Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Global.c@132:2c7bec5cf6fe, 2016-04-13 (annotated)

Committer:
Kovalev_D
Date:
Wed Apr 13 15:01:16 2016 +0000
Revision:
132:2c7bec5cf6fe
Parent:
129:406995a91322
Child:
134:caf4c9cd5052
fhfh

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 86:398da56ef751 24 void GLD_Init(void)
Kovalev_D 86:398da56ef751 25 {
Kovalev_D 90:d9b6a4bc5065 26 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 27 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 28 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 29 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 30 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 31 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 32 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 33 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 34 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 35 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 36 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 37 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 38 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 39 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 40 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 41 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 42 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 43 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 44 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 45 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 46 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 47 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 48 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 49 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 50 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 51 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 52 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 53 ShiftL = 0;
Kovalev_D 124:9ae09249f842 54 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 55 Time500Hz = 0;
Kovalev_D 86:398da56ef751 56 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 57 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 58
Kovalev_D 88:b5c1d9d338d1 59
Kovalev_D 88:b5c1d9d338d1 60 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 61 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 62 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 63 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 64 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 132:2c7bec5cf6fe 65 Gyro.FlashMod=0;
Kovalev_D 99:3d8f206ceac2 66 Gyro.FrqHZ=400;
Kovalev_D 88:b5c1d9d338d1 67 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 88:b5c1d9d338d1 68 Gyro.AmpPer=20;
Kovalev_D 88:b5c1d9d338d1 69 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 70 Gyro.Amp = 10*65535;
Kovalev_D 88:b5c1d9d338d1 71 Gyro.AmpMin =10;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 72 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 73 //////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 74 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 75 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 76 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 77 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 78 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 79 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 80 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 81 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 82 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 83 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 84 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 85 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 86 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 87 Buff_16PointD[i] = 0x00;
Kovalev_D 129:406995a91322 88 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 89 }
Kovalev_D 129:406995a91322 90
Kovalev_D 129:406995a91322 91 for (int i = 0; i < 170; i++ ) {
Kovalev_D 129:406995a91322 92 GyroP.Array[i] =i;
Kovalev_D 88:b5c1d9d338d1 93 }
Kovalev_D 88:b5c1d9d338d1 94 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 95 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 96 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 97 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 98 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 99 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 100 // Temp_AMP=0;
Kovalev_D 96:1c8536458119 101 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 102 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 103 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 104 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 105 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 106 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 107 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 108 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 109 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 110 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 111 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 112 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 113 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 114 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 115 }
Kovalev_D 95:dd51e577e114 116 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 117 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 118 }
Kovalev_D 96:1c8536458119 119 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 120 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 121 }
Kovalev_D 96:1c8536458119 122 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 123 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 124 }
Kovalev_D 88:b5c1d9d338d1 125 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 126 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 127
Kovalev_D 88:b5c1d9d338d1 128
Kovalev_D 88:b5c1d9d338d1 129
Kovalev_D 88:b5c1d9d338d1 130
Kovalev_D 88:b5c1d9d338d1 131
Kovalev_D 92:c892f0311aa7 132
Kovalev_D 88:b5c1d9d338d1 133 Gyro.SOC_Out=0xDD;
Kovalev_D 86:398da56ef751 134 Gyro.Firmware_Version =0x15; //версия программы
Kovalev_D 86:398da56ef751 135 Gyro.GLD_Serial = 0x20; //серийный номер
Kovalev_D 86:398da56ef751 136 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 86:398da56ef751 137 Gyro.Discharg = StartDischarg;
Kovalev_D 86:398da56ef751 138 Gyro.BackLight = StartBackLight;
Kovalev_D 92:c892f0311aa7 139
Kovalev_D 88:b5c1d9d338d1 140
Kovalev_D 89:a0d344db227e 141
Kovalev_D 89:a0d344db227e 142
Kovalev_D 88:b5c1d9d338d1 143 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 144 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 145 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 146 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 147 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 148 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 149 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 150 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 151 Spi.DAC_A = 0x7fff;
Kovalev_D 86:398da56ef751 152 Spi.DAC_B = 0x7fff;
Kovalev_D 86:398da56ef751 153 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 154 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 155 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 156 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 157 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 158 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 159 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 160 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 161
igor_v 16:18e3fd7b92d0 162
igor_v 16:18e3fd7b92d0 163
Kovalev_D 86:398da56ef751 164 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 165
Kovalev_D 86:398da56ef751 166
Kovalev_D 86:398da56ef751 167 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 168 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 169 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 170 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 171 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 172 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 173 Cur_QEI=0;
Kovalev_D 86:398da56ef751 174 Last_QEI=0;
Kovalev_D 86:398da56ef751 175 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 176 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 177 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 178 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 87:7e575d26d6d0 179 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=100MHz
Kovalev_D 87:7e575d26d6d0 180 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 181 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 182 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 183
Kovalev_D 98:95b8e79f13e1 184
Kovalev_D 87:7e575d26d6d0 185 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 186 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 187 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 188 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 189
Kovalev_D 87:7e575d26d6d0 190 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 191 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 192
Kovalev_D 98:95b8e79f13e1 193 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 194 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 195 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 196 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 197
Kovalev_D 88:b5c1d9d338d1 198
Kovalev_D 89:a0d344db227e 199 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 200 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 201 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 202
Kovalev_D 89:a0d344db227e 203 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 204
Kovalev_D 89:a0d344db227e 205 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 206 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 207 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 208 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 209
Kovalev_D 89:a0d344db227e 210 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 211 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 212 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 213
Kovalev_D 89:a0d344db227e 214 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 215 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 216 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 217
