db227e 9 unsigned char Time[500];
Kovalev_D 86:398da56ef751 10 unsigned int Event1Hz;
Kovalev_D 88:b5c1d9d338d1 11 unsigned int Event1K ;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int EventVibro;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int Time1K;
Kovalev_D 88:b5c1d9d338d1 15 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 16 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 17 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 18 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 19 unsigned int ShiftL;
Kovalev_D 86:398da56ef751 20
Kovalev_D 86:398da56ef751 21 void GLD_Init(void)
Kovalev_D 86:398da56ef751 22 {
Kovalev_D 90:d9b6a4bc5065 23 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 24 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 25 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 26 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 27 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 28 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 29 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 30 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 31 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 32 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 33 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 34 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 35 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 36 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 37 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 38 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 39 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 40 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 41 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 42 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 43 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 44 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 45 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 46 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 47 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 48 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 49 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 50 ShiftL = 0;
Kovalev_D 86:398da56ef751 51 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 52 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 53
Kovalev_D 88:b5c1d9d338d1 54
Kovalev_D 88:b5c1d9d338d1 55 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 56 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 57 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 58 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 59 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 99:3d8f206ceac2 60 Gyro.FrqHZ=400;
Kovalev_D 88:b5c1d9d338d1 61 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 88:b5c1d9d338d1 62 Gyro.AmpPer=20;
Kovalev_D 88:b5c1d9d338d1 63 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 64 Gyro.Amp = 10*65535;
Kovalev_D 88:b5c1d9d338d1 65 Gyro.AmpMin =10;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 66 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 67 //////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 68 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 69 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 70 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 71 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 72 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 73 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 74 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 75 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 76 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 77 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 78 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 79 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 80 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 81 Buff_16PointD[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 82 }
Kovalev_D 88:b5c1d9d338d1 83 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 84 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 85 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 86 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 87 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 88 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 89 Temp_AMP=0;
Kovalev_D 96:1c8536458119 90 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 91 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 92 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 93 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 94 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 95 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 96 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 97 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 98 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 99 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 100 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 101 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 102 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 103 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 104 }
Kovalev_D 95:dd51e577e114 105 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 106 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 107 }
Kovalev_D 96:1c8536458119 108 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 109 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 110 }
Kovalev_D 96:1c8536458119 111 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 112 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 113 }
Kovalev_D 88:b5c1d9d338d1 114 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 115 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 116
Kovalev_D 88:b5c1d9d338d1 117
Kovalev_D 88:b5c1d9d338d1 118
Kovalev_D 88:b5c1d9d338d1 119
Kovalev_D 88:b5c1d9d338d1 120
Kovalev_D 92:c892f0311aa7 121
Kovalev_D 88:b5c1d9d338d1 122 Gyro.SOC_Out=0xDD;
Kovalev_D 86:398da56ef751 123 Gyro.Firmware_Version =0x15; //версия программы
Kovalev_D 86:398da56ef751 124 Gyro.GLD_Serial = 0x20; //серийный номер
Kovalev_D 86:398da56ef751 125 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 86:398da56ef751 126 Gyro.Discharg = StartDischarg;
Kovalev_D 86:398da56ef751 127 Gyro.BackLight = StartBackLight;
Kovalev_D 92:c892f0311aa7 128
Kovalev_D 88:b5c1d9d338d1 129
Kovalev_D 89:a0d344db227e 130
Kovalev_D 89:a0d344db227e 131
Kovalev_D 88:b5c1d9d338d1 132 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 133 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 134 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 135 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 136 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 137 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 138 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 139 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 140 Spi.DAC_A = 0x7fff;
Kovalev_D 86:398da56ef751 141 Spi.DAC_B = 0x7fff;
Kovalev_D 86:398da56ef751 142 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 143 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 144 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 145 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 146 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 147 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 148 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 149 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 150
igor_v 16:18e3fd7b92d0 151
igor_v 16:18e3fd7b92d0 152
Kovalev_D 86:398da56ef751 153 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 154
Kovalev_D 86:398da56ef751 155
Kovalev_D 86:398da56ef751 156 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 157 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 158 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 159 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 160 Cur_QEI=0;
Kovalev_D 86:398da56ef751 161 Last_QEI=0;
Kovalev_D 86:398da56ef751 162 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 163 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 164 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 165 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 87:7e575d26d6d0 166 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=100MHz
Kovalev_D 87:7e575d26d6d0 167 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 168 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 169 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 170
Kovalev_D 98:95b8e79f13e1 171
Kovalev_D 87:7e575d26d6d0 172 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 173 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 174 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 175 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 176
Kovalev_D 87:7e575d26d6d0 177 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 178 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 179
Kovalev_D 98:95b8e79f13e1 180 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 181 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 182 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 183 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 184
Kovalev_D 88:b5c1d9d338d1 185
Kovalev_D 89:a0d344db227e 186 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 187 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 188 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 189
Kovalev_D 89:a0d344db227e 190 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 191
Kovalev_D 89:a0d344db227e 192 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 193 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 194 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 195 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 196
Kovalev_D 89:a0d344db227e 197 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 198 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 199 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 200
Kovalev_D 89:a0d344db227e 201 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 202 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 203 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 204
Kovalev_D 99:3d8f206ceac2 205 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 206 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 207 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 208 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 209
