Dmitry Kovalev / Mbed 2 deprecated LGfiltr

forkd

Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

Global.c@201:76f4123bf22a, 2016-11-02 (annotated)

Committer:
Kovalev_D
Date:
Wed Nov 02 14:05:24 2016 +0000
Revision:
201:76f4123bf22a
Parent:
197:7a05523bf588
Child:
202:c03b7b128e11
F.ras 20kHz

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 197:7a05523bf588 7 float t1;
Kovalev_D 89:a0d344db227e 8 unsigned char BuffTemp[100];
Kovalev_D 197:7a05523bf588 9 unsigned char Time[1000];
Kovalev_D 86:398da56ef751 10 unsigned int Event1Hz;
Kovalev_D 201:76f4123bf22a 11 unsigned int Event10Hz;
Kovalev_D 124:9ae09249f842 12 unsigned int Event500Hz;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int Event1K ;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 15 unsigned int EventVibro;
Kovalev_D 124:9ae09249f842 16
Kovalev_D 197:7a05523bf588 17 unsigned int Time250Hz;
Kovalev_D 197:7a05523bf588 18 unsigned int Event250Hz;
Kovalev_D 197:7a05523bf588 19
Kovalev_D 124:9ae09249f842 20 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 21 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 22 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 23 unsigned int Time1Hz;
Kovalev_D 201:76f4123bf22a 24 unsigned int Time10Hz;
Kovalev_D 88:b5c1d9d338d1 25 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 26 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 27 unsigned int ShiftL;
Kovalev_D 197:7a05523bf588 28 unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 29
Kovalev_D 139:1716152517aa 30
Kovalev_D 134:caf4c9cd5052 31 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 32 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 33 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 34 BX R0
Kovalev_D 134:caf4c9cd5052 35 }
Kovalev_D 134:caf4c9cd5052 36
Kovalev_D 86:398da56ef751 37 void GLD_Init(void)
Kovalev_D 197:7a05523bf588 38 {
Kovalev_D 197:7a05523bf588 39 InitMOD();
Kovalev_D 183:7e200f4d9b16 40 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 90:d9b6a4bc5065 41 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 42 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 43 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 44 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 45 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 46 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 201:76f4123bf22a 47 // Init_TIM0();
Kovalev_D 89:a0d344db227e 48 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 49 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 50 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 51 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 52 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 53 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 54 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 55 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 56 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 57 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 58 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 59 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 60 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 61 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 62 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 63 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 64 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 65 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 66 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 67 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 68 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 69 ShiftL = 0;
Kovalev_D 124:9ae09249f842 70 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 71 Time500Hz = 0;
Kovalev_D 139:1716152517aa 72
Kovalev_D 86:398da56ef751 73 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 74 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 75
Kovalev_D 197:7a05523bf588 76 // ModArray[]=[32,64,96,128,256,384,448,480,496,512,512];
Kovalev_D 88:b5c1d9d338d1 77 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 78 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 79 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 80 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 81 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 197:7a05523bf588 82
Kovalev_D 132:2c7bec5cf6fe 83 Gyro.FlashMod=0;
Kovalev_D 201:76f4123bf22a 84 Gyro.FrqHZ=380;
Kovalev_D 88:b5c1d9d338d1 85 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 189:8a16378724c4 86 Gyro.FrqHZmin = 350<<16;
Kovalev_D 189:8a16378724c4 87 Gyro.FrqHZmax = 450<<16;
Kovalev_D 196:f76dbc081e63 88 Gyro.FrqChengSpeed=100;
Kovalev_D 201:76f4123bf22a 89 Gyro.ModAmp=240;
Kovalev_D 191:40028201ddad 90 Gyro.AmpPer=40;
Kovalev_D 201:76f4123bf22a 91 Gyro.AmpPerMin = 1;
Kovalev_D 189:8a16378724c4 92 Gyro.AmpPerMax = 90;
Kovalev_D 189:8a16378724c4 93 Gyro.AmpSpeed = 1;
Kovalev_D 196:f76dbc081e63 94 Gyro.AmpPerDel=10;
Kovalev_D 201:76f4123bf22a 95 Gyro.AmpTarget =6000;// целевая амплитуда ВП
Kovalev_D 196:f76dbc081e63 96 Gyro.Amp = 30*65535;
Kovalev_D 196:f76dbc081e63 97 Gyro.AmpMin =15;// минимальное значение AmpT;5
Kovalev_D 196:f76dbc081e63 98 Gyro.AmpTD =30;////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 99 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 100 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 101 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 102 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 103 Pulse_32Point = 0;
Kovalev_D 201:76f4123bf22a 104 Gyro.Start=5000;
Kovalev_D 196:f76dbc081e63 105 Gyro.flag=1;
Kovalev_D 88:b5c1d9d338d1 106 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 107 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 108 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 109 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 110 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 111 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 112 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 113 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 114 Buff_16PointD[i] = 0x00;
Kovalev_D 197:7a05523bf588 115 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 116 }
Kovalev_D 197:7a05523bf588 117 for (int i = 0; i < 64; i++ ) {
