Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

MTimer.c@209:224e7331a061, 2017-04-13 (annotated)

Committer:
Kovalev_D
Date:
Thu Apr 13 14:14:45 2017 +0000
Revision:
209:224e7331a061
Parent:
208:19150d2b528f
Child:
210:b02fa166315d
v2

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 209:224e7331a061 13 unsigned int f,MODCount=0;
Kovalev_D 124:9ae09249f842 14 int loop=0;
Kovalev_D 208:19150d2b528f 15 int t;
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 208:19150d2b528f 23 {
Kovalev_D 115:e5a230e5af52 24 if (Event1Hz)
Kovalev_D 208:19150d2b528f 25 {
Kovalev_D 209:224e7331a061 26 if(Gyro.LogMod) ShowMod2();
Kovalev_D 208:19150d2b528f 27 Discharg();
Kovalev_D 208:19150d2b528f 28 BackLight();
Kovalev_D 208:19150d2b528f 29 Gyro.Rate1_Event = 1;
Kovalev_D 208:19150d2b528f 30 Event1Hz--;
Kovalev_D 208:19150d2b528f 31 Time1Hz++;
Kovalev_D 209:224e7331a061 32
Kovalev_D 209:224e7331a061 33 /* for(int i=0; i<32;i++)
Kovalev_D 209:224e7331a061 34 {
Kovalev_D 209:224e7331a061 35 sprintf((Time),"%d ", Buff_Restored_sin[i]);
Kovalev_D 209:224e7331a061 36 WriteCon(Time);
Kovalev_D 209:224e7331a061 37 }
Kovalev_D 209:224e7331a061 38 sprintf((Time),"\r\n");
Kovalev_D 209:224e7331a061 39 WriteCon(Time);
Kovalev_D 209:224e7331a061 40 for(int i=0; i<32;i++)
Kovalev_D 209:224e7331a061 41 {
Kovalev_D 209:224e7331a061 42 sprintf((Time)," %d ", Buff_1Point[i-7]);
Kovalev_D 209:224e7331a061 43 WriteCon(Time);
Kovalev_D 209:224e7331a061 44 }
Kovalev_D 209:224e7331a061 45 sprintf((Time),"\r\n");
Kovalev_D 209:224e7331a061 46 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 47 }
Kovalev_D 203:3a6615de9581 48
Kovalev_D 88:b5c1d9d338d1 49 }
Kovalev_D 89:a0d344db227e 50 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 51 ///////////////////// 1kHz //////////////////////////
Kovalev_D 197:7a05523bf588 52 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 53 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 54 {
Kovalev_D 116:66f1f0ff2dab 55 if (Event1K)
Kovalev_D 116:66f1f0ff2dab 56 {
Kovalev_D 209:224e7331a061 57
Kovalev_D 88:b5c1d9d338d1 58 Event1K --;
Kovalev_D 116:66f1f0ff2dab 59 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 209:224e7331a061 60 if (Time1K > 1000)
Kovalev_D 115:e5a230e5af52 61 {
Kovalev_D 208:19150d2b528f 62 Time1K -=1000;
Kovalev_D 88:b5c1d9d338d1 63 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 64 }
Kovalev_D 209:224e7331a061 65
Kovalev_D 208:19150d2b528f 66 }
Kovalev_D 88:b5c1d9d338d1 67 }
Kovalev_D 209:224e7331a061 68
Kovalev_D 209:224e7331a061 69 void Event_2KHz(void)// событие раз в 1 кГц
Kovalev_D 209:224e7331a061 70 {
Kovalev_D 209:224e7331a061 71 if (Event2K)
Kovalev_D 209:224e7331a061 72 {
Kovalev_D 209:224e7331a061 73 Event2K --;
Kovalev_D 209:224e7331a061 74 Gyro.Rate3_Event++;
Kovalev_D 209:224e7331a061 75 }
Kovalev_D 209:224e7331a061 76 }
Kovalev_D 124:9ae09249f842 77 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 78 {
Kovalev_D 124:9ae09249f842 79 if(Event500Hz)
Kovalev_D 209:224e7331a061 80 {
Kovalev_D 209:224e7331a061 81
Kovalev_D 205:775d54fdf646 82 Event500Hz--;
Kovalev_D 208:19150d2b528f 83 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 197:7a05523bf588 84 }
Kovalev_D 197:7a05523bf588 85 }
Kovalev_D 209:224e7331a061 86 void Event_250Hz(void)
Kovalev_D 209:224e7331a061 87 {
Kovalev_D 209:224e7331a061 88 if(Event250Hz)
Kovalev_D 209:224e7331a061 89 {
Kovalev_D 209:224e7331a061 90
Kovalev_D 209:224e7331a061 91 // Gyro.CuruAngle=0;
Kovalev_D 209:224e7331a061 92 Event250Hz--;
Kovalev_D 209:224e7331a061 93 MODCount++;
Kovalev_D 209:224e7331a061 94 if((MODCount&0x3f)==0)
Kovalev_D 209:224e7331a061 95 {/*
Kovalev_D 209:224e7331a061 96 sprintf((Time),"%d %d %d\r\n", Spi.DAC_B, (0xffff - Spi.ADC5), Gyro.CuruAngle);
Kovalev_D 209:224e7331a061 97 WriteCon(Time);
Kovalev_D 209:224e7331a061 98 Gyro.CuruAngle = 0;
