Dmitry Kovalev
/
LG2
fork
Fork of LG by
Command.c@107:4d178bcc9d8a, 2016-04-01 (annotated)
- Committer:
- Kovalev_D
- Date:
- Fri Apr 01 16:13:55 2016 +0000
- Revision:
- 107:4d178bcc9d8a
- Parent:
- 106:250ddd8629c6
- Child:
- 108:030cdde08314
1
Who changed what in which revision?
User | Revision | Line number | New 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; |
igor_v | 0:8ad47e2b6f00 | 13 | /* |
igor_v | 21:bc8c1cec3da6 | 14 | void exec_CMD(void) //r. === процедура окончательной дешифрации и исполнения команды |
igor_v | 0:8ad47e2b6f00 | 15 | { |
igor_v | 0:8ad47e2b6f00 | 16 | unsigned int Comand_code; |
igor_v | 21:bc8c1cec3da6 | 17 | |
igor_v | 21:bc8c1cec3da6 | 18 | //rx_buf_copy = 1; //r. предустанов флага копирования приемного буфера |
igor_v | 0:8ad47e2b6f00 | 19 | |
igor_v | 0:8ad47e2b6f00 | 20 | Comand_code = (rcv_buf[2] & 0xFF) << 8; |
igor_v | 21:bc8c1cec3da6 | 21 | PC_Comand = Comand_code | (rcv_buf[3] & 0xFF); //e. save it in the memory for echo-transmission //r. сохранить его в памяти для обратной передачи |
igor_v | 0:8ad47e2b6f00 | 22 | }*/ |
igor_v | 0:8ad47e2b6f00 | 23 | void CMD_Maintenance(void) |
igor_v | 0:8ad47e2b6f00 | 24 | { |
igor_v | 30:17c84ed091b3 | 25 | BuffTemp[0] = Gyro.SOC_Out; |
igor_v | 30:17c84ed091b3 | 26 | BuffTemp[1] = Gyro .My_Addres; |
igor_v | 30:17c84ed091b3 | 27 | BuffTemp[2] = Gyro .Firmware_Version; |
igor_v | 30:17c84ed091b3 | 28 | BuffTemp[3] = Gyro .GLD_Serial; |
igor_v | 21:bc8c1cec3da6 | 29 | BuffTemp[4]=0x00; |
igor_v | 21:bc8c1cec3da6 | 30 | BuffTemp[5]=0x00; |
igor_v | 21:bc8c1cec3da6 | 31 | Check(BuffTemp, 8); |
igor_v | 21:bc8c1cec3da6 | 32 | WriteConN (BuffTemp,8); |
igor_v | 0:8ad47e2b6f00 | 33 | } |
igor_v | 0:8ad47e2b6f00 | 34 | |
igor_v | 0:8ad47e2b6f00 | 35 | void CMD_Rate(void) |
igor_v | 21:bc8c1cec3da6 | 36 | { |
Kovalev_D | 107:4d178bcc9d8a | 37 | |
Kovalev_D | 106:250ddd8629c6 | 38 | unsigned int T_VibH , T_VibL; // Частота вибропривода. |
Kovalev_D | 106:250ddd8629c6 | 39 | unsigned int tau_VibH , tau_VibL; |
igor_v | 21:bc8c1cec3da6 | 40 | unsigned int Cnt_PlsL , Cnt_PlsH; // Счетчик +. |
igor_v | 21:bc8c1cec3da6 | 41 | unsigned int Cnt_MnsL , Cnt_MnsH; // Счетчик -. |
igor_v | 21:bc8c1cec3da6 | 42 | unsigned int Cnt_DifL , Cnt_DifH; // Разность счетчиков. |
igor_v | 21:bc8c1cec3da6 | 43 | unsigned int F_rasL , F_rasH; // Частота расщепления. |
igor_v | 21:bc8c1cec3da6 | 44 | |
