Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

Command.c@108:030cdde08314, 2016-04-02 (annotated)

Committer:
Kovalev_D
Date:
Sat Apr 02 11:15:38 2016 +0000
Revision:
108:030cdde08314
Parent:
107:4d178bcc9d8a
Child:
112:4a96133a1311
1;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "stdlib.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "Global.h"
Kovalev_D 106:250ddd8629c6 4 int tempNH,tempNL;
igor_v 0:8ad47e2b6f00 5 unsigned int Rate_Flag;
igor_v 0:8ad47e2b6f00 6 unsigned int CountBuFFIn;
igor_v 21:bc8c1cec3da6 7 unsigned int N=0,CRC_N;
igor_v 21:bc8c1cec3da6 8 unsigned int Param1=0;
igor_v 21:bc8c1cec3da6 9 unsigned int Param2=0;
igor_v 21:bc8c1cec3da6 10 unsigned int Param3=0;
igor_v 21:bc8c1cec3da6 11 unsigned int Param4=0;
Kovalev_D 102:4270092be987 12 unsigned int Consol=123;
igor_v 0:8ad47e2b6f00 13 /*
igor_v 21:bc8c1cec3da6 14 void exec_CMD(void) //r. === процедура окончательной дешифрации и исполнения команды
igor_v 0:8ad47e2b6f00 15 {
igor_v 0:8ad47e2b6f00 16 unsigned int Comand_code;
igor_v 21:bc8c1cec3da6 17
igor_v 21:bc8c1cec3da6 18 //rx_buf_copy = 1; //r. предустанов флага копирования приемного буфера
igor_v 0:8ad47e2b6f00 19
igor_v 0:8ad47e2b6f00 20 Comand_code = (rcv_buf[2] & 0xFF) << 8;
igor_v 21:bc8c1cec3da6 21 PC_Comand = Comand_code | (rcv_buf[3] & 0xFF); //e. save it in the memory for echo-transmission //r. сохранить его в памяти для обратной передачи
igor_v 0:8ad47e2b6f00 22 }*/
igor_v 0:8ad47e2b6f00 23 void CMD_Maintenance(void)
igor_v 0:8ad47e2b6f00 24 {
igor_v 30:17c84ed091b3 25 BuffTemp[0] = Gyro.SOC_Out;
igor_v 30:17c84ed091b3 26 BuffTemp[1] = Gyro .My_Addres;
igor_v 30:17c84ed091b3 27 BuffTemp[2] = Gyro .Firmware_Version;
igor_v 30:17c84ed091b3 28 BuffTemp[3] = Gyro .GLD_Serial;
igor_v 21:bc8c1cec3da6 29 BuffTemp[4]=0x00;
igor_v 21:bc8c1cec3da6 30 BuffTemp[5]=0x00;
igor_v 21:bc8c1cec3da6 31 Check(BuffTemp, 8);
igor_v 21:bc8c1cec3da6 32 WriteConN (BuffTemp,8);
igor_v 0:8ad47e2b6f00 33 }
igor_v 0:8ad47e2b6f00 34
igor_v 0:8ad47e2b6f00 35 void CMD_Rate(void)
igor_v 21:bc8c1cec3da6 36 {
Kovalev_D 107:4d178bcc9d8a 37
Kovalev_D 108:030cdde08314 38 unsigned int Temp;
Kovalev_D 108:030cdde08314 39
igor_v 21:bc8c1cec3da6 40 unsigned int Cnt_PlsL , Cnt_PlsH; // Счетчик +.
igor_v 21:bc8c1cec3da6 41 unsigned int Cnt_MnsL , Cnt_MnsH; // Счетчик -.
igor_v 21:bc8c1cec3da6 42 unsigned int Cnt_DifL , Cnt_DifH; // Разность счетчиков.
igor_v 21:bc8c1cec3da6 43 unsigned int F_rasL , F_rasH; // Частота расщепления.
igor_v 21:bc8c1cec3da6 44
Kovalev_D 106:250ddd8629c6 45 unsigned int HF_regL , HF_regH; // Выход регулятора ГВЧ.
