Dmitry Kovalev / Mbed 2 deprecated LGfiltr

forkd

Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

Command.c@104:ab1cb4ff56b2, 2016-03-31 (annotated)

Committer:
Kovalev_D
Date:
Thu Mar 31 10:16:56 2016 +0000
Revision:
104:ab1cb4ff56b2
Parent:
103:e96f08947def
Child:
105:bd01d8d20fb6
hf;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "stdlib.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "Global.h"
Kovalev_D 92:c892f0311aa7 4
igor_v 0:8ad47e2b6f00 5 unsigned int Rate_Flag;
igor_v 0:8ad47e2b6f00 6 unsigned int CountBuFFIn;
igor_v 21:bc8c1cec3da6 7 unsigned int N=0,CRC_N;
igor_v 21:bc8c1cec3da6 8 unsigned int Param1=0;
igor_v 21:bc8c1cec3da6 9 unsigned int Param2=0;
igor_v 21:bc8c1cec3da6 10 unsigned int Param3=0;
igor_v 21:bc8c1cec3da6 11 unsigned int Param4=0;
Kovalev_D 102:4270092be987 12 unsigned int Consol=123;
igor_v 0:8ad47e2b6f00 13 /*
igor_v 21:bc8c1cec3da6 14 void exec_CMD(void) //r. === процедура окончательной дешифрации и исполнения команды
igor_v 0:8ad47e2b6f00 15 {
igor_v 0:8ad47e2b6f00 16 unsigned int Comand_code;
igor_v 21:bc8c1cec3da6 17
igor_v 21:bc8c1cec3da6 18 //rx_buf_copy = 1; //r. предустанов флага копирования приемного буфера
igor_v 0:8ad47e2b6f00 19
igor_v 0:8ad47e2b6f00 20 Comand_code = (rcv_buf[2] & 0xFF) << 8;
igor_v 21:bc8c1cec3da6 21 PC_Comand = Comand_code | (rcv_buf[3] & 0xFF); //e. save it in the memory for echo-transmission //r. сохранить его в памяти для обратной передачи
igor_v 0:8ad47e2b6f00 22 }*/
igor_v 0:8ad47e2b6f00 23 void CMD_Maintenance(void)
igor_v 0:8ad47e2b6f00 24 {
igor_v 30:17c84ed091b3 25 BuffTemp[0] = Gyro.SOC_Out;
igor_v 30:17c84ed091b3 26 BuffTemp[1] = Gyro .My_Addres;
igor_v 30:17c84ed091b3 27 BuffTemp[2] = Gyro .Firmware_Version;
igor_v 30:17c84ed091b3 28 BuffTemp[3] = Gyro .GLD_Serial;
igor_v 21:bc8c1cec3da6 29 BuffTemp[4]=0x00;
igor_v 21:bc8c1cec3da6 30 BuffTemp[5]=0x00;
igor_v 21:bc8c1cec3da6 31 Check(BuffTemp, 8);
igor_v 21:bc8c1cec3da6 32 WriteConN (BuffTemp,8);
igor_v 0:8ad47e2b6f00 33 }
igor_v 0:8ad47e2b6f00 34
igor_v 0:8ad47e2b6f00 35 void CMD_Rate(void)
igor_v 21:bc8c1cec3da6 36 {
igor_v 21:bc8c1cec3da6 37
igor_v 21:bc8c1cec3da6 38 unsigned int T_VibH , T_VibL; // Частота вибропривода.
igor_v 21:bc8c1cec3da6 39 unsigned int Cnt_PlsL , Cnt_PlsH; // Счетчик +.
igor_v 21:bc8c1cec3da6 40 unsigned int Cnt_MnsL , Cnt_MnsH; // Счетчик -.
igor_v 21:bc8c1cec3da6 41 unsigned int Cnt_DifL , Cnt_DifH; // Разность счетчиков.
igor_v 21:bc8c1cec3da6 42 unsigned int F_rasL , F_rasH; // Частота расщепления.
