Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Command.c@129:406995a91322, 2016-04-12 (annotated)

Committer:
Kovalev_D
Date:
Tue Apr 12 11:10:49 2016 +0000
Revision:
129:406995a91322
Parent:
128:1e4675a36c93
Child:
131:ef5973569c02
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "stdlib.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "Global.h"
Kovalev_D 106:250ddd8629c6 4 int tempNH,tempNL;
igor_v 0:8ad47e2b6f00 5 unsigned int Rate_Flag;
igor_v 0:8ad47e2b6f00 6 unsigned int CountBuFFIn;
igor_v 21:bc8c1cec3da6 7 unsigned int N=0,CRC_N;
igor_v 21:bc8c1cec3da6 8 unsigned int Param1=0;
igor_v 21:bc8c1cec3da6 9 unsigned int Param2=0;
igor_v 21:bc8c1cec3da6 10 unsigned int Param3=0;
igor_v 21:bc8c1cec3da6 11 unsigned int Param4=0;
Kovalev_D 102:4270092be987 12 unsigned int Consol=123;
Kovalev_D 121:bbae560cdd43 13 unsigned int TempParam=1;
Kovalev_D 124:9ae09249f842 14 unsigned int CountParam=0;
Kovalev_D 129:406995a91322 15
Kovalev_D 129:406995a91322 16 void CMD_M_Param_R(void)
igor_v 0:8ad47e2b6f00 17 {
Kovalev_D 129:406995a91322 18 unsigned int NP;
Kovalev_D 129:406995a91322 19 unsigned int Param;
Kovalev_D 129:406995a91322 20 BuffTemp[0] = Gyro.SOC_Out;
Kovalev_D 129:406995a91322 21 BuffTemp[1] = Gyro.My_Addres;
Kovalev_D 129:406995a91322 22
Kovalev_D 129:406995a91322 23 NP = BuffTemp[3];
Kovalev_D 129:406995a91322 24
Kovalev_D 129:406995a91322 25 Param = GyroP.Array[NP];
Kovalev_D 129:406995a91322 26
Kovalev_D 129:406995a91322 27 BuffTemp[2] =(Param >> 8) & 0xff;//старший байт требуемого параметра
Kovalev_D 129:406995a91322 28 BuffTemp[3] =(Param >> 0) & 0xff;//младший байт требуемого параметра
Kovalev_D 129:406995a91322 29
Kovalev_D 129:406995a91322 30 Check(BuffTemp, 6);
Kovalev_D 129:406995a91322 31 WriteConN (BuffTemp,6);
Kovalev_D 129:406995a91322 32 }
Kovalev_D 129:406995a91322 33 void CMD_M_Param_W(void)
Kovalev_D 129:406995a91322 34 {
Kovalev_D 129:406995a91322 35 unsigned int NP;
Kovalev_D 129:406995a91322 36 unsigned int Param;
Kovalev_D 129:406995a91322 37
Kovalev_D 129:406995a91322 38 NP = BuffTemp[3];
Kovalev_D 129:406995a91322 39 Param = (BuffTemp[4]<<8);
Kovalev_D 129:406995a91322 40 Param |= BuffTemp[5];
Kovalev_D 129:406995a91322 41
Kovalev_D 129:406995a91322 42 GyroP.Array[NP] = Param;
Kovalev_D 129:406995a91322 43
Kovalev_D 129:406995a91322 44
Kovalev_D 129:406995a91322 45 BuffTemp[0] = Gyro.SOC_Out;
Kovalev_D 129:406995a91322 46 BuffTemp[1] = Gyro.My_Addres;
Kovalev_D 129:406995a91322 47 BuffTemp[2] = Gyro.CMD_In;
Kovalev_D 129:406995a91322 48 BuffTemp[3] = 0x00;//старший байт требуемого параметра
Kovalev_D 129:406995a91322 49
Kovalev_D 129:406995a91322 50 Check(BuffTemp, 6);
Kovalev_D 129:406995a91322 51 WriteConN (BuffTemp,6);
Kovalev_D 129:406995a91322 52 }
igor_v 0:8ad47e2b6f00 53 void CMD_Maintenance(void)
igor_v 0:8ad47e2b6f00 54 {
Kovalev_D 122:fbacb932a30b 55
Kovalev_D 122:fbacb932a30b 56 BuffTemp[0] = Gyro.SOC_Out;
Kovalev_D 124:9ae09249f842 57 BuffTemp[1] = Gyro.My_Addres;
Kovalev_D 124:9ae09249f842 58 BuffTemp[2] = Gyro.Firmware_Version;
Kovalev_D 124:9ae09249f842 59 BuffTemp[3] = Gyro.GLD_Serial;
igor_v 21:bc8c1cec3da6 60 BuffTemp[4]=0x00;
igor_v 21:bc8c1cec3da6 61 BuffTemp[5]=0x00;
igor_v 21:bc8c1cec3da6 62 Check(BuffTemp, 8);
igor_v 21:bc8c1cec3da6 63 WriteConN (BuffTemp,8);
Kovalev_D 121:bbae560cdd43 64
igor_v 0:8ad47e2b6f00 65 }
Kovalev_D 124:9ae09249f842 66 void CMD_Delta_500Hz(void)
Kovalev_D 124:9ae09249f842 67 {
Kovalev_D 124:9ae09249f842 68 Gyro.Delta500_Event=0;
Kovalev_D 122:fbacb932a30b 69 unsigned int Temp;
Kovalev_D 124:9ae09249f842 70 BuffTemp[ 0] = Gyro.SOC_Out;
Kovalev_D 122:fbacb932a30b 71 BuffTemp[ 1] = Gyro.My_Addres;
Kovalev_D 124:9ae09249f842 72
Kovalev_D 124:9ae09249f842 73 Temp = Gyro.CuruAngle;
Kovalev_D 124:9ae09249f842 74 Gyro.CuruAngle = 0;
Kovalev_D 124:9ae09249f842 75
Kovalev_D 124:9ae09249f842 76 BuffTemp[ 2] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 124:9ae09249f842 77 BuffTemp[ 3] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 124:9ae09249f842 78
Kovalev_D 124:9ae09249f842 79 BuffTemp[ 4] = CountParam;
Kovalev_D 124:9ae09249f842 80 switch(CountParam) {
Kovalev_D 124:9ae09249f842 81
Kovalev_D 124:9ae09249f842 82
Kovalev_D 124:9ae09249f842 83
Kovalev_D 124:9ae09249f842 84 //F_ras
Kovalev_D 124:9ae09249f842 85 case 0:
Kovalev_D 124:9ae09249f842 86 Temp = Gyro.F_ras;
Kovalev_D 124:9ae09249f842 87 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 88 break;
Kovalev_D 124:9ae09249f842 89
Kovalev_D 124:9ae09249f842 90 case 1:
Kovalev_D 124:9ae09249f842 91 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 92 break;
Kovalev_D 124:9ae09249f842 93
Kovalev_D 124:9ae09249f842 94
Kovalev_D 124:9ae09249f842 95
Kovalev_D 124:9ae09249f842 96 //HFO
Kovalev_D 124:9ae09249f842 97 case 2:
Kovalev_D 124:9ae09249f842 98 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 99 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 100 break;
Kovalev_D 124:9ae09249f842 101
Kovalev_D 124:9ae09249f842 102 case 3:
