Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Global.c@206:00341a03e05c, 2016-12-20 (annotated)

Committer:
Kovalev_D
Date:
Tue Dec 20 14:08:17 2016 +0000
Revision:
206:00341a03e05c
Parent:
205:775d54fdf646
Child:
207:d1ce992f5d17
456

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
Kovalev_D 89:a0d344db227e 3 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 4 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 197:7a05523bf588 5 float t1;
Kovalev_D 89:a0d344db227e 6 unsigned char BuffTemp[100];
Kovalev_D 197:7a05523bf588 7 unsigned char Time[1000];
Kovalev_D 86:398da56ef751 8 unsigned int Event1Hz;
Kovalev_D 124:9ae09249f842 9 unsigned int Event500Hz;
Kovalev_D 203:3a6615de9581 10 unsigned int Event1K;
Kovalev_D 88:b5c1d9d338d1 11 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int EventVibro;
Kovalev_D 124:9ae09249f842 13
Kovalev_D 197:7a05523bf588 14 unsigned int Time250Hz;
Kovalev_D 197:7a05523bf588 15 unsigned int Event250Hz;
Kovalev_D 197:7a05523bf588 16
Kovalev_D 124:9ae09249f842 17 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 18 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 19 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 20 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 21 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 22 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 23 unsigned int ShiftL;
Kovalev_D 205:775d54fdf646 24 //unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 25
Kovalev_D 139:1716152517aa 26
Kovalev_D 134:caf4c9cd5052 27 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 28 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 29 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 30 BX R0
Kovalev_D 134:caf4c9cd5052 31 }
Kovalev_D 134:caf4c9cd5052 32
Kovalev_D 205:775d54fdf646 33 void Param_init(void)
Kovalev_D 205:775d54fdf646 34 {
Kovalev_D 205:775d54fdf646 35 InitMOD();
Kovalev_D 206:00341a03e05c 36
Kovalev_D 104:ab1cb4ff56b2 37 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 38 Gyro.RgConB = 0xffff;
Kovalev_D 205:775d54fdf646 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 124:9ae09249f842 54 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 55 Time500Hz = 0;
Kovalev_D 205:775d54fdf646 56 PulseADC_64Point= 0;
Kovalev_D 205:775d54fdf646 57 Temp_AMP64P = 0;
Kovalev_D 205:775d54fdf646 58 Temp_ADC_2 = 0;
Kovalev_D 205:775d54fdf646 59 Temp_ADC_3 = 0;
Kovalev_D 205:775d54fdf646 60 Temp_ADC_4 = 0;
Kovalev_D 205:775d54fdf646 61 Temp_ADC_5 = 0;
Kovalev_D 205:775d54fdf646 62 Gyro.Log = 0;
Kovalev_D 205:775d54fdf646 63 Gyro.LogPLC = 0;
Kovalev_D 205:775d54fdf646 64 Gyro.PLC_Lern = 0;
Kovalev_D 106:250ddd8629c6 65 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 66 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 67 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 68 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 69 Pulse_32Point = 0;
Kovalev_D 205:775d54fdf646 70 Gyro.FlashMod=0;
Kovalev_D 197:7a05523bf588 71
Kovalev_D 206:00341a03e05c 72
Kovalev_D 205:775d54fdf646 73
Kovalev_D 205:775d54fdf646 74 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 75 ///////////инициализация таймеров////////////
Kovalev_D 205:775d54fdf646 76 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 77 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 205:775d54fdf646 78 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 205:775d54fdf646 79 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 80 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 206:00341a03e05c 81
Kovalev_D 206:00341a03e05c 82 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 206:00341a03e05c 83 Gyro.PLC_Error2Mode = 1400;
Kovalev_D 206:00341a03e05c 84 Gyro.SOC_Out = 0xDD;
Kovalev_D 206:00341a03e05c 85
Kovalev_D 206:00341a03e05c 86
Kovalev_D 206:00341a03e05c 87 GyroP.Str.ParamMod=0;
Kovalev_D 206:00341a03e05c 88 ReadFlash ();
Kovalev_D 206:00341a03e05c 89 if(GyroP.Str.ParamMod==11223)
Kovalev_D 206:00341a03e05c 90 {
Kovalev_D 206:00341a03e05c 91 Gyro.My_Addres = GyroP.Str.My_Addres; // Gyro.My_Addres = 0;
Kovalev_D 206:00341a03e05c 92 Gyro.GLD_Serial = GyroP.Str.GLD_Serial;
Kovalev_D 206:00341a03e05c 93 Gyro.Firmware_Version = GyroP.Str.Firmware_Version;
Kovalev_D 88:b5c1d9d338d1 94
Kovalev_D 206:00341a03e05c 95 Gyro.FrqHZ = GyroP.Str.FrqHZ;
Kovalev_D 206:00341a03e05c 96 Gyro.Frq = GyroP.Str.FrqHZ<<16;
Kovalev_D 206:00341a03e05c 97 Gyro.FrqHZmin = GyroP.Str.FrqHZmin<<16;
Kovalev_D 206:00341a03e05c 98 Gyro.FrqHZmax = GyroP.Str.FrqHZmax<<16;
Kovalev_D 206:00341a03e05c 99 Gyro.FrqChengSpeed = GyroP.Str.FrqChengSpeed;
Kovalev_D 206:00341a03e05c 100
Kovalev_D 206:00341a03e05c 101 Gyro.ModAmp = GyroP.Str.ModAmp;
Kovalev_D 206:00341a03e05c 102
Kovalev_D 206:00341a03e05c 103 Gyro.AmpPer = GyroP.Str.AmpPer;
Kovalev_D 206:00341a03e05c 104 Gyro.Amp = GyroP.Str.AmpPer<<16;
Kovalev_D 206:00341a03e05c 105 Gyro.AmpSpeed = GyroP.Str.AmpSpeed;
Kovalev_D 206:00341a03e05c 106 Gyro.AmpPerDel = GyroP.Str.AmpPerDel;
Kovalev_D 206:00341a03e05c 107 Gyro.AmpTarget = GyroP.Str.AmpTarget;
Kovalev_D 206:00341a03e05c 108 Gyro.AmpPerMin = GyroP.Str.AmpPerMin;
Kovalev_D 206:00341a03e05c 109 Gyro.AmpPerMax = GyroP.Str.AmpPerMax;
Kovalev_D 206:00341a03e05c 110 Gyro.AmpMin = GyroP.Str.AmpMin;
Kovalev_D 206:00341a03e05c 111 Gyro.AmpTD = GyroP.Str.AmpTD;
Kovalev_D 206:00341a03e05c 112
Kovalev_D 206:00341a03e05c 113 Gyro.TermoNKU = GyroP.Str.TermoNKU<<2;
Kovalev_D 206:00341a03e05c 114
Kovalev_D 206:00341a03e05c 115 Spi.DAC_A = GyroP.Str.DAC_A<<2;
Kovalev_D 206:00341a03e05c 116 Spi.DAC_B = GyroP.Str.DAC_B<<2;
Kovalev_D 206:00341a03e05c 117
Kovalev_D 206:00341a03e05c 118 Gyro.Gain_Sin = GyroP.Str.Gain_Sin;
