Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

MTimer.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 "MTimer.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 4 #include "vibro.h"
igor_v 0:8ad47e2b6f00 5 #include "QEI.h"
igor_v 0:8ad47e2b6f00 6 #include "Global.h"
igor_v 0:8ad47e2b6f00 7 #include "SPI.h"
igor_v 0:8ad47e2b6f00 8 #include "InputOutput.h"
Kovalev_D 112:4a96133a1311 9
Kovalev_D 197:7a05523bf588 10 unsigned int CountV64=0;
igor_v 0:8ad47e2b6f00 11 unsigned int CountV31=0;
Kovalev_D 197:7a05523bf588 12 unsigned int CountV255=0;
Kovalev_D 215:b58b887fd367 13 unsigned int CountV511=0;
Kovalev_D 209:224e7331a061 14 unsigned int f,MODCount=0;
Kovalev_D 124:9ae09249f842 15 int loop=0;
Kovalev_D 208:19150d2b528f 16 int t;
Kovalev_D 88:b5c1d9d338d1 17 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 18 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 19 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 20 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 21 ///////////////////// 1250Hz ///////////////////////////
Kovalev_D 214:4c70e452c491 22 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 23 void Event_1250Hz(void)// событие раз в 1,25 КГц
Kovalev_D 214:4c70e452c491 24 {
Kovalev_D 214:4c70e452c491 25 if(Event1250Hz)
Kovalev_D 214:4c70e452c491 26 {
Kovalev_D 214:4c70e452c491 27 Gyro.EvenRate7=1;
Kovalev_D 215:b58b887fd367 28
Kovalev_D 214:4c70e452c491 29 Event1250Hz--;
Kovalev_D 215:b58b887fd367 30
Kovalev_D 214:4c70e452c491 31 }
Kovalev_D 214:4c70e452c491 32 }
Kovalev_D 214:4c70e452c491 33 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 34 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 35 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 36 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 214:4c70e452c491 37 { static int tempdac=0,tempdac1;
Kovalev_D 115:e5a230e5af52 38 if (Event1Hz)
Kovalev_D 220:04c54405b82d 39 { /*sprintf((Time),"%d %d %d\r\n",Spi.DAC_B,AMPSUM_DESP,Spi.DAC_A);
Kovalev_D 220:04c54405b82d 40 WriteCon(Time);*/
Kovalev_D 220:04c54405b82d 41 if(Gyro.ShowMod2)
Kovalev_D 220:04c54405b82d 42 {
Kovalev_D 220:04c54405b82d 43 sprintf((Time),"%d %d %d\r\n",Spi.DAC_B,AMPSUM_DESP,Spi.DAC_A);
Kovalev_D 220:04c54405b82d 44 WriteCon(Time);
Kovalev_D 220:04c54405b82d 45 Spi.DAC_B+=200;
Kovalev_D 220:04c54405b82d 46 }
Kovalev_D 208:19150d2b528f 47 Discharg();
Kovalev_D 208:19150d2b528f 48 BackLight();
Kovalev_D 208:19150d2b528f 49 Gyro.Rate1_Event = 1;
Kovalev_D 208:19150d2b528f 50 Event1Hz--;
Kovalev_D 208:19150d2b528f 51 Time1Hz++;
Kovalev_D 214:4c70e452c491 52 // sprintf((Time),"%d \r\n",Gyro.ModeOut );
Kovalev_D 214:4c70e452c491 53 // WriteCon(Time);
Kovalev_D 214:4c70e452c491 54
Kovalev_D 214:4c70e452c491 55 }
Kovalev_D 88:b5c1d9d338d1 56 }
Kovalev_D 89:a0d344db227e 57 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 58 ///////////////////// 1kHz //////////////////////////
Kovalev_D 197:7a05523bf588 59 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 60 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 214:4c70e452c491 61 { if (Event1K)
Kovalev_D 116:66f1f0ff2dab 62 {
Kovalev_D 214:4c70e452c491 63 if(Gyro.PLCDelay) Gyro.PLCDelay--;
Kovalev_D 88:b5c1d9d338d1 64 Event1K --;
Kovalev_D 215:b58b887fd367 65
Kovalev_D 116:66f1f0ff2dab 66 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 209:224e7331a061 67 if (Time1K > 1000)
Kovalev_D 115:e5a230e5af52 68 {
Kovalev_D 208:19150d2b528f 69 Time1K -=1000;
Kovalev_D 88:b5c1d9d338d1 70 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 71 }
Kovalev_D 209:224e7331a061 72
Kovalev_D 214:4c70e452c491 73 }
Kovalev_D 88:b5c1d9d338d1 74 }
Kovalev_D 209:224e7331a061 75
Kovalev_D 209:224e7331a061 76 void Event_2KHz(void)// событие раз в 1 кГц
Kovalev_D 218:b4067cac75c0 77 {
Kovalev_D 218:b4067cac75c0 78 int temp=0;
Kovalev_D 214:4c70e452c491 79
Kovalev_D 209:224e7331a061 80 if (Event2K)
Kovalev_D 218:b4067cac75c0 81 {
Kovalev_D 209:224e7331a061 82 Event2K --;
Kovalev_D 209:224e7331a061 83 }
Kovalev_D 209:224e7331a061 84 }
Kovalev_D 124:9ae09249f842 85 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 86 {
Kovalev_D 124:9ae09249f842 87 if(Event500Hz)