Kovalev_D 124:9ae09249f842 103 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 104 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 105 break;
Kovalev_D 124:9ae09249f842 106
Kovalev_D 124:9ae09249f842 107
Kovalev_D 124:9ae09249f842 108
Kovalev_D 124:9ae09249f842 109 //T_Vibro
Kovalev_D 124:9ae09249f842 110 case 4:
Kovalev_D 124:9ae09249f842 111 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 112 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 113 break;
Kovalev_D 124:9ae09249f842 114
Kovalev_D 124:9ae09249f842 115 case 5:
Kovalev_D 124:9ae09249f842 116 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 117 break;
Kovalev_D 124:9ae09249f842 118
Kovalev_D 124:9ae09249f842 119
Kovalev_D 124:9ae09249f842 120
Kovalev_D 124:9ae09249f842 121 //L_Vibro
Kovalev_D 124:9ae09249f842 122 case 6:
Kovalev_D 124:9ae09249f842 123 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 124 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 125
Kovalev_D 124:9ae09249f842 126 break;
Kovalev_D 124:9ae09249f842 127
Kovalev_D 124:9ae09249f842 128 case 7:
Kovalev_D 124:9ae09249f842 129 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 130 break;
Kovalev_D 124:9ae09249f842 131
Kovalev_D 124:9ae09249f842 132
Kovalev_D 124:9ae09249f842 133
Kovalev_D 124:9ae09249f842 134 //Напряжение на регуляторе периметра
Kovalev_D 124:9ae09249f842 135 case 8:
Kovalev_D 124:9ae09249f842 136 Temp = Spi.DAC_B - 0x7fff;
Kovalev_D 124:9ae09249f842 137 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 138
Kovalev_D 124:9ae09249f842 139 break;
Kovalev_D 124:9ae09249f842 140
Kovalev_D 124:9ae09249f842 141 case 9:
Kovalev_D 124:9ae09249f842 142 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 143 break;
Kovalev_D 124:9ae09249f842 144
Kovalev_D 124:9ae09249f842 145
Kovalev_D 124:9ae09249f842 146
Kovalev_D 124:9ae09249f842 147 //темпкратурный канал 0
Kovalev_D 124:9ae09249f842 148 case 10:
Kovalev_D 124:9ae09249f842 149 Temp = 100;
Kovalev_D 124:9ae09249f842 150 BuffTemp[5] = (Temp >> 8) & 0xff;
igor_v 0:8ad47e2b6f00 151
Kovalev_D 124:9ae09249f842 152 break;
Kovalev_D 124:9ae09249f842 153
Kovalev_D 124:9ae09249f842 154 case 11:
Kovalev_D 124:9ae09249f842 155 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 156 break;
Kovalev_D 124:9ae09249f842 157
Kovalev_D 124:9ae09249f842 158
Kovalev_D 124:9ae09249f842 159
Kovalev_D 124:9ae09249f842 160 //темпкратурный канал 1
Kovalev_D 124:9ae09249f842 161 case 12:
Kovalev_D 124:9ae09249f842 162 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 124:9ae09249f842 163 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 164
Kovalev_D 124:9ae09249f842 165 break;
Kovalev_D 124:9ae09249f842 166
Kovalev_D 124:9ae09249f842 167 case 13:
Kovalev_D 124:9ae09249f842 168 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 169 break;
Kovalev_D 124:9ae09249f842 170
Kovalev_D 124:9ae09249f842 171
Kovalev_D 124:9ae09249f842 172
Kovalev_D 124:9ae09249f842 173 //ток 1
Kovalev_D 124:9ae09249f842 174 case 14:
Kovalev_D 124:9ae09249f842 175 Temp = Gyro.In1;
Kovalev_D 124:9ae09249f842 176 BuffTemp[5] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 124:9ae09249f842 177
Kovalev_D 124:9ae09249f842 178 break;
Kovalev_D 124:9ae09249f842 179
Kovalev_D 124:9ae09249f842 180 case 15:
Kovalev_D 124:9ae09249f842 181 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 182 break;
Kovalev_D 124:9ae09249f842 183
Kovalev_D 124:9ae09249f842 184
Kovalev_D 124:9ae09249f842 185
Kovalev_D 124:9ae09249f842 186 //ток 2
Kovalev_D 124:9ae09249f842 187 case 16:
Kovalev_D 124:9ae09249f842 188 Temp = Gyro.In2;
Kovalev_D 124:9ae09249f842 189 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 190 break;
Kovalev_D 124:9ae09249f842 191
Kovalev_D 124:9ae09249f842 192 case 17:
Kovalev_D 124:9ae09249f842 193 BuffTemp[5] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 124:9ae09249f842 194 break;
Kovalev_D 124:9ae09249f842 195
Kovalev_D 124:9ae09249f842 196
Kovalev_D 124:9ae09249f842 197
Kovalev_D 124:9ae09249f842 198 //разностный температурный канал Delta Temp
Kovalev_D 124:9ae09249f842 199 case 18:
Kovalev_D 124:9ae09249f842 200 Temp = Gyro.DeltaT;
Kovalev_D 124:9ae09249f842 201 BuffTemp[5] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 124:9ae09249f842 202 break;
Kovalev_D 124:9ae09249f842 203
Kovalev_D 124:9ae09249f842 204 case 19:
Kovalev_D 124:9ae09249f842 205 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 206 break;
Kovalev_D 124:9ae09249f842 207
Kovalev_D 124:9ae09249f842 208
Kovalev_D 124:9ae09249f842 209
Kovalev_D 124:9ae09249f842 210 //температурный канал 5
Kovalev_D 124:9ae09249f842 211 case 20:
Kovalev_D 124:9ae09249f842 212 Temp = Gyro.Termo;//0xa4=164
Kovalev_D 124:9ae09249f842 213 BuffTemp[5] =(Temp >> 8) & 0xff;//температура
Kovalev_D 124:9ae09249f842 214
Kovalev_D 124:9ae09249f842 215 break;
Kovalev_D 124:9ae09249f842 216
Kovalev_D 124:9ae09249f842 217 case 21:
Kovalev_D 124:9ae09249f842 218 BuffTemp[5] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
