Dmitry Kovalev / Mbed 2 deprecated LGstaandart

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Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

Global.c@220:04c54405b82d, 2017-10-20 (annotated)

Committer:
Kovalev_D
Date:
Fri Oct 20 13:16:32 2017 +0000
Revision:
220:04c54405b82d
Parent:
218:b4067cac75c0
Child:
222:7de7b3bf3a1d
ddd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
Kovalev_D 89:a0d344db227e 3 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 4 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 197:7a05523bf588 5 float t1;
Kovalev_D 89:a0d344db227e 6 unsigned char BuffTemp[100];
Kovalev_D 197:7a05523bf588 7 unsigned char Time[1000];
Kovalev_D 86:398da56ef751 8 unsigned int Event1Hz;
Kovalev_D 208:19150d2b528f 9 unsigned int Event100Hz;
Kovalev_D 209:224e7331a061 10 unsigned int Event250Hz;
Kovalev_D 124:9ae09249f842 11 unsigned int Event500Hz;
Kovalev_D 203:3a6615de9581 12 unsigned int Event1K;
Kovalev_D 214:4c70e452c491 13 unsigned int Event1250Hz;
Kovalev_D 209:224e7331a061 14 unsigned int Event2K;
Kovalev_D 88:b5c1d9d338d1 15 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 16 unsigned int EventVibro;
Kovalev_D 211:ac8251b067d2 17 unsigned int MODFlag=0;
Kovalev_D 197:7a05523bf588 18 unsigned int Time250Hz;
Kovalev_D 197:7a05523bf588 19 unsigned int Event250Hz;
Kovalev_D 197:7a05523bf588 20
Kovalev_D 124:9ae09249f842 21 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 22 unsigned int Time1K;
Kovalev_D 214:4c70e452c491 23 unsigned int Time1250Hz;
Kovalev_D 209:224e7331a061 24 unsigned int Time2K;
Kovalev_D 124:9ae09249f842 25 unsigned int Time500Hz;
Kovalev_D 209:224e7331a061 26 unsigned int Time250Hz;
Kovalev_D 88:b5c1d9d338d1 27 unsigned int Time1Hz;
Kovalev_D 208:19150d2b528f 28 unsigned int Time100Hz;
Kovalev_D 88:b5c1d9d338d1 29 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 30 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 31 unsigned int ShiftL;
Kovalev_D 215:b58b887fd367 32
Kovalev_D 215:b58b887fd367 33
Kovalev_D 215:b58b887fd367 34
Kovalev_D 215:b58b887fd367 35
Kovalev_D 215:b58b887fd367 36
Kovalev_D 216:189b0ea1dc38 37 int BuffADC_1Point [600];
Kovalev_D 216:189b0ea1dc38 38 int BuffADC_1Point_64 [100];
Kovalev_D 216:189b0ea1dc38 39 int BuffADC_1Point_Recalc [100];
Kovalev_D 220:04c54405b82d 40
Kovalev_D 220:04c54405b82d 41 int BuffADC_128Point [100];
Kovalev_D 220:04c54405b82d 42 int BuffADC_64Point [100];
Kovalev_D 220:04c54405b82d 43 int BuffADC_32Point [100];
Kovalev_D 216:189b0ea1dc38 44 int BuffADC_16Point [100];
Kovalev_D 220:04c54405b82d 45 int BuffADC_10v [100];
Kovalev_D 220:04c54405b82d 46 int BuffADC_10v_OLD [100];
Kovalev_D 220:04c54405b82d 47 int BuffADC_10v_F [100];
Kovalev_D 220:04c54405b82d 48 int BuffADC_znak [100];
Kovalev_D 215:b58b887fd367 49
Kovalev_D 215:b58b887fd367 50 int Buff_Restored_Mod [100];
Kovalev_D 215:b58b887fd367 51 int Buff_PLC_Eror [100];
Kovalev_D 215:b58b887fd367 52 int BSinMns [100];
Kovalev_D 215:b58b887fd367 53 int BSinPls [100];
Kovalev_D 215:b58b887fd367 54 int ADC_1Point =0;
Kovalev_D 215:b58b887fd367 55 int ADC_32PointD =0;
Kovalev_D 220:04c54405b82d 56
Kovalev_D 220:04c54405b82d 57 int ADC_128Point =0;
Kovalev_D 215:b58b887fd367 58 int ADC_64Point =0;
Kovalev_D 220:04c54405b82d 59 int ADC_32Point =0;
Kovalev_D 215:b58b887fd367 60 int ADC_16Point =0;
Kovalev_D 205:775d54fdf646 61 //unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 62
Kovalev_D 139:1716152517aa 63
Kovalev_D 134:caf4c9cd5052 64 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 65 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 66 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 67 BX R0
Kovalev_D 134:caf4c9cd5052 68 }
Kovalev_D 134:caf4c9cd5052 69
Kovalev_D 205:775d54fdf646 70 void Param_init(void)
Kovalev_D 205:775d54fdf646 71 {
Kovalev_D 208:19150d2b528f 72 int temp=0;
Kovalev_D 208:19150d2b528f 73
Kovalev_D 205:775d54fdf646 74 InitMOD();
Kovalev_D 206:00341a03e05c 75
Kovalev_D 211:ac8251b067d2 76 Gyro.CuruAngleLog=0;
Kovalev_D 205:775d54fdf646 77 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 78 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 79 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 80 Time_vibro = 0;
Kovalev_D 214:4c70e452c491 81 Time1250Hz = 0;
