Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

SPI.c@221:53b256368ca1, 2017-10-23 (annotated)

Committer:
Kovalev_D
Date:
Mon Oct 23 05:31:10 2017 +0000
Revision:
221:53b256368ca1
Parent:
220:04c54405b82d
Child:
222:7de7b3bf3a1d
Child:
223:2344d5f4aa50
plc

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 147:1aed74f19a8f 17 unsigned int TempA;
Kovalev_D 158:0c8342e1837a 18 unsigned int TempTermLM;
Kovalev_D 211:ac8251b067d2 19 unsigned int conuntPLS;
Kovalev_D 197:7a05523bf588 20 int ADC5Old,ADCDIF=0;
Kovalev_D 215:b58b887fd367 21 /*int DACModReg;*/
Kovalev_D 197:7a05523bf588 22 int SinPls=0,SinMns=0;
Kovalev_D 214:4c70e452c491 23 int TSinPls=0,TSinMns=0;
Kovalev_D 213:9953db9543d6 24 int timer=750;
Kovalev_D 216:189b0ea1dc38 25 int sum=0;
Kovalev_D 216:189b0ea1dc38 26 unsigned int testcount=0,faza, fazaFlag=0;
Kovalev_D 197:7a05523bf588 27 unsigned int ADC5New;
Kovalev_D 95:dd51e577e114 28 unsigned int Buff_ADC_1 [32];
Kovalev_D 95:dd51e577e114 29 unsigned int Buff_ADC_2 [32];
Kovalev_D 95:dd51e577e114 30 unsigned int Buff_ADC_3 [32];
Kovalev_D 95:dd51e577e114 31 unsigned int Buff_ADC_4 [32];
Kovalev_D 220:04c54405b82d 32 int Buff_OUT1 [64];
Kovalev_D 220:04c54405b82d 33 int Buff_OUT [64];
Kovalev_D 213:9953db9543d6 34 int RegulADC,DeltaRegul,tempDeltaRegul;
Kovalev_D 220:04c54405b82d 35 int count10v=0,AMPSUM,AMPSUMP,AMPSUMM,AMPSUM_DESP,AMPSUMPout,AMPSUMMout,SumDelta,PLC_EROR,PLC_Flag,HFO_Flag,HFOdelta,HFOregul,HFOSumDelta;
Kovalev_D 214:4c70e452c491 36
Kovalev_D 215:b58b887fd367 37
Kovalev_D 215:b58b887fd367 38 //int BuffADC_32Point [64];
Kovalev_D 214:4c70e452c491 39
Kovalev_D 215:b58b887fd367 40 //unsigned int Buff_ADC_5 [255];
Kovalev_D 197:7a05523bf588 41
Kovalev_D 215:b58b887fd367 42
Kovalev_D 197:7a05523bf588 43
Kovalev_D 197:7a05523bf588 44
Kovalev_D 215:b58b887fd367 45 //unsigned int PulseADC_16Point;
Kovalev_D 215:b58b887fd367 46 //unsigned int PulseADC_32Point;
Kovalev_D 215:b58b887fd367 47 //unsigned int PulseADC_64Point;
Kovalev_D 215:b58b887fd367 48 //unsigned int PulseADC_32PointD;
Kovalev_D 215:b58b887fd367 49
Kovalev_D 215:b58b887fd367 50
Kovalev_D 215:b58b887fd367 51 //unsigned int Buff_AMP [256];
Kovalev_D 215:b58b887fd367 52 //unsigned int Buff_AMP64P [256];
Kovalev_D 220:04c54405b82d 53 unsigned int TypeMod=0;
Kovalev_D 197:7a05523bf588 54 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 55 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 56 unsigned int ModArrayTriangle [64];
Kovalev_D 216:189b0ea1dc38 57 unsigned int ModArraySaw [64];
Kovalev_D 216:189b0ea1dc38 58 unsigned int Mod=0;
Kovalev_D 216:189b0ea1dc38 59 int znak;
Kovalev_D 197:7a05523bf588 60
Kovalev_D 197:7a05523bf588 61 void InitMOD(void)
Kovalev_D 197:7a05523bf588 62 {
Kovalev_D 220:04c54405b82d 63 for (int i = 0; i < 64; i++ )
Kovalev_D 197:7a05523bf588 64 {
Kovalev_D 220:04c54405b82d 65 if(i<32) { ModArrayTriangle[i]=Mod; Mod=100;}
Kovalev_D 220:04c54405b82d 66 else { ModArrayTriangle[i]=Mod; Mod=0;}
Kovalev_D 197:7a05523bf588 67 }
Kovalev_D 197:7a05523bf588 68
Kovalev_D 207:d1ce992f5d17 69 for (int i = 0; i < 16; i++ )
Kovalev_D 197:7a05523bf588 70 {
Kovalev_D 216:189b0ea1dc38 71 ModArraySaw[i]=Mod;
Kovalev_D 216:189b0ea1dc38 72 Mod+=1;
Kovalev_D 220:04c54405b82d 73 }
Kovalev_D 197:7a05523bf588 74 }
Kovalev_D 197:7a05523bf588 75 void Modulator(void)
Kovalev_D 197:7a05523bf588 76 {
Kovalev_D 197:7a05523bf588 77 switch(TypeMod)
Kovalev_D 197:7a05523bf588 78 {
