Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

MTimer.c@201:76f4123bf22a, 2016-11-02 (annotated)

Committer:
Kovalev_D
Date:
Wed Nov 02 14:05:24 2016 +0000
Revision:
201:76f4123bf22a
Parent:
197:7a05523bf588
Child:
202:c03b7b128e11
F.ras 20kHz

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 4 #include "vibro.h"
igor_v 0:8ad47e2b6f00 5 #include "QEI.h"
igor_v 0:8ad47e2b6f00 6 #include "Global.h"
igor_v 0:8ad47e2b6f00 7 #include "SPI.h"
igor_v 0:8ad47e2b6f00 8 #include "InputOutput.h"
Kovalev_D 112:4a96133a1311 9
Kovalev_D 197:7a05523bf588 10 unsigned int CountV64=0;
igor_v 0:8ad47e2b6f00 11 unsigned int CountV31=0;
Kovalev_D 197:7a05523bf588 12 unsigned int CountV255=0;
Kovalev_D 201:76f4123bf22a 13 unsigned int f,f1;
Kovalev_D 124:9ae09249f842 14 int loop=0;
Kovalev_D 112:4a96133a1311 15
Kovalev_D 88:b5c1d9d338d1 16 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 17 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 18 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 19 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 20 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 21 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 22 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 92:c892f0311aa7 23 { int i,t;
Kovalev_D 115:e5a230e5af52 24 if (Event1Hz)
Kovalev_D 201:76f4123bf22a 25 {
Kovalev_D 201:76f4123bf22a 26
Kovalev_D 201:76f4123bf22a 27
Kovalev_D 124:9ae09249f842 28 Gyro.Rate1_Event = 1;
Kovalev_D 122:fbacb932a30b 29 Event1Hz--;
Kovalev_D 122:fbacb932a30b 30 Time1Hz++;
Kovalev_D 117:eefe61968528 31 Discharg ();
Kovalev_D 193:a0fe8bfc97e4 32 BackLight();
Kovalev_D 201:76f4123bf22a 33 // LoopOff
Kovalev_D 201:76f4123bf22a 34 }
Kovalev_D 88:b5c1d9d338d1 35 }
Kovalev_D 89:a0d344db227e 36 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 37 ///////////////////// 1kHz //////////////////////////
Kovalev_D 197:7a05523bf588 38 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 39 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 40 {
Kovalev_D 116:66f1f0ff2dab 41 if (Event1K)
Kovalev_D 116:66f1f0ff2dab 42 {
Kovalev_D 88:b5c1d9d338d1 43 Event1K --;
Kovalev_D 116:66f1f0ff2dab 44 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 201:76f4123bf22a 45 if(Gyro.Start) Gyro.Start--;
Kovalev_D 201:76f4123bf22a 46
Kovalev_D 116:66f1f0ff2dab 47 if (Time1K == 1000)
Kovalev_D 115:e5a230e5af52 48 {
Kovalev_D 201:76f4123bf22a 49 LoopOn
Kovalev_D 88:b5c1d9d338d1 50 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 51 Event1Hz ++;
Kovalev_D 201:76f4123bf22a 52 LoopOff
Kovalev_D 88:b5c1d9d338d1 53 }
Kovalev_D 201:76f4123bf22a 54
Kovalev_D 88:b5c1d9d338d1 55 }
Kovalev_D 88:b5c1d9d338d1 56 }
Kovalev_D 124:9ae09249f842 57 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 58 {
Kovalev_D 124:9ae09249f842 59 if(Event500Hz)
Kovalev_D 201:76f4123bf22a 60 {// LoopOn
Kovalev_D 201:76f4123bf22a 61 Event500Hz--;
Kovalev_D 197:7a05523bf588 62 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 201:76f4123bf22a 63 // LoopOff
Kovalev_D 197:7a05523bf588 64 }
Kovalev_D 197:7a05523bf588 65 }
Kovalev_D 197:7a05523bf588 66
Kovalev_D 197:7a05523bf588 67
Kovalev_D 201:76f4123bf22a 68 void Event_250Hz(void)// событие раз в 200 Гц(модулятор)
Kovalev_D 197:7a05523bf588 69 {
Kovalev_D 197:7a05523bf588 70 if(Event250Hz)
Kovalev_D 201:76f4123bf22a 71 { // LoopOn
Kovalev_D 201:76f4123bf22a 72 Event250Hz--;
Kovalev_D 201:76f4123bf22a 73 /* sprintf((Time),"%d %d %d %d %d\r\n",Gyro.AD_Slow, Gyro.CuruAngle, Gyro.Termo, ADCDIF>>9, Spi.DAC_B);//выдаем в терминал для постройки граффика регулировки периметра.
