Dmitry Kovalev / Mbed 2 deprecated LGfiltr

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Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

SPI.c@226:4a4d5bd5fcd7, 2017-12-26 (annotated)

Committer:
Kovalev_D
Date:
Tue Dec 26 05:14:09 2017 +0000
Revision:
226:4a4d5bd5fcd7
Parent:
225:f8fee6c586cc
Child:
227:2774b56bfab0
4hfo_1plc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2 struct SPI Spi;
Kovalev_D 112:4a96133a1311 3 //unsigned int Temp_AMP;
Kovalev_D 96:1c8536458119 4 unsigned int Temp_AMP64P;
Kovalev_D 196:f76dbc081e63 5 int ttt=1;
Kovalev_D 99:3d8f206ceac2 6 unsigned int Count_AMP, ADD_AMP, Cur_Amp;
Kovalev_D 99:3d8f206ceac2 7 int Znak_Amp;
Kovalev_D 109:ee0cff33ad3b 8 int AD_Regul = 0;
Kovalev_D 190:289514f730ee 9 int temp9,tempADC5;
Kovalev_D 148:7ce8c1fd00f7 10 int AD_MAX=0;
Kovalev_D 220:04c54405b82d 11 unsigned int SPIlog;
Kovalev_D 196:f76dbc081e63 12 int k=0,l=0,r=0,n=0;//счетчики для регулировки периметра
Kovalev_D 188:4c523cc373cc 13 int flagmod=0,Bdelta;
Kovalev_D 191:40028201ddad 14 int start=10;
Kovalev_D 197:7a05523bf588 15 int dispersion=0,side=1,tempstrafe=15000;
Kovalev_D 214:4c70e452c491 16 int ADC_5_T;
Kovalev_D 147:1aed74f19a8f 17 unsigned int TempA;
Kovalev_D 158:0c8342e1837a 18 unsigned int TempTermLM;
Kovalev_D 211:ac8251b067d2 19 unsigned int conuntPLS;
Kovalev_D 197:7a05523bf588 20 int ADC5Old,ADCDIF=0;
Kovalev_D 215:b58b887fd367 21 /*int DACModReg;*/
Kovalev_D 197:7a05523bf588 22 int SinPls=0,SinMns=0;
Kovalev_D 214:4c70e452c491 23 int TSinPls=0,TSinMns=0;
Kovalev_D 213:9953db9543d6 24 int timer=750;
Kovalev_D 216:189b0ea1dc38 25 int sum=0;
Kovalev_D 216:189b0ea1dc38 26 unsigned int testcount=0,faza, fazaFlag=0;
Kovalev_D 197:7a05523bf588 27 unsigned int ADC5New;
Kovalev_D 95:dd51e577e114 28 unsigned int Buff_ADC_1 [32];
Kovalev_D 95:dd51e577e114 29 unsigned int Buff_ADC_2 [32];
Kovalev_D 95:dd51e577e114 30 unsigned int Buff_ADC_3 [32];
Kovalev_D 95:dd51e577e114 31 unsigned int Buff_ADC_4 [32];
Kovalev_D 220:04c54405b82d 32 int Buff_OUT1 [64];
Kovalev_D 220:04c54405b82d 33 int Buff_OUT [64];
Kovalev_D 213:9953db9543d6 34 int RegulADC,DeltaRegul,tempDeltaRegul;
Kovalev_D 226:4a4d5bd5fcd7 35 int count10HFO=0, count10v=0, AmpWorms,MinWorms,MaxWorms,AMPSUM,AMPSUMP,AMPSUMM,AMPSUM_DESP,AMPSUMPout,AMPSUMMout,AMPSUMout,SumDelta,PLC_EROR,PLC_Flag,HFO_Flag,HFOdelta,HFOregul,HFOSumDelta;
Kovalev_D 214:4c70e452c491 36
Kovalev_D 215:b58b887fd367 37
Kovalev_D 215:b58b887fd367 38 //int BuffADC_32Point [64];
Kovalev_D 214:4c70e452c491 39
Kovalev_D 215:b58b887fd367 40 //unsigned int Buff_ADC_5 [255];
Kovalev_D 197:7a05523bf588 41
Kovalev_D 215:b58b887fd367 42
Kovalev_D 197:7a05523bf588 43
Kovalev_D 197:7a05523bf588 44
Kovalev_D 215:b58b887fd367 45 //unsigned int PulseADC_16Point;
Kovalev_D 215:b58b887fd367 46 //unsigned int PulseADC_32Point;
Kovalev_D 215:b58b887fd367 47 //unsigned int PulseADC_64Point;
Kovalev_D 215:b58b887fd367 48 //unsigned int PulseADC_32PointD;
Kovalev_D 215:b58b887fd367 49
Kovalev_D 215:b58b887fd367 50
Kovalev_D 215:b58b887fd367 51 //unsigned int Buff_AMP [256];
Kovalev_D 215:b58b887fd367 52 //unsigned int Buff_AMP64P [256];
Kovalev_D 220:04c54405b82d 53 unsigned int TypeMod=0;
