Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

Global.c@100:e197a8d2cf43, 2016-03-30 (annotated)

Committer:
Kovalev_D
Date:
Wed Mar 30 10:46:50 2016 +0000
Revision:
100:e197a8d2cf43
Parent:
99:3d8f206ceac2
Child:
101:bb7472afb947
j

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 99:3d8f206ceac2 7 int MaxAmp=0;
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 88:b5c1d9d338d1 11 unsigned int Event1K ;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int EventVibro;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int Time1K;
Kovalev_D 88:b5c1d9d338d1 15 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 16 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 17 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 18 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 19 unsigned int ShiftL;
Kovalev_D 86:398da56ef751 20
Kovalev_D 100:e197a8d2cf43 21
Kovalev_D 100:e197a8d2cf43 22 unsigned int T_MARIO;
Kovalev_D 100:e197a8d2cf43 23
Kovalev_D 86:398da56ef751 24 void GLD_Init(void)
Kovalev_D 86:398da56ef751 25 {
Kovalev_D 90:d9b6a4bc5065 26 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 27 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 28 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 29 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 30 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 31 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 32 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 33 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 34
Kovalev_D 89:a0d344db227e 35
Kovalev_D 86:398da56ef751 36 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 37 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 38 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 39 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 40 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 41 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 42 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 43 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 44 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 45 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 46 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 47 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 48 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 49 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 50 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 51 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 52 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 53 ShiftL = 0;
Kovalev_D 100:e197a8d2cf43 54 T_MARIO =0;
Kovalev_D 86:398da56ef751 55 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 56 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 57
Kovalev_D 88:b5c1d9d338d1 58
Kovalev_D 88:b5c1d9d338d1 59 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 60 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 61 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 62 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 63 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 100:e197a8d2cf43 64 Gyro.FrqHZ=200;
Kovalev_D 88:b5c1d9d338d1 65 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 88:b5c1d9d338d1 66 Gyro.AmpPer=20;
Kovalev_D 88:b5c1d9d338d1 67 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 68 Gyro.Amp = 10*65535;
Kovalev_D 88:b5c1d9d338d1 69 Gyro.AmpMin =10;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 70 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 71 //////////////////////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 72 CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 73 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 74 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 75 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 76 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 77 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 78 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 79 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 80 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 81 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 82 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 83 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 84 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 85 Buff_16PointD[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 86 }
Kovalev_D 88:b5c1d9d338d1 87 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 88 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 89 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 90 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 91 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 92 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 93 Temp_AMP=0;
Kovalev_D 96:1c8536458119 94 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 95 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 96 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 97 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 98 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 99 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 100 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 101 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 102 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 103 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 104 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 105 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 106 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 107 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 108 }
Kovalev_D 95:dd51e577e114 109 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 110 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 111 }
Kovalev_D 96:1c8536458119 112 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 113 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 114 }
Kovalev_D 96:1c8536458119 115 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 116 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 117 }
Kovalev_D 88:b5c1d9d338d1 118 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 119 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 120
Kovalev_D 88:b5c1d9d338d1 121
Kovalev_D 88:b5c1d9d338d1 122
Kovalev_D 88:b5c1d9d338d1 123
Kovalev_D 88:b5c1d9d338d1 124
Kovalev_D 92:c892f0311aa7 125
Kovalev_D 88:b5c1d9d338d1 126 Gyro.SOC_Out=0xDD;
Kovalev_D 86:398da56ef751 127 Gyro.Firmware_Version =0x15; //версия программы
Kovalev_D 86:398da56ef751 128 Gyro.GLD_Serial = 0x20; //серийный номер
Kovalev_D 86:398da56ef751 129 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 86:398da56ef751 130 Gyro.Discharg = StartDischarg;
Kovalev_D 86:398da56ef751 131 Gyro.BackLight = StartBackLight;
Kovalev_D 92:c892f0311aa7 132
Kovalev_D 88:b5c1d9d338d1 133
Kovalev_D 89:a0d344db227e 134
Kovalev_D 89:a0d344db227e 135
Kovalev_D 88:b5c1d9d338d1 136 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 137 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 138 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 139 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 140 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 141 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 142 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 143 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 144 Spi.DAC_A = 0x7fff;
Kovalev_D 86:398da56ef751 145 Spi.DAC_B = 0x7fff;
Kovalev_D 86:398da56ef751 146 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 147 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 148 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 149 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 150 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 151 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 152 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 153 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 154
igor_v 16:18e3fd7b92d0 155
igor_v 16:18e3fd7b92d0 156
Kovalev_D 86:398da56ef751 157 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 158
Kovalev_D 86:398da56ef751 159
Kovalev_D 86:398da56ef751 160 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 161 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 162 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 163 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 164 Cur_QEI=0;
Kovalev_D 86:398da56ef751 165 Last_QEI=0;
Kovalev_D 86:398da56ef751 166 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 167 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 168 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 169 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 87:7e575d26d6d0 170 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=100MHz
Kovalev_D 87:7e575d26d6d0 171 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 172 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 173 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 174
Kovalev_D 98:95b8e79f13e1 175
Kovalev_D 87:7e575d26d6d0 176 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 177 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 178 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 179 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 180
Kovalev_D 87:7e575d26d6d0 181 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 182 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 183
Kovalev_D 98:95b8e79f13e1 184 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 185 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 186 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 187 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 188
Kovalev_D 88:b5c1d9d338d1 189
Kovalev_D 89:a0d344db227e 190 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 191 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 192 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 193
Kovalev_D 89:a0d344db227e 194 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 195
Kovalev_D 89:a0d344db227e 196 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 197 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 198 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 199 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 200
Kovalev_D 89:a0d344db227e 201 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 202 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 203 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 204
Kovalev_D 89:a0d344db227e 205 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 206 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 207 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 208