igor_v 21:bc8c1cec3da6 43
igor_v 21:bc8c1cec3da6 44 unsigned int HF_regL , HF_regH; // Выход регулятора ГВЧ. НЕ СДЕЛАНО
igor_v 21:bc8c1cec3da6 45 unsigned int HF_difL , HF_difH; // Сигнал ошибки регулячтора ГВЧ. НЕ СДЕЛАНО
igor_v 21:bc8c1cec3da6 46
igor_v 21:bc8c1cec3da6 47 unsigned int WP_regL , WP_regH;
igor_v 21:bc8c1cec3da6 48
igor_v 21:bc8c1cec3da6 49 unsigned int ADC1L, ADC2L, ADC3L, ADC4L, ADC5L;
igor_v 21:bc8c1cec3da6 50 unsigned int ADC1H, ADC2H, ADC3H, ADC4H, ADC5H;
igor_v 21:bc8c1cec3da6 51
igor_v 21:bc8c1cec3da6 52
Kovalev_D 92:c892f0311aa7 53
igor_v 30:17c84ed091b3 54 // Gyro .T_Vib=(unsigned int)((7680000*16/Gyro.Frq)*4096);
igor_v 30:17c84ed091b3 55 Gyro.T_Vib=(unsigned int)((7680000*16/(Gyro.Frq>>12)));
igor_v 30:17c84ed091b3 56 Gyro.Firmware_Version=0xff; /// промежуточная затычка
igor_v 21:bc8c1cec3da6 57
igor_v 30:17c84ed091b3 58 T_VibH = ( Gyro.T_Vib>>8 ) TakeByte;
igor_v 30:17c84ed091b3 59 T_VibL = ( Gyro.T_Vib ) TakeByte;
igor_v 21:bc8c1cec3da6 60
igor_v 30:17c84ed091b3 61 Cnt_PlsH = ( Gyro.Cnt_Pls>>8) TakeByte;
igor_v 30:17c84ed091b3 62 Cnt_PlsL = ( Gyro.Cnt_Pls ) TakeByte;
igor_v 21:bc8c1cec3da6 63
igor_v 30:17c84ed091b3 64 Cnt_MnsH = ( Gyro.Cnt_Mns>>8) TakeByte;
igor_v 30:17c84ed091b3 65 Cnt_MnsL = ( Gyro.Cnt_Mns ) TakeByte;
igor_v 21:bc8c1cec3da6 66
igor_v 30:17c84ed091b3 67 Cnt_DifH = ( Gyro.Cnt_Dif>>8) TakeByte;
igor_v 30:17c84ed091b3 68 Cnt_DifL = ( Gyro.Cnt_Dif ) TakeByte;
igor_v 21:bc8c1cec3da6 69
igor_v 30:17c84ed091b3 70 F_rasH = ( Gyro.F_ras>>8 ) TakeByte;
igor_v 30:17c84ed091b3 71 F_rasL = ( Gyro.F_ras ) TakeByte;
igor_v 21:bc8c1cec3da6 72
igor_v 21:bc8c1cec3da6 73 ADC1H = ( Spi.ADC1>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 74 ADC1L = ( Spi.ADC1 ) TakeByte;
igor_v 0:8ad47e2b6f00 75
igor_v 21:bc8c1cec3da6 76 ADC2H = ( Spi.ADC2>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 77 ADC2L = ( Spi.ADC2 ) TakeByte;
igor_v 21:bc8c1cec3da6 78
igor_v 21:bc8c1cec3da6 79 ADC3H = ( Spi.ADC3>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 80 ADC3L = ( Spi.ADC3 ) TakeByte;
igor_v 21:bc8c1cec3da6 81
igor_v 21:bc8c1cec3da6 82 ADC4H = ( Spi.ADC4>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 83 ADC4L = ( Spi.ADC4 ) TakeByte;
igor_v 21:bc8c1cec3da6 84
igor_v 21:bc8c1cec3da6 85 ADC5H = ( Spi.ADC5>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 86 ADC5L = ( Spi.ADC5 ) TakeByte;
igor_v 21:bc8c1cec3da6 87
igor_v 21:bc8c1cec3da6 88 WP_regH = ( Spi.DAC_B>>8 ) TakeByte;
igor_v 21:bc8c1cec3da6 89 WP_regL = ( Spi.DAC_B ) TakeByte;
igor_v 21:bc8c1cec3da6 90
igor_v 21:bc8c1cec3da6 91 HF_regH=0xff;
igor_v 21:bc8c1cec3da6 92 HF_regL=0xff;
igor_v 21:bc8c1cec3da6 93
igor_v 21:bc8c1cec3da6 94 HF_difH=0xff;
igor_v 21:bc8c1cec3da6 95 HF_difL=0xff;
igor_v 21:bc8c1cec3da6 96
igor_v 0:8ad47e2b6f00 97
igor_v 30:17c84ed091b3 98 BuffTemp[ 0] = Gyro.SOC_Out;
igor_v 30:17c84ed091b3 99 BuffTemp[ 1] = Gyro.My_Addres;
igor_v 21:bc8c1cec3da6 100
igor_v 21:bc8c1cec3da6 101 BuffTemp[ 2] = Cnt_PlsH;//старший байт счетчика +.