Kovalev_D 197:7a05523bf588 118 BuffADC_16Point[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 119 BuffADC_32Point[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 120 BuffADC_32PointD[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 121 BuffADC_64Point[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 122 }
Kovalev_D 197:7a05523bf588 123 PulseADC_64Point=0;
Kovalev_D 88:b5c1d9d338d1 124 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 125 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 126 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 127 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 128 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 129 /////////////////////////////////////////////////////
Kovalev_D 96:1c8536458119 130 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 131 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 132 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 133 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 134 Temp_ADC_5=0;
Kovalev_D 197:7a05523bf588 135
Kovalev_D 197:7a05523bf588 136
Kovalev_D 197:7a05523bf588 137
Kovalev_D 201:76f4123bf22a 138 Gyro.Gain_Sin =125;
Kovalev_D 197:7a05523bf588 139 Gyro.Gain_Cos =175;
Kovalev_D 197:7a05523bf588 140
Kovalev_D 197:7a05523bf588 141
Kovalev_D 196:f76dbc081e63 142
Kovalev_D 88:b5c1d9d338d1 143 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 144 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 145 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 146 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 147 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 148 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 149 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 150 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 151 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 152 }
Kovalev_D 95:dd51e577e114 153 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 154 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 155 }
Kovalev_D 96:1c8536458119 156 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 157 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 158 }
Kovalev_D 96:1c8536458119 159 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 160 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 161 }
Kovalev_D 88:b5c1d9d338d1 162 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 163 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 164
Kovalev_D 88:b5c1d9d338d1 165 Gyro.SOC_Out=0xDD;
Kovalev_D 188:4c523cc373cc 166 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 163:affb5706d191 167 Gyro.GLD_Serial = 0xD7; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 168 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 92:c892f0311aa7 169
Kovalev_D 188:4c523cc373cc 170 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 171 case 0:
Kovalev_D 188:4c523cc373cc 172 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 173 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 174 break;
Kovalev_D 188:4c523cc373cc 175 case 1:
Kovalev_D 188:4c523cc373cc 176 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 177 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 178 break;
Kovalev_D 188:4c523cc373cc 179 case 2:
Kovalev_D 188:4c523cc373cc 180 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 181 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 182 break;
Kovalev_D 188:4c523cc373cc 183 case 3:
Kovalev_D 188:4c523cc373cc 184 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 185 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 186 break;
Kovalev_D 188:4c523cc373cc 187 }
Kovalev_D 89:a0d344db227e 188
Kovalev_D 88:b5c1d9d338d1 189 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 190 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 191 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 192 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 193 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 194 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 195 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 196 /////////////////////////////////////////////////////
Kovalev_D 159:38f39c0c143f 197
Kovalev_D 196:f76dbc081e63 198 Gyro.Ktermo=1;// K°
Kovalev_D 201:76f4123bf22a 199 Gyro.TermoNKU=48824;//48824*0,0061-273=25 С°
Kovalev_D 197:7a05523bf588 200 Spi.DAC_A = 41000;
Kovalev_D 197:7a05523bf588 201
Kovalev_D 201:76f4123bf22a 202 Spi.DAC_B = 32767;
Kovalev_D 158:0c8342e1837a 203
Kovalev_D 196:f76dbc081e63 204 Gyro.StrayHZ = 200;
Kovalev_D 159:38f39c0c143f 205 Gyro.StrayHZ_flag = 0;
Kovalev_D 159:38f39c0c143f 206 Gyro.LogHZ = 0;
Kovalev_D 159:38f39c0c143f 207
Kovalev_D 192:d32c8cf7bcd9 208 Gyro.StrayPLC_Pls = 1000;
Kovalev_D 159:38f39c0c143f 209 Gyro.StrayPLC_Mns = -1000;
Kovalev_D 159:38f39c0c143f 210 Gyro.StrayPLC_2Mode = 2000;
Kovalev_D 159:38f39c0c143f 211 Gyro.StrayPLC_flag = 0;
Kovalev_D 159:38f39c0c143f 212 Gyro.LogPLC = 0;
Kovalev_D 159:38f39c0c143f 213 Gyro.PLC_Lern = 0;
Kovalev_D 168:f4a6abb18358 214 Gyro.ModJump = 0;
Kovalev_D 197:7a05523bf588 215 Gyro.PLC_Error2Mode =1400; //для записи мод
Kovalev_D 159:38f39c0c143f 216 //Gyro.PLC_Error2Mode = 65; //стандартное включение прибора регулировка (65 начальная задержка для поиска АМП мах)
Kovalev_D 86:398da56ef751 217 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 218 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 219 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 220 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 221 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 222 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 223 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 224 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 225
Kovalev_D 86:398da56ef751 226 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 227
Kovalev_D 86:398da56ef751 228 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 229 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 230 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 231 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 232 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 233 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 234 Cur_QEI=0;
Kovalev_D 86:398da56ef751 235 Last_QEI=0;
