Dmitry Kovalev / Mbed 2 deprecated LGfiltr

forkd

Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

SPI.c@229:f359509f0c70, 2018-01-09 (annotated)

Committer:
Kovalev_D
Date:
Tue Jan 09 13:23:37 2018 +0000
Branch:
filt
Revision:
229:f359509f0c70
Parent:
228:a8195e1b1123 
filtrHFO

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
Kovalev_D 228:a8195e1b1123 2 #define NCoef 2
Kovalev_D 228:a8195e1b1123 3 #define DCgain 8192
igor_v 0:8ad47e2b6f00 4 struct SPI Spi;
Kovalev_D 112:4a96133a1311 5 //unsigned int Temp_AMP;
Kovalev_D 96:1c8536458119 6 unsigned int Temp_AMP64P;
Kovalev_D 196:f76dbc081e63 7 int ttt=1;
Kovalev_D 99:3d8f206ceac2 8 unsigned int Count_AMP, ADD_AMP, Cur_Amp;
Kovalev_D 99:3d8f206ceac2 9 int Znak_Amp;
Kovalev_D 109:ee0cff33ad3b 10 int AD_Regul = 0;
Kovalev_D 190:289514f730ee 11 int temp9,tempADC5;
Kovalev_D 148:7ce8c1fd00f7 12 int AD_MAX=0;
Kovalev_D 220:04c54405b82d 13 unsigned int SPIlog;
Kovalev_D 196:f76dbc081e63 14 int k=0,l=0,r=0,n=0;//счетчики для регулировки периметра
Kovalev_D 188:4c523cc373cc 15 int flagmod=0,Bdelta;
Kovalev_D 191:40028201ddad 16 int start=10;
Kovalev_D 197:7a05523bf588 17 int dispersion=0,side=1,tempstrafe=15000;
Kovalev_D 214:4c70e452c491 18 int ADC_5_T;
Kovalev_D 227:2774b56bfab0 19 int PLC_ERR_DAC,PLC_ERR_DAC_F;
Kovalev_D 227:2774b56bfab0 20
Kovalev_D 227:2774b56bfab0 21
Kovalev_D 147:1aed74f19a8f 22 unsigned int TempA;
Kovalev_D 158:0c8342e1837a 23 unsigned int TempTermLM;
Kovalev_D 211:ac8251b067d2 24 unsigned int conuntPLS;
Kovalev_D 197:7a05523bf588 25 int ADC5Old,ADCDIF=0;
Kovalev_D 215:b58b887fd367 26 /*int DACModReg;*/
Kovalev_D 197:7a05523bf588 27 int SinPls=0,SinMns=0;
Kovalev_D 214:4c70e452c491 28 int TSinPls=0,TSinMns=0;
Kovalev_D 213:9953db9543d6 29 int timer=750;
Kovalev_D 216:189b0ea1dc38 30 int sum=0;
Kovalev_D 216:189b0ea1dc38 31 unsigned int testcount=0,faza, fazaFlag=0;
Kovalev_D 197:7a05523bf588 32 unsigned int ADC5New;
Kovalev_D 95:dd51e577e114 33 unsigned int Buff_ADC_1 [32];
Kovalev_D 95:dd51e577e114 34 unsigned int Buff_ADC_2 [32];
Kovalev_D 95:dd51e577e114 35 unsigned int Buff_ADC_3 [32];
Kovalev_D 95:dd51e577e114 36 unsigned int Buff_ADC_4 [32];
Kovalev_D 220:04c54405b82d 37 int Buff_OUT1 [64];
Kovalev_D 220:04c54405b82d 38 int Buff_OUT [64];
Kovalev_D 213:9953db9543d6 39 int RegulADC,DeltaRegul,tempDeltaRegul;
Kovalev_D 227:2774b56bfab0 40 int count10HFO=0, count10v=0, AmpWorms,MinWorms,MaxWorms,AMPSUM,AMPSUMP,AMPSUMM,AMPSUMPout,AMPSUMMout,AMPSUMout,SumDelta,PLC_EROR,PLC_Flag,HFO_Flag,HFOdelta,HFOregul,HFOSumDelta;
Kovalev_D 214:4c70e452c491 41
Kovalev_D 215:b58b887fd367 42
Kovalev_D 215:b58b887fd367 43 //int BuffADC_32Point [64];
Kovalev_D 214:4c70e452c491 44
Kovalev_D 215:b58b887fd367 45 //unsigned int Buff_ADC_5 [255];
Kovalev_D 197:7a05523bf588 46
Kovalev_D 215:b58b887fd367 47
Kovalev_D 197:7a05523bf588 48
Kovalev_D 197:7a05523bf588 49
Kovalev_D 215:b58b887fd367 50 //unsigned int PulseADC_16Point;
Kovalev_D 215:b58b887fd367 51 //unsigned int PulseADC_32Point;
Kovalev_D 215:b58b887fd367 52 //unsigned int PulseADC_64Point;
Kovalev_D 215:b58b887fd367 53 //unsigned int PulseADC_32PointD;
Kovalev_D 215:b58b887fd367 54
Kovalev_D 215:b58b887fd367 55
Kovalev_D 215:b58b887fd367 56 //unsigned int Buff_AMP [256];
Kovalev_D 215:b58b887fd367 57 //unsigned int Buff_AMP64P [256];
Kovalev_D 228:a8195e1b1123 58 int HFO_Buff_in [10];
Kovalev_D 228:a8195e1b1123 59 int HFO_Buff_out [10];
Kovalev_D 228:a8195e1b1123 60 int HFOAmpSUM;
Kovalev_D 228:a8195e1b1123 61 int HFOAmp;