Kovalev_D 124:9ae09249f842 219 break;
Kovalev_D 124:9ae09249f842 220 }
Kovalev_D 124:9ae09249f842 221 Check(BuffTemp, 6);
Kovalev_D 124:9ae09249f842 222 WriteConN (BuffTemp,6);
Kovalev_D 128:1e4675a36c93 223
Kovalev_D 124:9ae09249f842 224 CountParam++;
Kovalev_D 124:9ae09249f842 225 if(CountParam>21)CountParam=0;//зацикливания буфера от 0 до 21
Kovalev_D 124:9ae09249f842 226
Kovalev_D 124:9ae09249f842 227 }
Kovalev_D 124:9ae09249f842 228 void CMD_Delta_Ext(void)
Kovalev_D 124:9ae09249f842 229 {
Kovalev_D 124:9ae09249f842 230 unsigned int Temp;
Kovalev_D 128:1e4675a36c93 231 Gyro.EXT_Latch=0;
Kovalev_D 124:9ae09249f842 232 BuffTemp[ 0] = Gyro.SOC_Out;
Kovalev_D 124:9ae09249f842 233 BuffTemp[ 1] = Gyro.My_Addres;
Kovalev_D 124:9ae09249f842 234 Temp = Gyro.CuruAngle;
Kovalev_D 124:9ae09249f842 235 Gyro.CuruAngle = 0;
Kovalev_D 124:9ae09249f842 236
Kovalev_D 124:9ae09249f842 237 BuffTemp[ 2] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 124:9ae09249f842 238 BuffTemp[ 3] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 124:9ae09249f842 239
Kovalev_D 124:9ae09249f842 240 BuffTemp[ 4] = CountParam;
Kovalev_D 128:1e4675a36c93 241 switch(CountParam) {
Kovalev_D 124:9ae09249f842 242
Kovalev_D 128:1e4675a36c93 243 WriteCon("5");
Kovalev_D 124:9ae09249f842 244
Kovalev_D 124:9ae09249f842 245 //F_ras
Kovalev_D 124:9ae09249f842 246 case 0:
Kovalev_D 124:9ae09249f842 247 Temp = Gyro.F_ras;
Kovalev_D 124:9ae09249f842 248 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 128:1e4675a36c93 249
Kovalev_D 124:9ae09249f842 250 break;
Kovalev_D 124:9ae09249f842 251
Kovalev_D 124:9ae09249f842 252 case 1:
Kovalev_D 124:9ae09249f842 253 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 128:1e4675a36c93 254
Kovalev_D 124:9ae09249f842 255 break;
Kovalev_D 124:9ae09249f842 256
Kovalev_D 124:9ae09249f842 257
Kovalev_D 124:9ae09249f842 258
Kovalev_D 124:9ae09249f842 259 //HFO
Kovalev_D 124:9ae09249f842 260 case 2:
Kovalev_D 124:9ae09249f842 261 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 262 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 128:1e4675a36c93 263
Kovalev_D 124:9ae09249f842 264 break;
Kovalev_D 124:9ae09249f842 265
Kovalev_D 124:9ae09249f842 266 case 3:
Kovalev_D 124:9ae09249f842 267 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 268 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 128:1e4675a36c93 269
Kovalev_D 124:9ae09249f842 270 break;
Kovalev_D 124:9ae09249f842 271
Kovalev_D 124:9ae09249f842 272
Kovalev_D 124:9ae09249f842 273
Kovalev_D 124:9ae09249f842 274 //T_Vibro
Kovalev_D 124:9ae09249f842 275 case 4:
Kovalev_D 124:9ae09249f842 276 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 277 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 128:1e4675a36c93 278
Kovalev_D 124:9ae09249f842 279 break;
Kovalev_D 124:9ae09249f842 280
Kovalev_D 124:9ae09249f842 281 case 5:
Kovalev_D 124:9ae09249f842 282 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 128:1e4675a36c93 283
Kovalev_D 124:9ae09249f842 284 break;
Kovalev_D 124:9ae09249f842 285
Kovalev_D 124:9ae09249f842 286
Kovalev_D 124:9ae09249f842 287
Kovalev_D 124:9ae09249f842 288 //L_Vibro
Kovalev_D 124:9ae09249f842 289 case 6:
Kovalev_D 124:9ae09249f842 290 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 291 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 122:fbacb932a30b 292
Kovalev_D 124:9ae09249f842 293 break;
Kovalev_D 124:9ae09249f842 294
Kovalev_D 124:9ae09249f842 295 case 7:
Kovalev_D 124:9ae09249f842 296 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 297 break;
Kovalev_D 124:9ae09249f842 298
Kovalev_D 124:9ae09249f842 299
Kovalev_D 124:9ae09249f842 300
Kovalev_D 124:9ae09249f842 301 //Напряжение на регуляторе периметра
Kovalev_D 124:9ae09249f842 302 case 8:
Kovalev_D 124:9ae09249f842 303 Temp = Spi.DAC_B - 0x7fff;
Kovalev_D 124:9ae09249f842 304 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 305
Kovalev_D 124:9ae09249f842 306 break;
Kovalev_D 124:9ae09249f842 307
Kovalev_D 124:9ae09249f842 308 case 9:
Kovalev_D 124:9ae09249f842 309 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 310 break;
Kovalev_D 124:9ae09249f842 311
Kovalev_D 124:9ae09249f842 312
Kovalev_D 124:9ae09249f842 313
Kovalev_D 124:9ae09249f842 314 //темпкратурный канал 0
Kovalev_D 124:9ae09249f842 315 case 10:
Kovalev_D 124:9ae09249f842 316 Temp = 100;
Kovalev_D 124:9ae09249f842 317 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 318
Kovalev_D 124:9ae09249f842 319 break;
Kovalev_D 124:9ae09249f842 320
Kovalev_D 124:9ae09249f842 321 case 11:
Kovalev_D 124:9ae09249f842 322 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 323 break;
Kovalev_D 124:9ae09249f842 324
Kovalev_D 124:9ae09249f842 325
Kovalev_D 124:9ae09249f842 326
Kovalev_D 124:9ae09249f842 327 //темпкратурный канал 1
Kovalev_D 124:9ae09249f842 328 case 12:
Kovalev_D 124:9ae09249f842 329 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 124:9ae09249f842 330 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 331
