Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Global.c@157:1069c80f4944, 2016-05-10 (annotated)

Committer:
Kovalev_D
Date:
Tue May 10 14:11:25 2016 +0000
Revision:
157:1069c80f4944
Parent:
153:7086895c6ee3
Child:
158:0c8342e1837a
1

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 112:4a96133a1311 7
Kovalev_D 89:a0d344db227e 8 unsigned char BuffTemp[100];
Kovalev_D 89:a0d344db227e 9 unsigned char Time[500];
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 124:9ae09249f842 16 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 17 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 18 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 19 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 20 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 21 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 22 unsigned int ShiftL;
Kovalev_D 86:398da56ef751 23
Kovalev_D 140:1fbf117fc120 24
Kovalev_D 139:1716152517aa 25
Kovalev_D 134:caf4c9cd5052 26 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 27 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 28 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 29 BX R0
Kovalev_D 134:caf4c9cd5052 30 }
Kovalev_D 134:caf4c9cd5052 31
Kovalev_D 86:398da56ef751 32 void GLD_Init(void)
Kovalev_D 86:398da56ef751 33 {
Kovalev_D 90:d9b6a4bc5065 34 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 35 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 36 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 37 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 38 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 39 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 40 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 41 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 42 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 43 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 44 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 45 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 46 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 47 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 48 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 49 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 50 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 51 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 52 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 53 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 54 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 55 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 56 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 57 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 58 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 59 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 60 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 61 ShiftL = 0;
Kovalev_D 124:9ae09249f842 62 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 63 Time500Hz = 0;
Kovalev_D 139:1716152517aa 64
Kovalev_D 140:1fbf117fc120 65 Gyro.StrayHZ = 1000;
Kovalev_D 140:1fbf117fc120 66 Gyro.StrayHZ_flag = 0;
Kovalev_D 140:1fbf117fc120 67 Gyro.LogHZ = 0;
Kovalev_D 140:1fbf117fc120 68
Kovalev_D 142:7a6f68601291 69 Gyro.StrayPLC_Pls =1000;
Kovalev_D 142:7a6f68601291 70 Gyro.StrayPLC_Mns = -1000;
Kovalev_D 141:c6de20b9b483 71 Gyro.StrayPLC_2Mode = 2000;
Kovalev_D 140:1fbf117fc120 72 Gyro.StrayPLC_flag = 0;
Kovalev_D 141:c6de20b9b483 73 Gyro.LogPLC = 0;
Kovalev_D 157:1069c80f4944 74 Gyro.PLC_Lern = 0;
Kovalev_D 151:d565ce4d58c8 75 //Gyro.PLC_Lern=700;//для записи мод.
Kovalev_D 153:7086895c6ee3 76 // Gyro.PLC_Error2Mode = 70; // начальная задержка (работает СРП)
Kovalev_D 157:1069c80f4944 77
Kovalev_D 86:398da56ef751 78 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 79 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 80
Kovalev_D 88:b5c1d9d338d1 81
Kovalev_D 88:b5c1d9d338d1 82 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 83 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 84 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 85 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 86 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 132:2c7bec5cf6fe 87 Gyro.FlashMod=0;
Kovalev_D 99:3d8f206ceac2 88 Gyro.FrqHZ=400;
Kovalev_D 88:b5c1d9d338d1 89 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 88:b5c1d9d338d1 90 Gyro.AmpPer=20;
Kovalev_D 88:b5c1d9d338d1 91 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 92 Gyro.Amp = 10*65535;
Kovalev_D 88:b5c1d9d338d1 93 Gyro.AmpMin =10;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 94 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 95 //////////////////////////////////////////////////////////////////////
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 88:b5c1d9d338d1 101 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 102 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 103 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 104 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 105 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 106 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 107 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 108 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 109 Buff_16PointD[i] = 0x00;
Kovalev_D 129:406995a91322 110 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 111 }
Kovalev_D 129:406995a91322 112
Kovalev_D 129:406995a91322 113 for (int i = 0; i < 170; i++ ) {
Kovalev_D 129:406995a91322 114 GyroP.Array[i] =i;
Kovalev_D 88:b5c1d9d338d1 115 }
Kovalev_D 88:b5c1d9d338d1 116 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 117 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 118 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 119 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 120 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 121 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 122 // Temp_AMP=0;
Kovalev_D 96:1c8536458119 123 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 124 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 125 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 126 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 127 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 128 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 129 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 130 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 131 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 132 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 133 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 134 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 135 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 136 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 137 }
Kovalev_D 95:dd51e577e114 138 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 139 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 140 }
Kovalev_D 96:1c8536458119 141 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 142 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 143 }
Kovalev_D 96:1c8536458119 144 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 145 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 146 }
Kovalev_D 88:b5c1d9d338d1 147 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 148 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 149
Kovalev_D 88:b5c1d9d338d1 150
Kovalev_D 88:b5c1d9d338d1 151
Kovalev_D 88:b5c1d9d338d1 152
Kovalev_D 88:b5c1d9d338d1 153
Kovalev_D 92:c892f0311aa7 154
