Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

Global.c@188:4c523cc373cc, 2016-08-19 (annotated)

Committer:
Kovalev_D
Date:
Fri Aug 19 14:02:02 2016 +0000
Revision:
188:4c523cc373cc
Parent:
183:7e200f4d9b16
Child:
189:8a16378724c4
hhh

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 140:1fbf117fc120 24
Kovalev_D 139:1716152517aa 25
Kovalev_D 134:caf4c9cd5052 26 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 27 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 28 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 29 BX R0
Kovalev_D 134:caf4c9cd5052 30 }
Kovalev_D 134:caf4c9cd5052 31
Kovalev_D 86:398da56ef751 32 void GLD_Init(void)
Kovalev_D 86:398da56ef751 33 {
Kovalev_D 183:7e200f4d9b16 34 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 90:d9b6a4bc5065 35 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 36 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 37 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 38 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 39 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 40 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 41 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 42 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 43 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 44 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 45 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 46 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 47 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 48 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 49 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 50 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 51 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 52 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 53 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 54 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 55 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 56 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 57 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 58 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 59 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 60 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 61 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 62 ShiftL = 0;
Kovalev_D 124:9ae09249f842 63 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 64 Time500Hz = 0;
Kovalev_D 139:1716152517aa 65
Kovalev_D 86:398da56ef751 66 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 67 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 68
Kovalev_D 88:b5c1d9d338d1 69
Kovalev_D 88:b5c1d9d338d1 70 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 71 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 72 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 73 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 74 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 132:2c7bec5cf6fe 75 Gyro.FlashMod=0;
Kovalev_D 179:2b4e6bc277df 76 Gyro.FrqHZ=406;
Kovalev_D 88:b5c1d9d338d1 77 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 183:7e200f4d9b16 78 Gyro.AmpPer=30;
Kovalev_D 88:b5c1d9d338d1 79 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 80 Gyro.Amp = 10*65535;
Kovalev_D 180:375dcd9c0cb6 81 Gyro.AmpMin =5;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 82 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 83 //////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 84 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 85 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 86 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 87 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 88 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 89 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 90 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 91 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 92 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 93 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 94 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 95 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 96 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 97 Buff_16PointD[i] = 0x00;
Kovalev_D 129:406995a91322 98 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 99 }
Kovalev_D 129:406995a91322 100
Kovalev_D 129:406995a91322 101 for (int i = 0; i < 170; i++ ) {
Kovalev_D 129:406995a91322 102 GyroP.Array[i] =i;
Kovalev_D 88:b5c1d9d338d1 103 }
Kovalev_D 88:b5c1d9d338d1 104 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 105 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 106 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 107 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 108 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 109 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 110 // Temp_AMP=0;
Kovalev_D 96:1c8536458119 111 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 112 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 113 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 114 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 115 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 116 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 117 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 118 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 119 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 120 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 121 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 122 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 123 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 124 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 125 }
Kovalev_D 95:dd51e577e114 126 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 127 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 128 }
Kovalev_D 96:1c8536458119 129 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 130 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 131 }
Kovalev_D 96:1c8536458119 132 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 133 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 134 }
Kovalev_D 88:b5c1d9d338d1 135 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 136 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 137
Kovalev_D 88:b5c1d9d338d1 138
Kovalev_D 88:b5c1d9d338d1 139
Kovalev_D 88:b5c1d9d338d1 140
Kovalev_D 88:b5c1d9d338d1 141
Kovalev_D 92:c892f0311aa7 142
Kovalev_D 88:b5c1d9d338d1 143 Gyro.SOC_Out=0xDD;
Kovalev_D 188:4c523cc373cc 144 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 163:affb5706d191 145 Gyro.GLD_Serial = 0xD7; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 146 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 92:c892f0311aa7 147
Kovalev_D 188:4c523cc373cc 148 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 149 case 0:
Kovalev_D 188:4c523cc373cc 150 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 151 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 152 break;
Kovalev_D 188:4c523cc373cc 153 case 1:
Kovalev_D 188:4c523cc373cc 154 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 155 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 156 break;
Kovalev_D 188:4c523cc373cc 157 case 2:
Kovalev_D 188:4c523cc373cc 158 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 159 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 160 break;
Kovalev_D 188:4c523cc373cc 161 case 3:
Kovalev_D 188:4c523cc373cc 162 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 163 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 164 break;
Kovalev_D 188:4c523cc373cc 165 }
Kovalev_D 89:a0d344db227e 166
