Dmitry Kovalev / Mbed 2 deprecated LGfiltr

forkd

Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

SPI.c@225:f8fee6c586cc, 2017-12-12 (annotated)

Committer:
Kovalev_D
Date:
Tue Dec 12 05:53:39 2017 +0000
Revision:
225:f8fee6c586cc
Parent:
224:598aec95415f
Child:
226:4a4d5bd5fcd7
new asc_gld

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2 struct SPI Spi;
Kovalev_D 112:4a96133a1311 3 //unsigned int Temp_AMP;
Kovalev_D 96:1c8536458119 4 unsigned int Temp_AMP64P;
Kovalev_D 196:f76dbc081e63 5 int ttt=1;
Kovalev_D 99:3d8f206ceac2 6 unsigned int Count_AMP, ADD_AMP, Cur_Amp;
Kovalev_D 99:3d8f206ceac2 7 int Znak_Amp;
Kovalev_D 109:ee0cff33ad3b 8 int AD_Regul = 0;
Kovalev_D 190:289514f730ee 9 int temp9,tempADC5;
Kovalev_D 148:7ce8c1fd00f7 10 int AD_MAX=0;
Kovalev_D 220:04c54405b82d 11 unsigned int SPIlog;
Kovalev_D 196:f76dbc081e63 12 int k=0,l=0,r=0,n=0;//счетчики для регулировки периметра
Kovalev_D 188:4c523cc373cc 13 int flagmod=0,Bdelta;
Kovalev_D 191:40028201ddad 14 int start=10;
Kovalev_D 197:7a05523bf588 15 int dispersion=0,side=1,tempstrafe=15000;
Kovalev_D 214:4c70e452c491 16 int ADC_5_T;
Kovalev_D 147:1aed74f19a8f 17 unsigned int TempA;
Kovalev_D 158:0c8342e1837a 18 unsigned int TempTermLM;
Kovalev_D 211:ac8251b067d2 19 unsigned int conuntPLS;
Kovalev_D 197:7a05523bf588 20 int ADC5Old,ADCDIF=0;
Kovalev_D 215:b58b887fd367 21 /*int DACModReg;*/
Kovalev_D 197:7a05523bf588 22 int SinPls=0,SinMns=0;
Kovalev_D 214:4c70e452c491 23 int TSinPls=0,TSinMns=0;
Kovalev_D 213:9953db9543d6 24 int timer=750;
Kovalev_D 216:189b0ea1dc38 25 int sum=0;
Kovalev_D 216:189b0ea1dc38 26 unsigned int testcount=0,faza, fazaFlag=0;
Kovalev_D 197:7a05523bf588 27 unsigned int ADC5New;
Kovalev_D 95:dd51e577e114 28 unsigned int Buff_ADC_1 [32];
Kovalev_D 95:dd51e577e114 29 unsigned int Buff_ADC_2 [32];
Kovalev_D 95:dd51e577e114 30 unsigned int Buff_ADC_3 [32];
Kovalev_D 95:dd51e577e114 31 unsigned int Buff_ADC_4 [32];
Kovalev_D 220:04c54405b82d 32 int Buff_OUT1 [64];
Kovalev_D 220:04c54405b82d 33 int Buff_OUT [64];
Kovalev_D 213:9953db9543d6 34 int RegulADC,DeltaRegul,tempDeltaRegul;
Kovalev_D 225:f8fee6c586cc 35 int count10v=0,AmpWorms,MinWorms,MaxWorms,AMPSUM,AMPSUMP,AMPSUMM,AMPSUM_DESP,AMPSUMPout,AMPSUMMout,AMPSUMout,SumDelta,PLC_EROR,PLC_Flag,HFO_Flag,HFOdelta,HFOregul,HFOSumDelta;
Kovalev_D 214:4c70e452c491 36
Kovalev_D 215:b58b887fd367 37
Kovalev_D 215:b58b887fd367 38 //int BuffADC_32Point [64];
Kovalev_D 214:4c70e452c491 39
Kovalev_D 215:b58b887fd367 40 //unsigned int Buff_ADC_5 [255];
Kovalev_D 197:7a05523bf588 41
Kovalev_D 215:b58b887fd367 42
Kovalev_D 197:7a05523bf588 43
Kovalev_D 197:7a05523bf588 44
Kovalev_D 215:b58b887fd367 45 //unsigned int PulseADC_16Point;
Kovalev_D 215:b58b887fd367 46 //unsigned int PulseADC_32Point;
Kovalev_D 215:b58b887fd367 47 //unsigned int PulseADC_64Point;
Kovalev_D 215:b58b887fd367 48 //unsigned int PulseADC_32PointD;
Kovalev_D 215:b58b887fd367 49
Kovalev_D 215:b58b887fd367 50
Kovalev_D 215:b58b887fd367 51 //unsigned int Buff_AMP [256];
Kovalev_D 215:b58b887fd367 52 //unsigned int Buff_AMP64P [256];
Kovalev_D 220:04c54405b82d 53 unsigned int TypeMod=0;
Kovalev_D 197:7a05523bf588 54 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 55 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 56 unsigned int ModArrayTriangle [64];
