Dmitry Kovalev
forkd
Fork of
LGstaandart
by 
Dmitry Kovalev
Global.c
- Committer:
- Kovalev_D
- Date:
- 2018-01-31
- Revision:
- 232:130a2b5003e6
- Parent:
- 231:079835d508ef
File content as of revision 232:130a2b5003e6:
#include "Global.h"
unsigned int VibroReg = 0; //регистр состаяния вибропривода.
unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
float t1;
unsigned char BuffTemp[100];
unsigned char Time[512];
unsigned int Event1Hz;
unsigned int Event100Hz;
unsigned int Event250Hz;
unsigned int Event500Hz;
unsigned int Event1K;
unsigned int Event1250Hz;
unsigned int Event10K;
unsigned int Event100K;
unsigned int EventVibro;
unsigned int MODFlag=0;
unsigned int Time250Hz;
unsigned int Event250Hz;
unsigned int Time100K;
unsigned int Time1K;
unsigned int Time1250Hz;
unsigned int Time10K;
unsigned int Time500Hz;
unsigned int Time250Hz;
unsigned int Time1Hz;
unsigned int Time100Hz;
unsigned int Clock1Hz;
__asm void boot_jump( uint32_t address )
{
LDR SP, [R0] ;Load new stack pointer address
LDR R0, [R0, #4] ;Load new program counter address
BX R0
}
uint32_t convertStrToTime(const char *str) {
char mon[3];
int day, mon_int, year;
mon[0] = str[0];
mon[1] = str[1];
mon[2] = str[2];
int year_pos = 6;
day = str[4] - 48;
if (str[5] != ' ') {
day = day * 10 + str[5] - 48;
year_pos = 7;
}
year = (str[year_pos] - 48) * 1000 + (str[year_pos + 1] - 48) * 100 + (str[year_pos + 2] - 48) * 10 + (str[year_pos + 3] - 48) - 2018;
mon_int = 0;
switch (mon[0]) {
case 'J':
switch (mon[1]) {
case 'a':
mon_int = 1;
break;
case 'u':
switch (mon[2]) {
case 'n':
mon_int = 6;
break;
case 'l':
mon_int = 7;
break;
}
}
break;
case 'F':
mon_int = 2;
break;
case 'M':
switch (mon[2]) {
case 'r':
mon_int = 3;
break;
case 'y':
mon_int = 5;
break;
}
break;
case 'A':
switch (mon[1]) {
case 'p':
mon_int = 4;
break;
case 'u':
mon_int = 8;
break;
}
break;
case 'S':
mon_int = 9;
break;
case 'O':
mon_int = 10;
break;
case 'N':
mon_int = 11;
break;
case 'D':
mon_int = 12;
break;
default:
mon_int = 0;
break;
}
uint32_t time_in_days = day;
for (int i = 0; i <= year; ++i) {
for (int j = 1; j < mon_int; ++j) {
switch (mon_int) {
case 1:
case 3:
case 5:
case 7:
case 8:
case 10:
case 12:
time_in_days += 31;
break;
case 4:
case 6:
case 9:
case 11:
time_in_days += 30;
break;
case 2:
if ((((i + 2018) % 4 == 0) && ((i + 2018) % 100 != 0)) || ((i + 2018) % 400 == 0)) {
time_in_days += 29;
} else {
time_in_days += 28;
}
break;
default:
break;
}
}
}
return time_in_days;
}
/*
int32_t convertStrToTime(char *str) {
struct tm time_format;
char mon[3];
int day, mon_int, year;
int year_pos = 6;
time_t time_sec;
mon[0] = str[0];
mon[1] = str[1];
mon[2] = str[2];
day = str[4] - 48;
if (str[5] != ' ') {
day = day * 10 + str[5] - 48;
year_pos = 7;
}
year = (str[year_pos] - 48) * 1000 + (str[year_pos + 1] - 48) * 100 + (str[year_pos + 2] - 48) * 10 + (str[year_pos + 3] - 48);
//sscanf(str, "%s%d%d", mon, &day, &year);
mon_int = 0;
switch (mon[0]) {
case 'J':
switch (mon[1]) {
case 'a':
mon_int = 1;
break;
case 'u':
switch (mon[2]) {
case 'n':
mon_int = 6;
break;
case 'l':
mon_int = 7;
break;
}
}
break;
case 'F':
mon_int = 2;
break;
case 'M':
switch (mon[2]) {
case 'r':
mon_int = 3;
break;
case 'y':
mon_int = 5;
break;
}
break;
case 'A':
switch (mon[1]) {
case 'p':
mon_int = 4;
break;
case 'u':
mon_int = 8;
break;
}
break;
case 'S':
mon_int = 9;
break;
case 'O':
mon_int = 10;
break;
case 'N':
mon_int = 11;
break;
case 'D':
mon_int = 12;
break;
default:
mon_int = 0;
break;
}
time_format.tm_mday = day;