Kovalev_D | 106:250ddd8629c6 | 45 | unsigned int HF_regL , HF_regH; // Выход регулятора ГВЧ. |
Kovalev_D | 106:250ddd8629c6 | 46 | unsigned int HF_difL , HF_difH; // Сигнал ошибки регулячтора ГВЧ. |
igor_v | 21:bc8c1cec3da6 | 47 | |
igor_v | 21:bc8c1cec3da6 | 48 | unsigned int WP_regL , WP_regH; |
igor_v | 21:bc8c1cec3da6 | 49 | |
igor_v | 21:bc8c1cec3da6 | 50 | unsigned int ADC1L, ADC2L, ADC3L, ADC4L, ADC5L; |
igor_v | 21:bc8c1cec3da6 | 51 | unsigned int ADC1H, ADC2H, ADC3H, ADC4H, ADC5H; |
Kovalev_D | 106:250ddd8629c6 | 52 | |
igor_v | 30:17c84ed091b3 | 53 | // Gyro .T_Vib=(unsigned int)((7680000*16/Gyro.Frq)*4096); |
Kovalev_D | 106:250ddd8629c6 | 54 | Gyro.T_Vib=(unsigned int)((7680000*16/(Gyro.Frq>>12))); |
Kovalev_D | 107:4d178bcc9d8a | 55 | Gyro.tau=(unsigned int)(Gyro.T_Vib * Gyro.AmpPer/200); |
Kovalev_D | 107:4d178bcc9d8a | 56 | |
igor_v | 30:17c84ed091b3 | 57 | Gyro.Firmware_Version=0xff; /// промежуточная затычка |
igor_v | 21:bc8c1cec3da6 | 58 | |
igor_v | 30:17c84ed091b3 | 59 | T_VibH = ( Gyro.T_Vib>>8 ) TakeByte; |
igor_v | 30:17c84ed091b3 | 60 | T_VibL = ( Gyro.T_Vib ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 61 | |
Kovalev_D | 106:250ddd8629c6 | 62 | tau_VibH = ( Gyro.tau >>8 ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 63 | tau_VibL = ( Gyro.tau ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 64 | |
igor_v | 30:17c84ed091b3 | 65 | Cnt_PlsH = ( Gyro.Cnt_Pls>>8) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 66 | Cnt_PlsL = Gyro.Cnt_Pls TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 67 | Gyro.Cnt_Pls= 0; |
Kovalev_D | 106:250ddd8629c6 | 68 | |
igor_v | 30:17c84ed091b3 | 69 | Cnt_MnsH = ( Gyro.Cnt_Mns>>8) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 70 | Cnt_MnsL = Gyro.Cnt_Mns TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 71 | Gyro.Cnt_Mns=0; |
Kovalev_D | 106:250ddd8629c6 | 72 | |
Kovalev_D | 106:250ddd8629c6 | 73 | Cnt_DifH = ( Dif_QEI>>8) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 74 | Cnt_DifL = ( Dif_QEI ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 75 | |
Kovalev_D | 106:250ddd8629c6 | 76 | //Spi.DAC_A |
igor_v | 30:17c84ed091b3 | 77 | F_rasH = ( Gyro.F_ras>>8 ) TakeByte; |
igor_v | 30:17c84ed091b3 | 78 | F_rasL = ( Gyro.F_ras ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 79 | |
Kovalev_D | 107:4d178bcc9d8a | 80 | HF_regL = ( Spi.DAC_A ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 81 | HF_regH = ( Spi.DAC_A>>8 ) TakeByte; |
