Dmitry Kovalev / Mbed 2 deprecated LGfiltr

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Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

QEI.c@0:8ad47e2b6f00, 2016-01-30 (annotated)

Committer:
igor_v
Date:
Sat Jan 30 13:00:39 2016 +0000
Revision:
0:8ad47e2b6f00
Child:
1:f2adcae3d304
2016_01_30;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "lpc17xx.h"
igor_v 0:8ad47e2b6f00 2 #include "QEI.h"
igor_v 0:8ad47e2b6f00 3 #include "vibro.h"
igor_v 0:8ad47e2b6f00 4 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 5
igor_v 0:8ad47e2b6f00 6 int Pulse_midl = 0;
igor_v 0:8ad47e2b6f00 7 int PulseHalf = 0;
igor_v 0:8ad47e2b6f00 8 int CuruAngle = 0;
igor_v 0:8ad47e2b6f00 9 int Dif_QEI;
igor_v 0:8ad47e2b6f00 10 int FFF=0;//äëÿ çàïëàòêè
igor_v 0:8ad47e2b6f00 11
igor_v 0:8ad47e2b6f00 12 int Pulse_8Point = 0;
igor_v 0:8ad47e2b6f00 13 int Pulse_16Point = 0;
igor_v 0:8ad47e2b6f00 14 int Pulse_32Point = 0;
igor_v 0:8ad47e2b6f00 15 int Pulse_16PointD = 0;
igor_v 0:8ad47e2b6f00 16 unsigned int Iras=0,Temp_F_ras=0;
igor_v 0:8ad47e2b6f00 17 int yy = 0;
igor_v 0:8ad47e2b6f00 18
igor_v 0:8ad47e2b6f00 19
igor_v 0:8ad47e2b6f00 20 unsigned int Buff_32Point [256];
igor_v 0:8ad47e2b6f00 21 unsigned int Buff_16Point [256];
igor_v 0:8ad47e2b6f00 22 unsigned int Buff_16PointD [256];
igor_v 0:8ad47e2b6f00 23 unsigned int Buff_8Point [256];
igor_v 0:8ad47e2b6f00 24 unsigned int Buff_1Point [256];
igor_v 0:8ad47e2b6f00 25 unsigned int Buff_Restored_sin [256];
igor_v 0:8ad47e2b6f00 26 int unsigned Cur_QEI = 0, Last_QEI=0;
igor_v 0:8ad47e2b6f00 27
igor_v 0:8ad47e2b6f00 28
igor_v 0:8ad47e2b6f00 29 void D_QEI(void)
igor_v 0:8ad47e2b6f00 30 {
igor_v 0:8ad47e2b6f00 31 Dif_QEI=0;
igor_v 0:8ad47e2b6f00 32
igor_v 0:8ad47e2b6f00 33
igor_v 0:8ad47e2b6f00 34 Cur_QEI = LPC_QEI->POS & 0xFFFF; // ñ÷èòûâàíèå òåêóùåãî çíà÷åíèÿ ýíêîäåðà.
igor_v 0:8ad47e2b6f00 35 Dif_QEI = (Cur_QEI - Last_QEI); // ïîëó÷åíèå ïðèðàùåíèÿ.()
igor_v 0:8ad47e2b6f00 36 Last_QEI = Cur_QEI; // çàïèñü òåêóùåãî çíà÷åíèÿ ýíêîäåðà â ðåãèñòð ïðåäûäóùåãî çíà÷åíèÿ.
igor_v 0:8ad47e2b6f00 37
igor_v 0:8ad47e2b6f00 38
igor_v 0:8ad47e2b6f00 39 if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // îáðàáîòêà ïðîõîäà çíà÷åíèÿ ÷åðåç íîëü
igor_v 0:8ad47e2b6f00 40 if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // îáðàáîòêà ïðîõîäà çíà÷åíèÿ ÷åðåç íîëü
igor_v 0:8ad47e2b6f00 41
igor_v 0:8ad47e2b6f00 42
igor_v 0:8ad47e2b6f00 43 Buff_1Point[CountV255] = (unsigned int) (Dif_QEI + 0xffff);// íàêîïëåíèå â áóôåð åäåíè÷íûõ çíà÷åíèé ïðèðàùåíèÿ ïî êàæäîìó òàêòó.
igor_v 0:8ad47e2b6f00 44
igor_v 0:8ad47e2b6f00 45 ////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 46 ///////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 47
igor_v 0:8ad47e2b6f00 48 if (LPC_QEI->STAT) //e. "+" direction //r. ñòàëè âðàùàòüñÿ â "+" ñòîðîíó
igor_v 0:8ad47e2b6f00 49 {
igor_v 0:8ad47e2b6f00 50 Main.Cnt_Mns = Dif_QEI;
igor_v 0:8ad47e2b6f00 51 }
igor_v 0:8ad47e2b6f00 52 else
igor_v 0:8ad47e2b6f00 53 {
igor_v 0:8ad47e2b6f00 54 Main.Cnt_Pls = -Dif_QEI;
igor_v 0:8ad47e2b6f00 55 }
igor_v 0:8ad47e2b6f00 56 ////////// ???? Çàïëàòêà
igor_v 0:8ad47e2b6f00 57 ////////// ???? Ïðîáëåìà íà÷àëüíîãî çàïîëíåíèÿ áóôåðîâ