time_format.tm_mon = mon_int - 1;
time_format.tm_year = year - 1900;
time_sec = mktime(&time_format) / 60 / 60 / 24;
sprintf((Time),"%d\r\n",time_sec);
WriteCon(Time);
return time_sec;
}
*/
void Param_init(void)
{
int temp=0;
unsigned int TempTermodataHi;
unsigned int TempTermodataLo;
Gyro.CurTermoCompens = 200;
Gyro.CuruAngleLog=0;
Global_Time = 0;
Time_UART = 0;
Time_Sec = 0;
Time_vibro = 0;
Time1250Hz = 0;
Time_1kHz = 0;
Event1Hz = 0;
Event1K = 0;
Event100K = 0;
EventVibro = 0;
Time1K = 0;
Time100K = 0;
Time1Hz = 0;
Clock1Hz = 0;
Event500Hz = 0;
Time500Hz = 0;
Gyro.Log = 0;
Gyro.LogPLC = 0;
Gyro.PLC_Lern = 0;
Gyro.CuruAngle = 0;
Pulse_8Point = 0;
Pulse_16Point = 0;
Pulse_16PointD = 0;
Pulse_32Point = 0;
Gyro.FlashMod = 0;
/////////////////////////////////////////////
///////////инициализация таймеров////////////
/////////////////////////////////////////////
Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
/////////////////////////////////////////////
/////////////инициализация переменных в структ вибро/////////////////
Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Gyro.PLC_Error2Mode = 1400;
Gyro.SOC_Out = 0xDD;
Gyro.RgConMod = 1;
GyroP.Str.ParamMod=0;
ReadFlash ();
// GyroP.Str.ParamMod=0;
if(GyroP.Str.ParamMod==1)
{
Gyro.ShowMod2=0;
// Gyro.TermoMod = GyroP.Str.TermoMode;
Gyro.TimeToJump = GyroP.Str.TimeToJump;
Gyro.JumpDelta = GyroP.Str.JumpDelta;
Gyro.ShiftMod = GyroP.Str.ShiftMod;
Gyro.PLC_Start = 0x7fff+GyroP.Str.PLC_Start;
Gyro.DownTreshold = (unsigned int)((GyroP.Str.DownTreshold-0x7fff)&0xffff); //27
Gyro.HighTreshold = (unsigned int)((GyroP.Str.HighTreshold-0x7fff)&0xffff);
Gyro.PLCDelay = GyroP.Str.PLCDelay;
Gyro.ResetLevelCool = (unsigned int)((GyroP.Str.ResetLevelCool-0x7fff)&0xffff); //105
Gyro.ResetLevelHeat = (unsigned int)((GyroP.Str.ResetLevelHeat-0x7fff)&0xffff);
Gyro.HFO_Gain = GyroP.Str.HFO_Gain;
Gyro.HFO_Gain_Reset_PLC = GyroP.Str.HFO_Gain_Reset_PLC;
Gyro.HFO_ref = (unsigned int)(GyroP.Str.HFO_ref);
Gyro.LG_Type = GyroP.Str.LG_Type;
Gyro.LG_Type = 1;
Gyro.My_Addres = GyroP.Str.My_Addres; // Gyro.My_Addres = 0;
Gyro.GLD_Serial = GyroP.Str.GLD_Serial;
Gyro.FrqHZ = (7680000/GyroP.Str.FrqHZ);
Gyro.Frq = ((7680000/GyroP.Str.FrqHZ)<<16);
Gyro.FrqHZmin = ((7680000/GyroP.Str.FrqHZmin)<<16);
Gyro.FrqHZmax = ((7680000/GyroP.Str.FrqHZmax)<<16);
Gyro.FrqChengSpeed = GyroP.Str.FrqChengSpeed;
Gyro.PLC_Gain = GyroP.Str.PLC_Gain;
Gyro.PLC_Phase = GyroP.Str.PLC_Phase;
Gyro.ModAmp = GyroP.Str.ModAmp;
Gyro.FrqPhase = GyroP.Str.FrqPhase;
//Gyro.AmpPer = 700;//GyroP.Str.AmpPer*100;
Gyro.Amp =(GyroP.Str.AmpPer<<17);
Gyro.AmpSpeed = GyroP.Str.AmpSpeed;
Gyro.AmpPerDel = GyroP.Str.AmpPerDel;
temp=((GyroP.Str.VB_Fdf_Hi<<16) | GyroP.Str.VB_Fdf_Lo);
temp=temp*20;
Gyro.AmpTarget=(unsigned int)(temp);
Gyro.AmpPerMin = GyroP.Str.AmpPerMin;
Gyro.AmpPerMax = GyroP.Str.AmpPerMax;
Gyro.AmpMin = GyroP.Str.AmpMin;
Gyro.AmpTD = GyroP.Str.AmpTD;
F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
T_vibP = F_vib/10000;
T_vib_1 = Gyro.AmpPer * T_vibP;
T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
LPC_MCPWM->LIM1 = F_vib;
LPC_MCPWM->LIM2 = F_vib;
LPC_MCPWM->MAT1 = T_vib_1;
LPC_MCPWM->MAT2 = T_vib_2;
if(Gyro.LG_Type==1){
//Gyro.HFO_Max=((int)(GyroP.Str.DAC_current_Work*0.67)-2000);
Gyro.HFO_Max=0xffff-GyroP.Str.DAC_current_Work;
//Gyro.HFO_Min=((int)(GyroP.Str.DAC_current_Start*0.67)-2000);
Gyro.HFO_Min= 0xffff-GyroP.Str.DAC_current_Start;
}
else Spi.DAC_A = ((((int)(GyroP.Str.DAC_current_Work+0x7fff) & 0xffff)+22544)*0.65);
