Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

MTimer.c@106:250ddd8629c6, 2016-04-01 (annotated)

Committer:
Kovalev_D
Date:
Fri Apr 01 10:05:35 2016 +0000
Revision:
106:250ddd8629c6
Parent:
104:ab1cb4ff56b2
Child:
107:4d178bcc9d8a
54

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"
igor_v 0:8ad47e2b6f00 9 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 10 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 11 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 12
igor_v 0:8ad47e2b6f00 13 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 14 /////////////////////инициализация таймера 1 /////////////////////////
igor_v 0:8ad47e2b6f00 15 //////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 16 //unsigned int CountV=0;
igor_v 21:bc8c1cec3da6 17 //unsigned int CountVf=0 ;
igor_v 0:8ad47e2b6f00 18 unsigned int CountV31=0;
igor_v 21:bc8c1cec3da6 19 unsigned int CountV255=0 ;
igor_v 21:bc8c1cec3da6 20 unsigned int CountV64 = 0;
Kovalev_D 89:a0d344db227e 21 unsigned int Init_TIM1 (unsigned int TimerInterval )
igor_v 21:bc8c1cec3da6 22 {
igor_v 21:bc8c1cec3da6 23 LPC_TIM1->MR0 = TimerInterval;
igor_v 21:bc8c1cec3da6 24 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
igor_v 21:bc8c1cec3da6 25 NVIC_EnableIRQ(TIMER1_IRQn);
igor_v 21:bc8c1cec3da6 26 }
igor_v 21:bc8c1cec3da6 27
igor_v 21:bc8c1cec3da6 28
Kovalev_D 88:b5c1d9d338d1 29
Kovalev_D 88:b5c1d9d338d1 30
Kovalev_D 88:b5c1d9d338d1 31
Kovalev_D 88:b5c1d9d338d1 32
Kovalev_D 88:b5c1d9d338d1 33
Kovalev_D 88:b5c1d9d338d1 34
Kovalev_D 88:b5c1d9d338d1 35
Kovalev_D 88:b5c1d9d338d1 36 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 37 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 38 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 39 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 40 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 41 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 42 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 92:c892f0311aa7 43 { int i,t;
Kovalev_D 88:b5c1d9d338d1 44 if (Event1Hz) {
Kovalev_D 88:b5c1d9d338d1 45 Event1Hz--;
Kovalev_D 88:b5c1d9d338d1 46 Discharg ();
Kovalev_D 88:b5c1d9d338d1 47 BackLight ();
Kovalev_D 104:ab1cb4ff56b2 48
Kovalev_D 103:e96f08947def 49
Kovalev_D 93:b3803774f110 50 // sprintf(Time,"\r\n");
Kovalev_D 95:dd51e577e114 51 /* for ( i = 0; i < 32; i++ )
Kovalev_D 95:dd51e577e114 52 {
Kovalev_D 95:dd51e577e114 53 sprintf (Time," <%05d> ", Buff_32Point[i]);
Kovalev_D 95:dd51e577e114 54 WriteCon(Time);
Kovalev_D 95:dd51e577e114 55 }*/
Kovalev_D 95:dd51e577e114 56
Kovalev_D 95:dd51e577e114 57 // WriteCon("\n\r");
Kovalev_D 95:dd51e577e114 58 /* sprintf((Time),"%d", Spi.DAC_B);
Kovalev_D 93:b3803774f110 59 WriteCon(Time);
Kovalev_D 95:dd51e577e114 60 WriteCon("\n\r");*/
Kovalev_D 106:250ddd8629c6 61
Kovalev_D 92:c892f0311aa7 62 if( Rate_Flag)CMD_Rate();
Kovalev_D 106:250ddd8629c6 63 //
Kovalev_D 92:c892f0311aa7 64
Kovalev_D 88:b5c1d9d338d1 65 }
Kovalev_D 88:b5c1d9d338d1 66 }
Kovalev_D 89:a0d344db227e 67 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 68 ///////////////////// 1kHz //////////////////////////
Kovalev_D 89:a0d344db227e 69 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 70 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 71 {
Kovalev_D 88:b5c1d9d338d1 72 if (Event1K) {
Kovalev_D 88:b5c1d9d338d1 73 Event1K --;
Kovalev_D 88:b5c1d9d338d1 74 Time1K++;
Kovalev_D 88:b5c1d9d338d1 75 if (Time1K == 1000) {
Kovalev_D 88:b5c1d9d338d1 76 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 77 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 78 Time1Hz++;
Kovalev_D 88:b5c1d9d338d1 79 }
Kovalev_D 106:250ddd8629c6 80
Kovalev_D 88:b5c1d9d338d1 81 }
Kovalev_D 88:b5c1d9d338d1 82 }
Kovalev_D 89:a0d344db227e 83 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 84 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 85 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 86 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 87 {
Kovalev_D 88:b5c1d9d338d1 88 if (Event100K) {
Kovalev_D 88:b5c1d9d338d1 89 Event100K --;
Kovalev_D 88:b5c1d9d338d1 90 Time100K++;
Kovalev_D 88:b5c1d9d338d1 91 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 92 if (OutBufCon1Count) {
Kovalev_D 88:b5c1d9d338d1 93 OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 88:b5c1d9d338d1 94 }
Kovalev_D 88:b5c1d9d338d1 95 if (Time100K == 100) {
Kovalev_D 88:b5c1d9d338d1 96 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 97 Event1K ++;
Kovalev_D 88:b5c1d9d338d1 98 }
Kovalev_D 88:b5c1d9d338d1 99 }
Kovalev_D 88:b5c1d9d338d1 100 }