igor_v 0:8ad47e2b6f00 58 //////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 59 if(FFF==1) // åñëè ïðîøëî 32 òàêòà âèáðî ïîäâåñà íà÷àòü çàïîëíÿòü îñòàëüíûå áóâåðû.
igor_v 0:8ad47e2b6f00 60 {
igor_v 0:8ad47e2b6f00 61 Pulse_8Point += Buff_1Point[CountV255];
igor_v 0:8ad47e2b6f00 62 Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 8 òàêòîâ
igor_v 0:8ad47e2b6f00 63 Buff_8Point[CountV255] = (unsigned int) (Pulse_8Point + 0xffff);
igor_v 0:8ad47e2b6f00 64
igor_v 0:8ad47e2b6f00 65 Pulse_16Point += Buff_1Point[CountV255];
igor_v 0:8ad47e2b6f00 66 Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 16 òàêòîâ
igor_v 0:8ad47e2b6f00 67 Buff_16Point[CountV255] = (unsigned int) (Pulse_16Point + 0xffff);
igor_v 0:8ad47e2b6f00 68
igor_v 0:8ad47e2b6f00 69 Pulse_32Point += Buff_1Point[CountV255];
igor_v 0:8ad47e2b6f00 70 Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 32 òàêòîâ
igor_v 0:8ad47e2b6f00 71 Main.Cnt_Dif = (Pulse_32Point+ 0xffff);
igor_v 0:8ad47e2b6f00 72 Buff_32Point[CountV255] = (unsigned int) (Pulse_32Point + 0xffff);
igor_v 0:8ad47e2b6f00 73
igor_v 0:8ad47e2b6f00 74 Pulse_16PointD += Buff_1Point[CountV255];
igor_v 0:8ad47e2b6f00 75 Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 16 òàêòîâ Äâîéíûç
igor_v 0:8ad47e2b6f00 76 Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
igor_v 0:8ad47e2b6f00 77 Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // ç
igor_v 0:8ad47e2b6f00 78
igor_v 0:8ad47e2b6f00 79 Buff_16PointD[CountV255] = (unsigned int) (Pulse_16PointD + 0xffff);
igor_v 0:8ad47e2b6f00 80
igor_v 0:8ad47e2b6f00 81
igor_v 0:8ad47e2b6f00 82 // Buff_Restored_sin [CountVf]= (unsigned int)( ((Buff_16Point[CountVf]*2)) - Buff_32Point[CountVf] );
igor_v 0:8ad47e2b6f00 83
igor_v 0:8ad47e2b6f00 84 Buff_Restored_sin [CountV255]= (unsigned int)( Buff_16PointD [ CountV255] + 65536 - Buff_32Point[CountV255] );
igor_v 0:8ad47e2b6f00 85
igor_v 0:8ad47e2b6f00 86
igor_v 0:8ad47e2b6f00 87
igor_v 0:8ad47e2b6f00 88 if(Buff_32Point[CountV255]>0)
igor_v 0:8ad47e2b6f00 89 {
igor_v 0:8ad47e2b6f00 90 Temp_F_ras += Buff_32Point[CountV255];
igor_v 0:8ad47e2b6f00 91 }
igor_v 0:8ad47e2b6f00 92 else if ((CountV255 & 0x1f)==0)
igor_v 0:8ad47e2b6f00 93 {
igor_v 0:8ad47e2b6f00 94 Main.F_ras=Temp_F_ras;
igor_v 0:8ad47e2b6f00 95 Temp_F_ras=0;
igor_v 0:8ad47e2b6f00 96 }
igor_v 0:8ad47e2b6f00 97 else
igor_v 0:8ad47e2b6f00 98 {
igor_v 0:8ad47e2b6f00 99 Temp_F_ras -= Buff_32Point[CountV255];
igor_v 0:8ad47e2b6f00 100 }
igor_v 0:8ad47e2b6f00 101
igor_v 0:8ad47e2b6f00 102 //unsigned int T_Vib;
igor_v 0:8ad47e2b6f00 103
igor_v 0:8ad47e2b6f00 104 }
igor_v 0:8ad47e2b6f00 105 else if(CountV255 == 255)
igor_v 0:8ad47e2b6f00 106 {
igor_v 0:8ad47e2b6f00 107 FFF=1;//âðåìåííàÿ çàïëàòêà äëÿ ïàóçû ïåðåä çàïîëíåíèåì îñòàëüíûõ áóôåðîâ
igor_v 0:8ad47e2b6f00 108 for (yy = 0; yy < 256; yy++ )
igor_v 0:8ad47e2b6f00 109 {
igor_v 0:8ad47e2b6f00 110 Buff_1Point [yy] = 0xffff;
igor_v 0:8ad47e2b6f00 111 Buff_16Point [yy] = 0xffff;
igor_v 0:8ad47e2b6f00 112 Buff_32Point [yy] = 0xffff;
igor_v 0:8ad47e2b6f00 113 Buff_16PointD [yy] = 0xffff;
igor_v 0:8ad47e2b6f00 114 }
igor_v 0:8ad47e2b6f00 115
igor_v 0:8ad47e2b6f00 116 }
igor_v 0:8ad47e2b6f00 117 }
igor_v 0:8ad47e2b6f00 118