Gyro.DacIn = GyroP.Str.DAC_current_Work;
// Gyro.TermoNKU = GyroP.Str.TermoNKU<<2;
Gyro.Firmware_Version = 17543;
// Spi.DAC_A = GyroP.Str.DAC_A;
// Spi.DAC_B = GyroP.Str.DAC_B;
Gyro.Gain_Sin = GyroP.Str.Gain_Sin;
Gyro.Gain_Cos = GyroP.Str.Gain_Cos;
Out_G_photo(Gyro.Gain_Sin, Gyro.Gain_Cos);
if(GyroP.Str.Tmp_OffsetT4&0x8000) Gyro.Tmp_OffsetT4 = GyroP.Str.Tmp_OffsetT4 - 65536;
else Gyro.Tmp_OffsetT4 = GyroP.Str.Tmp_OffsetT4;
if(GyroP.Str.Tmp_OffsetT5&0x8000) Gyro.Tmp_OffsetT5 = GyroP.Str.Tmp_OffsetT5 - 65536;
else Gyro.Tmp_OffsetT5 = GyroP.Str.Tmp_OffsetT5;
if(GyroP.Str.TStatic_0&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_0 = GyroP.Str.TStatic_0 - 65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_0 = GyroP.Str.TStatic_0;
if(GyroP.Str.TStatic_1&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_1 = GyroP.Str.TStatic_1 - 65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_1 = GyroP.Str.TStatic_1;
if(GyroP.Str.TStatic_2&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_2 = GyroP.Str.TStatic_2-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_2 = GyroP.Str.TStatic_2;
if(GyroP.Str.TStatic_3&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_3 = GyroP.Str.TStatic_3-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_3 = GyroP.Str.TStatic_3;
if(GyroP.Str.TStatic_4&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_4 = GyroP.Str.TStatic_4-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_4 = GyroP.Str.TStatic_4;
if(GyroP.Str.TStatic_5&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_5 = GyroP.Str.TStatic_5-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_5 = GyroP.Str.TStatic_5;
if(GyroP.Str.TStatic_6&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_6 = GyroP.Str.TStatic_6-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_6 = GyroP.Str.TStatic_6;
if(GyroP.Str.TStatic_7&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_7 = GyroP.Str.TStatic_7-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_7 = GyroP.Str.TStatic_7;
if(GyroP.Str.TStatic_8&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_8 = GyroP.Str.TStatic_8-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_8 = GyroP.Str.TStatic_8;
if(GyroP.Str.TStatic_9&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_9 = GyroP.Str.TStatic_9-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_9 = GyroP.Str.TStatic_9;
if(GyroP.Str.TStatic_10&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_10 = GyroP.Str.TStatic_10-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_10 = GyroP.Str.TStatic_10;
if(GyroP.Str.TStatic_11&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_11 = GyroP.Str.TStatic_11-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_11 = GyroP.Str.TStatic_11;
if(GyroP.Str.TStatic_12&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_12 = GyroP.Str.TStatic_12-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_12 = GyroP.Str.TStatic_12;
if(GyroP.Str.TStatic_13&0x8000) TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_13 = GyroP.Str.TStatic_13-65536;
else TermoCorrStatic.TermoTempStatic.Str.TermoTempStatic_13 = GyroP.Str.TStatic_13;
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_0 = Float(GyroP.Str.TermoDeltaStatic_0, GyroP.Str.TermoDeltaStatic_1 );
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_1 = Float(GyroP.Str.TermoDeltaStatic_2, GyroP.Str.TermoDeltaStatic_3 );
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_2 = Float(GyroP.Str.TermoDeltaStatic_4, GyroP.Str.TermoDeltaStatic_5 );