Kovalev_D 124:9ae09249f842 332 break;
Kovalev_D 124:9ae09249f842 333
Kovalev_D 124:9ae09249f842 334 case 13:
Kovalev_D 124:9ae09249f842 335 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 336 break;
Kovalev_D 124:9ae09249f842 337
Kovalev_D 124:9ae09249f842 338
Kovalev_D 124:9ae09249f842 339
Kovalev_D 124:9ae09249f842 340 //ток 1
Kovalev_D 124:9ae09249f842 341 case 14:
Kovalev_D 124:9ae09249f842 342 Temp = Gyro.In1;
Kovalev_D 124:9ae09249f842 343 BuffTemp[5] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 124:9ae09249f842 344
Kovalev_D 124:9ae09249f842 345 break;
Kovalev_D 124:9ae09249f842 346
Kovalev_D 124:9ae09249f842 347 case 15:
Kovalev_D 124:9ae09249f842 348 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 349 break;
Kovalev_D 124:9ae09249f842 350
Kovalev_D 124:9ae09249f842 351
Kovalev_D 124:9ae09249f842 352
Kovalev_D 124:9ae09249f842 353 //ток 2
Kovalev_D 124:9ae09249f842 354 case 16:
Kovalev_D 124:9ae09249f842 355 Temp = Gyro.In2;
Kovalev_D 124:9ae09249f842 356 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 357 break;
Kovalev_D 124:9ae09249f842 358
Kovalev_D 124:9ae09249f842 359 case 17:
Kovalev_D 124:9ae09249f842 360 BuffTemp[5] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 124:9ae09249f842 361 break;
Kovalev_D 124:9ae09249f842 362
Kovalev_D 124:9ae09249f842 363
Kovalev_D 124:9ae09249f842 364
Kovalev_D 124:9ae09249f842 365 //разностный температурный канал Delta Temp
Kovalev_D 124:9ae09249f842 366 case 18:
Kovalev_D 124:9ae09249f842 367 Temp = Gyro.DeltaT;
Kovalev_D 124:9ae09249f842 368 BuffTemp[5] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 124:9ae09249f842 369 break;
Kovalev_D 124:9ae09249f842 370
Kovalev_D 124:9ae09249f842 371 case 19:
Kovalev_D 124:9ae09249f842 372 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 373 break;
Kovalev_D 124:9ae09249f842 374
Kovalev_D 124:9ae09249f842 375
Kovalev_D 124:9ae09249f842 376
Kovalev_D 124:9ae09249f842 377 //температурный канал 5
Kovalev_D 124:9ae09249f842 378 case 20:
Kovalev_D 124:9ae09249f842 379 Temp = Gyro.Termo;//0xa4=164
Kovalev_D 124:9ae09249f842 380 BuffTemp[5] =(Temp >> 8) & 0xff;//температура
Kovalev_D 124:9ae09249f842 381
Kovalev_D 124:9ae09249f842 382 break;
Kovalev_D 124:9ae09249f842 383
Kovalev_D 124:9ae09249f842 384 case 21:
Kovalev_D 124:9ae09249f842 385 BuffTemp[5] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
Kovalev_D 124:9ae09249f842 386 break;
Kovalev_D 124:9ae09249f842 387 }
Kovalev_D 128:1e4675a36c93 388 Check(BuffTemp, 8);
Kovalev_D 128:1e4675a36c93 389 WriteConN (BuffTemp,8);
Kovalev_D 124:9ae09249f842 390 CountParam++;
Kovalev_D 124:9ae09249f842 391 if(CountParam>21)CountParam=0;//зацикливания буфера от 0 до 21
Kovalev_D 122:fbacb932a30b 392 }
Kovalev_D 124:9ae09249f842 393
Kovalev_D 121:bbae560cdd43 394 void CMD_Rate2(void)
Kovalev_D 121:bbae560cdd43 395 {
Kovalev_D 124:9ae09249f842 396 Gyro.Rate2_Event=0;
Kovalev_D 121:bbae560cdd43 397 BuffTemp[ 0] = Gyro.SOC_Out;
Kovalev_D 121:bbae560cdd43 398 BuffTemp[ 1] = Gyro.My_Addres;
Kovalev_D 121:bbae560cdd43 399
Kovalev_D 121:bbae560cdd43 400
Kovalev_D 121:bbae560cdd43 401 BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
Kovalev_D 121:bbae560cdd43 402 BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
Kovalev_D 121:bbae560cdd43 403
Kovalev_D 121:bbae560cdd43 404 BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
Kovalev_D 121:bbae560cdd43 405 BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
Kovalev_D 124:9ae09249f842 406
Kovalev_D 122:fbacb932a30b 407 Check(BuffTemp, 8);
Kovalev_D 122:fbacb932a30b 408 WriteConN (BuffTemp,8);
Kovalev_D 121:bbae560cdd43 409 }
Kovalev_D 124:9ae09249f842 410
igor_v 0:8ad47e2b6f00 411 void CMD_Rate(void)
igor_v 21:bc8c1cec3da6 412 {
Kovalev_D 124:9ae09249f842 413
Kovalev_D 124:9ae09249f842 414 Gyro.Rate1_Event=0;
Kovalev_D 108:030cdde08314 415 unsigned int Temp;
Kovalev_D 107:4d178bcc9d8a 416
igor_v 30:17c84ed091b3 417 Gyro.Firmware_Version=0xff; /// промежуточная затычка
Kovalev_D 122:fbacb932a30b 418
igor_v 0:8ad47e2b6f00 419
igor_v 30:17c84ed091b3 420 BuffTemp[ 0] = Gyro.SOC_Out;
igor_v 30:17c84ed091b3 421 BuffTemp[ 1] = Gyro.My_Addres;
igor_v 21:bc8c1cec3da6 422
Kovalev_D 108:030cdde08314 423
Kovalev_D 112:4a96133a1311 424 BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
Kovalev_D 112:4a96133a1311 425 BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
Kovalev_D 108:030cdde08314 426
Kovalev_D 112:4a96133a1311 427 BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
Kovalev_D 112:4a96133a1311 428 BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
Kovalev_D 108:030cdde08314 429
Kovalev_D 113:8be429494918 430
Kovalev_D 108:030cdde08314 431 Temp = Gyro.CuruAngle;
Kovalev_D 108:030cdde08314 432 Gyro.CuruAngle = 0;
Kovalev_D 125:9400e64d0636 433 Temp = Gyro.AD_Fast >> 16;
Kovalev_D 108:030cdde08314 434 BuffTemp[ 6] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 108:030cdde08314 435 BuffTemp[ 7] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 108:030cdde08314 436