Kovalev_D 216:189b0ea1dc38 57 unsigned int ModArraySaw [64];
Kovalev_D 216:189b0ea1dc38 58 unsigned int Mod=0;
Kovalev_D 216:189b0ea1dc38 59 int znak;
Kovalev_D 197:7a05523bf588 60
Kovalev_D 197:7a05523bf588 61 void InitMOD(void)
Kovalev_D 197:7a05523bf588 62 {
Kovalev_D 220:04c54405b82d 63 for (int i = 0; i < 64; i++ )
Kovalev_D 197:7a05523bf588 64 {
Kovalev_D 220:04c54405b82d 65 if(i<32) { ModArrayTriangle[i]=Mod; Mod=100;}
Kovalev_D 220:04c54405b82d 66 else { ModArrayTriangle[i]=Mod; Mod=0;}
Kovalev_D 197:7a05523bf588 67 }
Kovalev_D 197:7a05523bf588 68
Kovalev_D 207:d1ce992f5d17 69 for (int i = 0; i < 16; i++ )
Kovalev_D 197:7a05523bf588 70 {
Kovalev_D 216:189b0ea1dc38 71 ModArraySaw[i]=Mod;
Kovalev_D 216:189b0ea1dc38 72 Mod+=1;
Kovalev_D 220:04c54405b82d 73 }
Kovalev_D 197:7a05523bf588 74 }
Kovalev_D 197:7a05523bf588 75 void Modulator(void)
Kovalev_D 197:7a05523bf588 76 {
Kovalev_D 197:7a05523bf588 77 switch(TypeMod)
Kovalev_D 197:7a05523bf588 78 {
Kovalev_D 220:04c54405b82d 79
Kovalev_D 220:04c54405b82d 80 // case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 81 case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 82
Kovalev_D 216:189b0ea1dc38 83 case 1: LPC_DAC->DACR = (ModArraySaw [CountV64]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 84 case 2: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 85 case 3: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 220:04c54405b82d 86
Kovalev_D 220:04c54405b82d 87 //case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31)&0x1f]+150)*Gyro.ModAmp); break;ShiftMod
Kovalev_D 220:04c54405b82d 88 case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31+8)&0x1f])*Gyro.ModAmp + Gyro.ShiftMod-32000); break;
Kovalev_D 218:b4067cac75c0 89 case 5: break;
Kovalev_D 197:7a05523bf588 90 }
Kovalev_D 197:7a05523bf588 91 }
Kovalev_D 215:b58b887fd367 92
Kovalev_D 209:224e7331a061 93 void PLCRegul250(void)
Kovalev_D 209:224e7331a061 94 {
Kovalev_D 209:224e7331a061 95 unsigned int temp;
Kovalev_D 209:224e7331a061 96 static int CountFaza;
Kovalev_D 209:224e7331a061 97 temp = MODCount;
Kovalev_D 215:b58b887fd367 98
Kovalev_D 216:189b0ea1dc38 99 /*for (CountFaza = 0; CountFaza <16; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 100 for (CountFaza = 16; CountFaza <32; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 101 for (CountFaza = 32; CountFaza <48; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 102 for (CountFaza = 48; CountFaza <64; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);*/
Kovalev_D 215:b58b887fd367 103
Kovalev_D 214:4c70e452c491 104 /* for (CountFaza = 0; CountFaza <32; CountFaza++ ) SinPls+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];
Kovalev_D 214:4c70e452c491 105 for (CountFaza = 32; CountFaza <64; CountFaza++) SinMns+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];*/
Kovalev_D 209:224e7331a061 106 Gyro.PLC_Eror = SinMns-SinPls;
Kovalev_D 214:4c70e452c491 107 /* sprintf((Time)," %d %d %d %d %d\r\n",Spi.ADC5, Spi.DAC_B, SinPls, SinMns, Gyro.PLC_Eror);
Kovalev_D 209:224e7331a061 108 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 109 if(Gyro.RgConA&0x8)
Kovalev_D 209:224e7331a061 110 {
Kovalev_D 222:7de7b3bf3a1d 111 /* if(Gyro.PLC_Eror>0) {Spi.DAC_B+=1 * Gyro.PLC_Gain;}
Kovalev_D 222:7de7b3bf3a1d 112 else {Spi.DAC_B-=1 * Gyro.PLC_Gain;}*/
Kovalev_D 209:224e7331a061 113 }