igor_v 21:bc8c1cec3da6 102 BuffTemp[ 3] = Cnt_PlsL;//младший байт счетчика +.
igor_v 21:bc8c1cec3da6 103
igor_v 21:bc8c1cec3da6 104 BuffTemp[ 4] = Cnt_MnsH;//старший байт счетчика -.
igor_v 21:bc8c1cec3da6 105 BuffTemp[ 5] = Cnt_MnsL;//младший байт счетчика -.
igor_v 21:bc8c1cec3da6 106
igor_v 21:bc8c1cec3da6 107 BuffTemp[ 6] = Cnt_DifH;//старший байт разности счетчиков
igor_v 21:bc8c1cec3da6 108 BuffTemp[ 7] = Cnt_DifL;//младший байт разности счетчиков
igor_v 21:bc8c1cec3da6 109
igor_v 21:bc8c1cec3da6 110 BuffTemp[ 8] = F_rasH;
igor_v 21:bc8c1cec3da6 111 BuffTemp[ 9] = F_rasL;
igor_v 21:bc8c1cec3da6 112
igor_v 21:bc8c1cec3da6 113 BuffTemp[10] = HF_regH;
igor_v 21:bc8c1cec3da6 114 BuffTemp[11] = HF_regL;
igor_v 21:bc8c1cec3da6 115
igor_v 21:bc8c1cec3da6 116 BuffTemp[12] = HF_difH;
igor_v 21:bc8c1cec3da6 117 BuffTemp[13] = HF_difL;
igor_v 21:bc8c1cec3da6 118
igor_v 21:bc8c1cec3da6 119 BuffTemp[14] = T_VibH ;//
igor_v 21:bc8c1cec3da6 120 BuffTemp[15] = T_VibL; //?
igor_v 21:bc8c1cec3da6 121
igor_v 30:17c84ed091b3 122 BuffTemp[16] = Gyro.Firmware_Version;//ХЗ
igor_v 30:17c84ed091b3 123 BuffTemp[17] = Gyro.Firmware_Version;//ХЗ
igor_v 21:bc8c1cec3da6 124
igor_v 21:bc8c1cec3da6 125 BuffTemp[18] = T_VibH>>1;
igor_v 21:bc8c1cec3da6 126 BuffTemp[19] = T_VibL;
igor_v 21:bc8c1cec3da6 127
igor_v 30:17c84ed091b3 128 BuffTemp[20] = Gyro.Firmware_Version;//ХЗ
igor_v 30:17c84ed091b3 129 BuffTemp[21] = Gyro.Firmware_Version;//ХЗ
igor_v 21:bc8c1cec3da6 130
igor_v 21:bc8c1cec3da6 131 BuffTemp[22] = WP_regH; //СРП Spi.DAC_B
igor_v 21:bc8c1cec3da6 132 BuffTemp[23] = WP_regL; //СРП
igor_v 21:bc8c1cec3da6 133
igor_v 30:17c84ed091b3 134 BuffTemp[24] = Gyro.Firmware_Version;// ХЗ
igor_v 30:17c84ed091b3 135 BuffTemp[25] = Gyro.Firmware_Version;// ХЗ
igor_v 21:bc8c1cec3da6 136
igor_v 21:bc8c1cec3da6 137 BuffTemp[26] = ADC1H;
igor_v 21:bc8c1cec3da6 138 BuffTemp[27] = ADC1L;
igor_v 21:bc8c1cec3da6 139
igor_v 21:bc8c1cec3da6 140 BuffTemp[28] = ADC1H;
igor_v 21:bc8c1cec3da6 141 BuffTemp[29] = ADC1L;
igor_v 21:bc8c1cec3da6 142
igor_v 21:bc8c1cec3da6 143 BuffTemp[30] = ADC1H;
igor_v 21:bc8c1cec3da6 144 BuffTemp[31] = ADC1L;
igor_v 21:bc8c1cec3da6 145
igor_v 21:bc8c1cec3da6 146 BuffTemp[32] = ADC1H;
igor_v 21:bc8c1cec3da6 147 BuffTemp[33] = ADC1L;
igor_v 21:bc8c1cec3da6 148
igor_v 21:bc8c1cec3da6 149 BuffTemp[34] = ADC1H;
igor_v 21:bc8c1cec3da6 150 BuffTemp[35] = ADC1L;
igor_v 21:bc8c1cec3da6 151
igor_v 21:bc8c1cec3da6 152 BuffTemp[36] = 0x00;//ADC6
igor_v 21:bc8c1cec3da6 153 BuffTemp[37] = 0x00;//ADC6
igor_v 21:bc8c1cec3da6 154
