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Diff: Command.c
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Command.c Sat Jan 30 13:00:39 2016 +0000 @@ -0,0 +1,462 @@ +#include "stdlib.h" +#include "LPC17xx.h" +#include "Command.h" +#include "el_lin.h" +#include "vibro.h" +#include "Global.h" +#include "uart_m.h" +#include "CntrlGLD.h" +#include "QEI.h" +#include "InputOutput.h" +#include "SPI.h" +unsigned int Rate_Flag; +unsigned int PC_Comand; +unsigned int n; +unsigned int CountBuFFIn; +unsigned int ParamIn; +unsigned int Err; + unsigned int N=0,CRC_N; + unsigned int Param1=0; + unsigned int Param2=0; + unsigned int Param3=0; + unsigned int Param4=0; + +/* +void exec_CMD(void) //r. === ��������� ������������� ���������� � ���������� ������� +{ + unsigned int Comand_code; + + //rx_buf_copy = 1; //r. ����������� ����� ����������� ��������� ������ + + Comand_code = (rcv_buf[2] & 0xFF) << 8; + PC_Comand = Comand_code | (rcv_buf[3] & 0xFF); //e. save it in the memory for echo-transmission //r. ��������� ��� � ������ ��� �������� �������� +}*/ +void CMD_Maintenance(void) +{ + BuffTemp[0] = Main.SOC_Out; + BuffTemp[1] = Main.My_Addres; + BuffTemp[2] = Main.Firmware_Version; + BuffTemp[3] = Main.GLD_Serial; + BuffTemp[4]=0x00; + BuffTemp[5]=0x00; + Check(BuffTemp, 8); + WriteConN (BuffTemp,8); +} + +void CMD_Rate(void) +{ + + unsigned int T_VibH , T_VibL; // ������� ������������. + unsigned int Cnt_PlsL , Cnt_PlsH; // ������� +. + unsigned int Cnt_MnsL , Cnt_MnsH; // ������� -. + unsigned int Cnt_DifL , Cnt_DifH; // �������� ���������. + unsigned int F_rasL , F_rasH; // ������� �����������. + + unsigned int HF_regL , HF_regH; // ����� ���������� ���. �� ������� + unsigned int HF_difL , HF_difH; // ������ ������ ����������� ���. �� ������� + + unsigned int WP_regL , WP_regH; + + unsigned int ADC1L, ADC2L, ADC3L, ADC4L, ADC5L; + unsigned int ADC1H, ADC2H, ADC3H, ADC4H, ADC5H; + + + LoopOn +// Main.T_Vib=(unsigned int)((7680000*16/Main.Frq)*4096); + Main.T_Vib=(unsigned int)((7680000*16/(Main.Frq>>12))); + Main.Firmware_Version=0xff; /// ������������� ������� + + T_VibH = ( Main.T_Vib>>8 ) TakeByte; + T_VibL = ( Main.T_Vib ) TakeByte; + + Cnt_PlsH = ( Main.Cnt_Pls>>8) TakeByte; + Cnt_PlsL = ( Main.Cnt_Pls ) TakeByte; + + Cnt_MnsH = ( Main.Cnt_Mns>>8) TakeByte; + Cnt_MnsL = ( Main.Cnt_Mns ) TakeByte; + + Cnt_DifH = ( Main.Cnt_Dif>>8) TakeByte; + Cnt_DifL = ( Main.Cnt_Dif ) TakeByte; + + F_rasH = ( Main.F_ras>>8 ) TakeByte; + F_rasL = ( Main.F_ras ) TakeByte; + + ADC1H = ( Spi.ADC1>>8 ) TakeByte; + ADC1L = ( Spi.ADC1 ) TakeByte; + + ADC2H = ( Spi.ADC2>>8 ) TakeByte; + ADC2L = ( Spi.ADC2 ) TakeByte; + + ADC3H = ( Spi.ADC3>>8 ) TakeByte; + ADC3L = ( Spi.ADC3 ) TakeByte; + + ADC4H = ( Spi.ADC4>>8 ) TakeByte; + ADC4L = ( Spi.ADC4 ) TakeByte; + + ADC5H = ( Spi.ADC5>>8 ) TakeByte; + ADC5L = ( Spi.ADC5 ) TakeByte; + + WP_regH = ( Spi.DAC_B>>8 ) TakeByte; + WP_regL = ( Spi.DAC_B ) TakeByte; + + HF_regH=0xff; + HF_regL=0xff; + + HF_difH=0xff; + HF_difL=0xff; + + + BuffTemp[ 