Kovalev_D 197:7a05523bf588 54 unsigned int ModArraySin [64] = {50,55,59,64,68,73,77,81,85,88,91,94,96,98,99,99,100,99,99,98,96,94,91,88,85,81,77,73,68,64,59,55,50,45,41,36,32,27,23,19,16,12,9,7,4,2,1,1,0,1,1,2,4,7,9,12,16,19,23,27,32,36,41,45};
Kovalev_D 218:b4067cac75c0 55 unsigned int ModArraySin32 [32] = {50,59,68,77,85,91,96,99,100,99,96,91,85,77,68,59,50,41,32,23,16,9,4,1,0,1,4,9,16,23,32,41};
Kovalev_D 216:189b0ea1dc38 56 unsigned int ModArrayTriangle [64];
Kovalev_D 216:189b0ea1dc38 57 unsigned int ModArraySaw [64];
Kovalev_D 216:189b0ea1dc38 58 unsigned int Mod=0;
Kovalev_D 216:189b0ea1dc38 59 int znak;
Kovalev_D 197:7a05523bf588 60
Kovalev_D 197:7a05523bf588 61 void InitMOD(void)
Kovalev_D 197:7a05523bf588 62 {
Kovalev_D 220:04c54405b82d 63 for (int i = 0; i < 64; i++ )
Kovalev_D 197:7a05523bf588 64 {
Kovalev_D 220:04c54405b82d 65 if(i<32) { ModArrayTriangle[i]=Mod; Mod=100;}
Kovalev_D 220:04c54405b82d 66 else { ModArrayTriangle[i]=Mod; Mod=0;}
Kovalev_D 197:7a05523bf588 67 }
Kovalev_D 197:7a05523bf588 68
Kovalev_D 207:d1ce992f5d17 69 for (int i = 0; i < 16; i++ )
Kovalev_D 197:7a05523bf588 70 {
Kovalev_D 216:189b0ea1dc38 71 ModArraySaw[i]=Mod;
Kovalev_D 216:189b0ea1dc38 72 Mod+=1;
Kovalev_D 220:04c54405b82d 73 }
Kovalev_D 197:7a05523bf588 74 }
Kovalev_D 197:7a05523bf588 75 void Modulator(void)
Kovalev_D 197:7a05523bf588 76 {
Kovalev_D 197:7a05523bf588 77 switch(TypeMod)
Kovalev_D 197:7a05523bf588 78 {
Kovalev_D 220:04c54405b82d 79
Kovalev_D 220:04c54405b82d 80 // case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 81 case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 82
Kovalev_D 216:189b0ea1dc38 83 case 1: LPC_DAC->DACR = (ModArraySaw [CountV64]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 84 case 2: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 85 case 3: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 220:04c54405b82d 86
Kovalev_D 220:04c54405b82d 87 //case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31)&0x1f]+150)*Gyro.ModAmp); break;ShiftMod
Kovalev_D 220:04c54405b82d 88 case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31+8)&0x1f])*Gyro.ModAmp + Gyro.ShiftMod-32000); break;
Kovalev_D 218:b4067cac75c0 89 case 5: break;
Kovalev_D 197:7a05523bf588 90 }
Kovalev_D 197:7a05523bf588 91 }
Kovalev_D 215:b58b887fd367 92
Kovalev_D 209:224e7331a061 93 void PLCRegul250(void)
Kovalev_D 209:224e7331a061 94 {
Kovalev_D 209:224e7331a061 95 unsigned int temp;
Kovalev_D 209:224e7331a061 96 static int CountFaza;
Kovalev_D 209:224e7331a061 97 temp = MODCount;
Kovalev_D 215:b58b887fd367 98
Kovalev_D 216:189b0ea1dc38 99 /*for (CountFaza = 0; CountFaza <16; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 100 for (CountFaza = 16; CountFaza <32; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 101 for (CountFaza = 32; CountFaza <48; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 102 for (CountFaza = 48; CountFaza <64; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);*/
Kovalev_D 215:b58b887fd367 103
Kovalev_D 214:4c70e452c491 104 /* for (CountFaza = 0; CountFaza <32; CountFaza++ ) SinPls+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];
Kovalev_D 214:4c70e452c491 105 for (CountFaza = 32; CountFaza <64; CountFaza++) SinMns+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];*/
Kovalev_D 209:224e7331a061 106 Gyro.PLC_Eror = SinMns-SinPls;