Kovalev_D 108:030cdde08314 437
Kovalev_D 122:fbacb932a30b 438 Temp = Gyro.F_ras;
Kovalev_D 122:fbacb932a30b 439 BuffTemp[ 8] = (Temp >> 8) & 0xff;//расщипление частота
Kovalev_D 122:fbacb932a30b 440 BuffTemp[ 9] = (Temp >> 0) & 0xff;//
igor_v 21:bc8c1cec3da6 441
Kovalev_D 108:030cdde08314 442 BuffTemp[10] = (Temp >> 8) & 0xff;//выход регулятора гвч;
Kovalev_D 122:fbacb932a30b 443 BuffTemp[11] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 444
Kovalev_D 122:fbacb932a30b 445 Temp = (Gyro.AD_Slow >> 16)- 0x7fff;
Kovalev_D 108:030cdde08314 446 BuffTemp[12]=(Temp >> 8) & 0xff;////
Kovalev_D 108:030cdde08314 447 BuffTemp[13]=(Temp >> 0) & 0xff;////
igor_v 21:bc8c1cec3da6 448
Kovalev_D 108:030cdde08314 449
Kovalev_D 108:030cdde08314 450 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 451 BuffTemp[14] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 452 BuffTemp[15] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 453
Kovalev_D 107:4d178bcc9d8a 454 BuffTemp[16] = 0xf;
Kovalev_D 106:250ddd8629c6 455 BuffTemp[17] = 0x02;
Kovalev_D 108:030cdde08314 456
igor_v 21:bc8c1cec3da6 457
Kovalev_D 108:030cdde08314 458 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 459 BuffTemp[18] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 460 BuffTemp[19] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 461
Kovalev_D 106:250ddd8629c6 462 BuffTemp[20] = 0x00;
Kovalev_D 106:250ddd8629c6 463 BuffTemp[21] = 0x00;
Kovalev_D 120:9f446f1495e8 464
Kovalev_D 119:4d7fcece9e8e 465
Kovalev_D 125:9400e64d0636 466
Kovalev_D 121:bbae560cdd43 467 Temp = Spi.DAC_B - 0x7fff;
Kovalev_D 108:030cdde08314 468 BuffTemp[22] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 469 BuffTemp[23] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 470
Kovalev_D 121:bbae560cdd43 471
Kovalev_D 121:bbae560cdd43 472 Temp = Gyro.PLC_Delta >> 16;
Kovalev_D 121:bbae560cdd43 473 BuffTemp[24] = (Temp >> 8) & 0xff;
Kovalev_D 121:bbae560cdd43 474 BuffTemp[25] = (Temp >> 0) & 0xff;// ХЗ
Kovalev_D 113:8be429494918 475
Kovalev_D 125:9400e64d0636 476 Temp = 100;
Kovalev_D 125:9400e64d0636 477 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 113:8be429494918 478 BuffTemp[26] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 479 BuffTemp[27] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 480
Kovalev_D 113:8be429494918 481 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 113:8be429494918 482 BuffTemp[28] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 483 BuffTemp[29] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 484
Kovalev_D 113:8be429494918 485 Temp = Gyro.In1;
Kovalev_D 113:8be429494918 486 BuffTemp[30] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 113:8be429494918 487 BuffTemp[31] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 488
Kovalev_D 113:8be429494918 489 Temp = Gyro.In2;
Kovalev_D 113:8be429494918 490 BuffTemp[32] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 491 BuffTemp[33] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 113:8be429494918 492
Kovalev_D 113:8be429494918 493 Temp = Gyro.DeltaT;
Kovalev_D 113:8be429494918 494 BuffTemp[34] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 113:8be429494918 495 BuffTemp[35] = (Temp >> 0) & 0xff;
Kovalev_D 115:e5a230e5af52 496
Kovalev_D 116:66f1f0ff2dab 497 Temp = Gyro.Termo;//0xa4=164
Kovalev_D 115:e5a230e5af52 498
Kovalev_D 113:8be429494918 499 BuffTemp[36] =(Temp >> 8) & 0xff;//температура
Kovalev_D 115:e5a230e5af52 500 BuffTemp[37] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
igor_v 21:bc8c1cec3da6 501
Kovalev_D 106:250ddd8629c6 502 BuffTemp[38] =0x00;
Kovalev_D 106:250ddd8629c6 503 BuffTemp[39] =0x00;
Kovalev_D 106:250ddd8629c6 504 BuffTemp[40] =0x00;
Kovalev_D 106:250ddd8629c6 505 BuffTemp[41] =0x00;
igor_v 21:bc8c1cec3da6 506
igor_v 21:bc8c1cec3da6 507
igor_v 21:bc8c1cec3da6 508 Check(BuffTemp, 44);
igor_v 21:bc8c1cec3da6 509 WriteConN (BuffTemp,44);
Kovalev_D 92:c892f0311aa7 510
igor_v 0:8ad47e2b6f00 511 }
igor_v 0:8ad47e2b6f00 512
igor_v 21:bc8c1cec3da6 513 void CMD_M_Control_D8()///установка\сброс регистров управления
igor_v 21:bc8c1cec3da6 514 {
Kovalev_D 104:ab1cb4ff56b2 515 unsigned int bit,NReg,Pa;
Kovalev_D 104:ab1cb4ff56b2 516 unsigned int SR,V,A,Bit_num;
Kovalev_D 104:ab1cb4ff56b2 517 SR=0;
Kovalev_D 104:ab1cb4ff56b2 518 V=0;
Kovalev_D 104:ab1cb4ff56b2 519 A=0;
Kovalev_D 104:ab1cb4ff56b2 520 Bit_num=0;
Kovalev_D 104:ab1cb4ff56b2 521
igor_v 30:17c84ed091b3 522 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 523 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 524 BuffTemp[2] = Gyro.CMD_In; //D8
Kovalev_D 104:ab1cb4ff56b2 525
Kovalev_D 104:ab1cb4ff56b2 526 /*
Kovalev_D 104:ab1cb4ff56b2 527
Kovalev_D 104:ab1cb4ff56b2 528 FrqON
Kovalev_D 104:ab1cb4ff56b2 529 PlcON
Kovalev_D 104:ab1cb4ff56b2 530 HFOOFF
Kovalev_D 104:ab1cb4ff56b2 531 HFOON
igor_v 21:bc8c1cec3da6 532
Kovalev_D 104:ab1cb4ff56b2 533 PlcOFF
Kovalev_D 104:ab1cb4ff56b2 534 PlcON
