Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

MTimer.c@190:289514f730ee, 2016-08-23 (annotated)

Committer:
Kovalev_D
Date:
Tue Aug 23 14:03:16 2016 +0000
Revision:
190:289514f730ee
Parent:
188:4c523cc373cc
Child:
193:a0fe8bfc97e4
PLC

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 4 #include "vibro.h"
igor_v 0:8ad47e2b6f00 5 #include "QEI.h"
igor_v 0:8ad47e2b6f00 6 #include "Global.h"
igor_v 0:8ad47e2b6f00 7 #include "SPI.h"
igor_v 0:8ad47e2b6f00 8 #include "InputOutput.h"
Kovalev_D 112:4a96133a1311 9
igor_v 0:8ad47e2b6f00 10
Kovalev_D 112:4a96133a1311 11
igor_v 0:8ad47e2b6f00 12 //unsigned int CountV=0;
igor_v 21:bc8c1cec3da6 13 //unsigned int CountVf=0 ;
igor_v 0:8ad47e2b6f00 14 unsigned int CountV31=0;
Kovalev_D 115:e5a230e5af52 15 unsigned int CountV255=0,f ;
Kovalev_D 124:9ae09249f842 16 int loop=0;
Kovalev_D 112:4a96133a1311 17
Kovalev_D 88:b5c1d9d338d1 18 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 19 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 20 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 21 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 22 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 23 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 24 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 92:c892f0311aa7 25 { int i,t;
Kovalev_D 115:e5a230e5af52 26 if (Event1Hz)
Kovalev_D 124:9ae09249f842 27 {
Kovalev_D 124:9ae09249f842 28 Gyro.Rate1_Event = 1;
Kovalev_D 122:fbacb932a30b 29 Event1Hz--;
Kovalev_D 122:fbacb932a30b 30 Time1Hz++;
Kovalev_D 117:eefe61968528 31 Discharg ();
Kovalev_D 117:eefe61968528 32 BackLight ();
Kovalev_D 124:9ae09249f842 33
Kovalev_D 88:b5c1d9d338d1 34 }
Kovalev_D 88:b5c1d9d338d1 35 }
Kovalev_D 89:a0d344db227e 36 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 37 ///////////////////// 1kHz //////////////////////////
Kovalev_D 89:a0d344db227e 38 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 39 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 40 {
Kovalev_D 116:66f1f0ff2dab 41 if (Event1K)
Kovalev_D 116:66f1f0ff2dab 42 {
Kovalev_D 88:b5c1d9d338d1 43 Event1K --;
Kovalev_D 116:66f1f0ff2dab 44 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 116:66f1f0ff2dab 45 if (Time1K == 1000)
Kovalev_D 115:e5a230e5af52 46 {
Kovalev_D 88:b5c1d9d338d1 47 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 48 Event1Hz ++;
Kovalev_D 124:9ae09249f842 49
Kovalev_D 88:b5c1d9d338d1 50 }
Kovalev_D 88:b5c1d9d338d1 51 }
Kovalev_D 88:b5c1d9d338d1 52 }
Kovalev_D 124:9ae09249f842 53 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 54 {
Kovalev_D 124:9ae09249f842 55 if(Event500Hz)
Kovalev_D 190:289514f730ee 56 {
Kovalev_D 124:9ae09249f842 57 Event500Hz--;
Kovalev_D 124:9ae09249f842 58 Gyro.Delta500_Event=1;
Kovalev_D 143:2b15794a6cd2 59 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 124:9ae09249f842 60 }
Kovalev_D 124:9ae09249f842 61 }
Kovalev_D 89:a0d344db227e 62 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 63 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 64 /////////////////////////////////////////////////////
Kovalev_D 116:66f1f0ff2dab 65 void Event_100KHz(void)// событие раз в 100 кГц(каждые 5-6 фронтов шум)
Kovalev_D 88:b5c1d9d338d1 66 {
Kovalev_D 162:44e4ded32c6a 67
Kovalev_D 88:b5c1d9d338d1 68 if (Event100K) {
Kovalev_D 88:b5c1d9d338d1 69 Event100K --;
Kovalev_D 162:44e4ded32c6a 70 Time500Hz++;
Kovalev_D 116:66f1f0ff2dab 71
Kovalev_D 124:9ae09249f842 72 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 73
Kovalev_D 124:9ae09249f842 74 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 116:66f1f0ff2dab 75
Kovalev_D 116:66f1f0ff2dab 76 Time100K++;
Kovalev_D 124:9ae09249f842 77 if (Time100K == 100)
Kovalev_D 124:9ae09249f842 78 {
Kovalev_D 88:b5c1d9d338d1 79 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 80 Event1K ++;
Kovalev_D 124:9ae09249f842 81 }
Kovalev_D 162:44e4ded32c6a 82 if (Time500Hz > 200)
Kovalev_D 190:289514f730ee 83 {
Kovalev_D 162:44e4ded32c6a 84 Time500Hz -= 200;
Kovalev_D 162:44e4ded32c6a 85 Event500Hz ++;
Kovalev_D 190:289514f730ee 86 }
Kovalev_D 88:b5c1d9d338d1 87 }
Kovalev_D 88:b5c1d9d338d1 88 }
Kovalev_D 89:a0d344db227e 89 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 90 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 91 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 92 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 93 {
Kovalev_D 88:b5c1d9d338d1 94 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 95 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 96 }
Kovalev_D 88:b5c1d9d338d1 97 }