Kovalev_D 106:250ddd8629c6 46 unsigned int HF_difL , HF_difH; // Сигнал ошибки регулячтора ГВЧ.
igor_v 21:bc8c1cec3da6 47
igor_v 21:bc8c1cec3da6 48 unsigned int WP_regL , WP_regH;
igor_v 21:bc8c1cec3da6 49
igor_v 21:bc8c1cec3da6 50 unsigned int ADC1L, ADC2L, ADC3L, ADC4L, ADC5L;
igor_v 21:bc8c1cec3da6 51 unsigned int ADC1H, ADC2H, ADC3H, ADC4H, ADC5H;
Kovalev_D 106:250ddd8629c6 52
Kovalev_D 108:030cdde08314 53
Kovalev_D 107:4d178bcc9d8a 54
igor_v 30:17c84ed091b3 55 Gyro.Firmware_Version=0xff; /// промежуточная затычка
igor_v 21:bc8c1cec3da6 56
Kovalev_D 108:030cdde08314 57
Kovalev_D 108:030cdde08314 58
Kovalev_D 106:250ddd8629c6 59
igor_v 30:17c84ed091b3 60 Cnt_PlsH = ( Gyro.Cnt_Pls>>8) TakeByte;
Kovalev_D 106:250ddd8629c6 61 Cnt_PlsL = Gyro.Cnt_Pls TakeByte;
Kovalev_D 106:250ddd8629c6 62 Gyro.Cnt_Pls= 0;
Kovalev_D 106:250ddd8629c6 63
igor_v 30:17c84ed091b3 64 Cnt_MnsH = ( Gyro.Cnt_Mns>>8) TakeByte;
Kovalev_D 106:250ddd8629c6 65 Cnt_MnsL = Gyro.Cnt_Mns TakeByte;
Kovalev_D 106:250ddd8629c6 66 Gyro.Cnt_Mns=0;
Kovalev_D 106:250ddd8629c6 67
Kovalev_D 106:250ddd8629c6 68 Cnt_DifH = ( Dif_QEI>>8) TakeByte;
Kovalev_D 106:250ddd8629c6 69 Cnt_DifL = ( Dif_QEI ) TakeByte;
Kovalev_D 106:250ddd8629c6 70
Kovalev_D 106:250ddd8629c6 71 //Spi.DAC_A
igor_v 30:17c84ed091b3 72 F_rasH = ( Gyro.F_ras>>8 ) TakeByte;
igor_v 30:17c84ed091b3 73 F_rasL = ( Gyro.F_ras ) TakeByte;
Kovalev_D 106:250ddd8629c6 74
Kovalev_D 107:4d178bcc9d8a 75 HF_regL = ( Spi.DAC_A ) TakeByte;
Kovalev_D 106:250ddd8629c6 76 HF_regH = ( Spi.DAC_A>>8 ) TakeByte;
Kovalev_D 107:4d178bcc9d8a 77
Kovalev_D 107:4d178bcc9d8a 78 WP_regH = ( Spi.DAC_A>>8 ) TakeByte;
Kovalev_D 107:4d178bcc9d8a 79 WP_regL = ( Spi.DAC_A ) TakeByte;
Kovalev_D 106:250ddd8629c6 80
igor_v 21:bc8c1cec3da6 81 ADC1H = ( Spi.ADC1>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 82 ADC1L = ( Spi.ADC1 ) TakeByte;
igor_v 0:8ad47e2b6f00 83
igor_v 21:bc8c1cec3da6 84 ADC2H = ( Spi.ADC2>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 85 ADC2L = ( Spi.ADC2 ) TakeByte;
igor_v 21:bc8c1cec3da6 86
igor_v 21:bc8c1cec3da6 87 ADC3H = ( Spi.ADC3>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 88 ADC3L = ( Spi.ADC3 ) TakeByte;
igor_v 21:bc8c1cec3da6 89
igor_v 21:bc8c1cec3da6 90 ADC4H = ( Spi.ADC4>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 91 ADC4L = ( Spi.ADC4 ) TakeByte;
igor_v 21:bc8c1cec3da6 92
igor_v 21:bc8c1cec3da6 93 ADC5H = ( Spi.ADC5>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 94 ADC5L = ( Spi.ADC5 ) TakeByte;
igor_v 21:bc8c1cec3da6 95
igor_v 21:bc8c1cec3da6 96 WP_regH = ( Spi.DAC_B>>8 ) TakeByte;
igor_v 21:bc8c1cec3da6 97 WP_regL = ( Spi.DAC_B ) TakeByte;
igor_v 21:bc8c1cec3da6 98
igor_v 21:bc8c1cec3da6 99 HF_regH=0xff;
igor_v 21:bc8c1cec3da6 100 HF_regL=0xff;
igor_v 21:bc8c1cec3da6 101
igor_v 21:bc8c1cec3da6 102 HF_difH=0xff;
igor_v 21:bc8c1cec3da6 103 HF_difL=0xff;
igor_v 21:bc8c1cec3da6 104
igor_v 0:8ad47e2b6f00 105
igor_v 30:17c84ed091b3 106 BuffTemp[ 0] = Gyro.SOC_Out;
igor_v 30:17c84ed091b3 107 BuffTemp[ 1] = Gyro.My_Addres;
igor_v 21:bc8c1cec3da6 108
Kovalev_D 108:030cdde08314 109
Kovalev_D 108:030cdde08314 110 BuffTemp[ 2] =(CaunPlus >> 8) & 0xff;//старший байт счетчика +.