Kovalev_D 206:00341a03e05c 119 Gyro.Gain_Cos = GyroP.Str.Gain_Cos;
Kovalev_D 206:00341a03e05c 120 }
Kovalev_D 206:00341a03e05c 121 else
Kovalev_D 206:00341a03e05c 122 {
Kovalev_D 206:00341a03e05c 123
Kovalev_D 206:00341a03e05c 124 Gyro.FrqHZ = 388;
Kovalev_D 206:00341a03e05c 125 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 206:00341a03e05c 126 Gyro.FrqHZmin = 350<<16;
Kovalev_D 206:00341a03e05c 127 Gyro.FrqHZmax = 450<<16;
Kovalev_D 206:00341a03e05c 128 Gyro.FrqChengSpeed = 100;
Kovalev_D 206:00341a03e05c 129 Gyro.ModAmp = 250;
Kovalev_D 206:00341a03e05c 130 Gyro.AmpPer = 40;
Kovalev_D 206:00341a03e05c 131 Gyro.AmpPerMin = 1;
Kovalev_D 206:00341a03e05c 132 Gyro.AmpPerMax = 90;
Kovalev_D 206:00341a03e05c 133 Gyro.AmpSpeed = 1;
Kovalev_D 206:00341a03e05c 134 Gyro.AmpPerDel = 5;
Kovalev_D 206:00341a03e05c 135 Gyro.AmpTarget = 5800;// целевая амплитуда ВП
Kovalev_D 206:00341a03e05c 136 Gyro.Amp = 30*65535;
Kovalev_D 206:00341a03e05c 137 Gyro.AmpMin = 15;// минимальное значение AmpT;5
Kovalev_D 206:00341a03e05c 138 Gyro.AmpTD = 30;////////////////////////////////////////////////////////
Kovalev_D 206:00341a03e05c 139 Gyro.TermoNKU = 44700;//48824*0,0061-273=25 С°
Kovalev_D 206:00341a03e05c 140 Spi.DAC_A = 41000;
Kovalev_D 206:00341a03e05c 141 Spi.DAC_B = 35220;
Kovalev_D 206:00341a03e05c 142 Gyro.PLC_Error2Mode = 1400; //для записи мод
Kovalev_D 206:00341a03e05c 143 Gyro.Gain_Sin = 115;
Kovalev_D 206:00341a03e05c 144 Gyro.Gain_Cos = 175;
Kovalev_D 205:775d54fdf646 145 Gyro.Firmware_Version = 0x9; //версия программы
Kovalev_D 205:775d54fdf646 146 Gyro.GLD_Serial = 123; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 147 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 206:00341a03e05c 148 }
Kovalev_D 188:4c523cc373cc 149 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 150 case 0:
Kovalev_D 188:4c523cc373cc 151 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 152 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 153 break;
Kovalev_D 188:4c523cc373cc 154 case 1:
Kovalev_D 188:4c523cc373cc 155 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 156 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 157 break;
Kovalev_D 188:4c523cc373cc 158 case 2:
Kovalev_D 188:4c523cc373cc 159 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 160 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 161 break;
Kovalev_D 188:4c523cc373cc 162 case 3:
Kovalev_D 188:4c523cc373cc 163 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 164 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 165 break;
Kovalev_D 205:775d54fdf646 166 }
Kovalev_D 205:775d54fdf646 167
Kovalev_D 88:b5c1d9d338d1 168 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 169 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 170 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 171 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 172 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 173 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 174 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 175 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 176
Kovalev_D 86:398da56ef751 177 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 178 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 179 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 180 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 181 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 182 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 183
Kovalev_D 86:398da56ef751 184 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 185 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 186 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 187 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 188 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 112:4a96133a1311 189 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 190 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 191 Cur_QEI=0;
Kovalev_D 86:398da56ef751 192 Last_QEI=0;
Kovalev_D 205:775d54fdf646 193 }
Kovalev_D 205:775d54fdf646 194
Kovalev_D 205:775d54fdf646 195 void GLD_Init(void)
Kovalev_D 205:775d54fdf646 196 { int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 86:398da56ef751 197 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 198 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 199 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 200 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 201 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 202 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 203 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 204 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 205
Kovalev_D 98:95b8e79f13e1 206
Kovalev_D 87:7e575d26d6d0 207 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 208 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 209 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 210 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 211
Kovalev_D 87:7e575d26d6d0 212 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 213 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 214
Kovalev_D 98:95b8e79f13e1 215 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 216 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 217 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 218 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 219
Kovalev_D 88:b5c1d9d338d1 220
Kovalev_D 89:a0d344db227e 221 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 222 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 223 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 224
