Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Global.c@159:38f39c0c143f, 2016-05-13 (annotated)

Committer:
Kovalev_D
Date:
Fri May 13 11:01:16 2016 +0000
Revision:
159:38f39c0c143f
Parent:
158:0c8342e1837a
Child:
160:6170df6f5a5c
plc

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 86:398da56ef751 65 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 66 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 67
Kovalev_D 88:b5c1d9d338d1 68
Kovalev_D 88:b5c1d9d338d1 69 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 70 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 71 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 72 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 73 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 132:2c7bec5cf6fe 74 Gyro.FlashMod=0;
Kovalev_D 99:3d8f206ceac2 75 Gyro.FrqHZ=400;
Kovalev_D 88:b5c1d9d338d1 76 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 88:b5c1d9d338d1 77 Gyro.AmpPer=20;
Kovalev_D 88:b5c1d9d338d1 78 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 79 Gyro.Amp = 10*65535;
Kovalev_D 88:b5c1d9d338d1 80 Gyro.AmpMin =10;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 81 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 82 //////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 83 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 84 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 85 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 86 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 87 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 88 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 89 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 90 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 91 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 92 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 93 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 94 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 95 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 96 Buff_16PointD[i] = 0x00;
Kovalev_D 129:406995a91322 97 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 98 }
Kovalev_D 129:406995a91322 99
Kovalev_D 129:406995a91322 100 for (int i = 0; i < 170; i++ ) {
Kovalev_D 129:406995a91322 101 GyroP.Array[i] =i;
Kovalev_D 88:b5c1d9d338d1 102 }
Kovalev_D 88:b5c1d9d338d1 103 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 104 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 105 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 106 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 107 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 108 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 109 // Temp_AMP=0;
Kovalev_D 96:1c8536458119 110 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 111 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 112 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 113 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 114 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 115 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 116 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 117 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 118 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 119 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 120 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 121 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 122 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 123 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 124 }
Kovalev_D 95:dd51e577e114 125 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 126 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 127 }
Kovalev_D 96:1c8536458119 128 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 129 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 130 }
Kovalev_D 96:1c8536458119 131 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 132 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 133 }
Kovalev_D 88:b5c1d9d338d1 134 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 135 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 136
Kovalev_D 88:b5c1d9d338d1 137
Kovalev_D 88:b5c1d9d338d1 138
Kovalev_D 88:b5c1d9d338d1 139
Kovalev_D 88:b5c1d9d338d1 140
Kovalev_D 92:c892f0311aa7 141
Kovalev_D 88:b5c1d9d338d1 142 Gyro.SOC_Out=0xDD;
Kovalev_D 86:398da56ef751 143 Gyro.Firmware_Version =0x15; //версия программы
Kovalev_D 86:398da56ef751 144 Gyro.GLD_Serial = 0x20; //серийный номер
Kovalev_D 86:398da56ef751 145 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 86:398da56ef751 146 Gyro.Discharg = StartDischarg;
Kovalev_D 86:398da56ef751 147 Gyro.BackLight = StartBackLight;
Kovalev_D 92:c892f0311aa7 148
Kovalev_D 88:b5c1d9d338d1 149
Kovalev_D 89:a0d344db227e 150
Kovalev_D 89:a0d344db227e 151
Kovalev_D 88:b5c1d9d338d1 152 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 153 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 154 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 155 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 156 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 157 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 158 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 159 /////////////////////////////////////////////////////
Kovalev_D 159:38f39c0c143f 160
Kovalev_D 159:38f39c0c143f 161 // Spi.DAC_A = 20000;
Kovalev_D 159:38f39c0c143f 162 Spi.DAC_A = 0x7fff;
Kovalev_D 159:38f39c0c143f 163 //Spi.DAC_A = 44000;
Kovalev_D 159:38f39c0c143f 164
Kovalev_D 157:1069c80f4944 165 //Spi.DAC_B = 0x7fff; //старое начало
Kovalev_D 159:38f39c0c143f 166 Spi.DAC_B = 32000; // 32000
Kovalev_D 159:38f39c0c143f 167 //Spi.DAC_B = 13000; //для просмотра мод
Kovalev_D 158:0c8342e1837a 168
Kovalev_D 159:38f39c0c143f 169 Gyro.StrayHZ = 1000;
Kovalev_D 159:38f39c0c143f 170 Gyro.StrayHZ_flag = 0;
Kovalev_D 159:38f39c0c143f 171 Gyro.LogHZ = 0;
Kovalev_D 159:38f39c0c143f 172
Kovalev_D 159:38f39c0c143f 173 Gyro.StrayPLC_Pls =1000;
Kovalev_D 159:38f39c0c143f 174 Gyro.StrayPLC_Mns = -1000;
Kovalev_D 159:38f39c0c143f 175 Gyro.StrayPLC_2Mode = 2000;
Kovalev_D 159:38f39c0c143f 176 Gyro.StrayPLC_flag = 0;
Kovalev_D 159:38f39c0c143f 177 Gyro.LogPLC = 0;
Kovalev_D 159:38f39c0c143f 178 Gyro.PLC_Lern = 0;
Kovalev_D 159:38f39c0c143f 179 //yro.PLC_Error2Mode =106ля записи мод
Kovalev_D 159:38f39c0c143f 180 Gyro.PLC_Error2Mode =66; //для записи мод
Kovalev_D 159:38f39c0c143f 181 //Gyro.PLC_Error2Mode = 65; //стандартное включение прибора регулировка (65 начальная задержка для поиска АМП мах)
Kovalev_D 86:398da56ef751 182 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 183 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 184 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 185 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 186 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 187 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 188 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 189 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 190