Kovalev_D 99:3d8f206ceac2 218 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 219 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 220 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 221 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 222
Kovalev_D 89:a0d344db227e 223 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 224 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 225 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 226
Kovalev_D 86:398da56ef751 227
Kovalev_D 86:398da56ef751 228
Kovalev_D 92:c892f0311aa7 229
Kovalev_D 92:c892f0311aa7 230
Kovalev_D 92:c892f0311aa7 231
Kovalev_D 92:c892f0311aa7 232 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 233 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 234 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 235 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 236 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 237
Kovalev_D 92:c892f0311aa7 238 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 239 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 240
Kovalev_D 92:c892f0311aa7 241 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 242 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 243 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 244
Kovalev_D 92:c892f0311aa7 245 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 246 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 247 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 248
Kovalev_D 92:c892f0311aa7 249 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 250 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 251
Kovalev_D 92:c892f0311aa7 252 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 253 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 254
Kovalev_D 92:c892f0311aa7 255 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 256 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 257
Kovalev_D 92:c892f0311aa7 258 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 259 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 260 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 261
Kovalev_D 92:c892f0311aa7 262 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 263 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 264
Kovalev_D 92:c892f0311aa7 265 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 266 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 267 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 268 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 269 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 270 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 271 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 272 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 273 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 274
Kovalev_D 92:c892f0311aa7 275 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 276 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 277 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 278 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 279 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 280 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 281 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 282
Kovalev_D 92:c892f0311aa7 283
Kovalev_D 92:c892f0311aa7 284
Kovalev_D 92:c892f0311aa7 285
Kovalev_D 86:398da56ef751 286 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 287 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 288 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 289
Kovalev_D 89:a0d344db227e 290 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 291 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 292 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 293 PinCheng();
Kovalev_D 89:a0d344db227e 294 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 295
Kovalev_D 87:7e575d26d6d0 296 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 297 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 298 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 299
Kovalev_D 98:95b8e79f13e1 300 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 98:95b8e79f13e1 301 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 98:95b8e79f13e1 302 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 87:7e575d26d6d0 303 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 304 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 305 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 306
Kovalev_D 88:b5c1d9d338d1 307
Kovalev_D 87:7e575d26d6d0 308 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 309 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 310 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 311 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 312 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 313 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 314
Kovalev_D 88:b5c1d9d338d1 315
Kovalev_D 88:b5c1d9d338d1 316
Kovalev_D 87:7e575d26d6d0 317 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 318 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 319 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 320 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 321 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 322 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 323 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 324 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 325
Kovalev_D 88:b5c1d9d338d1 326
Kovalev_D 88:b5c1d9d338d1 327
Kovalev_D 87:7e575d26d6d0 328 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 329 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 330 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 331 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 332 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 333 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 334 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 335 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 336 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 337 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 338 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 339 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 340 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 341 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 342 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 343 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 344 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 345 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 346
Kovalev_D 88:b5c1d9d338d1 347
Kovalev_D 88:b5c1d9d338d1 348
Kovalev_D 87:7e575d26d6d0 349 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 350 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 351 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 352 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 353 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 354 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 355 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 356 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 357 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 358 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 359
Kovalev_D 88:b5c1d9d338d1 360
Kovalev_D 88:b5c1d9d338d1 361 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 362 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 363 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 364 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 365 enable_timer1();
Kovalev_D 86:398da56ef751 366 enable_timer2();
Kovalev_D 89:a0d344db227e 367 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 368
Kovalev_D 89:a0d344db227e 369 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 370 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 371
Kovalev_D 90:d9b6a4bc5065 372
Kovalev_D 90:d9b6a4bc5065 373
Kovalev_D 90:d9b6a4bc5065 374 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 375 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 376 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 377 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 378 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 379
Kovalev_D 90:d9b6a4bc5065 380 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 381 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 382
Kovalev_D 90:d9b6a4bc5065 383 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 384 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 385 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 386
Kovalev_D 90:d9b6a4bc5065 387 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 388 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 389 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 390
Kovalev_D 90:d9b6a4bc5065 391 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 392 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 393
Kovalev_D 90:d9b6a4bc5065 394 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 395 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 396
Kovalev_D 90:d9b6a4bc5065 397 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 398 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 399
Kovalev_D 90:d9b6a4bc5065 400 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 401 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 402 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 403
Kovalev_D 90:d9b6a4bc5065 404 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 405 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 406
Kovalev_D 90:d9b6a4bc5065 407 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 408 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 409 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 410 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 90:d9b6a4bc5065 411 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 412 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 413 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 414 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 415 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 416
Kovalev_D 92:c892f0311aa7 417 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 418 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 419 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 420 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 421
Kovalev_D 86:398da56ef751 422 }
igor_v 13:e2a1d18677b8 423
igor_v 0:8ad47e2b6f00 424
igor_v 0:8ad47e2b6f00 425
igor_v 0:8ad47e2b6f00 426
igor_v 0:8ad47e2b6f00 427