Kovalev_D 215:b58b887fd367 114 /* if(Gyro.PLC_Eror>0) {Gyro.PLC_Eror_count++;}
Kovalev_D 215:b58b887fd367 115 else {Gyro.PLC_Eror_count--;}*/
Kovalev_D 209:224e7331a061 116
Kovalev_D 209:224e7331a061 117 if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
Kovalev_D 209:224e7331a061 118 else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
igor_v 110:6406b7ac0442 119
Kovalev_D 209:224e7331a061 120 SinPls=0;
Kovalev_D 209:224e7331a061 121 SinMns=0;
Kovalev_D 209:224e7331a061 122 }
Kovalev_D 220:04c54405b82d 123
Kovalev_D 220:04c54405b82d 124
Kovalev_D 220:04c54405b82d 125
Kovalev_D 222:7de7b3bf3a1d 126 /* void HFORegul2(void)
Kovalev_D 213:9953db9543d6 127 {
Kovalev_D 216:189b0ea1dc38 128 static unsigned int countHFO;
Kovalev_D 220:04c54405b82d 129
Kovalev_D 216:189b0ea1dc38 130 countHFO=0;
Kovalev_D 216:189b0ea1dc38 131 if(Gyro.RgConA&0x2)
Kovalev_D 216:189b0ea1dc38 132 {
Kovalev_D 220:04c54405b82d 133 if(HFO_Flag)
Kovalev_D 220:04c54405b82d 134 {
Kovalev_D 220:04c54405b82d 135 DeltaRegul+=(Gyro.HFO_ref-(AMPSUM>>8));
Kovalev_D 220:04c54405b82d 136
Kovalev_D 220:04c54405b82d 137 sprintf((Time),"%d %d %d\r\n", AMPSUM>>8, DeltaRegul, Gyro.HFO_ref);
Kovalev_D 220:04c54405b82d 138 WriteCon(Time);
Kovalev_D 220:04c54405b82d 139 HFO_Flag=0;
Kovalev_D 220:04c54405b82d 140 AMPSUM=0;
Kovalev_D 220:04c54405b82d 141 }
Kovalev_D 218:b4067cac75c0 142 switch(DeltaRegul) {
Kovalev_D 218:b4067cac75c0 143 case 1: DeltaRegul=0; break;
Kovalev_D 218:b4067cac75c0 144 case -1: DeltaRegul=0; break;
Kovalev_D 220:04c54405b82d 145 }
Kovalev_D 220:04c54405b82d 146 Spi.DAC_A-=(DeltaRegul>>2)*Gyro.HFO_Gain;
Kovalev_D 220:04c54405b82d 147 DeltaRegul=0;
Kovalev_D 216:189b0ea1dc38 148 }
Kovalev_D 216:189b0ea1dc38 149 else DeltaRegul=0;
Kovalev_D 213:9953db9543d6 150 if(Spi.DAC_A>Gyro.HFO_Min-1) Spi.DAC_A=Gyro.HFO_Min-2;
Kovalev_D 213:9953db9543d6 151 else if(Spi.DAC_A<Gyro.HFO_Max+1) Spi.DAC_A=Gyro.HFO_Max+2;
Kovalev_D 220:04c54405b82d 152
Kovalev_D 222:7de7b3bf3a1d 153 } */
Kovalev_D 208:19150d2b528f 154
Kovalev_D 208:19150d2b528f 155 // Spi.DAC_B-=ADCDIF>>6;
Kovalev_D 208:19150d2b528f 156
Kovalev_D 147:1aed74f19a8f 157 void ADS_Acum(void)
Kovalev_D 147:1aed74f19a8f 158 {
Kovalev_D 157:1069c80f4944 159 Spi.ADC_NewData = 0;
Kovalev_D 209:224e7331a061 160 // Gyro.Termo = (unsigned int)(((Spi.ADC1>>1) + Gyro.Tmp_OffsetT4) * Gyro.Tmp_scaleT4);
Kovalev_D 209:224e7331a061 161 Gyro.Termo = (unsigned int)(Spi.ADC1>>1);
Kovalev_D 209:224e7331a061 162 Gyro.IN1_Accum += Spi.ADC2;
Kovalev_D 209:224e7331a061 163 Gyro.IN2_Accum += Spi.ADC3;
Kovalev_D 209:224e7331a061 164 // Gyro.DeltaT = (unsigned int)(((Spi.ADC4>>1) + Gyro.Tmp_OffsetT5) * Gyro.Tmp_scaleT5);
Kovalev_D 221:53b256368ca1 165 switch(Gyro.LG_Type)
Kovalev_D 221:53b256368ca1 166 {
Kovalev_D 221:53b256368ca1 167 case 1: Gyro.DeltaT = (unsigned int)(Spi.ADC2>>1); break;
Kovalev_D 221:53b256368ca1 168
Kovalev_D 221:53b256368ca1 169 case 0: Gyro.DeltaT = (unsigned int)(Spi.ADC4>>1); break;
Kovalev_D 221:53b256368ca1 170 }
Kovalev_D 221:53b256368ca1 171
Kovalev_D 208:19150d2b528f 172
Kovalev_D 172:ef7bf1663645 173 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 174 Gyro.TermLM = Spi.ADC1;
Kovalev_D 157:1069c80f4944 175 Gyro.ADF_Accum += TempA;
Kovalev_D 157:1069c80f4944 176 Gyro.ADS_Accum += TempA;
Kovalev_D 208:19150d2b528f 177 /// Gyro.ADS_AccumTermLM+=TempTermLM;