Kovalev_D 209:224e7331a061 99 Gyro.CaunMinRate = 0;
Kovalev_D 209:224e7331a061 100 Gyro.CaunPlusRate = 0;
Kovalev_D 209:224e7331a061 101 */
Kovalev_D 209:224e7331a061 102 }
Kovalev_D 209:224e7331a061 103 if(MODFlag==2)
Kovalev_D 209:224e7331a061 104 {
Kovalev_D 209:224e7331a061 105 BuffADC_64Point[MODCount&0x3f]=ADC5New;
Kovalev_D 209:224e7331a061 106 LPC_DAC->DACR = (ModArraySin[MODCount&0x3f] * Gyro.ModAmp);
Kovalev_D 209:224e7331a061 107
Kovalev_D 209:224e7331a061 108 if((MODCount&0x3f)==0) PLCRegul250();
Kovalev_D 209:224e7331a061 109 }
Kovalev_D 209:224e7331a061 110 }
Kovalev_D 209:224e7331a061 111 }
Kovalev_D 89:a0d344db227e 112 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 113 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 114 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 115 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 116 {
Kovalev_D 162:44e4ded32c6a 117
Kovalev_D 88:b5c1d9d338d1 118 if (Event100K) {
Kovalev_D 197:7a05523bf588 119
Kovalev_D 88:b5c1d9d338d1 120 Event100K --;
Kovalev_D 197:7a05523bf588 121
Kovalev_D 124:9ae09249f842 122 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 123
Kovalev_D 124:9ae09249f842 124 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 125 }
Kovalev_D 88:b5c1d9d338d1 126 }
Kovalev_D 89:a0d344db227e 127 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 128 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 129 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 130 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 131 {
Kovalev_D 88:b5c1d9d338d1 132 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 133 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 134 }
Kovalev_D 88:b5c1d9d338d1 135 }
Kovalev_D 89:a0d344db227e 136 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 137 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 138 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 139
Kovalev_D 88:b5c1d9d338d1 140
Kovalev_D 112:4a96133a1311 141 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 142 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 143 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 144
Kovalev_D 112:4a96133a1311 145 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 146 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 147 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 148
Kovalev_D 112:4a96133a1311 149 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 150 {
Kovalev_D 112:4a96133a1311 151 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 152 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 153 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 154 }
Kovalev_D 112:4a96133a1311 155
Kovalev_D 112:4a96133a1311 156
igor_v 0:8ad47e2b6f00 157 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 158 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 159 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 160 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 161 {
igor_v 21:bc8c1cec3da6 162 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 163 return;
igor_v 21:bc8c1cec3da6 164 }
igor_v 0:8ad47e2b6f00 165
igor_v 0:8ad47e2b6f00 166
igor_v 0:8ad47e2b6f00 167 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 168 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 169 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 170
igor_v 0:8ad47e2b6f00 171 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 172 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 173 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 174 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 175 {
Kovalev_D 124:9ae09249f842 176 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 177 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 178 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 179 return 1;
