Diff: QEI.c

Revision:

0:8ad47e2b6f00

Child:

1:f2adcae3d304

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.c	Sat Jan 30 13:00:39 2016 +0000
@@ -0,0 +1,118 @@
+#include "lpc17xx.h"  
+#include "QEI.h"
+#include "vibro.h"
+#include "MTimer.h"
+
+			int Pulse_midl = 0;
+			int PulseHalf = 0;
+			int CuruAngle = 0;
+      int Dif_QEI;
+int FFF=0;//äëÿ çàïëàòêè
+
+			int Pulse_8Point = 0;
+			int Pulse_16Point = 0;
+			int Pulse_32Point = 0;
+			int Pulse_16PointD = 0;
+	   	unsigned int Iras=0,Temp_F_ras=0;	
+		int yy = 0;
+
+      
+			unsigned int Buff_32Point		   [256];
+			unsigned int Buff_16Point		   [256];
+			unsigned int Buff_16PointD	   [256];
+			unsigned int Buff_8Point	     [256];
+			unsigned int Buff_1Point		   [256];
+			unsigned int Buff_Restored_sin [256];
+			int unsigned Cur_QEI = 0, Last_QEI=0;
+
+
+			void D_QEI(void)
+			{ 
+	     Dif_QEI=0;
+				
+				
+				Cur_QEI  =  LPC_QEI->POS & 0xFFFF; // ñ÷èòûâàíèå òåêóùåãî çíà÷åíèÿ ýíêîäåðà.
+				Dif_QEI  =  (Cur_QEI - Last_QEI);  // ïîëó÷åíèå ïðèðàùåíèÿ.()
+				Last_QEI =  Cur_QEI;               // çàïèñü òåêóùåãî çíà÷åíèÿ ýíêîäåðà â ðåãèñòð ïðåäûäóùåãî çíà÷åíèÿ.
+
+
+				if (Dif_QEI < -0xfff)  Dif_QEI += 0x10000;   // îáðàáîòêà ïðîõîäà çíà÷åíèÿ ÷åðåç íîëü
+				if (Dif_QEI >  0xfff)  Dif_QEI -= 0x10000;    // îáðàáîòêà ïðîõîäà çíà÷åíèÿ ÷åðåç íîëü
+				
+				
+				Buff_1Point[CountV255] = (unsigned int) (Dif_QEI + 0xffff);// íàêîïëåíèå â áóôåð åäåíè÷íûõ çíà÷åíèé ïðèðàùåíèÿ ïî êàæäîìó òàêòó.
+			
+			////////////////////////////////////////////////////////////////////////////////////////////
+			///////////////////////////////////////////////////////////////////////////////////////////
+		
+		if (LPC_QEI->STAT)						//e. "+" direction //r. ñòàëè âðàùàòüñÿ â "+" ñòîðîíó
+			    {
+							Main.Cnt_Mns = Dif_QEI;
+		      }
+	 		    else
+			        {	
+				         Main.Cnt_Pls = -Dif_QEI;
+			        }
+			////////// ???? Çàïëàòêà
+			////////// ???? Ïðîáëåìà íà÷àëüíîãî çàïîëíåíèÿ áóôåðîâ
+			//////////////////////////////////////////////////////////////////////////////////////////////	
+				if(FFF==1) // åñëè ïðîøëî 32 òàêòà âèáðî ïîäâåñà íà÷àòü çàïîëíÿòü îñòàëüíûå áóâåðû.
+						{
+							Pulse_8Point += Buff_1Point[CountV255];
+							Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff];                    // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 8 òàêòîâ
+							Buff_8Point[CountV255] = (unsigned int) (Pulse_8Point + 0xffff);
+						
+							Pulse_16Point += Buff_1Point[CountV255];
+							Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff];									// çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 16 òàêòîâ
+							Buff_16Point[CountV255] = (unsigned int) (Pulse_16Point + 0xffff);
+						
+							Pulse_32Point += Buff_1Point[CountV255];
+							Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff];  								// çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 32 òàêòîâ
+							Main.Cnt_Dif  =  (Pulse_32Point+ 0xffff);
+							Buff_32Point[CountV255] = (unsigned int) (Pulse_32Point + 0xffff);
+
+							Pulse_16PointD += Buff_1Point[CountV255];
+							Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff];									// çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 16 òàêòîâ Äâîéíûç
+							Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff];									// 
+							Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff];									// ç
+
+							Buff_16PointD[CountV255] = (unsigned int) (Pulse_16PointD + 0xffff);
+	
+							
+//							Buff_Restored_sin [CountVf]= (unsigned int)( ((Buff_16Point[CountVf]*2)) - Buff_32Point[CountVf] );
+
+							Buff_Restored_sin [CountV255]= (unsigned int)( Buff_16PointD [ CountV255] + 65536 - Buff_32Point[CountV255] );
+            
+
+
+              if(Buff_32Point[CountV255]>0)
+							{
+	             Temp_F_ras += Buff_32Point[CountV255];
+							}
+				  		else if ((CountV255 & 0x1f)==0)
+							{
+								Main.F_ras=Temp_F_ras;
+								Temp_F_ras=0;
+							}
+              else
+							{
+	              Temp_F_ras -=  Buff_32Point[CountV255];
+							}	
+							
+            //unsigned int T_Vib;
+
+						}
+						else if(CountV255 == 255)	
+						{
+								FFF=1;//âðåìåííàÿ çàïëàòêà  äëÿ ïàóçû ïåðåä çàïîëíåíèåì îñòàëüíûõ áóôåðîâ 
+								for (yy = 0; yy < 256; yy++ ) 
+								{
+									Buff_1Point [yy] = 0xffff;
+									Buff_16Point [yy] = 0xffff;
+									Buff_32Point [yy] = 0xffff;
+									Buff_16PointD [yy] = 0xffff;
+								}
+
+						}
+				}
+