0] = Main.SOC_Out; + BuffTemp[ 1] = Main.My_Addres; + + BuffTemp[ 2] = Cnt_PlsH;//������� ���� �������� +. + BuffTemp[ 3] = Cnt_PlsL;//������� ���� �������� +. + + BuffTemp[ 4] = Cnt_MnsH;//������� ���� �������� -. + BuffTemp[ 5] = Cnt_MnsL;//������� ���� �������� -. + + BuffTemp[ 6] = Cnt_DifH;//������� ���� �������� ��������� + BuffTemp[ 7] = Cnt_DifL;//������� ���� �������� ��������� + + BuffTemp[ 8] = F_rasH; + BuffTemp[ 9] = F_rasL; + + BuffTemp[10] = HF_regH; + BuffTemp[11] = HF_regL; + + BuffTemp[12] = HF_difH; + BuffTemp[13] = HF_difL; + + BuffTemp[14] = T_VibH ;// + BuffTemp[15] = T_VibL; //? + + BuffTemp[16] = Main.Firmware_Version;//�� + BuffTemp[17] = Main.Firmware_Version;//�� + + BuffTemp[18] = T_VibH>>1; + BuffTemp[19] = T_VibL; + + BuffTemp[20] = Main.Firmware_Version;//�� + BuffTemp[21] = Main.Firmware_Version;//�� + + BuffTemp[22] = WP_regH; //��� Spi.DAC_B + BuffTemp[23] = WP_regL; //��� + + BuffTemp[24] = Main.Firmware_Version;// �� + BuffTemp[25] = Main.Firmware_Version;// �� + + BuffTemp[26] = ADC1H; + BuffTemp[27] = ADC1L; + + BuffTemp[28] = ADC1H; + BuffTemp[29] = ADC1L; + + BuffTemp[30] = ADC1H; + BuffTemp[31] = ADC1L; + + BuffTemp[32] = ADC1H; + BuffTemp[33] = ADC1L; + + BuffTemp[34] = ADC1H; + BuffTemp[35] = ADC1L; + + BuffTemp[36] = 0x00;//ADC6 + BuffTemp[37] = 0x00;//ADC6 + + BuffTemp[38] = Main.Firmware_Version; + BuffTemp[39] = Main.Firmware_Version; + BuffTemp[40] = Main.Firmware_Version; + BuffTemp[41] = Main.Firmware_Version; + + + Check(BuffTemp, 44); + WriteConN (BuffTemp,44); + LoopOff +} + +void CMD_M_Control_D8()///���������\����� ��������� ���������� +{ + int bit,NReg; + BuffTemp[0] = Main.SOC_Out; //DD + BuffTemp[1] = Main.My_Addres; //00 + BuffTemp[2] = Main.CMD_In; //D8 + //10? + if((Param1&0x80)) + { + bit=1; + } + else + { + bit=0; + } + + if ((Param1 & 0x10) == 0) + { + NReg=0; + switch(Param1&0xf) // Main.RgConA + { + case 0x0: + Main.RgConA|=bit; + break; + + case 0x1: + Main.RgConA|=bit<<0x1; + break; + + case 0x2: + Main.RgConA|=bit<<0x2; + break; + + case 0x3: + Main.RgConA|=bit<<0x3; + break; + + case 0x4: + Main.RgConA|=bit<<0x4; + break; + + case 0x5: + Main.RgConA|=bit<<0x5; + break; + + case 0x6: + Main.RgConA|=bit<<0x6; + break; + + case 0x7: + Main.RgConA|=bit<<0x7; + break; + } + BuffTemp[3] = NReg<<4; + BuffTemp[4] = (Main.RgConA>>8 )& 0xff; + BuffTemp[5] = Main.RgConA & 0xff; + } + else + { + NReg=1; // Main.RgConB + switch(Param1&0xf) // Main.RgConB + { + case 0x0: + Main.RgConB|=bit; + break; + case 0x1: + Main.RgConB|=bit<1; + break; + case 0x2: + Main.RgConB|=bit<2; + break; + } + BuffTemp[3] = NReg<<4; + BuffTemp[4] = (Main.RgConB>>8 ) & 0xff; + BuffTemp[5] = Main.RgConB & 0xff; + } + + Check(BuffTemp, CRC_N); + WriteConN (BuffTemp,CRC_N); +} + + void CMD_M_Control_D9()///������ ��������� ���������� + { + int bit,NReg; + BuffTemp[0] = Main.SOC_Out; //DD + BuffTemp[1] = Main.My_Addres; //00 + BuffTemp[2] = Main.CMD_In; //D9 + if ((Param1 & 0x10) == 0) + { + BuffTemp[3]=0<<4; + BuffTemp[4] = (Main.RgConA>>8 )& 0xff; + BuffTemp[5] = Main.RgConA & 0xff; + } + else + { + BuffTemp[3]=1<<4; + BuffTemp[4] = (Main.RgConB>>8 ) & 0xff; + BuffTemp[5] = Main.RgConB & 0xff; + } + Check(BuffTemp, CRC_N); + WriteConN (BuffTemp,CRC_N); + } +// (����� (���) ���� 0...3, ������� ���� ���������� ����, ������� ���� ���� ����) +void CMD_M_Stymul() +{ + int temp; + temp =((BuffTemp[4]<<8) | BuffTemp[5]); + // temp=0; + temp=temp&0xFFFF; + DACF =(temp*K_DAC)+deltaDAC; + Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC); + + //int temp; +// temp =((BuffTemp[4]<<8) | BuffTemp[5]); + //temp = 65535 - temp; + /*if(temp<1000) + { + temp=0; + } + else if(temp>60000) + { + temp=65535; + }*/ + //Spi.DAC_B =(((BuffTemp[4]<<8) | BuffTemp[5])*K_DAC+deltaDAC);/*((BuffTemp[4]<<8) | BuffTemp[5])-0xFFFF*///; //((rcv_buf[4] << 8) | (int)rcv_buf[5]);K_DAC+deltaDAC + //BuffTemp[0] = temp; //DD + //WriteConN (BuffTemp,1); +} + +unsigned int Check(char *c, unsigned int Count) +{ + int i=1; + unsigned int temp,CRC; + + + temp=1; + CRC=0; + + + for(;i<Count-2;i++) + { + CRC+=c[i]; + } + + if(c[Count-2]!=((CRC>>8)&0xFF)) + { + temp=0; + Main.RsErrLine = (Main.RsErrLine)&=0x2; + } + + if(c[Count-1]!=((CRC>>0)&0xFF)) + { + temp=0; +// Main.RsErrLine= (Main.RsErrLine)=0x2; + } + + c[Count-2]=(CRC>>8)&0xFF; + c[Count-1]=(CRC>>0)&0xFF; + + + + return temp; +} + +int Getlengf(void) +{ + unsigned int lengf=0; + switch(Main.CMD_In) + { + case 0x99://maintainance + lengf=6; + CRC_N=8; + break; + + case 0x0A: //m_stymul + lengf=8; + break; + + case 0xA5://DeviceMode + + lengf=6; + CRC_N=8; + break; + + case 0xDD://m_rate + + lengf=6; + CRC_N=44; + break; + + case 0xB0://DeviceMode + + lengf=6; + CRC_N=8; + break; + + case 0xD8://m_control + + lengf=6; + CRC_N=8; + break; + + case 0xD9://m_control + + lengf=6; + CRC_N=8; + break; + } + return lengf; +} + +void Read_CMD(void) +{ + Main.SOC_Out=0xDD; + Main.RsErrLine = (Main.RsErrLine)& 0xffff; + + + CountBuFFIn=ReadChekCon(BuffTemp); + if(CountBuFFIn==1) + { + if (BuffTemp[0] != SOC_In) + { + ReadCon(BuffTemp); + Main.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... "); + BuffTemp[99]=Main.RsErrLine; + } + } + else if(CountBuFFIn==2) + { + if (BuffTemp[1] != Main.My_Addres) + { + ReadCon(BuffTemp); + Main.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... "); + } + } + else if(CountBuFFIn==3) + { + Main.CMD_In=BuffTemp[2]; + N=Getlengf(); + } + + else if(CountBuFFIn==4 && N==6) + { + Param1=BuffTemp[3]; + } + else if((CountBuFFIn==5)&&(N==7)) + { + //LoopOn + Param1=BuffTemp[3]; + Param2=BuffTemp[4]; + + } + else if((CountBuFFIn==6)&&(N==8)) + { + Param1=BuffTemp[3]; + Param2=BuffTemp[4]; + Param3=BuffTemp[5]; + } + else if(CountBuFFIn > (N-1)) + { + ReadCon(BuffTemp); + if(Check(BuffTemp, CountBuFFIn)) + { + switch(Main.CMD_In) + { + case CMD_MAINT: + CMD_Maintenance(); + break; + case 0xD8: + CMD_M_Control_D8(); + case 0xD9: + CMD_M_Control_D9(); + break; + case 0x0A: + CMD_M_Stymul(Param1,Param2,Param3); + break; + case 0xDD: + Rate_Flag=1; + break; + Main.RsErrLine = 0; + } + + } + } +} + +