Dmitry Kovalev / Mbed 2 deprecated LGfiltr

forkd

Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

Global.c@232:130a2b5003e6, 2018-01-31 (annotated)

Committer:
Kovalev_D
Date:
Wed Jan 31 13:41:23 2018 +0000
Revision:
232:130a2b5003e6
Parent:
231:079835d508ef 
static termocorr

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 231:079835d508ef 7 unsigned char Time[512];
Kovalev_D 86:398da56ef751 8 unsigned int Event1Hz;
Kovalev_D 208:19150d2b528f 9 unsigned int Event100Hz;
Kovalev_D 209:224e7331a061 10 unsigned int Event250Hz;
Kovalev_D 124:9ae09249f842 11 unsigned int Event500Hz;
Kovalev_D 203:3a6615de9581 12 unsigned int Event1K;
Kovalev_D 214:4c70e452c491 13 unsigned int Event1250Hz;
Kovalev_D 231:079835d508ef 14 unsigned int Event10K;
Kovalev_D 88:b5c1d9d338d1 15 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 16 unsigned int EventVibro;
Kovalev_D 211:ac8251b067d2 17 unsigned int MODFlag=0;
Kovalev_D 197:7a05523bf588 18 unsigned int Time250Hz;
Kovalev_D 197:7a05523bf588 19 unsigned int Event250Hz;
Kovalev_D 197:7a05523bf588 20
Kovalev_D 124:9ae09249f842 21 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 22 unsigned int Time1K;
Kovalev_D 214:4c70e452c491 23 unsigned int Time1250Hz;
Kovalev_D 231:079835d508ef 24 unsigned int Time10K;
Kovalev_D 124:9ae09249f842 25 unsigned int Time500Hz;
Kovalev_D 209:224e7331a061 26 unsigned int Time250Hz;
Kovalev_D 88:b5c1d9d338d1 27 unsigned int Time1Hz;
Kovalev_D 208:19150d2b528f 28 unsigned int Time100Hz;
Kovalev_D 88:b5c1d9d338d1 29 unsigned int Clock1Hz;
Kovalev_D 231:079835d508ef 30
Kovalev_D 231:079835d508ef 31
Kovalev_D 231:079835d508ef 32
Kovalev_D 231:079835d508ef 33
Kovalev_D 231:079835d508ef 34 __asm void boot_jump( uint32_t address )
Kovalev_D 231:079835d508ef 35 {
Kovalev_D 231:079835d508ef 36 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 231:079835d508ef 37 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 231:079835d508ef 38 BX R0
Kovalev_D 231:079835d508ef 39 }
Kovalev_D 231:079835d508ef 40
Kovalev_D 215:b58b887fd367 41
Kovalev_D 215:b58b887fd367 42
Kovalev_D 215:b58b887fd367 43
Kovalev_D 215:b58b887fd367 44
Kovalev_D 215:b58b887fd367 45
Kovalev_D 231:079835d508ef 46 uint32_t convertStrToTime(const char *str) {
Kovalev_D 231:079835d508ef 47 char mon[3];
Kovalev_D 231:079835d508ef 48 int day, mon_int, year;
Kovalev_D 231:079835d508ef 49
Kovalev_D 231:079835d508ef 50 mon[0] = str[0];
Kovalev_D 231:079835d508ef 51 mon[1] = str[1];
Kovalev_D 231:079835d508ef 52 mon[2] = str[2];
Kovalev_D 231:079835d508ef 53
Kovalev_D 231:079835d508ef 54 int year_pos = 6;
Kovalev_D 231:079835d508ef 55
Kovalev_D 231:079835d508ef 56 day = str[4] - 48;
Kovalev_D 231:079835d508ef 57 if (str[5] != ' ') {
Kovalev_D 231:079835d508ef 58 day = day * 10 + str[5] - 48;
Kovalev_D 231:079835d508ef 59 year_pos = 7;
Kovalev_D 231:079835d508ef 60 }
Kovalev_D 231:079835d508ef 61
Kovalev_D 231:079835d508ef 62 year = (str[year_pos] - 48) * 1000 + (str[year_pos + 1] - 48) * 100 + (str[year_pos + 2] - 48) * 10 + (str[year_pos + 3] - 48) - 2018;
Kovalev_D 215:b58b887fd367 63
Kovalev_D 231:079835d508ef 64 mon_int = 0;
Kovalev_D 231:079835d508ef 65 switch (mon[0]) {
Kovalev_D 231:079835d508ef 66 case 'J':
Kovalev_D 231:079835d508ef 67 switch (mon[1]) {
Kovalev_D 231:079835d508ef 68 case 'a':
Kovalev_D 231:079835d508ef 69 mon_int = 1;
Kovalev_D 231:079835d508ef 70 break;
Kovalev_D 231:079835d508ef 71 case 'u':
Kovalev_D 231:079835d508ef 72 switch (mon[2]) {
Kovalev_D 231:079835d508ef 73 case 'n':
Kovalev_D 231:079835d508ef 74 mon_int = 6;
Kovalev_D 231:079835d508ef 75 break;
Kovalev_D 231:079835d508ef 76 case 'l':
Kovalev_D 231:079835d508ef 77 mon_int = 7;
Kovalev_D 231:079835d508ef 78 break;
Kovalev_D 231:079835d508ef 79 }
Kovalev_D 231:079835d508ef 80 }
Kovalev_D 231:079835d508ef 81 break;
Kovalev_D 231:079835d508ef 82 case 'F':
Kovalev_D 231:079835d508ef 83 mon_int = 2;
Kovalev_D 231:079835d508ef 84 break;
Kovalev_D 231:079835d508ef 85 case 'M':
Kovalev_D 231:079835d508ef 86 switch (mon[2]) {
Kovalev_D 231:079835d508ef 87 case 'r':
Kovalev_D 231:079835d508ef 88 mon_int = 3;
Kovalev_D 231:079835d508ef 89 break;
Kovalev_D 231:079835d508ef 90 case 'y':
Kovalev_D 231:079835d508ef 91 mon_int = 5;
Kovalev_D 231:079835d508ef 92 break;
Kovalev_D 231:079835d508ef 93 }
Kovalev_D 231:079835d508ef 94 break;
Kovalev_D 231:079835d508ef 95 case 'A':
Kovalev_D 231:079835d508ef 96 switch (mon[1]) {
Kovalev_D 231:079835d508ef 97 case 'p':
Kovalev_D 231:079835d508ef 98 mon_int = 4;
Kovalev_D 231:079835d508ef 99 break;
Kovalev_D 231:079835d508ef 100 case 'u':
Kovalev_D 231:079835d508ef 101 mon_int = 8;
Kovalev_D 231:079835d508ef 102 break;
Kovalev_D 231:079835d508ef 103 }
Kovalev_D 231:079835d508ef 104 break;
Kovalev_D 231:079835d508ef 105 case 'S':
Kovalev_D 231:079835d508ef 106 mon_int = 9;
Kovalev_D 231:079835d508ef 107 break;
Kovalev_D 231:079835d508ef 108 case 'O':
Kovalev_D 231:079835d508ef 109 mon_int = 10;
Kovalev_D 231:079835d508ef 110 break;
Kovalev_D 231:079835d508ef 111 case 'N':
Kovalev_D 231:079835d508ef 112 mon_int = 11;
Kovalev_D 231:079835d508ef 113 break;
Kovalev_D 231:079835d508ef 114 case 'D':
Kovalev_D 231:079835d508ef 115 mon_int = 12;
Kovalev_D 231:079835d508ef 116 break;
Kovalev_D 231:079835d508ef 117 default:
Kovalev_D 231:079835d508ef 118 mon_int = 0;
Kovalev_D 231:079835d508ef 119 break;
Kovalev_D 231:079835d508ef 120 }
Kovalev_D 220:04c54405b82d 121
Kovalev_D 231:079835d508ef 122 uint32_t time_in_days = day;
Kovalev_D 231:079835d508ef 123
Kovalev_D 231:079835d508ef 124 for (int i = 0; i <= year; ++i) {
Kovalev_D 231:079835d508ef 125 for (int j = 1; j < mon_int; ++j) {
Kovalev_D 231:079835d508ef 126 switch (mon_int) {
Kovalev_D 231:079835d508ef 127 case 1:
Kovalev_D 231:079835d508ef 128 case 3:
Kovalev_D 231:079835d508ef 129 case 5:
Kovalev_D 231:079835d508ef 130 case 7:
Kovalev_D 231:079835d508ef 131 case 8:
Kovalev_D 231:079835d508ef 132 case 10:
Kovalev_D 231:079835d508ef 133 case 12:
Kovalev_D 231:079835d508ef 134 time_in_days += 31;
Kovalev_D 231:079835d508ef 135 break;
Kovalev_D 231:079835d508ef 136 case 4:
Kovalev_D 231:079835d508ef 137 case 6:
Kovalev_D 231:079835d508ef 138 case 9:
Kovalev_D 231:079835d508ef 139 case 11:
Kovalev_D 231:079835d508ef 140 time_in_days += 30;
Kovalev_D 231:079835d508ef 141 break;
Kovalev_D 231:079835d508ef 142 case 2:
Kovalev_D 231:079835d508ef 143 if ((((i + 2018) % 4 == 0) && ((i + 2018) % 100 != 0)) || ((i + 2018) % 400 == 0)) {
Kovalev_D 231:079835d508ef 144 time_in_days += 29;
Kovalev_D 231:079835d508ef 145 } else {
Kovalev_D 231:079835d508ef 146 time_in_days += 28;
Kovalev_D 231:079835d508ef 147 }
Kovalev_D 231:079835d508ef 148 break;
Kovalev_D 231:079835d508ef 149 default:
Kovalev_D 231:079835d508ef 150 break;
Kovalev_D 231:079835d508ef 151 }
Kovalev_D 231:079835d508ef 152 }
Kovalev_D 231:079835d508ef 153 }
Kovalev_D 231:079835d508ef 154
Kovalev_D 231:079835d508ef 155 return time_in_days;
Kovalev_D 231:079835d508ef 156 }
