Dmitry Kovalev / Mbed 2 deprecated LGfiltr

forkd

Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

Global.c@214:4c70e452c491, 2017-08-16 (annotated)

Committer:
Kovalev_D
Date:
Wed Aug 16 09:00:25 2017 +0000
Revision:
214:4c70e452c491
Parent:
211:ac8251b067d2
Child:
215:b58b887fd367
fdxcz

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
Kovalev_D 89:a0d344db227e 3 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 4 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 197:7a05523bf588 5 float t1;
Kovalev_D 89:a0d344db227e 6 unsigned char BuffTemp[100];
Kovalev_D 197:7a05523bf588 7 unsigned char Time[1000];
Kovalev_D 86:398da56ef751 8 unsigned int Event1Hz;
Kovalev_D 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 209:224e7331a061 14 unsigned int Event2K;
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 209:224e7331a061 24 unsigned int Time2K;
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 86:398da56ef751 30 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 31 unsigned int ShiftL;
Kovalev_D 205:775d54fdf646 32 //unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 33
Kovalev_D 139:1716152517aa 34
Kovalev_D 134:caf4c9cd5052 35 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 36 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 37 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 38 BX R0
Kovalev_D 134:caf4c9cd5052 39 }
Kovalev_D 134:caf4c9cd5052 40
Kovalev_D 205:775d54fdf646 41 void Param_init(void)
Kovalev_D 205:775d54fdf646 42 {
Kovalev_D 208:19150d2b528f 43 int temp=0;
Kovalev_D 208:19150d2b528f 44
Kovalev_D 205:775d54fdf646 45 InitMOD();
Kovalev_D 206:00341a03e05c 46
Kovalev_D 211:ac8251b067d2 47 Gyro.CuruAngleLog=0;
Kovalev_D 205:775d54fdf646 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 214:4c70e452c491 52 Time1250Hz = 0;
Kovalev_D 88:b5c1d9d338d1 53 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 54 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 55 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 56 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 57 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 58 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 59 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 60 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 61 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 62 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 63 ShiftL = 0;
Kovalev_D 124:9ae09249f842 64 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 65 Time500Hz = 0;
Kovalev_D 205:775d54fdf646 66 PulseADC_64Point= 0;
Kovalev_D 205:775d54fdf646 67 Temp_AMP64P = 0;
Kovalev_D 205:775d54fdf646 68 Temp_ADC_2 = 0;
Kovalev_D 205:775d54fdf646 69 Temp_ADC_3 = 0;
Kovalev_D 205:775d54fdf646 70 Temp_ADC_4 = 0;
Kovalev_D 205:775d54fdf646 71 Temp_ADC_5 = 0;
Kovalev_D 205:775d54fdf646 72 Gyro.Log = 0;
Kovalev_D 205:775d54fdf646 73 Gyro.LogPLC = 0;
Kovalev_D 205:775d54fdf646 74 Gyro.PLC_Lern = 0;
Kovalev_D 106:250ddd8629c6 75 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 76 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 77 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 78 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 79 Pulse_32Point = 0;
Kovalev_D 209:224e7331a061 80 Gyro.FlashMod = 0;
Kovalev_D 208:19150d2b528f 81
Kovalev_D 205:775d54fdf646 82
Kovalev_D 205:775d54fdf646 83 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 84 ///////////инициализация таймеров////////////
Kovalev_D 205:775d54fdf646 85 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 86 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 205:775d54fdf646 87 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 205:775d54fdf646 88 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 89 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 206:00341a03e05c 90
Kovalev_D 206:00341a03e05c 91 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 206:00341a03e05c 92 Gyro.PLC_Error2Mode = 1400;
Kovalev_D 206:00341a03e05c 93 Gyro.SOC_Out = 0xDD;
Kovalev_D 209:224e7331a061 94
Kovalev_D 209:224e7331a061 95 Gyro.RgConMod = 1;
Kovalev_D 206:00341a03e05c 96
Kovalev_D 206:00341a03e05c 97 GyroP.Str.ParamMod=0;
Kovalev_D 209:224e7331a061 98
Kovalev_D 209:224e7331a061 99 ReadFlash ();
Kovalev_D 210:b02fa166315d 100 // GyroP.Str.ParamMod=0;
Kovalev_D 208:19150d2b528f 101 if(GyroP.Str.ParamMod)
Kovalev_D 211:ac8251b067d2 102 {
Kovalev_D 211:ac8251b067d2 103
Kovalev_D 211:ac8251b067d2 104 Gyro.PLC_Start = 0x7fff+GyroP.Str.PLC_Start;
