Dmitry Kovalev / Mbed 2 deprecated LGfiltr

forkd

Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

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

Committer:
Kovalev_D
Date:
Tue Aug 23 14:03:16 2016 +0000
Revision:
190:289514f730ee
Parent:
189:8a16378724c4
Child:
191:40028201ddad
PLC

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 0:8ad47e2b6f00 3
igor_v 0:8ad47e2b6f00 4
Kovalev_D 89:a0d344db227e 5 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 6 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 112:4a96133a1311 7
Kovalev_D 89:a0d344db227e 8 unsigned char BuffTemp[100];
Kovalev_D 89:a0d344db227e 9 unsigned char Time[500];
Kovalev_D 86:398da56ef751 10 unsigned int Event1Hz;
Kovalev_D 124:9ae09249f842 11 unsigned int Event500Hz;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int Event1K ;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int EventVibro;
Kovalev_D 124:9ae09249f842 15
Kovalev_D 124:9ae09249f842 16 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 17 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 18 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 19 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 20 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 21 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 22 unsigned int ShiftL;
Kovalev_D 86:398da56ef751 23
Kovalev_D 140:1fbf117fc120 24
Kovalev_D 139:1716152517aa 25
Kovalev_D 134:caf4c9cd5052 26 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 27 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 28 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 29 BX R0
Kovalev_D 134:caf4c9cd5052 30 }
Kovalev_D 134:caf4c9cd5052 31
Kovalev_D 86:398da56ef751 32 void GLD_Init(void)
Kovalev_D 86:398da56ef751 33 {
Kovalev_D 183:7e200f4d9b16 34 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 90:d9b6a4bc5065 35 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 36 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 37 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 38 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 39 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 40 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 41 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 42 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 43 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 44 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 45 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 46 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 47 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 48 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 49 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 50 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 51 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 52 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 53 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 54 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 55 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 56 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 57 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 58 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 59 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 60 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 61 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 62 ShiftL = 0;
Kovalev_D 124:9ae09249f842 63 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 64 Time500Hz = 0;
Kovalev_D 139:1716152517aa 65
Kovalev_D 86:398da56ef751 66 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 67 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 68
Kovalev_D 88:b5c1d9d338d1 69
Kovalev_D 88:b5c1d9d338d1 70 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 71 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 72 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 73 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 74 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 190:289514f730ee 75 Gyro.Gain_Sin =100;
Kovalev_D 190:289514f730ee 76 Gyro.Gain_Cos =100;
Kovalev_D 190:289514f730ee 77
Kovalev_D 132:2c7bec5cf6fe 78 Gyro.FlashMod=0;
Kovalev_D 189:8a16378724c4 79 Gyro.FrqHZ=450;
Kovalev_D 88:b5c1d9d338d1 80 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 189:8a16378724c4 81 Gyro.FrqHZmin = 350<<16;
Kovalev_D 189:8a16378724c4 82 Gyro.FrqHZmax = 450<<16;
Kovalev_D 189:8a16378724c4 83
Kovalev_D 183:7e200f4d9b16 84 Gyro.AmpPer=30;
Kovalev_D 189:8a16378724c4 85 Gyro.AmpPerMin = 20;
Kovalev_D 189:8a16378724c4 86 Gyro.AmpPerMax = 90;
Kovalev_D 189:8a16378724c4 87 Gyro.AmpSpeed = 1;
Kovalev_D 88:b5c1d9d338d1 88 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 89 Gyro.Amp = 10*65535;
Kovalev_D 180:375dcd9c0cb6 90 Gyro.AmpMin =5;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 91 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 92 //////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 93 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 94 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 95 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 96 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 97 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 98 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 99 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 100 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 101 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 102 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 103 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 104 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 105 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 106 Buff_16PointD[i] = 0x00;
Kovalev_D 190:289514f730ee 107 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 108 }
Kovalev_D 190:289514f730ee 109 /*
Kovalev_D 129:406995a91322 110 for (int i = 0; i < 170; i++ ) {
Kovalev_D 129:406995a91322 111 GyroP.Array[i] =i;
Kovalev_D 190:289514f730ee 112 }*/
Kovalev_D 88:b5c1d9d338d1 113 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 114 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 115 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 116 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 117 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 118 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 119 // Temp_AMP=0;
Kovalev_D 96:1c8536458119 120 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 121 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 122 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 123 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 124 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 125 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 126 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 127 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 128 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 129 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 130 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 131 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 132 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 133 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 134 }
Kovalev_D 95:dd51e577e114 135 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 136 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 137 }
Kovalev_D 96:1c8536458119 138 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 139 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 140 }
Kovalev_D 96:1c8536458119 141 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 142 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 143 }
Kovalev_D 88:b5c1d9d338d1 144 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 145 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 146
Kovalev_D 88:b5c1d9d338d1 147
Kovalev_D 88:b5c1d9d338d1 148
Kovalev_D 88:b5c1d9d338d1 149
Kovalev_D 88:b5c1d9d338d1 150
Kovalev_D 92:c892f0311aa7 151
Kovalev_D 88:b5c1d9d338d1 152 Gyro.SOC_Out=0xDD;
Kovalev_D 188:4c523cc373cc 153 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 163:affb5706d191 154 Gyro.GLD_Serial = 0xD7; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 155 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 92:c892f0311aa7 156