Kovalev_D 88:b5c1d9d338d1 167 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 168 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 169 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 170 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 171 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 172 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 173 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 174 /////////////////////////////////////////////////////
Kovalev_D 159:38f39c0c143f 175
Kovalev_D 159:38f39c0c143f 176 // Spi.DAC_A = 20000;
Kovalev_D 188:4c523cc373cc 177 Spi.DAC_A = 38000;
Kovalev_D 159:38f39c0c143f 178 //Spi.DAC_A = 44000;
Kovalev_D 159:38f39c0c143f 179
Kovalev_D 157:1069c80f4944 180 //Spi.DAC_B = 0x7fff; //старое начало
Kovalev_D 188:4c523cc373cc 181 Spi.DAC_B = 38000; //40000
Kovalev_D 163:affb5706d191 182 //Spi.DAC_B = 11000; //для просмотра мод
Kovalev_D 158:0c8342e1837a 183
Kovalev_D 159:38f39c0c143f 184 Gyro.StrayHZ = 1000;
Kovalev_D 159:38f39c0c143f 185 Gyro.StrayHZ_flag = 0;
Kovalev_D 159:38f39c0c143f 186 Gyro.LogHZ = 0;
Kovalev_D 159:38f39c0c143f 187
Kovalev_D 159:38f39c0c143f 188 Gyro.StrayPLC_Pls =1000;
Kovalev_D 159:38f39c0c143f 189 Gyro.StrayPLC_Mns = -1000;
Kovalev_D 159:38f39c0c143f 190 Gyro.StrayPLC_2Mode = 2000;
Kovalev_D 159:38f39c0c143f 191 Gyro.StrayPLC_flag = 0;
Kovalev_D 159:38f39c0c143f 192 Gyro.LogPLC = 0;
Kovalev_D 159:38f39c0c143f 193 Gyro.PLC_Lern = 0;
Kovalev_D 168:f4a6abb18358 194 Gyro.ModJump = 0;
Kovalev_D 168:f4a6abb18358 195 Gyro.PLC_Error2Mode =500; //для записи мод
Kovalev_D 159:38f39c0c143f 196 //Gyro.PLC_Error2Mode = 65; //стандартное включение прибора регулировка (65 начальная задержка для поиска АМП мах)
Kovalev_D 86:398da56ef751 197 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 198 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 199 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 200 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 201 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 202 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 203 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 204 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 205
igor_v 16:18e3fd7b92d0 206
igor_v 16:18e3fd7b92d0 207
Kovalev_D 86:398da56ef751 208 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 209
Kovalev_D 86:398da56ef751 210
Kovalev_D 86:398da56ef751 211 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 212 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 213 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 214 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 215 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 216 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 217 Cur_QEI=0;
Kovalev_D 86:398da56ef751 218 Last_QEI=0;
Kovalev_D 86:398da56ef751 219 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 220 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 221 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 222 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 223 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 224 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 225 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 226 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 227
Kovalev_D 98:95b8e79f13e1 228
Kovalev_D 87:7e575d26d6d0 229 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 230 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 231 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 232 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 233
Kovalev_D 87:7e575d26d6d0 234 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 235 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 236
Kovalev_D 98:95b8e79f13e1 237 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 238 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 239 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 240 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 241
Kovalev_D 88:b5c1d9d338d1 242
Kovalev_D 89:a0d344db227e 243 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 244 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 245 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 246
Kovalev_D 89:a0d344db227e 247 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 248
Kovalev_D 89:a0d344db227e 249 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 250 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 251 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 252 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 253
Kovalev_D 89:a0d344db227e 254 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 255 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 256 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 257
Kovalev_D 89:a0d344db227e 258 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 259 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 260 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 261
Kovalev_D 99:3d8f206ceac2 262 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 263 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 264 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 265 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 266
Kovalev_D 89:a0d344db227e 267 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 268 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 269 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 270
Kovalev_D 86:398da56ef751 271
Kovalev_D 86:398da56ef751 272
Kovalev_D 92:c892f0311aa7 273
Kovalev_D 92:c892f0311aa7 274
Kovalev_D 92:c892f0311aa7 275
Kovalev_D 92:c892f0311aa7 276 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 277 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 278 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 279 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 280 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 281
Kovalev_D 92:c892f0311aa7 282 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 283 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 284
Kovalev_D 92:c892f0311aa7 285 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 286 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 287 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 288
Kovalev_D 92:c892f0311aa7 289 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 290 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 291 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 292
Kovalev_D 92:c892f0311aa7 293 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 294 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 295
Kovalev_D 92:c892f0311aa7 296 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 297 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 298
Kovalev_D 92:c892f0311aa7 299 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 300 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 301
Kovalev_D 92:c892f0311aa7 302 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 303 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 304 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 305
Kovalev_D 92:c892f0311aa7 306 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 307 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 308
Kovalev_D 92:c892f0311aa7 309 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 310 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 311 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 312 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 313 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 314 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 315 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 316 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 317 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 318