Kovalev_D 108:030cdde08314 111 BuffTemp[ 3] =(CaunPlus >> 0) & 0xff;//младший байт счетчика +.
Kovalev_D 108:030cdde08314 112
Kovalev_D 108:030cdde08314 113 BuffTemp[ 4] =(CaunMin >> 8) & 0xff;//старший байт счетчика -.
Kovalev_D 108:030cdde08314 114 BuffTemp[ 5] =(CaunMin >> 0) & 0xff;//младший байт счетчика -.
Kovalev_D 108:030cdde08314 115
Kovalev_D 108:030cdde08314 116
Kovalev_D 108:030cdde08314 117
Kovalev_D 108:030cdde08314 118 Temp = Gyro.CuruAngle;
Kovalev_D 108:030cdde08314 119 Gyro.CuruAngle = 0;
Kovalev_D 108:030cdde08314 120
Kovalev_D 108:030cdde08314 121
Kovalev_D 108:030cdde08314 122 BuffTemp[ 6] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 108:030cdde08314 123 BuffTemp[ 7] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 108:030cdde08314 124
Kovalev_D 108:030cdde08314 125
Kovalev_D 108:030cdde08314 126
igor_v 21:bc8c1cec3da6 127
Kovalev_D 106:250ddd8629c6 128 BuffTemp[ 8] = F_rasH;//расщипление частота
Kovalev_D 106:250ddd8629c6 129 BuffTemp[ 9] = F_rasL;//
igor_v 21:bc8c1cec3da6 130
Kovalev_D 108:030cdde08314 131 BuffTemp[10] = (Temp >> 8) & 0xff;//выход регулятора гвч;
Kovalev_D 108:030cdde08314 132 BuffTemp[11] = (Temp >> 0) & 0xff;;
igor_v 21:bc8c1cec3da6 133
Kovalev_D 108:030cdde08314 134 BuffTemp[12]=(Temp >> 8) & 0xff;////
Kovalev_D 108:030cdde08314 135 BuffTemp[13]=(Temp >> 0) & 0xff;////
igor_v 21:bc8c1cec3da6 136
Kovalev_D 108:030cdde08314 137
Kovalev_D 108:030cdde08314 138 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 139 BuffTemp[14] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 140 BuffTemp[15] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 141
Kovalev_D 107:4d178bcc9d8a 142 BuffTemp[16] = 0xf;
Kovalev_D 106:250ddd8629c6 143 BuffTemp[17] = 0x02;
Kovalev_D 108:030cdde08314 144
igor_v 21:bc8c1cec3da6 145
Kovalev_D 108:030cdde08314 146 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 147 BuffTemp[18] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 148 BuffTemp[19] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 149
Kovalev_D 106:250ddd8629c6 150 BuffTemp[20] = 0x00;
Kovalev_D 106:250ddd8629c6 151 BuffTemp[21] = 0x00;
Kovalev_D 108:030cdde08314 152 Temp = Spi.DAC_B ;
Kovalev_D 108:030cdde08314 153 BuffTemp[22] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 154 BuffTemp[23] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 155
Kovalev_D 106:250ddd8629c6 156 BuffTemp[24] = 0x00;
Kovalev_D 106:250ddd8629c6 157 BuffTemp[25] = 0x00;// ХЗ
igor_v 21:bc8c1cec3da6 158
Kovalev_D 106:250ddd8629c6 159 BuffTemp[26] = ADC1H;
Kovalev_D 106:250ddd8629c6 160 BuffTemp[27] = ADC1L;
igor_v 21:bc8c1cec3da6 161
Kovalev_D 106:250ddd8629c6 162 BuffTemp[28] = ADC2H;
Kovalev_D 106:250ddd8629c6 163 BuffTemp[29] = ADC2L;
igor_v 21:bc8c1cec3da6 164