Kovalev_D 228:a8195e1b1123 62 int HFOAmpfilt;
Kovalev_D 228:a8195e1b1123 63 int HFOAmpfiltC;
Kovalev_D 220:04c54405b82d 64 unsigned int TypeMod=0;
Kovalev_D 197:7a05523bf588 65 unsigned int ModArraySin [64] = {50,55,59,64,68,73,77,81,85,88,91,94,96,98,99,99,100,99,99,98,96,94,91,88,85,81,77,73,68,64,59,55,50,45,41,36,32,27,23,19,16,12,9,7,4,2,1,1,0,1,1,2,4,7,9,12,16,19,23,27,32,36,41,45};
Kovalev_D 218:b4067cac75c0 66 unsigned int ModArraySin32 [32] = {50,59,68,77,85,91,96,99,100,99,96,91,85,77,68,59,50,41,32,23,16,9,4,1,0,1,4,9,16,23,32,41};
Kovalev_D 216:189b0ea1dc38 67 unsigned int ModArrayTriangle [64];
Kovalev_D 216:189b0ea1dc38 68 unsigned int ModArraySaw [64];
Kovalev_D 216:189b0ea1dc38 69 unsigned int Mod=0;
Kovalev_D 216:189b0ea1dc38 70 int znak;
Kovalev_D 227:2774b56bfab0 71 unsigned int HFO_AVR;
Kovalev_D 197:7a05523bf588 72 void InitMOD(void)
Kovalev_D 197:7a05523bf588 73 {
Kovalev_D 220:04c54405b82d 74 for (int i = 0; i < 64; i++ )
Kovalev_D 197:7a05523bf588 75 {
Kovalev_D 220:04c54405b82d 76 if(i<32) { ModArrayTriangle[i]=Mod; Mod=100;}
Kovalev_D 220:04c54405b82d 77 else { ModArrayTriangle[i]=Mod; Mod=0;}
Kovalev_D 197:7a05523bf588 78 }
Kovalev_D 197:7a05523bf588 79
Kovalev_D 207:d1ce992f5d17 80 for (int i = 0; i < 16; i++ )
Kovalev_D 197:7a05523bf588 81 {
Kovalev_D 216:189b0ea1dc38 82 ModArraySaw[i]=Mod;
Kovalev_D 216:189b0ea1dc38 83 Mod+=1;
Kovalev_D 220:04c54405b82d 84 }
Kovalev_D 197:7a05523bf588 85 }
Kovalev_D 197:7a05523bf588 86 void Modulator(void)
Kovalev_D 197:7a05523bf588 87 {
Kovalev_D 197:7a05523bf588 88 switch(TypeMod)
Kovalev_D 197:7a05523bf588 89 {
Kovalev_D 220:04c54405b82d 90
Kovalev_D 220:04c54405b82d 91 // case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 92 case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 93
Kovalev_D 216:189b0ea1dc38 94 case 1: LPC_DAC->DACR = (ModArraySaw [CountV64]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 95 case 2: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 96 case 3: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 220:04c54405b82d 97
Kovalev_D 220:04c54405b82d 98 //case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31)&0x1f]+150)*Gyro.ModAmp); break;ShiftMod
Kovalev_D 220:04c54405b82d 99 case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31+8)&0x1f])*Gyro.ModAmp + Gyro.ShiftMod-32000); break;
Kovalev_D 218:b4067cac75c0 100 case 5: break;
Kovalev_D 197:7a05523bf588 101 }
Kovalev_D 197:7a05523bf588 102 }
Kovalev_D 215:b58b887fd367 103
Kovalev_D 209:224e7331a061 104 void PLCRegul250(void)
Kovalev_D 209:224e7331a061 105 {
Kovalev_D 209:224e7331a061 106 unsigned int temp;
Kovalev_D 209:224e7331a061 107 static int CountFaza;
Kovalev_D 209:224e7331a061 108 temp = MODCount;
Kovalev_D 215:b58b887fd367 109
Kovalev_D 216:189b0ea1dc38 110 /*for (CountFaza = 0; CountFaza <16; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 111 for (CountFaza = 16; CountFaza <32; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 112 for (CountFaza = 32; CountFaza <48; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 113 for (CountFaza = 48; CountFaza <64; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);*/
Kovalev_D 215:b58b887fd367 114
Kovalev_D 214:4c70e452c491 115 /* for (CountFaza = 0; CountFaza <32; CountFaza++ ) SinPls+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];
Kovalev_D 214:4c70e452c491 116 for (CountFaza = 32; CountFaza <64; CountFaza++) SinMns+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];*/
Kovalev_D 209:224e7331a061 117 Gyro.PLC_Eror = SinMns-SinPls;