Kovalev_D 88:b5c1d9d338d1 155 Gyro.SOC_Out=0xDD;
Kovalev_D 86:398da56ef751 156 Gyro.Firmware_Version =0x15; //версия программы
Kovalev_D 86:398da56ef751 157 Gyro.GLD_Serial = 0x20; //серийный номер
Kovalev_D 86:398da56ef751 158 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 86:398da56ef751 159 Gyro.Discharg = StartDischarg;
Kovalev_D 86:398da56ef751 160 Gyro.BackLight = StartBackLight;
Kovalev_D 92:c892f0311aa7 161
Kovalev_D 88:b5c1d9d338d1 162
Kovalev_D 89:a0d344db227e 163
Kovalev_D 89:a0d344db227e 164
Kovalev_D 88:b5c1d9d338d1 165 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 166 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 167 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 168 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 169 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 170 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 171 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 172 /////////////////////////////////////////////////////
Kovalev_D 153:7086895c6ee3 173 Spi.DAC_A = 0x7FFF;
Kovalev_D 157:1069c80f4944 174 //Spi.DAC_B = 0x7fff; //старое начало
Kovalev_D 157:1069c80f4944 175 Spi.DAC_B = 32500; // 32000
Kovalev_D 157:1069c80f4944 176 // Spi.DAC_B = 0x44C; //для просмотра мод
Kovalev_D 157:1069c80f4944 177 Gyro.PLC_Error2Mode = 65;
Kovalev_D 86:398da56ef751 178 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 179 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 180 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 181 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 182 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 183 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 184 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 185 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 186
igor_v 16:18e3fd7b92d0 187
igor_v 16:18e3fd7b92d0 188
Kovalev_D 86:398da56ef751 189 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 190
Kovalev_D 86:398da56ef751 191
Kovalev_D 86:398da56ef751 192 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 193 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 194 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 195 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 196 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 197 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 198 Cur_QEI=0;
Kovalev_D 86:398da56ef751 199 Last_QEI=0;
Kovalev_D 86:398da56ef751 200 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 201 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 202 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 203 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 87:7e575d26d6d0 204 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=100MHz
Kovalev_D 87:7e575d26d6d0 205 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 206 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 207 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 208
Kovalev_D 98:95b8e79f13e1 209
Kovalev_D 87:7e575d26d6d0 210 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 211 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 212 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 213 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 214
Kovalev_D 87:7e575d26d6d0 215 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 216 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 217
Kovalev_D 98:95b8e79f13e1 218 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 219 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 220 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 221 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 222
Kovalev_D 88:b5c1d9d338d1 223
Kovalev_D 89:a0d344db227e 224 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 225 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 226 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 227
Kovalev_D 89:a0d344db227e 228 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 229
Kovalev_D 89:a0d344db227e 230 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 231 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 232 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 233 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 234
Kovalev_D 89:a0d344db227e 235 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 236 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 237 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 238
Kovalev_D 89:a0d344db227e 239 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 240 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 241 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 242
Kovalev_D 99:3d8f206ceac2 243 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 244 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 245 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 246 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 247
Kovalev_D 89:a0d344db227e 248 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 249 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 250 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 251
Kovalev_D 86:398da56ef751 252
Kovalev_D 86:398da56ef751 253
Kovalev_D 92:c892f0311aa7 254
Kovalev_D 92:c892f0311aa7 255
Kovalev_D 92:c892f0311aa7 256
Kovalev_D 92:c892f0311aa7 257 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 258 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 259 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 260 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 261 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 262
Kovalev_D 92:c892f0311aa7 263 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 264 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 265
Kovalev_D 92:c892f0311aa7 266 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 267 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 268 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 269
Kovalev_D 92:c892f0311aa7 270 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 271 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 272 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 273
Kovalev_D 92:c892f0311aa7 274 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 275 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 276
Kovalev_D 92:c892f0311aa7 277 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 278 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 279
Kovalev_D 92:c892f0311aa7 280 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 281 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 282
Kovalev_D 92:c892f0311aa7 283 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 284 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 285 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 286
Kovalev_D 92:c892f0311aa7 287 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 288 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 289
Kovalev_D 92:c892f0311aa7 290 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 291 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 292 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 293 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 294 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 295 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 296 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 297 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 298 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 299
