Dmitry Kovalev / Mbed 2 deprecated LG2

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Dependencies:   mbed

Fork of LG by igor Apu

QEI.c@108:030cdde08314, 2016-04-02 (annotated)

Committer:
Kovalev_D
Date:
Sat Apr 02 11:15:38 2016 +0000
Revision:
108:030cdde08314
Parent:
107:4d178bcc9d8a
Child:
112:4a96133a1311
1;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 1:f2adcae3d304 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 21:bc8c1cec3da6 3
Kovalev_D 86:398da56ef751 4
Kovalev_D 86:398da56ef751 5
Kovalev_D 86:398da56ef751 6
igor_v 21:bc8c1cec3da6 7 int Dif_QEI;
igor_v 42:6fc307c4963e 8
igor_v 21:bc8c1cec3da6 9 int FFF=0;//для заплатки
igor_v 0:8ad47e2b6f00 10
igor_v 42:6fc307c4963e 11
Kovalev_D 86:398da56ef751 12 int Pulse_8Point;
Kovalev_D 86:398da56ef751 13 int Pulse_16Point;
Kovalev_D 86:398da56ef751 14 int Pulse_32Point;
Kovalev_D 86:398da56ef751 15 int Pulse_16PointD;
Kovalev_D 105:bd01d8d20fb6 16 int Iras=0,Temp_F_ras=0;
Kovalev_D 108:030cdde08314 17
Kovalev_D 108:030cdde08314 18 int CaunAddPlus =0;
Kovalev_D 108:030cdde08314 19 int CaunAddMin =0;
Kovalev_D 108:030cdde08314 20
Kovalev_D 108:030cdde08314 21 int CaunPlus =0;
Kovalev_D 108:030cdde08314 22 int CaunMin =0;
Kovalev_D 108:030cdde08314 23
Kovalev_D 108:030cdde08314 24
Kovalev_D 108:030cdde08314 25
Kovalev_D 108:030cdde08314 26
igor_v 21:bc8c1cec3da6 27 int yy = 0;
igor_v 0:8ad47e2b6f00 28
igor_v 0:8ad47e2b6f00 29
igor_v 42:6fc307c4963e 30
igor_v 42:6fc307c4963e 31
Kovalev_D 86:398da56ef751 32 int Buff_32Point [32];
igor_v 43:3f7c8a0ea59c 33 int Buff_16Point [32];
igor_v 43:3f7c8a0ea59c 34 int Buff_16PointD [32];
igor_v 43:3f7c8a0ea59c 35 int Buff_8Point [32];
igor_v 43:3f7c8a0ea59c 36 int Buff_Restored_sin [32];
Kovalev_D 108:030cdde08314 37
igor_v 43:3f7c8a0ea59c 38 int Buff_1Point [256]; // этот на 256
igor_v 42:6fc307c4963e 39
igor_v 42:6fc307c4963e 40
igor_v 42:6fc307c4963e 41
Kovalev_D 86:398da56ef751 42 int unsigned Cur_QEI, Last_QEI;
igor_v 21:bc8c1cec3da6 43
igor_v 43:3f7c8a0ea59c 44 // ДАВАЙ попробуем сделать буфера в целых (знаковы)
Kovalev_D 98:95b8e79f13e1 45 /*__irq void QEI_IRQHandler (void)
Kovalev_D 98:95b8e79f13e1 46 {
Kovalev_D 98:95b8e79f13e1 47 Cur_QEI = LPC_QEI->POS & 0xFFFF; //e. read accumulated value of counter
Kovalev_D 98:95b8e79f13e1 48 LPC_QEI->CLR = 0x1fff; //e. reset interrupt request //r. сбросить запрос прерывания
Kovalev_D 98:95b8e79f13e1 49 }*/
Kovalev_D 86:398da56ef751 50
igor_v 21:bc8c1cec3da6 51 void D_QEI(void)
igor_v 21:bc8c1cec3da6 52 {
igor_v 21:bc8c1cec3da6 53 Dif_QEI=0;
igor_v 21:bc8c1cec3da6 54 Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера.
igor_v 21:bc8c1cec3da6 55 Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.()
igor_v 21:bc8c1cec3da6 56 Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения.
igor_v 21:bc8c1cec3da6 57 if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль
igor_v 21:bc8c1cec3da6 58 if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль
