Dmitry Kovalev / Mbed 2 deprecated LGfiltr

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Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

Global.c@210:b02fa166315d, 2017-04-24 (annotated)

Committer:
Kovalev_D
Date:
Mon Apr 24 05:43:54 2017 +0000
Revision:
210:b02fa166315d
Parent:
209:224e7331a061
Child:
211:ac8251b067d2
123

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 209:224e7331a061 13 unsigned int Event2K;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 15 unsigned int EventVibro;
Kovalev_D 209:224e7331a061 16 unsigned int MODFlag=2;
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 209:224e7331a061 22 unsigned int Time2K;
Kovalev_D 124:9ae09249f842 23 unsigned int Time500Hz;
Kovalev_D 209:224e7331a061 24 unsigned int Time250Hz;
Kovalev_D 88:b5c1d9d338d1 25 unsigned int Time1Hz;
Kovalev_D 208:19150d2b528f 26 unsigned int Time100Hz;
Kovalev_D 88:b5c1d9d338d1 27 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 28 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 29 unsigned int ShiftL;
Kovalev_D 205:775d54fdf646 30 //unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 31
Kovalev_D 139:1716152517aa 32
Kovalev_D 134:caf4c9cd5052 33 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 34 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 35 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 36 BX R0
Kovalev_D 134:caf4c9cd5052 37 }
Kovalev_D 134:caf4c9cd5052 38
Kovalev_D 205:775d54fdf646 39 void Param_init(void)
Kovalev_D 205:775d54fdf646 40 {
Kovalev_D 208:19150d2b528f 41 int temp=0;
Kovalev_D 208:19150d2b528f 42
Kovalev_D 205:775d54fdf646 43 InitMOD();
Kovalev_D 206:00341a03e05c 44
Kovalev_D 208:19150d2b528f 45
Kovalev_D 205:775d54fdf646 46 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 47 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 48 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 49 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 50 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 51 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 52 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 53 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 54 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 55 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 56 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 57 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 58 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 59 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 60 ShiftL = 0;
Kovalev_D 124:9ae09249f842 61 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 62 Time500Hz = 0;
Kovalev_D 205:775d54fdf646 63 PulseADC_64Point= 0;
Kovalev_D 205:775d54fdf646 64 Temp_AMP64P = 0;
Kovalev_D 205:775d54fdf646 65 Temp_ADC_2 = 0;
Kovalev_D 205:775d54fdf646 66 Temp_ADC_3 = 0;
Kovalev_D 205:775d54fdf646 67 Temp_ADC_4 = 0;
Kovalev_D 205:775d54fdf646 68 Temp_ADC_5 = 0;
Kovalev_D 205:775d54fdf646 69 Gyro.Log = 0;
Kovalev_D 205:775d54fdf646 70 Gyro.LogPLC = 0;
Kovalev_D 205:775d54fdf646 71 Gyro.PLC_Lern = 0;
Kovalev_D 106:250ddd8629c6 72 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 73 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 74 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 75 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 76 Pulse_32Point = 0;
Kovalev_D 209:224e7331a061 77 Gyro.FlashMod = 0;
Kovalev_D 208:19150d2b528f 78
Kovalev_D 205:775d54fdf646 79
Kovalev_D 205:775d54fdf646 80 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 81 ///////////инициализация таймеров////////////
Kovalev_D 205:775d54fdf646 82 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 83 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 205:775d54fdf646 84 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 205:775d54fdf646 85 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 86 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 206:00341a03e05c 87
Kovalev_D 206:00341a03e05c 88 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 206:00341a03e05c 89 Gyro.PLC_Error2Mode = 1400;
Kovalev_D 206:00341a03e05c 90 Gyro.SOC_Out = 0xDD;
Kovalev_D 209:224e7331a061 91
Kovalev_D 209:224e7331a061 92 Gyro.RgConMod = 1;
Kovalev_D 206:00341a03e05c 93
Kovalev_D 206:00341a03e05c 94 GyroP.Str.ParamMod=0;
Kovalev_D 209:224e7331a061 95
Kovalev_D 209:224e7331a061 96 ReadFlash ();
Kovalev_D 210:b02fa166315d 97 // GyroP.Str.ParamMod=0;
Kovalev_D 208:19150d2b528f 98 if(GyroP.Str.ParamMod)
Kovalev_D 206:00341a03e05c 99 {
Kovalev_D 208:19150d2b528f 100 Gyro.My_Addres = GyroP.Str.My_Addres; // Gyro.My_Addres = 0;
Kovalev_D 209:224e7331a061 101 Gyro.GLD_Serial = GyroP.Str.GLD_Serial;
Kovalev_D 209:224e7331a061 102 Gyro.FrqHZ = (7680000/GyroP.Str.FrqHZ);
Kovalev_D 209:224e7331a061 103 Gyro.Frq = ((7680000/GyroP.Str.FrqHZ)<<16);
Kovalev_D 209:224e7331a061 104 Gyro.FrqHZmin = ((7680000/GyroP.Str.FrqHZmin)<<16);
Kovalev_D 209:224e7331a061 105 Gyro.FrqHZmax = ((7680000/GyroP.Str.FrqHZmax)<<16);
Kovalev_D 208:19150d2b528f 106 Gyro.FrqChengSpeed = GyroP.Str.FrqChengSpeed;
Kovalev_D 208:19150d2b528f 107 Gyro.PLC_Gain = GyroP.Str.PLC_Gain;
Kovalev_D 208:19150d2b528f 108 Gyro.PLC_Phase = GyroP.Str.PLC_Phase;
Kovalev_D 208:19150d2b528f 109 Gyro.ModAmp = GyroP.Str.ModAmp;
Kovalev_D 208:19150d2b528f 110 Gyro.FrqPhase = GyroP.Str.FrqPhase;
Kovalev_D 208:19150d2b528f 111 Gyro.AmpPer = GyroP.Str.AmpPer;
Kovalev_D 208:19150d2b528f 112 Gyro.Amp = GyroP.Str.AmpPer<<16;
Kovalev_D 208:19150d2b528f 113 Gyro.AmpSpeed = GyroP.Str.AmpSpeed;
Kovalev_D 208:19150d2b528f 114 Gyro.AmpPerDel = GyroP.Str.AmpPerDel;
Kovalev_D 208:19150d2b528f 115 temp=((GyroP.Str.VB_Fdf_Hi<<16) | GyroP.Str.VB_Fdf_Lo);
Kovalev_D 210:b02fa166315d 116 temp=temp*20;
Kovalev_D 208:19150d2b528f 117 Gyro.AmpTarget=(unsigned int)(temp);
Kovalev_D 208:19150d2b528f 118 Gyro.AmpPerMin = GyroP.Str.AmpPerMin;
Kovalev_D 208:19150d2b528f 119 Gyro.AmpPerMax = GyroP.Str.AmpPerMax;
Kovalev_D 208:19150d2b528f 120 Gyro.AmpMin = GyroP.Str.AmpMin;
Kovalev_D 208:19150d2b528f 121 Gyro.AmpTD = GyroP.Str.AmpTD;