Kovalev_D 88:b5c1d9d338d1 82 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 83 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 84 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 85 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 86 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 87 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 88 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 89 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 90 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 91 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 92 ShiftL = 0;
Kovalev_D 124:9ae09249f842 93 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 94 Time500Hz = 0;
Kovalev_D 215:b58b887fd367 95
Kovalev_D 205:775d54fdf646 96 Temp_AMP64P = 0;
Kovalev_D 215:b58b887fd367 97
Kovalev_D 205:775d54fdf646 98 Gyro.Log = 0;
Kovalev_D 205:775d54fdf646 99 Gyro.LogPLC = 0;
Kovalev_D 205:775d54fdf646 100 Gyro.PLC_Lern = 0;
Kovalev_D 106:250ddd8629c6 101 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 102 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 103 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 104 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 105 Pulse_32Point = 0;
Kovalev_D 209:224e7331a061 106 Gyro.FlashMod = 0;
Kovalev_D 208:19150d2b528f 107
Kovalev_D 205:775d54fdf646 108
Kovalev_D 205:775d54fdf646 109 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 110 ///////////инициализация таймеров////////////
Kovalev_D 205:775d54fdf646 111 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 112 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 205:775d54fdf646 113 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 205:775d54fdf646 114 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 115 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 206:00341a03e05c 116
Kovalev_D 206:00341a03e05c 117 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 206:00341a03e05c 118 Gyro.PLC_Error2Mode = 1400;
Kovalev_D 206:00341a03e05c 119 Gyro.SOC_Out = 0xDD;
Kovalev_D 209:224e7331a061 120
Kovalev_D 209:224e7331a061 121 Gyro.RgConMod = 1;
Kovalev_D 206:00341a03e05c 122
Kovalev_D 206:00341a03e05c 123 GyroP.Str.ParamMod=0;
Kovalev_D 209:224e7331a061 124
Kovalev_D 209:224e7331a061 125 ReadFlash ();
Kovalev_D 210:b02fa166315d 126 // GyroP.Str.ParamMod=0;
Kovalev_D 208:19150d2b528f 127 if(GyroP.Str.ParamMod)
Kovalev_D 211:ac8251b067d2 128 {
Kovalev_D 220:04c54405b82d 129 Gyro.ShowMod2=0;
Kovalev_D 220:04c54405b82d 130 Gyro.ShiftMod = GyroP.Str.ShiftMod;
Kovalev_D 211:ac8251b067d2 131 Gyro.PLC_Start = 0x7fff+GyroP.Str.PLC_Start;
Kovalev_D 211:ac8251b067d2 132 Gyro.DownTreshold = 0x7fff+GyroP.Str.DownTreshold; //27
Kovalev_D 211:ac8251b067d2 133 Gyro.HighTreshold = 0x7fff+GyroP.Str.HighTreshold;
Kovalev_D 211:ac8251b067d2 134 Gyro.PLCDelay = GyroP.Str.PLCDelay/10;
Kovalev_D 211:ac8251b067d2 135 Gyro.ResetLevelCool = 0x7fff+GyroP.Str.ResetLevelCool; //105
Kovalev_D 211:ac8251b067d2 136 Gyro.ResetLevelHeat = 0x7fff+GyroP.Str.ResetLevelHeat;
Kovalev_D 211:ac8251b067d2 137 Gyro.HFO_Gain = GyroP.Str.HFO_Gain;
Kovalev_D 211:ac8251b067d2 138 Gyro.HFO_ref = (unsigned int)(GyroP.Str.HFO_ref)*0.82;
Kovalev_D 211:ac8251b067d2 139 Gyro.LG_Type = GyroP.Str.LG_Type;
Kovalev_D 208:19150d2b528f 140 Gyro.My_Addres = GyroP.Str.My_Addres; // Gyro.My_Addres = 0;
Kovalev_D 209:224e7331a061 141 Gyro.GLD_Serial = GyroP.Str.GLD_Serial;
Kovalev_D 209:224e7331a061 142 Gyro.FrqHZ = (7680000/GyroP.Str.FrqHZ);
Kovalev_D 209:224e7331a061 143 Gyro.Frq = ((7680000/GyroP.Str.FrqHZ)<<16);
Kovalev_D 209:224e7331a061 144 Gyro.FrqHZmin = ((7680000/GyroP.Str.FrqHZmin)<<16);
Kovalev_D 209:224e7331a061 145 Gyro.FrqHZmax = ((7680000/GyroP.Str.FrqHZmax)<<16);
Kovalev_D 208:19150d2b528f 146 Gyro.FrqChengSpeed = GyroP.Str.FrqChengSpeed;
Kovalev_D 208:19150d2b528f 147 Gyro.PLC_Gain = GyroP.Str.PLC_Gain;
Kovalev_D 208:19150d2b528f 148 Gyro.PLC_Phase = GyroP.Str.PLC_Phase;
Kovalev_D 208:19150d2b528f 149 Gyro.ModAmp = GyroP.Str.ModAmp;
Kovalev_D 208:19150d2b528f 150 Gyro.FrqPhase = GyroP.Str.FrqPhase;
Kovalev_D 214:4c70e452c491 151 Gyro.AmpPer = 700;//GyroP.Str.AmpPer*100;
Kovalev_D 214:4c70e452c491 152 Gyro.Amp =(GyroP.Str.AmpPer<<17);
Kovalev_D 208:19150d2b528f 153 Gyro.AmpSpeed = GyroP.Str.AmpSpeed;