Kovalev_D 214:4c70e452c491 107 /* sprintf((Time)," %d %d %d %d %d\r\n",Spi.ADC5, Spi.DAC_B, SinPls, SinMns, Gyro.PLC_Eror);
Kovalev_D 209:224e7331a061 108 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 109 if(Gyro.RgConA&0x8)
Kovalev_D 209:224e7331a061 110 {
Kovalev_D 222:7de7b3bf3a1d 111 /* if(Gyro.PLC_Eror>0) {Spi.DAC_B+=1 * Gyro.PLC_Gain;}
Kovalev_D 222:7de7b3bf3a1d 112 else {Spi.DAC_B-=1 * Gyro.PLC_Gain;}*/
Kovalev_D 209:224e7331a061 113 }
Kovalev_D 215:b58b887fd367 114 /* if(Gyro.PLC_Eror>0) {Gyro.PLC_Eror_count++;}
Kovalev_D 215:b58b887fd367 115 else {Gyro.PLC_Eror_count--;}*/
Kovalev_D 209:224e7331a061 116
Kovalev_D 209:224e7331a061 117 if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
Kovalev_D 209:224e7331a061 118 else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
igor_v 110:6406b7ac0442 119
Kovalev_D 209:224e7331a061 120 SinPls=0;
Kovalev_D 209:224e7331a061 121 SinMns=0;
Kovalev_D 209:224e7331a061 122 }
Kovalev_D 226:4a4d5bd5fcd7 123
Kovalev_D 147:1aed74f19a8f 124 void ADS_Acum(void)
Kovalev_D 147:1aed74f19a8f 125 {
Kovalev_D 157:1069c80f4944 126 Spi.ADC_NewData = 0;
Kovalev_D 209:224e7331a061 127 // Gyro.Termo = (unsigned int)(((Spi.ADC1>>1) + Gyro.Tmp_OffsetT4) * Gyro.Tmp_scaleT4);
Kovalev_D 209:224e7331a061 128 Gyro.Termo = (unsigned int)(Spi.ADC1>>1);
Kovalev_D 209:224e7331a061 129 Gyro.IN1_Accum += Spi.ADC2;
Kovalev_D 209:224e7331a061 130 Gyro.IN2_Accum += Spi.ADC3;
Kovalev_D 209:224e7331a061 131 // Gyro.DeltaT = (unsigned int)(((Spi.ADC4>>1) + Gyro.Tmp_OffsetT5) * Gyro.Tmp_scaleT5);
Kovalev_D 221:53b256368ca1 132 switch(Gyro.LG_Type)
Kovalev_D 221:53b256368ca1 133 {
Kovalev_D 221:53b256368ca1 134 case 1: Gyro.DeltaT = (unsigned int)(Spi.ADC2>>1); break;
Kovalev_D 221:53b256368ca1 135
Kovalev_D 221:53b256368ca1 136 case 0: Gyro.DeltaT = (unsigned int)(Spi.ADC4>>1); break;
Kovalev_D 221:53b256368ca1 137 }
Kovalev_D 221:53b256368ca1 138
Kovalev_D 208:19150d2b528f 139
Kovalev_D 172:ef7bf1663645 140 TempA = (0xffff - Spi.ADC5); // перевернем знак и умножим на два (было 32000...0 стало 0 ...32000 /*сдвиг(<<1) стало 0 ...64000*/)
Kovalev_D 211:ac8251b067d2 141 Gyro.TermLM = Spi.ADC1;
Kovalev_D 157:1069c80f4944 142 Gyro.ADF_Accum += TempA;
Kovalev_D 157:1069c80f4944 143 Gyro.ADS_Accum += TempA;
Kovalev_D 208:19150d2b528f 144 /// Gyro.ADS_AccumTermLM+=TempTermLM;
Kovalev_D 157:1069c80f4944 145 Gyro.ADF_Count ++;
Kovalev_D 157:1069c80f4944 146 Gyro.ADS_Count ++;
Kovalev_D 209:224e7331a061 147 Gyro.ADM_Count ++;
Kovalev_D 209:224e7331a061 148 /* sprintf((Time),"%d %d\r\n",((Gyro.In1>>1) - 0x4fff),(Spi.DAC_B-0x4fff));
Kovalev_D 209:224e7331a061 149 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 150 if (Gyro.ADM_Count > 255) {
Kovalev_D 209:224e7331a061 151 Gyro.In1 = Gyro.IN1_Accum>>8;
Kovalev_D 209:224e7331a061 152 Gyro.In2 = Gyro.IN2_Accum>>8;
Kovalev_D 209:224e7331a061 153 Gyro.IN1_Accum=0;
Kovalev_D 209:224e7331a061 154 Gyro.IN2_Accum=0;
Kovalev_D 209:224e7331a061 155 Gyro.ADM_Count=0;
Kovalev_D 209:224e7331a061 156 }
Kovalev_D 207:d1ce992f5d17 157 if (Gyro.ADF_Count > 15) { // если прошло 16 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 158 Gyro.AD_Fast = Gyro.ADF_Accum << 11; //обновляем данные и приводим в один масштаб
Kovalev_D 157:1069c80f4944 159 Gyro.ADF_Count = 0;//