Kovalev_D | 107:4d178bcc9d8a | 82 | |
Kovalev_D | 107:4d178bcc9d8a | 83 | WP_regH = ( Spi.DAC_A>>8 ) TakeByte; |
Kovalev_D | 107:4d178bcc9d8a | 84 | WP_regL = ( Spi.DAC_A ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 85 | |
igor_v | 21:bc8c1cec3da6 | 86 | ADC1H = ( Spi.ADC1>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 87 | ADC1L = ( Spi.ADC1 ) TakeByte; |
igor_v | 0:8ad47e2b6f00 | 88 | |
igor_v | 21:bc8c1cec3da6 | 89 | ADC2H = ( Spi.ADC2>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 90 | ADC2L = ( Spi.ADC2 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 91 | |
igor_v | 21:bc8c1cec3da6 | 92 | ADC3H = ( Spi.ADC3>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 93 | ADC3L = ( Spi.ADC3 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 94 | |
igor_v | 21:bc8c1cec3da6 | 95 | ADC4H = ( Spi.ADC4>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 96 | ADC4L = ( Spi.ADC4 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 97 | |
igor_v | 21:bc8c1cec3da6 | 98 | ADC5H = ( Spi.ADC5>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 99 | ADC5L = ( Spi.ADC5 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 100 | |
igor_v | 21:bc8c1cec3da6 | 101 | WP_regH = ( Spi.DAC_B>>8 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 102 | WP_regL = ( Spi.DAC_B ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 103 | |
igor_v | 21:bc8c1cec3da6 | 104 | HF_regH=0xff; |
igor_v | 21:bc8c1cec3da6 | 105 | HF_regL=0xff; |
igor_v | 21:bc8c1cec3da6 | 106 | |
igor_v | 21:bc8c1cec3da6 | 107 | HF_difH=0xff; |
igor_v | 21:bc8c1cec3da6 | 108 | HF_difL=0xff; |
igor_v | 21:bc8c1cec3da6 | 109 | |
igor_v | 0:8ad47e2b6f00 | 110 | |
igor_v | 30:17c84ed091b3 | 111 | BuffTemp[ 0] = Gyro.SOC_Out; |
igor_v | 30:17c84ed091b3 | 112 | BuffTemp[ 1] = Gyro.My_Addres; |
igor_v | 21:bc8c1cec3da6 | 113 | |
Kovalev_D | 106:250ddd8629c6 | 114 | BuffTemp[ 2] =0x00;//старший байт счетчика +. |
Kovalev_D | 106:250ddd8629c6 | 115 | BuffTemp[ 3] =0x00;//младший байт счетчика +. |
Kovalev_D | 106:250ddd8629c6 | 116 | BuffTemp[ 4] =0x00;//старший байт счетчика -. |
Kovalev_D | 106:250ddd8629c6 | 117 | BuffTemp[ 5] =0x00;//младший байт счетчика -. |
Kovalev_D | 106:250ddd8629c6 | 118 | BuffTemp[ 6] =0x00;//старший байт разности счетчиков |
Kovalev_D | 106:250ddd8629c6 | 119 | BuffTemp[ 7] =0x00;//младший байт разности счетчиков |