Kovalev_D 211:ac8251b067d2 105 Gyro.DownTreshold = 0x7fff+GyroP.Str.DownTreshold; //27
Kovalev_D 211:ac8251b067d2 106 Gyro.HighTreshold = 0x7fff+GyroP.Str.HighTreshold;
Kovalev_D 211:ac8251b067d2 107 Gyro.PLCDelay = GyroP.Str.PLCDelay/10;
Kovalev_D 211:ac8251b067d2 108 Gyro.ResetLevelCool = 0x7fff+GyroP.Str.ResetLevelCool; //105
Kovalev_D 211:ac8251b067d2 109 Gyro.ResetLevelHeat = 0x7fff+GyroP.Str.ResetLevelHeat;
Kovalev_D 211:ac8251b067d2 110 Gyro.HFO_Gain = GyroP.Str.HFO_Gain;
Kovalev_D 211:ac8251b067d2 111 Gyro.HFO_ref = (unsigned int)(GyroP.Str.HFO_ref)*0.82;
Kovalev_D 211:ac8251b067d2 112 Gyro.LG_Type = GyroP.Str.LG_Type;
Kovalev_D 208:19150d2b528f 113 Gyro.My_Addres = GyroP.Str.My_Addres; // Gyro.My_Addres = 0;
Kovalev_D 209:224e7331a061 114 Gyro.GLD_Serial = GyroP.Str.GLD_Serial;
Kovalev_D 209:224e7331a061 115 Gyro.FrqHZ = (7680000/GyroP.Str.FrqHZ);
Kovalev_D 209:224e7331a061 116 Gyro.Frq = ((7680000/GyroP.Str.FrqHZ)<<16);
Kovalev_D 209:224e7331a061 117 Gyro.FrqHZmin = ((7680000/GyroP.Str.FrqHZmin)<<16);
Kovalev_D 209:224e7331a061 118 Gyro.FrqHZmax = ((7680000/GyroP.Str.FrqHZmax)<<16);
Kovalev_D 208:19150d2b528f 119 Gyro.FrqChengSpeed = GyroP.Str.FrqChengSpeed;
Kovalev_D 208:19150d2b528f 120 Gyro.PLC_Gain = GyroP.Str.PLC_Gain;
Kovalev_D 208:19150d2b528f 121 Gyro.PLC_Phase = GyroP.Str.PLC_Phase;
Kovalev_D 208:19150d2b528f 122 Gyro.ModAmp = GyroP.Str.ModAmp;
Kovalev_D 208:19150d2b528f 123 Gyro.FrqPhase = GyroP.Str.FrqPhase;
Kovalev_D 214:4c70e452c491 124 Gyro.AmpPer = 700;//GyroP.Str.AmpPer*100;
Kovalev_D 214:4c70e452c491 125 Gyro.Amp =(GyroP.Str.AmpPer<<17);
Kovalev_D 208:19150d2b528f 126 Gyro.AmpSpeed = GyroP.Str.AmpSpeed;
Kovalev_D 208:19150d2b528f 127 Gyro.AmpPerDel = GyroP.Str.AmpPerDel;
Kovalev_D 208:19150d2b528f 128 temp=((GyroP.Str.VB_Fdf_Hi<<16) | GyroP.Str.VB_Fdf_Lo);
Kovalev_D 210:b02fa166315d 129 temp=temp*20;
Kovalev_D 208:19150d2b528f 130 Gyro.AmpTarget=(unsigned int)(temp);
Kovalev_D 208:19150d2b528f 131 Gyro.AmpPerMin = GyroP.Str.AmpPerMin;
Kovalev_D 208:19150d2b528f 132 Gyro.AmpPerMax = GyroP.Str.AmpPerMax;
Kovalev_D 208:19150d2b528f 133 Gyro.AmpMin = GyroP.Str.AmpMin;
Kovalev_D 208:19150d2b528f 134 Gyro.AmpTD = GyroP.Str.AmpTD;
Kovalev_D 214:4c70e452c491 135 F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
Kovalev_D 214:4c70e452c491 136 T_vibP = F_vib/10000;
Kovalev_D 214:4c70e452c491 137 T_vib_1 = Gyro.AmpPer * T_vibP;
Kovalev_D 214:4c70e452c491 138 T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
Kovalev_D 214:4c70e452c491 139 LPC_MCPWM->LIM1 = F_vib;
Kovalev_D 214:4c70e452c491 140 LPC_MCPWM->LIM2 = F_vib;
Kovalev_D 214:4c70e452c491 141 LPC_MCPWM->MAT1 = T_vib_1;
Kovalev_D 214:4c70e452c491 142 LPC_MCPWM->MAT2 = T_vib_2;
Kovalev_D 211:ac8251b067d2 143 if(Gyro.LG_Type==1){
Kovalev_D 211:ac8251b067d2 144 Gyro.HFO_Max=((int)(GyroP.Str.DAC_current_Work*0.67)-2000);
Kovalev_D 211:ac8251b067d2 145 Gyro.HFO_Min=((int)(GyroP.Str.DAC_current_Start*0.67)-2000);
Kovalev_D 211:ac8251b067d2 146
Kovalev_D 211:ac8251b067d2 147 }
Kovalev_D 211:ac8251b067d2 148 else Spi.DAC_A = ((((int)(GyroP.Str.DAC_current_Work+0x7fff) & 0xffff)+22544)*0.65);
Kovalev_D 209:224e7331a061 149 Gyro.DacIn = GyroP.Str.DAC_current_Work;
Kovalev_D 208:19150d2b528f 150 // Gyro.TermoNKU = GyroP.Str.TermoNKU<<2;
Kovalev_D 209:224e7331a061 151 Gyro.Firmware_Version = 0x11;
Kovalev_D 208:19150d2b528f 152 // Spi.DAC_A = GyroP.Str.DAC_A;
Kovalev_D 209:224e7331a061 153 // Spi.DAC_B = GyroP.Str.DAC_B;
Kovalev_D 208:19150d2b528f 154 Gyro.Gain_Sin = GyroP.Str.Gain_Sin;
Kovalev_D 208:19150d2b528f 155 Gyro.Gain_Cos = GyroP.Str.Gain_Cos;
Kovalev_D 208:19150d2b528f 156 Out_G_photo(Gyro.Gain_Sin, Gyro.Gain_Cos);
Kovalev_D 206:00341a03e05c 157 }
Kovalev_D 206:00341a03e05c 158 else
Kovalev_D 206:00341a03e05c 159 {
Kovalev_D 211:ac8251b067d2 160 Gyro.DownTreshold = GyroP.Str.DownTreshold; //27
Kovalev_D 211:ac8251b067d2 161 Gyro.HighTreshold = GyroP.Str.HighTreshold;
Kovalev_D 211:ac8251b067d2 162 Gyro.PLCDelay = 30000;
Kovalev_D 211:ac8251b067d2 163 Gyro.ResetLevelCool = 56000; //105
Kovalev_D 211:ac8251b067d2 164 Gyro.ResetLevelHeat = 15000;
Kovalev_D 211:ac8251b067d2 165 Gyro.HFO_ref = 13000;
Kovalev_D 211:ac8251b067d2 166 Gyro.LG_Type = 0;
Kovalev_D 208:19150d2b528f 167 Gyro.PLC_Phase = 3;
Kovalev_D 208:19150d2b528f 168 Gyro.PLC_Gain = 3;
Kovalev_D 208:19150d2b528f 169 Gyro.FrqPhase = 8;
Kovalev_D 207:d1ce992f5d17 170 Gyro.FrqHZ = 403;
Kovalev_D 206:00341a03e05c 171 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 206:00341a03e05c 172 Gyro.FrqHZmin = 350<<16;