igor_v 21:bc8c1cec3da6 180 }
igor_v 0:8ad47e2b6f00 181
igor_v 21:bc8c1cec3da6 182 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 183 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 184 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 185 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 186 {
igor_v 21:bc8c1cec3da6 187 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 188 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 189 }
igor_v 21:bc8c1cec3da6 190
igor_v 21:bc8c1cec3da6 191
Kovalev_D 112:4a96133a1311 192 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 193 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 194 //////////////////////////////////////////////////////////////////////
Kovalev_D 183:7e200f4d9b16 195 __irq void TIMER1_IRQHandler (void)//13.27 kHz
Kovalev_D 205:775d54fdf646 196 {
Kovalev_D 208:19150d2b528f 197
Kovalev_D 208:19150d2b528f 198
igor_v 114:5cc38a53d8a7 199 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 200 SetDAC(DAC);
Kovalev_D 208:19150d2b528f 201 Global_Time++;
igor_v 114:5cc38a53d8a7 202 CountV255++; // инкремент счеттчика
Kovalev_D 164:6f43f85fdd8d 203 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
Kovalev_D 197:7a05523bf588 204 CountV64 = CountV255 & 0x3f;
Kovalev_D 197:7a05523bf588 205 CountV31 = CountV255 & 0x1f; // малый счетчик
Kovalev_D 197:7a05523bf588 206
Kovalev_D 112:4a96133a1311 207 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 208 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 209
Kovalev_D 116:66f1f0ff2dab 210
Kovalev_D 116:66f1f0ff2dab 211 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 212 ResetDAC(DAC);
Kovalev_D 197:7a05523bf588 213 SPI_Exchange(); //Чтение ADC_SPI
igor_v 114:5cc38a53d8a7 214
Kovalev_D 112:4a96133a1311 215 LPC_TIM1->IR = 1;
Kovalev_D 208:19150d2b528f 216
Kovalev_D 208:19150d2b528f 217
Kovalev_D 112:4a96133a1311 218 }
Kovalev_D 112:4a96133a1311 219
igor_v 21:bc8c1cec3da6 220 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 221 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 222 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 223 __irq void TIMER2_IRQHandler (void)
Kovalev_D 208:19150d2b528f 224 {
Kovalev_D 208:19150d2b528f 225
igor_v 21:bc8c1cec3da6 226 LPC_TIM2->IR = 1;
Kovalev_D 208:19150d2b528f 227
Kovalev_D 190:289514f730ee 228 if(Time_UART) Time_UART--;
igor_v 21:bc8c1cec3da6 229 Time_vibro++;
Kovalev_D 203:3a6615de9581 230 VibroOut();
Kovalev_D 112:4a96133a1311 231 Gyro.VibroOutF=1;
Kovalev_D 190:289514f730ee 232 Event100K ++;
Kovalev_D 197:7a05523bf588 233 Time500Hz++;
Kovalev_D 209:224e7331a061 234 Time250Hz++;
Kovalev_D 197:7a05523bf588 235 Time100K++;
Kovalev_D 209:224e7331a061 236 Time2K++;
Kovalev_D 209:224e7331a061 237 //Time2K++;
Kovalev_D 205:775d54fdf646 238 // Time250Hz++;
Kovalev_D 197:7a05523bf588 239 if (Time100K == 100)
Kovalev_D 197:7a05523bf588 240 {
Kovalev_D 197:7a05523bf588 241 Time100K = 0;
Kovalev_D 197:7a05523bf588 242 Event1K ++;
Kovalev_D 197:7a05523bf588 243 }
Kovalev_D 209:224e7331a061 244
Kovalev_D 209:224e7331a061 245 if (Time2K== 50)
Kovalev_D 209:224e7331a061 246 { Time2K=0;
Kovalev_D 209:224e7331a061 247 //Time100K = 0;
Kovalev_D 209:224e7331a061 248 Event2K ++;
Kovalev_D 209:224e7331a061 249 }
Kovalev_D 209:224e7331a061 250
Kovalev_D 197:7a05523bf588 251 if (Time500Hz > 200)
Kovalev_D 208:19150d2b528f 252 { // LoopOn
Kovalev_D 197:7a05523bf588 253 Time500Hz -= 200;
Kovalev_D 208:19150d2b528f 254 Event500Hz ++;
Kovalev_D 197:7a05523bf588 255 }
Kovalev_D 209:224e7331a061 256
Kovalev_D 209:224e7331a061 257 if (Time250Hz > 6)
Kovalev_D 209:224e7331a061 258 { // LoopOn
Kovalev_D 209:224e7331a061 259 Time250Hz -= 6;
Kovalev_D 209:224e7331a061 260 Event250Hz ++;
Kovalev_D 209:224e7331a061 261 }
Kovalev_D 208:19150d2b528f 262
igor_v 21:bc8c1cec3da6 263 }