Kovalev_D 157:1069c80f4944 160 Gyro.ADF_Accum = 0;
Kovalev_D 157:1069c80f4944 161 Gyro.ADF_NewData = 1;
Kovalev_D 157:1069c80f4944 162 }
Kovalev_D 207:d1ce992f5d17 163 if (Gyro.ADS_Count > 255) { // если прошло 256 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 164 Gyro.AD_Slow = Gyro.ADS_Accum << 7; //обновляем данные и приводим в один масштаб
Kovalev_D 211:ac8251b067d2 165 // Gyro.TermLM = Gyro.ADS_AccumTermLM << 3;
Kovalev_D 157:1069c80f4944 166 Gyro.ADS_Count = 0;
Kovalev_D 157:1069c80f4944 167 Gyro.ADS_Accum = 0;
Kovalev_D 158:0c8342e1837a 168 Gyro.ADS_AccumTermLM=0;
Kovalev_D 207:d1ce992f5d17 169 Gyro.ADS_NewData = 1;
Kovalev_D 209:224e7331a061 170 }
Kovalev_D 147:1aed74f19a8f 171 }
Kovalev_D 226:4a4d5bd5fcd7 172
Kovalev_D 226:4a4d5bd5fcd7 173 void HFOFilt(void)
Kovalev_D 220:04c54405b82d 174 {
Kovalev_D 226:4a4d5bd5fcd7 175 if (count10HFO>=64*8)
Kovalev_D 226:4a4d5bd5fcd7 176 {
Kovalev_D 226:4a4d5bd5fcd7 177 count10HFO=0;
Kovalev_D 226:4a4d5bd5fcd7 178 for(int q=0; q<64; q++)
Kovalev_D 226:4a4d5bd5fcd7 179 {
Kovalev_D 226:4a4d5bd5fcd7 180 AMPSUM+=BuffADC_10v[q];
Kovalev_D 226:4a4d5bd5fcd7 181 }
Kovalev_D 226:4a4d5bd5fcd7 182 AMPSUM=AMPSUM>>6;
Kovalev_D 226:4a4d5bd5fcd7 183 AMPSUM=AMPSUM>>3;
Kovalev_D 226:4a4d5bd5fcd7 184 //AMPSUM=AMPSUM>>3;
Kovalev_D 220:04c54405b82d 185
Kovalev_D 226:4a4d5bd5fcd7 186 AMPSUM_DESP=AMPSUM;
Kovalev_D 226:4a4d5bd5fcd7 187 HFOdelta=(int)((Gyro.HFO_ref)-AMPSUM);
Kovalev_D 226:4a4d5bd5fcd7 188
Kovalev_D 226:4a4d5bd5fcd7 189
Kovalev_D 226:4a4d5bd5fcd7 190 HFOSumDelta+=HFOdelta;
Kovalev_D 226:4a4d5bd5fcd7 191 HFOregul=HFOSumDelta/(int)(Gyro.HFO_Gain);
Kovalev_D 226:4a4d5bd5fcd7 192
Kovalev_D 226:4a4d5bd5fcd7 193 HFOSumDelta-=Gyro.HFO_Gain*HFOregul;
Kovalev_D 226:4a4d5bd5fcd7 194
Kovalev_D 226:4a4d5bd5fcd7 195 // tempDeltaRegul = HFOregul;
Kovalev_D 226:4a4d5bd5fcd7 196 tempDeltaRegul += HFOregul;
Kovalev_D 226:4a4d5bd5fcd7 197 AMPSUM=0;
Kovalev_D 226:4a4d5bd5fcd7 198 HFO_Flag=1;
Kovalev_D 226:4a4d5bd5fcd7 199 }
Kovalev_D 226:4a4d5bd5fcd7 200 }
Kovalev_D 226:4a4d5bd5fcd7 201
Kovalev_D 226:4a4d5bd5fcd7 202 void PLCFilt(void)
Kovalev_D 226:4a4d5bd5fcd7 203 {
Kovalev_D 226:4a4d5bd5fcd7 204 static int SumBuff,Delta, OldDelta;
Kovalev_D 226:4a4d5bd5fcd7 205
Kovalev_D 225:f8fee6c586cc 206 if (count10v>=64*32)
Kovalev_D 220:04c54405b82d 207 {
Kovalev_D 226:4a4d5bd5fcd7 208
Kovalev_D 220:04c54405b82d 209 count10v=0;
Kovalev_D 222:7de7b3bf3a1d 210
Kovalev_D 220:04c54405b82d 211 for(int q=0; q<32; q++)
Kovalev_D 220:04c54405b82d 212 {
Kovalev_D 220:04c54405b82d 213 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 214 SumBuff -= BuffADC_10v_OLD[q+32];
Kovalev_D 220:04c54405b82d 215 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 216 }
Kovalev_D 225:f8fee6c586cc 217
Kovalev_D 220:04c54405b82d 218 for(int q=32; q<64; q++)
Kovalev_D 220:04c54405b82d 219 {
Kovalev_D 220:04c54405b82d 220 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 221 SumBuff -= BuffADC_10v[q-32];
Kovalev_D 220:04c54405b82d 222 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 223 }
Kovalev_D 220:04c54405b82d 224
Kovalev_D 225:f8fee6c586cc 225 for(int q=0; q<32; q++) {AMPSUMP += BuffADC_10v_F [q];}
Kovalev_D 225:f8fee6c586cc 226 for(int q=32; q<64; q++) {AMPSUMM += BuffADC_10v_F [q];}
Kovalev_D 225:f8fee6c586cc 227