Kovalev_D 208:19150d2b528f 154 Gyro.AmpPerDel = GyroP.Str.AmpPerDel;
Kovalev_D 208:19150d2b528f 155 temp=((GyroP.Str.VB_Fdf_Hi<<16) | GyroP.Str.VB_Fdf_Lo);
Kovalev_D 210:b02fa166315d 156 temp=temp*20;
Kovalev_D 208:19150d2b528f 157 Gyro.AmpTarget=(unsigned int)(temp);
Kovalev_D 208:19150d2b528f 158 Gyro.AmpPerMin = GyroP.Str.AmpPerMin;
Kovalev_D 208:19150d2b528f 159 Gyro.AmpPerMax = GyroP.Str.AmpPerMax;
Kovalev_D 208:19150d2b528f 160 Gyro.AmpMin = GyroP.Str.AmpMin;
Kovalev_D 208:19150d2b528f 161 Gyro.AmpTD = GyroP.Str.AmpTD;
Kovalev_D 214:4c70e452c491 162 F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
Kovalev_D 214:4c70e452c491 163 T_vibP = F_vib/10000;
Kovalev_D 214:4c70e452c491 164 T_vib_1 = Gyro.AmpPer * T_vibP;
Kovalev_D 214:4c70e452c491 165 T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
Kovalev_D 214:4c70e452c491 166 LPC_MCPWM->LIM1 = F_vib;
Kovalev_D 214:4c70e452c491 167 LPC_MCPWM->LIM2 = F_vib;
Kovalev_D 214:4c70e452c491 168 LPC_MCPWM->MAT1 = T_vib_1;
Kovalev_D 214:4c70e452c491 169 LPC_MCPWM->MAT2 = T_vib_2;
Kovalev_D 211:ac8251b067d2 170 if(Gyro.LG_Type==1){
Kovalev_D 211:ac8251b067d2 171 Gyro.HFO_Max=((int)(GyroP.Str.DAC_current_Work*0.67)-2000);
Kovalev_D 211:ac8251b067d2 172 Gyro.HFO_Min=((int)(GyroP.Str.DAC_current_Start*0.67)-2000);
Kovalev_D 211:ac8251b067d2 173
Kovalev_D 211:ac8251b067d2 174 }
Kovalev_D 211:ac8251b067d2 175 else Spi.DAC_A = ((((int)(GyroP.Str.DAC_current_Work+0x7fff) & 0xffff)+22544)*0.65);
Kovalev_D 209:224e7331a061 176 Gyro.DacIn = GyroP.Str.DAC_current_Work;
Kovalev_D 208:19150d2b528f 177 // Gyro.TermoNKU = GyroP.Str.TermoNKU<<2;
Kovalev_D 209:224e7331a061 178 Gyro.Firmware_Version = 0x11;
Kovalev_D 208:19150d2b528f 179 // Spi.DAC_A = GyroP.Str.DAC_A;
Kovalev_D 209:224e7331a061 180 // Spi.DAC_B = GyroP.Str.DAC_B;
Kovalev_D 208:19150d2b528f 181 Gyro.Gain_Sin = GyroP.Str.Gain_Sin;
Kovalev_D 208:19150d2b528f 182 Gyro.Gain_Cos = GyroP.Str.Gain_Cos;
Kovalev_D 208:19150d2b528f 183 Out_G_photo(Gyro.Gain_Sin, Gyro.Gain_Cos);
Kovalev_D 206:00341a03e05c 184 }
Kovalev_D 206:00341a03e05c 185 else
Kovalev_D 206:00341a03e05c 186 {
Kovalev_D 211:ac8251b067d2 187 Gyro.DownTreshold = GyroP.Str.DownTreshold; //27
Kovalev_D 211:ac8251b067d2 188 Gyro.HighTreshold = GyroP.Str.HighTreshold;
Kovalev_D 211:ac8251b067d2 189 Gyro.PLCDelay = 30000;
Kovalev_D 211:ac8251b067d2 190 Gyro.ResetLevelCool = 56000; //105
Kovalev_D 211:ac8251b067d2 191 Gyro.ResetLevelHeat = 15000;
Kovalev_D 211:ac8251b067d2 192 Gyro.HFO_ref = 13000;
Kovalev_D 211:ac8251b067d2 193 Gyro.LG_Type = 0;
Kovalev_D 208:19150d2b528f 194 Gyro.PLC_Phase = 3;
Kovalev_D 208:19150d2b528f 195 Gyro.PLC_Gain = 3;
Kovalev_D 208:19150d2b528f 196 Gyro.FrqPhase = 8;
Kovalev_D 207:d1ce992f5d17 197 Gyro.FrqHZ = 403;
Kovalev_D 206:00341a03e05c 198 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 206:00341a03e05c 199 Gyro.FrqHZmin = 350<<16;
Kovalev_D 206:00341a03e05c 200 Gyro.FrqHZmax = 450<<16;
Kovalev_D 206:00341a03e05c 201 Gyro.FrqChengSpeed = 100;
Kovalev_D 206:00341a03e05c 202 Gyro.ModAmp = 250;
Kovalev_D 208:19150d2b528f 203 Gyro.AmpPer = 20;
Kovalev_D 207:d1ce992f5d17 204 Gyro.AmpPerMin = 2;
Kovalev_D 206:00341a03e05c 205 Gyro.AmpPerMax = 90;
Kovalev_D 206:00341a03e05c 206 Gyro.AmpSpeed = 1;
Kovalev_D 207:d1ce992f5d17 207 Gyro.AmpPerDel = 3;
Kovalev_D 208:19150d2b528f 208 Gyro.AmpTarget = 5500;// целевая амплитуда ВП
Kovalev_D 208:19150d2b528f 209 Gyro.Amp = 20*65535;
Kovalev_D 207:d1ce992f5d17 210 Gyro.AmpMin = 20;// минимальное значение AmpT;5
Kovalev_D 208:19150d2b528f 211 Gyro.AmpTD = 20;////////////////////////////////////////////////////////
Kovalev_D 206:00341a03e05c 212 Gyro.TermoNKU = 44700;//48824*0,0061-273=25 С°
Kovalev_D 211:ac8251b067d2 213 Spi.DAC_B = Gyro.PLC_Start;
Kovalev_D 206:00341a03e05c 214 Gyro.PLC_Error2Mode = 1400; //для записи мод
Kovalev_D 207:d1ce992f5d17 215 Gyro.Gain_Sin = 175;
Kovalev_D 207:d1ce992f5d17 216 Gyro.Gain_Cos = 215;
Kovalev_D 209:224e7331a061 217 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 205:775d54fdf646 218 Gyro.GLD_Serial = 123; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 219 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 208:19150d2b528f 220 Gyro.Tmp_OffsetT4 = 0;
Kovalev_D 208:19150d2b528f 221 Gyro.Tmp_OffsetT5 = 0;