Kovalev_D 104:ab1cb4ff56b2 535 */
Kovalev_D 104:ab1cb4ff56b2 536 Pa = BuffTemp[3];
Kovalev_D 104:ab1cb4ff56b2 537
Kovalev_D 104:ab1cb4ff56b2 538 SR = Pa >> 0x7;
Kovalev_D 104:ab1cb4ff56b2 539
Kovalev_D 104:ab1cb4ff56b2 540 V = Pa >> 0x5;
Kovalev_D 104:ab1cb4ff56b2 541 V = V & 0x3;
Kovalev_D 104:ab1cb4ff56b2 542
Kovalev_D 104:ab1cb4ff56b2 543 A = Pa >> 0x4;
Kovalev_D 104:ab1cb4ff56b2 544 A = A & 0x1;
Kovalev_D 104:ab1cb4ff56b2 545
Kovalev_D 104:ab1cb4ff56b2 546 Bit_num = Pa & 0xf;
Kovalev_D 104:ab1cb4ff56b2 547
Kovalev_D 104:ab1cb4ff56b2 548 if(SR) {
Kovalev_D 104:ab1cb4ff56b2 549 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 550
Kovalev_D 104:ab1cb4ff56b2 551 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 552 FrqON
Kovalev_D 105:bd01d8d20fb6 553 break;
Kovalev_D 105:bd01d8d20fb6 554
Kovalev_D 104:ab1cb4ff56b2 555 case 0x03:
Kovalev_D 105:bd01d8d20fb6 556 HFOON
Kovalev_D 105:bd01d8d20fb6 557 break;
Kovalev_D 105:bd01d8d20fb6 558
Kovalev_D 105:bd01d8d20fb6 559 case 0x01:
Kovalev_D 105:bd01d8d20fb6 560 PlcON
Kovalev_D 105:bd01d8d20fb6 561 break;
Kovalev_D 104:ab1cb4ff56b2 562 }
Kovalev_D 104:ab1cb4ff56b2 563 }
Kovalev_D 104:ab1cb4ff56b2 564 else{
Kovalev_D 104:ab1cb4ff56b2 565 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 566
Kovalev_D 105:bd01d8d20fb6 567 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 568 FrqOff
Kovalev_D 105:bd01d8d20fb6 569 break;
Kovalev_D 105:bd01d8d20fb6 570
Kovalev_D 105:bd01d8d20fb6 571 case 0x03:
Kovalev_D 105:bd01d8d20fb6 572 HFOOFF
Kovalev_D 105:bd01d8d20fb6 573 break;
Kovalev_D 105:bd01d8d20fb6 574
Kovalev_D 105:bd01d8d20fb6 575 case 0x01:
Kovalev_D 105:bd01d8d20fb6 576 PlcOFF
Kovalev_D 105:bd01d8d20fb6 577 break;
Kovalev_D 104:ab1cb4ff56b2 578 }
Kovalev_D 104:ab1cb4ff56b2 579 }
Kovalev_D 129:406995a91322 580 BuffTemp[0] = Gyro.SOC_Out; //DD
Kovalev_D 129:406995a91322 581 BuffTemp[1] = Gyro.My_Addres; //00
Kovalev_D 129:406995a91322 582 BuffTemp[2] = Gyro.CMD_In; //D8
Kovalev_D 129:406995a91322 583 BuffTemp[3] = A<<4;
Kovalev_D 129:406995a91322 584 BuffTemp[4] = 0x0;
Kovalev_D 129:406995a91322 585 BuffTemp[5] = 0x0;
Kovalev_D 129:406995a91322 586 Check(BuffTemp, CRC_N);
Kovalev_D 129:406995a91322 587 WriteConN (BuffTemp,CRC_N);
igor_v 0:8ad47e2b6f00 588 }
igor_v 0:8ad47e2b6f00 589
igor_v 21:bc8c1cec3da6 590 void CMD_M_Control_D9()///чтение регистров управления
igor_v 21:bc8c1cec3da6 591 {
igor_v 21:bc8c1cec3da6 592 int bit,NReg;
igor_v 30:17c84ed091b3 593 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 594 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 595 BuffTemp[2] = Gyro.CMD_In; //D9
igor_v 21:bc8c1cec3da6 596 if ((Param1 & 0x10) == 0) {
igor_v 21:bc8c1cec3da6 597 BuffTemp[3]=0<<4;
igor_v 30:17c84ed091b3 598 BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff;
igor_v 30:17c84ed091b3 599 BuffTemp[5] = Gyro.RgConA & 0xff;
igor_v 21:bc8c1cec3da6 600 } else {
igor_v 21:bc8c1cec3da6 601 BuffTemp[3]=1<<4;
igor_v 30:17c84ed091b3 602 BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff;
igor_v 30:17c84ed091b3 603 BuffTemp[5] = Gyro.RgConB & 0xff;
igor_v 21:bc8c1cec3da6 604 }
igor_v 21:bc8c1cec3da6 605 Check(BuffTemp, CRC_N);
igor_v 21:bc8c1cec3da6 606 WriteConN (BuffTemp,CRC_N);
igor_v 21:bc8c1cec3da6 607 }
igor_v 21:bc8c1cec3da6 608 // (номер (код) ЦАПа 0...3, старший байт требуемого ЦАПа, младший байт треб ЦАПа)
igor_v 0:8ad47e2b6f00 609 void CMD_M_Stymul()
igor_v 0:8ad47e2b6f00 610 {
igor_v 21:bc8c1cec3da6 611 int temp;
Kovalev_D 102:4270092be987 612 int HFO;
Kovalev_D 102:4270092be987 613 temp=BuffTemp[3];
Kovalev_D 102:4270092be987 614 Consol = temp&0x3;
Kovalev_D 103:e96f08947def 615 HFO = temp&0x3;// // (номер (код) ЦАПа 0...3, HFO - 3dac, PLC - 0DAC
igor_v 21:bc8c1cec3da6 616 temp =((BuffTemp[4]<<8) | BuffTemp[5]);
igor_v 21:bc8c1cec3da6 617 // temp=0;
igor_v 21:bc8c1cec3da6 618 temp=temp&0xFFFF;
Kovalev_D 102:4270092be987 619
Kovalev_D 102:4270092be987 620 if(HFO)
Kovalev_D 102:4270092be987 621 {
Kovalev_D 102:4270092be987 622 Spi.DAC_A=(unsigned int)temp;
Kovalev_D 102:4270092be987 623 }
Kovalev_D 102:4270092be987 624 else{
igor_v 21:bc8c1cec3da6 625 DACF =(temp*K_DAC)+deltaDAC;
igor_v 21:bc8c1cec3da6 626 Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC);
igor_v 21:bc8c1cec3da6 627 }
igor_v 0:8ad47e2b6f00 628 }
Kovalev_D 103:e96f08947def 629 void Gph_W()
Kovalev_D 103:e96f08947def 630 {
Kovalev_D 108:030cdde08314 631 Out_G_photo(BuffTemp[4],BuffTemp[5]);
Kovalev_D 103:e96f08947def 632 }
igor_v 0:8ad47e2b6f00 633
Kovalev_D 98:95b8e79f13e1 634 void CMD_M_vib()
Kovalev_D 115:e5a230e5af52 635 {
Kovalev_D 102:4270092be987 636 unsigned int temp1,temp2;
Kovalev_D 102:4270092be987 637
Kovalev_D 102:4270092be987 638 temp1 =((BuffTemp[4]<<8) | BuffTemp[5]);
Kovalev_D 102:4270092be987 639 temp1=temp1&0xFFFF;
Kovalev_D 102:4270092be987 640
Kovalev_D 102:4270092be987 641 temp2 =((BuffTemp[6]<<8) | BuffTemp[7]);
Kovalev_D 102:4270092be987 642 temp2=temp2&0xFFFF;
Kovalev_D 102:4270092be987 643 Gyro.Frq = ((unsigned int) ((7680000*16/temp1)))*16*16*16;