Kovalev_D 89:a0d344db227e 225 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 226
Kovalev_D 89:a0d344db227e 227 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 228 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 229 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 230 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 231
Kovalev_D 89:a0d344db227e 232 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 233 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 234 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 235
Kovalev_D 89:a0d344db227e 236 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 237 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 238 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 239
Kovalev_D 99:3d8f206ceac2 240 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 241 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 242 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 243 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 244
Kovalev_D 89:a0d344db227e 245 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 246 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 247 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 248
Kovalev_D 86:398da56ef751 249
Kovalev_D 86:398da56ef751 250
Kovalev_D 92:c892f0311aa7 251
Kovalev_D 92:c892f0311aa7 252
Kovalev_D 92:c892f0311aa7 253
Kovalev_D 92:c892f0311aa7 254 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 255 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 256 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 257 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 258 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 259
Kovalev_D 92:c892f0311aa7 260 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 261 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 262
Kovalev_D 92:c892f0311aa7 263 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 264 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 265 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 266
Kovalev_D 92:c892f0311aa7 267 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 268 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 269 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 270
Kovalev_D 92:c892f0311aa7 271 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 272 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 273
Kovalev_D 92:c892f0311aa7 274 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 275 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 276
Kovalev_D 92:c892f0311aa7 277 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 278 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 279
Kovalev_D 92:c892f0311aa7 280 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 281 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 282 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 283
Kovalev_D 92:c892f0311aa7 284 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 285 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 286
Kovalev_D 92:c892f0311aa7 287 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 288 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 289 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 290 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 291 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 292 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 293 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 294 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 295 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 296
Kovalev_D 92:c892f0311aa7 297 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 298 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 299 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 300 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 301 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 302 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 303 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 304
Kovalev_D 92:c892f0311aa7 305
Kovalev_D 92:c892f0311aa7 306
Kovalev_D 92:c892f0311aa7 307
Kovalev_D 86:398da56ef751 308 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 309 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 310 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 311
Kovalev_D 89:a0d344db227e 312 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 313 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 314 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 315 PinCheng();
Kovalev_D 89:a0d344db227e 316 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 317 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 318 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 319 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 320 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 321
Kovalev_D 98:95b8e79f13e1 322 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 190:289514f730ee 323 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 190:289514f730ee 324 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 325 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 326 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 327 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 328 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 329 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 330 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 331 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 332 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 333 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 334 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