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_3 = Float(GyroP.Str.TermoDeltaStatic_6, GyroP.Str.TermoDeltaStatic_7 );
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_4 = Float(GyroP.Str.TermoDeltaStatic_8, GyroP.Str.TermoDeltaStatic_9 );
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_5 = Float(GyroP.Str.TermoDeltaStatic_10,GyroP.Str.TermoDeltaStatic_11);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_6 = Float(GyroP.Str.TermoDeltaStatic_12,GyroP.Str.TermoDeltaStatic_13);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_7 = Float(GyroP.Str.TermoDeltaStatic_14,GyroP.Str.TermoDeltaStatic_15);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_8 = Float(GyroP.Str.TermoDeltaStatic_16,GyroP.Str.TermoDeltaStatic_17);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_9 = Float(GyroP.Str.TermoDeltaStatic_18,GyroP.Str.TermoDeltaStatic_19);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_10 = Float(GyroP.Str.TermoDeltaStatic_20,GyroP.Str.TermoDeltaStatic_21);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_11 = Float(GyroP.Str.TermoDeltaStatic_22,GyroP.Str.TermoDeltaStatic_23);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_12 = Float(GyroP.Str.TermoDeltaStatic_24,GyroP.Str.TermoDeltaStatic_25);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_13 = Float(GyroP.Str.TermoDeltaStatic_26,GyroP.Str.TermoDeltaStatic_27);
/*
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_0 = Float(GyroP.Str.TermoDeltaStatic_1, GyroP.Str.TermoDeltaStatic_0);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_1 = Float(GyroP.Str.TermoDeltaStatic_3, GyroP.Str.TermoDeltaStatic_2);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_2 = Float(GyroP.Str.TermoDeltaStatic_5, GyroP.Str.TermoDeltaStatic_4);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_3 = Float(GyroP.Str.TermoDeltaStatic_7, GyroP.Str.TermoDeltaStatic_6);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_4 = Float(GyroP.Str.TermoDeltaStatic_9, GyroP.Str.TermoDeltaStatic_8);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_5 = Float(GyroP.Str.TermoDeltaStatic_11,GyroP.Str.TermoDeltaStatic_10);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_6 = Float(GyroP.Str.TermoDeltaStatic_13,GyroP.Str.TermoDeltaStatic_12);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_7 = Float(GyroP.Str.TermoDeltaStatic_15,GyroP.Str.TermoDeltaStatic_14);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_8 = Float(GyroP.Str.TermoDeltaStatic_17,GyroP.Str.TermoDeltaStatic_16);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_9 = Float(GyroP.Str.TermoDeltaStatic_19,GyroP.Str.TermoDeltaStatic_18);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_10 = Float(GyroP.Str.TermoDeltaStatic_21,GyroP.Str.TermoDeltaStatic_20);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_11 = Float(GyroP.Str.TermoDeltaStatic_23,GyroP.Str.TermoDeltaStatic_22);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_12 = Float(GyroP.Str.TermoDeltaStatic_25,GyroP.Str.TermoDeltaStatic_24);
TermoCorrStatic.TermoDeltaStatic.Str.TermoDeltaStatic_13 = Float(GyroP.Str.TermoDeltaStatic_27,GyroP.Str.TermoDeltaStatic_26);
*/
if(GyroP.Str.TDCool_0&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_0 = GyroP.Str.TDCool_0-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_0 = GyroP.Str.TDCool_0;
if(GyroP.Str.TDCool_1&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_1 = GyroP.Str.TDCool_1-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_1 = GyroP.Str.TDCool_1;