Kovalev_D 140:1fbf117fc120 157
Kovalev_D 139:1716152517aa 158
Kovalev_D 231:079835d508ef 159
Kovalev_D 231:079835d508ef 160
Kovalev_D 231:079835d508ef 161
Kovalev_D 231:079835d508ef 162
Kovalev_D 231:079835d508ef 163
Kovalev_D 231:079835d508ef 164
Kovalev_D 231:079835d508ef 165 /*
Kovalev_D 231:079835d508ef 166
Kovalev_D 231:079835d508ef 167 int32_t convertStrToTime(char *str) {
Kovalev_D 231:079835d508ef 168 struct tm time_format;
Kovalev_D 231:079835d508ef 169 char mon[3];
Kovalev_D 231:079835d508ef 170 int day, mon_int, year;
Kovalev_D 231:079835d508ef 171 int year_pos = 6;
Kovalev_D 231:079835d508ef 172 time_t time_sec;
Kovalev_D 231:079835d508ef 173
Kovalev_D 231:079835d508ef 174 mon[0] = str[0];
Kovalev_D 231:079835d508ef 175 mon[1] = str[1];
Kovalev_D 231:079835d508ef 176 mon[2] = str[2];
Kovalev_D 231:079835d508ef 177
Kovalev_D 231:079835d508ef 178
Kovalev_D 231:079835d508ef 179
Kovalev_D 231:079835d508ef 180 day = str[4] - 48;
Kovalev_D 231:079835d508ef 181 if (str[5] != ' ') {
Kovalev_D 231:079835d508ef 182 day = day * 10 + str[5] - 48;
Kovalev_D 231:079835d508ef 183 year_pos = 7;
Kovalev_D 231:079835d508ef 184 }
Kovalev_D 231:079835d508ef 185
Kovalev_D 231:079835d508ef 186 year = (str[year_pos] - 48) * 1000 + (str[year_pos + 1] - 48) * 100 + (str[year_pos + 2] - 48) * 10 + (str[year_pos + 3] - 48);
Kovalev_D 231:079835d508ef 187
Kovalev_D 231:079835d508ef 188 //sscanf(str, "%s%d%d", mon, &day, &year);
Kovalev_D 231:079835d508ef 189
Kovalev_D 231:079835d508ef 190 mon_int = 0;
Kovalev_D 231:079835d508ef 191 switch (mon[0]) {
Kovalev_D 231:079835d508ef 192 case 'J':
Kovalev_D 231:079835d508ef 193 switch (mon[1]) {
Kovalev_D 231:079835d508ef 194 case 'a':
Kovalev_D 231:079835d508ef 195 mon_int = 1;
Kovalev_D 231:079835d508ef 196 break;
Kovalev_D 231:079835d508ef 197 case 'u':
Kovalev_D 231:079835d508ef 198 switch (mon[2]) {
Kovalev_D 231:079835d508ef 199 case 'n':
Kovalev_D 231:079835d508ef 200 mon_int = 6;
Kovalev_D 231:079835d508ef 201 break;
Kovalev_D 231:079835d508ef 202 case 'l':
Kovalev_D 231:079835d508ef 203 mon_int = 7;
Kovalev_D 231:079835d508ef 204 break;
Kovalev_D 231:079835d508ef 205 }
Kovalev_D 231:079835d508ef 206 }
Kovalev_D 231:079835d508ef 207 break;
Kovalev_D 231:079835d508ef 208 case 'F':
Kovalev_D 231:079835d508ef 209 mon_int = 2;
Kovalev_D 231:079835d508ef 210 break;
Kovalev_D 231:079835d508ef 211 case 'M':
Kovalev_D 231:079835d508ef 212 switch (mon[2]) {
Kovalev_D 231:079835d508ef 213 case 'r':
Kovalev_D 231:079835d508ef 214 mon_int = 3;
Kovalev_D 231:079835d508ef 215 break;
Kovalev_D 231:079835d508ef 216 case 'y':
Kovalev_D 231:079835d508ef 217 mon_int = 5;
Kovalev_D 231:079835d508ef 218 break;
Kovalev_D 231:079835d508ef 219 }
Kovalev_D 231:079835d508ef 220 break;
Kovalev_D 231:079835d508ef 221 case 'A':
Kovalev_D 231:079835d508ef 222 switch (mon[1]) {
Kovalev_D 231:079835d508ef 223 case 'p':
Kovalev_D 231:079835d508ef 224 mon_int = 4;
Kovalev_D 231:079835d508ef 225 break;
Kovalev_D 231:079835d508ef 226 case 'u':
Kovalev_D 231:079835d508ef 227 mon_int = 8;
Kovalev_D 231:079835d508ef 228 break;
Kovalev_D 231:079835d508ef 229 }
Kovalev_D 231:079835d508ef 230 break;
Kovalev_D 231:079835d508ef 231 case 'S':
Kovalev_D 231:079835d508ef 232 mon_int = 9;
Kovalev_D 231:079835d508ef 233 break;
Kovalev_D 231:079835d508ef 234 case 'O':
Kovalev_D 231:079835d508ef 235 mon_int = 10;
Kovalev_D 231:079835d508ef 236 break;
Kovalev_D 231:079835d508ef 237 case 'N':
Kovalev_D 231:079835d508ef 238 mon_int = 11;
Kovalev_D 231:079835d508ef 239 break;
Kovalev_D 231:079835d508ef 240 case 'D':
Kovalev_D 231:079835d508ef 241 mon_int = 12;
Kovalev_D 231:079835d508ef 242 break;
Kovalev_D 231:079835d508ef 243 default:
Kovalev_D 231:079835d508ef 244 mon_int = 0;
Kovalev_D 231:079835d508ef 245 break;
Kovalev_D 231:079835d508ef 246 }
Kovalev_D 231:079835d508ef 247
Kovalev_D 231:079835d508ef 248 time_format.tm_mday = day;
Kovalev_D 231:079835d508ef 249 time_format.tm_mon = mon_int - 1;
Kovalev_D 231:079835d508ef 250 time_format.tm_year = year - 1900;
Kovalev_D 231:079835d508ef 251
Kovalev_D 231:079835d508ef 252 time_sec = mktime(&time_format) / 60 / 60 / 24;
Kovalev_D 231:079835d508ef 253 sprintf((Time),"%d\r\n",time_sec);
Kovalev_D 231:079835d508ef 254 WriteCon(Time);
Kovalev_D 231:079835d508ef 255
Kovalev_D 231:079835d508ef 256 return time_sec;
Kovalev_D 134:caf4c9cd5052 257 }
Kovalev_D 134:caf4c9cd5052 258
Kovalev_D 231:079835d508ef 259
Kovalev_D 231:079835d508ef 260 */
Kovalev_D 205:775d54fdf646 261 void Param_init(void)
Kovalev_D 205:775d54fdf646 262 {
Kovalev_D 208:19150d2b528f 263 int temp=0;
Kovalev_D 231:079835d508ef 264 unsigned int TempTermodataHi;
Kovalev_D 231:079835d508ef 265 unsigned int TempTermodataLo;
Kovalev_D 231:079835d508ef 266 Gyro.CurTermoCompens = 200;
Kovalev_D 211:ac8251b067d2 267 Gyro.CuruAngleLog=0;
Kovalev_D 205:775d54fdf646 268 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 269 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 270 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 271 Time_vibro = 0;
Kovalev_D 214:4c70e452c491 272 Time1250Hz = 0;
Kovalev_D 88:b5c1d9d338d1 273 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 274 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 275 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 276 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 277 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 278 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 279 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 280 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 281 Clock1Hz = 0;
Kovalev_D 124:9ae09249f842 282 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 283 Time500Hz = 0;
Kovalev_D 215:b58b887fd367 284
Kovalev_D 231:079835d508ef 285
Kovalev_D 215:b58b887fd367 286
Kovalev_D 205:775d54fdf646 287 Gyro.Log = 0;
Kovalev_D 205:775d54fdf646 288 Gyro.LogPLC = 0;
Kovalev_D 205:775d54fdf646 289 Gyro.PLC_Lern = 0;
Kovalev_D 106:250ddd8629c6 290 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 291 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 292 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 293 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 294 Pulse_32Point = 0;
Kovalev_D 209:224e7331a061 295 Gyro.FlashMod = 0;
Kovalev_D 208:19150d2b528f 296
Kovalev_D 205:775d54fdf646 297
Kovalev_D 205:775d54fdf646 298 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 299 ///////////инициализация таймеров////////////
Kovalev_D 205:775d54fdf646 300 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 301 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 205:775d54fdf646 302 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 205:775d54fdf646 303 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 304 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 206:00341a03e05c 305
Kovalev_D 206:00341a03e05c 306 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 206:00341a03e05c 307 Gyro.PLC_Error2Mode = 1400;