Kovalev_D 188:4c523cc373cc 157 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 158 case 0:
Kovalev_D 188:4c523cc373cc 159 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 160 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 161 break;
Kovalev_D 188:4c523cc373cc 162 case 1:
Kovalev_D 188:4c523cc373cc 163 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 164 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 165 break;
Kovalev_D 188:4c523cc373cc 166 case 2:
Kovalev_D 188:4c523cc373cc 167 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 168 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 169 break;
Kovalev_D 188:4c523cc373cc 170 case 3:
Kovalev_D 188:4c523cc373cc 171 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 172 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 173 break;
Kovalev_D 188:4c523cc373cc 174 }
Kovalev_D 89:a0d344db227e 175
Kovalev_D 88:b5c1d9d338d1 176 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 177 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 178 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 179 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 180 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 181 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 182 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 183 /////////////////////////////////////////////////////
Kovalev_D 159:38f39c0c143f 184
Kovalev_D 159:38f39c0c143f 185 // Spi.DAC_A = 20000;
Kovalev_D 188:4c523cc373cc 186 Spi.DAC_A = 38000;
Kovalev_D 190:289514f730ee 187 Spi.DAC_B = 38000;
Kovalev_D 159:38f39c0c143f 188 //Spi.DAC_A = 44000;
Kovalev_D 159:38f39c0c143f 189
Kovalev_D 157:1069c80f4944 190 //Spi.DAC_B = 0x7fff; //старое начало
Kovalev_D 190:289514f730ee 191 //40000
Kovalev_D 163:affb5706d191 192 //Spi.DAC_B = 11000; //для просмотра мод
Kovalev_D 158:0c8342e1837a 193
Kovalev_D 159:38f39c0c143f 194 Gyro.StrayHZ = 1000;
Kovalev_D 159:38f39c0c143f 195 Gyro.StrayHZ_flag = 0;
Kovalev_D 159:38f39c0c143f 196 Gyro.LogHZ = 0;
Kovalev_D 159:38f39c0c143f 197
Kovalev_D 159:38f39c0c143f 198 Gyro.StrayPLC_Pls =1000;
Kovalev_D 159:38f39c0c143f 199 Gyro.StrayPLC_Mns = -1000;
Kovalev_D 159:38f39c0c143f 200 Gyro.StrayPLC_2Mode = 2000;
Kovalev_D 159:38f39c0c143f 201 Gyro.StrayPLC_flag = 0;
Kovalev_D 159:38f39c0c143f 202 Gyro.LogPLC = 0;
Kovalev_D 159:38f39c0c143f 203 Gyro.PLC_Lern = 0;
Kovalev_D 168:f4a6abb18358 204 Gyro.ModJump = 0;
Kovalev_D 168:f4a6abb18358 205 Gyro.PLC_Error2Mode =500; //для записи мод
Kovalev_D 159:38f39c0c143f 206 //Gyro.PLC_Error2Mode = 65; //стандартное включение прибора регулировка (65 начальная задержка для поиска АМП мах)
Kovalev_D 86:398da56ef751 207 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 208 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 209 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 210 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 211 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 212 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 213 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 214 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 215
igor_v 16:18e3fd7b92d0 216
igor_v 16:18e3fd7b92d0 217
Kovalev_D 86:398da56ef751 218 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 219
Kovalev_D 86:398da56ef751 220
Kovalev_D 86:398da56ef751 221 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 222 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 223 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 224 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 225 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 226 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 227 Cur_QEI=0;
Kovalev_D 86:398da56ef751 228 Last_QEI=0;
Kovalev_D 86:398da56ef751 229 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 230 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 231 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 232 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 233 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 234 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 235 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 236 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 237
Kovalev_D 98:95b8e79f13e1 238
Kovalev_D 87:7e575d26d6d0 239 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 240 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 241 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 242 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 243
Kovalev_D 87:7e575d26d6d0 244 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 245 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 246
Kovalev_D 98:95b8e79f13e1 247 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 248 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 249 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 250 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 251
Kovalev_D 88:b5c1d9d338d1 252
Kovalev_D 89:a0d344db227e 253 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 254 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 255 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 256
Kovalev_D 89:a0d344db227e 257 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 258
Kovalev_D 89:a0d344db227e 259 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 260 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 261 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 262 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 263
Kovalev_D 89:a0d344db227e 264 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 265 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 266 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 267
Kovalev_D 89:a0d344db227e 268 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 269 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 270 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 271
Kovalev_D 99:3d8f206ceac2 272 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 273 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 274 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 275 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 276
Kovalev_D 89:a0d344db227e 277 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 278 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 279 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 280
Kovalev_D 86:398da56ef751 281
Kovalev_D 86:398da56ef751 282
Kovalev_D 92:c892f0311aa7 283
Kovalev_D 92:c892f0311aa7 284
Kovalev_D 92:c892f0311aa7 285
Kovalev_D 92:c892f0311aa7 286 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 287 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 288 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 289 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 290 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 291
Kovalev_D 92:c892f0311aa7 292 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 293 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 294
Kovalev_D 92:c892f0311aa7 295 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 296 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 297 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 298
Kovalev_D 92:c892f0311aa7 299 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 300 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 301 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 302
Kovalev_D 92:c892f0311aa7 303 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 304 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 305
Kovalev_D 92:c892f0311aa7 306 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 307 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 308
Kovalev_D 92:c892f0311aa7 309 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 310 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 311
Kovalev_D 92:c892f0311aa7 312 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 313 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 314 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 315
Kovalev_D 92:c892f0311aa7 316 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 317 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 318