if(GyroP.Str.TDCool_2&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_2 = GyroP.Str.TDCool_2-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_2 = GyroP.Str.TDCool_2;
if(GyroP.Str.TDCool_3&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_3 = GyroP.Str.TDCool_3-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_3 = GyroP.Str.TDCool_3;
if(GyroP.Str.TDCool_4&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_4 = GyroP.Str.TDCool_4-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_4 = GyroP.Str.TDCool_4;
if(GyroP.Str.TDCool_5&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_5 = GyroP.Str.TDCool_5-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_5 = GyroP.Str.TDCool_5;
if(GyroP.Str.TDCool_6&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_6 = GyroP.Str.TDCool_6-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_6 = GyroP.Str.TDCool_6;
if(GyroP.Str.TDCool_7&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_7 = GyroP.Str.TDCool_7-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_7 = GyroP.Str.TDCool_7;
if(GyroP.Str.TDCool_8&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_8 = GyroP.Str.TDCool_8-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_8 = GyroP.Str.TDCool_8;
if(GyroP.Str.TDCool_9&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_9 = GyroP.Str.TDCool_9-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_9 = GyroP.Str.TDCool_9;
if(GyroP.Str.TDCool_10&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_10 = GyroP.Str.TDCool_10-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_10 = GyroP.Str.TDCool_10;
if(GyroP.Str.TDCool_11&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_11 = GyroP.Str.TDCool_11-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_11 = GyroP.Str.TDCool_11;
if(GyroP.Str.TDCool_12&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_12 = GyroP.Str.TDCool_12-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_12 = GyroP.Str.TDCool_12;
if(GyroP.Str.TDCool_13&0x8000) TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_13 = GyroP.Str.TDCool_13-65536;
else TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_13 = GyroP.Str.TDCool_13;
/*
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_0 = GyroP.Str.TDCool_0;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_1 = GyroP.Str.TDCool_1;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_2 = GyroP.Str.TDCool_2;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_3 = GyroP.Str.TDCool_3;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_4 = GyroP.Str.TDCool_4;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_5 = GyroP.Str.TDCool_5;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_6 = GyroP.Str.TDCool_6;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_7 = GyroP.Str.TDCool_7;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_8 = GyroP.Str.TDCool_8;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_9 = GyroP.Str.TDCool_9;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_10 = GyroP.Str.TDCool_10;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_11 = GyroP.Str.TDCool_11;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_12 = GyroP.Str.TDCool_12;
TermoCorrDynamic.TermoTempDynamic.Str.TermoTempDynamic_13 = GyroP.Str.TDCool_13;
*/
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_0 = Float(GyroP.Str.TermoDynamicData_0, GyroP.Str.TermoDynamicData_1 );
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_1 = Float(GyroP.Str.TermoDynamicData_2, GyroP.Str.TermoDynamicData_3 );