Kovalev_D 206:00341a03e05c 308 Gyro.SOC_Out = 0xDD;
Kovalev_D 209:224e7331a061 309
Kovalev_D 209:224e7331a061 310 Gyro.RgConMod = 1;
Kovalev_D 206:00341a03e05c 311
Kovalev_D 206:00341a03e05c 312 GyroP.Str.ParamMod=0;
Kovalev_D 209:224e7331a061 313
Kovalev_D 209:224e7331a061 314 ReadFlash ();
Kovalev_D 210:b02fa166315d 315 // GyroP.Str.ParamMod=0;
Kovalev_D 225:f8fee6c586cc 316 if(GyroP.Str.ParamMod==1)
Kovalev_D 211:ac8251b067d2 317 {
Kovalev_D 220:04c54405b82d 318 Gyro.ShowMod2=0;
Kovalev_D 232:130a2b5003e6 319 // Gyro.TermoMod = GyroP.Str.TermoMode;
Kovalev_D 232:130a2b5003e6 320
Kovalev_D 232:130a2b5003e6 321
Kovalev_D 232:130a2b5003e6 322
Kovalev_D 232:130a2b5003e6 323
Kovalev_D 232:130a2b5003e6 324
Kovalev_D 222:7de7b3bf3a1d 325 Gyro.TimeToJump = GyroP.Str.TimeToJump;
Kovalev_D 222:7de7b3bf3a1d 326 Gyro.JumpDelta = GyroP.Str.JumpDelta;
Kovalev_D 220:04c54405b82d 327 Gyro.ShiftMod = GyroP.Str.ShiftMod;
Kovalev_D 211:ac8251b067d2 328 Gyro.PLC_Start = 0x7fff+GyroP.Str.PLC_Start;
Kovalev_D 225:f8fee6c586cc 329 Gyro.DownTreshold = (unsigned int)((GyroP.Str.DownTreshold-0x7fff)&0xffff); //27
Kovalev_D 225:f8fee6c586cc 330 Gyro.HighTreshold = (unsigned int)((GyroP.Str.HighTreshold-0x7fff)&0xffff);
Kovalev_D 225:f8fee6c586cc 331 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 225:f8fee6c586cc 332 Gyro.ResetLevelCool = (unsigned int)((GyroP.Str.ResetLevelCool-0x7fff)&0xffff); //105
Kovalev_D 225:f8fee6c586cc 333 Gyro.ResetLevelHeat = (unsigned int)((GyroP.Str.ResetLevelHeat-0x7fff)&0xffff);
Kovalev_D 211:ac8251b067d2 334 Gyro.HFO_Gain = GyroP.Str.HFO_Gain;
Kovalev_D 232:130a2b5003e6 335 Gyro.HFO_Gain_Reset_PLC = GyroP.Str.HFO_Gain_Reset_PLC;
Kovalev_D 226:4a4d5bd5fcd7 336 Gyro.HFO_ref = (unsigned int)(GyroP.Str.HFO_ref);
Kovalev_D 211:ac8251b067d2 337 Gyro.LG_Type = GyroP.Str.LG_Type;
Kovalev_D 226:4a4d5bd5fcd7 338 Gyro.LG_Type = 1;
Kovalev_D 208:19150d2b528f 339 Gyro.My_Addres = GyroP.Str.My_Addres; // Gyro.My_Addres = 0;
Kovalev_D 209:224e7331a061 340 Gyro.GLD_Serial = GyroP.Str.GLD_Serial;
Kovalev_D 209:224e7331a061 341 Gyro.FrqHZ = (7680000/GyroP.Str.FrqHZ);
Kovalev_D 209:224e7331a061 342 Gyro.Frq = ((7680000/GyroP.Str.FrqHZ)<<16);
Kovalev_D 209:224e7331a061 343 Gyro.FrqHZmin = ((7680000/GyroP.Str.FrqHZmin)<<16);
Kovalev_D 209:224e7331a061 344 Gyro.FrqHZmax = ((7680000/GyroP.Str.FrqHZmax)<<16);
Kovalev_D 208:19150d2b528f 345 Gyro.FrqChengSpeed = GyroP.Str.FrqChengSpeed;
Kovalev_D 208:19150d2b528f 346 Gyro.PLC_Gain = GyroP.Str.PLC_Gain;
Kovalev_D 208:19150d2b528f 347 Gyro.PLC_Phase = GyroP.Str.PLC_Phase;
Kovalev_D 208:19150d2b528f 348 Gyro.ModAmp = GyroP.Str.ModAmp;
Kovalev_D 208:19150d2b528f 349 Gyro.FrqPhase = GyroP.Str.FrqPhase;
Kovalev_D 232:130a2b5003e6 350 //Gyro.AmpPer = 700;//GyroP.Str.AmpPer*100;
Kovalev_D 214:4c70e452c491 351 Gyro.Amp =(GyroP.Str.AmpPer<<17);
Kovalev_D 208:19150d2b528f 352 Gyro.AmpSpeed = GyroP.Str.AmpSpeed;
Kovalev_D 208:19150d2b528f 353 Gyro.AmpPerDel = GyroP.Str.AmpPerDel;
Kovalev_D 208:19150d2b528f 354 temp=((GyroP.Str.VB_Fdf_Hi<<16) | GyroP.Str.VB_Fdf_Lo);
Kovalev_D 210:b02fa166315d 355 temp=temp*20;
Kovalev_D 208:19150d2b528f 356 Gyro.AmpTarget=(unsigned int)(temp);
Kovalev_D 208:19150d2b528f 357 Gyro.AmpPerMin = GyroP.Str.AmpPerMin;
Kovalev_D 208:19150d2b528f 358 Gyro.AmpPerMax = GyroP.Str.AmpPerMax;
Kovalev_D 208:19150d2b528f 359 Gyro.AmpMin = GyroP.Str.AmpMin;
Kovalev_D 208:19150d2b528f 360 Gyro.AmpTD = GyroP.Str.AmpTD;
Kovalev_D 232:130a2b5003e6 361
Kovalev_D 214:4c70e452c491 362 F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
Kovalev_D 214:4c70e452c491 363 T_vibP = F_vib/10000;
Kovalev_D 214:4c70e452c491 364 T_vib_1 = Gyro.AmpPer * T_vibP;
Kovalev_D 214:4c70e452c491 365 T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
Kovalev_D 214:4c70e452c491 366 LPC_MCPWM->LIM1 = F_vib;
Kovalev_D 214:4c70e452c491 367 LPC_MCPWM->LIM2 = F_vib;
Kovalev_D 214:4c70e452c491 368 LPC_MCPWM->MAT1 = T_vib_1;
Kovalev_D 214:4c70e452c491 369 LPC_MCPWM->MAT2 = T_vib_2;
Kovalev_D 211:ac8251b067d2 370 if(Gyro.LG_Type==1){
Kovalev_D 225:f8fee6c586cc 371 //Gyro.HFO_Max=((int)(GyroP.Str.DAC_current_Work*0.67)-2000);
Kovalev_D 225:f8fee6c586cc 372 Gyro.HFO_Max=0xffff-GyroP.Str.DAC_current_Work;
Kovalev_D 225:f8fee6c586cc 373
Kovalev_D 225:f8fee6c586cc 374 //Gyro.HFO_Min=((int)(GyroP.Str.DAC_current_Start*0.67)-2000);
Kovalev_D 225:f8fee6c586cc 375 Gyro.HFO_Min= 0xffff-GyroP.Str.DAC_current_Start;
Kovalev_D 211:ac8251b067d2 376 }
Kovalev_D 211:ac8251b067d2 377 else Spi.DAC_A = ((((int)(GyroP.Str.DAC_current_Work+0x7fff) & 0xffff)+22544)*0.65);
Kovalev_D 209:224e7331a061 378 Gyro.DacIn = GyroP.Str.DAC_current_Work;
Kovalev_D 208:19150d2b528f 379 // Gyro.TermoNKU = GyroP.Str.TermoNKU<<2;
Kovalev_D 231:079835d508ef 380 Gyro.Firmware_Version = 17543;
Kovalev_D 208:19150d2b528f 381 // Spi.DAC_A = GyroP.Str.DAC_A;
Kovalev_D 209:224e7331a061 382 // Spi.DAC_B = GyroP.Str.DAC_B;
Kovalev_D 208:19150d2b528f 383 Gyro.Gain_Sin = GyroP.Str.Gain_Sin;
Kovalev_D 208:19150d2b528f 384 Gyro.Gain_Cos = GyroP.Str.Gain_Cos;
Kovalev_D 208:19150d2b528f 385 Out_G_photo(Gyro.Gain_Sin, Gyro.Gain_Cos);
Kovalev_D 232:130a2b5003e6 386
Kovalev_D 232:130a2b5003e6 387 if(GyroP.Str.Tmp_OffsetT4&0x8000) Gyro.Tmp_OffsetT4 = GyroP.Str.Tmp_OffsetT4 - 65536;
Kovalev_D 232:130a2b5003e6 388 else Gyro.Tmp_OffsetT4 = GyroP.Str.Tmp_OffsetT4;
Kovalev_D 232:130a2b5003e6 389
Kovalev_D 232:130a2b5003e6 390 if(GyroP.Str.Tmp_OffsetT5&0x8000) Gyro.Tmp_OffsetT5 = GyroP.Str.Tmp_OffsetT5 - 65536;
Kovalev_D 232:130a2b5003e6 391 else Gyro.Tmp_OffsetT5 = GyroP.Str.Tmp_OffsetT5;
Kovalev_D 232:130a2b5003e6 392
Kovalev_D 232:130a2b5003e6 393
Kovalev_D 232:130a2b5003e6 394
Kovalev_D 231:079835d508ef 395
Kovalev_D 232:130a2b5003e6 396 if(GyroP.Str.TStatic_0&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_0 = GyroP.Str.TStatic_0 - 65536;
Kovalev_D 232:130a2b5003e6 397 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_0 = GyroP.Str.TStatic_0;
Kovalev_D 232:130a2b5003e6 398
Kovalev_D 232:130a2b5003e6 399 if(GyroP.Str.TStatic_1&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_1 = GyroP.Str.TStatic_1 - 65536;
Kovalev_D 232:130a2b5003e6 400 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_1 = GyroP.Str.TStatic_1;
Kovalev_D 232:130a2b5003e6 401
Kovalev_D 232:130a2b5003e6 402 if(GyroP.Str.TStatic_2&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_2 = GyroP.Str.TStatic_2-65536;
Kovalev_D 232:130a2b5003e6 403 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_2 = GyroP.Str.TStatic_2;
Kovalev_D 232:130a2b5003e6 404
Kovalev_D 232:130a2b5003e6 405 if(GyroP.Str.TStatic_3&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_3 = GyroP.Str.TStatic_3-65536;
Kovalev_D 232:130a2b5003e6 406 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_3 = GyroP.Str.TStatic_3;
Kovalev_D 232:130a2b5003e6 407
Kovalev_D 232:130a2b5003e6 408 if(GyroP.Str.TStatic_4&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_4 = GyroP.Str.TStatic_4-65536;
