Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

SPI.c@227:2774b56bfab0, 2018-01-05 (annotated)

Committer:
Kovalev_D
Date:
Fri Jan 05 08:14:38 2018 +0000
Revision:
227:2774b56bfab0
Parent:
226:4a4d5bd5fcd7 
05.01.2018

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2 struct SPI Spi;
Kovalev_D 112:4a96133a1311 3 //unsigned int Temp_AMP;
Kovalev_D 96:1c8536458119 4 unsigned int Temp_AMP64P;
Kovalev_D 196:f76dbc081e63 5 int ttt=1;
Kovalev_D 99:3d8f206ceac2 6 unsigned int Count_AMP, ADD_AMP, Cur_Amp;
Kovalev_D 99:3d8f206ceac2 7 int Znak_Amp;
Kovalev_D 109:ee0cff33ad3b 8 int AD_Regul = 0;
Kovalev_D 190:289514f730ee 9 int temp9,tempADC5;
Kovalev_D 148:7ce8c1fd00f7 10 int AD_MAX=0;
Kovalev_D 220:04c54405b82d 11 unsigned int SPIlog;
Kovalev_D 196:f76dbc081e63 12 int k=0,l=0,r=0,n=0;//счетчики для регулировки периметра
Kovalev_D 188:4c523cc373cc 13 int flagmod=0,Bdelta;
Kovalev_D 191:40028201ddad 14 int start=10;
Kovalev_D 197:7a05523bf588 15 int dispersion=0,side=1,tempstrafe=15000;
Kovalev_D 214:4c70e452c491 16 int ADC_5_T;
Kovalev_D 227:2774b56bfab0 17 int PLC_ERR_DAC,PLC_ERR_DAC_F;
Kovalev_D 227:2774b56bfab0 18
Kovalev_D 227:2774b56bfab0 19
Kovalev_D 147:1aed74f19a8f 20 unsigned int TempA;
Kovalev_D 158:0c8342e1837a 21 unsigned int TempTermLM;
Kovalev_D 211:ac8251b067d2 22 unsigned int conuntPLS;
Kovalev_D 197:7a05523bf588 23 int ADC5Old,ADCDIF=0;
Kovalev_D 215:b58b887fd367 24 /*int DACModReg;*/
Kovalev_D 197:7a05523bf588 25 int SinPls=0,SinMns=0;
Kovalev_D 214:4c70e452c491 26 int TSinPls=0,TSinMns=0;
Kovalev_D 213:9953db9543d6 27 int timer=750;
Kovalev_D 216:189b0ea1dc38 28 int sum=0;
Kovalev_D 216:189b0ea1dc38 29 unsigned int testcount=0,faza, fazaFlag=0;
Kovalev_D 197:7a05523bf588 30 unsigned int ADC5New;
Kovalev_D 95:dd51e577e114 31 unsigned int Buff_ADC_1 [32];
Kovalev_D 95:dd51e577e114 32 unsigned int Buff_ADC_2 [32];
Kovalev_D 95:dd51e577e114 33 unsigned int Buff_ADC_3 [32];
Kovalev_D 95:dd51e577e114 34 unsigned int Buff_ADC_4 [32];
Kovalev_D 220:04c54405b82d 35 int Buff_OUT1 [64];
Kovalev_D 220:04c54405b82d 36 int Buff_OUT [64];
Kovalev_D 213:9953db9543d6 37 int RegulADC,DeltaRegul,tempDeltaRegul;
Kovalev_D 227:2774b56bfab0 38 int count10HFO=0, count10v=0, AmpWorms,MinWorms,MaxWorms,AMPSUM,AMPSUMP,AMPSUMM,AMPSUMPout,AMPSUMMout,AMPSUMout,SumDelta,PLC_EROR,PLC_Flag,HFO_Flag,HFOdelta,HFOregul,HFOSumDelta;
Kovalev_D 214:4c70e452c491 39
Kovalev_D 215:b58b887fd367 40
Kovalev_D 215:b58b887fd367 41 //int BuffADC_32Point [64];
Kovalev_D 214:4c70e452c491 42
Kovalev_D 215:b58b887fd367 43 //unsigned int Buff_ADC_5 [255];
Kovalev_D 197:7a05523bf588 44
Kovalev_D 215:b58b887fd367 45
Kovalev_D 197:7a05523bf588 46
Kovalev_D 197:7a05523bf588 47
Kovalev_D 215:b58b887fd367 48 //unsigned int PulseADC_16Point;
Kovalev_D 215:b58b887fd367 49 //unsigned int PulseADC_32Point;
Kovalev_D 215:b58b887fd367 50 //unsigned int PulseADC_64Point;
Kovalev_D 215:b58b887fd367 51 //unsigned int PulseADC_32PointD;
Kovalev_D 215:b58b887fd367 52
Kovalev_D 215:b58b887fd367 53
Kovalev_D 215:b58b887fd367 54 //unsigned int Buff_AMP [256];
Kovalev_D 215:b58b887fd367 55 //unsigned int Buff_AMP64P [256];
Kovalev_D 220:04c54405b82d 56 unsigned int TypeMod=0;
Kovalev_D 197:7a05523bf588 57 unsigned int ModArraySin [64] = {50,55,59,64,68,73,77,81,85,88,91,94,96,98,99,99,100,99,99,98,96,94,91,88,85,81,77,73,68,64,59,55,50,45,41,36,32,27,23,19,16,12,9,7,4,2,1,1,0,1,1,2,4,7,9,12,16,19,23,27,32,36,41,45};