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_2 = Float(GyroP.Str.TermoDynamicData_4, GyroP.Str.TermoDynamicData_5 );
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_3 = Float(GyroP.Str.TermoDynamicData_6, GyroP.Str.TermoDynamicData_7 );
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_4 = Float(GyroP.Str.TermoDynamicData_8, GyroP.Str.TermoDynamicData_9 );
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_5 = Float(GyroP.Str.TermoDynamicData_10, GyroP.Str.TermoDynamicData_11);
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_6 = Float(GyroP.Str.TermoDynamicData_12, GyroP.Str.TermoDynamicData_13);
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_7 = Float(GyroP.Str.TermoDynamicData_14, GyroP.Str.TermoDynamicData_15);
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_8 = Float(GyroP.Str.TermoDynamicData_16, GyroP.Str.TermoDynamicData_17);
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_9 = Float(GyroP.Str.TermoDynamicData_18, GyroP.Str.TermoDynamicData_19);
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_10 = Float(GyroP.Str.TermoDynamicData_20, GyroP.Str.TermoDynamicData_21);
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_11 = Float(GyroP.Str.TermoDynamicData_22, GyroP.Str.TermoDynamicData_23);
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_12 = Float(GyroP.Str.TermoDynamicData_24, GyroP.Str.TermoDynamicData_25);
TermoCorrDynamic.TermoDeltaDynamic.Str.TermoDeltaDynamic_13 = Float(GyroP.Str.TermoDynamicData_26, GyroP.Str.TermoDynamicData_27);
}
else
{
Gyro.DownTreshold = GyroP.Str.DownTreshold; //27
Gyro.HighTreshold = GyroP.Str.HighTreshold;
Gyro.PLCDelay = 5000;
Gyro.ResetLevelCool = 56000; //105
Gyro.ResetLevelHeat = 15000;
Gyro.HFO_ref = 13000;
Gyro.LG_Type = 0;
Gyro.PLC_Phase = 3;
Gyro.PLC_Gain = 3;
Gyro.FrqPhase = 8;
Gyro.FrqHZ = 403;
Gyro.Frq = Gyro.FrqHZ<<16;
Gyro.FrqHZmin = 350<<16;
Gyro.FrqHZmax = 450<<16;
Gyro.FrqChengSpeed = 100;
Gyro.ModAmp = 250;
Gyro.AmpPer = 20;
Gyro.AmpPerMin = 2;
Gyro.AmpPerMax = 90;
Gyro.AmpSpeed = 1;
Gyro.AmpPerDel = 3;
Gyro.AmpTarget = 5500;// целевая амплитуда ВП
Gyro.Amp = 20*65535;
Gyro.AmpMin = 20;// минимальное значение AmpT;5
Gyro.AmpTD = 20;////////////////////////////////////////////////////////
Gyro.TermoNKU = 44700;//48824*0,0061-273=25 С°
Spi.DAC_B = Gyro.PLC_Start;
Gyro.PLC_Error2Mode = 1400; //для записи мод
Gyro.Gain_Sin = 175;
Gyro.Gain_Cos = 215;
Gyro.Firmware_Version = 0x11; //версия программы
Gyro.GLD_Serial = 123; //серийный номер
Gyro.My_Addres = 0; //адрес глд
Gyro.Tmp_OffsetT4 = 0;
Gyro.Tmp_OffsetT5 = 0;
Gyro.Tmp_scaleT4 = 1; //53
Gyro.Tmp_scaleT5 = 1;
Gyro.DAC_current_Work =50000; //3
Gyro.DAC_current_Start =41000;
F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
T_vibP = F_vib/10000;
T_vib_1 = Gyro.AmpPer * T_vibP;
T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
LPC_MCPWM->LIM1 = F_vib;
LPC_MCPWM->LIM2 = F_vib;
LPC_MCPWM->MAT1 = T_vib_1;
LPC_MCPWM->MAT2 = T_vib_2;
}
Spi.DAC_B=Gyro.PLC_Start;
switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
case 0:
Gyro.Discharg = StartDischarg << ShiftStart0;
Gyro.BackLight = StartBackLight << ShiftStart0;
break;
case 1:
Gyro.Discharg = StartDischarg << ShiftStart1;
Gyro.BackLight = StartBackLight << ShiftStart1;
break;
case 2:
Gyro.Discharg = StartDischarg << ShiftStart2;
Gyro.BackLight = StartBackLight << ShiftStart2;
break;
case 3:
Gyro.Discharg = StartDischarg << ShiftStart3;
Gyro.BackLight = StartBackLight << ShiftStart3;