Kovalev_D 214:4c70e452c491 118 /* sprintf((Time)," %d %d %d %d %d\r\n",Spi.ADC5, Spi.DAC_B, SinPls, SinMns, Gyro.PLC_Eror);
Kovalev_D 209:224e7331a061 119 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 120 if(Gyro.RgConA&0x8)
Kovalev_D 209:224e7331a061 121 {
Kovalev_D 222:7de7b3bf3a1d 122 /* if(Gyro.PLC_Eror>0) {Spi.DAC_B+=1 * Gyro.PLC_Gain;}
Kovalev_D 222:7de7b3bf3a1d 123 else {Spi.DAC_B-=1 * Gyro.PLC_Gain;}*/
Kovalev_D 209:224e7331a061 124 }
Kovalev_D 215:b58b887fd367 125 /* if(Gyro.PLC_Eror>0) {Gyro.PLC_Eror_count++;}
Kovalev_D 215:b58b887fd367 126 else {Gyro.PLC_Eror_count--;}*/
Kovalev_D 209:224e7331a061 127
Kovalev_D 209:224e7331a061 128 if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
Kovalev_D 209:224e7331a061 129 else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
igor_v 110:6406b7ac0442 130
Kovalev_D 209:224e7331a061 131 SinPls=0;
Kovalev_D 209:224e7331a061 132 SinMns=0;
Kovalev_D 209:224e7331a061 133 }
Kovalev_D 226:4a4d5bd5fcd7 134
Kovalev_D 147:1aed74f19a8f 135 void ADS_Acum(void)
Kovalev_D 147:1aed74f19a8f 136 {
Kovalev_D 157:1069c80f4944 137 Spi.ADC_NewData = 0;
Kovalev_D 209:224e7331a061 138 // Gyro.Termo = (unsigned int)(((Spi.ADC1>>1) + Gyro.Tmp_OffsetT4) * Gyro.Tmp_scaleT4);
Kovalev_D 227:2774b56bfab0 139 Gyro.Termo = (unsigned int)((((Spi.ADC1>>1)*100)*0.0122)-27300);
Kovalev_D 227:2774b56bfab0 140 //Gyro.Termo =
Kovalev_D 209:224e7331a061 141 Gyro.IN1_Accum += Spi.ADC2;
Kovalev_D 209:224e7331a061 142 Gyro.IN2_Accum += Spi.ADC3;
Kovalev_D 209:224e7331a061 143 // Gyro.DeltaT = (unsigned int)(((Spi.ADC4>>1) + Gyro.Tmp_OffsetT5) * Gyro.Tmp_scaleT5);
Kovalev_D 221:53b256368ca1 144 switch(Gyro.LG_Type)
Kovalev_D 221:53b256368ca1 145 {
Kovalev_D 227:2774b56bfab0 146 case 1: Gyro.DeltaT = (unsigned int)((((Spi.ADC2>>1)*100)*0.0122)-27300); break;
Kovalev_D 221:53b256368ca1 147
Kovalev_D 221:53b256368ca1 148 case 0: Gyro.DeltaT = (unsigned int)(Spi.ADC4>>1); break;
Kovalev_D 221:53b256368ca1 149 }
Kovalev_D 221:53b256368ca1 150
Kovalev_D 208:19150d2b528f 151
Kovalev_D 172:ef7bf1663645 152 TempA = (0xffff - Spi.ADC5); // перевернем знак и умножим на два (было 32000...0 стало 0 ...32000 /*сдвиг(<<1) стало 0 ...64000*/)
Kovalev_D 211:ac8251b067d2 153 Gyro.TermLM = Spi.ADC1;
Kovalev_D 157:1069c80f4944 154 Gyro.ADF_Accum += TempA;
Kovalev_D 157:1069c80f4944 155 Gyro.ADS_Accum += TempA;
Kovalev_D 208:19150d2b528f 156 /// Gyro.ADS_AccumTermLM+=TempTermLM;
Kovalev_D 157:1069c80f4944 157 Gyro.ADF_Count ++;
Kovalev_D 157:1069c80f4944 158 Gyro.ADS_Count ++;
Kovalev_D 209:224e7331a061 159 Gyro.ADM_Count ++;
Kovalev_D 209:224e7331a061 160 /* sprintf((Time),"%d %d\r\n",((Gyro.In1>>1) - 0x4fff),(Spi.DAC_B-0x4fff));
Kovalev_D 209:224e7331a061 161 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 162 if (Gyro.ADM_Count > 255) {
Kovalev_D 209:224e7331a061 163 Gyro.In1 = Gyro.IN1_Accum>>8;
Kovalev_D 209:224e7331a061 164 Gyro.In2 = Gyro.IN2_Accum>>8;
Kovalev_D 209:224e7331a061 165 Gyro.IN1_Accum=0;
Kovalev_D 209:224e7331a061 166 Gyro.IN2_Accum=0;
Kovalev_D 209:224e7331a061 167 Gyro.ADM_Count=0;
Kovalev_D 209:224e7331a061 168 }
Kovalev_D 207:d1ce992f5d17 169 if (Gyro.ADF_Count > 15) { // если прошло 16 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 170 Gyro.AD_Fast = Gyro.ADF_Accum << 11; //обновляем данные и приводим в один масштаб
Kovalev_D 157:1069c80f4944 171 Gyro.ADF_Count = 0;//
Kovalev_D 157:1069c80f4944 172 Gyro.ADF_Accum = 0;
Kovalev_D 157:1069c80f4944 173 Gyro.ADF_NewData = 1;