Kovalev_D 206:00341a03e05c 173 Gyro.FrqHZmax = 450<<16;
Kovalev_D 206:00341a03e05c 174 Gyro.FrqChengSpeed = 100;
Kovalev_D 206:00341a03e05c 175 Gyro.ModAmp = 250;
Kovalev_D 208:19150d2b528f 176 Gyro.AmpPer = 20;
Kovalev_D 207:d1ce992f5d17 177 Gyro.AmpPerMin = 2;
Kovalev_D 206:00341a03e05c 178 Gyro.AmpPerMax = 90;
Kovalev_D 206:00341a03e05c 179 Gyro.AmpSpeed = 1;
Kovalev_D 207:d1ce992f5d17 180 Gyro.AmpPerDel = 3;
Kovalev_D 208:19150d2b528f 181 Gyro.AmpTarget = 5500;// целевая амплитуда ВП
Kovalev_D 208:19150d2b528f 182 Gyro.Amp = 20*65535;
Kovalev_D 207:d1ce992f5d17 183 Gyro.AmpMin = 20;// минимальное значение AmpT;5
Kovalev_D 208:19150d2b528f 184 Gyro.AmpTD = 20;////////////////////////////////////////////////////////
Kovalev_D 206:00341a03e05c 185 Gyro.TermoNKU = 44700;//48824*0,0061-273=25 С°
Kovalev_D 211:ac8251b067d2 186 Spi.DAC_B = Gyro.PLC_Start;
Kovalev_D 206:00341a03e05c 187 Gyro.PLC_Error2Mode = 1400; //для записи мод
Kovalev_D 207:d1ce992f5d17 188 Gyro.Gain_Sin = 175;
Kovalev_D 207:d1ce992f5d17 189 Gyro.Gain_Cos = 215;
Kovalev_D 209:224e7331a061 190 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 205:775d54fdf646 191 Gyro.GLD_Serial = 123; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 192 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 208:19150d2b528f 193 Gyro.Tmp_OffsetT4 = 0;
Kovalev_D 208:19150d2b528f 194 Gyro.Tmp_OffsetT5 = 0;
Kovalev_D 208:19150d2b528f 195 Gyro.Tmp_scaleT4 = 1; //53
Kovalev_D 208:19150d2b528f 196 Gyro.Tmp_scaleT5 = 1;
Kovalev_D 208:19150d2b528f 197
Kovalev_D 208:19150d2b528f 198 Gyro.DAC_current_Work =50000; //3
Kovalev_D 208:19150d2b528f 199 Gyro.DAC_current_Start =41000;
Kovalev_D 211:ac8251b067d2 200
Kovalev_D 214:4c70e452c491 201
Kovalev_D 214:4c70e452c491 202 F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
Kovalev_D 214:4c70e452c491 203 T_vibP = F_vib/10000;
Kovalev_D 214:4c70e452c491 204 T_vib_1 = Gyro.AmpPer * T_vibP;
Kovalev_D 214:4c70e452c491 205 T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
Kovalev_D 214:4c70e452c491 206 LPC_MCPWM->LIM1 = F_vib;
Kovalev_D 214:4c70e452c491 207 LPC_MCPWM->LIM2 = F_vib;
Kovalev_D 214:4c70e452c491 208 LPC_MCPWM->MAT1 = T_vib_1;
Kovalev_D 214:4c70e452c491 209 LPC_MCPWM->MAT2 = T_vib_2;
Kovalev_D 206:00341a03e05c 210 }
Kovalev_D 211:ac8251b067d2 211 Spi.DAC_B=Gyro.PLC_Start;
Kovalev_D 188:4c523cc373cc 212 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 213 case 0:
Kovalev_D 209:224e7331a061 214 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 215 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 216 break;
Kovalev_D 188:4c523cc373cc 217 case 1:
Kovalev_D 209:224e7331a061 218 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 219 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 220 break;
Kovalev_D 188:4c523cc373cc 221 case 2:
Kovalev_D 209:224e7331a061 222 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 223 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 224 break;
Kovalev_D 188:4c523cc373cc 225 case 3:
Kovalev_D 209:224e7331a061 226 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 227 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 228 break;
Kovalev_D 205:775d54fdf646 229 }
Kovalev_D 205:775d54fdf646 230
Kovalev_D 88:b5c1d9d338d1 231 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 232 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 233 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 234 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 235 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 236 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 237 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 238 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 239
Kovalev_D 86:398da56ef751 240 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 241 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 242 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 243 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 244 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 245 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 246
Kovalev_D 86:398da56ef751 247 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 248 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 249 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 250 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 251 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 112:4a96133a1311 252 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 253 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 254 Cur_QEI=0;