break;
}
/////////////////////////////////////////////////////
//////инициализация цап_LPC (р0.26 цап выход)////////
/////////////////////////////////////////////////////
LPC_PINCON->PINSEL1 = 0x00200000;
/////////////////////////////////////////////////////
////////////начальное значение для цап///////////////
//////////////////середина шкалы/////////////////////
/////////////////////////////////////////////////////
////////////////////////////////////////////////////
/////////////поправочный коэффициент/////////////////
/////////для цапов (граници +-12.5 вольт)////////////
/////////////////////////////////////////////////////
K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
K_DAC=0.8;
/////////////////////////////////////////////////////
/////////////обнуление переменых для/////////////////
///////////////переменных энкодера///////////////////
/////////////////////////////////////////////////////
secPuls =0;// переменная для конопки поджига аск глд(временная)
Gyro.CaunPlus =0;
Gyro.CaunMin =0;
Cur_QEI=0;
Last_QEI=0;
}
void BUTTON_init(void) {
if(Gyro.EXT_Latch)Gyro.EXT_Latch=0;
else Gyro.EXT_Latch=1;
LPC_GPIOINT->IO2IntClr |= (1 << 10);
}
/*void EINT3_IRQHandler()
{
if(Gyro.EXT_Latch)Gyro.EXT_Latch=0;
else Gyro.EXT_Latch=1;
LPC_GPIOINT->IO2IntClr |= (1 << 10);
}*/
void GLD_Init(void)
{
int Dummy; // инициализация мусорки для очистки буфера приема.
BUTTON_init();
if(Gyro.LG_Type==1)Spi.DAC_A=Gyro.HFO_Max;
/////////////////////////////////////////////////////
/////////////инициализация энкодера//////////////////
/////////////////////////////////////////////////////
LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
LPC_PINCON->PINSEL3 &= ~0x4100;
LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
//Gyro.ShiftMod=150;
LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
LPC_QEI->FILTER = 2; // фильтр( ?? )
LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
LPC_QEI->CONF = (1<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
/*NVIC_SetPriority(QEI_IRQn, 0);
NVIC_EnableIRQ(QEI_IRQn);*/
//////////////////////////////////////////////////////
//////////////////////////////////////////////////////
//////////////////////////////////////////////////////
///////////////////////I2C////////////////////////////
//////////////////////////////////////////////////////
LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
/* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
/* function to 01 on both SDA and SCK. */
LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
// подтверждение Флаг флаг разрешения
/*сброс флагоф флага прерывания I2C старта интерфейса I2C */
LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
/*--- Reset registers ---*/
LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
I2CMasterBuffer[0] = A_ADDRESS;
I2CMasterBuffer[1] = WRITE_CMD;
I2CMasterBuffer[3] = B_ADDRESS;
I2CMasterBuffer[4] = WRITE_CMD;
LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
//////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
//////////////////////////SPI//////////////////////////
///////////////////////////////////////////////////////
Dummy = Dummy;
/* Enable AHB clock to the SSP0, SSP1 */
LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
/* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
// P0.15~0.18 as SSP0
LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
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),
// низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
// формат кадра TI.
/* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
/*SSP enable, master mode */
LPC_SSP0->CR1 = SSPCR1_SSE;
// LPC_SSP1->CR1 = SSPCR1_SSE;
while (LPC_SSP0->SR & SSP_BUSY);
while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Dummy = LPC_SSP0->DR;
//all pins after reset is in GPIO mode, so CS pins needn't to configure
LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
while (LPC_SSP1->SR & RX_SSP_notEMPT)
Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////
/////////////////инициализация ног///////////////////
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
Gyro.PinRegOld = 0xffffffff;
Gyro.PinReg = 0; // всЁ выключенно
PinCheng();
/////////////////////////////////////////////////////
Gyro.ModeOut=0;
/////////////////////////////////////////////////////
//////////////отладочный светодиод///////////////////
/////////////////////////////////////////////////////
LPC_PINCON->PINSEL0 &= ~(0x00<<28);
LPC_PINCON->PINSEL0 |= (0x00<<28);
LPC_PINCON->PINMODE0 |= (0x3<<28);
LPC_GPIO1->FIODIR |= (1<<30);
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
NVIC_EnableIRQ(EINT3_IRQn);
LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
/////////////////////////////////////////////////////
////////////////управление уартом////////////////////
/////////////////////////////////////////////////////
LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
///////////////////////поджиг////////////////////////
/////////////////////////////////////////////////////
LPC_PINCON->PINSEL0 &= ~(3<<8); //e. P0.4 is GPIO pin (запись ( 00 ) в 9:8 бит PISEL0 выбор P0.4 как GPIO)
LPC_PINCON->PINMODE0 |= (3<<8); //e. P0.4 is GPIO pin (запись ( 11 ) в 9:8 бит PINMODE0 "для включения подтягивающего резистора")
LPC_GPIO0->FIODIR |= (1<<4); //e. P0.4 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.4 как выход)
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
/////////////////////вибро 1/////////////////////////
/////////////////////////////////////////////////////
LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
LPC_GPIO1->FIODIR |= (1<<25); //e. P0.5 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
LPC_GPIO1->FIOCLR |= (1<<25);
//////////////////////////////////////////////////////
//////////////////////вибро 2/////////////////////////
//////////////////////////////////////////////////////
LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
LPC_GPIO1->FIODIR |= (1<<28); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
LPC_GPIO1->FIOCLR |= (1<<28);
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
/////////////инициализация подсветки/////////////////
/////////////////////////////////////////////////////
LPC_PINCON->PINSEL2 &= ~(0x00<<24);
LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
LPC_GPIO2->FIODIR |= (1<<12); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
LPC_GPIO2->FIOCLR |= (1<<12);
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
///////////////////включение таймеров//////////////////
///////////////////////////////////////////////////////
enable_timer1();
enable_timer2();
///////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
// LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
//////////////////////////SPI//////////////////////////
///////////////////////////////////////////////////////
Dummy = Dummy;
/* Enable AHB clock to the SSP0, SSP1 */
LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
/* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
// P0.15~0.18 as SSP0
LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
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),
// низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
// формат кадра TI.
/* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
/*SSP enable, master mode */
LPC_SSP0->CR1 = SSPCR1_SSE;
// LPC_SSP1->CR1 = SSPCR1_SSE;
while (LPC_SSP0->SR & SSP_BUSY);
while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Dummy = LPC_SSP0->DR;
//all pins after reset is in GPIO mode, so CS pins needn't to configure
LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
while (LPC_SSP1->SR & RX_SSP_notEMPT)
Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
//Gyro=GyroP.str;
//Gyro = (*(struct Gyro*)(&GyroP.Str));
}