Kovalev_D 218:b4067cac75c0 58 unsigned int ModArraySin32 [32] = {50,59,68,77,85,91,96,99,100,99,96,91,85,77,68,59,50,41,32,23,16,9,4,1,0,1,4,9,16,23,32,41};
Kovalev_D 216:189b0ea1dc38 59 unsigned int ModArrayTriangle [64];
Kovalev_D 216:189b0ea1dc38 60 unsigned int ModArraySaw [64];
Kovalev_D 216:189b0ea1dc38 61 unsigned int Mod=0;
Kovalev_D 216:189b0ea1dc38 62 int znak;
Kovalev_D 227:2774b56bfab0 63 unsigned int HFO_AVR;
Kovalev_D 197:7a05523bf588 64 void InitMOD(void)
Kovalev_D 197:7a05523bf588 65 {
Kovalev_D 220:04c54405b82d 66 for (int i = 0; i < 64; i++ )
Kovalev_D 197:7a05523bf588 67 {
Kovalev_D 220:04c54405b82d 68 if(i<32) { ModArrayTriangle[i]=Mod; Mod=100;}
Kovalev_D 220:04c54405b82d 69 else { ModArrayTriangle[i]=Mod; Mod=0;}
Kovalev_D 197:7a05523bf588 70 }
Kovalev_D 197:7a05523bf588 71
Kovalev_D 207:d1ce992f5d17 72 for (int i = 0; i < 16; i++ )
Kovalev_D 197:7a05523bf588 73 {
Kovalev_D 216:189b0ea1dc38 74 ModArraySaw[i]=Mod;
Kovalev_D 216:189b0ea1dc38 75 Mod+=1;
Kovalev_D 220:04c54405b82d 76 }
Kovalev_D 197:7a05523bf588 77 }
Kovalev_D 197:7a05523bf588 78 void Modulator(void)
Kovalev_D 197:7a05523bf588 79 {
Kovalev_D 197:7a05523bf588 80 switch(TypeMod)
Kovalev_D 197:7a05523bf588 81 {
Kovalev_D 220:04c54405b82d 82
Kovalev_D 220:04c54405b82d 83 // case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 84 case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 85
Kovalev_D 216:189b0ea1dc38 86 case 1: LPC_DAC->DACR = (ModArraySaw [CountV64]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 87 case 2: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 88 case 3: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 220:04c54405b82d 89
Kovalev_D 220:04c54405b82d 90 //case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31)&0x1f]+150)*Gyro.ModAmp); break;ShiftMod
Kovalev_D 220:04c54405b82d 91 case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31+8)&0x1f])*Gyro.ModAmp + Gyro.ShiftMod-32000); break;
Kovalev_D 218:b4067cac75c0 92 case 5: break;
Kovalev_D 197:7a05523bf588 93 }
Kovalev_D 197:7a05523bf588 94 }
Kovalev_D 215:b58b887fd367 95
Kovalev_D 209:224e7331a061 96 void PLCRegul250(void)
Kovalev_D 209:224e7331a061 97 {
Kovalev_D 209:224e7331a061 98 unsigned int temp;
Kovalev_D 209:224e7331a061 99 static int CountFaza;
Kovalev_D 209:224e7331a061 100 temp = MODCount;
Kovalev_D 215:b58b887fd367 101
Kovalev_D 216:189b0ea1dc38 102 /*for (CountFaza = 0; CountFaza <16; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 103 for (CountFaza = 16; CountFaza <32; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 104 for (CountFaza = 32; CountFaza <48; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 105 for (CountFaza = 48; CountFaza <64; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);*/
Kovalev_D 215:b58b887fd367 106
Kovalev_D 214:4c70e452c491 107 /* for (CountFaza = 0; CountFaza <32; CountFaza++ ) SinPls+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];
Kovalev_D 214:4c70e452c491 108 for (CountFaza = 32; CountFaza <64; CountFaza++) SinMns+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];*/
Kovalev_D 209:224e7331a061 109 Gyro.PLC_Eror = SinMns-SinPls;
Kovalev_D 214:4c70e452c491 110 /* sprintf((Time)," %d %d %d %d %d\r\n",Spi.ADC5, Spi.DAC_B, SinPls, SinMns, Gyro.PLC_Eror);