Kovalev_D 108:030cdde08314 59 Buff_1Point[CountV255] = Dif_QEI ; // накопление в буфер еденичных значений приращения по каждому такту.
igor_v 0:8ad47e2b6f00 60
Kovalev_D 108:030cdde08314 61
igor_v 21:bc8c1cec3da6 62 ////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 63 ///////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 64 /*
igor_v 21:bc8c1cec3da6 65 if (LPC_QEI->STAT) { //e. "+" direction //r. стали вращаться в "+" сторону
Kovalev_D 106:250ddd8629c6 66 Gyro.Cnt_Mns -= Cur_QEI;
igor_v 21:bc8c1cec3da6 67 } else {
Kovalev_D 105:bd01d8d20fb6 68 Gyro.Cnt_Pls = Cur_QEI;
igor_v 21:bc8c1cec3da6 69 }
Kovalev_D 106:250ddd8629c6 70 */
igor_v 21:bc8c1cec3da6 71 ////////// ???? Заплатка
igor_v 21:bc8c1cec3da6 72 ////////// ???? Проблема начального заполнения буферов
igor_v 21:bc8c1cec3da6 73 //////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 108:030cdde08314 74 Pulse_8Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 75 Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов
Kovalev_D 92:c892f0311aa7 76 Buff_8Point[CountV31] = /*(unsigned int)*/ (Pulse_8Point/* + 0xffff*/);
igor_v 0:8ad47e2b6f00 77
igor_v 21:bc8c1cec3da6 78 Pulse_16Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 79 Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов
Kovalev_D 92:c892f0311aa7 80 Buff_16Point[CountV31] = /*(unsigned int)*/ (Pulse_16Point /*+ 0xffff*/);
igor_v 21:bc8c1cec3da6 81
igor_v 21:bc8c1cec3da6 82 Pulse_32Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 83 Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов
Kovalev_D 45:cbc955aecebe 84 Gyro.Cnt_Dif = (Pulse_32Point/*+ 0xffff*/);
Kovalev_D 92:c892f0311aa7 85 Buff_32Point[CountV31] = /*(unsigned int)*/ (Pulse_32Point /*+ 0xffff*/);
igor_v 0:8ad47e2b6f00 86
igor_v 21:bc8c1cec3da6 87 Pulse_16PointD += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 88 Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз
igor_v 21:bc8c1cec3da6 89 Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
igor_v 21:bc8c1cec3da6 90 Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // з
igor_v 21:bc8c1cec3da6 91
Kovalev_D 108:030cdde08314 92 Buff_16PointD[CountV31] = Pulse_16PointD ;
igor_v 21:bc8c1cec3da6 93
Kovalev_D 108:030cdde08314 94 Buff_Restored_sin [CountV31]= Buff_16PointD [ CountV31] - Buff_32Point[CountV31] ;
igor_v 21:bc8c1cec3da6 95
Kovalev_D 108:030cdde08314 96
Kovalev_D 108:030cdde08314 97 // if(Buff_Restored_sin [CountV31] > 0)Temp_F_ras += Buff_Restored_sin [CountV31];
Kovalev_D 108:030cdde08314 98 // else Temp_F_ras -= Buff_Restored_sin [CountV31]; // расчет амплитуды
Kovalev_D 108:030cdde08314 99
Kovalev_D 108:030cdde08314 100 if((Buff_Restored_sin [CountV31]) > 0) CaunAddPlus += Buff_Restored_sin [CountV31];
Kovalev_D 108:030cdde08314 101 else CaunAddMin -= (Buff_Restored_sin [CountV31]); // расчет амплитуды
igor_v 0:8ad47e2b6f00 102
Kovalev_D 108:030cdde08314 103
igor_v 21:bc8c1cec3da6 104 }