Kovalev_D 157:1069c80f4944 178 Gyro.ADF_Count ++;
Kovalev_D 157:1069c80f4944 179 Gyro.ADS_Count ++;
Kovalev_D 209:224e7331a061 180 Gyro.ADM_Count ++;
Kovalev_D 209:224e7331a061 181 /* sprintf((Time),"%d %d\r\n",((Gyro.In1>>1) - 0x4fff),(Spi.DAC_B-0x4fff));
Kovalev_D 209:224e7331a061 182 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 183 if (Gyro.ADM_Count > 255) {
Kovalev_D 209:224e7331a061 184 Gyro.In1 = Gyro.IN1_Accum>>8;
Kovalev_D 209:224e7331a061 185 Gyro.In2 = Gyro.IN2_Accum>>8;
Kovalev_D 209:224e7331a061 186 Gyro.IN1_Accum=0;
Kovalev_D 209:224e7331a061 187 Gyro.IN2_Accum=0;
Kovalev_D 209:224e7331a061 188 Gyro.ADM_Count=0;
Kovalev_D 209:224e7331a061 189 }
Kovalev_D 207:d1ce992f5d17 190 if (Gyro.ADF_Count > 15) { // если прошло 16 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 191 Gyro.AD_Fast = Gyro.ADF_Accum << 11; //обновляем данные и приводим в один масштаб
Kovalev_D 157:1069c80f4944 192 Gyro.ADF_Count = 0;//
Kovalev_D 157:1069c80f4944 193 Gyro.ADF_Accum = 0;
Kovalev_D 157:1069c80f4944 194 Gyro.ADF_NewData = 1;
Kovalev_D 157:1069c80f4944 195 }
Kovalev_D 207:d1ce992f5d17 196 if (Gyro.ADS_Count > 255) { // если прошло 256 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 197 Gyro.AD_Slow = Gyro.ADS_Accum << 7; //обновляем данные и приводим в один масштаб
Kovalev_D 211:ac8251b067d2 198 // Gyro.TermLM = Gyro.ADS_AccumTermLM << 3;
Kovalev_D 157:1069c80f4944 199 Gyro.ADS_Count = 0;
Kovalev_D 157:1069c80f4944 200 Gyro.ADS_Accum = 0;
Kovalev_D 158:0c8342e1837a 201 Gyro.ADS_AccumTermLM=0;
Kovalev_D 207:d1ce992f5d17 202 Gyro.ADS_NewData = 1;
Kovalev_D 209:224e7331a061 203 }
Kovalev_D 147:1aed74f19a8f 204 }
Kovalev_D 220:04c54405b82d 205 void ModFilt(void)
Kovalev_D 220:04c54405b82d 206 {
Kovalev_D 220:04c54405b82d 207 static int SumBuff,Delta, OldDelta;
Kovalev_D 220:04c54405b82d 208
Kovalev_D 220:04c54405b82d 209
Kovalev_D 220:04c54405b82d 210
Kovalev_D 225:f8fee6c586cc 211 if (count10v>=64*32)
Kovalev_D 220:04c54405b82d 212 {
Kovalev_D 225:f8fee6c586cc 213 LoopOn
Kovalev_D 220:04c54405b82d 214 count10v=0;
Kovalev_D 222:7de7b3bf3a1d 215
Kovalev_D 220:04c54405b82d 216 for(int q=0; q<32; q++)
Kovalev_D 220:04c54405b82d 217 {
Kovalev_D 220:04c54405b82d 218 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 219 SumBuff -= BuffADC_10v_OLD[q+32];
Kovalev_D 220:04c54405b82d 220 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 221 }
Kovalev_D 225:f8fee6c586cc 222
Kovalev_D 220:04c54405b82d 223 for(int q=32; q<64; q++)
Kovalev_D 220:04c54405b82d 224 {
Kovalev_D 220:04c54405b82d 225 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 226 SumBuff -= BuffADC_10v[q-32];
Kovalev_D 220:04c54405b82d 227 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 228 }
Kovalev_D 220:04c54405b82d 229
Kovalev_D 225:f8fee6c586cc 230 for(int q=0; q<32; q++) {AMPSUMP += BuffADC_10v_F [q];}
Kovalev_D 225:f8fee6c586cc 231 for(int q=32; q<64; q++) {AMPSUMM += BuffADC_10v_F [q];}
Kovalev_D 225:f8fee6c586cc 232
Kovalev_D 225:f8fee6c586cc 233 for(int q=0; q<64; q++)
Kovalev_D 220:04c54405b82d 234 {
Kovalev_D 220:04c54405b82d 235 AMPSUM+=BuffADC_10v[q];
Kovalev_D 222:7de7b3bf3a1d 236 AMPSUMout+=BuffADC_10v_F[q];
Kovalev_D 222:7de7b3bf3a1d 237 BuffADC_10v_OLD[q]= BuffADC_10v[q];
Kovalev_D 225:f8fee6c586cc 238 BuffADC_10v[q] =0;
Kovalev_D 220:04c54405b82d 239 }
