Dmitry Kovalev / Mbed 2 deprecated LG2

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Dependencies:   mbed

Fork of LG by igor Apu

Global.c@205:775d54fdf646, 2016-12-19 (annotated)

Committer:
Kovalev_D
Date:
Mon Dec 19 14:08:31 2016 +0000
Revision:
205:775d54fdf646
Parent:
203:3a6615de9581
Child:
206:00341a03e05c
WRE PARAMETR

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
Kovalev_D 89:a0d344db227e 3 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 4 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 197:7a05523bf588 5 float t1;
Kovalev_D 89:a0d344db227e 6 unsigned char BuffTemp[100];
Kovalev_D 197:7a05523bf588 7 unsigned char Time[1000];
Kovalev_D 86:398da56ef751 8 unsigned int Event1Hz;
Kovalev_D 124:9ae09249f842 9 unsigned int Event500Hz;
Kovalev_D 203:3a6615de9581 10 unsigned int Event1K;
Kovalev_D 88:b5c1d9d338d1 11 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int EventVibro;
Kovalev_D 124:9ae09249f842 13
Kovalev_D 197:7a05523bf588 14 unsigned int Time250Hz;
Kovalev_D 197:7a05523bf588 15 unsigned int Event250Hz;
Kovalev_D 197:7a05523bf588 16
Kovalev_D 124:9ae09249f842 17 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 18 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 19 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 20 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 21 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 22 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 23 unsigned int ShiftL;
Kovalev_D 205:775d54fdf646 24 //unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 25
Kovalev_D 139:1716152517aa 26
Kovalev_D 134:caf4c9cd5052 27 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 28 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 29 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 30 BX R0
Kovalev_D 134:caf4c9cd5052 31 }
Kovalev_D 134:caf4c9cd5052 32
Kovalev_D 205:775d54fdf646 33 void Param_init(void)
Kovalev_D 205:775d54fdf646 34 {
Kovalev_D 205:775d54fdf646 35 InitMOD();
Kovalev_D 104:ab1cb4ff56b2 36 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 37 Gyro.RgConB = 0xffff;
Kovalev_D 205:775d54fdf646 38 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 39 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 40 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 41 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 42 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 43 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 44 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 45 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 46 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 47 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 48 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 49 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 50 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 51 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 52 ShiftL = 0;
Kovalev_D 124:9ae09249f842 53 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 54 Time500Hz = 0;
Kovalev_D 205:775d54fdf646 55 PulseADC_64Point= 0;
Kovalev_D 205:775d54fdf646 56 Temp_AMP64P = 0;
Kovalev_D 205:775d54fdf646 57 Temp_ADC_2 = 0;
Kovalev_D 205:775d54fdf646 58 Temp_ADC_3 = 0;
Kovalev_D 205:775d54fdf646 59 Temp_ADC_4 = 0;
Kovalev_D 205:775d54fdf646 60 Temp_ADC_5 = 0;
Kovalev_D 205:775d54fdf646 61 Gyro.Log = 0;
Kovalev_D 205:775d54fdf646 62 Gyro.LogPLC = 0;
Kovalev_D 205:775d54fdf646 63 Gyro.PLC_Lern = 0;
Kovalev_D 106:250ddd8629c6 64 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 65 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 66 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 67 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 68 Pulse_32Point = 0;
Kovalev_D 205:775d54fdf646 69 Gyro.FlashMod=0;
Kovalev_D 197:7a05523bf588 70
Kovalev_D 205:775d54fdf646 71 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 205:775d54fdf646 72
Kovalev_D 205:775d54fdf646 73 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 74 ///////////инициализация таймеров////////////
Kovalev_D 205:775d54fdf646 75 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 76 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 205:775d54fdf646 77 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 205:775d54fdf646 78 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 79 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 88:b5c1d9d338d1 80
Kovalev_D 205:775d54fdf646 81 Gyro.FrqHZ = 388;
Kovalev_D 205:775d54fdf646 82 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 205:775d54fdf646 83 Gyro.FrqHZmin = 350<<16;
Kovalev_D 205:775d54fdf646 84 Gyro.FrqHZmax = 450<<16;
Kovalev_D 205:775d54fdf646 85 Gyro.FrqChengSpeed = 100;
Kovalev_D 205:775d54fdf646 86 Gyro.ModAmp = 250;
Kovalev_D 205:775d54fdf646 87 Gyro.AmpPer = 40;
Kovalev_D 205:775d54fdf646 88 Gyro.AmpPerMin = 1;
Kovalev_D 205:775d54fdf646 89 Gyro.AmpPerMax = 90;
Kovalev_D 205:775d54fdf646 90 Gyro.AmpSpeed = 1;
Kovalev_D 205:775d54fdf646 91 Gyro.AmpPerDel = 5;
Kovalev_D 205:775d54fdf646 92 Gyro.AmpTarget = 5800;// целевая амплитуда ВП
Kovalev_D 205:775d54fdf646 93 Gyro.Amp = 30*65535;
Kovalev_D 205:775d54fdf646 94 Gyro.AmpMin = 15;// минимальное значение AmpT;5
Kovalev_D 205:775d54fdf646 95 Gyro.AmpTD = 30;////////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 96 Gyro.TermoNKU = 44700;//48824*0,0061-273=25 С°
Kovalev_D 205:775d54fdf646 97 Spi.DAC_A = 41000;
Kovalev_D 205:775d54fdf646 98 Spi.DAC_B = 35220;
Kovalev_D 205:775d54fdf646 99 Gyro.PLC_Error2Mode = 1400; //для записи мод
Kovalev_D 205:775d54fdf646 100 Gyro.Gain_Sin = 115;
Kovalev_D 205:775d54fdf646 101 Gyro.Gain_Cos = 175;
Kovalev_D 205:775d54fdf646 102 Gyro.SOC_Out = 0xDD;
Kovalev_D 205:775d54fdf646 103 Gyro.Firmware_Version = 0x9; //версия программы
Kovalev_D 205:775d54fdf646 104 Gyro.GLD_Serial = 123; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 105 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 92:c892f0311aa7 106
Kovalev_D 188:4c523cc373cc 107 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 108 case 0:
Kovalev_D 188:4c523cc373cc 109 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 110 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 111 break;
Kovalev_D 188:4c523cc373cc 112 case 1:
Kovalev_D 188:4c523cc373cc 113 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 114 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 115 break;
Kovalev_D 188:4c523cc373cc 116 case 2:
Kovalev_D 188:4c523cc373cc 117 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 118 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 119 break;
Kovalev_D 188:4c523cc373cc 120 case 3:
Kovalev_D 188:4c523cc373cc 121 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 122 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 123 break;
Kovalev_D 205:775d54fdf646 124 }
Kovalev_D 205:775d54fdf646 125
Kovalev_D 88:b5c1d9d338d1 126 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 127 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 128 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 129 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 130 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 131 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 132 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 133 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 134