Kovalev_D 86:398da56ef751 236 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 237 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 238 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 239 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 240 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 241 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 242 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 243 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 244
Kovalev_D 98:95b8e79f13e1 245
Kovalev_D 87:7e575d26d6d0 246 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 247 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 248 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 249 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 250
Kovalev_D 87:7e575d26d6d0 251 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 252 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 253
Kovalev_D 98:95b8e79f13e1 254 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 255 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 256 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 257 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 258
Kovalev_D 88:b5c1d9d338d1 259
Kovalev_D 89:a0d344db227e 260 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 261 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 262 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 263
Kovalev_D 89:a0d344db227e 264 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 265
Kovalev_D 89:a0d344db227e 266 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 267 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 268 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 269 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 270
Kovalev_D 89:a0d344db227e 271 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 272 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 273 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 274
Kovalev_D 89:a0d344db227e 275 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 276 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 277 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 278
Kovalev_D 99:3d8f206ceac2 279 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 280 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 281 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 282 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 283
Kovalev_D 89:a0d344db227e 284 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 285 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 286 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 287
Kovalev_D 86:398da56ef751 288
Kovalev_D 86:398da56ef751 289
Kovalev_D 92:c892f0311aa7 290
Kovalev_D 92:c892f0311aa7 291
Kovalev_D 92:c892f0311aa7 292
Kovalev_D 92:c892f0311aa7 293 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 294 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 295 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 296 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 297 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 298
Kovalev_D 92:c892f0311aa7 299 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 300 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 301
Kovalev_D 92:c892f0311aa7 302 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 303 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 304 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 305
Kovalev_D 92:c892f0311aa7 306 // P0.15~0.18 as SSP0
Kovalev_D 201:76f4123bf22a 307 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); /// //установит Р 0.15
Kovalev_D 92:c892f0311aa7 308 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 309
Kovalev_D 92:c892f0311aa7 310 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 311 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 312
Kovalev_D 92:c892f0311aa7 313 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 314 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 315
Kovalev_D 92:c892f0311aa7 316 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 317 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 318
Kovalev_D 201:76f4123bf22a 319 LPC_SSP0->CR0 = ((0<<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 320 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 321 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 322
Kovalev_D 92:c892f0311aa7 323 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 324 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 325
Kovalev_D 92:c892f0311aa7 326 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 327 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 328 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 329 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 330 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 331 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 332 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 333 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 334 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 335
Kovalev_D 92:c892f0311aa7 336 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 337 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 338 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 339 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 340 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 341 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 342 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 343
Kovalev_D 92:c892f0311aa7 344
Kovalev_D 92:c892f0311aa7 345
Kovalev_D 92:c892f0311aa7 346
Kovalev_D 86:398da56ef751 347 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 348 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 349 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 350
Kovalev_D 89:a0d344db227e 351 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 352 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 353 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 354 PinCheng();
Kovalev_D 89:a0d344db227e 355 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 356 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 357 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 358 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 359 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 360