Kovalev_D 220:04c54405b82d 79
Kovalev_D 220:04c54405b82d 80 // case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 81 case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break;
Kovalev_D 220:04c54405b82d 82
Kovalev_D 216:189b0ea1dc38 83 case 1: LPC_DAC->DACR = (ModArraySaw [CountV64]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 84 case 2: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 216:189b0ea1dc38 85 case 3: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
Kovalev_D 220:04c54405b82d 86
Kovalev_D 220:04c54405b82d 87 //case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31)&0x1f]+150)*Gyro.ModAmp); break;ShiftMod
Kovalev_D 220:04c54405b82d 88 case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31+8)&0x1f])*Gyro.ModAmp + Gyro.ShiftMod-32000); break;
Kovalev_D 218:b4067cac75c0 89 case 5: break;
Kovalev_D 197:7a05523bf588 90 }
Kovalev_D 197:7a05523bf588 91 }
Kovalev_D 215:b58b887fd367 92
Kovalev_D 209:224e7331a061 93 void PLCRegul250(void)
Kovalev_D 209:224e7331a061 94 {
Kovalev_D 209:224e7331a061 95 unsigned int temp;
Kovalev_D 209:224e7331a061 96 static int CountFaza;
Kovalev_D 209:224e7331a061 97 temp = MODCount;
Kovalev_D 215:b58b887fd367 98
Kovalev_D 216:189b0ea1dc38 99 /*for (CountFaza = 0; CountFaza <16; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 100 for (CountFaza = 16; CountFaza <32; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 101 for (CountFaza = 32; CountFaza <48; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
Kovalev_D 215:b58b887fd367 102 for (CountFaza = 48; CountFaza <64; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);*/
Kovalev_D 215:b58b887fd367 103
Kovalev_D 214:4c70e452c491 104 /* for (CountFaza = 0; CountFaza <32; CountFaza++ ) SinPls+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];
Kovalev_D 214:4c70e452c491 105 for (CountFaza = 32; CountFaza <64; CountFaza++) SinMns+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];*/
Kovalev_D 209:224e7331a061 106 Gyro.PLC_Eror = SinMns-SinPls;
Kovalev_D 214:4c70e452c491 107 /* sprintf((Time)," %d %d %d %d %d\r\n",Spi.ADC5, Spi.DAC_B, SinPls, SinMns, Gyro.PLC_Eror);
Kovalev_D 209:224e7331a061 108 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 109 if(Gyro.RgConA&0x8)
Kovalev_D 209:224e7331a061 110 {
Kovalev_D 209:224e7331a061 111 if(Gyro.PLC_Eror>0) {Spi.DAC_B+=1 * Gyro.PLC_Gain;}
Kovalev_D 209:224e7331a061 112 else {Spi.DAC_B-=1 * Gyro.PLC_Gain;}
Kovalev_D 209:224e7331a061 113 }
Kovalev_D 215:b58b887fd367 114 /* if(Gyro.PLC_Eror>0) {Gyro.PLC_Eror_count++;}
Kovalev_D 215:b58b887fd367 115 else {Gyro.PLC_Eror_count--;}*/
Kovalev_D 209:224e7331a061 116
Kovalev_D 209:224e7331a061 117 if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
Kovalev_D 209:224e7331a061 118 else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
igor_v 110:6406b7ac0442 119
Kovalev_D 209:224e7331a061 120 SinPls=0;
Kovalev_D 209:224e7331a061 121 SinMns=0;
Kovalev_D 209:224e7331a061 122 }
Kovalev_D 220:04c54405b82d 123
Kovalev_D 220:04c54405b82d 124
Kovalev_D 220:04c54405b82d 125
Kovalev_D 220:04c54405b82d 126 void HFORegul2(void)
Kovalev_D 213:9953db9543d6 127 {
Kovalev_D 216:189b0ea1dc38 128 static unsigned int countHFO;
Kovalev_D 220:04c54405b82d 129
Kovalev_D 216:189b0ea1dc38 130 countHFO=0;
Kovalev_D 216:189b0ea1dc38 131 if(Gyro.RgConA&0x2)
Kovalev_D 216:189b0ea1dc38 132 {
Kovalev_D 220:04c54405b82d 133 if(HFO_Flag)
Kovalev_D 220:04c54405b82d 134 {