Kovalev_D 225:f8fee6c586cc 228 for(int q=0; q<64; q++)
Kovalev_D 220:04c54405b82d 229 {
Kovalev_D 226:4a4d5bd5fcd7 230 // AMPSUM+=BuffADC_10v[q];
Kovalev_D 222:7de7b3bf3a1d 231 AMPSUMout+=BuffADC_10v_F[q];
Kovalev_D 222:7de7b3bf3a1d 232 BuffADC_10v_OLD[q]= BuffADC_10v[q];
Kovalev_D 225:f8fee6c586cc 233 BuffADC_10v[q] =0;
Kovalev_D 220:04c54405b82d 234 }
Kovalev_D 225:f8fee6c586cc 235 for(int q=0; q<64; q++)
Kovalev_D 222:7de7b3bf3a1d 236 {
Kovalev_D 222:7de7b3bf3a1d 237 Buff_OUT[q]=(BuffADC_10v_F[q]-(AMPSUM>>1))>>3;
Kovalev_D 222:7de7b3bf3a1d 238 }
Kovalev_D 222:7de7b3bf3a1d 239
Kovalev_D 222:7de7b3bf3a1d 240 /*sprintf((Time),"%d \r\n", Spi.DAC_A);
Kovalev_D 222:7de7b3bf3a1d 241 WriteCon(Time);*/
Kovalev_D 220:04c54405b82d 242
Kovalev_D 225:f8fee6c586cc 243 AMPSUMPout=AMPSUMP>>1;
Kovalev_D 225:f8fee6c586cc 244 AMPSUMMout=AMPSUMM>>1;
Kovalev_D 222:7de7b3bf3a1d 245 AMPSUMout=AMPSUM;
Kovalev_D 225:f8fee6c586cc 246
Kovalev_D 220:04c54405b82d 247 Delta= (AMPSUMPout - AMPSUMMout);
Kovalev_D 225:f8fee6c586cc 248
Kovalev_D 225:f8fee6c586cc 249 // if((Delta<(-5000000))||(Delta>5000000))Delta=0;
Kovalev_D 225:f8fee6c586cc 250
Kovalev_D 220:04c54405b82d 251 SumDelta+=Delta;
Kovalev_D 225:f8fee6c586cc 252
Kovalev_D 220:04c54405b82d 253 Gyro.PLC_Eror_count=SumDelta/Gyro.PLC_Gain;
Kovalev_D 220:04c54405b82d 254 SumDelta-=Gyro.PLC_Gain*Gyro.PLC_Eror_count;
Kovalev_D 225:f8fee6c586cc 255
Kovalev_D 225:f8fee6c586cc 256 PLC_EROR+=Gyro.PLC_Eror_count;
Kovalev_D 226:4a4d5bd5fcd7 257
Kovalev_D 220:04c54405b82d 258 PLC_Flag=1;
Kovalev_D 220:04c54405b82d 259 AMPSUMM=0;
Kovalev_D 220:04c54405b82d 260 AMPSUMP=0;
Kovalev_D 226:4a4d5bd5fcd7 261
Kovalev_D 226:4a4d5bd5fcd7 262 // LoopOff
Kovalev_D 220:04c54405b82d 263 }
Kovalev_D 220:04c54405b82d 264 }
Kovalev_D 226:4a4d5bd5fcd7 265 void ModFilt(void)
Kovalev_D 226:4a4d5bd5fcd7 266 {
Kovalev_D 226:4a4d5bd5fcd7 267
Kovalev_D 226:4a4d5bd5fcd7 268
Kovalev_D 226:4a4d5bd5fcd7 269 PLCFilt();
Kovalev_D 226:4a4d5bd5fcd7 270 if(PLC_Flag)
Kovalev_D 226:4a4d5bd5fcd7 271 {
Kovalev_D 226:4a4d5bd5fcd7 272
Kovalev_D 226:4a4d5bd5fcd7 273 HFOSumDelta=0;
Kovalev_D 226:4a4d5bd5fcd7 274 }
Kovalev_D 226:4a4d5bd5fcd7 275 else HFOFilt();
Kovalev_D 226:4a4d5bd5fcd7 276
Kovalev_D 226:4a4d5bd5fcd7 277 }
Kovalev_D 220:04c54405b82d 278
igor_v 114:5cc38a53d8a7 279 void SPI_Exchange(void) // новая функция чтения, в нецй не должно быть ничего лишнего
Kovalev_D 157:1069c80f4944 280 {
Kovalev_D 220:04c54405b82d 281
Kovalev_D 157:1069c80f4944 282 unsigned int DummySPI;
Kovalev_D 220:04c54405b82d 283
Kovalev_D 197:7a05523bf588 284 //unsigned int ADC5Dif;
Kovalev_D 197:7a05523bf588 285 ADC5New = LPC_SSP0->DR;// Чтение АЦП
Kovalev_D 207:d1ce992f5d17 286 //Spi.ADC5_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 287 Spi.ADC4_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 288 Spi.ADC3_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 289 Spi.ADC2_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 290 Spi.ADC1_Accum += LPC_SSP0->DR;
Kovalev_D 207:d1ce992f5d17 291 Spi.ADC5_Accum += ADC5New;
Kovalev_D 209:224e7331a061 292
Kovalev_D 207:d1ce992f5d17 293 while (LPC_SSP0->SR & RX_SSP_notEMPT)
Kovalev_D 207:d1ce992f5d17 294 {
Kovalev_D 170:d099c3025f87 295 DummySPI = LPC_SSP0->DR; //если буфер SPI не пуст.//очистить буфер.