igor_v 30:17c84ed091b3 155 BuffTemp[38] = Gyro.Firmware_Version;
igor_v 30:17c84ed091b3 156 BuffTemp[39] = Gyro.Firmware_Version;
igor_v 30:17c84ed091b3 157 BuffTemp[40] = Gyro.Firmware_Version;
igor_v 30:17c84ed091b3 158 BuffTemp[41] = Gyro.Firmware_Version;
igor_v 21:bc8c1cec3da6 159
igor_v 21:bc8c1cec3da6 160
igor_v 21:bc8c1cec3da6 161 Check(BuffTemp, 44);
igor_v 21:bc8c1cec3da6 162 WriteConN (BuffTemp,44);
Kovalev_D 92:c892f0311aa7 163
igor_v 0:8ad47e2b6f00 164 }
igor_v 0:8ad47e2b6f00 165
igor_v 21:bc8c1cec3da6 166 void CMD_M_Control_D8()///установка\сброс регистров управления
igor_v 21:bc8c1cec3da6 167 {
Kovalev_D 104:ab1cb4ff56b2 168 unsigned int bit,NReg,Pa;
Kovalev_D 104:ab1cb4ff56b2 169 unsigned int SR,V,A,Bit_num;
Kovalev_D 104:ab1cb4ff56b2 170 SR=0;
Kovalev_D 104:ab1cb4ff56b2 171 V=0;
Kovalev_D 104:ab1cb4ff56b2 172 A=0;
Kovalev_D 104:ab1cb4ff56b2 173 Bit_num=0;
Kovalev_D 104:ab1cb4ff56b2 174
igor_v 30:17c84ed091b3 175 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 176 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 177 BuffTemp[2] = Gyro.CMD_In; //D8
Kovalev_D 104:ab1cb4ff56b2 178
Kovalev_D 104:ab1cb4ff56b2 179 /*
Kovalev_D 104:ab1cb4ff56b2 180
Kovalev_D 104:ab1cb4ff56b2 181 FrqON
Kovalev_D 104:ab1cb4ff56b2 182 PlcON
Kovalev_D 104:ab1cb4ff56b2 183 HFOOFF
Kovalev_D 104:ab1cb4ff56b2 184 HFOON
igor_v 21:bc8c1cec3da6 185
Kovalev_D 104:ab1cb4ff56b2 186 PlcOFF
Kovalev_D 104:ab1cb4ff56b2 187 PlcON
Kovalev_D 104:ab1cb4ff56b2 188 */
Kovalev_D 104:ab1cb4ff56b2 189 Pa = BuffTemp[3];
Kovalev_D 104:ab1cb4ff56b2 190
Kovalev_D 104:ab1cb4ff56b2 191 SR = Pa >> 0x7;
Kovalev_D 104:ab1cb4ff56b2 192
Kovalev_D 104:ab1cb4ff56b2 193 V = Pa >> 0x5;
Kovalev_D 104:ab1cb4ff56b2 194 V = V & 0x3;
Kovalev_D 104:ab1cb4ff56b2 195
Kovalev_D 104:ab1cb4ff56b2 196 A = Pa >> 0x4;
Kovalev_D 104:ab1cb4ff56b2 197 A = A & 0x1;
Kovalev_D 104:ab1cb4ff56b2 198
Kovalev_D 104:ab1cb4ff56b2 199 Bit_num = Pa & 0xf;
Kovalev_D 104:ab1cb4ff56b2 200
Kovalev_D 104:ab1cb4ff56b2 201 if(SR) {
Kovalev_D 104:ab1cb4ff56b2 202 switch (Bit_num){
Kovalev_D 104:ab1cb4ff56b2 203 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 204 //FrqOff
Kovalev_D 104:ab1cb4ff56b2 205 FrqON
Kovalev_D 104:ab1cb4ff56b2 206 case 0x03:
Kovalev_D 104:ab1cb4ff56b2 207 //FrqOff
Kovalev_D 104:ab1cb4ff56b2 208 // AHFOON
Kovalev_D 104:ab1cb4ff56b2 209 }
Kovalev_D 104:ab1cb4ff56b2 210 }
Kovalev_D 104:ab1cb4ff56b2 211 else{
Kovalev_D 104:ab1cb4ff56b2 212 switch (Bit_num){
Kovalev_D 104:ab1cb4ff56b2 213 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 214 FrqOff
Kovalev_D 104:ab1cb4ff56b2 215 }
Kovalev_D 104:ab1cb4ff56b2 216 }