Kovalev_D 209:224e7331a061 111 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 112 if(Gyro.RgConA&0x8)
Kovalev_D 209:224e7331a061 113 {
Kovalev_D 222:7de7b3bf3a1d 114 /* if(Gyro.PLC_Eror>0) {Spi.DAC_B+=1 * Gyro.PLC_Gain;}
Kovalev_D 222:7de7b3bf3a1d 115 else {Spi.DAC_B-=1 * Gyro.PLC_Gain;}*/
Kovalev_D 209:224e7331a061 116 }
Kovalev_D 215:b58b887fd367 117 /* if(Gyro.PLC_Eror>0) {Gyro.PLC_Eror_count++;}
Kovalev_D 215:b58b887fd367 118 else {Gyro.PLC_Eror_count--;}*/
Kovalev_D 209:224e7331a061 119
Kovalev_D 209:224e7331a061 120 if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
Kovalev_D 209:224e7331a061 121 else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
igor_v 110:6406b7ac0442 122
Kovalev_D 209:224e7331a061 123 SinPls=0;
Kovalev_D 209:224e7331a061 124 SinMns=0;
Kovalev_D 209:224e7331a061 125 }
Kovalev_D 226:4a4d5bd5fcd7 126
Kovalev_D 147:1aed74f19a8f 127 void ADS_Acum(void)
Kovalev_D 147:1aed74f19a8f 128 {
Kovalev_D 157:1069c80f4944 129 Spi.ADC_NewData = 0;
Kovalev_D 209:224e7331a061 130 // Gyro.Termo = (unsigned int)(((Spi.ADC1>>1) + Gyro.Tmp_OffsetT4) * Gyro.Tmp_scaleT4);
Kovalev_D 227:2774b56bfab0 131 Gyro.Termo = (unsigned int)((((Spi.ADC1>>1)*100)*0.0122)-27300);
Kovalev_D 227:2774b56bfab0 132 //Gyro.Termo =
Kovalev_D 209:224e7331a061 133 Gyro.IN1_Accum += Spi.ADC2;
Kovalev_D 209:224e7331a061 134 Gyro.IN2_Accum += Spi.ADC3;
Kovalev_D 209:224e7331a061 135 // Gyro.DeltaT = (unsigned int)(((Spi.ADC4>>1) + Gyro.Tmp_OffsetT5) * Gyro.Tmp_scaleT5);
Kovalev_D 221:53b256368ca1 136 switch(Gyro.LG_Type)
Kovalev_D 221:53b256368ca1 137 {
Kovalev_D 227:2774b56bfab0 138 case 1: Gyro.DeltaT = (unsigned int)((((Spi.ADC2>>1)*100)*0.0122)-27300); break;
Kovalev_D 221:53b256368ca1 139
Kovalev_D 221:53b256368ca1 140 case 0: Gyro.DeltaT = (unsigned int)(Spi.ADC4>>1); break;
Kovalev_D 221:53b256368ca1 141 }
Kovalev_D 221:53b256368ca1 142
Kovalev_D 208:19150d2b528f 143
Kovalev_D 172:ef7bf1663645 144 TempA = (0xffff - Spi.ADC5); // перевернем знак и умножим на два (было 32000...0 стало 0 ...32000 /*сдвиг(<<1) стало 0 ...64000*/)
Kovalev_D 211:ac8251b067d2 145 Gyro.TermLM = Spi.ADC1;
Kovalev_D 157:1069c80f4944 146 Gyro.ADF_Accum += TempA;
Kovalev_D 157:1069c80f4944 147 Gyro.ADS_Accum += TempA;
Kovalev_D 208:19150d2b528f 148 /// Gyro.ADS_AccumTermLM+=TempTermLM;
Kovalev_D 157:1069c80f4944 149 Gyro.ADF_Count ++;
Kovalev_D 157:1069c80f4944 150 Gyro.ADS_Count ++;
Kovalev_D 209:224e7331a061 151 Gyro.ADM_Count ++;
Kovalev_D 209:224e7331a061 152 /* sprintf((Time),"%d %d\r\n",((Gyro.In1>>1) - 0x4fff),(Spi.DAC_B-0x4fff));
Kovalev_D 209:224e7331a061 153 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 154 if (Gyro.ADM_Count > 255) {
Kovalev_D 209:224e7331a061 155 Gyro.In1 = Gyro.IN1_Accum>>8;
Kovalev_D 209:224e7331a061 156 Gyro.In2 = Gyro.IN2_Accum>>8;
Kovalev_D 209:224e7331a061 157 Gyro.IN1_Accum=0;
Kovalev_D 209:224e7331a061 158 Gyro.IN2_Accum=0;
Kovalev_D 209:224e7331a061 159 Gyro.ADM_Count=0;
Kovalev_D 209:224e7331a061 160 }
Kovalev_D 207:d1ce992f5d17 161 if (Gyro.ADF_Count > 15) { // если прошло 16 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 162 Gyro.AD_Fast = Gyro.ADF_Accum << 11; //обновляем данные и приводим в один масштаб
Kovalev_D 157:1069c80f4944 163 Gyro.ADF_Count = 0;//
Kovalev_D 157:1069c80f4944 164 Gyro.ADF_Accum = 0;
Kovalev_D 157:1069c80f4944 165 Gyro.ADF_NewData = 1;