Kovalev_D 220:04c54405b82d 135 DeltaRegul+=(Gyro.HFO_ref-(AMPSUM>>8));
Kovalev_D 220:04c54405b82d 136
Kovalev_D 220:04c54405b82d 137 sprintf((Time),"%d %d %d\r\n", AMPSUM>>8, DeltaRegul, Gyro.HFO_ref);
Kovalev_D 220:04c54405b82d 138 WriteCon(Time);
Kovalev_D 220:04c54405b82d 139 HFO_Flag=0;
Kovalev_D 220:04c54405b82d 140 AMPSUM=0;
Kovalev_D 220:04c54405b82d 141 }
Kovalev_D 218:b4067cac75c0 142 switch(DeltaRegul) {
Kovalev_D 218:b4067cac75c0 143 case 1: DeltaRegul=0; break;
Kovalev_D 218:b4067cac75c0 144 case -1: DeltaRegul=0; break;
Kovalev_D 220:04c54405b82d 145 }
Kovalev_D 220:04c54405b82d 146 Spi.DAC_A-=(DeltaRegul>>2)*Gyro.HFO_Gain;
Kovalev_D 220:04c54405b82d 147 DeltaRegul=0;
Kovalev_D 216:189b0ea1dc38 148 }
Kovalev_D 216:189b0ea1dc38 149 else DeltaRegul=0;
Kovalev_D 213:9953db9543d6 150 if(Spi.DAC_A>Gyro.HFO_Min-1) Spi.DAC_A=Gyro.HFO_Min-2;
Kovalev_D 213:9953db9543d6 151 else if(Spi.DAC_A<Gyro.HFO_Max+1) Spi.DAC_A=Gyro.HFO_Max+2;
Kovalev_D 220:04c54405b82d 152
Kovalev_D 220:04c54405b82d 153 }
Kovalev_D 208:19150d2b528f 154
Kovalev_D 208:19150d2b528f 155 // Spi.DAC_B-=ADCDIF>>6;
Kovalev_D 208:19150d2b528f 156
Kovalev_D 147:1aed74f19a8f 157 void ADS_Acum(void)
Kovalev_D 147:1aed74f19a8f 158 {
Kovalev_D 157:1069c80f4944 159 Spi.ADC_NewData = 0;
Kovalev_D 209:224e7331a061 160 // Gyro.Termo = (unsigned int)(((Spi.ADC1>>1) + Gyro.Tmp_OffsetT4) * Gyro.Tmp_scaleT4);
Kovalev_D 209:224e7331a061 161 Gyro.Termo = (unsigned int)(Spi.ADC1>>1);
Kovalev_D 209:224e7331a061 162 Gyro.IN1_Accum += Spi.ADC2;
Kovalev_D 209:224e7331a061 163 Gyro.IN2_Accum += Spi.ADC3;
Kovalev_D 209:224e7331a061 164 // Gyro.DeltaT = (unsigned int)(((Spi.ADC4>>1) + Gyro.Tmp_OffsetT5) * Gyro.Tmp_scaleT5);
Kovalev_D 221:53b256368ca1 165 switch(Gyro.LG_Type)
Kovalev_D 221:53b256368ca1 166 {
Kovalev_D 221:53b256368ca1 167 case 1: Gyro.DeltaT = (unsigned int)(Spi.ADC2>>1); break;
Kovalev_D 221:53b256368ca1 168
Kovalev_D 221:53b256368ca1 169 case 0: Gyro.DeltaT = (unsigned int)(Spi.ADC4>>1); break;
Kovalev_D 221:53b256368ca1 170 }
Kovalev_D 221:53b256368ca1 171
Kovalev_D 208:19150d2b528f 172
Kovalev_D 172:ef7bf1663645 173 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 174 Gyro.TermLM = Spi.ADC1;
Kovalev_D 157:1069c80f4944 175 Gyro.ADF_Accum += TempA;
Kovalev_D 157:1069c80f4944 176 Gyro.ADS_Accum += TempA;
Kovalev_D 208:19150d2b528f 177 /// Gyro.ADS_AccumTermLM+=TempTermLM;
Kovalev_D 157:1069c80f4944 178 Gyro.ADF_Count ++;
Kovalev_D 157:1069c80f4944 179 Gyro.ADS_Count ++;
Kovalev_D 209:224e7331a061 180 Gyro.ADM_Count ++;
Kovalev_D 209:224e7331a061 181 /* sprintf((Time),"%d %d\r\n",((Gyro.In1>>1) - 0x4fff),(Spi.DAC_B-0x4fff));
Kovalev_D 209:224e7331a061 182 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 183 if (Gyro.ADM_Count > 255) {
Kovalev_D 209:224e7331a061 184 Gyro.In1 = Gyro.IN1_Accum>>8;
Kovalev_D 209:224e7331a061 185 Gyro.In2 = Gyro.IN2_Accum>>8;
Kovalev_D 209:224e7331a061 186 Gyro.IN1_Accum=0;
Kovalev_D 209:224e7331a061 187 Gyro.IN2_Accum=0;
Kovalev_D 209:224e7331a061 188 Gyro.ADM_Count=0;
Kovalev_D 147:1aed74f19a8f 189
Kovalev_D 209:224e7331a061 190 }
Kovalev_D 207:d1ce992f5d17 191 if (Gyro.ADF_Count > 15) { // если прошло 16 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 192 Gyro.AD_Fast = Gyro.ADF_Accum << 11; //обновляем данные и приводим в один масштаб
Kovalev_D 157:1069c80f4944 193 Gyro.ADF_Count = 0;//
Kovalev_D 157:1069c80f4944 194 Gyro.ADF_Accum = 0;
Kovalev_D 157:1069c80f4944 195 Gyro.ADF_NewData = 1;