Kovalev_D 209:224e7331a061 122 Spi.DAC_A = ((((int)(GyroP.Str.DAC_current_Work+0x7fff) & 0xffff)+22544)*0.65);
Kovalev_D 209:224e7331a061 123 Gyro.DacIn = GyroP.Str.DAC_current_Work;
Kovalev_D 208:19150d2b528f 124 // Gyro.TermoNKU = GyroP.Str.TermoNKU<<2;
Kovalev_D 209:224e7331a061 125 Gyro.Firmware_Version = 0x11;
Kovalev_D 208:19150d2b528f 126 // Spi.DAC_A = GyroP.Str.DAC_A;
Kovalev_D 209:224e7331a061 127 // Spi.DAC_B = GyroP.Str.DAC_B;
Kovalev_D 208:19150d2b528f 128 Gyro.Gain_Sin = GyroP.Str.Gain_Sin;
Kovalev_D 208:19150d2b528f 129 Gyro.Gain_Cos = GyroP.Str.Gain_Cos;
Kovalev_D 208:19150d2b528f 130 Out_G_photo(Gyro.Gain_Sin, Gyro.Gain_Cos);
Kovalev_D 206:00341a03e05c 131 }
Kovalev_D 206:00341a03e05c 132 else
Kovalev_D 206:00341a03e05c 133 {
Kovalev_D 208:19150d2b528f 134
Kovalev_D 208:19150d2b528f 135 Gyro.PLC_Phase = 3;
Kovalev_D 208:19150d2b528f 136 Gyro.PLC_Gain = 3;
Kovalev_D 208:19150d2b528f 137 Gyro.FrqPhase = 8;
Kovalev_D 207:d1ce992f5d17 138 Gyro.FrqHZ = 403;
Kovalev_D 206:00341a03e05c 139 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 206:00341a03e05c 140 Gyro.FrqHZmin = 350<<16;
Kovalev_D 206:00341a03e05c 141 Gyro.FrqHZmax = 450<<16;
Kovalev_D 206:00341a03e05c 142 Gyro.FrqChengSpeed = 100;
Kovalev_D 206:00341a03e05c 143 Gyro.ModAmp = 250;
Kovalev_D 208:19150d2b528f 144 Gyro.AmpPer = 20;
Kovalev_D 207:d1ce992f5d17 145 Gyro.AmpPerMin = 2;
Kovalev_D 206:00341a03e05c 146 Gyro.AmpPerMax = 90;
Kovalev_D 206:00341a03e05c 147 Gyro.AmpSpeed = 1;
Kovalev_D 207:d1ce992f5d17 148 Gyro.AmpPerDel = 3;
Kovalev_D 208:19150d2b528f 149 Gyro.AmpTarget = 5500;// целевая амплитуда ВП
Kovalev_D 208:19150d2b528f 150 Gyro.Amp = 20*65535;
Kovalev_D 207:d1ce992f5d17 151 Gyro.AmpMin = 20;// минимальное значение AmpT;5
Kovalev_D 208:19150d2b528f 152 Gyro.AmpTD = 20;////////////////////////////////////////////////////////
Kovalev_D 206:00341a03e05c 153 Gyro.TermoNKU = 44700;//48824*0,0061-273=25 С°
Kovalev_D 208:19150d2b528f 154 Spi.DAC_B = 32220;
Kovalev_D 206:00341a03e05c 155 Gyro.PLC_Error2Mode = 1400; //для записи мод
Kovalev_D 207:d1ce992f5d17 156 Gyro.Gain_Sin = 175;
Kovalev_D 207:d1ce992f5d17 157 Gyro.Gain_Cos = 215;
Kovalev_D 209:224e7331a061 158 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 205:775d54fdf646 159 Gyro.GLD_Serial = 123; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 160 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 208:19150d2b528f 161 Gyro.Tmp_OffsetT4 = 0;
Kovalev_D 208:19150d2b528f 162 Gyro.Tmp_OffsetT5 = 0;
Kovalev_D 208:19150d2b528f 163 Gyro.Tmp_scaleT4 = 1; //53
Kovalev_D 208:19150d2b528f 164 Gyro.Tmp_scaleT5 = 1;
Kovalev_D 208:19150d2b528f 165
Kovalev_D 208:19150d2b528f 166 Gyro.DAC_current_Work =50000; //3
Kovalev_D 208:19150d2b528f 167 Gyro.DAC_current_Start =41000;
Kovalev_D 206:00341a03e05c 168 }
Kovalev_D 188:4c523cc373cc 169 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 170 case 0:
Kovalev_D 209:224e7331a061 171 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 172 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 173 break;
Kovalev_D 188:4c523cc373cc 174 case 1:
Kovalev_D 209:224e7331a061 175 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 176 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 177 break;
Kovalev_D 188:4c523cc373cc 178 case 2:
Kovalev_D 209:224e7331a061 179 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 180 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 181 break;
Kovalev_D 188:4c523cc373cc 182 case 3:
Kovalev_D 209:224e7331a061 183 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 184 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 185 break;
Kovalev_D 205:775d54fdf646 186 }
Kovalev_D 205:775d54fdf646 187
Kovalev_D 88:b5c1d9d338d1 188 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 189 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 190 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 191 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 192 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 193 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 194 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 195 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 196
Kovalev_D 86:398da56ef751 197 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 198 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 199 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 200 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 201 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 202 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 203
Kovalev_D 86:398da56ef751 204 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 205 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 206 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 207 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 208 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 112:4a96133a1311 209 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 210 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 211 Cur_QEI=0;
Kovalev_D 86:398da56ef751 212 Last_QEI=0;
Kovalev_D 205:775d54fdf646 213 }
Kovalev_D 205:775d54fdf646 214
Kovalev_D 205:775d54fdf646 215 void GLD_Init(void)
Kovalev_D 205:775d54fdf646 216 { int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 86:398da56ef751 217 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 218 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 219 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 220 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 221 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 222 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 223 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 224 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 225
Kovalev_D 98:95b8e79f13e1 226
Kovalev_D 87:7e575d26d6d0 227 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 228 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 229 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 230 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 231