Kovalev_D 92:c892f0311aa7 319 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 320 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 321 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 322 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 323 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 324 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 325 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 326
Kovalev_D 92:c892f0311aa7 327
Kovalev_D 92:c892f0311aa7 328
Kovalev_D 92:c892f0311aa7 329
Kovalev_D 86:398da56ef751 330 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 331 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 332 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 333
Kovalev_D 89:a0d344db227e 334 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 335 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 336 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 337 PinCheng();
Kovalev_D 89:a0d344db227e 338 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 339
Kovalev_D 87:7e575d26d6d0 340 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 341 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 342 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 343
Kovalev_D 98:95b8e79f13e1 344 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 98:95b8e79f13e1 345 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 98:95b8e79f13e1 346 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 87:7e575d26d6d0 347 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 348 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 349 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 350
Kovalev_D 88:b5c1d9d338d1 351
Kovalev_D 87:7e575d26d6d0 352 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 353 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 354 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 355 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 356 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 357 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 358
Kovalev_D 88:b5c1d9d338d1 359
Kovalev_D 88:b5c1d9d338d1 360
Kovalev_D 87:7e575d26d6d0 361 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 362 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 363 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 364 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 365 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 366 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 367 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 368 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 369
Kovalev_D 88:b5c1d9d338d1 370
Kovalev_D 88:b5c1d9d338d1 371
Kovalev_D 87:7e575d26d6d0 372 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 373 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 374 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 375 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 376 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 377 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 378 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 379 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 380 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 381 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 382 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 383 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 384 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 385 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 386 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 387 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 388 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 389 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 390
Kovalev_D 88:b5c1d9d338d1 391
Kovalev_D 88:b5c1d9d338d1 392
Kovalev_D 87:7e575d26d6d0 393 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 394 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 395 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 396 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 397 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 398 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 399 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 400 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 401 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 402 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 403
Kovalev_D 88:b5c1d9d338d1 404
Kovalev_D 88:b5c1d9d338d1 405 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 406 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 407 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 408 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 409 enable_timer1();
Kovalev_D 86:398da56ef751 410 enable_timer2();
Kovalev_D 89:a0d344db227e 411 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 412
Kovalev_D 89:a0d344db227e 413 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 414 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 415
Kovalev_D 90:d9b6a4bc5065 416
Kovalev_D 90:d9b6a4bc5065 417
Kovalev_D 90:d9b6a4bc5065 418 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 419 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 420 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 421 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 422 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 423
Kovalev_D 90:d9b6a4bc5065 424 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 425 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 426
Kovalev_D 90:d9b6a4bc5065 427 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 428 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 429 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 430
Kovalev_D 90:d9b6a4bc5065 431 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 432 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 433 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 434
Kovalev_D 90:d9b6a4bc5065 435 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 436 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 437
Kovalev_D 90:d9b6a4bc5065 438 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 439 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 440
Kovalev_D 90:d9b6a4bc5065 441 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 442 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 443
Kovalev_D 90:d9b6a4bc5065 444 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 445 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 446 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 447
Kovalev_D 90:d9b6a4bc5065 448 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 449 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 450
Kovalev_D 90:d9b6a4bc5065 451 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 452 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 453 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 454 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 455 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 456 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 457 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 458 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 459 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 460
Kovalev_D 92:c892f0311aa7 461 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 462 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 463 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 464 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 465
Kovalev_D 86:398da56ef751 466 }
igor_v 13:e2a1d18677b8 467
igor_v 0:8ad47e2b6f00 468
igor_v 0:8ad47e2b6f00 469
igor_v 0:8ad47e2b6f00 470
igor_v 0:8ad47e2b6f00 471