Kovalev_D 86:398da56ef751 255 Last_QEI=0;
Kovalev_D 205:775d54fdf646 256 }
Kovalev_D 205:775d54fdf646 257
Kovalev_D 205:775d54fdf646 258 void GLD_Init(void)
Kovalev_D 214:4c70e452c491 259 {
Kovalev_D 214:4c70e452c491 260 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 214:4c70e452c491 261
Kovalev_D 214:4c70e452c491 262
Kovalev_D 214:4c70e452c491 263
Kovalev_D 214:4c70e452c491 264
Kovalev_D 214:4c70e452c491 265
Kovalev_D 214:4c70e452c491 266
Kovalev_D 86:398da56ef751 267 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 268 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 269 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 270
Kovalev_D 87:7e575d26d6d0 271 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 272 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 273 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 274 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 275 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 276
Kovalev_D 98:95b8e79f13e1 277
Kovalev_D 87:7e575d26d6d0 278 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 279 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 280 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 214:4c70e452c491 281 LPC_QEI->CONF = (1<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 282
Kovalev_D 87:7e575d26d6d0 283 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 284 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 285
Kovalev_D 98:95b8e79f13e1 286 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 287 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 288 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 289 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 290
Kovalev_D 88:b5c1d9d338d1 291
Kovalev_D 89:a0d344db227e 292 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 293 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 294 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 295
Kovalev_D 89:a0d344db227e 296 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 297
Kovalev_D 89:a0d344db227e 298 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 299 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 300 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 301 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 302
Kovalev_D 89:a0d344db227e 303 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 304 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 305 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 306
Kovalev_D 89:a0d344db227e 307 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 308 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 309 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 310
Kovalev_D 99:3d8f206ceac2 311 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 312 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 313 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 314 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 315
Kovalev_D 89:a0d344db227e 316 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 317 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 318 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 319
Kovalev_D 86:398da56ef751 320
Kovalev_D 86:398da56ef751 321
Kovalev_D 92:c892f0311aa7 322
Kovalev_D 92:c892f0311aa7 323
Kovalev_D 92:c892f0311aa7 324
Kovalev_D 92:c892f0311aa7 325 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 326 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 327 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 328 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 329 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 330
Kovalev_D 92:c892f0311aa7 331 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 332 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 333
Kovalev_D 92:c892f0311aa7 334 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 335 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 336 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 337
Kovalev_D 92:c892f0311aa7 338 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 339 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 340 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 341
Kovalev_D 92:c892f0311aa7 342 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 343 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 344
Kovalev_D 92:c892f0311aa7 345 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 346 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 347