igor_v 21:bc8c1cec3da6 217
igor_v 0:8ad47e2b6f00 218 }
igor_v 0:8ad47e2b6f00 219
igor_v 21:bc8c1cec3da6 220 void CMD_M_Control_D9()///чтение регистров управления
igor_v 21:bc8c1cec3da6 221 {
igor_v 21:bc8c1cec3da6 222 int bit,NReg;
igor_v 30:17c84ed091b3 223 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 224 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 225 BuffTemp[2] = Gyro.CMD_In; //D9
igor_v 21:bc8c1cec3da6 226 if ((Param1 & 0x10) == 0) {
igor_v 21:bc8c1cec3da6 227 BuffTemp[3]=0<<4;
igor_v 30:17c84ed091b3 228 BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff;
igor_v 30:17c84ed091b3 229 BuffTemp[5] = Gyro.RgConA & 0xff;
igor_v 21:bc8c1cec3da6 230 } else {
igor_v 21:bc8c1cec3da6 231 BuffTemp[3]=1<<4;
igor_v 30:17c84ed091b3 232 BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff;
igor_v 30:17c84ed091b3 233 BuffTemp[5] = Gyro.RgConB & 0xff;
igor_v 21:bc8c1cec3da6 234 }
igor_v 21:bc8c1cec3da6 235 Check(BuffTemp, CRC_N);
igor_v 21:bc8c1cec3da6 236 WriteConN (BuffTemp,CRC_N);
igor_v 21:bc8c1cec3da6 237 }
igor_v 21:bc8c1cec3da6 238 // (номер (код) ЦАПа 0...3, старший байт требуемого ЦАПа, младший байт треб ЦАПа)
igor_v 0:8ad47e2b6f00 239 void CMD_M_Stymul()
igor_v 0:8ad47e2b6f00 240 {
igor_v 21:bc8c1cec3da6 241 int temp;
Kovalev_D 102:4270092be987 242 int HFO;
Kovalev_D 102:4270092be987 243 temp=BuffTemp[3];
Kovalev_D 102:4270092be987 244 Consol = temp&0x3;
Kovalev_D 103:e96f08947def 245 HFO = temp&0x3;// // (номер (код) ЦАПа 0...3, HFO - 3dac, PLC - 0DAC
igor_v 21:bc8c1cec3da6 246 temp =((BuffTemp[4]<<8) | BuffTemp[5]);
igor_v 21:bc8c1cec3da6 247 // temp=0;
igor_v 21:bc8c1cec3da6 248 temp=temp&0xFFFF;
Kovalev_D 102:4270092be987 249
Kovalev_D 102:4270092be987 250 if(HFO)
Kovalev_D 102:4270092be987 251 {
Kovalev_D 102:4270092be987 252 Spi.DAC_A=(unsigned int)temp;
Kovalev_D 102:4270092be987 253 }
Kovalev_D 102:4270092be987 254 else{
igor_v 21:bc8c1cec3da6 255 DACF =(temp*K_DAC)+deltaDAC;
igor_v 21:bc8c1cec3da6 256 Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC);
igor_v 21:bc8c1cec3da6 257 }
igor_v 0:8ad47e2b6f00 258 }
Kovalev_D 103:e96f08947def 259 void Gph_W()
Kovalev_D 103:e96f08947def 260 {
Kovalev_D 103:e96f08947def 261 int Gain_A;
Kovalev_D 103:e96f08947def 262 int Gain_B;
Kovalev_D 103:e96f08947def 263 Gyro.Gain_A=BuffTemp[4];
Kovalev_D 103:e96f08947def 264 Gyro.Gain_B=BuffTemp[5];
Kovalev_D 103:e96f08947def 265 }
igor_v 0:8ad47e2b6f00 266
Kovalev_D 98:95b8e79f13e1 267 void CMD_M_vib()
Kovalev_D 102:4270092be987 268 { LoopOn
Kovalev_D 102:4270092be987 269 unsigned int temp1,temp2;