Kovalev_D 106:250ddd8629c6 165 BuffTemp[30] = ADC2H;//in1
Kovalev_D 106:250ddd8629c6 166 BuffTemp[31] = ADC2L;
igor_v 21:bc8c1cec3da6 167
Kovalev_D 106:250ddd8629c6 168 BuffTemp[32] = ADC3H;
Kovalev_D 106:250ddd8629c6 169 BuffTemp[33] = ADC3L;//in2
igor_v 21:bc8c1cec3da6 170
Kovalev_D 106:250ddd8629c6 171 BuffTemp[34] = ADC5H;
Kovalev_D 106:250ddd8629c6 172 BuffTemp[35] = ADC5L;
igor_v 21:bc8c1cec3da6 173
Kovalev_D 106:250ddd8629c6 174 BuffTemp[36] =0x00;//ADC6
Kovalev_D 106:250ddd8629c6 175 BuffTemp[37] =0x00;//ADC6
igor_v 21:bc8c1cec3da6 176
Kovalev_D 106:250ddd8629c6 177 BuffTemp[38] =0x00;
Kovalev_D 106:250ddd8629c6 178 BuffTemp[39] =0x00;
Kovalev_D 106:250ddd8629c6 179 BuffTemp[40] =0x00;
Kovalev_D 106:250ddd8629c6 180 BuffTemp[41] =0x00;
igor_v 21:bc8c1cec3da6 181
igor_v 21:bc8c1cec3da6 182
igor_v 21:bc8c1cec3da6 183 Check(BuffTemp, 44);
igor_v 21:bc8c1cec3da6 184 WriteConN (BuffTemp,44);
Kovalev_D 92:c892f0311aa7 185
igor_v 0:8ad47e2b6f00 186 }
igor_v 0:8ad47e2b6f00 187
igor_v 21:bc8c1cec3da6 188 void CMD_M_Control_D8()///установка\сброс регистров управления
igor_v 21:bc8c1cec3da6 189 {
Kovalev_D 104:ab1cb4ff56b2 190 unsigned int bit,NReg,Pa;
Kovalev_D 104:ab1cb4ff56b2 191 unsigned int SR,V,A,Bit_num;
Kovalev_D 104:ab1cb4ff56b2 192 SR=0;
Kovalev_D 104:ab1cb4ff56b2 193 V=0;
Kovalev_D 104:ab1cb4ff56b2 194 A=0;
Kovalev_D 104:ab1cb4ff56b2 195 Bit_num=0;
Kovalev_D 104:ab1cb4ff56b2 196
igor_v 30:17c84ed091b3 197 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 198 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 199 BuffTemp[2] = Gyro.CMD_In; //D8
Kovalev_D 104:ab1cb4ff56b2 200
Kovalev_D 104:ab1cb4ff56b2 201 /*
Kovalev_D 104:ab1cb4ff56b2 202
Kovalev_D 104:ab1cb4ff56b2 203 FrqON
Kovalev_D 104:ab1cb4ff56b2 204 PlcON
Kovalev_D 104:ab1cb4ff56b2 205 HFOOFF
Kovalev_D 104:ab1cb4ff56b2 206 HFOON
igor_v 21:bc8c1cec3da6 207
Kovalev_D 104:ab1cb4ff56b2 208 PlcOFF
Kovalev_D 104:ab1cb4ff56b2 209 PlcON
Kovalev_D 104:ab1cb4ff56b2 210 */
Kovalev_D 104:ab1cb4ff56b2 211 Pa = BuffTemp[3];
Kovalev_D 104:ab1cb4ff56b2 212
Kovalev_D 104:ab1cb4ff56b2 213 SR = Pa >> 0x7;
Kovalev_D 104:ab1cb4ff56b2 214
Kovalev_D 104:ab1cb4ff56b2 215 V = Pa >> 0x5;
Kovalev_D 104:ab1cb4ff56b2 216 V = V & 0x3;
Kovalev_D 104:ab1cb4ff56b2 217
Kovalev_D 104:ab1cb4ff56b2 218 A = Pa >> 0x4;
Kovalev_D 104:ab1cb4ff56b2 219 A = A & 0x1;
Kovalev_D 104:ab1cb4ff56b2 220
Kovalev_D 104:ab1cb4ff56b2 221 Bit_num = Pa & 0xf;
Kovalev_D 104:ab1cb4ff56b2 222
Kovalev_D 104:ab1cb4ff56b2 223 if(SR) {
Kovalev_D 104:ab1cb4ff56b2 224 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 225
Kovalev_D 104:ab1cb4ff56b2 226 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 227 FrqON
Kovalev_D 105:bd01d8d20fb6 228 break;
Kovalev_D 105:bd01d8d20fb6 229
