Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

Global.c@139:1716152517aa, 2016-04-25 (annotated)

Committer:
Kovalev_D
Date:
Mon Apr 25 10:30:21 2016 +0000
Revision:
139:1716152517aa
Parent:
134:caf4c9cd5052
Child:
140:1fbf117fc120
?????? ??????? ?? ?? ???????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 0:8ad47e2b6f00 3
igor_v 0:8ad47e2b6f00 4
Kovalev_D 89:a0d344db227e 5 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 6 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 112:4a96133a1311 7
Kovalev_D 89:a0d344db227e 8 unsigned char BuffTemp[100];
Kovalev_D 89:a0d344db227e 9 unsigned char Time[500];
Kovalev_D 86:398da56ef751 10 unsigned int Event1Hz;
Kovalev_D 124:9ae09249f842 11 unsigned int Event500Hz;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int Event1K ;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int EventVibro;
Kovalev_D 124:9ae09249f842 15
Kovalev_D 124:9ae09249f842 16 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 17 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 18 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 19 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 20 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 21 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 22 unsigned int ShiftL;
Kovalev_D 86:398da56ef751 23
Kovalev_D 139:1716152517aa 24 unsigned int Stray; //помеха
Kovalev_D 139:1716152517aa 25 unsigned int Stray_flag;
Kovalev_D 139:1716152517aa 26 unsigned int Log;
Kovalev_D 139:1716152517aa 27
Kovalev_D 134:caf4c9cd5052 28 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 29 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 30 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 31 BX R0
Kovalev_D 134:caf4c9cd5052 32 }
Kovalev_D 134:caf4c9cd5052 33
Kovalev_D 86:398da56ef751 34 void GLD_Init(void)
Kovalev_D 86:398da56ef751 35 {
Kovalev_D 90:d9b6a4bc5065 36 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 37 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 38 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 39 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 40 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 41 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 42 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 43 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 44 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 45 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 46 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 47 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 48 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 49 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 50 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 51 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 52 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 53 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 54 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 55 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 56 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 57 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 58 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 59 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 60 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 61 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 62 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 63 ShiftL = 0;
Kovalev_D 124:9ae09249f842 64 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 65 Time500Hz = 0;
Kovalev_D 139:1716152517aa 66
Kovalev_D 139:1716152517aa 67 Stray = 1000;
Kovalev_D 139:1716152517aa 68 Stray_flag = 0;
Kovalev_D 139:1716152517aa 69 Log = 0;
Kovalev_D 86:398da56ef751 70 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 71 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 72
Kovalev_D 88:b5c1d9d338d1 73
Kovalev_D 88:b5c1d9d338d1 74 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 75 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 76 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 77 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 78 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 132:2c7bec5cf6fe 79 Gyro.FlashMod=0;
Kovalev_D 99:3d8f206ceac2 80 Gyro.FrqHZ=400;
Kovalev_D 88:b5c1d9d338d1 81 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 88:b5c1d9d338d1 82 Gyro.AmpPer=20;
Kovalev_D 88:b5c1d9d338d1 83 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 84 Gyro.Amp = 10*65535;
Kovalev_D 88:b5c1d9d338d1 85 Gyro.AmpMin =10;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 86 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 87 //////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 88 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 89 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 90 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 91 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 92 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 93 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 94 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 95 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 96 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 97 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 98 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 99 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 100 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 101 Buff_16PointD[i] = 0x00;
Kovalev_D 129:406995a91322 102 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 103 }
Kovalev_D 129:406995a91322 104
Kovalev_D 129:406995a91322 105 for (int i = 0; i < 170; i++ ) {
Kovalev_D 129:406995a91322 106 GyroP.Array[i] =i;
Kovalev_D 88:b5c1d9d338d1 107 }
Kovalev_D 88:b5c1d9d338d1 108 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 109 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 110 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 111 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 112 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 113 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 114 // Temp_AMP=0;
Kovalev_D 96:1c8536458119 115 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 116 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 117 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 118 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 119 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 120 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 121 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 122 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 123 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 124 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 125 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 126 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 127 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 128 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 129 }
Kovalev_D 95:dd51e577e114 130 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 131 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 132 }
Kovalev_D 96:1c8536458119 133 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 134 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 135 }
Kovalev_D 96:1c8536458119 136 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 137 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 138 }
Kovalev_D 88:b5c1d9d338d1 139 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 140 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 141