Kovalev_D 86:398da56ef751 135 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 136 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 137 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 138 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 139 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 140 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 141
Kovalev_D 86:398da56ef751 142 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 143 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 144 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 145 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 146 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 112:4a96133a1311 147 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 148 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 149 Cur_QEI=0;
Kovalev_D 86:398da56ef751 150 Last_QEI=0;
Kovalev_D 205:775d54fdf646 151 }
Kovalev_D 205:775d54fdf646 152
Kovalev_D 205:775d54fdf646 153 void GLD_Init(void)
Kovalev_D 205:775d54fdf646 154 { int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 86:398da56ef751 155 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 156 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 157 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 158 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 159 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 160 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 161 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 162 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 163
Kovalev_D 98:95b8e79f13e1 164
Kovalev_D 87:7e575d26d6d0 165 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 166 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 167 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 168 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 169
Kovalev_D 87:7e575d26d6d0 170 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 171 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 172
Kovalev_D 98:95b8e79f13e1 173 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 174 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 175 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 176 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 177
Kovalev_D 88:b5c1d9d338d1 178
Kovalev_D 89:a0d344db227e 179 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 180 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 181 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 182
Kovalev_D 89:a0d344db227e 183 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 184
Kovalev_D 89:a0d344db227e 185 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 186 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 187 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 188 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 189
Kovalev_D 89:a0d344db227e 190 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 191 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 192 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 193
Kovalev_D 89:a0d344db227e 194 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 195 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 196 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 197
Kovalev_D 99:3d8f206ceac2 198 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 199 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 200 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 201 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 202
Kovalev_D 89:a0d344db227e 203 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 204 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 205 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 206
Kovalev_D 86:398da56ef751 207
Kovalev_D 86:398da56ef751 208
Kovalev_D 92:c892f0311aa7 209
Kovalev_D 92:c892f0311aa7 210
Kovalev_D 92:c892f0311aa7 211
Kovalev_D 92:c892f0311aa7 212 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 213 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 214 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 215 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 216 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 217
Kovalev_D 92:c892f0311aa7 218 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 219 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 220
Kovalev_D 92:c892f0311aa7 221 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 222 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 223 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 224
Kovalev_D 92:c892f0311aa7 225 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 226 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 227 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 228
Kovalev_D 92:c892f0311aa7 229 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 230 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 231
Kovalev_D 92:c892f0311aa7 232 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 233 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 234
Kovalev_D 92:c892f0311aa7 235 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 236 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 237
Kovalev_D 92:c892f0311aa7 238 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 239 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 240 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 241
Kovalev_D 92:c892f0311aa7 242 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 243 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 244
Kovalev_D 92:c892f0311aa7 245 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 246 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 247 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 248 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 249 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 250 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 251 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 252 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 253 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 254
Kovalev_D 92:c892f0311aa7 255 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 256 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 257 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 258 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 259 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 260 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 261 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 262
Kovalev_D 92:c892f0311aa7 263
Kovalev_D 92:c892f0311aa7 264
Kovalev_D 92:c892f0311aa7 265
Kovalev_D 86:398da56ef751 266 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 267 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 268 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 269