Kovalev_D 104:ab1cb4ff56b2 230 case 0x03:
Kovalev_D 105:bd01d8d20fb6 231 HFOON
Kovalev_D 105:bd01d8d20fb6 232 break;
Kovalev_D 105:bd01d8d20fb6 233
Kovalev_D 105:bd01d8d20fb6 234 case 0x01:
Kovalev_D 105:bd01d8d20fb6 235 PlcON
Kovalev_D 105:bd01d8d20fb6 236 break;
Kovalev_D 104:ab1cb4ff56b2 237 }
Kovalev_D 104:ab1cb4ff56b2 238 }
Kovalev_D 104:ab1cb4ff56b2 239 else{
Kovalev_D 104:ab1cb4ff56b2 240 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 241
Kovalev_D 105:bd01d8d20fb6 242 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 243 FrqOff
Kovalev_D 105:bd01d8d20fb6 244 break;
Kovalev_D 105:bd01d8d20fb6 245
Kovalev_D 105:bd01d8d20fb6 246 case 0x03:
Kovalev_D 105:bd01d8d20fb6 247 HFOOFF
Kovalev_D 105:bd01d8d20fb6 248 break;
Kovalev_D 105:bd01d8d20fb6 249
Kovalev_D 105:bd01d8d20fb6 250 case 0x01:
Kovalev_D 105:bd01d8d20fb6 251 PlcOFF
Kovalev_D 105:bd01d8d20fb6 252 break;
Kovalev_D 104:ab1cb4ff56b2 253 }
Kovalev_D 104:ab1cb4ff56b2 254 }
igor_v 21:bc8c1cec3da6 255
igor_v 0:8ad47e2b6f00 256 }
igor_v 0:8ad47e2b6f00 257
igor_v 21:bc8c1cec3da6 258 void CMD_M_Control_D9()///чтение регистров управления
igor_v 21:bc8c1cec3da6 259 {
igor_v 21:bc8c1cec3da6 260 int bit,NReg;
igor_v 30:17c84ed091b3 261 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 262 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 263 BuffTemp[2] = Gyro.CMD_In; //D9
igor_v 21:bc8c1cec3da6 264 if ((Param1 & 0x10) == 0) {
igor_v 21:bc8c1cec3da6 265 BuffTemp[3]=0<<4;
igor_v 30:17c84ed091b3 266 BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff;
igor_v 30:17c84ed091b3 267 BuffTemp[5] = Gyro.RgConA & 0xff;
igor_v 21:bc8c1cec3da6 268 } else {
igor_v 21:bc8c1cec3da6 269 BuffTemp[3]=1<<4;
igor_v 30:17c84ed091b3 270 BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff;
igor_v 30:17c84ed091b3 271 BuffTemp[5] = Gyro.RgConB & 0xff;
igor_v 21:bc8c1cec3da6 272 }
igor_v 21:bc8c1cec3da6 273 Check(BuffTemp, CRC_N);
igor_v 21:bc8c1cec3da6 274 WriteConN (BuffTemp,CRC_N);
igor_v 21:bc8c1cec3da6 275 }
igor_v 21:bc8c1cec3da6 276 // (номер (код) ЦАПа 0...3, старший байт требуемого ЦАПа, младший байт треб ЦАПа)
igor_v 0:8ad47e2b6f00 277 void CMD_M_Stymul()
igor_v 0:8ad47e2b6f00 278 {
igor_v 21:bc8c1cec3da6 279 int temp;
Kovalev_D 102:4270092be987 280 int HFO;
Kovalev_D 102:4270092be987 281 temp=BuffTemp[3];
Kovalev_D 102:4270092be987 282 Consol = temp&0x3;
Kovalev_D 103:e96f08947def 283 HFO = temp&0x3;// // (номер (код) ЦАПа 0...3, HFO - 3dac, PLC - 0DAC
igor_v 21:bc8c1cec3da6 284 temp =((BuffTemp[4]<<8) | BuffTemp[5]);
igor_v 21:bc8c1cec3da6 285 // temp=0;
igor_v 21:bc8c1cec3da6 286 temp=temp&0xFFFF;
Kovalev_D 102:4270092be987 287
Kovalev_D 102:4270092be987 288 if(HFO)
Kovalev_D 102:4270092be987 289 {
Kovalev_D 102:4270092be987 290 Spi.DAC_A=(unsigned int)temp;