Kovalev_D 88:b5c1d9d338d1 142
Kovalev_D 88:b5c1d9d338d1 143
Kovalev_D 88:b5c1d9d338d1 144
Kovalev_D 88:b5c1d9d338d1 145
Kovalev_D 92:c892f0311aa7 146
Kovalev_D 88:b5c1d9d338d1 147 Gyro.SOC_Out=0xDD;
Kovalev_D 86:398da56ef751 148 Gyro.Firmware_Version =0x15; //версия программы
Kovalev_D 86:398da56ef751 149 Gyro.GLD_Serial = 0x20; //серийный номер
Kovalev_D 86:398da56ef751 150 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 86:398da56ef751 151 Gyro.Discharg = StartDischarg;
Kovalev_D 86:398da56ef751 152 Gyro.BackLight = StartBackLight;
Kovalev_D 92:c892f0311aa7 153
Kovalev_D 88:b5c1d9d338d1 154
Kovalev_D 89:a0d344db227e 155
Kovalev_D 89:a0d344db227e 156
Kovalev_D 88:b5c1d9d338d1 157 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 158 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 159 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 160 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 161 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 162 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 163 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 164 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 165 Spi.DAC_A = 0x7fff;
Kovalev_D 86:398da56ef751 166 Spi.DAC_B = 0x7fff;
Kovalev_D 86:398da56ef751 167 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 168 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 169 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 170 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 171 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 172 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 173 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 174 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 175
igor_v 16:18e3fd7b92d0 176
igor_v 16:18e3fd7b92d0 177
Kovalev_D 86:398da56ef751 178 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 179
Kovalev_D 86:398da56ef751 180
Kovalev_D 86:398da56ef751 181 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 182 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 183 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 184 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 185 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 186 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 187 Cur_QEI=0;
Kovalev_D 86:398da56ef751 188 Last_QEI=0;
Kovalev_D 86:398da56ef751 189 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 190 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 191 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 192 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 87:7e575d26d6d0 193 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=100MHz
Kovalev_D 87:7e575d26d6d0 194 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 195 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 196 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 197
Kovalev_D 98:95b8e79f13e1 198
Kovalev_D 87:7e575d26d6d0 199 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 200 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 201 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 202 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 203
Kovalev_D 87:7e575d26d6d0 204 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 205 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 206
Kovalev_D 98:95b8e79f13e1 207 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 208 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 209 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 210 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 211
Kovalev_D 88:b5c1d9d338d1 212
Kovalev_D 89:a0d344db227e 213 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 214 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 215 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 216
Kovalev_D 89:a0d344db227e 217 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 218
Kovalev_D 89:a0d344db227e 219 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 220 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 221 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 222 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 223
Kovalev_D 89:a0d344db227e 224 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 225 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 226 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 227
Kovalev_D 89:a0d344db227e 228 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 229 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 230 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 231
Kovalev_D 99:3d8f206ceac2 232 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 233 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 234 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 235 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 236
Kovalev_D 89:a0d344db227e 237 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 238 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 239 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 240
Kovalev_D 86:398da56ef751 241
Kovalev_D 86:398da56ef751 242
Kovalev_D 92:c892f0311aa7 243
Kovalev_D 92:c892f0311aa7 244
Kovalev_D 92:c892f0311aa7 245
Kovalev_D 92:c892f0311aa7 246 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 247 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 248 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 249 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 250 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 251
Kovalev_D 92:c892f0311aa7 252 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 253 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 254
Kovalev_D 92:c892f0311aa7 255 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 256 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 257 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 258
Kovalev_D 92:c892f0311aa7 259 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 260 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 261 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 262
Kovalev_D 92:c892f0311aa7 263 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 264 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 265
Kovalev_D 92:c892f0311aa7 266 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 267 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 268
Kovalev_D 92:c892f0311aa7 269 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 270 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 271
Kovalev_D 92:c892f0311aa7 272 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 273 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 274 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 275
Kovalev_D 92:c892f0311aa7 276 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 277 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 278
Kovalev_D 92:c892f0311aa7 279 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 280 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 281 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 282 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 283 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 284 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 285 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 286 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 287 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 288