Kovalev_D 225:f8fee6c586cc 240 for(int q=0; q<64; q++)
Kovalev_D 222:7de7b3bf3a1d 241 {
Kovalev_D 222:7de7b3bf3a1d 242 Buff_OUT[q]=(BuffADC_10v_F[q]-(AMPSUM>>1))>>3;
Kovalev_D 222:7de7b3bf3a1d 243 }
Kovalev_D 222:7de7b3bf3a1d 244
Kovalev_D 222:7de7b3bf3a1d 245 /*sprintf((Time),"%d \r\n", Spi.DAC_A);
Kovalev_D 222:7de7b3bf3a1d 246 WriteCon(Time);*/
Kovalev_D 220:04c54405b82d 247
Kovalev_D 225:f8fee6c586cc 248 AMPSUMPout=AMPSUMP>>1;
Kovalev_D 225:f8fee6c586cc 249 AMPSUMMout=AMPSUMM>>1;
Kovalev_D 222:7de7b3bf3a1d 250 AMPSUMout=AMPSUM;
Kovalev_D 225:f8fee6c586cc 251
Kovalev_D 220:04c54405b82d 252 Delta= (AMPSUMPout - AMPSUMMout);
Kovalev_D 225:f8fee6c586cc 253
Kovalev_D 225:f8fee6c586cc 254 // if((Delta<(-5000000))||(Delta>5000000))Delta=0;
Kovalev_D 225:f8fee6c586cc 255
Kovalev_D 220:04c54405b82d 256 SumDelta+=Delta;
Kovalev_D 225:f8fee6c586cc 257
Kovalev_D 220:04c54405b82d 258 Gyro.PLC_Eror_count=SumDelta/Gyro.PLC_Gain;
Kovalev_D 220:04c54405b82d 259 SumDelta-=Gyro.PLC_Gain*Gyro.PLC_Eror_count;
Kovalev_D 225:f8fee6c586cc 260
Kovalev_D 225:f8fee6c586cc 261 PLC_EROR+=Gyro.PLC_Eror_count;
Kovalev_D 225:f8fee6c586cc 262
Kovalev_D 225:f8fee6c586cc 263
Kovalev_D 220:04c54405b82d 264
Kovalev_D 220:04c54405b82d 265 AMPSUM=AMPSUM>>6;
Kovalev_D 220:04c54405b82d 266 AMPSUM=AMPSUM>>3;
Kovalev_D 225:f8fee6c586cc 267 AMPSUM=AMPSUM>>2;
Kovalev_D 220:04c54405b82d 268
Kovalev_D 220:04c54405b82d 269 AMPSUM_DESP=AMPSUM;
Kovalev_D 220:04c54405b82d 270 HFOdelta=(int)((Gyro.HFO_ref)-AMPSUM);
Kovalev_D 225:f8fee6c586cc 271
Kovalev_D 220:04c54405b82d 272
Kovalev_D 220:04c54405b82d 273 HFOSumDelta+=HFOdelta;
Kovalev_D 220:04c54405b82d 274 HFOregul=HFOSumDelta/(int)(Gyro.HFO_Gain);
Kovalev_D 220:04c54405b82d 275
Kovalev_D 220:04c54405b82d 276 HFOSumDelta-=Gyro.HFO_Gain*HFOregul;
Kovalev_D 225:f8fee6c586cc 277
Kovalev_D 220:04c54405b82d 278 tempDeltaRegul=HFOregul;
Kovalev_D 225:f8fee6c586cc 279 tempDeltaRegul+=HFOdelta;
Kovalev_D 220:04c54405b82d 280
Kovalev_D 220:04c54405b82d 281 HFO_Flag=1;
Kovalev_D 220:04c54405b82d 282 PLC_Flag=1;
Kovalev_D 220:04c54405b82d 283 AMPSUMM=0;
Kovalev_D 220:04c54405b82d 284 AMPSUMP=0;
Kovalev_D 220:04c54405b82d 285 AMPSUM=0;
Kovalev_D 225:f8fee6c586cc 286 LoopOff
Kovalev_D 220:04c54405b82d 287 }
Kovalev_D 220:04c54405b82d 288 }
Kovalev_D 220:04c54405b82d 289
igor_v 114:5cc38a53d8a7 290 void SPI_Exchange(void) // новая функция чтения, в нецй не должно быть ничего лишнего
Kovalev_D 157:1069c80f4944 291 {
Kovalev_D 220:04c54405b82d 292
Kovalev_D 157:1069c80f4944 293 unsigned int DummySPI;
Kovalev_D 220:04c54405b82d 294
Kovalev_D 197:7a05523bf588 295 //unsigned int ADC5Dif;
Kovalev_D 197:7a05523bf588 296 ADC5New = LPC_SSP0->DR;// Чтение АЦП
Kovalev_D 207:d1ce992f5d17 297 //Spi.ADC5_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 298 Spi.ADC4_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 299 Spi.ADC3_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 300 Spi.ADC2_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 301 Spi.ADC1_Accum += LPC_SSP0->DR;
Kovalev_D 207:d1ce992f5d17 302 Spi.ADC5_Accum += ADC5New;
Kovalev_D 209:224e7331a061 303
Kovalev_D 207:d1ce992f5d17 304 while (LPC_SSP0->SR & RX_SSP_notEMPT)
Kovalev_D 207:d1ce992f5d17 305 {
Kovalev_D 170:d099c3025f87 306 DummySPI = LPC_SSP0->DR; //если буфер SPI не пуст.//очистить буфер.