Kovalev_D 157:1069c80f4944 196 }
Kovalev_D 207:d1ce992f5d17 197 if (Gyro.ADS_Count > 255) { // если прошло 256 тактов виброподвеса
Kovalev_D 172:ef7bf1663645 198 Gyro.AD_Slow = Gyro.ADS_Accum << 7; //обновляем данные и приводим в один масштаб
Kovalev_D 211:ac8251b067d2 199 // Gyro.TermLM = Gyro.ADS_AccumTermLM << 3;
Kovalev_D 157:1069c80f4944 200 Gyro.ADS_Count = 0;
Kovalev_D 157:1069c80f4944 201 Gyro.ADS_Accum = 0;
Kovalev_D 158:0c8342e1837a 202 Gyro.ADS_AccumTermLM=0;
Kovalev_D 207:d1ce992f5d17 203 Gyro.ADS_NewData = 1;
Kovalev_D 209:224e7331a061 204 }
Kovalev_D 147:1aed74f19a8f 205 }
Kovalev_D 220:04c54405b82d 206 void ModFilt(void)
Kovalev_D 220:04c54405b82d 207 {
Kovalev_D 220:04c54405b82d 208 static int SumBuff,Delta, OldDelta;
Kovalev_D 220:04c54405b82d 209
Kovalev_D 220:04c54405b82d 210
Kovalev_D 220:04c54405b82d 211
Kovalev_D 220:04c54405b82d 212 if (count10v>=64*8)
Kovalev_D 220:04c54405b82d 213 {
Kovalev_D 220:04c54405b82d 214 count10v=0;
Kovalev_D 220:04c54405b82d 215
Kovalev_D 220:04c54405b82d 216 /* for(int q=0; q<5; q++)
Kovalev_D 220:04c54405b82d 217 {
Kovalev_D 220:04c54405b82d 218 AMPSUMP+=BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 219 }*/
Kovalev_D 220:04c54405b82d 220
Kovalev_D 220:04c54405b82d 221 /* for(int q=0; q<32; q++)
Kovalev_D 220:04c54405b82d 222 {
Kovalev_D 220:04c54405b82d 223 AMPSUMP += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 224
Kovalev_D 220:04c54405b82d 225 }
Kovalev_D 220:04c54405b82d 226 for(int q=32; q<64; q++)
Kovalev_D 220:04c54405b82d 227 {
Kovalev_D 220:04c54405b82d 228 AMPSUMM += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 229 }
Kovalev_D 220:04c54405b82d 230 */
Kovalev_D 220:04c54405b82d 231 /////////////////////////////
Kovalev_D 220:04c54405b82d 232
Kovalev_D 220:04c54405b82d 233 /* for(int q=32; q<32+5; q++)
Kovalev_D 220:04c54405b82d 234 {
Kovalev_D 220:04c54405b82d 235 AMPSUMM+=BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 236 }*/
Kovalev_D 220:04c54405b82d 237 /* for(int q=32+12; q<32+20; q++)
Kovalev_D 220:04c54405b82d 238 {
Kovalev_D 220:04c54405b82d 239 AMPSUMM+=BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 240 }*/
Kovalev_D 220:04c54405b82d 241 /* for(int q=32+28; q<32+32; q++)
Kovalev_D 220:04c54405b82d 242 {
Kovalev_D 220:04c54405b82d 243 AMPSUMM+=BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 244 } */
Kovalev_D 220:04c54405b82d 245
Kovalev_D 220:04c54405b82d 246
Kovalev_D 220:04c54405b82d 247 /* sprintf((Time),"%d %d %d %d \r\n", AMPSUM, AMPSUMP, AMPSUMM,AMPSUMP - AMPSUMM);
Kovalev_D 220:04c54405b82d 248 WriteCon(Time);*/
Kovalev_D 220:04c54405b82d 249
Kovalev_D 220:04c54405b82d 250
Kovalev_D 220:04c54405b82d 251
Kovalev_D 220:04c54405b82d 252 for(int q=0; q<32; q++)
Kovalev_D 220:04c54405b82d 253 {
Kovalev_D 220:04c54405b82d 254 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 255 SumBuff -= BuffADC_10v_OLD[q+32];
Kovalev_D 220:04c54405b82d 256 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 257 }
Kovalev_D 220:04c54405b82d 258 for(int q=32; q<64; q++)
Kovalev_D 220:04c54405b82d 259 {
Kovalev_D 220:04c54405b82d 260 SumBuff += BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 261 SumBuff -= BuffADC_10v[q-32];
Kovalev_D 220:04c54405b82d 262 BuffADC_10v_F [q] = SumBuff;
Kovalev_D 220:04c54405b82d 263 }
Kovalev_D 220:04c54405b82d 264
Kovalev_D 220:04c54405b82d 265 for(int q=0; q<32; q++)
Kovalev_D 220:04c54405b82d 266 {