Kovalev_D 87:7e575d26d6d0 232 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 233 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 234
Kovalev_D 98:95b8e79f13e1 235 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 236 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 237 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 238 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 239
Kovalev_D 88:b5c1d9d338d1 240
Kovalev_D 89:a0d344db227e 241 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 242 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 243 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 244
Kovalev_D 89:a0d344db227e 245 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 246
Kovalev_D 89:a0d344db227e 247 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 248 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 249 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 250 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 251
Kovalev_D 89:a0d344db227e 252 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 253 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 254 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 255
Kovalev_D 89:a0d344db227e 256 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 257 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 258 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 259
Kovalev_D 99:3d8f206ceac2 260 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 261 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 262 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 263 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 264
Kovalev_D 89:a0d344db227e 265 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 266 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 267 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 268
Kovalev_D 86:398da56ef751 269
Kovalev_D 86:398da56ef751 270
Kovalev_D 92:c892f0311aa7 271
Kovalev_D 92:c892f0311aa7 272
Kovalev_D 92:c892f0311aa7 273
Kovalev_D 92:c892f0311aa7 274 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 275 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 276 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 277 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 278 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 279
Kovalev_D 92:c892f0311aa7 280 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 281 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 282
Kovalev_D 92:c892f0311aa7 283 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 284 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 285 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 286
Kovalev_D 92:c892f0311aa7 287 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 288 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 289 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 290
Kovalev_D 92:c892f0311aa7 291 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 292 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 293
Kovalev_D 92:c892f0311aa7 294 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 295 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 296
Kovalev_D 92:c892f0311aa7 297 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 298 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 299
Kovalev_D 92:c892f0311aa7 300 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 301 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 302 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 303
Kovalev_D 92:c892f0311aa7 304 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 305 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 306
Kovalev_D 92:c892f0311aa7 307 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 308 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 309 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 310 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 311 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 312 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 313 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 314 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 315 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 316
Kovalev_D 92:c892f0311aa7 317 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 318 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 319 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 320 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 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
Kovalev_D 86:398da56ef751 328 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 329 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 330 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 331
Kovalev_D 89:a0d344db227e 332 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 333 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 334 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 335 PinCheng();
Kovalev_D 89:a0d344db227e 336 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 337 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 338 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 339 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 340 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 341
Kovalev_D 98:95b8e79f13e1 342 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 190:289514f730ee 343 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 190:289514f730ee 344 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 345 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 346 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 347 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 348 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 349 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 350 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 351 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 352 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 353 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 354 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 355 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 356 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 357