Kovalev_D 102:4270092be987 644 Consol=Gyro.Frq ;
Kovalev_D 98:95b8e79f13e1 645 }
igor_v 0:8ad47e2b6f00 646 unsigned int Check(char *c, unsigned int Count)
igor_v 0:8ad47e2b6f00 647 {
igor_v 21:bc8c1cec3da6 648 int i=1;
igor_v 21:bc8c1cec3da6 649 unsigned int temp,CRC;
igor_v 21:bc8c1cec3da6 650
igor_v 21:bc8c1cec3da6 651
igor_v 21:bc8c1cec3da6 652 temp=1;
igor_v 21:bc8c1cec3da6 653 CRC=0;
igor_v 21:bc8c1cec3da6 654
igor_v 21:bc8c1cec3da6 655
igor_v 21:bc8c1cec3da6 656 for(; i<Count-2; i++) {
igor_v 21:bc8c1cec3da6 657 CRC+=c[i];
igor_v 21:bc8c1cec3da6 658 }
igor_v 0:8ad47e2b6f00 659
igor_v 21:bc8c1cec3da6 660 if(c[Count-2]!=((CRC>>8)&0xFF)) {
igor_v 21:bc8c1cec3da6 661 temp=0;
igor_v 30:17c84ed091b3 662 Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2;
igor_v 21:bc8c1cec3da6 663 }
igor_v 0:8ad47e2b6f00 664
igor_v 21:bc8c1cec3da6 665 if(c[Count-1]!=((CRC>>0)&0xFF)) {
igor_v 21:bc8c1cec3da6 666 temp=0;
igor_v 30:17c84ed091b3 667 // Gyro.RsErrLine= (Gyro.RsErrLine)=0x2;
igor_v 21:bc8c1cec3da6 668 }
igor_v 21:bc8c1cec3da6 669
igor_v 21:bc8c1cec3da6 670 c[Count-2]=(CRC>>8)&0xFF;
igor_v 21:bc8c1cec3da6 671 c[Count-1]=(CRC>>0)&0xFF;
igor_v 21:bc8c1cec3da6 672
igor_v 21:bc8c1cec3da6 673
igor_v 21:bc8c1cec3da6 674
igor_v 21:bc8c1cec3da6 675 return temp;
igor_v 0:8ad47e2b6f00 676 }
igor_v 0:8ad47e2b6f00 677
igor_v 0:8ad47e2b6f00 678 int Getlengf(void)
igor_v 0:8ad47e2b6f00 679 {
Kovalev_D 121:bbae560cdd43 680 unsigned int lengf;
Kovalev_D 121:bbae560cdd43 681 lengf = 1;
igor_v 30:17c84ed091b3 682 switch(Gyro.CMD_In) {
igor_v 30:17c84ed091b3 683 case 0x99://Gyrotainance
Kovalev_D 92:c892f0311aa7 684
igor_v 21:bc8c1cec3da6 685 lengf=6;
igor_v 21:bc8c1cec3da6 686 CRC_N=8;
igor_v 21:bc8c1cec3da6 687 break;
igor_v 0:8ad47e2b6f00 688
igor_v 21:bc8c1cec3da6 689 case 0x0A: //m_stymul
igor_v 21:bc8c1cec3da6 690 lengf=8;
igor_v 21:bc8c1cec3da6 691 break;
igor_v 21:bc8c1cec3da6 692
Kovalev_D 129:406995a91322 693 case 0xE9://DeviceMode
igor_v 21:bc8c1cec3da6 694
igor_v 21:bc8c1cec3da6 695 lengf=6;
igor_v 21:bc8c1cec3da6 696 CRC_N=8;
igor_v 21:bc8c1cec3da6 697 break;
Kovalev_D 129:406995a91322 698 case 0xE8://DeviceMode
igor_v 21:bc8c1cec3da6 699
Kovalev_D 129:406995a91322 700 lengf=6;
Kovalev_D 129:406995a91322 701 CRC_N=8;
Kovalev_D 129:406995a91322 702 break;
Kovalev_D 129:406995a91322 703
Kovalev_D 129:406995a91322 704 case 0xA5://DeviceMode
Kovalev_D 129:406995a91322 705
Kovalev_D 129:406995a91322 706 lengf=6;
Kovalev_D 129:406995a91322 707 CRC_N=8;
Kovalev_D 129:406995a91322 708 break;
Kovalev_D 129:406995a91322 709
igor_v 21:bc8c1cec3da6 710 case 0xDD://m_rate
igor_v 21:bc8c1cec3da6 711 lengf=6;
igor_v 21:bc8c1cec3da6 712 CRC_N=44;
igor_v 21:bc8c1cec3da6 713 break;
Kovalev_D 124:9ae09249f842 714
Kovalev_D 124:9ae09249f842 715 case 0xA0://Delta_PS
Kovalev_D 124:9ae09249f842 716 lengf=6;
Kovalev_D 124:9ae09249f842 717 CRC_N=8;
Kovalev_D 124:9ae09249f842 718 break;
Kovalev_D 124:9ae09249f842 719
Kovalev_D 124:9ae09249f842 720
igor_v 21:bc8c1cec3da6 721 case 0xB0://DeviceMode
igor_v 21:bc8c1cec3da6 722
igor_v 21:bc8c1cec3da6 723 lengf=6;
igor_v 21:bc8c1cec3da6 724 CRC_N=8;
igor_v 21:bc8c1cec3da6 725 break;
igor_v 21:bc8c1cec3da6 726
igor_v 21:bc8c1cec3da6 727 case 0xD8://m_control
igor_v 0:8ad47e2b6f00 728
igor_v 21:bc8c1cec3da6 729 lengf=6;
igor_v 21:bc8c1cec3da6 730 CRC_N=8;
igor_v 21:bc8c1cec3da6 731 break;
igor_v 21:bc8c1cec3da6 732
igor_v 21:bc8c1cec3da6 733 case 0xD9://m_control
igor_v 0:8ad47e2b6f00 734
igor_v 21:bc8c1cec3da6 735 lengf=6;
igor_v 21:bc8c1cec3da6 736 CRC_N=8;
igor_v 21:bc8c1cec3da6 737 break;
Kovalev_D 102:4270092be987 738
Kovalev_D 102:4270092be987 739 case 0xE4:
Kovalev_D 98:95b8e79f13e1 740 lengf=8;
Kovalev_D 98:95b8e79f13e1 741 break;
Kovalev_D 103:e96f08947def 742
Kovalev_D 103:e96f08947def 743
Kovalev_D 103:e96f08947def 744 case 0xE6:
Kovalev_D 103:e96f08947def 745 lengf=8;
Kovalev_D 103:e96f08947def 746 break;
Kovalev_D 103:e96f08947def 747
igor_v 21:bc8c1cec3da6 748 }
Kovalev_D 98:95b8e79f13e1 749
igor_v 21:bc8c1cec3da6 750 return lengf;
igor_v 0:8ad47e2b6f00 751 }
igor_v 0:8ad47e2b6f00 752
igor_v 0:8ad47e2b6f00 753 void Read_CMD(void)
igor_v 21:bc8c1cec3da6 754 {
Kovalev_D 92:c892f0311aa7 755
Kovalev_D 45:cbc955aecebe 756
Kovalev_D 45:cbc955aecebe 757 Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;//для сброса ошибки
igor_v 21:bc8c1cec3da6 758
Kovalev_D 93:b3803774f110 759 CountBuFFIn=ReadChekCon1(BuffTemp); // чтение данных из консоли
igor_v 42:6fc307c4963e 760
Kovalev_D 92:c892f0311aa7 761 if(CountBuFFIn==1) { // если есть первый байт
igor_v 21:bc8c1cec3da6 762 if (BuffTemp[0] != SOC_In) {
Kovalev_D 93:b3803774f110 763 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 764 Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
Kovalev_D 93:b3803774f110 765 BuffTemp[99]=Gyro.RsErrLine;
Kovalev_D 102:4270092be987 766
igor_v 21:bc8c1cec3da6 767 }
Kovalev_D 92:c892f0311aa7 768 } else if(CountBuFFIn==2) { //если второй ,fqn