Kovalev_D 220:04c54405b82d 267 AMPSUMP +=BuffADC_10v_F [q];
Kovalev_D 220:04c54405b82d 268
Kovalev_D 220:04c54405b82d 269 }
Kovalev_D 220:04c54405b82d 270 for(int q=32; q<64; q++)
Kovalev_D 220:04c54405b82d 271 {
Kovalev_D 220:04c54405b82d 272 AMPSUMM += BuffADC_10v_F [q];
Kovalev_D 220:04c54405b82d 273 }
Kovalev_D 220:04c54405b82d 274
Kovalev_D 220:04c54405b82d 275
Kovalev_D 220:04c54405b82d 276
Kovalev_D 220:04c54405b82d 277
Kovalev_D 220:04c54405b82d 278 for(int q=0; q<64; q++)
Kovalev_D 220:04c54405b82d 279 {
Kovalev_D 220:04c54405b82d 280 AMPSUM+=BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 281 //Buff_OUT[q]=BuffADC_1Point[q];
Kovalev_D 220:04c54405b82d 282 Buff_OUT[q]=BuffADC_10v_F [q];
Kovalev_D 220:04c54405b82d 283 //Buff_OUT1[q]=
Kovalev_D 220:04c54405b82d 284 BuffADC_10v_OLD[q]= BuffADC_10v[q];
Kovalev_D 220:04c54405b82d 285 BuffADC_10v[q] =0;
Kovalev_D 220:04c54405b82d 286 }
Kovalev_D 220:04c54405b82d 287 sprintf((Time),"%d \r\n", Spi.DAC_A);
Kovalev_D 220:04c54405b82d 288 WriteCon(Time);
Kovalev_D 220:04c54405b82d 289
Kovalev_D 220:04c54405b82d 290 AMPSUMPout=AMPSUMP;
Kovalev_D 220:04c54405b82d 291 AMPSUMMout=AMPSUMM;
Kovalev_D 220:04c54405b82d 292
Kovalev_D 220:04c54405b82d 293 Delta= (AMPSUMPout - AMPSUMMout);
Kovalev_D 220:04c54405b82d 294 SumDelta+=Delta;
Kovalev_D 220:04c54405b82d 295 Gyro.PLC_Eror_count=SumDelta/Gyro.PLC_Gain;
Kovalev_D 220:04c54405b82d 296 SumDelta-=Gyro.PLC_Gain*Gyro.PLC_Eror_count;
Kovalev_D 220:04c54405b82d 297
Kovalev_D 220:04c54405b82d 298 AMPSUM=AMPSUM>>6;
Kovalev_D 220:04c54405b82d 299 AMPSUM=AMPSUM>>3;
Kovalev_D 220:04c54405b82d 300
Kovalev_D 220:04c54405b82d 301 AMPSUM_DESP=AMPSUM;
Kovalev_D 220:04c54405b82d 302 HFOdelta=(int)((Gyro.HFO_ref)-AMPSUM);
Kovalev_D 220:04c54405b82d 303 PLC_EROR=Gyro.PLC_Eror_count;
Kovalev_D 220:04c54405b82d 304
Kovalev_D 220:04c54405b82d 305 HFOSumDelta+=HFOdelta;
Kovalev_D 220:04c54405b82d 306 HFOregul=HFOSumDelta/(int)(Gyro.HFO_Gain);
Kovalev_D 220:04c54405b82d 307
Kovalev_D 220:04c54405b82d 308 HFOSumDelta-=Gyro.HFO_Gain*HFOregul;
Kovalev_D 220:04c54405b82d 309 tempDeltaRegul=HFOregul;
Kovalev_D 220:04c54405b82d 310
Kovalev_D 220:04c54405b82d 311 HFO_Flag=1;
Kovalev_D 220:04c54405b82d 312 PLC_Flag=1;
Kovalev_D 220:04c54405b82d 313 AMPSUMM=0;
Kovalev_D 220:04c54405b82d 314 AMPSUMP=0;
Kovalev_D 220:04c54405b82d 315 AMPSUM=0;
Kovalev_D 220:04c54405b82d 316 }
Kovalev_D 220:04c54405b82d 317 }
Kovalev_D 220:04c54405b82d 318
igor_v 114:5cc38a53d8a7 319 void SPI_Exchange(void) // новая функция чтения, в нецй не должно быть ничего лишнего
Kovalev_D 157:1069c80f4944 320 {
Kovalev_D 220:04c54405b82d 321
Kovalev_D 157:1069c80f4944 322 unsigned int DummySPI;
Kovalev_D 220:04c54405b82d 323
Kovalev_D 197:7a05523bf588 324 //unsigned int ADC5Dif;
Kovalev_D 197:7a05523bf588 325 ADC5New = LPC_SSP0->DR;// Чтение АЦП
Kovalev_D 207:d1ce992f5d17 326 //Spi.ADC5_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 327 Spi.ADC4_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 328 Spi.ADC3_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 329 Spi.ADC2_Accum += LPC_SSP0->DR;
igor_v 110:6406b7ac0442 330 Spi.ADC1_Accum += LPC_SSP0->DR;
Kovalev_D 207:d1ce992f5d17 331 Spi.ADC5_Accum += ADC5New;
Kovalev_D 209:224e7331a061 332
Kovalev_D 207:d1ce992f5d17 333 while (LPC_SSP0->SR & RX_SSP_notEMPT)
Kovalev_D 207:d1ce992f5d17 334 {
Kovalev_D 170:d099c3025f87 335 DummySPI = LPC_SSP0->DR; //если буфер SPI не пуст.//очистить буфер.