Kovalev_D 88:b5c1d9d338d1 358
Kovalev_D 88:b5c1d9d338d1 359
Kovalev_D 87:7e575d26d6d0 360 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 361 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 362 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 363 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 364 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 365 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 366 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 367 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 368
Kovalev_D 88:b5c1d9d338d1 369
Kovalev_D 88:b5c1d9d338d1 370
Kovalev_D 87:7e575d26d6d0 371 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 372 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 373 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 374 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 375 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 376 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 377 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 378 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 379 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 380 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 381 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 382 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 383 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 384 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 385 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 386 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 387 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 388 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 389
Kovalev_D 88:b5c1d9d338d1 390
Kovalev_D 88:b5c1d9d338d1 391
Kovalev_D 87:7e575d26d6d0 392 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 393 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 394 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 395 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 396 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 397 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 398 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 399 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 400 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 401 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 402
Kovalev_D 88:b5c1d9d338d1 403
Kovalev_D 88:b5c1d9d338d1 404 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 405 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 406 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 407 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 408 enable_timer1();
Kovalev_D 86:398da56ef751 409 enable_timer2();
Kovalev_D 89:a0d344db227e 410 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 411
Kovalev_D 89:a0d344db227e 412 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 413 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 414
Kovalev_D 90:d9b6a4bc5065 415
Kovalev_D 90:d9b6a4bc5065 416
Kovalev_D 90:d9b6a4bc5065 417 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 418 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 419 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 420 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 421 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 422
Kovalev_D 90:d9b6a4bc5065 423 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 424 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 425
Kovalev_D 90:d9b6a4bc5065 426 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 427 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 428 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 429
Kovalev_D 90:d9b6a4bc5065 430 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 431 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 432 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 433
Kovalev_D 90:d9b6a4bc5065 434 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 435 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 436
Kovalev_D 90:d9b6a4bc5065 437 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 438 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 439
Kovalev_D 90:d9b6a4bc5065 440 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 441 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 442
Kovalev_D 90:d9b6a4bc5065 443 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 444 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 445 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 446
Kovalev_D 90:d9b6a4bc5065 447 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 448 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 449
Kovalev_D 90:d9b6a4bc5065 450 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 451 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 452 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 453 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 454 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 455 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 456 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 457 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 458 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 459
Kovalev_D 92:c892f0311aa7 460 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 461 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 462 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 463 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 205:775d54fdf646 464 //Gyro=GyroP.str;
Kovalev_D 205:775d54fdf646 465 //Gyro = (*(struct Gyro*)(&GyroP.Str));
Kovalev_D 90:d9b6a4bc5065 466
Kovalev_D 86:398da56ef751 467 }
igor_v 13:e2a1d18677b8 468
igor_v 0:8ad47e2b6f00 469
igor_v 0:8ad47e2b6f00 470
igor_v 0:8ad47e2b6f00 471
igor_v 0:8ad47e2b6f00 472