Kovalev_D 89:a0d344db227e 210 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 211 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 212 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 213
Kovalev_D 86:398da56ef751 214
Kovalev_D 86:398da56ef751 215
Kovalev_D 92:c892f0311aa7 216
Kovalev_D 92:c892f0311aa7 217
Kovalev_D 92:c892f0311aa7 218
Kovalev_D 92:c892f0311aa7 219 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 220 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 221 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 222 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 223 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 224
Kovalev_D 92:c892f0311aa7 225 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 226 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 227
Kovalev_D 92:c892f0311aa7 228 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 229 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 230 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 231
Kovalev_D 92:c892f0311aa7 232 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 233 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 234 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 235
Kovalev_D 92:c892f0311aa7 236 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 237 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 238
Kovalev_D 92:c892f0311aa7 239 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 240 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 241
Kovalev_D 92:c892f0311aa7 242 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 243 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 244
Kovalev_D 92:c892f0311aa7 245 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 92:c892f0311aa7 246 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 247 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 248
Kovalev_D 92:c892f0311aa7 249 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 250 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 251
Kovalev_D 92:c892f0311aa7 252 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 253 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 254 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 255 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 256 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 257 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 258 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 259 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 260 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 261
Kovalev_D 92:c892f0311aa7 262 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 263 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 264 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 265 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 266 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 267 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 268 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 269
Kovalev_D 92:c892f0311aa7 270
Kovalev_D 92:c892f0311aa7 271
Kovalev_D 92:c892f0311aa7 272
Kovalev_D 86:398da56ef751 273 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 274 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 275 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 276
Kovalev_D 89:a0d344db227e 277 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 278 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 279 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 280 PinCheng();
Kovalev_D 89:a0d344db227e 281 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 282
Kovalev_D 87:7e575d26d6d0 283 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 284 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 285 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 286
Kovalev_D 98:95b8e79f13e1 287 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 98:95b8e79f13e1 288 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 98:95b8e79f13e1 289 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 87:7e575d26d6d0 290 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 291 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 292 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 293
Kovalev_D 88:b5c1d9d338d1 294
Kovalev_D 87:7e575d26d6d0 295 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 296 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 297 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 298 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 299 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 300 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 301
Kovalev_D 88:b5c1d9d338d1 302
Kovalev_D 88:b5c1d9d338d1 303
Kovalev_D 87:7e575d26d6d0 304 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 305 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 306 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 307 LPC_PINCON->PINSEL0 &= ~(3<<8); //e. P0.4 is GPIO pin (запись ( 00 ) в 9:8 бит PISEL0 выбор P0.4 как GPIO)
Kovalev_D 98:95b8e79f13e1 308 LPC_PINCON->PINMODE0 |= (3<<8); //e. P0.4 is GPIO pin (запись ( 11 ) в 9:8 бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 309 LPC_GPIO0->FIODIR |= (1<<4); //e. P0.4 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.4 как выход)
Kovalev_D 87:7e575d26d6d0 310 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 311 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 312
Kovalev_D 88:b5c1d9d338d1 313
Kovalev_D 88:b5c1d9d338d1 314
Kovalev_D 87:7e575d26d6d0 315 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 316 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 317 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 318 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 319 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 320 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 321 LPC_GPIO1->FIODIR |= (1<<25); //e. P0.5 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 322 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 323 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 324 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 325 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 326 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 327 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 328 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 329 LPC_GPIO1->FIODIR |= (1<<28); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 330 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 331 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 332 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 333
Kovalev_D 88:b5c1d9d338d1 334
Kovalev_D 88:b5c1d9d338d1 335
Kovalev_D 87:7e575d26d6d0 336 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 337 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 338 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 339 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 340 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 341 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 342 LPC_GPIO2->FIODIR |= (1<<12); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 343 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 344 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 345 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 346
Kovalev_D 88:b5c1d9d338d1 347
Kovalev_D 88:b5c1d9d338d1 348 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 349 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 350 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 351 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 352 enable_timer1();
Kovalev_D 86:398da56ef751 353 enable_timer2();
Kovalev_D 89:a0d344db227e 354 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 355
Kovalev_D 89:a0d344db227e 356 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 357 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 358
Kovalev_D 90:d9b6a4bc5065 359
Kovalev_D 90:d9b6a4bc5065 360
Kovalev_D 90:d9b6a4bc5065 361 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 362 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 363 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 364 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 365 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 366
Kovalev_D 90:d9b6a4bc5065 367 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 368 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 369
Kovalev_D 90:d9b6a4bc5065 370 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 371 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 372 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 373
Kovalev_D 90:d9b6a4bc5065 374 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 375 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 376 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 377
Kovalev_D 90:d9b6a4bc5065 378 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 379 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 380
Kovalev_D 90:d9b6a4bc5065 381 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 382 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 383
Kovalev_D 90:d9b6a4bc5065 384 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 385 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 386
Kovalev_D 90:d9b6a4bc5065 387 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 90:d9b6a4bc5065 388 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 389 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 390
Kovalev_D 90:d9b6a4bc5065 391 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 392 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 393
Kovalev_D 90:d9b6a4bc5065 394 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 395 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 396 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 397 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 90:d9b6a4bc5065 398 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 399 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 400 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 401 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 402 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 403
Kovalev_D 92:c892f0311aa7 404 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 405 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 406 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 407 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 408
Kovalev_D 86:398da56ef751 409 }
igor_v 13:e2a1d18677b8 410
igor_v 0:8ad47e2b6f00 411
igor_v 0:8ad47e2b6f00 412
igor_v 0:8ad47e2b6f00 413
igor_v 0:8ad47e2b6f00 414