Kovalev_D 232:130a2b5003e6 409 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_4 = GyroP.Str.TStatic_4;
Kovalev_D 232:130a2b5003e6 410
Kovalev_D 232:130a2b5003e6 411 if(GyroP.Str.TStatic_5&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_5 = GyroP.Str.TStatic_5-65536;
Kovalev_D 232:130a2b5003e6 412 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_5 = GyroP.Str.TStatic_5;
Kovalev_D 232:130a2b5003e6 413
Kovalev_D 232:130a2b5003e6 414 if(GyroP.Str.TStatic_6&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_6 = GyroP.Str.TStatic_6-65536;
Kovalev_D 232:130a2b5003e6 415 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_6 = GyroP.Str.TStatic_6;
Kovalev_D 232:130a2b5003e6 416
Kovalev_D 232:130a2b5003e6 417 if(GyroP.Str.TStatic_7&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_7 = GyroP.Str.TStatic_7-65536;
Kovalev_D 232:130a2b5003e6 418 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_7 = GyroP.Str.TStatic_7;
Kovalev_D 232:130a2b5003e6 419
Kovalev_D 232:130a2b5003e6 420 if(GyroP.Str.TStatic_8&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_8 = GyroP.Str.TStatic_8-65536;
Kovalev_D 232:130a2b5003e6 421 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_8 = GyroP.Str.TStatic_8;
Kovalev_D 232:130a2b5003e6 422
Kovalev_D 232:130a2b5003e6 423 if(GyroP.Str.TStatic_9&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_9 = GyroP.Str.TStatic_9-65536;
Kovalev_D 232:130a2b5003e6 424 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_9 = GyroP.Str.TStatic_9;
Kovalev_D 232:130a2b5003e6 425
Kovalev_D 232:130a2b5003e6 426 if(GyroP.Str.TStatic_10&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_10 = GyroP.Str.TStatic_10-65536;
Kovalev_D 232:130a2b5003e6 427 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_10 = GyroP.Str.TStatic_10;
Kovalev_D 232:130a2b5003e6 428
Kovalev_D 232:130a2b5003e6 429 if(GyroP.Str.TStatic_11&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_11 = GyroP.Str.TStatic_11-65536;
Kovalev_D 232:130a2b5003e6 430 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_11 = GyroP.Str.TStatic_11;
Kovalev_D 232:130a2b5003e6 431
Kovalev_D 232:130a2b5003e6 432 if(GyroP.Str.TStatic_12&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_12 = GyroP.Str.TStatic_12-65536;
Kovalev_D 232:130a2b5003e6 433 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_12 = GyroP.Str.TStatic_12;
Kovalev_D 232:130a2b5003e6 434
Kovalev_D 232:130a2b5003e6 435 if(GyroP.Str.TStatic_13&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_13 = GyroP.Str.TStatic_13-65536;
Kovalev_D 232:130a2b5003e6 436 else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_13 = GyroP.Str.TStatic_13;
Kovalev_D 232:130a2b5003e6 437
Kovalev_D 232:130a2b5003e6 438
Kovalev_D 231:079835d508ef 439
Kovalev_D 231:079835d508ef 440
Kovalev_D 231:079835d508ef 441 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_0 = Float(GyroP.Str.TermoDeltaStatic_0, GyroP.Str.TermoDeltaStatic_1 );
Kovalev_D 231:079835d508ef 442 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_1 = Float(GyroP.Str.TermoDeltaStatic_2, GyroP.Str.TermoDeltaStatic_3 );
Kovalev_D 231:079835d508ef 443 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_2 = Float(GyroP.Str.TermoDeltaStatic_4, GyroP.Str.TermoDeltaStatic_5 );
Kovalev_D 231:079835d508ef 444 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_3 = Float(GyroP.Str.TermoDeltaStatic_6, GyroP.Str.TermoDeltaStatic_7 );
Kovalev_D 231:079835d508ef 445 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_4 = Float(GyroP.Str.TermoDeltaStatic_8, GyroP.Str.TermoDeltaStatic_9 );
Kovalev_D 231:079835d508ef 446 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_5 = Float(GyroP.Str.TermoDeltaStatic_10,GyroP.Str.TermoDeltaStatic_11);
Kovalev_D 231:079835d508ef 447 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_6 = Float(GyroP.Str.TermoDeltaStatic_12,GyroP.Str.TermoDeltaStatic_13);
Kovalev_D 231:079835d508ef 448 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_7 = Float(GyroP.Str.TermoDeltaStatic_14,GyroP.Str.TermoDeltaStatic_15);
Kovalev_D 231:079835d508ef 449 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_8 = Float(GyroP.Str.TermoDeltaStatic_16,GyroP.Str.TermoDeltaStatic_17);
Kovalev_D 231:079835d508ef 450 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_9 = Float(GyroP.Str.TermoDeltaStatic_18,GyroP.Str.TermoDeltaStatic_19);
Kovalev_D 231:079835d508ef 451 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_10 = Float(GyroP.Str.TermoDeltaStatic_20,GyroP.Str.TermoDeltaStatic_21);
Kovalev_D 231:079835d508ef 452 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_11 = Float(GyroP.Str.TermoDeltaStatic_22,GyroP.Str.TermoDeltaStatic_23);
Kovalev_D 231:079835d508ef 453 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_12 = Float(GyroP.Str.TermoDeltaStatic_24,GyroP.Str.TermoDeltaStatic_25);
Kovalev_D 231:079835d508ef 454 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_13 = Float(GyroP.Str.TermoDeltaStatic_26,GyroP.Str.TermoDeltaStatic_27);
Kovalev_D 231:079835d508ef 455
Kovalev_D 232:130a2b5003e6 456
Kovalev_D 232:130a2b5003e6 457 /*
Kovalev_D 232:130a2b5003e6 458 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_0 = Float(GyroP.Str.TermoDeltaStatic_1, GyroP.Str.TermoDeltaStatic_0);
Kovalev_D 232:130a2b5003e6 459 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_1 = Float(GyroP.Str.TermoDeltaStatic_3, GyroP.Str.TermoDeltaStatic_2);
Kovalev_D 232:130a2b5003e6 460 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_2 = Float(GyroP.Str.TermoDeltaStatic_5, GyroP.Str.TermoDeltaStatic_4);
Kovalev_D 232:130a2b5003e6 461 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_3 = Float(GyroP.Str.TermoDeltaStatic_7, GyroP.Str.TermoDeltaStatic_6);
Kovalev_D 232:130a2b5003e6 462 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_4 = Float(GyroP.Str.TermoDeltaStatic_9, GyroP.Str.TermoDeltaStatic_8);
Kovalev_D 232:130a2b5003e6 463 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_5 = Float(GyroP.Str.TermoDeltaStatic_11,GyroP.Str.TermoDeltaStatic_10);
Kovalev_D 232:130a2b5003e6 464 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_6 = Float(GyroP.Str.TermoDeltaStatic_13,GyroP.Str.TermoDeltaStatic_12);
Kovalev_D 232:130a2b5003e6 465 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_7 = Float(GyroP.Str.TermoDeltaStatic_15,GyroP.Str.TermoDeltaStatic_14);
Kovalev_D 232:130a2b5003e6 466 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_8 = Float(GyroP.Str.TermoDeltaStatic_17,GyroP.Str.TermoDeltaStatic_16);
Kovalev_D 232:130a2b5003e6 467 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_9 = Float(GyroP.Str.TermoDeltaStatic_19,GyroP.Str.TermoDeltaStatic_18);
Kovalev_D 232:130a2b5003e6 468 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_10 = Float(GyroP.Str.TermoDeltaStatic_21,GyroP.Str.TermoDeltaStatic_20);
Kovalev_D 232:130a2b5003e6 469 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_11 = Float(GyroP.Str.TermoDeltaStatic_23,GyroP.Str.TermoDeltaStatic_22);