Kovalev_D 98:95b8e79f13e1 361 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 190:289514f730ee 362 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 190:289514f730ee 363 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 364 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 365 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 366 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 367 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 368 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 369 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 370 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 371 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 372 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 373 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 374 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 375 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 376
Kovalev_D 88:b5c1d9d338d1 377
Kovalev_D 88:b5c1d9d338d1 378
Kovalev_D 87:7e575d26d6d0 379 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 380 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 381 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 382 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 383 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 384 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 385 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 386 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 387
Kovalev_D 88:b5c1d9d338d1 388
Kovalev_D 88:b5c1d9d338d1 389
Kovalev_D 87:7e575d26d6d0 390 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 391 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 392 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 393 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 394 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 395 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 396 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 397 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 398 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 399 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 400 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 401 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 402 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 403 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 404 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 405 LPC_GPIO1->FIOCLR |= (1<<28);
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 88:b5c1d9d338d1 412 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 413 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 414 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 415 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 416 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 417 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 418 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 419 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 420 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 421
Kovalev_D 88:b5c1d9d338d1 422
Kovalev_D 88:b5c1d9d338d1 423 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 424 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 425 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 426 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 427 enable_timer1();
Kovalev_D 86:398da56ef751 428 enable_timer2();
Kovalev_D 201:76f4123bf22a 429 // enable_timer0();
Kovalev_D 89:a0d344db227e 430 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 431
Kovalev_D 89:a0d344db227e 432 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 433 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 434
Kovalev_D 90:d9b6a4bc5065 435
Kovalev_D 90:d9b6a4bc5065 436
Kovalev_D 90:d9b6a4bc5065 437 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 438 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 439 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 440 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 441 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 442
Kovalev_D 90:d9b6a4bc5065 443 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 444 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 445
Kovalev_D 90:d9b6a4bc5065 446 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 447 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 448 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 449
Kovalev_D 90:d9b6a4bc5065 450 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 451 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 452 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 453
Kovalev_D 90:d9b6a4bc5065 454 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 455 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 456
Kovalev_D 90:d9b6a4bc5065 457 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 458 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 459
Kovalev_D 90:d9b6a4bc5065 460 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 461 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 462
Kovalev_D 90:d9b6a4bc5065 463 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 464 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 465 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 466
Kovalev_D 90:d9b6a4bc5065 467 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 468 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 469
Kovalev_D 90:d9b6a4bc5065 470 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 471 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 472 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 473 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 474 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 475 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 476 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 477 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 478 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 479
Kovalev_D 92:c892f0311aa7 480 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 481 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 482 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 483 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 484
Kovalev_D 86:398da56ef751 485 }
igor_v 13:e2a1d18677b8 486
igor_v 0:8ad47e2b6f00 487
igor_v 0:8ad47e2b6f00 488
igor_v 0:8ad47e2b6f00 489
igor_v 0:8ad47e2b6f00 490