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 89:a0d344db227e 341 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 342 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 343 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 344 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 345 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 346 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 347 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 348
Kovalev_D 88:b5c1d9d338d1 349
Kovalev_D 88:b5c1d9d338d1 350
Kovalev_D 87:7e575d26d6d0 351 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 352 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 353 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 354 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 355 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 356 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 357 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 358 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 359 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 360 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 361 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 362 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 363 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 364 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 365 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 366 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 367 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 368 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 369
Kovalev_D 88:b5c1d9d338d1 370
Kovalev_D 88:b5c1d9d338d1 371
Kovalev_D 87:7e575d26d6d0 372 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 373 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 374 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 375 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 376 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 377 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 378 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 379 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 380 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 381 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 382
Kovalev_D 88:b5c1d9d338d1 383
Kovalev_D 88:b5c1d9d338d1 384 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 385 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 386 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 387 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 388 enable_timer1();
Kovalev_D 86:398da56ef751 389 enable_timer2();
Kovalev_D 89:a0d344db227e 390 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 391
Kovalev_D 89:a0d344db227e 392 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 393 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 394
Kovalev_D 90:d9b6a4bc5065 395
Kovalev_D 90:d9b6a4bc5065 396
Kovalev_D 90:d9b6a4bc5065 397 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 398 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 399 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 400 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 401 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 402
Kovalev_D 90:d9b6a4bc5065 403 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 404 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 405
Kovalev_D 90:d9b6a4bc5065 406 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 407 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 408 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 409
Kovalev_D 90:d9b6a4bc5065 410 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 411 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 412 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 413
Kovalev_D 90:d9b6a4bc5065 414 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 415 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 416
Kovalev_D 90:d9b6a4bc5065 417 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 418 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 419
Kovalev_D 90:d9b6a4bc5065 420 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 421 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 422
Kovalev_D 90:d9b6a4bc5065 423 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 424 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 425 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 426
Kovalev_D 90:d9b6a4bc5065 427 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 428 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 429
Kovalev_D 90:d9b6a4bc5065 430 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 431 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 432 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 433 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 434 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 435 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 436 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 437 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 438 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 439
Kovalev_D 92:c892f0311aa7 440 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 441 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 442 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 443 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 205:775d54fdf646 444 //Gyro=GyroP.str;
Kovalev_D 205:775d54fdf646 445 //Gyro = (*(struct Gyro*)(&GyroP.Str));
Kovalev_D 90:d9b6a4bc5065 446
Kovalev_D 86:398da56ef751 447 }
igor_v 13:e2a1d18677b8 448
igor_v 0:8ad47e2b6f00 449
igor_v 0:8ad47e2b6f00 450
igor_v 0:8ad47e2b6f00 451
igor_v 0:8ad47e2b6f00 452