Kovalev_D 201:76f4123bf22a 74 Gyro.CuruAngle=0;
Kovalev_D 201:76f4123bf22a 75 WriteCon(Time);*/
Kovalev_D 201:76f4123bf22a 76 // Gyro.EventMOD=1;//
Kovalev_D 201:76f4123bf22a 77 // LoopOff
Kovalev_D 124:9ae09249f842 78 }
Kovalev_D 124:9ae09249f842 79 }
Kovalev_D 201:76f4123bf22a 80 /**/
Kovalev_D 89:a0d344db227e 81 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 82 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 83 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 84 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 85 {
Kovalev_D 162:44e4ded32c6a 86
Kovalev_D 88:b5c1d9d338d1 87 if (Event100K) {
Kovalev_D 201:76f4123bf22a 88 // LoopOn
Kovalev_D 88:b5c1d9d338d1 89 Event100K --;
Kovalev_D 197:7a05523bf588 90
Kovalev_D 124:9ae09249f842 91 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 92
Kovalev_D 124:9ae09249f842 93 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 201:76f4123bf22a 94 // LoopOff
Kovalev_D 88:b5c1d9d338d1 95 }
Kovalev_D 88:b5c1d9d338d1 96 }
Kovalev_D 89:a0d344db227e 97 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 98 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 99 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 100 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 101 {
Kovalev_D 88:b5c1d9d338d1 102 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 103 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 104 }
Kovalev_D 88:b5c1d9d338d1 105 }
Kovalev_D 89:a0d344db227e 106 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 107 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 108 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 109
Kovalev_D 88:b5c1d9d338d1 110
Kovalev_D 112:4a96133a1311 111 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 112 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 113 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 114
Kovalev_D 112:4a96133a1311 115 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 116 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 117 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 118
Kovalev_D 112:4a96133a1311 119 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 120 {
Kovalev_D 112:4a96133a1311 121 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 122 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 123 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 124 }
Kovalev_D 112:4a96133a1311 125
Kovalev_D 112:4a96133a1311 126
igor_v 0:8ad47e2b6f00 127 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 128 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 129 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 130 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 131 {
igor_v 21:bc8c1cec3da6 132 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 133 return;
igor_v 21:bc8c1cec3da6 134 }
igor_v 0:8ad47e2b6f00 135
igor_v 0:8ad47e2b6f00 136
igor_v 0:8ad47e2b6f00 137 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 138 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 139 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 140
igor_v 0:8ad47e2b6f00 141 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 142 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 143 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 144 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 145 {
Kovalev_D 201:76f4123bf22a 146 LPC_TIM2->MR0 = 81;
igor_v 21:bc8c1cec3da6 147 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 148 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 149 return 1;
igor_v 21:bc8c1cec3da6 150 }
igor_v 0:8ad47e2b6f00 151
igor_v 21:bc8c1cec3da6 152 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 153 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 154 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 155 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 156 {
Kovalev_D 201:76f4123bf22a 157
igor_v 21:bc8c1cec3da6 158 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 159 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 160 }