igor_v | 21:bc8c1cec3da6 | 120 | |
Kovalev_D | 106:250ddd8629c6 | 121 | BuffTemp[ 8] = F_rasH;//расщипление частота |
Kovalev_D | 106:250ddd8629c6 | 122 | BuffTemp[ 9] = F_rasL;// |
igor_v | 21:bc8c1cec3da6 | 123 | |
Kovalev_D | 106:250ddd8629c6 | 124 | BuffTemp[10] = HF_regH;//выход регулятора гвч; |
igor_v | 21:bc8c1cec3da6 | 125 | BuffTemp[11] = HF_regL; |
igor_v | 21:bc8c1cec3da6 | 126 | |
Kovalev_D | 106:250ddd8629c6 | 127 | BuffTemp[12]=0x01;//// |
Kovalev_D | 106:250ddd8629c6 | 128 | BuffTemp[13]=0x01;//// |
igor_v | 21:bc8c1cec3da6 | 129 | |
Kovalev_D | 106:250ddd8629c6 | 130 | BuffTemp[14] = T_VibH; |
Kovalev_D | 106:250ddd8629c6 | 131 | BuffTemp[15] = T_VibL; |
igor_v | 21:bc8c1cec3da6 | 132 | |
Kovalev_D | 107:4d178bcc9d8a | 133 | BuffTemp[16] = 0xf; |
Kovalev_D | 106:250ddd8629c6 | 134 | BuffTemp[17] = 0x02; |
igor_v | 21:bc8c1cec3da6 | 135 | |
Kovalev_D | 107:4d178bcc9d8a | 136 | BuffTemp[18] = tau_VibH; |
Kovalev_D | 107:4d178bcc9d8a | 137 | BuffTemp[19] = tau_VibL; |
igor_v | 21:bc8c1cec3da6 | 138 | |
Kovalev_D | 106:250ddd8629c6 | 139 | BuffTemp[20] = 0x00; |
Kovalev_D | 106:250ddd8629c6 | 140 | BuffTemp[21] = 0x00; |
igor_v | 21:bc8c1cec3da6 | 141 | |
Kovalev_D | 106:250ddd8629c6 | 142 | BuffTemp[22] = 0x00; |
Kovalev_D | 106:250ddd8629c6 | 143 | BuffTemp[23] = 0x00; |
igor_v | 21:bc8c1cec3da6 | 144 | |
Kovalev_D | 106:250ddd8629c6 | 145 | BuffTemp[24] = 0x00; |
Kovalev_D | 106:250ddd8629c6 | 146 | BuffTemp[25] = 0x00;// ХЗ |
igor_v | 21:bc8c1cec3da6 | 147 | |
Kovalev_D | 106:250ddd8629c6 | 148 | BuffTemp[26] = ADC1H; |
Kovalev_D | 106:250ddd8629c6 | 149 | BuffTemp[27] = ADC1L; |
igor_v | 21:bc8c1cec3da6 | 150 | |
Kovalev_D | 106:250ddd8629c6 | 151 | BuffTemp[28] = ADC2H; |
Kovalev_D | 106:250ddd8629c6 | 152 | BuffTemp[29] = ADC2L; |
igor_v | 21:bc8c1cec3da6 | 153 | |
Kovalev_D | 106:250ddd8629c6 | 154 | BuffTemp[30] = ADC2H;//in1 |
Kovalev_D | 106:250ddd8629c6 | 155 | BuffTemp[31] = ADC2L; |
igor_v | 21:bc8c1cec3da6 | 156 | |
Kovalev_D | 106:250ddd8629c6 | 157 | BuffTemp[32] = ADC3H; |
Kovalev_D | 106:250ddd8629c6 | 158 | BuffTemp[33] = ADC3L;//in2 |
igor_v | 21:bc8c1cec3da6 | 159 | |
Kovalev_D | 106:250ddd8629c6 | 160 | BuffTemp[34] = ADC5H; |
Kovalev_D | 106:250ddd8629c6 | 161 | BuffTemp[35] = ADC5L; |
igor_v | 21:bc8c1cec3da6 | 162 | |
Kovalev_D | 106:250ddd8629c6 | 163 | BuffTemp[36] =0x00;//ADC6 |
Kovalev_D | 106:250ddd8629c6 | 164 | BuffTemp[37] =0x00;//ADC6 |