Kovalev_D 157:1069c80f4944 296 }
Kovalev_D 112:4a96133a1311 297 DAC_OutPut();
Kovalev_D 157:1069c80f4944 298 if (CountV31 == 0) { // просто фильтруем по 32 точкам.
Kovalev_D 197:7a05523bf588 299 // выставояем бит, что есть новы данные
Kovalev_D 157:1069c80f4944 300 Spi.ADC1 = Spi.ADC1_Accum >> 5; // подгоотавливаем данные (в той эе сетке) те ADC1 0..65535
Kovalev_D 157:1069c80f4944 301 Spi.ADC2 = Spi.ADC2_Accum >> 5;
Kovalev_D 157:1069c80f4944 302 Spi.ADC3 = Spi.ADC3_Accum >> 5;
Kovalev_D 157:1069c80f4944 303 Spi.ADC4 = Spi.ADC4_Accum >> 5;
Kovalev_D 157:1069c80f4944 304 Spi.ADC5 = Spi.ADC5_Accum >> 5;
Kovalev_D 157:1069c80f4944 305 Spi.ADC1_Accum = 0; // сбрасывкем аккамулятор
Kovalev_D 157:1069c80f4944 306 Spi.ADC2_Accum = 0;
Kovalev_D 157:1069c80f4944 307 Spi.ADC3_Accum = 0;
Kovalev_D 157:1069c80f4944 308 Spi.ADC4_Accum = 0;
Kovalev_D 157:1069c80f4944 309 Spi.ADC5_Accum = 0;
Kovalev_D 157:1069c80f4944 310 Spi.ADC_NewData = 1;
Kovalev_D 209:224e7331a061 311
Kovalev_D 207:d1ce992f5d17 312 }
Kovalev_D 215:b58b887fd367 313 if(Time1Hz>6)
Kovalev_D 215:b58b887fd367 314 {
Kovalev_D 220:04c54405b82d 315 BuffADC_1Point[CountV255] = (0x7fff-ADC5New)&0x7fff;
Kovalev_D 218:b4067cac75c0 316 BuffADC_1Point_64[CountV31]=(0x7fff-ADC5New)&0x7fff;
Kovalev_D 216:189b0ea1dc38 317
Kovalev_D 220:04c54405b82d 318 /* ADC_128Point += BuffADC_1Point[CountV255];
Kovalev_D 220:04c54405b82d 319 ADC_128Point -= BuffADC_1Point[(CountV255 - 128) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов
Kovalev_D 220:04c54405b82d 320 BuffADC_128Point[CountV64] = ADC_128Point;*/
Kovalev_D 220:04c54405b82d 321
Kovalev_D 220:04c54405b82d 322
Kovalev_D 220:04c54405b82d 323 // Buff_Restored_Mod[CountV31] =(int)(BuffADC_1Point_64[CountV31] - ((BuffADC_128Point[CountV64])>>7));
Kovalev_D 220:04c54405b82d 324 // Buff_Restored_Mod[CountV64] =(int)(BuffADC_32PointD[CountV64]*2 - BuffADC_64Point[CountV64]);
Kovalev_D 220:04c54405b82d 325
Kovalev_D 220:04c54405b82d 326
Kovalev_D 220:04c54405b82d 327 count10v++;
Kovalev_D 226:4a4d5bd5fcd7 328 count10HFO++;
Kovalev_D 220:04c54405b82d 329 BuffADC_10v[CountV64] += BuffADC_1Point[CountV255];
Kovalev_D 226:4a4d5bd5fcd7 330 // BuffADC_10HFO[CountV64] += BuffADC_1Point[CountV255];
Kovalev_D 220:04c54405b82d 331 ModFilt();
Kovalev_D 220:04c54405b82d 332 }
Kovalev_D 220:04c54405b82d 333
Kovalev_D 220:04c54405b82d 334 }
Kovalev_D 220:04c54405b82d 335
Kovalev_D 220:04c54405b82d 336 void HFORegul(void)
Kovalev_D 220:04c54405b82d 337 {
Kovalev_D 220:04c54405b82d 338 static unsigned int countHFO;
Kovalev_D 220:04c54405b82d 339
Kovalev_D 220:04c54405b82d 340 countHFO=0;
Kovalev_D 220:04c54405b82d 341
Kovalev_D 220:04c54405b82d 342 if(Gyro.RgConA&0x2)
Kovalev_D 220:04c54405b82d 343 {
Kovalev_D 220:04c54405b82d 344 if(HFO_Flag)
Kovalev_D 220:04c54405b82d 345 {
Kovalev_D 220:04c54405b82d 346 Spi.DAC_A -= HFOregul;
Kovalev_D 220:04c54405b82d 347 HFO_Flag=0;
Kovalev_D 220:04c54405b82d 348 DeltaRegul=0;
Kovalev_D 220:04c54405b82d 349 }
Kovalev_D 220:04c54405b82d 350 }
Kovalev_D 220:04c54405b82d 351
Kovalev_D 220:04c54405b82d 352 else DeltaRegul=0;
