Dmitry Kovalev / Mbed 2 deprecated LGfiltr

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Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

MTimer.c@222:7de7b3bf3a1d, 2017-11-20 (annotated)

Committer:
Kovalev_D
Date:
Mon Nov 20 13:06:31 2017 +0000
Revision:
222:7de7b3bf3a1d
Parent:
220:04c54405b82d
Child:
225:f8fee6c586cc
0-65536

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 4 #include "vibro.h"
igor_v 0:8ad47e2b6f00 5 #include "QEI.h"
igor_v 0:8ad47e2b6f00 6 #include "Global.h"
igor_v 0:8ad47e2b6f00 7 #include "SPI.h"
igor_v 0:8ad47e2b6f00 8 #include "InputOutput.h"
Kovalev_D 112:4a96133a1311 9
Kovalev_D 197:7a05523bf588 10 unsigned int CountV64=0;
igor_v 0:8ad47e2b6f00 11 unsigned int CountV31=0;
Kovalev_D 197:7a05523bf588 12 unsigned int CountV255=0;
Kovalev_D 215:b58b887fd367 13 unsigned int CountV511=0;
Kovalev_D 209:224e7331a061 14 unsigned int f,MODCount=0;
Kovalev_D 124:9ae09249f842 15 int loop=0;
Kovalev_D 208:19150d2b528f 16 int t;
Kovalev_D 88:b5c1d9d338d1 17 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 18 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 19 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 20 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 21 ///////////////////// 1250Hz ///////////////////////////
Kovalev_D 214:4c70e452c491 22 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 23 void Event_1250Hz(void)// событие раз в 1,25 КГц
Kovalev_D 214:4c70e452c491 24 {
Kovalev_D 214:4c70e452c491 25 if(Event1250Hz)
Kovalev_D 214:4c70e452c491 26 {
Kovalev_D 214:4c70e452c491 27 Gyro.EvenRate7=1;
Kovalev_D 215:b58b887fd367 28
Kovalev_D 214:4c70e452c491 29 Event1250Hz--;
Kovalev_D 215:b58b887fd367 30
Kovalev_D 214:4c70e452c491 31 }
Kovalev_D 214:4c70e452c491 32 }
Kovalev_D 222:7de7b3bf3a1d 33
Kovalev_D 222:7de7b3bf3a1d 34
Kovalev_D 222:7de7b3bf3a1d 35
Kovalev_D 222:7de7b3bf3a1d 36
Kovalev_D 222:7de7b3bf3a1d 37 void JumpMod(void)
Kovalev_D 222:7de7b3bf3a1d 38 {
Kovalev_D 222:7de7b3bf3a1d 39 static int JumpFlag=0;
Kovalev_D 222:7de7b3bf3a1d 40 switch(JumpFlag) {
Kovalev_D 222:7de7b3bf3a1d 41 case 0:
Kovalev_D 222:7de7b3bf3a1d 42 Spi.DAC_B-=Gyro.JumpDelta;
Kovalev_D 222:7de7b3bf3a1d 43 JumpFlag=1;
Kovalev_D 222:7de7b3bf3a1d 44 break;
Kovalev_D 222:7de7b3bf3a1d 45 case 1:
Kovalev_D 222:7de7b3bf3a1d 46 Spi.DAC_B+=Gyro.JumpDelta;
Kovalev_D 222:7de7b3bf3a1d 47 JumpFlag=0;
Kovalev_D 222:7de7b3bf3a1d 48 break;
Kovalev_D 222:7de7b3bf3a1d 49 }
Kovalev_D 222:7de7b3bf3a1d 50
Kovalev_D 222:7de7b3bf3a1d 51 }
Kovalev_D 222:7de7b3bf3a1d 52
Kovalev_D 222:7de7b3bf3a1d 53
Kovalev_D 214:4c70e452c491 54 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 55 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 56 /////////////////////////////////////////////////////
Kovalev_D 222:7de7b3bf3a1d 57
Kovalev_D 88:b5c1d9d338d1 58 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 222:7de7b3bf3a1d 59 {
Kovalev_D 222:7de7b3bf3a1d 60 static int tempdac=0,tempdac1,JumpTimer=0;
Kovalev_D 115:e5a230e5af52 61 if (Event1Hz)
Kovalev_D 222:7de7b3bf3a1d 62 {
Kovalev_D 222:7de7b3bf3a1d 63 /* sprintf((Time),"%d %d\r\n",Gyro.PLCDelay, GyroP.Str.PLCDelay);
Kovalev_D 222:7de7b3bf3a1d 64 WriteCon(Time);*/
Kovalev_D 222:7de7b3bf3a1d 65 if(Gyro.RgConA&0x4) JumpTimer=0;
Kovalev_D 222:7de7b3bf3a1d 66 else
Kovalev_D 222:7de7b3bf3a1d 67 {
Kovalev_D 222:7de7b3bf3a1d 68 /*sprintf((Time),"%d %d\r\n",Gyro.RgConA,JumpTimer);
Kovalev_D 222:7de7b3bf3a1d 69 WriteCon(Time);*/
Kovalev_D 222:7de7b3bf3a1d 70 JumpTimer++;
Kovalev_D 222:7de7b3bf3a1d 71 if(JumpTimer>(Gyro.TimeToJump-1))
Kovalev_D 222:7de7b3bf3a1d 72 {