igor_v | 21:bc8c1cec3da6 | 165 | |
Kovalev_D | 106:250ddd8629c6 | 166 | BuffTemp[38] =0x00; |
Kovalev_D | 106:250ddd8629c6 | 167 | BuffTemp[39] =0x00; |
Kovalev_D | 106:250ddd8629c6 | 168 | BuffTemp[40] =0x00; |
Kovalev_D | 106:250ddd8629c6 | 169 | BuffTemp[41] =0x00; |
igor_v | 21:bc8c1cec3da6 | 170 | |
igor_v | 21:bc8c1cec3da6 | 171 | |
igor_v | 21:bc8c1cec3da6 | 172 | Check(BuffTemp, 44); |
igor_v | 21:bc8c1cec3da6 | 173 | WriteConN (BuffTemp,44); |
Kovalev_D | 92:c892f0311aa7 | 174 | |
igor_v | 0:8ad47e2b6f00 | 175 | } |
igor_v | 0:8ad47e2b6f00 | 176 | |
igor_v | 21:bc8c1cec3da6 | 177 | void CMD_M_Control_D8()///установка\сброс регистров управления |
igor_v | 21:bc8c1cec3da6 | 178 | { |
Kovalev_D | 104:ab1cb4ff56b2 | 179 | unsigned int bit,NReg,Pa; |
Kovalev_D | 104:ab1cb4ff56b2 | 180 | unsigned int SR,V,A,Bit_num; |
Kovalev_D | 104:ab1cb4ff56b2 | 181 | SR=0; |
Kovalev_D | 104:ab1cb4ff56b2 | 182 | V=0; |
Kovalev_D | 104:ab1cb4ff56b2 | 183 | A=0; |
Kovalev_D | 104:ab1cb4ff56b2 | 184 | Bit_num=0; |
Kovalev_D | 104:ab1cb4ff56b2 | 185 | |
igor_v | 30:17c84ed091b3 | 186 | BuffTemp[0] = Gyro.SOC_Out; //DD |
igor_v | 30:17c84ed091b3 | 187 | BuffTemp[1] = Gyro.My_Addres; //00 |
igor_v | 30:17c84ed091b3 | 188 | BuffTemp[2] = Gyro.CMD_In; //D8 |
Kovalev_D | 104:ab1cb4ff56b2 | 189 | |
Kovalev_D | 104:ab1cb4ff56b2 | 190 | /* |
Kovalev_D | 104:ab1cb4ff56b2 | 191 | |
Kovalev_D | 104:ab1cb4ff56b2 | 192 | FrqON |
Kovalev_D | 104:ab1cb4ff56b2 | 193 | PlcON |
Kovalev_D | 104:ab1cb4ff56b2 | 194 | HFOOFF |
Kovalev_D | 104:ab1cb4ff56b2 | 195 | HFOON |
igor_v | 21:bc8c1cec3da6 | 196 | |
Kovalev_D | 104:ab1cb4ff56b2 | 197 | PlcOFF |
Kovalev_D | 104:ab1cb4ff56b2 | 198 | PlcON |
Kovalev_D | 104:ab1cb4ff56b2 | 199 | */ |
Kovalev_D | 104:ab1cb4ff56b2 | 200 | Pa = BuffTemp[3]; |
Kovalev_D | 104:ab1cb4ff56b2 | 201 | |
Kovalev_D | 104:ab1cb4ff56b2 | 202 | SR = Pa >> 0x7; |
Kovalev_D | 104:ab1cb4ff56b2 | 203 | |
Kovalev_D | 104:ab1cb4ff56b2 | 204 | V = Pa >> 0x5; |
Kovalev_D | 104:ab1cb4ff56b2 | 205 | V = V & 0x3; |
Kovalev_D | 104:ab1cb4ff56b2 | 206 | |
Kovalev_D | 104:ab1cb4ff56b2 | 207 | A = Pa >> 0x4; |
Kovalev_D | 104:ab1cb4ff56b2 | 208 | A = A & 0x1; |
Kovalev_D | 104:ab1cb4ff56b2 | 209 | |
Kovalev_D | 104:ab1cb4ff56b2 | 210 | Bit_num = Pa & 0xf; |
Kovalev_D | 104:ab1cb4ff56b2 | 211 | |
Kovalev_D | 104:ab1cb4ff56b2 | 212 | if(SR) { |