Kovalev_D 157:1069c80f4944 174 }
Kovalev_D 207:d1ce992f5d17 175 if (Gyro.ADS_Count > 255) { // если прошло 256 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 176 Gyro.AD_Slow = Gyro.ADS_Accum << 7; //обновляем данные и приводим в один масштаб
Kovalev_D 211:ac8251b067d2 177 // Gyro.TermLM = Gyro.ADS_AccumTermLM << 3;
Kovalev_D 157:1069c80f4944 178 Gyro.ADS_Count = 0;
Kovalev_D 157:1069c80f4944 179 Gyro.ADS_Accum = 0;
Kovalev_D 158:0c8342e1837a 180 Gyro.ADS_AccumTermLM=0;
Kovalev_D 207:d1ce992f5d17 181 Gyro.ADS_NewData = 1;
Kovalev_D 209:224e7331a061 182 }
Kovalev_D 147:1aed74f19a8f 183 }
Kovalev_D 226:4a4d5bd5fcd7 184
Kovalev_D 226:4a4d5bd5fcd7 185 void HFOFilt(void)
Kovalev_D 220:04c54405b82d 186 {
Kovalev_D 227:2774b56bfab0 187
Kovalev_D 227:2774b56bfab0 188
Kovalev_D 227:2774b56bfab0 189 /* HFO_AVR+=(BuffADC_10v[CountV64]>>4);
Kovalev_D 227:2774b56bfab0 190 HFO_AVR-=(BuffADC_10v[CountV64 - 32]>>4);
Kovalev_D 227:2774b56bfab0 191 */
Kovalev_D 228:a8195e1b1123 192 HFOdelta=(int)((Gyro.HFO_ref)-(BuffADC_128Point[CountV64]>>5));
Kovalev_D 227:2774b56bfab0 193
Kovalev_D 226:4a4d5bd5fcd7 194 HFOSumDelta+=HFOdelta;
Kovalev_D 228:a8195e1b1123 195
Kovalev_D 228:a8195e1b1123 196
Kovalev_D 228:a8195e1b1123 197
Kovalev_D 226:4a4d5bd5fcd7 198 HFOregul=HFOSumDelta/(int)(Gyro.HFO_Gain);
Kovalev_D 227:2774b56bfab0 199
Kovalev_D 226:4a4d5bd5fcd7 200 HFOSumDelta-=Gyro.HFO_Gain*HFOregul;
Kovalev_D 226:4a4d5bd5fcd7 201 tempDeltaRegul += HFOregul;
Kovalev_D 226:4a4d5bd5fcd7 202 AMPSUM=0;
Kovalev_D 226:4a4d5bd5fcd7 203 HFO_Flag=1;
Kovalev_D 227:2774b56bfab0 204
Kovalev_D 226:4a4d5bd5fcd7 205 }
Kovalev_D 226:4a4d5bd5fcd7 206
Kovalev_D 226:4a4d5bd5fcd7 207 void PLCFilt(void)
Kovalev_D 226:4a4d5bd5fcd7 208 {
Kovalev_D 226:4a4d5bd5fcd7 209 static int SumBuff,Delta, OldDelta;
Kovalev_D 226:4a4d5bd5fcd7 210
Kovalev_D 225:f8fee6c586cc 211 if (count10v>=64*32)
Kovalev_D 220:04c54405b82d 212 {
Kovalev_D 227:2774b56bfab0 213 C_PLC_F++;
Kovalev_D 227:2774b56bfab0 214 C_PLC_F = C_PLC_F & 0xf;
Kovalev_D 220:04c54405b82d 215 count10v=0;
Kovalev_D 222:7de7b3bf3a1d 216
Kovalev_D 220:04c54405b82d 217 for(int q=0; q<32; q++)
Kovalev_D 220:04c54405b82d 218 {
Kovalev_D 220:04c54405b82d 219 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 220 SumBuff -= BuffADC_10v_OLD[q+32];
Kovalev_D 220:04c54405b82d 221 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 222 }
Kovalev_D 225:f8fee6c586cc 223
Kovalev_D 220:04c54405b82d 224 for(int q=32; q<64; q++)
Kovalev_D 220:04c54405b82d 225 {
Kovalev_D 220:04c54405b82d 226 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 227 SumBuff -= BuffADC_10v[q-32];
Kovalev_D 220:04c54405b82d 228 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 229 }
Kovalev_D 220:04c54405b82d 230
Kovalev_D 225:f8fee6c586cc 231 for(int q=0; q<32; q++) {AMPSUMP += BuffADC_10v_F [q];}
Kovalev_D 225:f8fee6c586cc 232 for(int q=32; q<64; q++) {AMPSUMM += BuffADC_10v_F [q];}
Kovalev_D 225:f8fee6c586cc 233
Kovalev_D 225:f8fee6c586cc 234 for(int q=0; q<64; q++)
Kovalev_D 220:04c54405b82d 235 {
Kovalev_D 227:2774b56bfab0 236 AMPSUM+=BuffADC_10v[q];
Kovalev_D 222:7de7b3bf3a1d 237 AMPSUMout+=BuffADC_10v_F[q];
Kovalev_D 222:7de7b3bf3a1d 238 BuffADC_10v_OLD[q]= BuffADC_10v[q];
Kovalev_D 225:f8fee6c586cc 239 BuffADC_10v[q] =0;
Kovalev_D 220:04c54405b82d 240 }
Kovalev_D 225:f8fee6c586cc 241 for(int q=0; q<64; q++)
Kovalev_D 222:7de7b3bf3a1d 242 {
Kovalev_D 222:7de7b3bf3a1d 243 Buff_OUT[q]=(BuffADC_10v_F[q]-(AMPSUM>>1))>>3;
Kovalev_D 222:7de7b3bf3a1d 244 }
Kovalev_D 222:7de7b3bf3a1d 245