Kovalev_D 92:c892f0311aa7 319 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 320 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 321 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 322 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 323 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 324 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 325 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 326 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 327 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 328
Kovalev_D 92:c892f0311aa7 329 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 330 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 331 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 332 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 333 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 334 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 335 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 336
Kovalev_D 92:c892f0311aa7 337
Kovalev_D 92:c892f0311aa7 338
Kovalev_D 92:c892f0311aa7 339
Kovalev_D 86:398da56ef751 340 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 341 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 342 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 343
Kovalev_D 89:a0d344db227e 344 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 345 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 346 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 347 PinCheng();
Kovalev_D 89:a0d344db227e 348 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 349
Kovalev_D 87:7e575d26d6d0 350 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 351 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 352 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 353
Kovalev_D 98:95b8e79f13e1 354 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 190:289514f730ee 355 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 190:289514f730ee 356 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 357 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 358 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 359 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 360
Kovalev_D 88:b5c1d9d338d1 361
Kovalev_D 87:7e575d26d6d0 362 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 363 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 364 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 365 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 366 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 367 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 368
Kovalev_D 88:b5c1d9d338d1 369
Kovalev_D 88:b5c1d9d338d1 370
Kovalev_D 87:7e575d26d6d0 371 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 372 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 373 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 374 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 375 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 376 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 377 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 378 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 379
Kovalev_D 88:b5c1d9d338d1 380
Kovalev_D 88:b5c1d9d338d1 381
Kovalev_D 87:7e575d26d6d0 382 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 383 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 384 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 385 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 386 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 387 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 388 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 389 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 390 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 391 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 392 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 393 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 394 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 395 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 396 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 397 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 398 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 399 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 400
Kovalev_D 88:b5c1d9d338d1 401
Kovalev_D 88:b5c1d9d338d1 402
Kovalev_D 87:7e575d26d6d0 403 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 404 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 405 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 406 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 407 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 408 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 409 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 410 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 411 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 412 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 413
Kovalev_D 88:b5c1d9d338d1 414
Kovalev_D 88:b5c1d9d338d1 415 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 416 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 417 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 418 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 419 enable_timer1();
Kovalev_D 86:398da56ef751 420 enable_timer2();
Kovalev_D 89:a0d344db227e 421 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 422
Kovalev_D 89:a0d344db227e 423 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 424 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 425
Kovalev_D 90:d9b6a4bc5065 426
Kovalev_D 90:d9b6a4bc5065 427
Kovalev_D 90:d9b6a4bc5065 428 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 429 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 430 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 431 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 432 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 433
Kovalev_D 90:d9b6a4bc5065 434 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 435 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 436
Kovalev_D 90:d9b6a4bc5065 437 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 438 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 439 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 440
Kovalev_D 90:d9b6a4bc5065 441 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 442 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 443 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 444
Kovalev_D 90:d9b6a4bc5065 445 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 446 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 447
Kovalev_D 90:d9b6a4bc5065 448 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 449 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 450
Kovalev_D 90:d9b6a4bc5065 451 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 452 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 453
Kovalev_D 90:d9b6a4bc5065 454 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 455 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 456 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 457
Kovalev_D 90:d9b6a4bc5065 458 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 459 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 460
Kovalev_D 90:d9b6a4bc5065 461 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 462 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 463 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 464 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 465 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 466 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 467 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 468 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 469 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 470
Kovalev_D 92:c892f0311aa7 471 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 472 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 473 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 474 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 475
Kovalev_D 86:398da56ef751 476 }
igor_v 13:e2a1d18677b8 477
igor_v 0:8ad47e2b6f00 478
igor_v 0:8ad47e2b6f00 479
igor_v 0:8ad47e2b6f00 480
igor_v 0:8ad47e2b6f00 481