Dmitry Kovalev / Mbed 2 deprecated LG2

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Dependencies:   mbed

Fork of LG by igor Apu

MTimer.c@200:1df682165694, 2016-10-20 (annotated)

Committer:
Kovalev_D
Date:
Thu Oct 20 11:38:22 2016 +0000
Revision:
200:1df682165694
Parent:
197:7a05523bf588 
temp;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 4 #include "vibro.h"
igor_v 0:8ad47e2b6f00 5 #include "QEI.h"
igor_v 0:8ad47e2b6f00 6 #include "Global.h"
igor_v 0:8ad47e2b6f00 7 #include "SPI.h"
igor_v 0:8ad47e2b6f00 8 #include "InputOutput.h"
Kovalev_D 112:4a96133a1311 9
Kovalev_D 197:7a05523bf588 10 unsigned int CountV64=0;
igor_v 0:8ad47e2b6f00 11 unsigned int CountV31=0;
Kovalev_D 197:7a05523bf588 12 unsigned int CountV255=0;
Kovalev_D 197:7a05523bf588 13 unsigned int f;
Kovalev_D 124:9ae09249f842 14 int loop=0;
Kovalev_D 112:4a96133a1311 15
Kovalev_D 88:b5c1d9d338d1 16 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 17 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 18 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 19 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 20 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 21 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 22 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 92:c892f0311aa7 23 { int i,t;
Kovalev_D 115:e5a230e5af52 24 if (Event1Hz)
Kovalev_D 124:9ae09249f842 25 {
Kovalev_D 124:9ae09249f842 26 Gyro.Rate1_Event = 1;
Kovalev_D 122:fbacb932a30b 27 Event1Hz--;
Kovalev_D 122:fbacb932a30b 28 Time1Hz++;
Kovalev_D 117:eefe61968528 29 Discharg ();
Kovalev_D 193:a0fe8bfc97e4 30 BackLight();
Kovalev_D 200:1df682165694 31 sprintf((Time),"%d %d \r\n", Spi.DAC_B, Gyro.Termo);//выдаем в терминал для постройки граффика регулировки периметра.
Kovalev_D 200:1df682165694 32 WriteCon(Time);
Kovalev_D 196:f76dbc081e63 33 }
Kovalev_D 88:b5c1d9d338d1 34 }
Kovalev_D 89:a0d344db227e 35 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 36 ///////////////////// 1kHz //////////////////////////
Kovalev_D 197:7a05523bf588 37 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 38 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 39 {
Kovalev_D 116:66f1f0ff2dab 40 if (Event1K)
Kovalev_D 116:66f1f0ff2dab 41 {
Kovalev_D 88:b5c1d9d338d1 42 Event1K --;
Kovalev_D 116:66f1f0ff2dab 43 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 193:a0fe8bfc97e4 44
Kovalev_D 116:66f1f0ff2dab 45 if (Time1K == 1000)
Kovalev_D 115:e5a230e5af52 46 {
Kovalev_D 88:b5c1d9d338d1 47 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 48 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 49 }
Kovalev_D 88:b5c1d9d338d1 50 }
Kovalev_D 88:b5c1d9d338d1 51 }
Kovalev_D 124:9ae09249f842 52 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 53 {
Kovalev_D 124:9ae09249f842 54 if(Event500Hz)
Kovalev_D 197:7a05523bf588 55 { Event500Hz--;
Kovalev_D 197:7a05523bf588 56 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 197:7a05523bf588 57 }
Kovalev_D 197:7a05523bf588 58 }
Kovalev_D 197:7a05523bf588 59
Kovalev_D 197:7a05523bf588 60
Kovalev_D 197:7a05523bf588 61 void Event_250Hz(void)// событие раз в 500 Гц
Kovalev_D 197:7a05523bf588 62 {
Kovalev_D 197:7a05523bf588 63 if(Event250Hz)
Kovalev_D 193:a0fe8bfc97e4 64 {
Kovalev_D 197:7a05523bf588 65 Event250Hz--;
Kovalev_D 197:7a05523bf588 66 Gyro.EventMOD=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 124:9ae09249f842 67 }
Kovalev_D 124:9ae09249f842 68 }
Kovalev_D 89:a0d344db227e 69 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 70 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 71 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 72 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 73 {
Kovalev_D 162:44e4ded32c6a 74
Kovalev_D 88:b5c1d9d338d1 75 if (Event100K) {
Kovalev_D 197:7a05523bf588 76
Kovalev_D 88:b5c1d9d338d1 77 Event100K --;
Kovalev_D 197:7a05523bf588 78
Kovalev_D 124:9ae09249f842 79 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 80
Kovalev_D 124:9ae09249f842 81 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 82 }
Kovalev_D 88:b5c1d9d338d1 83 }
Kovalev_D 89:a0d344db227e 84 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 85 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 86 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 87 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 88 {
Kovalev_D 88:b5c1d9d338d1 89 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 90 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 91 }
Kovalev_D 88:b5c1d9d338d1 92 }
Kovalev_D 89:a0d344db227e 93 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 94 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 95 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 96
Kovalev_D 88:b5c1d9d338d1 97
Kovalev_D 112:4a96133a1311 98 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 99 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 100 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 101