Kovalev_D 222:7de7b3bf3a1d 246 /*sprintf((Time),"%d \r\n", Spi.DAC_A);
Kovalev_D 222:7de7b3bf3a1d 247 WriteCon(Time);*/
Kovalev_D 227:2774b56bfab0 248
Kovalev_D 227:2774b56bfab0 249 AMPSUM=AMPSUM>>6;
Kovalev_D 227:2774b56bfab0 250 AMPSUM=AMPSUM>>3;
Kovalev_D 227:2774b56bfab0 251 AMPSUM=AMPSUM>>3;
Kovalev_D 227:2774b56bfab0 252
Kovalev_D 225:f8fee6c586cc 253 AMPSUMPout=AMPSUMP>>1;
Kovalev_D 225:f8fee6c586cc 254 AMPSUMMout=AMPSUMM>>1;
Kovalev_D 222:7de7b3bf3a1d 255 AMPSUMout=AMPSUM;
Kovalev_D 225:f8fee6c586cc 256
Kovalev_D 220:04c54405b82d 257 Delta= (AMPSUMPout - AMPSUMMout);
Kovalev_D 225:f8fee6c586cc 258
Kovalev_D 225:f8fee6c586cc 259 // if((Delta<(-5000000))||(Delta>5000000))Delta=0;
Kovalev_D 225:f8fee6c586cc 260
Kovalev_D 220:04c54405b82d 261 SumDelta+=Delta;
Kovalev_D 225:f8fee6c586cc 262
Kovalev_D 220:04c54405b82d 263 Gyro.PLC_Eror_count=SumDelta/Gyro.PLC_Gain;
Kovalev_D 220:04c54405b82d 264 SumDelta-=Gyro.PLC_Gain*Gyro.PLC_Eror_count;
Kovalev_D 225:f8fee6c586cc 265
Kovalev_D 225:f8fee6c586cc 266 PLC_EROR+=Gyro.PLC_Eror_count;
Kovalev_D 226:4a4d5bd5fcd7 267
Kovalev_D 227:2774b56bfab0 268 BuffPLC_FILT[C_PLC_F] = Gyro.PLC_Eror_count;
Kovalev_D 227:2774b56bfab0 269 if(Time1Hz>10)
Kovalev_D 227:2774b56bfab0 270 {
Kovalev_D 227:2774b56bfab0 271 PLC_ERR_DAC_F += BuffPLC_FILT[C_PLC_F];
Kovalev_D 227:2774b56bfab0 272 PLC_ERR_DAC_F -= BuffPLC_FILT[(C_PLC_F-8)&0xf];
Kovalev_D 227:2774b56bfab0 273 }
Kovalev_D 227:2774b56bfab0 274 PLC_ERR_DAC = PLC_ERR_DAC_F>>3;
Kovalev_D 220:04c54405b82d 275 PLC_Flag=1;
Kovalev_D 220:04c54405b82d 276 AMPSUMM=0;
Kovalev_D 220:04c54405b82d 277 AMPSUMP=0;
Kovalev_D 226:4a4d5bd5fcd7 278
Kovalev_D 226:4a4d5bd5fcd7 279 // LoopOff
Kovalev_D 220:04c54405b82d 280 }
Kovalev_D 220:04c54405b82d 281 }
Kovalev_D 226:4a4d5bd5fcd7 282 void ModFilt(void)
Kovalev_D 226:4a4d5bd5fcd7 283 {
Kovalev_D 226:4a4d5bd5fcd7 284
Kovalev_D 226:4a4d5bd5fcd7 285
Kovalev_D 226:4a4d5bd5fcd7 286 PLCFilt();
Kovalev_D 226:4a4d5bd5fcd7 287 if(PLC_Flag)
Kovalev_D 226:4a4d5bd5fcd7 288 {
Kovalev_D 226:4a4d5bd5fcd7 289
Kovalev_D 226:4a4d5bd5fcd7 290 HFOSumDelta=0;
Kovalev_D 226:4a4d5bd5fcd7 291 }
Kovalev_D 226:4a4d5bd5fcd7 292 else HFOFilt();
Kovalev_D 226:4a4d5bd5fcd7 293
Kovalev_D 226:4a4d5bd5fcd7 294 }
Kovalev_D 220:04c54405b82d 295
igor_v 114:5cc38a53d8a7 296 void SPI_Exchange(void) // новая функция чтения, в нецй не должно быть ничего лишнего
Kovalev_D 157:1069c80f4944 297 {
Kovalev_D 220:04c54405b82d 298
Kovalev_D 157:1069c80f4944 299 unsigned int DummySPI;
Kovalev_D 220:04c54405b82d 300
Kovalev_D 197:7a05523bf588 301 //unsigned int ADC5Dif;
Kovalev_D 197:7a05523bf588 302 ADC5New = LPC_SSP0->DR;// Чтение АЦП
Kovalev_D 228:a8195e1b1123 303 HFOAmpSUM+=0xffff-ADC5New;
Kovalev_D 207:d1ce992f5d17 304 //Spi.ADC5_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 305 Spi.ADC4_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 306 Spi.ADC3_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 307 Spi.ADC2_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 308 Spi.ADC1_Accum += LPC_SSP0->DR;
Kovalev_D 207:d1ce992f5d17 309 Spi.ADC5_Accum += ADC5New;
Kovalev_D 209:224e7331a061 310
Kovalev_D 207:d1ce992f5d17 311 while (LPC_SSP0->SR & RX_SSP_notEMPT)
Kovalev_D 207:d1ce992f5d17 312 {
Kovalev_D 170:d099c3025f87 313 DummySPI = LPC_SSP0->DR; //если буфер SPI не пуст.//очистить буфер.
Kovalev_D 157:1069c80f4944 314 }
Kovalev_D 112:4a96133a1311 315 DAC_OutPut();
Kovalev_D 157:1069c80f4944 316 if (CountV31 == 0) { // просто фильтруем по 32 точкам.