Kovalev_D 92:c892f0311aa7 289 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 290 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 291 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 292 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 293 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 294 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 295 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 296
Kovalev_D 92:c892f0311aa7 297
Kovalev_D 92:c892f0311aa7 298
Kovalev_D 92:c892f0311aa7 299
Kovalev_D 86:398da56ef751 300 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 301 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 302 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 303
Kovalev_D 89:a0d344db227e 304 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 305 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 306 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 307 PinCheng();
Kovalev_D 89:a0d344db227e 308 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 309
Kovalev_D 87:7e575d26d6d0 310 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 311 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 312 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 313
Kovalev_D 98:95b8e79f13e1 314 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 98:95b8e79f13e1 315 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 98:95b8e79f13e1 316 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 87:7e575d26d6d0 317 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 318 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 319 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 320
Kovalev_D 88:b5c1d9d338d1 321
Kovalev_D 87:7e575d26d6d0 322 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 323 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 324 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 325 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 326 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 327 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 328
Kovalev_D 88:b5c1d9d338d1 329
Kovalev_D 88:b5c1d9d338d1 330
Kovalev_D 87:7e575d26d6d0 331 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 332 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 333 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 334 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 335 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 336 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 337 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 338 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 339
Kovalev_D 88:b5c1d9d338d1 340
Kovalev_D 88:b5c1d9d338d1 341
Kovalev_D 87:7e575d26d6d0 342 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 343 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 344 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 345 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 346 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 347 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 348 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 349 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 350 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 351 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 352 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 353 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 354 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 355 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 356 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 357 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 358 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 359 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 360
Kovalev_D 88:b5c1d9d338d1 361
Kovalev_D 88:b5c1d9d338d1 362
Kovalev_D 87:7e575d26d6d0 363 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 364 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 365 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 366 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 367 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 368 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 369 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 370 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 371 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 372 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 373
Kovalev_D 88:b5c1d9d338d1 374
Kovalev_D 88:b5c1d9d338d1 375 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 376 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 377 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 378 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 379 enable_timer1();
Kovalev_D 86:398da56ef751 380 enable_timer2();
Kovalev_D 89:a0d344db227e 381 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 382
Kovalev_D 89:a0d344db227e 383 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 384 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 385
Kovalev_D 90:d9b6a4bc5065 386
Kovalev_D 90:d9b6a4bc5065 387
Kovalev_D 90:d9b6a4bc5065 388 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 389 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 390 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 391 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 392 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 393
Kovalev_D 90:d9b6a4bc5065 394 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 395 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 396
Kovalev_D 90:d9b6a4bc5065 397 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 398 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 399 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 400
Kovalev_D 90:d9b6a4bc5065 401 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 402 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 403 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 404
Kovalev_D 90:d9b6a4bc5065 405 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 406 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 407
Kovalev_D 90:d9b6a4bc5065 408 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 409 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 410
Kovalev_D 90:d9b6a4bc5065 411 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 412 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 413
Kovalev_D 90:d9b6a4bc5065 414 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 415 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 416 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 417
Kovalev_D 90:d9b6a4bc5065 418 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 419 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 420
Kovalev_D 90:d9b6a4bc5065 421 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 422 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 423 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 424 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 90:d9b6a4bc5065 425 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 426 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 427 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 428 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 429 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 430
Kovalev_D 92:c892f0311aa7 431 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 432 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 433 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 434 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 435
Kovalev_D 86:398da56ef751 436 }
igor_v 13:e2a1d18677b8 437
igor_v 0:8ad47e2b6f00 438
igor_v 0:8ad47e2b6f00 439
igor_v 0:8ad47e2b6f00 440
igor_v 0:8ad47e2b6f00 441