Kovalev_D 102:4270092be987 291 }
Kovalev_D 102:4270092be987 292 else{
igor_v 21:bc8c1cec3da6 293 DACF =(temp*K_DAC)+deltaDAC;
igor_v 21:bc8c1cec3da6 294 Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC);
igor_v 21:bc8c1cec3da6 295 }
igor_v 0:8ad47e2b6f00 296 }
Kovalev_D 103:e96f08947def 297 void Gph_W()
Kovalev_D 103:e96f08947def 298 {
Kovalev_D 108:030cdde08314 299 Out_G_photo(BuffTemp[4],BuffTemp[5]);
Kovalev_D 103:e96f08947def 300 }
igor_v 0:8ad47e2b6f00 301
Kovalev_D 98:95b8e79f13e1 302 void CMD_M_vib()
Kovalev_D 102:4270092be987 303 { LoopOn
Kovalev_D 102:4270092be987 304 unsigned int temp1,temp2;
Kovalev_D 102:4270092be987 305
Kovalev_D 102:4270092be987 306 temp1 =((BuffTemp[4]<<8) | BuffTemp[5]);
Kovalev_D 102:4270092be987 307 temp1=temp1&0xFFFF;
Kovalev_D 102:4270092be987 308
Kovalev_D 102:4270092be987 309 temp2 =((BuffTemp[6]<<8) | BuffTemp[7]);
Kovalev_D 102:4270092be987 310 temp2=temp2&0xFFFF;
Kovalev_D 102:4270092be987 311 Gyro.Frq = ((unsigned int) ((7680000*16/temp1)))*16*16*16;
Kovalev_D 102:4270092be987 312 Consol=Gyro.Frq ;
Kovalev_D 98:95b8e79f13e1 313 }
igor_v 0:8ad47e2b6f00 314 unsigned int Check(char *c, unsigned int Count)
igor_v 0:8ad47e2b6f00 315 {
igor_v 21:bc8c1cec3da6 316 int i=1;
igor_v 21:bc8c1cec3da6 317 unsigned int temp,CRC;
igor_v 21:bc8c1cec3da6 318
igor_v 21:bc8c1cec3da6 319
igor_v 21:bc8c1cec3da6 320 temp=1;
igor_v 21:bc8c1cec3da6 321 CRC=0;
igor_v 21:bc8c1cec3da6 322
igor_v 21:bc8c1cec3da6 323
igor_v 21:bc8c1cec3da6 324 for(; i<Count-2; i++) {
igor_v 21:bc8c1cec3da6 325 CRC+=c[i];
igor_v 21:bc8c1cec3da6 326 }
igor_v 0:8ad47e2b6f00 327
igor_v 21:bc8c1cec3da6 328 if(c[Count-2]!=((CRC>>8)&0xFF)) {
igor_v 21:bc8c1cec3da6 329 temp=0;
igor_v 30:17c84ed091b3 330 Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2;
igor_v 21:bc8c1cec3da6 331 }
igor_v 0:8ad47e2b6f00 332
igor_v 21:bc8c1cec3da6 333 if(c[Count-1]!=((CRC>>0)&0xFF)) {
igor_v 21:bc8c1cec3da6 334 temp=0;
igor_v 30:17c84ed091b3 335 // Gyro.RsErrLine= (Gyro.RsErrLine)=0x2;
igor_v 21:bc8c1cec3da6 336 }
igor_v 21:bc8c1cec3da6 337
igor_v 21:bc8c1cec3da6 338 c[Count-2]=(CRC>>8)&0xFF;
igor_v 21:bc8c1cec3da6 339 c[Count-1]=(CRC>>0)&0xFF;
igor_v 21:bc8c1cec3da6 340
igor_v 21:bc8c1cec3da6 341
igor_v 21:bc8c1cec3da6 342
igor_v 21:bc8c1cec3da6 343 return temp;
igor_v 0:8ad47e2b6f00 344 }
igor_v 0:8ad47e2b6f00 345
igor_v 0:8ad47e2b6f00 346 int Getlengf(void)
igor_v 0:8ad47e2b6f00 347 {
igor_v 21:bc8c1cec3da6 348 unsigned int lengf=0;
igor_v 30:17c84ed091b3 349 switch(Gyro.CMD_In) {
igor_v 30:17c84ed091b3 350 case 0x99://Gyrotainance
Kovalev_D 92:c892f0311aa7 351
igor_v 21:bc8c1cec3da6 352 lengf=6;
igor_v 21:bc8c1cec3da6 353 CRC_N=8;
igor_v 21:bc8c1cec3da6 354 break;
igor_v 0:8ad47e2b6f00 355