Kovalev_D 157:1069c80f4944 166 }
Kovalev_D 207:d1ce992f5d17 167 if (Gyro.ADS_Count > 255) { // если прошло 256 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 168 Gyro.AD_Slow = Gyro.ADS_Accum << 7; //обновляем данные и приводим в один масштаб
Kovalev_D 211:ac8251b067d2 169 // Gyro.TermLM = Gyro.ADS_AccumTermLM << 3;
Kovalev_D 157:1069c80f4944 170 Gyro.ADS_Count = 0;
Kovalev_D 157:1069c80f4944 171 Gyro.ADS_Accum = 0;
Kovalev_D 158:0c8342e1837a 172 Gyro.ADS_AccumTermLM=0;
Kovalev_D 207:d1ce992f5d17 173 Gyro.ADS_NewData = 1;
Kovalev_D 209:224e7331a061 174 }
Kovalev_D 147:1aed74f19a8f 175 }
Kovalev_D 226:4a4d5bd5fcd7 176
Kovalev_D 226:4a4d5bd5fcd7 177 void HFOFilt(void)
Kovalev_D 220:04c54405b82d 178 {
Kovalev_D 227:2774b56bfab0 179
Kovalev_D 227:2774b56bfab0 180
Kovalev_D 227:2774b56bfab0 181 /* HFO_AVR+=(BuffADC_10v[CountV64]>>4);
Kovalev_D 227:2774b56bfab0 182 HFO_AVR-=(BuffADC_10v[CountV64 - 32]>>4);
Kovalev_D 227:2774b56bfab0 183 */
Kovalev_D 227:2774b56bfab0 184 HFOdelta=(int)((Gyro.HFO_ref)-(BuffADC_128Point[CountV64]>>7));
Kovalev_D 227:2774b56bfab0 185
Kovalev_D 226:4a4d5bd5fcd7 186 HFOSumDelta+=HFOdelta;
Kovalev_D 226:4a4d5bd5fcd7 187 HFOregul=HFOSumDelta/(int)(Gyro.HFO_Gain);
Kovalev_D 227:2774b56bfab0 188
Kovalev_D 226:4a4d5bd5fcd7 189 HFOSumDelta-=Gyro.HFO_Gain*HFOregul;
Kovalev_D 226:4a4d5bd5fcd7 190 tempDeltaRegul += HFOregul;
Kovalev_D 226:4a4d5bd5fcd7 191 AMPSUM=0;
Kovalev_D 226:4a4d5bd5fcd7 192 HFO_Flag=1;
Kovalev_D 227:2774b56bfab0 193
Kovalev_D 226:4a4d5bd5fcd7 194 }
Kovalev_D 226:4a4d5bd5fcd7 195
Kovalev_D 226:4a4d5bd5fcd7 196 void PLCFilt(void)
Kovalev_D 226:4a4d5bd5fcd7 197 {
Kovalev_D 226:4a4d5bd5fcd7 198 static int SumBuff,Delta, OldDelta;
Kovalev_D 226:4a4d5bd5fcd7 199
Kovalev_D 225:f8fee6c586cc 200 if (count10v>=64*32)
Kovalev_D 220:04c54405b82d 201 {
Kovalev_D 227:2774b56bfab0 202 C_PLC_F++;
Kovalev_D 227:2774b56bfab0 203 C_PLC_F = C_PLC_F & 0xf;
Kovalev_D 220:04c54405b82d 204 count10v=0;
Kovalev_D 222:7de7b3bf3a1d 205
Kovalev_D 220:04c54405b82d 206 for(int q=0; q<32; q++)
Kovalev_D 220:04c54405b82d 207 {
Kovalev_D 220:04c54405b82d 208 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 209 SumBuff -= BuffADC_10v_OLD[q+32];
Kovalev_D 220:04c54405b82d 210 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 211 }
Kovalev_D 225:f8fee6c586cc 212
Kovalev_D 220:04c54405b82d 213 for(int q=32; q<64; q++)
Kovalev_D 220:04c54405b82d 214 {
Kovalev_D 220:04c54405b82d 215 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 216 SumBuff -= BuffADC_10v[q-32];
Kovalev_D 220:04c54405b82d 217 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 218 }
Kovalev_D 220:04c54405b82d 219
Kovalev_D 225:f8fee6c586cc 220 for(int q=0; q<32; q++) {AMPSUMP += BuffADC_10v_F [q];}
Kovalev_D 225:f8fee6c586cc 221 for(int q=32; q<64; q++) {AMPSUMM += BuffADC_10v_F [q];}
Kovalev_D 225:f8fee6c586cc 222
Kovalev_D 225:f8fee6c586cc 223 for(int q=0; q<64; q++)
Kovalev_D 220:04c54405b82d 224 {
Kovalev_D 227:2774b56bfab0 225 AMPSUM+=BuffADC_10v[q];
Kovalev_D 222:7de7b3bf3a1d 226 AMPSUMout+=BuffADC_10v_F[q];
Kovalev_D 222:7de7b3bf3a1d 227 BuffADC_10v_OLD[q]= BuffADC_10v[q];
Kovalev_D 225:f8fee6c586cc 228 BuffADC_10v[q] =0;
Kovalev_D 220:04c54405b82d 229 }
Kovalev_D 225:f8fee6c586cc 230 for(int q=0; q<64; q++)
Kovalev_D 222:7de7b3bf3a1d 231 {
Kovalev_D 222:7de7b3bf3a1d 232 Buff_OUT[q]=(BuffADC_10v_F[q]-(AMPSUM>>1))>>3;