Kovalev_D 220:04c54405b82d 353
Kovalev_D 220:04c54405b82d 354 if(Spi.DAC_A>Gyro.HFO_Min-1) Spi.DAC_A=Gyro.HFO_Min-2;
Kovalev_D 220:04c54405b82d 355 else if(Spi.DAC_A<Gyro.HFO_Max+1) Spi.DAC_A=Gyro.HFO_Max+2;
Kovalev_D 220:04c54405b82d 356
Kovalev_D 220:04c54405b82d 357 }
Kovalev_D 220:04c54405b82d 358
Kovalev_D 214:4c70e452c491 359
Kovalev_D 220:04c54405b82d 360 void PLCRegul(void)
Kovalev_D 215:b58b887fd367 361
Kovalev_D 220:04c54405b82d 362 {
Kovalev_D 220:04c54405b82d 363 static unsigned int Flag_64=0, count;
Kovalev_D 220:04c54405b82d 364 static int CountFaza,Sin;
Kovalev_D 216:189b0ea1dc38 365
Kovalev_D 216:189b0ea1dc38 366
Kovalev_D 220:04c54405b82d 367 if(Gyro.RgConA&0x8)
Kovalev_D 220:04c54405b82d 368 {
Kovalev_D 220:04c54405b82d 369 if(PLC_Flag)
Kovalev_D 220:04c54405b82d 370 {
Kovalev_D 226:4a4d5bd5fcd7 371 if (Gyro.PLCDelay)
Kovalev_D 225:f8fee6c586cc 372 {
Kovalev_D 225:f8fee6c586cc 373
Kovalev_D 225:f8fee6c586cc 374 }
Kovalev_D 226:4a4d5bd5fcd7 375 else Spi.DAC_B+=(Gyro.PLC_Eror_count);
Kovalev_D 220:04c54405b82d 376 }
Kovalev_D 220:04c54405b82d 377 }
Kovalev_D 220:04c54405b82d 378 Gyro.PLC_Eror_count=0;
Kovalev_D 220:04c54405b82d 379 if(Gyro.LG_Type==1)
Kovalev_D 220:04c54405b82d 380 {
Kovalev_D 225:f8fee6c586cc 381 if(Spi.DAC_B > Gyro.HighTreshold )
Kovalev_D 222:7de7b3bf3a1d 382 {
Kovalev_D 222:7de7b3bf3a1d 383 Spi.DAC_B = (Gyro.ResetLevelCool);
Kovalev_D 225:f8fee6c586cc 384 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 222:7de7b3bf3a1d 385 }
Kovalev_D 225:f8fee6c586cc 386 else if(Spi.DAC_B < Gyro.DownTreshold )
Kovalev_D 222:7de7b3bf3a1d 387 {
Kovalev_D 222:7de7b3bf3a1d 388 Spi.DAC_B = (Gyro.ResetLevelHeat);
Kovalev_D 225:f8fee6c586cc 389 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 222:7de7b3bf3a1d 390 }
Kovalev_D 220:04c54405b82d 391 }
Kovalev_D 220:04c54405b82d 392 else
Kovalev_D 220:04c54405b82d 393 {
Kovalev_D 220:04c54405b82d 394 if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
Kovalev_D 220:04c54405b82d 395 else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
Kovalev_D 226:4a4d5bd5fcd7 396 }
Kovalev_D 226:4a4d5bd5fcd7 397 if(PLC_Flag)
Kovalev_D 226:4a4d5bd5fcd7 398 {
Kovalev_D 226:4a4d5bd5fcd7 399 PLC_Flag=0;
Kovalev_D 226:4a4d5bd5fcd7 400 }
Kovalev_D 220:04c54405b82d 401 }
Kovalev_D 216:189b0ea1dc38 402
Kovalev_D 220:04c54405b82d 403
Kovalev_D 220:04c54405b82d 404
Kovalev_D 113:8be429494918 405
Kovalev_D 190:289514f730ee 406 void ShowMod(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 158:0c8342e1837a 407 {
Kovalev_D 158:0c8342e1837a 408
Kovalev_D 158:0c8342e1837a 409 //////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 410 //////////////////////////////////смотрим все моды/////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 411 ///////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 197:7a05523bf588 412 if(dispersion>5)
Kovalev_D 197:7a05523bf588 413 {
Kovalev_D 197:7a05523bf588 414 if( (Gyro.PLC_Lern<60000)&&(Gyro.PLC_Error2Mode >1))//пробигаем по нескольким значениям цап(60*0х3с=0хВВ8) для определения максимальной амплитуды.