Kovalev_D 208:19150d2b528f 222 Gyro.Tmp_scaleT4 = 1; //53
Kovalev_D 208:19150d2b528f 223 Gyro.Tmp_scaleT5 = 1;
Kovalev_D 208:19150d2b528f 224
Kovalev_D 208:19150d2b528f 225 Gyro.DAC_current_Work =50000; //3
Kovalev_D 208:19150d2b528f 226 Gyro.DAC_current_Start =41000;
Kovalev_D 211:ac8251b067d2 227
Kovalev_D 214:4c70e452c491 228
Kovalev_D 214:4c70e452c491 229 F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
Kovalev_D 214:4c70e452c491 230 T_vibP = F_vib/10000;
Kovalev_D 214:4c70e452c491 231 T_vib_1 = Gyro.AmpPer * T_vibP;
Kovalev_D 214:4c70e452c491 232 T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
Kovalev_D 214:4c70e452c491 233 LPC_MCPWM->LIM1 = F_vib;
Kovalev_D 214:4c70e452c491 234 LPC_MCPWM->LIM2 = F_vib;
Kovalev_D 214:4c70e452c491 235 LPC_MCPWM->MAT1 = T_vib_1;
Kovalev_D 214:4c70e452c491 236 LPC_MCPWM->MAT2 = T_vib_2;
Kovalev_D 206:00341a03e05c 237 }
Kovalev_D 211:ac8251b067d2 238 Spi.DAC_B=Gyro.PLC_Start;
Kovalev_D 188:4c523cc373cc 239 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 240 case 0:
Kovalev_D 209:224e7331a061 241 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 242 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 243 break;
Kovalev_D 188:4c523cc373cc 244 case 1:
Kovalev_D 209:224e7331a061 245 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 246 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 247 break;
Kovalev_D 188:4c523cc373cc 248 case 2:
Kovalev_D 209:224e7331a061 249 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 250 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 251 break;
Kovalev_D 188:4c523cc373cc 252 case 3:
Kovalev_D 209:224e7331a061 253 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 254 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 255 break;
Kovalev_D 205:775d54fdf646 256 }
Kovalev_D 205:775d54fdf646 257
Kovalev_D 88:b5c1d9d338d1 258 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 259 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 260 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 261 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 262 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 263 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 264 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 265 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 266
Kovalev_D 86:398da56ef751 267 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 268 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 269 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 270 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 271 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 272 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 273
Kovalev_D 86:398da56ef751 274 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 275 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 276 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 277 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 278 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 112:4a96133a1311 279 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 280 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 281 Cur_QEI=0;
Kovalev_D 86:398da56ef751 282 Last_QEI=0;
Kovalev_D 205:775d54fdf646 283 }
Kovalev_D 205:775d54fdf646 284
Kovalev_D 205:775d54fdf646 285 void GLD_Init(void)
Kovalev_D 214:4c70e452c491 286 {
Kovalev_D 214:4c70e452c491 287 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 214:4c70e452c491 288
Kovalev_D 214:4c70e452c491 289
Kovalev_D 220:04c54405b82d 290 if(Gyro.LG_Type==1)Spi.DAC_A=(unsigned int)(24000);
Kovalev_D 214:4c70e452c491 291
Kovalev_D 214:4c70e452c491 292
Kovalev_D 214:4c70e452c491 293
Kovalev_D 86:398da56ef751 294 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 295 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 296 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 297
Kovalev_D 87:7e575d26d6d0 298 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 299 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 300 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 301 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 302 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 303
Kovalev_D 220:04c54405b82d 304 //Gyro.ShiftMod=150;