Kovalev_D 197:7a05523bf588 317 // выставояем бит, что есть новы данные
Kovalev_D 157:1069c80f4944 318 Spi.ADC1 = Spi.ADC1_Accum >> 5; // подгоотавливаем данные (в той эе сетке) те ADC1 0..65535
Kovalev_D 157:1069c80f4944 319 Spi.ADC2 = Spi.ADC2_Accum >> 5;
Kovalev_D 157:1069c80f4944 320 Spi.ADC3 = Spi.ADC3_Accum >> 5;
Kovalev_D 157:1069c80f4944 321 Spi.ADC4 = Spi.ADC4_Accum >> 5;
Kovalev_D 157:1069c80f4944 322 Spi.ADC5 = Spi.ADC5_Accum >> 5;
Kovalev_D 157:1069c80f4944 323 Spi.ADC1_Accum = 0; // сбрасывкем аккамулятор
Kovalev_D 157:1069c80f4944 324 Spi.ADC2_Accum = 0;
Kovalev_D 157:1069c80f4944 325 Spi.ADC3_Accum = 0;
Kovalev_D 157:1069c80f4944 326 Spi.ADC4_Accum = 0;
Kovalev_D 157:1069c80f4944 327 Spi.ADC5_Accum = 0;
Kovalev_D 157:1069c80f4944 328 Spi.ADC_NewData = 1;
Kovalev_D 209:224e7331a061 329
Kovalev_D 207:d1ce992f5d17 330 }
Kovalev_D 215:b58b887fd367 331 if(Time1Hz>6)
Kovalev_D 215:b58b887fd367 332 {
Kovalev_D 220:04c54405b82d 333 BuffADC_1Point[CountV255] = (0x7fff-ADC5New)&0x7fff;
Kovalev_D 218:b4067cac75c0 334 BuffADC_1Point_64[CountV31]=(0x7fff-ADC5New)&0x7fff;
Kovalev_D 216:189b0ea1dc38 335
Kovalev_D 227:2774b56bfab0 336 ADC_128Point += BuffADC_1Point[CountV255];
Kovalev_D 228:a8195e1b1123 337 ADC_128Point -= BuffADC_1Point[(CountV255 - 32) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов
Kovalev_D 227:2774b56bfab0 338 BuffADC_128Point[CountV64] = ADC_128Point;
Kovalev_D 228:a8195e1b1123 339
Kovalev_D 228:a8195e1b1123 340 if(Time1Hz>8)
Kovalev_D 228:a8195e1b1123 341 {
Kovalev_D 228:a8195e1b1123 342 if(CountV31==31)
Kovalev_D 228:a8195e1b1123 343 {
Kovalev_D 228:a8195e1b1123 344 HFOAmp=HFOAmpSUM>>5;
Kovalev_D 228:a8195e1b1123 345 HFOAmpSUM=0;
Kovalev_D 228:a8195e1b1123 346
Kovalev_D 228:a8195e1b1123 347 HFOAmpfilt=BUTTER(25);
Kovalev_D 228:a8195e1b1123 348 //HFOAmpfiltC = iirr(HFOAmp);
Kovalev_D 228:a8195e1b1123 349
Kovalev_D 229:f359509f0c70 350 /*sprintf((Time),"%d %d %d \r\n",0xffff-ADC5New, HFOAmp, HFOAmpfilt);
Kovalev_D 229:f359509f0c70 351 WriteCon(Time);*/
Kovalev_D 228:a8195e1b1123 352 }
Kovalev_D 228:a8195e1b1123 353
Kovalev_D 228:a8195e1b1123 354 }
Kovalev_D 220:04c54405b82d 355
Kovalev_D 220:04c54405b82d 356 // Buff_Restored_Mod[CountV31] =(int)(BuffADC_1Point_64[CountV31] - ((BuffADC_128Point[CountV64])>>7));
Kovalev_D 228:a8195e1b1123 357 // Buff_Restored_Mod[CountV64] =(int)(BuffADC_32PointD[CountV64]*2 - BuffADC_64Point[CountV64]);
Kovalev_D 220:04c54405b82d 358
Kovalev_D 220:04c54405b82d 359
Kovalev_D 220:04c54405b82d 360 count10v++;
Kovalev_D 226:4a4d5bd5fcd7 361 count10HFO++;
Kovalev_D 220:04c54405b82d 362 BuffADC_10v[CountV64] += BuffADC_1Point[CountV255];
Kovalev_D 228:a8195e1b1123 363
Kovalev_D 226:4a4d5bd5fcd7 364 // BuffADC_10HFO[CountV64] += BuffADC_1Point[CountV255];
Kovalev_D 220:04c54405b82d 365 ModFilt();
Kovalev_D 220:04c54405b82d 366 }
Kovalev_D 220:04c54405b82d 367
Kovalev_D 220:04c54405b82d 368 }
Kovalev_D 220:04c54405b82d 369
Kovalev_D 228:a8195e1b1123 370
Kovalev_D 228:a8195e1b1123 371
Kovalev_D 228:a8195e1b1123 372
Kovalev_D 229:f359509f0c70 373 int BUTTER(int NewSample) {
Kovalev_D 228:a8195e1b1123 374 int ACoef[NCoef+1] = {
Kovalev_D 228:a8195e1b1123 375 8195,
Kovalev_D 228:a8195e1b1123 376 16390,
Kovalev_D 228:a8195e1b1123 377 8195
Kovalev_D 228:a8195e1b1123 378 };
Kovalev_D 228:a8195e1b1123 379
Kovalev_D 228:a8195e1b1123 380 int BCoef[NCoef+1] = {
Kovalev_D 228:a8195e1b1123 381 16384,
Kovalev_D 228:a8195e1b1123 382 -32404,
Kovalev_D 228:a8195e1b1123 383 16024
Kovalev_D 228:a8195e1b1123 384 };
Kovalev_D 228:a8195e1b1123 385
Kovalev_D 228:a8195e1b1123 386 static int y1[NCoef+1]; //output samples
Kovalev_D 228:a8195e1b1123 387 //Warning!!!!!! This variable should be signed (input sample width + Coefs width + 2 )-bit width to avoid saturation.