Kovalev_D 157:1069c80f4944 307 }
Kovalev_D 112:4a96133a1311 308 DAC_OutPut();
Kovalev_D 157:1069c80f4944 309 if (CountV31 == 0) { // просто фильтруем по 32 точкам.
Kovalev_D 197:7a05523bf588 310 // выставояем бит, что есть новы данные
Kovalev_D 157:1069c80f4944 311 Spi.ADC1 = Spi.ADC1_Accum >> 5; // подгоотавливаем данные (в той эе сетке) те ADC1 0..65535
Kovalev_D 157:1069c80f4944 312 Spi.ADC2 = Spi.ADC2_Accum >> 5;
Kovalev_D 157:1069c80f4944 313 Spi.ADC3 = Spi.ADC3_Accum >> 5;
Kovalev_D 157:1069c80f4944 314 Spi.ADC4 = Spi.ADC4_Accum >> 5;
Kovalev_D 157:1069c80f4944 315 Spi.ADC5 = Spi.ADC5_Accum >> 5;
Kovalev_D 157:1069c80f4944 316 Spi.ADC1_Accum = 0; // сбрасывкем аккамулятор
Kovalev_D 157:1069c80f4944 317 Spi.ADC2_Accum = 0;
Kovalev_D 157:1069c80f4944 318 Spi.ADC3_Accum = 0;
Kovalev_D 157:1069c80f4944 319 Spi.ADC4_Accum = 0;
Kovalev_D 157:1069c80f4944 320 Spi.ADC5_Accum = 0;
Kovalev_D 157:1069c80f4944 321 Spi.ADC_NewData = 1;
Kovalev_D 209:224e7331a061 322
Kovalev_D 207:d1ce992f5d17 323 }
Kovalev_D 215:b58b887fd367 324 if(Time1Hz>6)
Kovalev_D 215:b58b887fd367 325 {
Kovalev_D 220:04c54405b82d 326 BuffADC_1Point[CountV255] = (0x7fff-ADC5New)&0x7fff;
Kovalev_D 218:b4067cac75c0 327 BuffADC_1Point_64[CountV31]=(0x7fff-ADC5New)&0x7fff;
Kovalev_D 216:189b0ea1dc38 328
Kovalev_D 220:04c54405b82d 329 /* ADC_128Point += BuffADC_1Point[CountV255];
Kovalev_D 220:04c54405b82d 330 ADC_128Point -= BuffADC_1Point[(CountV255 - 128) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов
Kovalev_D 220:04c54405b82d 331 BuffADC_128Point[CountV64] = ADC_128Point;*/
Kovalev_D 220:04c54405b82d 332
Kovalev_D 220:04c54405b82d 333
Kovalev_D 220:04c54405b82d 334 // Buff_Restored_Mod[CountV31] =(int)(BuffADC_1Point_64[CountV31] - ((BuffADC_128Point[CountV64])>>7));
Kovalev_D 220:04c54405b82d 335 // Buff_Restored_Mod[CountV64] =(int)(BuffADC_32PointD[CountV64]*2 - BuffADC_64Point[CountV64]);
Kovalev_D 220:04c54405b82d 336
Kovalev_D 220:04c54405b82d 337
Kovalev_D 220:04c54405b82d 338 count10v++;
Kovalev_D 220:04c54405b82d 339 BuffADC_10v[CountV64] += BuffADC_1Point[CountV255];
Kovalev_D 220:04c54405b82d 340
Kovalev_D 220:04c54405b82d 341 ModFilt();
Kovalev_D 220:04c54405b82d 342
Kovalev_D 220:04c54405b82d 343 }
Kovalev_D 220:04c54405b82d 344
Kovalev_D 220:04c54405b82d 345 }
Kovalev_D 220:04c54405b82d 346
Kovalev_D 220:04c54405b82d 347 void HFORegul(void)
Kovalev_D 220:04c54405b82d 348 {
Kovalev_D 220:04c54405b82d 349 static unsigned int countHFO;
Kovalev_D 220:04c54405b82d 350
Kovalev_D 220:04c54405b82d 351 countHFO=0;
Kovalev_D 220:04c54405b82d 352
Kovalev_D 220:04c54405b82d 353 if(Gyro.RgConA&0x2)
Kovalev_D 220:04c54405b82d 354 {
Kovalev_D 220:04c54405b82d 355 if(HFO_Flag)
Kovalev_D 220:04c54405b82d 356 {
Kovalev_D 225:f8fee6c586cc 357 /* switch(HFOregul){
Kovalev_D 220:04c54405b82d 358
Kovalev_D 225:f8fee6c586cc 359 case 1: HFOregul=0; break;
Kovalev_D 225:f8fee6c586cc 360 case -1: HFOregul=0; break;
Kovalev_D 225:f8fee6c586cc 361 case 2: HFOregul=1; break;
Kovalev_D 225:f8fee6c586cc 362 case -2: HFOregul=1; break;
Kovalev_D 220:04c54405b82d 363