Kovalev_D 92:c892f0311aa7 348 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 349 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 350
Kovalev_D 92:c892f0311aa7 351 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 352 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 353 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 354
Kovalev_D 92:c892f0311aa7 355 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 356 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 357
Kovalev_D 92:c892f0311aa7 358 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 359 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 360 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 361 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 362 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 363 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 364 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 365 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 366 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 367
Kovalev_D 92:c892f0311aa7 368 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 369 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 370 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 371 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 372 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 373 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 374 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 375
Kovalev_D 92:c892f0311aa7 376
Kovalev_D 92:c892f0311aa7 377
Kovalev_D 92:c892f0311aa7 378
Kovalev_D 86:398da56ef751 379 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 380 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 381 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 382
Kovalev_D 89:a0d344db227e 383 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 384 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 385 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 386 PinCheng();
Kovalev_D 89:a0d344db227e 387 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 388 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 389 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 390 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 391 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 392
Kovalev_D 98:95b8e79f13e1 393 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 214:4c70e452c491 394 LPC_PINCON->PINSEL0 |= (0x00<<28);
Kovalev_D 190:289514f730ee 395 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 396 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 397 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 398 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 399 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 400 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 401 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 402 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 403 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 404 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 405 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 406 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 407 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 408
Kovalev_D 88:b5c1d9d338d1 409
Kovalev_D 88:b5c1d9d338d1 410
Kovalev_D 87:7e575d26d6d0 411 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 412 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 413 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 414 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 415 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 416 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 417 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 418 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 419
Kovalev_D 88:b5c1d9d338d1 420
Kovalev_D 88:b5c1d9d338d1 421
Kovalev_D 87:7e575d26d6d0 422 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 423 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 424 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 425 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 426 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 427 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 428 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 429 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 430 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 431 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 432 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 433 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 434 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 435 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 436 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 437 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 438 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 439 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 440