Kovalev_D 157:1069c80f4944 336 }
Kovalev_D 112:4a96133a1311 337 DAC_OutPut();
Kovalev_D 157:1069c80f4944 338 if (CountV31 == 0) { // просто фильтруем по 32 точкам.
Kovalev_D 197:7a05523bf588 339 // выставояем бит, что есть новы данные
Kovalev_D 157:1069c80f4944 340 Spi.ADC1 = Spi.ADC1_Accum >> 5; // подгоотавливаем данные (в той эе сетке) те ADC1 0..65535
Kovalev_D 157:1069c80f4944 341 Spi.ADC2 = Spi.ADC2_Accum >> 5;
Kovalev_D 157:1069c80f4944 342 Spi.ADC3 = Spi.ADC3_Accum >> 5;
Kovalev_D 157:1069c80f4944 343 Spi.ADC4 = Spi.ADC4_Accum >> 5;
Kovalev_D 157:1069c80f4944 344 Spi.ADC5 = Spi.ADC5_Accum >> 5;
Kovalev_D 157:1069c80f4944 345 Spi.ADC1_Accum = 0; // сбрасывкем аккамулятор
Kovalev_D 157:1069c80f4944 346 Spi.ADC2_Accum = 0;
Kovalev_D 157:1069c80f4944 347 Spi.ADC3_Accum = 0;
Kovalev_D 157:1069c80f4944 348 Spi.ADC4_Accum = 0;
Kovalev_D 157:1069c80f4944 349 Spi.ADC5_Accum = 0;
Kovalev_D 157:1069c80f4944 350 Spi.ADC_NewData = 1;
Kovalev_D 209:224e7331a061 351
Kovalev_D 207:d1ce992f5d17 352 }
Kovalev_D 215:b58b887fd367 353 if(Time1Hz>6)
Kovalev_D 215:b58b887fd367 354 {
Kovalev_D 220:04c54405b82d 355 BuffADC_1Point[CountV255] = (0x7fff-ADC5New)&0x7fff;
Kovalev_D 218:b4067cac75c0 356 BuffADC_1Point_64[CountV31]=(0x7fff-ADC5New)&0x7fff;
Kovalev_D 216:189b0ea1dc38 357
Kovalev_D 220:04c54405b82d 358 /* ADC_128Point += BuffADC_1Point[CountV255];
Kovalev_D 220:04c54405b82d 359 ADC_128Point -= BuffADC_1Point[(CountV255 - 128) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов
Kovalev_D 220:04c54405b82d 360 BuffADC_128Point[CountV64] = ADC_128Point;*/
Kovalev_D 220:04c54405b82d 361
Kovalev_D 220:04c54405b82d 362
Kovalev_D 220:04c54405b82d 363 // Buff_Restored_Mod[CountV31] =(int)(BuffADC_1Point_64[CountV31] - ((BuffADC_128Point[CountV64])>>7));
Kovalev_D 220:04c54405b82d 364 // Buff_Restored_Mod[CountV64] =(int)(BuffADC_32PointD[CountV64]*2 - BuffADC_64Point[CountV64]);
Kovalev_D 220:04c54405b82d 365
Kovalev_D 220:04c54405b82d 366
Kovalev_D 220:04c54405b82d 367 count10v++;
Kovalev_D 220:04c54405b82d 368 BuffADC_10v[CountV64] += BuffADC_1Point[CountV255];
Kovalev_D 220:04c54405b82d 369
Kovalev_D 220:04c54405b82d 370 ModFilt();
Kovalev_D 220:04c54405b82d 371
Kovalev_D 220:04c54405b82d 372 }
Kovalev_D 220:04c54405b82d 373
Kovalev_D 220:04c54405b82d 374 }
Kovalev_D 220:04c54405b82d 375
Kovalev_D 220:04c54405b82d 376 void HFORegul(void)
Kovalev_D 220:04c54405b82d 377 {
Kovalev_D 220:04c54405b82d 378 static unsigned int countHFO;
Kovalev_D 220:04c54405b82d 379
Kovalev_D 220:04c54405b82d 380 countHFO=0;
Kovalev_D 220:04c54405b82d 381
Kovalev_D 220:04c54405b82d 382 if(Gyro.RgConA&0x2)
Kovalev_D 220:04c54405b82d 383 {
Kovalev_D 220:04c54405b82d 384 if(HFO_Flag)
Kovalev_D 220:04c54405b82d 385 {
Kovalev_D 220:04c54405b82d 386 switch(HFOregul){
Kovalev_D 220:04c54405b82d 387
Kovalev_D 220:04c54405b82d 388 // case 1: HFOregul=0; break;
Kovalev_D 220:04c54405b82d 389 // case -1: HFOregul=0; break;