igor_v 21:bc8c1cec3da6 356 case 0x0A: //m_stymul
igor_v 21:bc8c1cec3da6 357 lengf=8;
igor_v 21:bc8c1cec3da6 358 break;
igor_v 21:bc8c1cec3da6 359
igor_v 21:bc8c1cec3da6 360 case 0xA5://DeviceMode
igor_v 21:bc8c1cec3da6 361
igor_v 21:bc8c1cec3da6 362 lengf=6;
igor_v 21:bc8c1cec3da6 363 CRC_N=8;
igor_v 21:bc8c1cec3da6 364 break;
igor_v 21:bc8c1cec3da6 365
igor_v 21:bc8c1cec3da6 366 case 0xDD://m_rate
igor_v 0:8ad47e2b6f00 367
igor_v 21:bc8c1cec3da6 368 lengf=6;
igor_v 21:bc8c1cec3da6 369 CRC_N=44;
igor_v 21:bc8c1cec3da6 370 break;
igor_v 21:bc8c1cec3da6 371
igor_v 21:bc8c1cec3da6 372 case 0xB0://DeviceMode
igor_v 21:bc8c1cec3da6 373
igor_v 21:bc8c1cec3da6 374 lengf=6;
igor_v 21:bc8c1cec3da6 375 CRC_N=8;
igor_v 21:bc8c1cec3da6 376 break;
igor_v 21:bc8c1cec3da6 377
igor_v 21:bc8c1cec3da6 378 case 0xD8://m_control
igor_v 0:8ad47e2b6f00 379
igor_v 21:bc8c1cec3da6 380 lengf=6;
igor_v 21:bc8c1cec3da6 381 CRC_N=8;
igor_v 21:bc8c1cec3da6 382 break;
igor_v 21:bc8c1cec3da6 383
igor_v 21:bc8c1cec3da6 384 case 0xD9://m_control
igor_v 0:8ad47e2b6f00 385
igor_v 21:bc8c1cec3da6 386 lengf=6;
igor_v 21:bc8c1cec3da6 387 CRC_N=8;
igor_v 21:bc8c1cec3da6 388 break;
Kovalev_D 102:4270092be987 389
Kovalev_D 102:4270092be987 390 case 0xE4:
Kovalev_D 98:95b8e79f13e1 391 lengf=8;
Kovalev_D 98:95b8e79f13e1 392 break;
Kovalev_D 103:e96f08947def 393
Kovalev_D 103:e96f08947def 394
Kovalev_D 103:e96f08947def 395 case 0xE6:
Kovalev_D 103:e96f08947def 396 lengf=8;
Kovalev_D 103:e96f08947def 397 break;
Kovalev_D 103:e96f08947def 398
igor_v 21:bc8c1cec3da6 399 }
Kovalev_D 98:95b8e79f13e1 400
igor_v 21:bc8c1cec3da6 401 return lengf;
igor_v 0:8ad47e2b6f00 402 }
igor_v 0:8ad47e2b6f00 403
igor_v 0:8ad47e2b6f00 404 void Read_CMD(void)
igor_v 21:bc8c1cec3da6 405 {
Kovalev_D 92:c892f0311aa7 406
Kovalev_D 45:cbc955aecebe 407
Kovalev_D 45:cbc955aecebe 408 Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;//для сброса ошибки
igor_v 21:bc8c1cec3da6 409
Kovalev_D 93:b3803774f110 410 CountBuFFIn=ReadChekCon1(BuffTemp); // чтение данных из консоли
igor_v 42:6fc307c4963e 411
Kovalev_D 92:c892f0311aa7 412 if(CountBuFFIn==1) { // если есть первый байт
igor_v 21:bc8c1cec3da6 413 if (BuffTemp[0] != SOC_In) {
Kovalev_D 93:b3803774f110 414 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 415 Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
Kovalev_D 93:b3803774f110 416 BuffTemp[99]=Gyro.RsErrLine;
Kovalev_D 102:4270092be987 417
igor_v 21:bc8c1cec3da6 418 }
Kovalev_D 92:c892f0311aa7 419 } else if(CountBuFFIn==2) { //если второй ,fqn
igor_v 30:17c84ed091b3 420 if (BuffTemp[1] != Gyro.My_Addres) {
Kovalev_D 93:b3803774f110 421 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 422 Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
igor_v 21:bc8c1cec3da6 423 }