Kovalev_D 222:7de7b3bf3a1d 233 }
Kovalev_D 222:7de7b3bf3a1d 234
Kovalev_D 222:7de7b3bf3a1d 235 /*sprintf((Time),"%d \r\n", Spi.DAC_A);
Kovalev_D 222:7de7b3bf3a1d 236 WriteCon(Time);*/
Kovalev_D 227:2774b56bfab0 237
Kovalev_D 227:2774b56bfab0 238 AMPSUM=AMPSUM>>6;
Kovalev_D 227:2774b56bfab0 239 AMPSUM=AMPSUM>>3;
Kovalev_D 227:2774b56bfab0 240 AMPSUM=AMPSUM>>3;
Kovalev_D 227:2774b56bfab0 241
Kovalev_D 225:f8fee6c586cc 242 AMPSUMPout=AMPSUMP>>1;
Kovalev_D 225:f8fee6c586cc 243 AMPSUMMout=AMPSUMM>>1;
Kovalev_D 222:7de7b3bf3a1d 244 AMPSUMout=AMPSUM;
Kovalev_D 225:f8fee6c586cc 245
Kovalev_D 220:04c54405b82d 246 Delta= (AMPSUMPout - AMPSUMMout);
Kovalev_D 225:f8fee6c586cc 247
Kovalev_D 225:f8fee6c586cc 248 // if((Delta<(-5000000))||(Delta>5000000))Delta=0;
Kovalev_D 225:f8fee6c586cc 249
Kovalev_D 220:04c54405b82d 250 SumDelta+=Delta;
Kovalev_D 225:f8fee6c586cc 251
Kovalev_D 220:04c54405b82d 252 Gyro.PLC_Eror_count=SumDelta/Gyro.PLC_Gain;
Kovalev_D 220:04c54405b82d 253 SumDelta-=Gyro.PLC_Gain*Gyro.PLC_Eror_count;
Kovalev_D 225:f8fee6c586cc 254
Kovalev_D 225:f8fee6c586cc 255 PLC_EROR+=Gyro.PLC_Eror_count;
Kovalev_D 226:4a4d5bd5fcd7 256
Kovalev_D 227:2774b56bfab0 257 BuffPLC_FILT[C_PLC_F] = Gyro.PLC_Eror_count;
Kovalev_D 227:2774b56bfab0 258 if(Time1Hz>10)
Kovalev_D 227:2774b56bfab0 259 {
Kovalev_D 227:2774b56bfab0 260 PLC_ERR_DAC_F += BuffPLC_FILT[C_PLC_F];
Kovalev_D 227:2774b56bfab0 261 PLC_ERR_DAC_F -= BuffPLC_FILT[(C_PLC_F-8)&0xf];
Kovalev_D 227:2774b56bfab0 262 }
Kovalev_D 227:2774b56bfab0 263 PLC_ERR_DAC = PLC_ERR_DAC_F>>3;
Kovalev_D 220:04c54405b82d 264 PLC_Flag=1;
Kovalev_D 220:04c54405b82d 265 AMPSUMM=0;
Kovalev_D 220:04c54405b82d 266 AMPSUMP=0;
Kovalev_D 226:4a4d5bd5fcd7 267
Kovalev_D 226:4a4d5bd5fcd7 268 // LoopOff
Kovalev_D 220:04c54405b82d 269 }
Kovalev_D 220:04c54405b82d 270 }
Kovalev_D 226:4a4d5bd5fcd7 271 void ModFilt(void)
Kovalev_D 226:4a4d5bd5fcd7 272 {
Kovalev_D 226:4a4d5bd5fcd7 273
Kovalev_D 226:4a4d5bd5fcd7 274
Kovalev_D 226:4a4d5bd5fcd7 275 PLCFilt();
Kovalev_D 226:4a4d5bd5fcd7 276 if(PLC_Flag)
Kovalev_D 226:4a4d5bd5fcd7 277 {
Kovalev_D 226:4a4d5bd5fcd7 278
Kovalev_D 226:4a4d5bd5fcd7 279 HFOSumDelta=0;
Kovalev_D 226:4a4d5bd5fcd7 280 }
Kovalev_D 226:4a4d5bd5fcd7 281 else HFOFilt();
Kovalev_D 226:4a4d5bd5fcd7 282
Kovalev_D 226:4a4d5bd5fcd7 283 }
Kovalev_D 220:04c54405b82d 284
igor_v 114:5cc38a53d8a7 285 void SPI_Exchange(void) // новая функция чтения, в нецй не должно быть ничего лишнего
Kovalev_D 157:1069c80f4944 286 {
Kovalev_D 220:04c54405b82d 287
Kovalev_D 157:1069c80f4944 288 unsigned int DummySPI;
Kovalev_D 220:04c54405b82d 289
Kovalev_D 197:7a05523bf588 290 //unsigned int ADC5Dif;
Kovalev_D 197:7a05523bf588 291 ADC5New = LPC_SSP0->DR;// Чтение АЦП
Kovalev_D 207:d1ce992f5d17 292 //Spi.ADC5_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 293 Spi.ADC4_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 294 Spi.ADC3_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 295 Spi.ADC2_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 296 Spi.ADC1_Accum += LPC_SSP0->DR;
Kovalev_D 207:d1ce992f5d17 297 Spi.ADC5_Accum += ADC5New;
Kovalev_D 209:224e7331a061 298
Kovalev_D 207:d1ce992f5d17 299 while (LPC_SSP0->SR & RX_SSP_notEMPT)
Kovalev_D 207:d1ce992f5d17 300 {
Kovalev_D 170:d099c3025f87 301 DummySPI = LPC_SSP0->DR; //если буфер SPI не пуст.//очистить буфер.