Kovalev_D 211:ac8251b067d2 88 {
Kovalev_D 205:775d54fdf646 89 Event500Hz--;
Kovalev_D 208:19150d2b528f 90 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 197:7a05523bf588 91 }
Kovalev_D 197:7a05523bf588 92 }
Kovalev_D 209:224e7331a061 93 void Event_250Hz(void)
Kovalev_D 209:224e7331a061 94 {
Kovalev_D 209:224e7331a061 95 if(Event250Hz)
Kovalev_D 209:224e7331a061 96 {
Kovalev_D 218:b4067cac75c0 97
Kovalev_D 209:224e7331a061 98 // Gyro.CuruAngle=0;
Kovalev_D 209:224e7331a061 99 Event250Hz--;
Kovalev_D 209:224e7331a061 100 MODCount++;
Kovalev_D 209:224e7331a061 101 }
Kovalev_D 209:224e7331a061 102 }
Kovalev_D 89:a0d344db227e 103 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 104 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 105 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 106 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 107 {
Kovalev_D 162:44e4ded32c6a 108
Kovalev_D 88:b5c1d9d338d1 109 if (Event100K) {
Kovalev_D 197:7a05523bf588 110
Kovalev_D 88:b5c1d9d338d1 111 Event100K --;
Kovalev_D 197:7a05523bf588 112
Kovalev_D 124:9ae09249f842 113 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 114
Kovalev_D 124:9ae09249f842 115 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 116 }
Kovalev_D 88:b5c1d9d338d1 117 }
Kovalev_D 89:a0d344db227e 118 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 119 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 120 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 121 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 122 {
Kovalev_D 88:b5c1d9d338d1 123 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 124 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 125 }
Kovalev_D 88:b5c1d9d338d1 126 }
Kovalev_D 89:a0d344db227e 127 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 128 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 129 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 130
Kovalev_D 88:b5c1d9d338d1 131
Kovalev_D 112:4a96133a1311 132 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 133 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 134 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 135
Kovalev_D 112:4a96133a1311 136 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 137 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 138 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 139
Kovalev_D 112:4a96133a1311 140 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 141 {
Kovalev_D 214:4c70e452c491 142 // LPC_SC->PCLKSEL0 |= (1<<4);
Kovalev_D 220:04c54405b82d 143
Kovalev_D 112:4a96133a1311 144 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 145 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 146 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 147 }
Kovalev_D 112:4a96133a1311 148
Kovalev_D 112:4a96133a1311 149
igor_v 0:8ad47e2b6f00 150 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 151 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 152 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 153 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 154 {
igor_v 21:bc8c1cec3da6 155 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 156 return;
igor_v 21:bc8c1cec3da6 157 }
igor_v 0:8ad47e2b6f00 158
igor_v 0:8ad47e2b6f00 159
igor_v 0:8ad47e2b6f00 160 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 161 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 162 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 163
igor_v 0:8ad47e2b6f00 164 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 165 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 166 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 167 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 168 {
Kovalev_D 124:9ae09249f842 169 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 170 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 171 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 172 return 1;
igor_v 21:bc8c1cec3da6 173 }
igor_v 0:8ad47e2b6f00 174
igor_v 21:bc8c1cec3da6 175 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 176 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 177 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 178 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 179 {