Kovalev_D 232:130a2b5003e6 470 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_12 = Float(GyroP.Str.TermoDeltaStatic_25,GyroP.Str.TermoDeltaStatic_24);
Kovalev_D 232:130a2b5003e6 471 TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_13 = Float(GyroP.Str.TermoDeltaStatic_27,GyroP.Str.TermoDeltaStatic_26);
Kovalev_D 232:130a2b5003e6 472 */
Kovalev_D 232:130a2b5003e6 473 if(GyroP.Str.TDCool_0&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_0 = GyroP.Str.TDCool_0-65536;
Kovalev_D 232:130a2b5003e6 474 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_0 = GyroP.Str.TDCool_0;
Kovalev_D 232:130a2b5003e6 475
Kovalev_D 232:130a2b5003e6 476 if(GyroP.Str.TDCool_1&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_1 = GyroP.Str.TDCool_1-65536;
Kovalev_D 232:130a2b5003e6 477 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_1 = GyroP.Str.TDCool_1;
Kovalev_D 232:130a2b5003e6 478
Kovalev_D 232:130a2b5003e6 479 if(GyroP.Str.TDCool_2&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_2 = GyroP.Str.TDCool_2-65536;
Kovalev_D 232:130a2b5003e6 480 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_2 = GyroP.Str.TDCool_2;
Kovalev_D 232:130a2b5003e6 481
Kovalev_D 232:130a2b5003e6 482 if(GyroP.Str.TDCool_3&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_3 = GyroP.Str.TDCool_3-65536;
Kovalev_D 232:130a2b5003e6 483 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_3 = GyroP.Str.TDCool_3;
Kovalev_D 232:130a2b5003e6 484
Kovalev_D 232:130a2b5003e6 485 if(GyroP.Str.TDCool_4&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_4 = GyroP.Str.TDCool_4-65536;
Kovalev_D 232:130a2b5003e6 486 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_4 = GyroP.Str.TDCool_4;
Kovalev_D 232:130a2b5003e6 487
Kovalev_D 232:130a2b5003e6 488 if(GyroP.Str.TDCool_5&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_5 = GyroP.Str.TDCool_5-65536;
Kovalev_D 232:130a2b5003e6 489 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_5 = GyroP.Str.TDCool_5;
Kovalev_D 232:130a2b5003e6 490
Kovalev_D 232:130a2b5003e6 491 if(GyroP.Str.TDCool_6&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_6 = GyroP.Str.TDCool_6-65536;
Kovalev_D 232:130a2b5003e6 492 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_6 = GyroP.Str.TDCool_6;
Kovalev_D 232:130a2b5003e6 493
Kovalev_D 232:130a2b5003e6 494 if(GyroP.Str.TDCool_7&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_7 = GyroP.Str.TDCool_7-65536;
Kovalev_D 232:130a2b5003e6 495 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_7 = GyroP.Str.TDCool_7;
Kovalev_D 232:130a2b5003e6 496
Kovalev_D 232:130a2b5003e6 497 if(GyroP.Str.TDCool_8&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_8 = GyroP.Str.TDCool_8-65536;
Kovalev_D 232:130a2b5003e6 498 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_8 = GyroP.Str.TDCool_8;
Kovalev_D 232:130a2b5003e6 499
Kovalev_D 232:130a2b5003e6 500 if(GyroP.Str.TDCool_9&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_9 = GyroP.Str.TDCool_9-65536;
Kovalev_D 232:130a2b5003e6 501 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_9 = GyroP.Str.TDCool_9;
Kovalev_D 232:130a2b5003e6 502
Kovalev_D 232:130a2b5003e6 503 if(GyroP.Str.TDCool_10&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_10 = GyroP.Str.TDCool_10-65536;
Kovalev_D 232:130a2b5003e6 504 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_10 = GyroP.Str.TDCool_10;
Kovalev_D 232:130a2b5003e6 505
Kovalev_D 232:130a2b5003e6 506 if(GyroP.Str.TDCool_11&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_11 = GyroP.Str.TDCool_11-65536;
Kovalev_D 232:130a2b5003e6 507 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_11 = GyroP.Str.TDCool_11;
Kovalev_D 232:130a2b5003e6 508
Kovalev_D 232:130a2b5003e6 509 if(GyroP.Str.TDCool_12&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_12 = GyroP.Str.TDCool_12-65536;
Kovalev_D 232:130a2b5003e6 510 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_12 = GyroP.Str.TDCool_12;
Kovalev_D 232:130a2b5003e6 511
Kovalev_D 232:130a2b5003e6 512 if(GyroP.Str.TDCool_13&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_13 = GyroP.Str.TDCool_13-65536;
Kovalev_D 232:130a2b5003e6 513 else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_13 = GyroP.Str.TDCool_13;
Kovalev_D 232:130a2b5003e6 514
Kovalev_D 232:130a2b5003e6 515 /*
Kovalev_D 232:130a2b5003e6 516 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_0 = GyroP.Str.TDCool_0;
Kovalev_D 231:079835d508ef 517 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_1 = GyroP.Str.TDCool_1;
Kovalev_D 231:079835d508ef 518 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_2 = GyroP.Str.TDCool_2;
Kovalev_D 231:079835d508ef 519 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_3 = GyroP.Str.TDCool_3;
Kovalev_D 231:079835d508ef 520 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_4 = GyroP.Str.TDCool_4;
Kovalev_D 231:079835d508ef 521 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_5 = GyroP.Str.TDCool_5;
Kovalev_D 231:079835d508ef 522 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_6 = GyroP.Str.TDCool_6;
Kovalev_D 231:079835d508ef 523 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_7 = GyroP.Str.TDCool_7;
Kovalev_D 231:079835d508ef 524 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_8 = GyroP.Str.TDCool_8;
Kovalev_D 231:079835d508ef 525 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_9 = GyroP.Str.TDCool_9;
Kovalev_D 231:079835d508ef 526 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_10 = GyroP.Str.TDCool_10;
Kovalev_D 231:079835d508ef 527 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_11 = GyroP.Str.TDCool_11;
Kovalev_D 231:079835d508ef 528 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_12 = GyroP.Str.TDCool_12;
Kovalev_D 231:079835d508ef 529 TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_13 = GyroP.Str.TDCool_13;
Kovalev_D 231:079835d508ef 530
Kovalev_D 232:130a2b5003e6 531 */
Kovalev_D 231:079835d508ef 532
Kovalev_D 232:130a2b5003e6 533 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_0 = Float(GyroP.Str.TermoDynamicData_0, GyroP.Str.TermoDynamicData_1 );
Kovalev_D 232:130a2b5003e6 534 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_1 = Float(GyroP.Str.TermoDynamicData_2, GyroP.Str.TermoDynamicData_3 );
Kovalev_D 232:130a2b5003e6 535 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_2 = Float(GyroP.Str.TermoDynamicData_4, GyroP.Str.TermoDynamicData_5 );
Kovalev_D 232:130a2b5003e6 536 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_3 = Float(GyroP.Str.TermoDynamicData_6, GyroP.Str.TermoDynamicData_7 );
Kovalev_D 232:130a2b5003e6 537 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_4 = Float(GyroP.Str.TermoDynamicData_8, GyroP.Str.TermoDynamicData_9 );
Kovalev_D 232:130a2b5003e6 538 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_5 = Float(GyroP.Str.TermoDynamicData_10, GyroP.Str.TermoDynamicData_11);