Kovalev_D 220:04c54405b82d 364
Kovalev_D 225:f8fee6c586cc 365 }*/
Kovalev_D 225:f8fee6c586cc 366
Kovalev_D 220:04c54405b82d 367 Spi.DAC_A -= HFOregul;
Kovalev_D 220:04c54405b82d 368 HFO_Flag=0;
Kovalev_D 220:04c54405b82d 369 DeltaRegul=0;
Kovalev_D 220:04c54405b82d 370 }
Kovalev_D 220:04c54405b82d 371 }
Kovalev_D 220:04c54405b82d 372
Kovalev_D 220:04c54405b82d 373 else DeltaRegul=0;
Kovalev_D 220:04c54405b82d 374
Kovalev_D 220:04c54405b82d 375 if(Spi.DAC_A>Gyro.HFO_Min-1) Spi.DAC_A=Gyro.HFO_Min-2;
Kovalev_D 220:04c54405b82d 376 else if(Spi.DAC_A<Gyro.HFO_Max+1) Spi.DAC_A=Gyro.HFO_Max+2;
Kovalev_D 220:04c54405b82d 377
Kovalev_D 220:04c54405b82d 378 }
Kovalev_D 220:04c54405b82d 379
Kovalev_D 214:4c70e452c491 380
Kovalev_D 220:04c54405b82d 381 void PLCRegul(void)
Kovalev_D 215:b58b887fd367 382
Kovalev_D 220:04c54405b82d 383 {
Kovalev_D 220:04c54405b82d 384 static unsigned int Flag_64=0, count;
Kovalev_D 220:04c54405b82d 385 static int CountFaza,Sin;
Kovalev_D 216:189b0ea1dc38 386
Kovalev_D 216:189b0ea1dc38 387
Kovalev_D 220:04c54405b82d 388 if(Gyro.RgConA&0x8)
Kovalev_D 220:04c54405b82d 389 {
Kovalev_D 220:04c54405b82d 390 if(PLC_Flag)
Kovalev_D 220:04c54405b82d 391 {
Kovalev_D 220:04c54405b82d 392 PLC_Flag=0;
Kovalev_D 225:f8fee6c586cc 393 if (Gyro.PLCDelay)
Kovalev_D 225:f8fee6c586cc 394 {
Kovalev_D 225:f8fee6c586cc 395
Kovalev_D 225:f8fee6c586cc 396 }
Kovalev_D 222:7de7b3bf3a1d 397 else Spi.DAC_B+=(Gyro.PLC_Eror_count);
Kovalev_D 225:f8fee6c586cc 398
Kovalev_D 220:04c54405b82d 399
Kovalev_D 220:04c54405b82d 400 }
Kovalev_D 220:04c54405b82d 401 }
Kovalev_D 220:04c54405b82d 402 Gyro.PLC_Eror_count=0;
Kovalev_D 220:04c54405b82d 403 if(Gyro.LG_Type==1)
Kovalev_D 220:04c54405b82d 404 {
Kovalev_D 225:f8fee6c586cc 405 if(Spi.DAC_B > Gyro.HighTreshold )
Kovalev_D 222:7de7b3bf3a1d 406 {
Kovalev_D 222:7de7b3bf3a1d 407 Spi.DAC_B = (Gyro.ResetLevelCool);
Kovalev_D 225:f8fee6c586cc 408 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 222:7de7b3bf3a1d 409 }
Kovalev_D 225:f8fee6c586cc 410 else if(Spi.DAC_B < Gyro.DownTreshold )
Kovalev_D 222:7de7b3bf3a1d 411 {
Kovalev_D 222:7de7b3bf3a1d 412 Spi.DAC_B = (Gyro.ResetLevelHeat);
Kovalev_D 225:f8fee6c586cc 413 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 222:7de7b3bf3a1d 414 }
Kovalev_D 220:04c54405b82d 415 }
Kovalev_D 220:04c54405b82d 416 else
Kovalev_D 220:04c54405b82d 417 {
Kovalev_D 220:04c54405b82d 418 if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
Kovalev_D 220:04c54405b82d 419 else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
Kovalev_D 220:04c54405b82d 420 }
Kovalev_D 220:04c54405b82d 421 }
Kovalev_D 216:189b0ea1dc38 422
Kovalev_D 220:04c54405b82d 423
Kovalev_D 220:04c54405b82d 424
Kovalev_D 113:8be429494918 425
Kovalev_D 190:289514f730ee 426 void ShowMod(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 158:0c8342e1837a 427 {
Kovalev_D 158:0c8342e1837a 428
Kovalev_D 158:0c8342e1837a 429 //////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 430 //////////////////////////////////смотрим все моды/////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 431 ///////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 197:7a05523bf588 432 if(dispersion>5)