Kovalev_D 88:b5c1d9d338d1 441
Kovalev_D 88:b5c1d9d338d1 442
Kovalev_D 87:7e575d26d6d0 443 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 444 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 445 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 446 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 447 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 448 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 449 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 450 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 451 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 452 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 453
Kovalev_D 88:b5c1d9d338d1 454
Kovalev_D 88:b5c1d9d338d1 455 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 456 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 457 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 458 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 459 enable_timer1();
Kovalev_D 86:398da56ef751 460 enable_timer2();
Kovalev_D 89:a0d344db227e 461 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 462
Kovalev_D 89:a0d344db227e 463 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 464 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 465
Kovalev_D 90:d9b6a4bc5065 466
Kovalev_D 90:d9b6a4bc5065 467
Kovalev_D 90:d9b6a4bc5065 468 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 469 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 470 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 471 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 472 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 473
Kovalev_D 90:d9b6a4bc5065 474 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 475 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 476
Kovalev_D 90:d9b6a4bc5065 477 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 478 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 479 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 480
Kovalev_D 90:d9b6a4bc5065 481 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 482 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 483 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 484
Kovalev_D 90:d9b6a4bc5065 485 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 486 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 487
Kovalev_D 90:d9b6a4bc5065 488 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 489 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 490
Kovalev_D 90:d9b6a4bc5065 491 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 492 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 493
Kovalev_D 90:d9b6a4bc5065 494 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 495 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 496 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 497
Kovalev_D 90:d9b6a4bc5065 498 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 499 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 500
Kovalev_D 90:d9b6a4bc5065 501 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 502 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 503 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 504 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 505 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 506 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 507 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 508 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 509 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 510
Kovalev_D 92:c892f0311aa7 511 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 512 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 513 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 514 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 205:775d54fdf646 515 //Gyro=GyroP.str;
Kovalev_D 205:775d54fdf646 516 //Gyro = (*(struct Gyro*)(&GyroP.Str));
Kovalev_D 90:d9b6a4bc5065 517
Kovalev_D 86:398da56ef751 518 }
igor_v 13:e2a1d18677b8 519
igor_v 0:8ad47e2b6f00 520
igor_v 0:8ad47e2b6f00 521
igor_v 0:8ad47e2b6f00 522
igor_v 0:8ad47e2b6f00 523