Kovalev_D 232:130a2b5003e6 539 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_6 = Float(GyroP.Str.TermoDynamicData_12, GyroP.Str.TermoDynamicData_13);
Kovalev_D 232:130a2b5003e6 540 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_7 = Float(GyroP.Str.TermoDynamicData_14, GyroP.Str.TermoDynamicData_15);
Kovalev_D 232:130a2b5003e6 541 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_8 = Float(GyroP.Str.TermoDynamicData_16, GyroP.Str.TermoDynamicData_17);
Kovalev_D 232:130a2b5003e6 542 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_9 = Float(GyroP.Str.TermoDynamicData_18, GyroP.Str.TermoDynamicData_19);
Kovalev_D 232:130a2b5003e6 543 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_10 = Float(GyroP.Str.TermoDynamicData_20, GyroP.Str.TermoDynamicData_21);
Kovalev_D 232:130a2b5003e6 544 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_11 = Float(GyroP.Str.TermoDynamicData_22, GyroP.Str.TermoDynamicData_23);
Kovalev_D 232:130a2b5003e6 545 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_12 = Float(GyroP.Str.TermoDynamicData_24, GyroP.Str.TermoDynamicData_25);
Kovalev_D 232:130a2b5003e6 546 TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_13 = Float(GyroP.Str.TermoDynamicData_26, GyroP.Str.TermoDynamicData_27);
Kovalev_D 206:00341a03e05c 547 }
Kovalev_D 206:00341a03e05c 548 else
Kovalev_D 206:00341a03e05c 549 {
Kovalev_D 211:ac8251b067d2 550 Gyro.DownTreshold = GyroP.Str.DownTreshold; //27
Kovalev_D 211:ac8251b067d2 551 Gyro.HighTreshold = GyroP.Str.HighTreshold;
Kovalev_D 225:f8fee6c586cc 552 Gyro.PLCDelay = 5000;
Kovalev_D 211:ac8251b067d2 553 Gyro.ResetLevelCool = 56000; //105
Kovalev_D 211:ac8251b067d2 554 Gyro.ResetLevelHeat = 15000;
Kovalev_D 211:ac8251b067d2 555 Gyro.HFO_ref = 13000;
Kovalev_D 211:ac8251b067d2 556 Gyro.LG_Type = 0;
Kovalev_D 208:19150d2b528f 557 Gyro.PLC_Phase = 3;
Kovalev_D 208:19150d2b528f 558 Gyro.PLC_Gain = 3;
Kovalev_D 208:19150d2b528f 559 Gyro.FrqPhase = 8;
Kovalev_D 207:d1ce992f5d17 560 Gyro.FrqHZ = 403;
Kovalev_D 206:00341a03e05c 561 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 206:00341a03e05c 562 Gyro.FrqHZmin = 350<<16;
Kovalev_D 206:00341a03e05c 563 Gyro.FrqHZmax = 450<<16;
Kovalev_D 206:00341a03e05c 564 Gyro.FrqChengSpeed = 100;
Kovalev_D 206:00341a03e05c 565 Gyro.ModAmp = 250;
Kovalev_D 208:19150d2b528f 566 Gyro.AmpPer = 20;
Kovalev_D 207:d1ce992f5d17 567 Gyro.AmpPerMin = 2;
Kovalev_D 206:00341a03e05c 568 Gyro.AmpPerMax = 90;
Kovalev_D 206:00341a03e05c 569 Gyro.AmpSpeed = 1;
Kovalev_D 207:d1ce992f5d17 570 Gyro.AmpPerDel = 3;
Kovalev_D 208:19150d2b528f 571 Gyro.AmpTarget = 5500;// целевая амплитуда ВП
Kovalev_D 208:19150d2b528f 572 Gyro.Amp = 20*65535;
Kovalev_D 207:d1ce992f5d17 573 Gyro.AmpMin = 20;// минимальное значение AmpT;5
Kovalev_D 208:19150d2b528f 574 Gyro.AmpTD = 20;////////////////////////////////////////////////////////
Kovalev_D 206:00341a03e05c 575 Gyro.TermoNKU = 44700;//48824*0,0061-273=25 С°
Kovalev_D 211:ac8251b067d2 576 Spi.DAC_B = Gyro.PLC_Start;
Kovalev_D 206:00341a03e05c 577 Gyro.PLC_Error2Mode = 1400; //для записи мод
Kovalev_D 207:d1ce992f5d17 578 Gyro.Gain_Sin = 175;
Kovalev_D 207:d1ce992f5d17 579 Gyro.Gain_Cos = 215;
Kovalev_D 209:224e7331a061 580 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 205:775d54fdf646 581 Gyro.GLD_Serial = 123; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 582 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 208:19150d2b528f 583 Gyro.Tmp_OffsetT4 = 0;
Kovalev_D 208:19150d2b528f 584 Gyro.Tmp_OffsetT5 = 0;
Kovalev_D 208:19150d2b528f 585 Gyro.Tmp_scaleT4 = 1; //53
Kovalev_D 208:19150d2b528f 586 Gyro.Tmp_scaleT5 = 1;
Kovalev_D 208:19150d2b528f 587
Kovalev_D 208:19150d2b528f 588 Gyro.DAC_current_Work =50000; //3
Kovalev_D 208:19150d2b528f 589 Gyro.DAC_current_Start =41000;
Kovalev_D 211:ac8251b067d2 590
Kovalev_D 214:4c70e452c491 591
Kovalev_D 214:4c70e452c491 592 F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
Kovalev_D 214:4c70e452c491 593 T_vibP = F_vib/10000;
Kovalev_D 214:4c70e452c491 594 T_vib_1 = Gyro.AmpPer * T_vibP;
Kovalev_D 214:4c70e452c491 595 T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
Kovalev_D 214:4c70e452c491 596 LPC_MCPWM->LIM1 = F_vib;
Kovalev_D 214:4c70e452c491 597 LPC_MCPWM->LIM2 = F_vib;
Kovalev_D 214:4c70e452c491 598 LPC_MCPWM->MAT1 = T_vib_1;
Kovalev_D 214:4c70e452c491 599 LPC_MCPWM->MAT2 = T_vib_2;
Kovalev_D 206:00341a03e05c 600 }
Kovalev_D 211:ac8251b067d2 601 Spi.DAC_B=Gyro.PLC_Start;
Kovalev_D 188:4c523cc373cc 602 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 603 case 0:
Kovalev_D 209:224e7331a061 604 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 605 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 606 break;
Kovalev_D 188:4c523cc373cc 607 case 1:
Kovalev_D 209:224e7331a061 608 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 609 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 610 break;
Kovalev_D 188:4c523cc373cc 611 case 2:
Kovalev_D 209:224e7331a061 612 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 613 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 614 break;
Kovalev_D 188:4c523cc373cc 615 case 3:
Kovalev_D 209:224e7331a061 616 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 617 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 618 break;
Kovalev_D 205:775d54fdf646 619 }
Kovalev_D 205:775d54fdf646 620
Kovalev_D 88:b5c1d9d338d1 621 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 622 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 623 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 624 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 625 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 626 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 627 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 628 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 629
Kovalev_D 86:398da56ef751 630 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 631 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 632 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 633 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 634 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 635 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 636
Kovalev_D 86:398da56ef751 637 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 638 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 639 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 640 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 641 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 112:4a96133a1311 642 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 643 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 644 Cur_QEI=0;
Kovalev_D 86:398da56ef751 645 Last_QEI=0;
Kovalev_D 205:775d54fdf646 646 }
Kovalev_D 226:4a4d5bd5fcd7 647 void BUTTON_init(void) {
Kovalev_D 232:130a2b5003e6 648 if(Gyro.EXT_Latch)Gyro.EXT_Latch=0;
Kovalev_D 232:130a2b5003e6 649 else Gyro.EXT_Latch=1;
Kovalev_D 232:130a2b5003e6 650 LPC_GPIOINT->IO2IntClr |= (1 << 10);