Kovalev_D 158:0c8342e1837a 415 {
Kovalev_D 158:0c8342e1837a 416 Gyro.PLC_Error2Mode--;
Kovalev_D 158:0c8342e1837a 417 Gyro.PLC_Lern++;
Kovalev_D 197:7a05523bf588 418 Spi.DAC_B += tempstrafe*side;
Kovalev_D 197:7a05523bf588 419 if(side>0)side=(-1);
Kovalev_D 197:7a05523bf588 420 else side = 1;
Kovalev_D 197:7a05523bf588 421 tempstrafe-=40;
Kovalev_D 197:7a05523bf588 422 dispersion=0;
Kovalev_D 168:f4a6abb18358 423 }
Kovalev_D 197:7a05523bf588 424 else {Gyro.LogPLC=0;}
Kovalev_D 197:7a05523bf588 425 }
Kovalev_D 197:7a05523bf588 426 else dispersion++;
Kovalev_D 222:7de7b3bf3a1d 427 /*sprintf((Time),"%d %d %d %d \r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Gyro.Termo);
Kovalev_D 222:7de7b3bf3a1d 428 Gyro.CuruAngle=0;*/
Kovalev_D 197:7a05523bf588 429 WriteCon(Time);
Kovalev_D 158:0c8342e1837a 430 }
Kovalev_D 209:224e7331a061 431 void ShowMod2(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 209:224e7331a061 432 {
Kovalev_D 211:ac8251b067d2 433 if(dispersion>3)
Kovalev_D 211:ac8251b067d2 434 {
Kovalev_D 213:9953db9543d6 435 unsigned int step = 50, ENDMOD=65400;
Kovalev_D 222:7de7b3bf3a1d 436 /*sprintf((Time),"%d %d %d %d %d %d %d\r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Spi.ADC5, 0xfFFf-Spi.ADC1, Spi.ADC1, Gyro.Termo);
Kovalev_D 209:224e7331a061 437 Gyro.CuruAngle=0;
Kovalev_D 222:7de7b3bf3a1d 438 WriteCon(Time);*/
Kovalev_D 213:9953db9543d6 439 Spi.DAC_B+=step;
Kovalev_D 213:9953db9543d6 440 if(Spi.DAC_B>ENDMOD)
Kovalev_D 211:ac8251b067d2 441 {
Kovalev_D 214:4c70e452c491 442 // Gyro.LogMod=0;
Kovalev_D 211:ac8251b067d2 443 PlcON
Kovalev_D 213:9953db9543d6 444 Spi.DAC_B = 48000;
Kovalev_D 211:ac8251b067d2 445 }
Kovalev_D 211:ac8251b067d2 446 dispersion=0;
Kovalev_D 209:224e7331a061 447 }
Kovalev_D 211:ac8251b067d2 448 else dispersion++;
Kovalev_D 191:40028201ddad 449 }
Kovalev_D 112:4a96133a1311 450 void DAC_OutPut(void)//выдача в цапы
igor_v 0:8ad47e2b6f00 451 {
Kovalev_D 220:04c54405b82d 452 /*if(Gyro.RgConA&0x10)*/ Modulator();
Kovalev_D 157:1069c80f4944 453 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 454 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 455 LPC_SSP0->DR=0x5555;
igor_v 0:8ad47e2b6f00 456
Kovalev_D 209:224e7331a061 457 if (CountV31 & 1)
Kovalev_D 209:224e7331a061 458 { //если нечетный такт то
Kovalev_D 218:b4067cac75c0 459 LPC_SSP0->DR = WRITE_DAC0; //e.команда для ЦАП_0 передавать.
Kovalev_D 220:04c54405b82d 460 LPC_SSP0->DR = (Spi.DAC_A); //e. передача 12 бит
Kovalev_D 209:224e7331a061 461 }
Kovalev_D 209:224e7331a061 462 else
Kovalev_D 209:224e7331a061 463 { //если такт четный.
Kovalev_D 157:1069c80f4944 464 LPC_SSP0->DR = WRITE_DAC1 ; //e.команда для ЦАП_1 передавать.
Kovalev_D 220:04c54405b82d 465 LPC_SSP0->DR = (Spi.DAC_B) ;
igor_v 31:c783288001b5 466 }
Kovalev_D 112:4a96133a1311 467 }
Kovalev_D 112:4a96133a1311 468
Kovalev_D 112:4a96133a1311 469
Kovalev_D 113:8be429494918 470
Kovalev_D 113:8be429494918 471
Kovalev_D 113:8be429494918 472
Kovalev_D 113:8be429494918 473