Kovalev_D | 104:ab1cb4ff56b2 | 213 | switch (Bit_num){ |
Kovalev_D | 105:bd01d8d20fb6 | 214 | |
Kovalev_D | 104:ab1cb4ff56b2 | 215 | case 0x06: |
Kovalev_D | 104:ab1cb4ff56b2 | 216 | FrqON |
Kovalev_D | 105:bd01d8d20fb6 | 217 | break; |
Kovalev_D | 105:bd01d8d20fb6 | 218 | |
Kovalev_D | 104:ab1cb4ff56b2 | 219 | case 0x03: |
Kovalev_D | 105:bd01d8d20fb6 | 220 | HFOON |
Kovalev_D | 105:bd01d8d20fb6 | 221 | break; |
Kovalev_D | 105:bd01d8d20fb6 | 222 | |
Kovalev_D | 105:bd01d8d20fb6 | 223 | case 0x01: |
Kovalev_D | 105:bd01d8d20fb6 | 224 | PlcON |
Kovalev_D | 105:bd01d8d20fb6 | 225 | break; |
Kovalev_D | 104:ab1cb4ff56b2 | 226 | } |
Kovalev_D | 104:ab1cb4ff56b2 | 227 | } |
Kovalev_D | 104:ab1cb4ff56b2 | 228 | else{ |
Kovalev_D | 104:ab1cb4ff56b2 | 229 | switch (Bit_num){ |
Kovalev_D | 105:bd01d8d20fb6 | 230 | |
Kovalev_D | 105:bd01d8d20fb6 | 231 | case 0x06: |
Kovalev_D | 104:ab1cb4ff56b2 | 232 | FrqOff |
Kovalev_D | 105:bd01d8d20fb6 | 233 | break; |
Kovalev_D | 105:bd01d8d20fb6 | 234 | |
Kovalev_D | 105:bd01d8d20fb6 | 235 | case 0x03: |
Kovalev_D | 105:bd01d8d20fb6 | 236 | HFOOFF |
Kovalev_D | 105:bd01d8d20fb6 | 237 | break; |
Kovalev_D | 105:bd01d8d20fb6 | 238 | |
Kovalev_D | 105:bd01d8d20fb6 | 239 | case 0x01: |
Kovalev_D | 105:bd01d8d20fb6 | 240 | PlcOFF |
Kovalev_D | 105:bd01d8d20fb6 | 241 | break; |
Kovalev_D | 104:ab1cb4ff56b2 | 242 | } |
Kovalev_D | 104:ab1cb4ff56b2 | 243 | } |
igor_v | 21:bc8c1cec3da6 | 244 | |
igor_v | 0:8ad47e2b6f00 | 245 | } |
igor_v | 0:8ad47e2b6f00 | 246 | |
igor_v | 21:bc8c1cec3da6 | 247 | void CMD_M_Control_D9()///чтение регистров управления |
igor_v | 21:bc8c1cec3da6 | 248 | { |
igor_v | 21:bc8c1cec3da6 | 249 | int bit,NReg; |
igor_v | 30:17c84ed091b3 | 250 | BuffTemp[0] = Gyro.SOC_Out; //DD |
igor_v | 30:17c84ed091b3 | 251 | BuffTemp[1] = Gyro.My_Addres; //00 |
igor_v | 30:17c84ed091b3 | 252 | BuffTemp[2] = Gyro.CMD_In; //D9 |
igor_v | 21:bc8c1cec3da6 | 253 | if ((Param1 & 0x10) == 0) { |
igor_v | 21:bc8c1cec3da6 | 254 | BuffTemp[3]=0<<4; |
igor_v | 30:17c84ed091b3 | 255 | BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff; |
igor_v | 30:17c84ed091b3 | 256 | BuffTemp[5] = Gyro.RgConA & 0xff; |
igor_v | 21:bc8c1cec3da6 | 257 | } else { |
igor_v | 21:bc8c1cec3da6 | 258 | BuffTemp[3]=1<<4; |
igor_v | 30:17c84ed091b3 | 259 | BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff; |
igor_v | 30:17c84ed091b3 | 260 | BuffTemp[5] = Gyro.RgConB & 0xff; |