Kovalev_D 228:a8195e1b1123 388
Kovalev_D 228:a8195e1b1123 389 static int x1[NCoef+1]; //input samples
Kovalev_D 228:a8195e1b1123 390 int n;
Kovalev_D 228:a8195e1b1123 391
Kovalev_D 228:a8195e1b1123 392 //shift the old samples
Kovalev_D 228:a8195e1b1123 393 for(n=NCoef; n>0; n--) {
Kovalev_D 228:a8195e1b1123 394 x1[n] = x1[n-1];
Kovalev_D 228:a8195e1b1123 395 y1[n] = y1[n-1];
Kovalev_D 228:a8195e1b1123 396 }
Kovalev_D 228:a8195e1b1123 397
Kovalev_D 228:a8195e1b1123 398 //Calculate the new output
Kovalev_D 228:a8195e1b1123 399 x1[0] = NewSample;
Kovalev_D 229:f359509f0c70 400 y1[0] = ACoef[0] * x1[0];
Kovalev_D 228:a8195e1b1123 401 for(n=1; n<=NCoef; n++)
Kovalev_D 229:f359509f0c70 402 y1[0] += ACoef[n] * x1[n] - BCoef[n] * y1[n];
Kovalev_D 228:a8195e1b1123 403
Kovalev_D 229:f359509f0c70 404 y1[0] =(int)(y1[0]/ BCoef[0]);
Kovalev_D 228:a8195e1b1123 405
Kovalev_D 229:f359509f0c70 406 return y1[0] / DCgain;
Kovalev_D 228:a8195e1b1123 407 }
Kovalev_D 228:a8195e1b1123 408
Kovalev_D 228:a8195e1b1123 409
Kovalev_D 228:a8195e1b1123 410
Kovalev_D 228:a8195e1b1123 411
Kovalev_D 228:a8195e1b1123 412
Kovalev_D 228:a8195e1b1123 413
Kovalev_D 228:a8195e1b1123 414
Kovalev_D 228:a8195e1b1123 415
Kovalev_D 220:04c54405b82d 416 void HFORegul(void)
Kovalev_D 220:04c54405b82d 417 {
Kovalev_D 220:04c54405b82d 418 static unsigned int countHFO;
Kovalev_D 220:04c54405b82d 419
Kovalev_D 220:04c54405b82d 420 countHFO=0;
Kovalev_D 220:04c54405b82d 421
Kovalev_D 220:04c54405b82d 422 if(Gyro.RgConA&0x2)
Kovalev_D 220:04c54405b82d 423 {
Kovalev_D 220:04c54405b82d 424 if(HFO_Flag)
Kovalev_D 220:04c54405b82d 425 {
Kovalev_D 220:04c54405b82d 426 Spi.DAC_A -= HFOregul;
Kovalev_D 220:04c54405b82d 427 HFO_Flag=0;
Kovalev_D 220:04c54405b82d 428 DeltaRegul=0;
Kovalev_D 220:04c54405b82d 429 }
Kovalev_D 220:04c54405b82d 430 }
Kovalev_D 220:04c54405b82d 431
Kovalev_D 220:04c54405b82d 432 else DeltaRegul=0;
Kovalev_D 220:04c54405b82d 433
Kovalev_D 220:04c54405b82d 434 if(Spi.DAC_A>Gyro.HFO_Min-1) Spi.DAC_A=Gyro.HFO_Min-2;
Kovalev_D 220:04c54405b82d 435 else if(Spi.DAC_A<Gyro.HFO_Max+1) Spi.DAC_A=Gyro.HFO_Max+2;
Kovalev_D 220:04c54405b82d 436
Kovalev_D 220:04c54405b82d 437 }
Kovalev_D 220:04c54405b82d 438
Kovalev_D 214:4c70e452c491 439
Kovalev_D 220:04c54405b82d 440 void PLCRegul(void)
Kovalev_D 215:b58b887fd367 441
Kovalev_D 220:04c54405b82d 442 {
Kovalev_D 220:04c54405b82d 443 static unsigned int Flag_64=0, count;
Kovalev_D 220:04c54405b82d 444 static int CountFaza,Sin;
Kovalev_D 216:189b0ea1dc38 445
Kovalev_D 216:189b0ea1dc38 446
Kovalev_D 220:04c54405b82d 447 if(Gyro.RgConA&0x8)
Kovalev_D 220:04c54405b82d 448 {
Kovalev_D 220:04c54405b82d 449 if(PLC_Flag)
Kovalev_D 220:04c54405b82d 450 {
Kovalev_D 226:4a4d5bd5fcd7 451 if (Gyro.PLCDelay)
Kovalev_D 225:f8fee6c586cc 452 {
Kovalev_D 225:f8fee6c586cc 453
Kovalev_D 225:f8fee6c586cc 454 }
Kovalev_D 227:2774b56bfab0 455 else
Kovalev_D 227:2774b56bfab0 456 {
Kovalev_D 227:2774b56bfab0 457 /* if(Gyro.PLC_Eror_count>600) Gyro.PLC_Eror_count=0;
Kovalev_D 227:2774b56bfab0 458 else if(Gyro.PLC_Eror_count<(-600)) Gyro.PLC_Eror_count=0;*/
Kovalev_D 227:2774b56bfab0 459
Kovalev_D 227:2774b56bfab0 460 Spi.DAC_B+=PLC_ERR_DAC;
Kovalev_D 227:2774b56bfab0 461
Kovalev_D 227:2774b56bfab0 462 }
Kovalev_D 220:04c54405b82d 463 }
Kovalev_D 227:2774b56bfab0 464 if(Spi.DAC_B > Gyro.HighTreshold )
Kovalev_D 227:2774b56bfab0 465 {
Kovalev_D 222:7de7b3bf3a1d 466 Spi.DAC_B = (Gyro.ResetLevelCool);
Kovalev_D 225:f8fee6c586cc 467 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 227:2774b56bfab0 468 }
Kovalev_D 227:2774b56bfab0 469 else if(Spi.DAC_B < Gyro.DownTreshold )
Kovalev_D 227:2774b56bfab0 470 {
Kovalev_D 222:7de7b3bf3a1d 471 Spi.DAC_B = (Gyro.ResetLevelHeat);
Kovalev_D 225:f8fee6c586cc 472 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 227:2774b56bfab0 473 }
Kovalev_D 227:2774b56bfab0 474 }
Kovalev_D 227:2774b56bfab0 475
Kovalev_D 227:2774b56bfab0 476
Kovalev_D 227:2774b56bfab0 477
Kovalev_D 227:2774b56bfab0 478
Kovalev_D 226:4a4d5bd5fcd7 479 if(PLC_Flag)
Kovalev_D 226:4a4d5bd5fcd7 480 {
Kovalev_D 227:2774b56bfab0 481 /*sprintf((Time),"%d %d %d\r\n", PLC_ERR_DAC, Spi.DAC_B, Spi.DAC_A);
Kovalev_D 227:2774b56bfab0 482 WriteCon(Time);*/
Kovalev_D 227:2774b56bfab0 483 PLC_ERR_DAC=0;
Kovalev_D 226:4a4d5bd5fcd7 484 PLC_Flag=0;
Kovalev_D 226:4a4d5bd5fcd7 485 }
Kovalev_D 220:04c54405b82d 486 }
Kovalev_D 216:189b0ea1dc38 487
Kovalev_D 220:04c54405b82d 488
Kovalev_D 220:04c54405b82d 489
Kovalev_D 113:8be429494918 490
Kovalev_D 190:289514f730ee 491 void ShowMod(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 158:0c8342e1837a 492 {
Kovalev_D 158:0c8342e1837a 493
Kovalev_D 158:0c8342e1837a 494 //////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 495 //////////////////////////////////смотрим все моды/////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 496 ///////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 197:7a05523bf588 497 if(dispersion>5)
Kovalev_D 197:7a05523bf588 498 {
Kovalev_D 197:7a05523bf588 499 if( (Gyro.PLC_Lern<60000)&&(Gyro.PLC_Error2Mode >1))//пробигаем по нескольким значениям цап(60*0х3с=0хВВ8) для определения максимальной амплитуды.