igor_v 16:18e3fd7b92d0 191
igor_v 16:18e3fd7b92d0 192
Kovalev_D 86:398da56ef751 193 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 194
Kovalev_D 86:398da56ef751 195
Kovalev_D 86:398da56ef751 196 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 197 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 198 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 199 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 200 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 201 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 202 Cur_QEI=0;
Kovalev_D 86:398da56ef751 203 Last_QEI=0;
Kovalev_D 86:398da56ef751 204 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 205 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 206 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 207 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 87:7e575d26d6d0 208 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=100MHz
Kovalev_D 87:7e575d26d6d0 209 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 210 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 211 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 212
Kovalev_D 98:95b8e79f13e1 213
Kovalev_D 87:7e575d26d6d0 214 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 215 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 216 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 217 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 218
Kovalev_D 87:7e575d26d6d0 219 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 220 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 221
Kovalev_D 98:95b8e79f13e1 222 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 223 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 224 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 225 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 226
Kovalev_D 88:b5c1d9d338d1 227
Kovalev_D 89:a0d344db227e 228 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 229 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 230 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 231
Kovalev_D 89:a0d344db227e 232 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 233
Kovalev_D 89:a0d344db227e 234 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 235 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 236 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 237 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 238
Kovalev_D 89:a0d344db227e 239 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 240 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 241 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 242
Kovalev_D 89:a0d344db227e 243 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 244 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 245 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 246
Kovalev_D 99:3d8f206ceac2 247 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 248 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 249 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 250 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 251
Kovalev_D 89:a0d344db227e 252 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 253 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 254 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 255
Kovalev_D 86:398da56ef751 256
Kovalev_D 86:398da56ef751 257
Kovalev_D 92:c892f0311aa7 258
Kovalev_D 92:c892f0311aa7 259
Kovalev_D 92:c892f0311aa7 260
Kovalev_D 92:c892f0311aa7 261 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 262 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 263 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 264 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 265 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 266
Kovalev_D 92:c892f0311aa7 267 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 268 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 269
Kovalev_D 92:c892f0311aa7 270 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 271 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 272 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 273
Kovalev_D 92:c892f0311aa7 274 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 275 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 276 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 277
Kovalev_D 92:c892f0311aa7 278 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 279 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 280
Kovalev_D 92:c892f0311aa7 281 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 282 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 283
Kovalev_D 92:c892f0311aa7 284 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 285 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 286
Kovalev_D 92:c892f0311aa7 287 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 288 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 289 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 290
Kovalev_D 92:c892f0311aa7 291 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 292 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 293
Kovalev_D 92:c892f0311aa7 294 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 295 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 296 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 297 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 298 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 299 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 300 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 301 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 302 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 303
Kovalev_D 92:c892f0311aa7 304 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 305 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 306 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 307 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 308 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 309 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 310 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 311
Kovalev_D 92:c892f0311aa7 312
Kovalev_D 92:c892f0311aa7 313
Kovalev_D 92:c892f0311aa7 314
Kovalev_D 86:398da56ef751 315 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 316 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 317 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 318
Kovalev_D 89:a0d344db227e 319 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 320 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 321 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 322 PinCheng();
