Diff: MTimer.c

Revision:

106:250ddd8629c6

Parent:

104:ab1cb4ff56b2

Child:

107:4d178bcc9d8a

--- a/MTimer.c	Thu Mar 31 14:03:40 2016 +0000
+++ b/MTimer.c	Fri Apr 01 10:05:35 2016 +0000
@@ -58,7 +58,9 @@
       /* sprintf((Time),"%d",  Spi.DAC_B);
        WriteCon(Time);
        WriteCon("\n\r");*/
+      
        if( Rate_Flag)CMD_Rate();
+      // 
        
     }
 }
@@ -75,6 +77,7 @@
             Event1Hz ++;
             Time1Hz++;
         }
+          
     }
 }
 /////////////////////////////////////////////////////
@@ -137,11 +140,13 @@
     ResetDAC(DAC);
 
     D_QEI();								//чтение данных по счетчику
-    cheng();								// расчет вибропривода
-
-//			CuruAngle = CuruAngle + Buff_32Point [CountVf] - 0xffff;
-    CuruAngle = CuruAngle + Buff_32Point [CountV255];
-
+    cheng();		             			// расчет вибропривода
+    
+    Gyro.OldCuruAngle = Gyro.CuruAngle;
+    Gyro.CuruAngle = Gyro.CuruAngle + Buff_32Point [CountV255];
+    Gyro.Num += Gyro.CuruAngle-Gyro.OldCuruAngle;
+    
+    
     SPI_Exchange(); 				//Чтение ADS_SPI
     LPC_TIM1->IR = 1;