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Fork of LG by igor Apu

Global.c@198:78dd6d14d108, 2017-02-08 (annotated)

Committer:
Diletant
Date:
Wed Feb 08 06:33:40 2017 +0000
Revision:
198:78dd6d14d108
Parent:
197:7a05523bf588 
DeviceXXX.XXX files moved to: https://developer.mbed.org/users/Diletant/code/H4/

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 197:7a05523bf588 7 float t1;
Kovalev_D 89:a0d344db227e 8 unsigned char BuffTemp[100];
Kovalev_D 197:7a05523bf588 9 unsigned char Time[1000];
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 197:7a05523bf588 16 unsigned int Time250Hz;
Kovalev_D 197:7a05523bf588 17 unsigned int Event250Hz;
Kovalev_D 197:7a05523bf588 18
Kovalev_D 124:9ae09249f842 19 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 20 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 21 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 22 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 23 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 24 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 25 unsigned int ShiftL;
Kovalev_D 197:7a05523bf588 26 unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 27
Kovalev_D 139:1716152517aa 28
Kovalev_D 134:caf4c9cd5052 29 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 30 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 31 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 32 BX R0
Kovalev_D 134:caf4c9cd5052 33 }
Kovalev_D 134:caf4c9cd5052 34
Kovalev_D 86:398da56ef751 35 void GLD_Init(void)
Kovalev_D 197:7a05523bf588 36 {
Kovalev_D 197:7a05523bf588 37 InitMOD();
Kovalev_D 185:7e200f4d9b16 38 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 90:d9b6a4bc5065 39 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 40 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 41 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 42 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 43 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 44 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 45 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 46 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 47 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 48 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 49 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 50 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 51 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 52 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 53 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 54 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 55 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 56 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 57 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 58 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 59 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 60 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 61 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 62 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 63 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 64 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 65 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 66 ShiftL = 0;
Kovalev_D 124:9ae09249f842 67 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 68 Time500Hz = 0;
Kovalev_D 139:1716152517aa 69
Kovalev_D 86:398da56ef751 70 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 71 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 72
Kovalev_D 197:7a05523bf588 73 // ModArray[]=[32,64,96,128,256,384,448,480,496,512,512];
Kovalev_D 88:b5c1d9d338d1 74 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 75 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 76 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 77 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 78 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 197:7a05523bf588 79
Kovalev_D 132:2c7bec5cf6fe 80 Gyro.FlashMod=0;
Kovalev_D 196:f76dbc081e63 81 Gyro.FrqHZ=388;
Kovalev_D 88:b5c1d9d338d1 82 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 189:8a16378724c4 83 Gyro.FrqHZmin = 350<<16;
Kovalev_D 189:8a16378724c4 84 Gyro.FrqHZmax = 450<<16;
Kovalev_D 196:f76dbc081e63 85 Gyro.FrqChengSpeed=100;
Kovalev_D 197:7a05523bf588 86 Gyro.ModAmp=250;
Kovalev_D 191:40028201ddad 87 Gyro.AmpPer=40;
Kovalev_D 197:7a05523bf588 88 Gyro.AmpPerMin = 5;
Kovalev_D 189:8a16378724c4 89 Gyro.AmpPerMax = 90;
Kovalev_D 189:8a16378724c4 90 Gyro.AmpSpeed = 1;
Kovalev_D 196:f76dbc081e63 91 Gyro.AmpPerDel=10;
Kovalev_D 197:7a05523bf588 92 Gyro.AmpTarget =8000;// целевая амплитуда ВП
Kovalev_D 196:f76dbc081e63 93 Gyro.Amp = 30*65535;
Kovalev_D 196:f76dbc081e63 94 Gyro.AmpMin =15;// минимальное значение AmpT;5
Kovalev_D 196:f76dbc081e63 95 Gyro.AmpTD =30;////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 96 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 97 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 98 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 99 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 100 Pulse_32Point = 0;
Kovalev_D 195:bcc769f5292b 101
Kovalev_D 196:f76dbc081e63 102 Gyro.flag=1;
Kovalev_D 88:b5c1d9d338d1 103 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 104 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 105 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 106 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 107 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 108 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 109 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 110 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 111 Buff_16PointD[i] = 0x00;
Kovalev_D 197:7a05523bf588 112 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 113 }
Kovalev_D 197:7a05523bf588 114 for (int i = 0; i < 64; i++ ) {
Kovalev_D 197:7a05523bf588 115 BuffADC_16Point[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 116 BuffADC_32Point[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 117 BuffADC_32PointD[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 118 BuffADC_64Point[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 119 }
Kovalev_D 197:7a05523bf588 120 PulseADC_64Point=0;
Kovalev_D 88:b5c1d9d338d1 121 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 122 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 123 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 124 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 125 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 126 /////////////////////////////////////////////////////
Kovalev_D 96:1c8536458119 127 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 128 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 129 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 130 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 131 Temp_ADC_5=0;
Kovalev_D 197:7a05523bf588 132
Kovalev_D 197:7a05523bf588 133
Kovalev_D 197:7a05523bf588 134
Kovalev_D 197:7a05523bf588 135 Gyro.Gain_Sin =115;
Kovalev_D 197:7a05523bf588 136 Gyro.Gain_Cos =175;
Kovalev_D 197:7a05523bf588 137
Kovalev_D 197:7a05523bf588 138
Kovalev_D 196:f76dbc081e63 139
Kovalev_D 88:b5c1d9d338d1 140 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 141 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 142 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 143 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 144 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 145 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 146 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 147 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 148 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 149 }
Kovalev_D 95:dd51e577e114 150 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 151 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 152 }
Kovalev_D 96:1c8536458119 153 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 154 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 155 }
Kovalev_D 96:1c8536458119 156 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 157 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 158 }
Kovalev_D 88:b5c1d9d338d1 159 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 160 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 161