Kovalev_D 222:7de7b3bf3a1d 73 Gyro.PLCDelay = GyroP.Str.PLCDelay/10;
Kovalev_D 222:7de7b3bf3a1d 74 JumpMod();
Kovalev_D 222:7de7b3bf3a1d 75 JumpTimer=0;
Kovalev_D 222:7de7b3bf3a1d 76 }
Kovalev_D 222:7de7b3bf3a1d 77 }
Kovalev_D 222:7de7b3bf3a1d 78
Kovalev_D 222:7de7b3bf3a1d 79
Kovalev_D 222:7de7b3bf3a1d 80 /*if(Gyro.ShowMod2)
Kovalev_D 220:04c54405b82d 81 {
Kovalev_D 220:04c54405b82d 82 sprintf((Time),"%d %d %d\r\n",Spi.DAC_B,AMPSUM_DESP,Spi.DAC_A);
Kovalev_D 220:04c54405b82d 83 WriteCon(Time);
Kovalev_D 220:04c54405b82d 84 Spi.DAC_B+=200;
Kovalev_D 222:7de7b3bf3a1d 85 }*/
Kovalev_D 222:7de7b3bf3a1d 86
Kovalev_D 208:19150d2b528f 87 Discharg();
Kovalev_D 208:19150d2b528f 88 BackLight();
Kovalev_D 208:19150d2b528f 89 Gyro.Rate1_Event = 1;
Kovalev_D 208:19150d2b528f 90 Event1Hz--;
Kovalev_D 208:19150d2b528f 91 Time1Hz++;
Kovalev_D 214:4c70e452c491 92 // sprintf((Time),"%d \r\n",Gyro.ModeOut );
Kovalev_D 214:4c70e452c491 93 // WriteCon(Time);
Kovalev_D 222:7de7b3bf3a1d 94 }
Kovalev_D 88:b5c1d9d338d1 95 }
Kovalev_D 222:7de7b3bf3a1d 96
Kovalev_D 89:a0d344db227e 97 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 98 ///////////////////// 1kHz //////////////////////////
Kovalev_D 197:7a05523bf588 99 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 100 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 214:4c70e452c491 101 { if (Event1K)
Kovalev_D 116:66f1f0ff2dab 102 {
Kovalev_D 214:4c70e452c491 103 if(Gyro.PLCDelay) Gyro.PLCDelay--;
Kovalev_D 88:b5c1d9d338d1 104 Event1K --;
Kovalev_D 215:b58b887fd367 105
Kovalev_D 116:66f1f0ff2dab 106 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 209:224e7331a061 107 if (Time1K > 1000)
Kovalev_D 115:e5a230e5af52 108 {
Kovalev_D 208:19150d2b528f 109 Time1K -=1000;
Kovalev_D 88:b5c1d9d338d1 110 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 111 }
Kovalev_D 209:224e7331a061 112
Kovalev_D 214:4c70e452c491 113 }
Kovalev_D 88:b5c1d9d338d1 114 }
Kovalev_D 209:224e7331a061 115
Kovalev_D 222:7de7b3bf3a1d 116 void Event_5KHz(void)// событие раз в 5 кГц
Kovalev_D 218:b4067cac75c0 117 {
Kovalev_D 218:b4067cac75c0 118 int temp=0;
Kovalev_D 222:7de7b3bf3a1d 119 if (Event5K)
Kovalev_D 222:7de7b3bf3a1d 120 {
Kovalev_D 222:7de7b3bf3a1d 121 Gyro.EvenRate5K++;
Kovalev_D 222:7de7b3bf3a1d 122 Event5K --;
Kovalev_D 209:224e7331a061 123 }
Kovalev_D 209:224e7331a061 124 }
Kovalev_D 124:9ae09249f842 125 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 126 {
Kovalev_D 124:9ae09249f842 127 if(Event500Hz)
Kovalev_D 211:ac8251b067d2 128 {
Kovalev_D 205:775d54fdf646 129 Event500Hz--;
Kovalev_D 208:19150d2b528f 130 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 197:7a05523bf588 131 }
Kovalev_D 197:7a05523bf588 132 }
Kovalev_D 209:224e7331a061 133 void Event_250Hz(void)
Kovalev_D 209:224e7331a061 134 {
Kovalev_D 209:224e7331a061 135 if(Event250Hz)
Kovalev_D 209:224e7331a061 136 {
Kovalev_D 218:b4067cac75c0 137
Kovalev_D 209:224e7331a061 138 // Gyro.CuruAngle=0;
Kovalev_D 209:224e7331a061 139 Event250Hz--;
Kovalev_D 209:224e7331a061 140 MODCount++;
Kovalev_D 209:224e7331a061 141 }
Kovalev_D 209:224e7331a061 142 }
Kovalev_D 89:a0d344db227e 143 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 144 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 145 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 146 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 147 {
Kovalev_D 162:44e4ded32c6a 148
Kovalev_D 88:b5c1d9d338d1 149 if (Event100K) {
Kovalev_D 197:7a05523bf588 150
Kovalev_D 88:b5c1d9d338d1 151 Event100K --;
Kovalev_D 197:7a05523bf588 152
Kovalev_D 124:9ae09249f842 153 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 154