Kovalev_D 92:c892f0311aa7 300 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 301 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 302 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 303 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 304 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 305 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 306 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 307
Kovalev_D 92:c892f0311aa7 308
Kovalev_D 92:c892f0311aa7 309
Kovalev_D 92:c892f0311aa7 310
Kovalev_D 86:398da56ef751 311 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 312 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 313 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 314
Kovalev_D 89:a0d344db227e 315 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 316 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 317 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 318 PinCheng();
Kovalev_D 89:a0d344db227e 319 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 320
Kovalev_D 87:7e575d26d6d0 321 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 322 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 323 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 324
Kovalev_D 98:95b8e79f13e1 325 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 98:95b8e79f13e1 326 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 98:95b8e79f13e1 327 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 87:7e575d26d6d0 328 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 329 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 330 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 331
Kovalev_D 88:b5c1d9d338d1 332
Kovalev_D 87:7e575d26d6d0 333 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 334 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 335 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 336 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 337 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 338 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 339
Kovalev_D 88:b5c1d9d338d1 340
Kovalev_D 88:b5c1d9d338d1 341
Kovalev_D 87:7e575d26d6d0 342 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 343 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 344 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 345 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 346 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 347 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 348 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 349 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 350
Kovalev_D 88:b5c1d9d338d1 351
Kovalev_D 88:b5c1d9d338d1 352
Kovalev_D 87:7e575d26d6d0 353 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 354 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 355 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 356 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 357 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 358 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 359 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 360 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 361 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 362 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 363 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 364 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 365 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 366 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 367 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 368 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 369 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 370 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 371
Kovalev_D 88:b5c1d9d338d1 372
Kovalev_D 88:b5c1d9d338d1 373
Kovalev_D 87:7e575d26d6d0 374 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 375 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 376 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 377 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 378 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 379 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 380 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 381 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 382 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 383 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 384
Kovalev_D 88:b5c1d9d338d1 385
Kovalev_D 88:b5c1d9d338d1 386 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 387 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 388 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 389 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 390 enable_timer1();
Kovalev_D 86:398da56ef751 391 enable_timer2();
Kovalev_D 89:a0d344db227e 392 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 393
Kovalev_D 89:a0d344db227e 394 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 395 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 396
Kovalev_D 90:d9b6a4bc5065 397
Kovalev_D 90:d9b6a4bc5065 398
Kovalev_D 90:d9b6a4bc5065 399 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 400 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 401 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 402 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 403 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 404
Kovalev_D 90:d9b6a4bc5065 405 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 406 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 407
Kovalev_D 90:d9b6a4bc5065 408 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 409 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 410 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 411
Kovalev_D 90:d9b6a4bc5065 412 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 413 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 414 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 415
Kovalev_D 90:d9b6a4bc5065 416 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 417 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 418
Kovalev_D 90:d9b6a4bc5065 419 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 420 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 421
Kovalev_D 90:d9b6a4bc5065 422 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 423 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 424
Kovalev_D 90:d9b6a4bc5065 425 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 426 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 427 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 428
Kovalev_D 90:d9b6a4bc5065 429 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 430 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 431
Kovalev_D 90:d9b6a4bc5065 432 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 433 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 434 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 435 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 90:d9b6a4bc5065 436 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 437 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 438 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 439 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 440 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 441
Kovalev_D 92:c892f0311aa7 442 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 443 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 444 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 445 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
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