igor_v 30:17c84ed091b3 769 if (BuffTemp[1] != Gyro.My_Addres) {
Kovalev_D 93:b3803774f110 770 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 771 Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
igor_v 21:bc8c1cec3da6 772 }
igor_v 42:6fc307c4963e 773 } else if(CountBuFFIn==3) { // если ьоетий байт
igor_v 30:17c84ed091b3 774 Gyro.CMD_In=BuffTemp[2];
Kovalev_D 92:c892f0311aa7 775 N=Getlengf();
Kovalev_D 92:c892f0311aa7 776 }
Kovalev_D 92:c892f0311aa7 777 else if(CountBuFFIn==4 && (N==6))
Kovalev_D 92:c892f0311aa7 778 { // N - длина посылки аскглд(для записи параметров). определяется по коду команды в Getlengf();
igor_v 21:bc8c1cec3da6 779 Param1=BuffTemp[3];
Kovalev_D 92:c892f0311aa7 780 }
Kovalev_D 92:c892f0311aa7 781 else if((CountBuFFIn==5)&&(N==7))
Kovalev_D 92:c892f0311aa7 782 {
Kovalev_D 92:c892f0311aa7 783
igor_v 21:bc8c1cec3da6 784 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 785 Param2=BuffTemp[4];
igor_v 0:8ad47e2b6f00 786
Kovalev_D 92:c892f0311aa7 787 }
Kovalev_D 92:c892f0311aa7 788 else if((CountBuFFIn==6)&&(N==8))
Kovalev_D 92:c892f0311aa7 789 {
igor_v 21:bc8c1cec3da6 790 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 791 Param2=BuffTemp[4];
igor_v 21:bc8c1cec3da6 792 Param3=BuffTemp[5];
Kovalev_D 92:c892f0311aa7 793 }
Kovalev_D 102:4270092be987 794 else if((CountBuFFIn==8)&&(N==10))
Kovalev_D 102:4270092be987 795 {
Kovalev_D 102:4270092be987 796 Param1=BuffTemp[4];
Kovalev_D 102:4270092be987 797 Param2=BuffTemp[5];
Kovalev_D 102:4270092be987 798 Param3=BuffTemp[6];
Kovalev_D 102:4270092be987 799 Param4=BuffTemp[7];
Kovalev_D 102:4270092be987 800 }
Kovalev_D 98:95b8e79f13e1 801
Kovalev_D 92:c892f0311aa7 802 else if(CountBuFFIn > (N-1))
Kovalev_D 92:c892f0311aa7 803 {
Kovalev_D 93:b3803774f110 804 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 805 switch(Gyro.CMD_In) {
Kovalev_D 122:fbacb932a30b 806 Rate_Flag=0;
Kovalev_D 129:406995a91322 807
Kovalev_D 92:c892f0311aa7 808 case 0x99:
Kovalev_D 124:9ae09249f842 809 Gyro.ModeOut=0;
igor_v 21:bc8c1cec3da6 810 CMD_Maintenance();
Kovalev_D 124:9ae09249f842 811 break;
Kovalev_D 129:406995a91322 812
Kovalev_D 124:9ae09249f842 813 case 0xA0:
Kovalev_D 124:9ae09249f842 814 TempParam=(BuffTemp[3]) & 0x90;
Kovalev_D 124:9ae09249f842 815 if (TempParam==Delta_500) CMD_Delta_500Hz();
Kovalev_D 124:9ae09249f842 816 else if (TempParam==Delta_EXT) CMD_Delta_Ext();
Kovalev_D 124:9ae09249f842 817 else if (TempParam==PDelta_500) { Gyro.ModeOut=3; Gyro.Delta500_Event=0; WriteCon("Delta500"); }
Kovalev_D 124:9ae09249f842 818 else if (TempParam==PDelta_EXT) { Gyro.ModeOut=4; Gyro.DeltaEXT_Event=0; WriteCon("deltaEXT"); }
igor_v 21:bc8c1cec3da6 819 break;
Kovalev_D 129:406995a91322 820
igor_v 21:bc8c1cec3da6 821 case 0xD8:
igor_v 21:bc8c1cec3da6 822 CMD_M_Control_D8();
Kovalev_D 124:9ae09249f842 823 break;
Kovalev_D 129:406995a91322 824
Kovalev_D 129:406995a91322 825 case 0xE9://чтение параметров
Kovalev_D 129:406995a91322 826 CMD_M_Param_R();
Kovalev_D 129:406995a91322 827 break;
Kovalev_D 129:406995a91322 828
Kovalev_D 129:406995a91322 829 case 0xE8://запись параметра
Kovalev_D 129:406995a91322 830 CMD_M_Param_W();
Kovalev_D 129:406995a91322 831 break;
Kovalev_D 129:406995a91322 832
igor_v 21:bc8c1cec3da6 833 case 0xD9:
igor_v 21:bc8c1cec3da6 834 CMD_M_Control_D9();
igor_v 21:bc8c1cec3da6 835 break;
Kovalev_D 129:406995a91322 836
igor_v 21:bc8c1cec3da6 837 case 0x0A:
Kovalev_D 45:cbc955aecebe 838 CMD_M_Stymul();
igor_v 21:bc8c1cec3da6 839 break;
Kovalev_D 129:406995a91322 840
igor_v 21:bc8c1cec3da6 841 case 0xDD:
Kovalev_D 124:9ae09249f842 842 TempParam=(BuffTemp[3]) & 0x9f;
Kovalev_D 124:9ae09249f842 843 if (TempParam == Rate1) { CMD_Rate(); WriteCon("Rate11");}
Kovalev_D 124:9ae09249f842 844 else if (TempParam == Rate2) { CMD_Rate2(); WriteCon("Rate21");}
Kovalev_D 124:9ae09249f842 845 else if (TempParam == PRate1) { Gyro.ModeOut=1; Gyro.Rate1_Event=0; WriteCon("Rate12");}
Kovalev_D 124:9ae09249f842 846 else if (TempParam == PRate2) { Gyro.ModeOut=2; Gyro.Rate2_Event=0; WriteCon("Rate22");}
Kovalev_D 122:fbacb932a30b 847 break;
Kovalev_D 129:406995a91322 848
Kovalev_D 102:4270092be987 849 case 0xE4:
Kovalev_D 102:4270092be987 850 CMD_M_vib();
Kovalev_D 102:4270092be987 851 break;
Kovalev_D 129:406995a91322 852
Kovalev_D 103:e96f08947def 853 case 0xE6:
Kovalev_D 103:e96f08947def 854 Gph_W();
Kovalev_D 103:e96f08947def 855 break;
Kovalev_D 108:030cdde08314 856
Kovalev_D 103:e96f08947def 857
igor_v 30:17c84ed091b3 858 Gyro.RsErrLine = 0;
Kovalev_D 103:e96f08947def 859
Kovalev_D 103:e96f08947def 860
Kovalev_D 102:4270092be987 861 }
Kovalev_D 121:bbae560cdd43 862
igor_v 21:bc8c1cec3da6 863 }
Kovalev_D 121:bbae560cdd43 864 // else if(CountBuFFIn > 40 )
Kovalev_D 121:bbae560cdd43 865 // {
Kovalev_D 121:bbae560cdd43 866 // ReadCon1(BuffTemp);
Kovalev_D 121:bbae560cdd43 867 // }
Kovalev_D 121:bbae560cdd43 868
igor_v 0:8ad47e2b6f00 869 }
igor_v 0:8ad47e2b6f00 870
igor_v 0:8ad47e2b6f00 871
igor_v 21:bc8c1cec3da6 872