Kovalev_D 88:b5c1d9d338d1 162 Gyro.SOC_Out=0xDD;
Kovalev_D 188:4c523cc373cc 163 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 163:affb5706d191 164 Gyro.GLD_Serial = 0xD7; //серийный номер
Kovalev_D 184:ebcd2bc3be8f 165 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 92:c892f0311aa7 166
Kovalev_D 188:4c523cc373cc 167 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 168 case 0:
Kovalev_D 188:4c523cc373cc 169 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 170 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 171 break;
Kovalev_D 188:4c523cc373cc 172 case 1:
Kovalev_D 188:4c523cc373cc 173 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 174 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 175 break;
Kovalev_D 188:4c523cc373cc 176 case 2:
Kovalev_D 188:4c523cc373cc 177 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 178 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 179 break;
Kovalev_D 188:4c523cc373cc 180 case 3:
Kovalev_D 188:4c523cc373cc 181 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 182 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 183 break;
Kovalev_D 188:4c523cc373cc 184 }
Kovalev_D 89:a0d344db227e 185
Kovalev_D 88:b5c1d9d338d1 186 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 187 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 188 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 189 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 190 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 191 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 192 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 193 /////////////////////////////////////////////////////
Kovalev_D 159:38f39c0c143f 194
Kovalev_D 196:f76dbc081e63 195 Gyro.Ktermo=1;// K°
Kovalev_D 197:7a05523bf588 196 Gyro.TermoNKU=44700;//48824*0,0061-273=25 С°
Kovalev_D 197:7a05523bf588 197 Spi.DAC_A = 41000;
Kovalev_D 197:7a05523bf588 198
Kovalev_D 197:7a05523bf588 199 Spi.DAC_B = 35220;
Kovalev_D 158:0c8342e1837a 200
Kovalev_D 196:f76dbc081e63 201 Gyro.StrayHZ = 200;
Kovalev_D 159:38f39c0c143f 202 Gyro.StrayHZ_flag = 0;
Kovalev_D 159:38f39c0c143f 203 Gyro.LogHZ = 0;
Kovalev_D 159:38f39c0c143f 204
Kovalev_D 192:d32c8cf7bcd9 205 Gyro.StrayPLC_Pls = 1000;
Kovalev_D 159:38f39c0c143f 206 Gyro.StrayPLC_Mns = -1000;
Kovalev_D 159:38f39c0c143f 207 Gyro.StrayPLC_2Mode = 2000;
Kovalev_D 159:38f39c0c143f 208 Gyro.StrayPLC_flag = 0;
Kovalev_D 159:38f39c0c143f 209 Gyro.LogPLC = 0;
Kovalev_D 159:38f39c0c143f 210 Gyro.PLC_Lern = 0;
Kovalev_D 168:f4a6abb18358 211 Gyro.ModJump = 0;
Kovalev_D 197:7a05523bf588 212 Gyro.PLC_Error2Mode =1400; //для записи мод
Kovalev_D 159:38f39c0c143f 213 //Gyro.PLC_Error2Mode = 65; //стандартное включение прибора регулировка (65 начальная задержка для поиска АМП мах)
Kovalev_D 86:398da56ef751 214 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 215 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 216 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 217 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 218 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 219 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 220 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 221 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 222
Kovalev_D 86:398da56ef751 223 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 224
Kovalev_D 86:398da56ef751 225 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 226 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 227 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 228 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 229 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 230 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 231 Cur_QEI=0;
Kovalev_D 86:398da56ef751 232 Last_QEI=0;
Kovalev_D 86:398da56ef751 233 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 234 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 235 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 236 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 237 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 238 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 239 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 240 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 241
Kovalev_D 98:95b8e79f13e1 242
Kovalev_D 87:7e575d26d6d0 243 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 244 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 245 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 246 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 247
Kovalev_D 87:7e575d26d6d0 248 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 249 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 250
Kovalev_D 98:95b8e79f13e1 251 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 252 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 253 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 254 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 255
Kovalev_D 88:b5c1d9d338d1 256
Kovalev_D 89:a0d344db227e 257 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 258 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 259 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 260
Kovalev_D 89:a0d344db227e 261 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 262
Kovalev_D 89:a0d344db227e 263 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 264 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 265 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 266 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 267
Kovalev_D 89:a0d344db227e 268 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 269 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 270 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 271
Kovalev_D 89:a0d344db227e 272 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 273 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 274 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 275
Kovalev_D 99:3d8f206ceac2 276 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 277 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 278 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 279 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 280
Kovalev_D 89:a0d344db227e 281 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 282 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 283 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 284
Kovalev_D 86:398da56ef751 285
Kovalev_D 86:398da56ef751 286
Kovalev_D 92:c892f0311aa7 287
Kovalev_D 92:c892f0311aa7 288
Kovalev_D 92:c892f0311aa7 289
Kovalev_D 92:c892f0311aa7 290 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 291 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 292 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 293 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 294 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 295
Kovalev_D 92:c892f0311aa7 296 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 297 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 298
Kovalev_D 92:c892f0311aa7 299 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 300 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 301 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 302
Kovalev_D 92:c892f0311aa7 303 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 304 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 305 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 306
Kovalev_D 92:c892f0311aa7 307 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 308 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 309
Kovalev_D 92:c892f0311aa7 310 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 311 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 312
Kovalev_D 92:c892f0311aa7 313 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 314 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 315
Kovalev_D 92:c892f0311aa7 316 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 317 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 318 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 319
Kovalev_D 92:c892f0311aa7 320 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 321 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 322