Kovalev_D 89:a0d344db227e 98 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 99 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 100 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 101
Kovalev_D 88:b5c1d9d338d1 102
Kovalev_D 112:4a96133a1311 103 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 104 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 105 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 106
Kovalev_D 112:4a96133a1311 107 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 108 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 109 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 110
Kovalev_D 112:4a96133a1311 111 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 112 {
Kovalev_D 112:4a96133a1311 113 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 114 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 115 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 116 }
Kovalev_D 112:4a96133a1311 117
Kovalev_D 112:4a96133a1311 118
igor_v 0:8ad47e2b6f00 119 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 120 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 121 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 122 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 123 {
igor_v 21:bc8c1cec3da6 124 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 125 return;
igor_v 21:bc8c1cec3da6 126 }
igor_v 0:8ad47e2b6f00 127
igor_v 0:8ad47e2b6f00 128
igor_v 0:8ad47e2b6f00 129 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 130 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 131 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 132
igor_v 0:8ad47e2b6f00 133 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 134 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 135 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 136 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 137 {
Kovalev_D 124:9ae09249f842 138 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 139 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 140 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 141 return 1;
igor_v 21:bc8c1cec3da6 142 }
igor_v 0:8ad47e2b6f00 143
igor_v 15:f5191a1c3805 144
igor_v 15:f5191a1c3805 145
igor_v 21:bc8c1cec3da6 146 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 147 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 148 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 149 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 150 {
igor_v 21:bc8c1cec3da6 151 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 152 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 153 }
igor_v 21:bc8c1cec3da6 154
igor_v 21:bc8c1cec3da6 155
Kovalev_D 112:4a96133a1311 156 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 157 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 158 //////////////////////////////////////////////////////////////////////
Kovalev_D 183:7e200f4d9b16 159 __irq void TIMER1_IRQHandler (void)//13.27 kHz
Kovalev_D 112:4a96133a1311 160 {
igor_v 114:5cc38a53d8a7 161 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 162 SetDAC(DAC);
Kovalev_D 112:4a96133a1311 163
igor_v 114:5cc38a53d8a7 164 CountV255++; // инкремент счеттчика
Kovalev_D 164:6f43f85fdd8d 165 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
igor_v 114:5cc38a53d8a7 166 CountV31 =CountV255 & 0x1f; // малый счетчик
Kovalev_D 121:bbae560cdd43 167
Kovalev_D 112:4a96133a1311 168 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 169 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 170
Kovalev_D 116:66f1f0ff2dab 171
Kovalev_D 116:66f1f0ff2dab 172 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 173 ResetDAC(DAC);
igor_v 114:5cc38a53d8a7 174 SPI_Exchange(); //Чтение ADS_SPI
igor_v 114:5cc38a53d8a7 175
Kovalev_D 112:4a96133a1311 176 LPC_TIM1->IR = 1;
Kovalev_D 112:4a96133a1311 177 }
Kovalev_D 112:4a96133a1311 178
Kovalev_D 112:4a96133a1311 179
Kovalev_D 112:4a96133a1311 180
Kovalev_D 112:4a96133a1311 181
Kovalev_D 112:4a96133a1311 182
Kovalev_D 112:4a96133a1311 183
igor_v 21:bc8c1cec3da6 184 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 185 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 186 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 187 __irq void TIMER2_IRQHandler (void)
Kovalev_D 169:140743e3bb96 188 {
igor_v 21:bc8c1cec3da6 189 LPC_TIM2->IR = 1;
igor_v 21:bc8c1cec3da6 190 Global_Time++;
Kovalev_D 190:289514f730ee 191 if(Time_UART) Time_UART--;
igor_v 21:bc8c1cec3da6 192 Time_vibro++;
Kovalev_D 112:4a96133a1311 193 Gyro.VibroOutF=1;
Kovalev_D 190:289514f730ee 194 Event100K ++;
igor_v 21:bc8c1cec3da6 195 }