Kovalev_D 89:a0d344db227e 323 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 324
Kovalev_D 87:7e575d26d6d0 325 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 326 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 327 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 328
Kovalev_D 98:95b8e79f13e1 329 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 98:95b8e79f13e1 330 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 98:95b8e79f13e1 331 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 87:7e575d26d6d0 332 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 333 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 334 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 335
Kovalev_D 88:b5c1d9d338d1 336
Kovalev_D 87:7e575d26d6d0 337 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 338 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 339 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 340 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 341 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 342 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 343
Kovalev_D 88:b5c1d9d338d1 344
Kovalev_D 88:b5c1d9d338d1 345
Kovalev_D 87:7e575d26d6d0 346 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 347 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 348 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 349 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 350 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 351 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 352 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 353 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 354
Kovalev_D 88:b5c1d9d338d1 355
Kovalev_D 88:b5c1d9d338d1 356
Kovalev_D 87:7e575d26d6d0 357 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 358 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 359 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 360 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 361 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 362 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 363 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 364 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 365 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 366 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 367 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 368 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 369 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 370 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 371 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 372 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 373 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 374 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 375
Kovalev_D 88:b5c1d9d338d1 376
Kovalev_D 88:b5c1d9d338d1 377
Kovalev_D 87:7e575d26d6d0 378 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 379 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 380 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 381 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 382 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 383 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 384 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 385 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 386 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 387 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 388
Kovalev_D 88:b5c1d9d338d1 389
Kovalev_D 88:b5c1d9d338d1 390 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 391 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 392 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 393 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 394 enable_timer1();
Kovalev_D 86:398da56ef751 395 enable_timer2();
Kovalev_D 89:a0d344db227e 396 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 397
Kovalev_D 89:a0d344db227e 398 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 399 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 400
Kovalev_D 90:d9b6a4bc5065 401
Kovalev_D 90:d9b6a4bc5065 402
Kovalev_D 90:d9b6a4bc5065 403 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 404 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 405 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 406 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 407 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 408
Kovalev_D 90:d9b6a4bc5065 409 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 410 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 411
Kovalev_D 90:d9b6a4bc5065 412 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 413 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 414 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 415
Kovalev_D 90:d9b6a4bc5065 416 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 417 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 418 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 419
Kovalev_D 90:d9b6a4bc5065 420 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 421 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 422
Kovalev_D 90:d9b6a4bc5065 423 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 424 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 425
Kovalev_D 90:d9b6a4bc5065 426 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 427 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 428
Kovalev_D 90:d9b6a4bc5065 429 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 430 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 431 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 432
Kovalev_D 90:d9b6a4bc5065 433 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 434 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 435
Kovalev_D 90:d9b6a4bc5065 436 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 437 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 438 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 439 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 90:d9b6a4bc5065 440 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 441 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 442 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 443 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 444 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 445
Kovalev_D 92:c892f0311aa7 446 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 447 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 448 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 449 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 450
Kovalev_D 86:398da56ef751 451 }
igor_v 13:e2a1d18677b8 452
igor_v 0:8ad47e2b6f00 453
igor_v 0:8ad47e2b6f00 454
igor_v 0:8ad47e2b6f00 455
igor_v 0:8ad47e2b6f00 456