Kovalev_D 87:7e575d26d6d0 305 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 306 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 307 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 214:4c70e452c491 308 LPC_QEI->CONF = (1<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 309
Kovalev_D 87:7e575d26d6d0 310 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 311 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 312
Kovalev_D 98:95b8e79f13e1 313 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 314 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 315 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 316 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 317
Kovalev_D 88:b5c1d9d338d1 318
Kovalev_D 89:a0d344db227e 319 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 320 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 321 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 322
Kovalev_D 89:a0d344db227e 323 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 324
Kovalev_D 89:a0d344db227e 325 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 326 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 327 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 328 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 329
Kovalev_D 89:a0d344db227e 330 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 331 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 332 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 333
Kovalev_D 89:a0d344db227e 334 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 335 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 336 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 337
Kovalev_D 99:3d8f206ceac2 338 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 339 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 340 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 341 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 342
Kovalev_D 89:a0d344db227e 343 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 344 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 345 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 346
Kovalev_D 86:398da56ef751 347
Kovalev_D 86:398da56ef751 348
Kovalev_D 92:c892f0311aa7 349
Kovalev_D 92:c892f0311aa7 350
Kovalev_D 92:c892f0311aa7 351
Kovalev_D 92:c892f0311aa7 352 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 353 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 354 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 355 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 356 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 357
Kovalev_D 92:c892f0311aa7 358 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 359 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 360
Kovalev_D 92:c892f0311aa7 361 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 362 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 363 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 364
Kovalev_D 92:c892f0311aa7 365 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 366 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 367 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 368
Kovalev_D 92:c892f0311aa7 369 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 370 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 371
Kovalev_D 92:c892f0311aa7 372 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 373 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 374
Kovalev_D 92:c892f0311aa7 375 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 376 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 377
Kovalev_D 92:c892f0311aa7 378 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 92:c892f0311aa7 379 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 380 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 381
Kovalev_D 92:c892f0311aa7 382 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 383 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 384
Kovalev_D 92:c892f0311aa7 385 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 386 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 387 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 388 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 389 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 390 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 391 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 392 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 393 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 394