Kovalev_D 220:04c54405b82d 390 // case 2: HFOregul=1; break;
Kovalev_D 220:04c54405b82d 391 // case -2: HFOregul=1; break;
Kovalev_D 220:04c54405b82d 392
Kovalev_D 220:04c54405b82d 393
Kovalev_D 220:04c54405b82d 394 }
Kovalev_D 220:04c54405b82d 395 Spi.DAC_A -= HFOregul;
Kovalev_D 220:04c54405b82d 396 HFO_Flag=0;
Kovalev_D 220:04c54405b82d 397 DeltaRegul=0;
Kovalev_D 220:04c54405b82d 398 }
Kovalev_D 220:04c54405b82d 399 }
Kovalev_D 220:04c54405b82d 400
Kovalev_D 220:04c54405b82d 401 else DeltaRegul=0;
Kovalev_D 220:04c54405b82d 402
Kovalev_D 220:04c54405b82d 403 if(Spi.DAC_A>Gyro.HFO_Min-1) Spi.DAC_A=Gyro.HFO_Min-2;
Kovalev_D 220:04c54405b82d 404 else if(Spi.DAC_A<Gyro.HFO_Max+1) Spi.DAC_A=Gyro.HFO_Max+2;
Kovalev_D 220:04c54405b82d 405
Kovalev_D 220:04c54405b82d 406 }
Kovalev_D 220:04c54405b82d 407
Kovalev_D 214:4c70e452c491 408
Kovalev_D 220:04c54405b82d 409 void PLCRegul(void)
Kovalev_D 215:b58b887fd367 410
Kovalev_D 220:04c54405b82d 411 {
Kovalev_D 220:04c54405b82d 412 static unsigned int Flag_64=0, count;
Kovalev_D 220:04c54405b82d 413 static int CountFaza,Sin;
Kovalev_D 216:189b0ea1dc38 414
Kovalev_D 216:189b0ea1dc38 415
Kovalev_D 220:04c54405b82d 416 if(Gyro.RgConA&0x8)
Kovalev_D 220:04c54405b82d 417 {
Kovalev_D 220:04c54405b82d 418 if(PLC_Flag)
Kovalev_D 220:04c54405b82d 419 {
Kovalev_D 220:04c54405b82d 420 PLC_Flag=0;
Kovalev_D 220:04c54405b82d 421 Spi.DAC_B+=(Gyro.PLC_Eror_count);
Kovalev_D 220:04c54405b82d 422
Kovalev_D 220:04c54405b82d 423
Kovalev_D 220:04c54405b82d 424 }
Kovalev_D 220:04c54405b82d 425 }
Kovalev_D 220:04c54405b82d 426 Gyro.PLC_Eror_count=0;
Kovalev_D 220:04c54405b82d 427 if(Gyro.LG_Type==1)
Kovalev_D 220:04c54405b82d 428 {
Kovalev_D 220:04c54405b82d 429 if ( Spi.DAC_B < Gyro.HighTreshold ) Spi.DAC_B = (Gyro.ResetLevelHeat);
Kovalev_D 220:04c54405b82d 430 else if ( Spi.DAC_B > Gyro.DownTreshold ) Spi.DAC_B = (Gyro.ResetLevelCool);
Kovalev_D 220:04c54405b82d 431 }
Kovalev_D 220:04c54405b82d 432 else
Kovalev_D 220:04c54405b82d 433 {
Kovalev_D 220:04c54405b82d 434 if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
Kovalev_D 220:04c54405b82d 435 else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
Kovalev_D 220:04c54405b82d 436 }
Kovalev_D 220:04c54405b82d 437 }
Kovalev_D 216:189b0ea1dc38 438
Kovalev_D 220:04c54405b82d 439
Kovalev_D 220:04c54405b82d 440
Kovalev_D 113:8be429494918 441
Kovalev_D 190:289514f730ee 442 void ShowMod(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 158:0c8342e1837a 443 {
Kovalev_D 158:0c8342e1837a 444
Kovalev_D 158:0c8342e1837a 445 //////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 446 //////////////////////////////////смотрим все моды/////////////////////////////////////////////////
Kovalev_D 158:0c8342e1837a 447 ///////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 197:7a05523bf588 448 if(dispersion>5)
Kovalev_D 197:7a05523bf588 449 {