Kovalev_D 112:4a96133a1311 102 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 103 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 104 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 105
Kovalev_D 112:4a96133a1311 106 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 107 {
Kovalev_D 112:4a96133a1311 108 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 109 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 110 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 111 }
Kovalev_D 112:4a96133a1311 112
Kovalev_D 112:4a96133a1311 113
igor_v 0:8ad47e2b6f00 114 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 115 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 116 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 117 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 118 {
igor_v 21:bc8c1cec3da6 119 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 120 return;
igor_v 21:bc8c1cec3da6 121 }
igor_v 0:8ad47e2b6f00 122
igor_v 0:8ad47e2b6f00 123
igor_v 0:8ad47e2b6f00 124 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 125 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 126 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 127
igor_v 0:8ad47e2b6f00 128 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 129 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 130 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 131 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 132 {
Kovalev_D 124:9ae09249f842 133 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 134 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 135 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 136 return 1;
igor_v 21:bc8c1cec3da6 137 }
igor_v 0:8ad47e2b6f00 138
igor_v 21:bc8c1cec3da6 139 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 140 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 141 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 142 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 143 {
igor_v 21:bc8c1cec3da6 144 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 145 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 146 }
igor_v 21:bc8c1cec3da6 147
igor_v 21:bc8c1cec3da6 148
Kovalev_D 112:4a96133a1311 149 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 150 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 151 //////////////////////////////////////////////////////////////////////
Kovalev_D 183:7e200f4d9b16 152 __irq void TIMER1_IRQHandler (void)//13.27 kHz
Kovalev_D 197:7a05523bf588 153 { // LoopOn
igor_v 114:5cc38a53d8a7 154 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 155 SetDAC(DAC);
Kovalev_D 112:4a96133a1311 156
igor_v 114:5cc38a53d8a7 157 CountV255++; // инкремент счеттчика
Kovalev_D 164:6f43f85fdd8d 158 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
Kovalev_D 197:7a05523bf588 159 CountV64 = CountV255 & 0x3f;
Kovalev_D 197:7a05523bf588 160 CountV31 = CountV255 & 0x1f; // малый счетчик
Kovalev_D 197:7a05523bf588 161
Kovalev_D 112:4a96133a1311 162 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 163 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 164
Kovalev_D 116:66f1f0ff2dab 165
Kovalev_D 116:66f1f0ff2dab 166 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 167 ResetDAC(DAC);
Kovalev_D 197:7a05523bf588 168 SPI_Exchange(); //Чтение ADC_SPI
igor_v 114:5cc38a53d8a7 169
Kovalev_D 112:4a96133a1311 170 LPC_TIM1->IR = 1;
Kovalev_D 193:a0fe8bfc97e4 171
Kovalev_D 197:7a05523bf588 172 // LoopOff
Kovalev_D 197:7a05523bf588 173
Kovalev_D 112:4a96133a1311 174 }
Kovalev_D 112:4a96133a1311 175
igor_v 21:bc8c1cec3da6 176 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 177 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 178 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 179 __irq void TIMER2_IRQHandler (void)
Kovalev_D 197:7a05523bf588 180 {
igor_v 21:bc8c1cec3da6 181 LPC_TIM2->IR = 1;
igor_v 21:bc8c1cec3da6 182 Global_Time++;
Kovalev_D 190:289514f730ee 183 if(Time_UART) Time_UART--;
igor_v 21:bc8c1cec3da6 184 Time_vibro++;
Kovalev_D 112:4a96133a1311 185 Gyro.VibroOutF=1;
Kovalev_D 190:289514f730ee 186 Event100K ++;
Kovalev_D 197:7a05523bf588 187 Time500Hz++;
Kovalev_D 197:7a05523bf588 188 Time100K++;
Kovalev_D 197:7a05523bf588 189 Time250Hz++;
Kovalev_D 197:7a05523bf588 190 if (Time100K == 100)
Kovalev_D 197:7a05523bf588 191 {
Kovalev_D 197:7a05523bf588 192 Time100K = 0;
Kovalev_D 197:7a05523bf588 193 Event1K ++;
Kovalev_D 197:7a05523bf588 194
Kovalev_D 197:7a05523bf588 195 }
Kovalev_D 197:7a05523bf588 196 if (Time500Hz > 200)
Kovalev_D 197:7a05523bf588 197 {
Kovalev_D 197:7a05523bf588 198 Time500Hz -= 200;
Kovalev_D 197:7a05523bf588 199 Event500Hz ++;
Kovalev_D 197:7a05523bf588 200
Kovalev_D 197:7a05523bf588 201 }
Kovalev_D 197:7a05523bf588 202 if (Time250Hz > 400)
Kovalev_D 197:7a05523bf588 203 {
Kovalev_D 197:7a05523bf588 204 Time250Hz -= 400;
Kovalev_D 197:7a05523bf588 205 Event250Hz ++;
Kovalev_D 197:7a05523bf588 206 }
igor_v 21:bc8c1cec3da6 207 }