Kovalev_D 124:9ae09249f842 155 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 156 }
Kovalev_D 88:b5c1d9d338d1 157 }
Kovalev_D 89:a0d344db227e 158 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 159 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 160 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 161 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 162 {
Kovalev_D 88:b5c1d9d338d1 163 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 164 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 165 }
Kovalev_D 88:b5c1d9d338d1 166 }
Kovalev_D 89:a0d344db227e 167 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 168 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 169 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 170
Kovalev_D 88:b5c1d9d338d1 171
Kovalev_D 112:4a96133a1311 172 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 173 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 174 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 175
Kovalev_D 112:4a96133a1311 176 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 177 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 178 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 179
Kovalev_D 112:4a96133a1311 180 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 181 {
Kovalev_D 214:4c70e452c491 182 // LPC_SC->PCLKSEL0 |= (1<<4);
Kovalev_D 220:04c54405b82d 183
Kovalev_D 112:4a96133a1311 184 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 185 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 186 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 187 }
Kovalev_D 112:4a96133a1311 188
Kovalev_D 112:4a96133a1311 189
igor_v 0:8ad47e2b6f00 190 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 191 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 192 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 193 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 194 {
igor_v 21:bc8c1cec3da6 195 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 196 return;
igor_v 21:bc8c1cec3da6 197 }
igor_v 0:8ad47e2b6f00 198
igor_v 0:8ad47e2b6f00 199
igor_v 0:8ad47e2b6f00 200 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 201 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 202 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 203
igor_v 0:8ad47e2b6f00 204 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 205 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 206 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 207 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 208 {
Kovalev_D 124:9ae09249f842 209 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 210 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 211 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 212 return 1;
igor_v 21:bc8c1cec3da6 213 }
igor_v 0:8ad47e2b6f00 214
igor_v 21:bc8c1cec3da6 215 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 216 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 217 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 218 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 219 {
igor_v 21:bc8c1cec3da6 220 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 221 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 222 }
igor_v 21:bc8c1cec3da6 223
igor_v 21:bc8c1cec3da6 224
Kovalev_D 112:4a96133a1311 225 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 226 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 227 //////////////////////////////////////////////////////////////////////
Kovalev_D 215:b58b887fd367 228 __irq void TIMER1_IRQHandler (void)//13.27 kHz(vibro*32)