Kovalev_D 92:c892f0311aa7 395 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 396 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 397 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 398 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 399 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 400 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 401 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 402
Kovalev_D 92:c892f0311aa7 403
Kovalev_D 92:c892f0311aa7 404
Kovalev_D 92:c892f0311aa7 405
Kovalev_D 86:398da56ef751 406 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 407 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 408 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 409
Kovalev_D 89:a0d344db227e 410 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 411 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 412 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 413 PinCheng();
Kovalev_D 89:a0d344db227e 414 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 415 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 416 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 417 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 418 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 419
Kovalev_D 98:95b8e79f13e1 420 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 214:4c70e452c491 421 LPC_PINCON->PINSEL0 |= (0x00<<28);
Kovalev_D 190:289514f730ee 422 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 423 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 424 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 425 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 426 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 427 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 428 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 429 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 430 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 431 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 432 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 433 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 434 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 435
Kovalev_D 88:b5c1d9d338d1 436
Kovalev_D 88:b5c1d9d338d1 437
Kovalev_D 87:7e575d26d6d0 438 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 439 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 440 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 441 LPC_PINCON->PINSEL0 &= ~(3<<8); //e. P0.4 is GPIO pin (запись ( 00 ) в 9:8 бит PISEL0 выбор P0.4 как GPIO)
Kovalev_D 98:95b8e79f13e1 442 LPC_PINCON->PINMODE0 |= (3<<8); //e. P0.4 is GPIO pin (запись ( 11 ) в 9:8 бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 443 LPC_GPIO0->FIODIR |= (1<<4); //e. P0.4 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.4 как выход)
Kovalev_D 87:7e575d26d6d0 444 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 445 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 446
Kovalev_D 88:b5c1d9d338d1 447
Kovalev_D 88:b5c1d9d338d1 448
Kovalev_D 87:7e575d26d6d0 449 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 450 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 451 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 452 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 453 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 454 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 455 LPC_GPIO1->FIODIR |= (1<<25); //e. P0.5 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 456 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 457 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 458 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 459 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 460 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 461 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 462 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 463 LPC_GPIO1->FIODIR |= (1<<28); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 464 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 465 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 466 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 467