Kovalev_D 99:3d8f206ceac2 209 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 210 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 211 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 212 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 213
Kovalev_D 89:a0d344db227e 214 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 215 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 216 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 217
Kovalev_D 86:398da56ef751 218
Kovalev_D 86:398da56ef751 219
Kovalev_D 92:c892f0311aa7 220
Kovalev_D 92:c892f0311aa7 221
Kovalev_D 92:c892f0311aa7 222
Kovalev_D 92:c892f0311aa7 223 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 224 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 225 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 226 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 227 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 228
Kovalev_D 92:c892f0311aa7 229 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 230 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 231
Kovalev_D 92:c892f0311aa7 232 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 233 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 234 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 235
Kovalev_D 92:c892f0311aa7 236 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 237 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 238 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 239
Kovalev_D 92:c892f0311aa7 240 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 241 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 242
Kovalev_D 92:c892f0311aa7 243 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 244 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 245
Kovalev_D 92:c892f0311aa7 246 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 247 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 248
Kovalev_D 92:c892f0311aa7 249 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 250 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 251 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 252
Kovalev_D 92:c892f0311aa7 253 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 254 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 255
Kovalev_D 92:c892f0311aa7 256 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 257 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 258 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 259 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 260 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 261 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 262 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 263 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 264 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 265
Kovalev_D 92:c892f0311aa7 266 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 267 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 268 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 269 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 270 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 271 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 272 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 273
Kovalev_D 92:c892f0311aa7 274
Kovalev_D 92:c892f0311aa7 275
Kovalev_D 92:c892f0311aa7 276
Kovalev_D 86:398da56ef751 277 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 278 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 279 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 280
Kovalev_D 89:a0d344db227e 281 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 282 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 283 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 284 PinCheng();
Kovalev_D 89:a0d344db227e 285 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 286
Kovalev_D 87:7e575d26d6d0 287 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 288 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 289 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 290
Kovalev_D 98:95b8e79f13e1 291 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 98:95b8e79f13e1 292 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 98:95b8e79f13e1 293 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 87:7e575d26d6d0 294 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 295 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 296 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 297
Kovalev_D 88:b5c1d9d338d1 298
Kovalev_D 87:7e575d26d6d0 299 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 300 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 301 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 302 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 303 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 304 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 305
Kovalev_D 88:b5c1d9d338d1 306
Kovalev_D 88:b5c1d9d338d1 307
Kovalev_D 87:7e575d26d6d0 308 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 309 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 310 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 311 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 312 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 313 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 314 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 315 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 316
Kovalev_D 88:b5c1d9d338d1 317
Kovalev_D 88:b5c1d9d338d1 318
Kovalev_D 87:7e575d26d6d0 319 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 320 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 321 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 322 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 323 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 324 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 325 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 326 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 327 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 328 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 329 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 330 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 331 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 332 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 333 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 334 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 335 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 336 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 337
Kovalev_D 88:b5c1d9d338d1 338
Kovalev_D 88:b5c1d9d338d1 339
Kovalev_D 87:7e575d26d6d0 340 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 341 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 342 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 343 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 344 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 345 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 346 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 347 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 348 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 349 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 350
Kovalev_D 88:b5c1d9d338d1 351
Kovalev_D 88:b5c1d9d338d1 352 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 353 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 354 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 355 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 356 enable_timer1();
Kovalev_D 86:398da56ef751 357 enable_timer2();
Kovalev_D 89:a0d344db227e 358 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 359
Kovalev_D 89:a0d344db227e 360 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 361 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 362
Kovalev_D 90:d9b6a4bc5065 363
Kovalev_D 90:d9b6a4bc5065 364
Kovalev_D 90:d9b6a4bc5065 365 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 366 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 367 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 368 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 369 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 370
Kovalev_D 90:d9b6a4bc5065 371 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 372 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 373
Kovalev_D 90:d9b6a4bc5065 374 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 375 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 376 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 377
Kovalev_D 90:d9b6a4bc5065 378 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 379 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 380 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 381
Kovalev_D 90:d9b6a4bc5065 382 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 383 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 384
Kovalev_D 90:d9b6a4bc5065 385 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 386 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 387
Kovalev_D 90:d9b6a4bc5065 388 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 389 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 390
Kovalev_D 90:d9b6a4bc5065 391 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 392 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 393 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 394
Kovalev_D 90:d9b6a4bc5065 395 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 396 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 397
Kovalev_D 90:d9b6a4bc5065 398 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 399 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 400 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 401 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 90:d9b6a4bc5065 402 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 403 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 404 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 405 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 406 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 407
Kovalev_D 92:c892f0311aa7 408 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 409 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 410 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 411 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 412
Kovalev_D 86:398da56ef751 413 }
igor_v 13:e2a1d18677b8 414
igor_v 0:8ad47e2b6f00 415
igor_v 0:8ad47e2b6f00 416
igor_v 0:8ad47e2b6f00 417
igor_v 0:8ad47e2b6f00 418