Kovalev_D 205:775d54fdf646 229 {
Kovalev_D 208:19150d2b528f 230
igor_v 114:5cc38a53d8a7 231 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 232 SetDAC(DAC);
Kovalev_D 208:19150d2b528f 233 Global_Time++;
igor_v 114:5cc38a53d8a7 234 CountV255++; // инкремент счеттчика
Kovalev_D 215:b58b887fd367 235 CountV511++;
Kovalev_D 164:6f43f85fdd8d 236 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
Kovalev_D 215:b58b887fd367 237 CountV511 &= 0x1ff;
Kovalev_D 197:7a05523bf588 238 CountV64 = CountV255 & 0x3f;
Kovalev_D 197:7a05523bf588 239 CountV31 = CountV255 & 0x1f; // малый счетчик
Kovalev_D 197:7a05523bf588 240
Kovalev_D 112:4a96133a1311 241 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 242 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 243
Kovalev_D 116:66f1f0ff2dab 244
Kovalev_D 116:66f1f0ff2dab 245 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 246 ResetDAC(DAC);
Kovalev_D 197:7a05523bf588 247 SPI_Exchange(); //Чтение ADC_SPI
igor_v 114:5cc38a53d8a7 248
Kovalev_D 214:4c70e452c491 249 LPC_TIM1->IR = 1;
Kovalev_D 208:19150d2b528f 250
Kovalev_D 112:4a96133a1311 251 }
Kovalev_D 112:4a96133a1311 252
igor_v 21:bc8c1cec3da6 253 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 254 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 255 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 256 __irq void TIMER2_IRQHandler (void)
Kovalev_D 210:b02fa166315d 257 {
Kovalev_D 213:9953db9543d6 258 /// LoopOn
igor_v 21:bc8c1cec3da6 259 LPC_TIM2->IR = 1;
Kovalev_D 213:9953db9543d6 260 if (Gyro.UARTFlag)
Kovalev_D 213:9953db9543d6 261 {
Kovalev_D 213:9953db9543d6 262 if(Time_UART) Time_UART--;
Kovalev_D 213:9953db9543d6 263 }
Kovalev_D 214:4c70e452c491 264 //
Kovalev_D 214:4c70e452c491 265
igor_v 21:bc8c1cec3da6 266 Time_vibro++;
Kovalev_D 214:4c70e452c491 267 // VibroOut();
Kovalev_D 112:4a96133a1311 268 Gyro.VibroOutF=1;
Kovalev_D 214:4c70e452c491 269 Event100K ++;
Kovalev_D 214:4c70e452c491 270 Time1250Hz++;
Kovalev_D 197:7a05523bf588 271 Time500Hz++;
Kovalev_D 209:224e7331a061 272 Time250Hz++;
Kovalev_D 197:7a05523bf588 273 Time100K++;
Kovalev_D 222:7de7b3bf3a1d 274 Time5K++;
Kovalev_D 209:224e7331a061 275 //Time2K++;
Kovalev_D 205:775d54fdf646 276 // Time250Hz++;
Kovalev_D 214:4c70e452c491 277
Kovalev_D 214:4c70e452c491 278 if (Time1250Hz > 79)
Kovalev_D 214:4c70e452c491 279 {
Kovalev_D 214:4c70e452c491 280 Time1250Hz -= 80;
Kovalev_D 214:4c70e452c491 281 Event1250Hz ++;
Kovalev_D 214:4c70e452c491 282 }
Kovalev_D 197:7a05523bf588 283 if (Time100K == 100)
Kovalev_D 214:4c70e452c491 284 { // LoopOn
Kovalev_D 197:7a05523bf588 285 Time100K = 0;
Kovalev_D 197:7a05523bf588 286 Event1K ++;
Kovalev_D 214:4c70e452c491 287 // LoopOn
Kovalev_D 197:7a05523bf588 288 }
Kovalev_D 209:224e7331a061 289
Kovalev_D 222:7de7b3bf3a1d 290 if (Time5K > 800)
Kovalev_D 222:7de7b3bf3a1d 291 { Time5K = 0;
Kovalev_D 209:224e7331a061 292 //Time100K = 0;
Kovalev_D 222:7de7b3bf3a1d 293 Event5K ++;
Kovalev_D 209:224e7331a061 294 }
Kovalev_D 209:224e7331a061 295
Kovalev_D 197:7a05523bf588 296 if (Time500Hz > 200)
Kovalev_D 208:19150d2b528f 297 { // LoopOn
Kovalev_D 197:7a05523bf588 298 Time500Hz -= 200;
Kovalev_D 208:19150d2b528f 299 Event500Hz ++;
Kovalev_D 197:7a05523bf588 300 }
Kovalev_D 209:224e7331a061 301
Kovalev_D 209:224e7331a061 302 if (Time250Hz > 6)
Kovalev_D 209:224e7331a061 303 { // LoopOn
Kovalev_D 209:224e7331a061 304 Time250Hz -= 6;
Kovalev_D 209:224e7331a061 305 Event250Hz ++;
Kovalev_D 209:224e7331a061 306 }
Kovalev_D 210:b02fa166315d 307
Kovalev_D 213:9953db9543d6 308 //LoopOff
igor_v 21:bc8c1cec3da6 309 }