Kovalev_D 88:b5c1d9d338d1 468
Kovalev_D 88:b5c1d9d338d1 469
Kovalev_D 87:7e575d26d6d0 470 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 471 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 472 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 473 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 474 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 475 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 476 LPC_GPIO2->FIODIR |= (1<<12); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 477 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 478 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 479 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 480
Kovalev_D 88:b5c1d9d338d1 481
Kovalev_D 88:b5c1d9d338d1 482 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 483 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 484 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 485 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 486 enable_timer1();
Kovalev_D 86:398da56ef751 487 enable_timer2();
Kovalev_D 89:a0d344db227e 488 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 489
Kovalev_D 89:a0d344db227e 490 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 491 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 492
Kovalev_D 90:d9b6a4bc5065 493
Kovalev_D 90:d9b6a4bc5065 494
Kovalev_D 90:d9b6a4bc5065 495 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 496 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 497 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 498 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 499 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 500
Kovalev_D 90:d9b6a4bc5065 501 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 502 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 503
Kovalev_D 90:d9b6a4bc5065 504 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 505 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 506 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 507
Kovalev_D 90:d9b6a4bc5065 508 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 509 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 510 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 511
Kovalev_D 90:d9b6a4bc5065 512 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 513 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 514
Kovalev_D 90:d9b6a4bc5065 515 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 516 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 517
Kovalev_D 90:d9b6a4bc5065 518 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 519 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 520
Kovalev_D 90:d9b6a4bc5065 521 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 90:d9b6a4bc5065 522 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 523 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 524
Kovalev_D 90:d9b6a4bc5065 525 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 526 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 527
Kovalev_D 90:d9b6a4bc5065 528 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 529 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 530 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 531 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 532 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 533 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 534 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 535 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 536 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 537
Kovalev_D 92:c892f0311aa7 538 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 539 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 540 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 541 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 205:775d54fdf646 542 //Gyro=GyroP.str;
Kovalev_D 205:775d54fdf646 543 //Gyro = (*(struct Gyro*)(&GyroP.Str));
Kovalev_D 90:d9b6a4bc5065 544
Kovalev_D 86:398da56ef751 545 }
igor_v 13:e2a1d18677b8 546
igor_v 0:8ad47e2b6f00 547
igor_v 0:8ad47e2b6f00 548
igor_v 0:8ad47e2b6f00 549
igor_v 0:8ad47e2b6f00 550