Kovalev_D 158:0c8342e1837a 500 {
Kovalev_D 158:0c8342e1837a 501 Gyro.PLC_Error2Mode--;
Kovalev_D 158:0c8342e1837a 502 Gyro.PLC_Lern++;
Kovalev_D 197:7a05523bf588 503 Spi.DAC_B += tempstrafe*side;
Kovalev_D 197:7a05523bf588 504 if(side>0)side=(-1);
Kovalev_D 197:7a05523bf588 505 else side = 1;
Kovalev_D 197:7a05523bf588 506 tempstrafe-=40;
Kovalev_D 197:7a05523bf588 507 dispersion=0;
Kovalev_D 168:f4a6abb18358 508 }
Kovalev_D 197:7a05523bf588 509 else {Gyro.LogPLC=0;}
Kovalev_D 197:7a05523bf588 510 }
Kovalev_D 197:7a05523bf588 511 else dispersion++;
Kovalev_D 222:7de7b3bf3a1d 512 /*sprintf((Time),"%d %d %d %d \r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Gyro.Termo);
Kovalev_D 222:7de7b3bf3a1d 513 Gyro.CuruAngle=0;*/
Kovalev_D 197:7a05523bf588 514 WriteCon(Time);
Kovalev_D 158:0c8342e1837a 515 }
Kovalev_D 209:224e7331a061 516 void ShowMod2(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 209:224e7331a061 517 {
Kovalev_D 211:ac8251b067d2 518 if(dispersion>3)
Kovalev_D 211:ac8251b067d2 519 {
Kovalev_D 213:9953db9543d6 520 unsigned int step = 50, ENDMOD=65400;
Kovalev_D 222:7de7b3bf3a1d 521 /*sprintf((Time),"%d %d %d %d %d %d %d\r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Spi.ADC5, 0xfFFf-Spi.ADC1, Spi.ADC1, Gyro.Termo);
Kovalev_D 209:224e7331a061 522 Gyro.CuruAngle=0;
Kovalev_D 222:7de7b3bf3a1d 523 WriteCon(Time);*/
Kovalev_D 213:9953db9543d6 524 Spi.DAC_B+=step;
Kovalev_D 213:9953db9543d6 525 if(Spi.DAC_B>ENDMOD)
Kovalev_D 211:ac8251b067d2 526 {
Kovalev_D 214:4c70e452c491 527 // Gyro.LogMod=0;
Kovalev_D 211:ac8251b067d2 528 PlcON
Kovalev_D 213:9953db9543d6 529 Spi.DAC_B = 48000;
Kovalev_D 211:ac8251b067d2 530 }
Kovalev_D 211:ac8251b067d2 531 dispersion=0;
Kovalev_D 209:224e7331a061 532 }
Kovalev_D 211:ac8251b067d2 533 else dispersion++;
Kovalev_D 191:40028201ddad 534 }
Kovalev_D 112:4a96133a1311 535 void DAC_OutPut(void)//выдача в цапы
igor_v 0:8ad47e2b6f00 536 {
Kovalev_D 220:04c54405b82d 537 /*if(Gyro.RgConA&0x10)*/ Modulator();
Kovalev_D 157:1069c80f4944 538 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 539 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 540 LPC_SSP0->DR=0x5555;
igor_v 0:8ad47e2b6f00 541
Kovalev_D 209:224e7331a061 542 if (CountV31 & 1)
Kovalev_D 209:224e7331a061 543 { //если нечетный такт то
Kovalev_D 218:b4067cac75c0 544 LPC_SSP0->DR = WRITE_DAC0; //e.команда для ЦАП_0 передавать.
Kovalev_D 220:04c54405b82d 545 LPC_SSP0->DR = (Spi.DAC_A); //e. передача 12 бит
Kovalev_D 209:224e7331a061 546 }
Kovalev_D 209:224e7331a061 547 else
Kovalev_D 209:224e7331a061 548 { //если такт четный.
Kovalev_D 157:1069c80f4944 549 LPC_SSP0->DR = WRITE_DAC1 ; //e.команда для ЦАП_1 передавать.
Kovalev_D 220:04c54405b82d 550 LPC_SSP0->DR = (Spi.DAC_B) ;
igor_v 31:c783288001b5 551 }
Kovalev_D 112:4a96133a1311 552 }
Kovalev_D 112:4a96133a1311 553
Kovalev_D 112:4a96133a1311 554
Kovalev_D 113:8be429494918 555
Kovalev_D 113:8be429494918 556
Kovalev_D 113:8be429494918 557
Kovalev_D 113:8be429494918 558