Kovalev_D 232:130a2b5003e6 651 }
Kovalev_D 205:775d54fdf646 652
Kovalev_D 226:4a4d5bd5fcd7 653 /*void EINT3_IRQHandler()
Kovalev_D 226:4a4d5bd5fcd7 654 {
Kovalev_D 226:4a4d5bd5fcd7 655 if(Gyro.EXT_Latch)Gyro.EXT_Latch=0;
Kovalev_D 226:4a4d5bd5fcd7 656 else Gyro.EXT_Latch=1;
Kovalev_D 226:4a4d5bd5fcd7 657 LPC_GPIOINT->IO2IntClr |= (1 << 10);
Kovalev_D 226:4a4d5bd5fcd7 658 }*/
Kovalev_D 205:775d54fdf646 659 void GLD_Init(void)
Kovalev_D 214:4c70e452c491 660 {
Kovalev_D 214:4c70e452c491 661 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 226:4a4d5bd5fcd7 662 BUTTON_init();
Kovalev_D 214:4c70e452c491 663
Kovalev_D 222:7de7b3bf3a1d 664 if(Gyro.LG_Type==1)Spi.DAC_A=Gyro.HFO_Max;
Kovalev_D 214:4c70e452c491 665
Kovalev_D 214:4c70e452c491 666
Kovalev_D 214:4c70e452c491 667
Kovalev_D 86:398da56ef751 668 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 669 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 670 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 671
Kovalev_D 87:7e575d26d6d0 672 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 673 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 674 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 675 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 676 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 677
Kovalev_D 220:04c54405b82d 678 //Gyro.ShiftMod=150;
Kovalev_D 87:7e575d26d6d0 679 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 680 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 681 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 214:4c70e452c491 682 LPC_QEI->CONF = (1<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 683
Kovalev_D 87:7e575d26d6d0 684 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 685 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 686
Kovalev_D 98:95b8e79f13e1 687 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 688 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 689 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 690 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 691
Kovalev_D 88:b5c1d9d338d1 692
Kovalev_D 89:a0d344db227e 693 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 694 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 695 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 696
Kovalev_D 89:a0d344db227e 697 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 698
Kovalev_D 89:a0d344db227e 699 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 700 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 701 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 702 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 703
Kovalev_D 89:a0d344db227e 704 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 705 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 706 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 707
Kovalev_D 89:a0d344db227e 708 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 709 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 710 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 711
Kovalev_D 99:3d8f206ceac2 712 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 713 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 714 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 715 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 716
Kovalev_D 89:a0d344db227e 717 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 718 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 719 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 720
Kovalev_D 86:398da56ef751 721
Kovalev_D 86:398da56ef751 722
Kovalev_D 92:c892f0311aa7 723
Kovalev_D 92:c892f0311aa7 724
Kovalev_D 92:c892f0311aa7 725
Kovalev_D 92:c892f0311aa7 726 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 727 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 728 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 729 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 730 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 731
Kovalev_D 92:c892f0311aa7 732 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 733 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 734
Kovalev_D 92:c892f0311aa7 735 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 736 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 737 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 738
Kovalev_D 92:c892f0311aa7 739 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 740 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 741 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 742
Kovalev_D 92:c892f0311aa7 743 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 744 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 745
Kovalev_D 92:c892f0311aa7 746 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 747 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 748
Kovalev_D 92:c892f0311aa7 749 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 750 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 751
Kovalev_D 92:c892f0311aa7 752 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 753 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 754 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 755
Kovalev_D 92:c892f0311aa7 756 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 757 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 758
Kovalev_D 92:c892f0311aa7 759 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 760 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 761 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 762 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 763 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 764 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 765 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 766 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 767 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 768
Kovalev_D 92:c892f0311aa7 769 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 770 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 771 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 772 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 773 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 774 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 775 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 776
Kovalev_D 92:c892f0311aa7 777
Kovalev_D 92:c892f0311aa7 778
Kovalev_D 92:c892f0311aa7 779
Kovalev_D 86:398da56ef751 780 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 781 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 782 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 783
Kovalev_D 89:a0d344db227e 784 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 785 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 786 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 787 PinCheng();