Kovalev_D 89:a0d344db227e 270 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 271 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 272 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 273 PinCheng();
Kovalev_D 89:a0d344db227e 274 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 275 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 276 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 277 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 278 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 279
Kovalev_D 98:95b8e79f13e1 280 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 190:289514f730ee 281 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 190:289514f730ee 282 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 283 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 284 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 285 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 286 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 287 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 288 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 289 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 290 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 291 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 292 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 293 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 294 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 295
Kovalev_D 88:b5c1d9d338d1 296
Kovalev_D 88:b5c1d9d338d1 297
Kovalev_D 87:7e575d26d6d0 298 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 299 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 300 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 301 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 302 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 303 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 304 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 305 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 306
Kovalev_D 88:b5c1d9d338d1 307
Kovalev_D 88:b5c1d9d338d1 308
Kovalev_D 87:7e575d26d6d0 309 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 310 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 311 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 312 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 313 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 314 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 315 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 316 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 317 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 318 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 319 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 320 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 321 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 322 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 323 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 324 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 325 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 326 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 327
Kovalev_D 88:b5c1d9d338d1 328
Kovalev_D 88:b5c1d9d338d1 329
Kovalev_D 87:7e575d26d6d0 330 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 331 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 332 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 333 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 334 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 335 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 336 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 337 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 338 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 339 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 340
Kovalev_D 88:b5c1d9d338d1 341
Kovalev_D 88:b5c1d9d338d1 342 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 343 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 344 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 345 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 346 enable_timer1();
Kovalev_D 86:398da56ef751 347 enable_timer2();
Kovalev_D 89:a0d344db227e 348 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 349
Kovalev_D 89:a0d344db227e 350 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 351 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 352
Kovalev_D 90:d9b6a4bc5065 353
Kovalev_D 90:d9b6a4bc5065 354
Kovalev_D 90:d9b6a4bc5065 355 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 356 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 357 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 358 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 359 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 360
Kovalev_D 90:d9b6a4bc5065 361 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 362 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 363
Kovalev_D 90:d9b6a4bc5065 364 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 365 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 366 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 367
Kovalev_D 90:d9b6a4bc5065 368 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 369 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 370 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 371
Kovalev_D 90:d9b6a4bc5065 372 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 373 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 374
Kovalev_D 90:d9b6a4bc5065 375 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 376 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 377
Kovalev_D 90:d9b6a4bc5065 378 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 379 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 380
Kovalev_D 90:d9b6a4bc5065 381 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 382 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 383 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 384
Kovalev_D 90:d9b6a4bc5065 385 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 386 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 387
Kovalev_D 90:d9b6a4bc5065 388 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 389 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 390 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 391 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 392 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 393 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 394 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 395 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 396 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 397
Kovalev_D 92:c892f0311aa7 398 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 399 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 400 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 401 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 205:775d54fdf646 402 //Gyro=GyroP.str;
Kovalev_D 205:775d54fdf646 403 //Gyro = (*(struct Gyro*)(&GyroP.Str));
Kovalev_D 90:d9b6a4bc5065 404
Kovalev_D 86:398da56ef751 405 }
igor_v 13:e2a1d18677b8 406
igor_v 0:8ad47e2b6f00 407
igor_v 0:8ad47e2b6f00 408
igor_v 0:8ad47e2b6f00 409
igor_v 0:8ad47e2b6f00 410