Kovalev_D 102:4270092be987 270
Kovalev_D 102:4270092be987 271 temp1 =((BuffTemp[4]<<8) | BuffTemp[5]);
Kovalev_D 102:4270092be987 272 temp1=temp1&0xFFFF;
Kovalev_D 102:4270092be987 273
Kovalev_D 102:4270092be987 274 temp2 =((BuffTemp[6]<<8) | BuffTemp[7]);
Kovalev_D 102:4270092be987 275 temp2=temp2&0xFFFF;
Kovalev_D 102:4270092be987 276 Gyro.Frq = ((unsigned int) ((7680000*16/temp1)))*16*16*16;
Kovalev_D 102:4270092be987 277 Consol=Gyro.Frq ;
Kovalev_D 98:95b8e79f13e1 278 }
igor_v 0:8ad47e2b6f00 279 unsigned int Check(char *c, unsigned int Count)
igor_v 0:8ad47e2b6f00 280 {
igor_v 21:bc8c1cec3da6 281 int i=1;
igor_v 21:bc8c1cec3da6 282 unsigned int temp,CRC;
igor_v 21:bc8c1cec3da6 283
igor_v 21:bc8c1cec3da6 284
igor_v 21:bc8c1cec3da6 285 temp=1;
igor_v 21:bc8c1cec3da6 286 CRC=0;
igor_v 21:bc8c1cec3da6 287
igor_v 21:bc8c1cec3da6 288
igor_v 21:bc8c1cec3da6 289 for(; i<Count-2; i++) {
igor_v 21:bc8c1cec3da6 290 CRC+=c[i];
igor_v 21:bc8c1cec3da6 291 }
igor_v 0:8ad47e2b6f00 292
igor_v 21:bc8c1cec3da6 293 if(c[Count-2]!=((CRC>>8)&0xFF)) {
igor_v 21:bc8c1cec3da6 294 temp=0;
igor_v 30:17c84ed091b3 295 Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2;
igor_v 21:bc8c1cec3da6 296 }
igor_v 0:8ad47e2b6f00 297
igor_v 21:bc8c1cec3da6 298 if(c[Count-1]!=((CRC>>0)&0xFF)) {
igor_v 21:bc8c1cec3da6 299 temp=0;
igor_v 30:17c84ed091b3 300 // Gyro.RsErrLine= (Gyro.RsErrLine)=0x2;
igor_v 21:bc8c1cec3da6 301 }
igor_v 21:bc8c1cec3da6 302
igor_v 21:bc8c1cec3da6 303 c[Count-2]=(CRC>>8)&0xFF;
igor_v 21:bc8c1cec3da6 304 c[Count-1]=(CRC>>0)&0xFF;
igor_v 21:bc8c1cec3da6 305
igor_v 21:bc8c1cec3da6 306
igor_v 21:bc8c1cec3da6 307
igor_v 21:bc8c1cec3da6 308 return temp;
igor_v 0:8ad47e2b6f00 309 }
igor_v 0:8ad47e2b6f00 310
igor_v 0:8ad47e2b6f00 311 int Getlengf(void)
igor_v 0:8ad47e2b6f00 312 {
igor_v 21:bc8c1cec3da6 313 unsigned int lengf=0;
igor_v 30:17c84ed091b3 314 switch(Gyro.CMD_In) {
igor_v 30:17c84ed091b3 315 case 0x99://Gyrotainance
Kovalev_D 92:c892f0311aa7 316
igor_v 21:bc8c1cec3da6 317 lengf=6;
igor_v 21:bc8c1cec3da6 318 CRC_N=8;
igor_v 21:bc8c1cec3da6 319 break;
igor_v 0:8ad47e2b6f00 320
igor_v 21:bc8c1cec3da6 321 case 0x0A: //m_stymul
igor_v 21:bc8c1cec3da6 322 lengf=8;
igor_v 21:bc8c1cec3da6 323 break;
igor_v 21:bc8c1cec3da6 324
igor_v 21:bc8c1cec3da6 325 case 0xA5://DeviceMode
igor_v 21:bc8c1cec3da6 326
igor_v 21:bc8c1cec3da6 327 lengf=6;
igor_v 21:bc8c1cec3da6 328 CRC_N=8;
igor_v 21:bc8c1cec3da6 329 break;
igor_v 21:bc8c1cec3da6 330
igor_v 21:bc8c1cec3da6 331 case 0xDD://m_rate
igor_v 0:8ad47e2b6f00 332
igor_v 21:bc8c1cec3da6 333 lengf=6;