Kovalev_D 89:a0d344db227e 788 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 789 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 790 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 791 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 792 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 793
Kovalev_D 98:95b8e79f13e1 794 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 214:4c70e452c491 795 LPC_PINCON->PINSEL0 |= (0x00<<28);
Kovalev_D 190:289514f730ee 796 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 797 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 798 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 799 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 800 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 801 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 802 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 803 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 804 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 805 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 806 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 807 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 808
Kovalev_D 88:b5c1d9d338d1 809
Kovalev_D 88:b5c1d9d338d1 810
Kovalev_D 87:7e575d26d6d0 811 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 812 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 813 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 814 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 815 LPC_PINCON->PINMODE0 |= (3<<8); //e. P0.4 is GPIO pin (запись ( 11 ) в 9:8 бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 226:4a4d5bd5fcd7 816 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 817 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 818 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 819
Kovalev_D 88:b5c1d9d338d1 820
Kovalev_D 88:b5c1d9d338d1 821
Kovalev_D 87:7e575d26d6d0 822 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 823 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 824 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 825 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 826 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 827 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 828 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 829 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 830 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 831 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 832 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 833 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 834 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 835 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 836 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 837 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 838 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 839 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 840
Kovalev_D 88:b5c1d9d338d1 841
Kovalev_D 88:b5c1d9d338d1 842
Kovalev_D 87:7e575d26d6d0 843 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 844 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 845 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 846 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 847 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 848 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 849 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 850 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 851 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 852 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 853
Kovalev_D 88:b5c1d9d338d1 854
Kovalev_D 88:b5c1d9d338d1 855 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 856 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 857 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 858 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 859 enable_timer1();
Kovalev_D 86:398da56ef751 860 enable_timer2();
Kovalev_D 89:a0d344db227e 861 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 862
Kovalev_D 89:a0d344db227e 863 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 864 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 865
Kovalev_D 90:d9b6a4bc5065 866
Kovalev_D 90:d9b6a4bc5065 867
Kovalev_D 90:d9b6a4bc5065 868 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 869 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 870 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 871 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 872 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 873
Kovalev_D 90:d9b6a4bc5065 874 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 875 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 876
Kovalev_D 90:d9b6a4bc5065 877 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 878 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 879 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 880
Kovalev_D 90:d9b6a4bc5065 881 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 882 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 883 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 884
Kovalev_D 90:d9b6a4bc5065 885 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 886 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 887
Kovalev_D 90:d9b6a4bc5065 888 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 889 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 890
Kovalev_D 90:d9b6a4bc5065 891 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 892 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 893
Kovalev_D 90:d9b6a4bc5065 894 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 895 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 896 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 897
Kovalev_D 90:d9b6a4bc5065 898 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 899 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 900
Kovalev_D 90:d9b6a4bc5065 901 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 902 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 903 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 904 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 905 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 906 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 907 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 908 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 909 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 910
Kovalev_D 92:c892f0311aa7 911 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 912 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 913 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 914 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 205:775d54fdf646 915 //Gyro=GyroP.str;
Kovalev_D 205:775d54fdf646 916 //Gyro = (*(struct Gyro*)(&GyroP.Str));
Kovalev_D 90:d9b6a4bc5065 917
Kovalev_D 86:398da56ef751 918 }
igor_v 13:e2a1d18677b8 919
igor_v 0:8ad47e2b6f00 920
igor_v 0:8ad47e2b6f00 921
igor_v 0:8ad47e2b6f00 922
igor_v 0:8ad47e2b6f00 923