Kovalev_D 157:1069c80f4944 302 }
Kovalev_D 112:4a96133a1311 303 DAC_OutPut();
Kovalev_D 157:1069c80f4944 304 if (CountV31 == 0) { // просто фильтруем по 32 точкам.
Kovalev_D 197:7a05523bf588 305 // выставояем бит, что есть новы данные
Kovalev_D 157:1069c80f4944 306 Spi.ADC1 = Spi.ADC1_Accum >> 5; // подгоотавливаем данные (в той эе сетке) те ADC1 0..65535
Kovalev_D 157:1069c80f4944 307 Spi.ADC2 = Spi.ADC2_Accum >> 5;
Kovalev_D 157:1069c80f4944 308 Spi.ADC3 = Spi.ADC3_Accum >> 5;
Kovalev_D 157:1069c80f4944 309 Spi.ADC4 = Spi.ADC4_Accum >> 5;
Kovalev_D 157:1069c80f4944 310 Spi.ADC5 = Spi.ADC5_Accum >> 5;
Kovalev_D 157:1069c80f4944 311 Spi.ADC1_Accum = 0; // сбрасывкем аккамулятор
Kovalev_D 157:1069c80f4944 312 Spi.ADC2_Accum = 0;
Kovalev_D 157:1069c80f4944 313 Spi.ADC3_Accum = 0;
Kovalev_D 157:1069c80f4944 314 Spi.ADC4_Accum = 0;
Kovalev_D 157:1069c80f4944 315 Spi.ADC5_Accum = 0;
Kovalev_D 157:1069c80f4944 316 Spi.ADC_NewData = 1;
Kovalev_D 209:224e7331a061 317
Kovalev_D 207:d1ce992f5d17 318 }
Kovalev_D 215:b58b887fd367 319 if(Time1Hz>6)
Kovalev_D 215:b58b887fd367 320 {
Kovalev_D 220:04c54405b82d 321 BuffADC_1Point[CountV255] = (0x7fff-ADC5New)&0x7fff;
Kovalev_D 218:b4067cac75c0 322 BuffADC_1Point_64[CountV31]=(0x7fff-ADC5New)&0x7fff;
Kovalev_D 216:189b0ea1dc38 323
Kovalev_D 227:2774b56bfab0 324 ADC_128Point += BuffADC_1Point[CountV255];
Kovalev_D 220:04c54405b82d 325 ADC_128Point -= BuffADC_1Point[(CountV255 - 128) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов
Kovalev_D 227:2774b56bfab0 326 BuffADC_128Point[CountV64] = ADC_128Point;
Kovalev_D 220:04c54405b82d 327
Kovalev_D 220:04c54405b82d 328
Kovalev_D 220:04c54405b82d 329 // Buff_Restored_Mod[CountV31] =(int)(BuffADC_1Point_64[CountV31] - ((BuffADC_128Point[CountV64])>>7));
Kovalev_D 220:04c54405b82d 330 // Buff_Restored_Mod[CountV64] =(int)(BuffADC_32PointD[CountV64]*2 - BuffADC_64Point[CountV64]);
Kovalev_D 220:04c54405b82d 331
Kovalev_D 220:04c54405b82d 332
Kovalev_D 220:04c54405b82d 333 count10v++;
Kovalev_D 226:4a4d5bd5fcd7 334 count10HFO++;
Kovalev_D 220:04c54405b82d 335 BuffADC_10v[CountV64] += BuffADC_1Point[CountV255];
Kovalev_D 226:4a4d5bd5fcd7 336 // BuffADC_10HFO[CountV64] += BuffADC_1Point[CountV255];
Kovalev_D 220:04c54405b82d 337 ModFilt();
Kovalev_D 220:04c54405b82d 338 }
Kovalev_D 220:04c54405b82d 339
Kovalev_D 220:04c54405b82d 340 }
Kovalev_D 220:04c54405b82d 341
Kovalev_D 220:04c54405b82d 342 void HFORegul(void)
Kovalev_D 220:04c54405b82d 343 {
Kovalev_D 220:04c54405b82d 344 static unsigned int countHFO;
Kovalev_D 220:04c54405b82d 345
Kovalev_D 220:04c54405b82d 346 countHFO=0;
Kovalev_D 220:04c54405b82d 347
Kovalev_D 220:04c54405b82d 348 if(Gyro.RgConA&0x2)
Kovalev_D 220:04c54405b82d 349 {
Kovalev_D 220:04c54405b82d 350 if(HFO_Flag)
Kovalev_D 220:04c54405b82d 351 {
Kovalev_D 220:04c54405b82d 352 Spi.DAC_A -= HFOregul;
Kovalev_D 220:04c54405b82d 353 HFO_Flag=0;
Kovalev_D 220:04c54405b82d 354 DeltaRegul=0;
Kovalev_D 220:04c54405b82d 355 }
Kovalev_D 220:04c54405b82d 356 }
Kovalev_D 220:04c54405b82d 357
Kovalev_D 220:04c54405b82d 358 else DeltaRegul=0;
Kovalev_D 220:04c54405b82d 359
Kovalev_D 220:04c54405b82d 360 if(Spi.DAC_A>Gyro.HFO_Min-1) Spi.DAC_A=Gyro.HFO_Min-2;