Kovalev_D 197:7a05523bf588 433 {
Kovalev_D 197:7a05523bf588 434 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 435 {
Kovalev_D 158:0c8342e1837a 436 Gyro.PLC_Error2Mode--;
Kovalev_D 158:0c8342e1837a 437 Gyro.PLC_Lern++;
Kovalev_D 197:7a05523bf588 438 Spi.DAC_B += tempstrafe*side;
Kovalev_D 197:7a05523bf588 439 if(side>0)side=(-1);
Kovalev_D 197:7a05523bf588 440 else side = 1;
Kovalev_D 197:7a05523bf588 441 tempstrafe-=40;
Kovalev_D 197:7a05523bf588 442 dispersion=0;
Kovalev_D 168:f4a6abb18358 443 }
Kovalev_D 197:7a05523bf588 444 else {Gyro.LogPLC=0;}
Kovalev_D 197:7a05523bf588 445 }
Kovalev_D 197:7a05523bf588 446 else dispersion++;
Kovalev_D 222:7de7b3bf3a1d 447 /*sprintf((Time),"%d %d %d %d \r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Gyro.Termo);
Kovalev_D 222:7de7b3bf3a1d 448 Gyro.CuruAngle=0;*/
Kovalev_D 197:7a05523bf588 449 WriteCon(Time);
Kovalev_D 158:0c8342e1837a 450 }
Kovalev_D 209:224e7331a061 451 void ShowMod2(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 209:224e7331a061 452 {
Kovalev_D 211:ac8251b067d2 453 if(dispersion>3)
Kovalev_D 211:ac8251b067d2 454 {
Kovalev_D 213:9953db9543d6 455 unsigned int step = 50, ENDMOD=65400;
Kovalev_D 222:7de7b3bf3a1d 456 /*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 457 Gyro.CuruAngle=0;
Kovalev_D 222:7de7b3bf3a1d 458 WriteCon(Time);*/
Kovalev_D 213:9953db9543d6 459 Spi.DAC_B+=step;
Kovalev_D 213:9953db9543d6 460 if(Spi.DAC_B>ENDMOD)
Kovalev_D 211:ac8251b067d2 461 {
Kovalev_D 214:4c70e452c491 462 // Gyro.LogMod=0;
Kovalev_D 211:ac8251b067d2 463 PlcON
Kovalev_D 213:9953db9543d6 464 Spi.DAC_B = 48000;
Kovalev_D 211:ac8251b067d2 465 }
Kovalev_D 211:ac8251b067d2 466 dispersion=0;
Kovalev_D 209:224e7331a061 467 }
Kovalev_D 211:ac8251b067d2 468 else dispersion++;
Kovalev_D 191:40028201ddad 469 }
Kovalev_D 112:4a96133a1311 470 void DAC_OutPut(void)//выдача в цапы
igor_v 0:8ad47e2b6f00 471 {
Kovalev_D 220:04c54405b82d 472 /*if(Gyro.RgConA&0x10)*/ Modulator();
Kovalev_D 157:1069c80f4944 473 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 474 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 475 LPC_SSP0->DR=0x5555;
igor_v 0:8ad47e2b6f00 476
Kovalev_D 209:224e7331a061 477 if (CountV31 & 1)
Kovalev_D 209:224e7331a061 478 { //если нечетный такт то
Kovalev_D 218:b4067cac75c0 479 LPC_SSP0->DR = WRITE_DAC0; //e.команда для ЦАП_0 передавать.
Kovalev_D 220:04c54405b82d 480 LPC_SSP0->DR = (Spi.DAC_A); //e. передача 12 бит
Kovalev_D 209:224e7331a061 481 }
Kovalev_D 209:224e7331a061 482 else
Kovalev_D 209:224e7331a061 483 { //если такт четный.
Kovalev_D 157:1069c80f4944 484 LPC_SSP0->DR = WRITE_DAC1 ; //e.команда для ЦАП_1 передавать.
Kovalev_D 220:04c54405b82d 485 LPC_SSP0->DR = (Spi.DAC_B) ;
igor_v 31:c783288001b5 486 }
Kovalev_D 112:4a96133a1311 487 }
Kovalev_D 112:4a96133a1311 488
Kovalev_D 112:4a96133a1311 489
Kovalev_D 113:8be429494918 490
Kovalev_D 113:8be429494918 491
Kovalev_D 113:8be429494918 492
Kovalev_D 113:8be429494918 493