igor_v 21:bc8c1cec3da6 161
Kovalev_D 201:76f4123bf22a 162 unsigned int Init_TIM0 (void)
Kovalev_D 201:76f4123bf22a 163 {
Kovalev_D 201:76f4123bf22a 164 LPC_TIM0->MR0 =180;
Kovalev_D 201:76f4123bf22a 165 LPC_TIM0->MCR = 3;
Kovalev_D 201:76f4123bf22a 166 NVIC_EnableIRQ(TIMER0_IRQn);
Kovalev_D 201:76f4123bf22a 167 return 1;
Kovalev_D 201:76f4123bf22a 168 }
Kovalev_D 201:76f4123bf22a 169
Kovalev_D 201:76f4123bf22a 170 void enable_timer0(void)
Kovalev_D 201:76f4123bf22a 171 {
Kovalev_D 201:76f4123bf22a 172 //LPC_SC->PCONP |= (1<<23);
Kovalev_D 201:76f4123bf22a 173 LPC_TIM0->TCR = 1;
Kovalev_D 201:76f4123bf22a 174 LPC_TIM0->TCR = 0x01;
Kovalev_D 201:76f4123bf22a 175
Kovalev_D 201:76f4123bf22a 176 }
igor_v 21:bc8c1cec3da6 177
Kovalev_D 112:4a96133a1311 178 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 179 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 180 //////////////////////////////////////////////////////////////////////
Kovalev_D 183:7e200f4d9b16 181 __irq void TIMER1_IRQHandler (void)//13.27 kHz
Kovalev_D 197:7a05523bf588 182 { // LoopOn
Kovalev_D 201:76f4123bf22a 183 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 184 SetDAC(DAC);
igor_v 114:5cc38a53d8a7 185 CountV255++; // инкремент счеттчика
Kovalev_D 164:6f43f85fdd8d 186 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
Kovalev_D 197:7a05523bf588 187 CountV64 = CountV255 & 0x3f;
Kovalev_D 197:7a05523bf588 188 CountV31 = CountV255 & 0x1f; // малый счетчик
Kovalev_D 197:7a05523bf588 189
Kovalev_D 112:4a96133a1311 190 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 191 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 192
Kovalev_D 116:66f1f0ff2dab 193
Kovalev_D 116:66f1f0ff2dab 194 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 195 ResetDAC(DAC);
Kovalev_D 197:7a05523bf588 196 SPI_Exchange(); //Чтение ADC_SPI
igor_v 114:5cc38a53d8a7 197
Kovalev_D 112:4a96133a1311 198 LPC_TIM1->IR = 1;
Kovalev_D 193:a0fe8bfc97e4 199
Kovalev_D 197:7a05523bf588 200 // LoopOff
Kovalev_D 197:7a05523bf588 201
Kovalev_D 112:4a96133a1311 202 }
Kovalev_D 112:4a96133a1311 203
igor_v 21:bc8c1cec3da6 204 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 205 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 206 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 207 __irq void TIMER2_IRQHandler (void)
Kovalev_D 201:76f4123bf22a 208 { // LoopOn
igor_v 21:bc8c1cec3da6 209 LPC_TIM2->IR = 1;
Kovalev_D 201:76f4123bf22a 210 Global_Time++;
Kovalev_D 190:289514f730ee 211 if(Time_UART) Time_UART--;
Kovalev_D 201:76f4123bf22a 212 Time_vibro++;
Kovalev_D 201:76f4123bf22a 213 Gyro.VibroOutF=1;
Kovalev_D 190:289514f730ee 214 Event100K ++;
Kovalev_D 197:7a05523bf588 215 Time500Hz++;
Kovalev_D 197:7a05523bf588 216 Time100K++;
Kovalev_D 197:7a05523bf588 217 Time250Hz++;
Kovalev_D 201:76f4123bf22a 218 if (Time100K >299)
Kovalev_D 201:76f4123bf22a 219 { //LoopOn
Kovalev_D 201:76f4123bf22a 220 Time100K -=299;
Kovalev_D 197:7a05523bf588 221 Event1K ++;
Kovalev_D 201:76f4123bf22a 222 // LoopOff
Kovalev_D 201:76f4123bf22a 223 }
Kovalev_D 201:76f4123bf22a 224 if (Time500Hz > 599)
Kovalev_D 201:76f4123bf22a 225 { // LoopOn
Kovalev_D 201:76f4123bf22a 226 Time500Hz -= 599;
Kovalev_D 201:76f4123bf22a 227 Event500Hz ++;
Kovalev_D 201:76f4123bf22a 228 // LoopOff
Kovalev_D 197:7a05523bf588 229 }
Kovalev_D 201:76f4123bf22a 230 if (Time250Hz > 1198)
Kovalev_D 201:76f4123bf22a 231 { //LoopOn
Kovalev_D 201:76f4123bf22a 232 Time250Hz -=1198;
Kovalev_D 201:76f4123bf22a 233 Event250Hz ++;
Kovalev_D 201:76f4123bf22a 234 // LoopOff
Kovalev_D 197:7a05523bf588 235 }
Kovalev_D 201:76f4123bf22a 236 //LoopOff
Kovalev_D 201:76f4123bf22a 237
Kovalev_D 201:76f4123bf22a 238
Kovalev_D 201:76f4123bf22a 239
Kovalev_D 201:76f4123bf22a 240 }
Kovalev_D 201:76f4123bf22a 241 __irq void TIMER0_IRQHandler (void)
Kovalev_D 201:76f4123bf22a 242 {
Kovalev_D 201:76f4123bf22a 243
Kovalev_D 201:76f4123bf22a 244 LPC_TIM0->IR = 1;
Kovalev_D 201:76f4123bf22a 245 //Time_vibro++;
Kovalev_D 201:76f4123bf22a 246 // Gyro.VibroOutF=1;
igor_v 21:bc8c1cec3da6 247 }