igor_v 21:bc8c1cec3da6 180 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 181 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 182 }
igor_v 21:bc8c1cec3da6 183
igor_v 21:bc8c1cec3da6 184
Kovalev_D 112:4a96133a1311 185 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 186 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 187 //////////////////////////////////////////////////////////////////////
Kovalev_D 215:b58b887fd367 188 __irq void TIMER1_IRQHandler (void)//13.27 kHz(vibro*32)
Kovalev_D 205:775d54fdf646 189 {
Kovalev_D 208:19150d2b528f 190
igor_v 114:5cc38a53d8a7 191 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 192 SetDAC(DAC);
Kovalev_D 208:19150d2b528f 193 Global_Time++;
igor_v 114:5cc38a53d8a7 194 CountV255++; // инкремент счеттчика
Kovalev_D 215:b58b887fd367 195 CountV511++;
Kovalev_D 164:6f43f85fdd8d 196 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
Kovalev_D 215:b58b887fd367 197 CountV511 &= 0x1ff;
Kovalev_D 197:7a05523bf588 198 CountV64 = CountV255 & 0x3f;
Kovalev_D 197:7a05523bf588 199 CountV31 = CountV255 & 0x1f; // малый счетчик
Kovalev_D 197:7a05523bf588 200
Kovalev_D 112:4a96133a1311 201 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 202 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 203
Kovalev_D 116:66f1f0ff2dab 204
Kovalev_D 116:66f1f0ff2dab 205 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 206 ResetDAC(DAC);
Kovalev_D 197:7a05523bf588 207 SPI_Exchange(); //Чтение ADC_SPI
igor_v 114:5cc38a53d8a7 208
Kovalev_D 214:4c70e452c491 209 LPC_TIM1->IR = 1;
Kovalev_D 208:19150d2b528f 210
Kovalev_D 112:4a96133a1311 211 }
Kovalev_D 112:4a96133a1311 212
igor_v 21:bc8c1cec3da6 213 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 214 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 215 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 216 __irq void TIMER2_IRQHandler (void)
Kovalev_D 210:b02fa166315d 217 {
Kovalev_D 213:9953db9543d6 218 /// LoopOn
igor_v 21:bc8c1cec3da6 219 LPC_TIM2->IR = 1;
Kovalev_D 213:9953db9543d6 220 if (Gyro.UARTFlag)
Kovalev_D 213:9953db9543d6 221 {
Kovalev_D 213:9953db9543d6 222 if(Time_UART) Time_UART--;
Kovalev_D 213:9953db9543d6 223 }
Kovalev_D 214:4c70e452c491 224 //
Kovalev_D 214:4c70e452c491 225
igor_v 21:bc8c1cec3da6 226 Time_vibro++;
Kovalev_D 214:4c70e452c491 227 // VibroOut();
Kovalev_D 112:4a96133a1311 228 Gyro.VibroOutF=1;
Kovalev_D 214:4c70e452c491 229 Event100K ++;
Kovalev_D 214:4c70e452c491 230 Time1250Hz++;
Kovalev_D 197:7a05523bf588 231 Time500Hz++;
Kovalev_D 209:224e7331a061 232 Time250Hz++;
Kovalev_D 197:7a05523bf588 233 Time100K++;
Kovalev_D 209:224e7331a061 234 Time2K++;
Kovalev_D 209:224e7331a061 235 //Time2K++;
Kovalev_D 205:775d54fdf646 236 // Time250Hz++;
Kovalev_D 214:4c70e452c491 237
Kovalev_D 214:4c70e452c491 238 if (Time1250Hz > 79)
Kovalev_D 214:4c70e452c491 239 {
Kovalev_D 214:4c70e452c491 240 Time1250Hz -= 80;
Kovalev_D 214:4c70e452c491 241 Event1250Hz ++;
Kovalev_D 214:4c70e452c491 242 }
Kovalev_D 197:7a05523bf588 243 if (Time100K == 100)
Kovalev_D 214:4c70e452c491 244 { // LoopOn
Kovalev_D 197:7a05523bf588 245 Time100K = 0;
Kovalev_D 197:7a05523bf588 246 Event1K ++;
Kovalev_D 214:4c70e452c491 247 // LoopOn
Kovalev_D 197:7a05523bf588 248 }
Kovalev_D 209:224e7331a061 249
Kovalev_D 218:b4067cac75c0 250 if (Time2K== 10000)
Kovalev_D 209:224e7331a061 251 { Time2K=0;
Kovalev_D 209:224e7331a061 252 //Time100K = 0;
Kovalev_D 209:224e7331a061 253 Event2K ++;
Kovalev_D 209:224e7331a061 254 }
Kovalev_D 209:224e7331a061 255
Kovalev_D 197:7a05523bf588 256 if (Time500Hz > 200)
Kovalev_D 208:19150d2b528f 257 { // LoopOn
Kovalev_D 197:7a05523bf588 258 Time500Hz -= 200;
Kovalev_D 208:19150d2b528f 259 Event500Hz ++;
Kovalev_D 197:7a05523bf588 260 }
Kovalev_D 209:224e7331a061 261
Kovalev_D 209:224e7331a061 262 if (Time250Hz > 6)
Kovalev_D 209:224e7331a061 263 { // LoopOn
Kovalev_D 209:224e7331a061 264 Time250Hz -= 6;
Kovalev_D 209:224e7331a061 265 Event250Hz ++;
Kovalev_D 209:224e7331a061 266 }
Kovalev_D 210:b02fa166315d 267
Kovalev_D 213:9953db9543d6 268 //LoopOff
igor_v 21:bc8c1cec3da6 269 }