Kovalev_D 220:04c54405b82d 361 else if(Spi.DAC_A<Gyro.HFO_Max+1) Spi.DAC_A=Gyro.HFO_Max+2;
Kovalev_D 220:04c54405b82d 362
Kovalev_D 220:04c54405b82d 363 }
Kovalev_D 220:04c54405b82d 364
Kovalev_D 214:4c70e452c491 365
Kovalev_D 220:04c54405b82d 366 void PLCRegul(void)
Kovalev_D 215:b58b887fd367 367
Kovalev_D 220:04c54405b82d 368 {
Kovalev_D 220:04c54405b82d 369 static unsigned int Flag_64=0, count;
Kovalev_D 220:04c54405b82d 370 static int CountFaza,Sin;
Kovalev_D 216:189b0ea1dc38 371
Kovalev_D 216:189b0ea1dc38 372
Kovalev_D 220:04c54405b82d 373 if(Gyro.RgConA&0x8)
Kovalev_D 220:04c54405b82d 374 {
Kovalev_D 220:04c54405b82d 375 if(PLC_Flag)
Kovalev_D 220:04c54405b82d 376 {
Kovalev_D 226:4a4d5bd5fcd7 377 if (Gyro.PLCDelay)
Kovalev_D 225:f8fee6c586cc 378 {
Kovalev_D 225:f8fee6c586cc 379
Kovalev_D 225:f8fee6c586cc 380 }
Kovalev_D 227:2774b56bfab0 381 else
Kovalev_D 227:2774b56bfab0 382 {
Kovalev_D 227:2774b56bfab0 383 /* if(Gyro.PLC_Eror_count>600) Gyro.PLC_Eror_count=0;
Kovalev_D 227:2774b56bfab0 384 else if(Gyro.PLC_Eror_count<(-600)) Gyro.PLC_Eror_count=0;*/
Kovalev_D 227:2774b56bfab0 385
Kovalev_D 227:2774b56bfab0 386 Spi.DAC_B+=PLC_ERR_DAC;
Kovalev_D 227:2774b56bfab0 387
Kovalev_D 227:2774b56bfab0 388 }
Kovalev_D 220:04c54405b82d 389 }
Kovalev_D 227:2774b56bfab0 390 if(Spi.DAC_B > Gyro.HighTreshold )
Kovalev_D 227:2774b56bfab0 391 {
Kovalev_D 222:7de7b3bf3a1d 392 Spi.DAC_B = (Gyro.ResetLevelCool);
Kovalev_D 225:f8fee6c586cc 393 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 227:2774b56bfab0 394 }
Kovalev_D 227:2774b56bfab0 395 else if(Spi.DAC_B < Gyro.DownTreshold )
Kovalev_D 227:2774b56bfab0 396 {
Kovalev_D 222:7de7b3bf3a1d 397 Spi.DAC_B = (Gyro.ResetLevelHeat);
Kovalev_D 225:f8fee6c586cc 398 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 227:2774b56bfab0 399 }
Kovalev_D 227:2774b56bfab0 400 }
Kovalev_D 227:2774b56bfab0 401
Kovalev_D 227:2774b56bfab0 402
Kovalev_D 227:2774b56bfab0 403
Kovalev_D 227:2774b56bfab0 404
Kovalev_D 226:4a4d5bd5fcd7 405 if(PLC_Flag)
Kovalev_D 226:4a4d5bd5fcd7 406 {
Kovalev_D 227:2774b56bfab0 407 /*sprintf((Time),"%d %d %d\r\n", PLC_ERR_DAC, Spi.DAC_B, Spi.DAC_A);
Kovalev_D 227:2774b56bfab0 408 WriteCon(Time);*/
Kovalev_D 227:2774b56bfab0 409 PLC_ERR_DAC=0;
Kovalev_D 226:4a4d5bd5fcd7 410 PLC_Flag=0;
Kovalev_D 226:4a4d5bd5fcd7 411 }
Kovalev_D 220:04c54405b82d 412 }
Kovalev_D 216:189b0ea1dc38 413
Kovalev_D 220:04c54405b82d 414
Kovalev_D 220:04c54405b82d 415
Kovalev_D 113:8be429494918 416
Kovalev_D 190:289514f730ee 417 void ShowMod(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 158:0c8342e1837a 418 {
Kovalev_D 158:0c8342e1837a 419
Kovalev_D 158:0c8342e1837a 420 //////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 421 //////////////////////////////////смотрим все моды/////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 422 ///////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 197:7a05523bf588 423 if(dispersion>5)
Kovalev_D 197:7a05523bf588 424 {
Kovalev_D 197:7a05523bf588 425 if( (Gyro.PLC_Lern<60000)&&(Gyro.PLC_Error2Mode >1))//пробигаем по нескольким значениям цап(60*0х3с=0хВВ8) для определения максимальной амплитуды.