Kovalev_D 89:a0d344db227e 101 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 102 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 103 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 104 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 105 {
Kovalev_D 88:b5c1d9d338d1 106 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 107 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 108 }
Kovalev_D 88:b5c1d9d338d1 109 }
Kovalev_D 89:a0d344db227e 110 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 111 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 112 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 113
Kovalev_D 88:b5c1d9d338d1 114
Kovalev_D 88:b5c1d9d338d1 115
Kovalev_D 88:b5c1d9d338d1 116
Kovalev_D 88:b5c1d9d338d1 117
igor_v 0:8ad47e2b6f00 118 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 119 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 120 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 121 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 122 {
igor_v 21:bc8c1cec3da6 123 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 124 return;
igor_v 21:bc8c1cec3da6 125 }
igor_v 0:8ad47e2b6f00 126 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 127 /////////////////////////прерывание таймера 1//////////////////////////
igor_v 21:bc8c1cec3da6 128 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 129 __irq void TIMER1_IRQHandler (void)
igor_v 21:bc8c1cec3da6 130 {
igor_v 21:bc8c1cec3da6 131 ResetCS(ADC); //prepare ADC for sampling
igor_v 21:bc8c1cec3da6 132 SetDAC(DAC);
igor_v 21:bc8c1cec3da6 133
igor_v 21:bc8c1cec3da6 134 CountV255++;
igor_v 21:bc8c1cec3da6 135 CountV255 &= 0xff;
igor_v 21:bc8c1cec3da6 136 CountV31 =CountV255 & 0x1f;
igor_v 21:bc8c1cec3da6 137 CountV64 = CountV255 & 0x3f;
igor_v 42:6fc307c4963e 138
igor_v 21:bc8c1cec3da6 139 SetCS(ADC); //start ADC sampling
igor_v 21:bc8c1cec3da6 140 ResetDAC(DAC);
igor_v 21:bc8c1cec3da6 141
igor_v 42:6fc307c4963e 142 D_QEI(); //чтение данных по счетчику
Kovalev_D 106:250ddd8629c6 143 cheng(); // расчет вибропривода
Kovalev_D 106:250ddd8629c6 144
Kovalev_D 106:250ddd8629c6 145 Gyro.OldCuruAngle = Gyro.CuruAngle;
Kovalev_D 106:250ddd8629c6 146 Gyro.CuruAngle = Gyro.CuruAngle + Buff_32Point [CountV255];
Kovalev_D 106:250ddd8629c6 147 Gyro.Num += Gyro.CuruAngle-Gyro.OldCuruAngle;
Kovalev_D 106:250ddd8629c6 148
Kovalev_D 106:250ddd8629c6 149
igor_v 42:6fc307c4963e 150 SPI_Exchange(); //Чтение ADS_SPI
igor_v 21:bc8c1cec3da6 151 LPC_TIM1->IR = 1;
igor_v 21:bc8c1cec3da6 152
igor_v 21:bc8c1cec3da6 153 }
igor_v 0:8ad47e2b6f00 154
igor_v 0:8ad47e2b6f00 155
igor_v 0:8ad47e2b6f00 156 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 157 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 158 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 159
igor_v 0:8ad47e2b6f00 160 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 161 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 162 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 163 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 164 {
igor_v 21:bc8c1cec3da6 165 LPC_TIM2->MR0 = 250;
igor_v 21:bc8c1cec3da6 166 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 167 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 168 return 1;
igor_v 21:bc8c1cec3da6 169 }
igor_v 0:8ad47e2b6f00 170
igor_v 15:f5191a1c3805 171
igor_v 15:f5191a1c3805 172
igor_v 21:bc8c1cec3da6 173 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 174 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 175 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 176 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 177 {
igor_v 21:bc8c1cec3da6 178 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 179 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 180 }
igor_v 21:bc8c1cec3da6 181
igor_v 21:bc8c1cec3da6 182
igor_v 21:bc8c1cec3da6 183
igor_v 21:bc8c1cec3da6 184 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 185 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 186 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 187 __irq void TIMER2_IRQHandler (void)
igor_v 21:bc8c1cec3da6 188 {
igor_v 21:bc8c1cec3da6 189 LPC_TIM2->IR = 1;
igor_v 21:bc8c1cec3da6 190
igor_v 21:bc8c1cec3da6 191 Global_Time++;
igor_v 21:bc8c1cec3da6 192
igor_v 21:bc8c1cec3da6 193 Time_UART++;
igor_v 21:bc8c1cec3da6 194
igor_v 21:bc8c1cec3da6 195 Time_vibro++;
igor_v 21:bc8c1cec3da6 196
igor_v 21:bc8c1cec3da6 197 Time_1kHz++;
igor_v 21:bc8c1cec3da6 198
igor_v 21:bc8c1cec3da6 199 VibroOut();
igor_v 21:bc8c1cec3da6 200
Kovalev_D 88:b5c1d9d338d1 201 Event100K --;
igor_v 21:bc8c1cec3da6 202
igor_v 21:bc8c1cec3da6 203 }