Kovalev_D 197:7a05523bf588 450 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 451 {
Kovalev_D 158:0c8342e1837a 452 Gyro.PLC_Error2Mode--;
Kovalev_D 158:0c8342e1837a 453 Gyro.PLC_Lern++;
Kovalev_D 197:7a05523bf588 454 Spi.DAC_B += tempstrafe*side;
Kovalev_D 197:7a05523bf588 455 if(side>0)side=(-1);
Kovalev_D 197:7a05523bf588 456 else side = 1;
Kovalev_D 197:7a05523bf588 457 tempstrafe-=40;
Kovalev_D 197:7a05523bf588 458 dispersion=0;
Kovalev_D 168:f4a6abb18358 459 }
Kovalev_D 197:7a05523bf588 460 else {Gyro.LogPLC=0;}
Kovalev_D 197:7a05523bf588 461 }
Kovalev_D 197:7a05523bf588 462 else dispersion++;
Kovalev_D 197:7a05523bf588 463 sprintf((Time),"%d %d %d %d \r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Gyro.Termo);
Kovalev_D 197:7a05523bf588 464 Gyro.CuruAngle=0;
Kovalev_D 197:7a05523bf588 465 WriteCon(Time);
Kovalev_D 158:0c8342e1837a 466 }
Kovalev_D 209:224e7331a061 467 void ShowMod2(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап
Kovalev_D 209:224e7331a061 468 {
Kovalev_D 211:ac8251b067d2 469 if(dispersion>3)
Kovalev_D 211:ac8251b067d2 470 {
Kovalev_D 213:9953db9543d6 471 unsigned int step = 50, ENDMOD=65400;
Kovalev_D 209:224e7331a061 472 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 473 Gyro.CuruAngle=0;
Kovalev_D 209:224e7331a061 474 WriteCon(Time);
Kovalev_D 213:9953db9543d6 475 Spi.DAC_B+=step;
Kovalev_D 213:9953db9543d6 476 if(Spi.DAC_B>ENDMOD)
Kovalev_D 211:ac8251b067d2 477 {
Kovalev_D 214:4c70e452c491 478 // Gyro.LogMod=0;
Kovalev_D 211:ac8251b067d2 479 PlcON
Kovalev_D 213:9953db9543d6 480 Spi.DAC_B = 48000;
Kovalev_D 211:ac8251b067d2 481 }
Kovalev_D 211:ac8251b067d2 482 dispersion=0;
Kovalev_D 209:224e7331a061 483 }
Kovalev_D 211:ac8251b067d2 484 else dispersion++;
Kovalev_D 191:40028201ddad 485 }
Kovalev_D 112:4a96133a1311 486 void DAC_OutPut(void)//выдача в цапы
igor_v 0:8ad47e2b6f00 487 {
Kovalev_D 220:04c54405b82d 488 /*if(Gyro.RgConA&0x10)*/ Modulator();
Kovalev_D 157:1069c80f4944 489 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 490 LPC_SSP0->DR=0x5555;
igor_v 31:c783288001b5 491 LPC_SSP0->DR=0x5555;
igor_v 0:8ad47e2b6f00 492
Kovalev_D 209:224e7331a061 493 if (CountV31 & 1)
Kovalev_D 209:224e7331a061 494 { //если нечетный такт то
Kovalev_D 218:b4067cac75c0 495 LPC_SSP0->DR = WRITE_DAC0; //e.команда для ЦАП_0 передавать.
Kovalev_D 220:04c54405b82d 496 LPC_SSP0->DR = (Spi.DAC_A); //e. передача 12 бит
Kovalev_D 209:224e7331a061 497 }
Kovalev_D 209:224e7331a061 498 else
Kovalev_D 209:224e7331a061 499 { //если такт четный.
Kovalev_D 157:1069c80f4944 500 LPC_SSP0->DR = WRITE_DAC1 ; //e.команда для ЦАП_1 передавать.
Kovalev_D 220:04c54405b82d 501 LPC_SSP0->DR = (Spi.DAC_B) ;
igor_v 31:c783288001b5 502 }
Kovalev_D 112:4a96133a1311 503 }
Kovalev_D 112:4a96133a1311 504
Kovalev_D 112:4a96133a1311 505
Kovalev_D 113:8be429494918 506
Kovalev_D 113:8be429494918 507
Kovalev_D 113:8be429494918 508
Kovalev_D 113:8be429494918 509