igor_v 21:bc8c1cec3da6 334 CRC_N=44;
igor_v 21:bc8c1cec3da6 335 break;
igor_v 21:bc8c1cec3da6 336
igor_v 21:bc8c1cec3da6 337 case 0xB0://DeviceMode
igor_v 21:bc8c1cec3da6 338
igor_v 21:bc8c1cec3da6 339 lengf=6;
igor_v 21:bc8c1cec3da6 340 CRC_N=8;
igor_v 21:bc8c1cec3da6 341 break;
igor_v 21:bc8c1cec3da6 342
igor_v 21:bc8c1cec3da6 343 case 0xD8://m_control
igor_v 0:8ad47e2b6f00 344
igor_v 21:bc8c1cec3da6 345 lengf=6;
igor_v 21:bc8c1cec3da6 346 CRC_N=8;
igor_v 21:bc8c1cec3da6 347 break;
igor_v 21:bc8c1cec3da6 348
igor_v 21:bc8c1cec3da6 349 case 0xD9://m_control
igor_v 0:8ad47e2b6f00 350
igor_v 21:bc8c1cec3da6 351 lengf=6;
igor_v 21:bc8c1cec3da6 352 CRC_N=8;
igor_v 21:bc8c1cec3da6 353 break;
Kovalev_D 102:4270092be987 354
Kovalev_D 102:4270092be987 355 case 0xE4:
Kovalev_D 98:95b8e79f13e1 356 lengf=8;
Kovalev_D 98:95b8e79f13e1 357 break;
Kovalev_D 103:e96f08947def 358
Kovalev_D 103:e96f08947def 359
Kovalev_D 103:e96f08947def 360 case 0xE6:
Kovalev_D 103:e96f08947def 361 lengf=8;
Kovalev_D 103:e96f08947def 362 break;
Kovalev_D 103:e96f08947def 363
igor_v 21:bc8c1cec3da6 364 }
Kovalev_D 98:95b8e79f13e1 365
igor_v 21:bc8c1cec3da6 366 return lengf;
igor_v 0:8ad47e2b6f00 367 }
igor_v 0:8ad47e2b6f00 368
igor_v 0:8ad47e2b6f00 369 void Read_CMD(void)
igor_v 21:bc8c1cec3da6 370 {
Kovalev_D 92:c892f0311aa7 371
Kovalev_D 45:cbc955aecebe 372
Kovalev_D 45:cbc955aecebe 373 Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;//для сброса ошибки
igor_v 21:bc8c1cec3da6 374
igor_v 21:bc8c1cec3da6 375
Kovalev_D 45:cbc955aecebe 376
Kovalev_D 93:b3803774f110 377 CountBuFFIn=ReadChekCon1(BuffTemp); // чтение данных из консоли
igor_v 42:6fc307c4963e 378
Kovalev_D 92:c892f0311aa7 379 if(CountBuFFIn==1) { // если есть первый байт
igor_v 21:bc8c1cec3da6 380 if (BuffTemp[0] != SOC_In) {
Kovalev_D 93:b3803774f110 381 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 382 Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
Kovalev_D 93:b3803774f110 383 BuffTemp[99]=Gyro.RsErrLine;
Kovalev_D 102:4270092be987 384
igor_v 21:bc8c1cec3da6 385 }
Kovalev_D 92:c892f0311aa7 386 } else if(CountBuFFIn==2) { //если второй ,fqn
igor_v 30:17c84ed091b3 387 if (BuffTemp[1] != Gyro.My_Addres) {
Kovalev_D 93:b3803774f110 388 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 389 Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
igor_v 21:bc8c1cec3da6 390 }
igor_v 42:6fc307c4963e 391 } else if(CountBuFFIn==3) { // если ьоетий байт
igor_v 30:17c84ed091b3 392 Gyro.CMD_In=BuffTemp[2];
Kovalev_D 92:c892f0311aa7 393 N=Getlengf();
Kovalev_D 92:c892f0311aa7 394 }