Kovalev_D 92:c892f0311aa7 323 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 324 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 325 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 326 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 327 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 328 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 329 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 330 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 331 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 332
Kovalev_D 92:c892f0311aa7 333 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 334 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 335 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 336 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 337 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 338 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 339 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 340
Kovalev_D 92:c892f0311aa7 341
Kovalev_D 92:c892f0311aa7 342
Kovalev_D 92:c892f0311aa7 343
Kovalev_D 86:398da56ef751 344 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 345 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 346 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 347
Kovalev_D 89:a0d344db227e 348 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 349 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 350 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 351 PinCheng();
Kovalev_D 89:a0d344db227e 352 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 353 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 354 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 355 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 356 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 357
Kovalev_D 98:95b8e79f13e1 358 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 190:289514f730ee 359 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 190:289514f730ee 360 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 361 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 362 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 363 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 364 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 365 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 366 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 367 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 368 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 369 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 370 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 371 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 372 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 373
Kovalev_D 88:b5c1d9d338d1 374
Kovalev_D 88:b5c1d9d338d1 375
Kovalev_D 87:7e575d26d6d0 376 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 377 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 378 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 379 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 380 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 381 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 382 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 383 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 384
Kovalev_D 88:b5c1d9d338d1 385
Kovalev_D 88:b5c1d9d338d1 386
Kovalev_D 87:7e575d26d6d0 387 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 388 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 389 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 390 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 391 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 392 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 393 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 394 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 395 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 396 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 397 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 398 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 399 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 400 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 401 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 402 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 403 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 404 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 405
Kovalev_D 88:b5c1d9d338d1 406
Kovalev_D 88:b5c1d9d338d1 407
Kovalev_D 87:7e575d26d6d0 408 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 409 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 410 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 411 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 412 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 413 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 414 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 415 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 416 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 417 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 418
Kovalev_D 88:b5c1d9d338d1 419
Kovalev_D 88:b5c1d9d338d1 420 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 421 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 422 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 423 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 424 enable_timer1();
Kovalev_D 86:398da56ef751 425 enable_timer2();
Kovalev_D 89:a0d344db227e 426 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 427
Kovalev_D 89:a0d344db227e 428 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 429 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 430
Kovalev_D 90:d9b6a4bc5065 431
Kovalev_D 90:d9b6a4bc5065 432
Kovalev_D 90:d9b6a4bc5065 433 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 434 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 435 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 436 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 437 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 438
Kovalev_D 90:d9b6a4bc5065 439 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 440 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 441
Kovalev_D 90:d9b6a4bc5065 442 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 443 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 444 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 445
Kovalev_D 90:d9b6a4bc5065 446 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 447 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 448 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 449
Kovalev_D 90:d9b6a4bc5065 450 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 451 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 452
Kovalev_D 90:d9b6a4bc5065 453 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 454 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 455
Kovalev_D 90:d9b6a4bc5065 456 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 457 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 458
Kovalev_D 90:d9b6a4bc5065 459 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 460 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 461 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 462
Kovalev_D 90:d9b6a4bc5065 463 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 464 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 465
Kovalev_D 90:d9b6a4bc5065 466 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 467 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 468 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 469 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 470 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 471 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 472 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 473 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 474 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 475
Kovalev_D 92:c892f0311aa7 476 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 477 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 478 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 479 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 480
Kovalev_D 86:398da56ef751 481 }
igor_v 13:e2a1d18677b8 482
igor_v 0:8ad47e2b6f00 483
igor_v 0:8ad47e2b6f00 484
igor_v 0:8ad47e2b6f00 485
igor_v 0:8ad47e2b6f00 486