igor_v 42:6fc307c4963e 424 } else if(CountBuFFIn==3) { // если ьоетий байт
igor_v 30:17c84ed091b3 425 Gyro.CMD_In=BuffTemp[2];
Kovalev_D 92:c892f0311aa7 426 N=Getlengf();
Kovalev_D 92:c892f0311aa7 427 }
Kovalev_D 92:c892f0311aa7 428 else if(CountBuFFIn==4 && (N==6))
Kovalev_D 92:c892f0311aa7 429 { // N - длина посылки аскглд(для записи параметров). определяется по коду команды в Getlengf();
igor_v 21:bc8c1cec3da6 430 Param1=BuffTemp[3];
Kovalev_D 92:c892f0311aa7 431 }
Kovalev_D 92:c892f0311aa7 432 else if((CountBuFFIn==5)&&(N==7))
Kovalev_D 92:c892f0311aa7 433 {
Kovalev_D 92:c892f0311aa7 434
igor_v 21:bc8c1cec3da6 435 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 436 Param2=BuffTemp[4];
igor_v 0:8ad47e2b6f00 437
Kovalev_D 92:c892f0311aa7 438 }
Kovalev_D 92:c892f0311aa7 439 else if((CountBuFFIn==6)&&(N==8))
Kovalev_D 92:c892f0311aa7 440 {
igor_v 21:bc8c1cec3da6 441 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 442 Param2=BuffTemp[4];
igor_v 21:bc8c1cec3da6 443 Param3=BuffTemp[5];
Kovalev_D 92:c892f0311aa7 444 }
Kovalev_D 102:4270092be987 445 else if((CountBuFFIn==8)&&(N==10))
Kovalev_D 102:4270092be987 446 {
Kovalev_D 102:4270092be987 447 Param1=BuffTemp[4];
Kovalev_D 102:4270092be987 448 Param2=BuffTemp[5];
Kovalev_D 102:4270092be987 449 Param3=BuffTemp[6];
Kovalev_D 102:4270092be987 450 Param4=BuffTemp[7];
Kovalev_D 102:4270092be987 451 }
Kovalev_D 98:95b8e79f13e1 452
Kovalev_D 92:c892f0311aa7 453 else if(CountBuFFIn > (N-1))
Kovalev_D 92:c892f0311aa7 454 {
Kovalev_D 93:b3803774f110 455 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 456 switch(Gyro.CMD_In) {
Kovalev_D 92:c892f0311aa7 457 case 0x99:
igor_v 21:bc8c1cec3da6 458 CMD_Maintenance();
igor_v 21:bc8c1cec3da6 459 break;
igor_v 21:bc8c1cec3da6 460 case 0xD8:
igor_v 21:bc8c1cec3da6 461 CMD_M_Control_D8();
igor_v 21:bc8c1cec3da6 462 case 0xD9:
igor_v 21:bc8c1cec3da6 463 CMD_M_Control_D9();
igor_v 21:bc8c1cec3da6 464 break;
igor_v 21:bc8c1cec3da6 465 case 0x0A:
Kovalev_D 45:cbc955aecebe 466 CMD_M_Stymul();
igor_v 21:bc8c1cec3da6 467 break;
igor_v 21:bc8c1cec3da6 468 case 0xDD:
igor_v 21:bc8c1cec3da6 469 Rate_Flag=1;
Kovalev_D 102:4270092be987 470 break;
Kovalev_D 102:4270092be987 471 case 0xE4:
Kovalev_D 102:4270092be987 472 CMD_M_vib();
Kovalev_D 102:4270092be987 473 break;
Kovalev_D 103:e96f08947def 474 case 0xE6:
Kovalev_D 103:e96f08947def 475 Gph_W();
Kovalev_D 103:e96f08947def 476 break;
Kovalev_D 108:030cdde08314 477
Kovalev_D 103:e96f08947def 478
igor_v 30:17c84ed091b3 479 Gyro.RsErrLine = 0;
Kovalev_D 103:e96f08947def 480
Kovalev_D 103:e96f08947def 481
Kovalev_D 102:4270092be987 482 }
igor_v 21:bc8c1cec3da6 483 }
igor_v 0:8ad47e2b6f00 484 }
igor_v 0:8ad47e2b6f00 485
igor_v 0:8ad47e2b6f00 486
igor_v 21:bc8c1cec3da6 487