Kovalev_D 92:c892f0311aa7 395 else if(CountBuFFIn==4 && (N==6))
Kovalev_D 92:c892f0311aa7 396 { // N - длина посылки аскглд(для записи параметров). определяется по коду команды в Getlengf();
igor_v 21:bc8c1cec3da6 397 Param1=BuffTemp[3];
Kovalev_D 92:c892f0311aa7 398 }
Kovalev_D 92:c892f0311aa7 399 else if((CountBuFFIn==5)&&(N==7))
Kovalev_D 92:c892f0311aa7 400 {
Kovalev_D 92:c892f0311aa7 401
igor_v 21:bc8c1cec3da6 402 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 403 Param2=BuffTemp[4];
igor_v 0:8ad47e2b6f00 404
Kovalev_D 92:c892f0311aa7 405 }
Kovalev_D 92:c892f0311aa7 406 else if((CountBuFFIn==6)&&(N==8))
Kovalev_D 92:c892f0311aa7 407 {
igor_v 21:bc8c1cec3da6 408 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 409 Param2=BuffTemp[4];
igor_v 21:bc8c1cec3da6 410 Param3=BuffTemp[5];
Kovalev_D 92:c892f0311aa7 411 }
Kovalev_D 102:4270092be987 412 else if((CountBuFFIn==8)&&(N==10))
Kovalev_D 102:4270092be987 413 {
Kovalev_D 102:4270092be987 414 Param1=BuffTemp[4];
Kovalev_D 102:4270092be987 415 Param2=BuffTemp[5];
Kovalev_D 102:4270092be987 416 Param3=BuffTemp[6];
Kovalev_D 102:4270092be987 417 Param4=BuffTemp[7];
Kovalev_D 102:4270092be987 418 }
Kovalev_D 98:95b8e79f13e1 419
Kovalev_D 92:c892f0311aa7 420 else if(CountBuFFIn > (N-1))
Kovalev_D 92:c892f0311aa7 421 {
Kovalev_D 93:b3803774f110 422 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 423 switch(Gyro.CMD_In) {
Kovalev_D 92:c892f0311aa7 424 case 0x99:
Kovalev_D 93:b3803774f110 425
igor_v 21:bc8c1cec3da6 426 CMD_Maintenance();
igor_v 21:bc8c1cec3da6 427 break;
igor_v 21:bc8c1cec3da6 428 case 0xD8:
igor_v 21:bc8c1cec3da6 429 CMD_M_Control_D8();
igor_v 21:bc8c1cec3da6 430 case 0xD9:
igor_v 21:bc8c1cec3da6 431 CMD_M_Control_D9();
igor_v 21:bc8c1cec3da6 432 break;
igor_v 21:bc8c1cec3da6 433 case 0x0A:
Kovalev_D 45:cbc955aecebe 434 CMD_M_Stymul();
igor_v 21:bc8c1cec3da6 435 break;
igor_v 21:bc8c1cec3da6 436 case 0xDD:
igor_v 21:bc8c1cec3da6 437 Rate_Flag=1;
Kovalev_D 102:4270092be987 438 break;
Kovalev_D 102:4270092be987 439 case 0xE4:
Kovalev_D 102:4270092be987 440 CMD_M_vib();
Kovalev_D 102:4270092be987 441 break;
Kovalev_D 103:e96f08947def 442 case 0xE6:
Kovalev_D 103:e96f08947def 443 Gph_W();
Kovalev_D 103:e96f08947def 444 break;
Kovalev_D 103:e96f08947def 445
Kovalev_D 103:e96f08947def 446
igor_v 30:17c84ed091b3 447 Gyro.RsErrLine = 0;
Kovalev_D 103:e96f08947def 448
Kovalev_D 103:e96f08947def 449
Kovalev_D 102:4270092be987 450 }
igor_v 21:bc8c1cec3da6 451 }
igor_v 0:8ad47e2b6f00 452 }
igor_v 0:8ad47e2b6f00 453
igor_v 0:8ad47e2b6f00 454
igor_v 21:bc8c1cec3da6 455