Kovalev_D 158:0c8342e1837a 426 {
Kovalev_D 158:0c8342e1837a 427 Gyro.PLC_Error2Mode--;
Kovalev_D 158:0c8342e1837a 428 Gyro.PLC_Lern++;
Kovalev_D 197:7a05523bf588 429 Spi.DAC_B += tempstrafe*side;
Kovalev_D 197:7a05523bf588 430 if(side>0)side=(-1);
Kovalev_D 197:7a05523bf588 431 else side = 1;
Kovalev_D 197:7a05523bf588 432 tempstrafe-=40;
Kovalev_D 197:7a05523bf588 433 dispersion=0;
Kovalev_D 168:f4a6abb18358 434 }
Kovalev_D 197:7a05523bf588 435 else {Gyro.LogPLC=0;}
Kovalev_D 197:7a05523bf588 436 }
Kovalev_D 197:7a05523bf588 437 else dispersion++;
Kovalev_D 222:7de7b3bf3a1d 438 /*sprintf((Time),"%d %d %d %d \r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Gyro.Termo);
Kovalev_D 222:7de7b3bf3a1d 439 Gyro.CuruAngle=0;*/
Kovalev_D 197:7a05523bf588 440 WriteCon(Time);
Kovalev_D 158:0c8342e1837a 441 }
Kovalev_D 209:224e7331a061 442 void ShowMod2(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 209:224e7331a061 443 {
Kovalev_D 211:ac8251b067d2 444 if(dispersion>3)
Kovalev_D 211:ac8251b067d2 445 {
Kovalev_D 213:9953db9543d6 446 unsigned int step = 50, ENDMOD=65400;
Kovalev_D 222:7de7b3bf3a1d 447 /*sprintf((Time),"%d %d %d %d %d %d %d\r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Spi.ADC5, 0xfFFf-Spi.ADC1, Spi.ADC1, Gyro.Termo);
Kovalev_D 209:224e7331a061 448 Gyro.CuruAngle=0;
Kovalev_D 222:7de7b3bf3a1d 449 WriteCon(Time);*/
Kovalev_D 213:9953db9543d6 450 Spi.DAC_B+=step;
Kovalev_D 213:9953db9543d6 451 if(Spi.DAC_B>ENDMOD)
Kovalev_D 211:ac8251b067d2 452 {
Kovalev_D 214:4c70e452c491 453 // Gyro.LogMod=0;
Kovalev_D 211:ac8251b067d2 454 PlcON
Kovalev_D 213:9953db9543d6 455 Spi.DAC_B = 48000;
Kovalev_D 211:ac8251b067d2 456 }
Kovalev_D 211:ac8251b067d2 457 dispersion=0;
Kovalev_D 209:224e7331a061 458 }
Kovalev_D 211:ac8251b067d2 459 else dispersion++;
Kovalev_D 191:40028201ddad 460 }
Kovalev_D 112:4a96133a1311 461 void DAC_OutPut(void)//выдача в цапы
igor_v 0:8ad47e2b6f00 462 {
Kovalev_D 220:04c54405b82d 463 /*if(Gyro.RgConA&0x10)*/ Modulator();
Kovalev_D 157:1069c80f4944 464 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 465 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 466 LPC_SSP0->DR=0x5555;
igor_v 0:8ad47e2b6f00 467
Kovalev_D 209:224e7331a061 468 if (CountV31 & 1)
Kovalev_D 209:224e7331a061 469 { //если нечетный такт то
Kovalev_D 218:b4067cac75c0 470 LPC_SSP0->DR = WRITE_DAC0; //e.команда для ЦАП_0 передавать.
Kovalev_D 220:04c54405b82d 471 LPC_SSP0->DR = (Spi.DAC_A); //e. передача 12 бит
Kovalev_D 209:224e7331a061 472 }
Kovalev_D 209:224e7331a061 473 else
Kovalev_D 209:224e7331a061 474 { //если такт четный.
Kovalev_D 157:1069c80f4944 475 LPC_SSP0->DR = WRITE_DAC1 ; //e.команда для ЦАП_1 передавать.
Kovalev_D 220:04c54405b82d 476 LPC_SSP0->DR = (Spi.DAC_B) ;
igor_v 31:c783288001b5 477 }
Kovalev_D 112:4a96133a1311 478 }
Kovalev_D 112:4a96133a1311 479
Kovalev_D 112:4a96133a1311 480
Kovalev_D 113:8be429494918 481
Kovalev_D 113:8be429494918 482
Kovalev_D 113:8be429494918 483
Kovalev_D 113:8be429494918 484