igor_v | 21:bc8c1cec3da6 | 261 | } |
igor_v | 21:bc8c1cec3da6 | 262 | Check(BuffTemp, CRC_N); |
igor_v | 21:bc8c1cec3da6 | 263 | WriteConN (BuffTemp,CRC_N); |
igor_v | 21:bc8c1cec3da6 | 264 | } |
igor_v | 21:bc8c1cec3da6 | 265 | // (номер (код) ЦАПа 0...3, старший байт требуемого ЦАПа, младший байт треб ЦАПа) |
igor_v | 0:8ad47e2b6f00 | 266 | void CMD_M_Stymul() |
igor_v | 0:8ad47e2b6f00 | 267 | { |
igor_v | 21:bc8c1cec3da6 | 268 | int temp; |
Kovalev_D | 102:4270092be987 | 269 | int HFO; |
Kovalev_D | 102:4270092be987 | 270 | temp=BuffTemp[3]; |
Kovalev_D | 102:4270092be987 | 271 | Consol = temp&0x3; |
Kovalev_D | 103:e96f08947def | 272 | HFO = temp&0x3;// // (номер (код) ЦАПа 0...3, HFO - 3dac, PLC - 0DAC |
igor_v | 21:bc8c1cec3da6 | 273 | temp =((BuffTemp[4]<<8) | BuffTemp[5]); |
igor_v | 21:bc8c1cec3da6 | 274 | // temp=0; |
igor_v | 21:bc8c1cec3da6 | 275 | temp=temp&0xFFFF; |
Kovalev_D | 102:4270092be987 | 276 | |
Kovalev_D | 102:4270092be987 | 277 | if(HFO) |
Kovalev_D | 102:4270092be987 | 278 | { |
Kovalev_D | 102:4270092be987 | 279 | Spi.DAC_A=(unsigned int)temp; |
Kovalev_D | 102:4270092be987 | 280 | } |
Kovalev_D | 102:4270092be987 | 281 | else{ |
igor_v | 21:bc8c1cec3da6 | 282 | DACF =(temp*K_DAC)+deltaDAC; |
igor_v | 21:bc8c1cec3da6 | 283 | Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC); |
igor_v | 21:bc8c1cec3da6 | 284 | } |
igor_v | 0:8ad47e2b6f00 | 285 | } |
Kovalev_D | 103:e96f08947def | 286 | void Gph_W() |
Kovalev_D | 103:e96f08947def | 287 | { |
Kovalev_D | 103:e96f08947def | 288 | int Gain_A; |
Kovalev_D | 103:e96f08947def | 289 | int Gain_B; |
Kovalev_D | 103:e96f08947def | 290 | Gyro.Gain_A=BuffTemp[4]; |
Kovalev_D | 103:e96f08947def | 291 | Gyro.Gain_B=BuffTemp[5]; |
Kovalev_D | 103:e96f08947def | 292 | } |
igor_v | 0:8ad47e2b6f00 | 293 | |
Kovalev_D | 98:95b8e79f13e1 | 294 | void CMD_M_vib() |
Kovalev_D | 102:4270092be987 | 295 | { LoopOn |
Kovalev_D | 102:4270092be987 | 296 | unsigned int temp1,temp2; |
Kovalev_D | 102:4270092be987 | 297 | |
Kovalev_D | 102:4270092be987 | 298 | temp1 =((BuffTemp[4]<<8) | BuffTemp[5]); |
Kovalev_D | 102:4270092be987 | 299 | temp1=temp1&0xFFFF; |
Kovalev_D | 102:4270092be987 | 300 | |
Kovalev_D | 102:4270092be987 | 301 | temp2 =((BuffTemp[6]<<8) | BuffTemp[7]); |
Kovalev_D | 102:4270092be987 | 302 | temp2=temp2&0xFFFF; |
Kovalev_D | 102:4270092be987 | 303 | Gyro.Frq = ((unsigned int) ((7680000*16/temp1)))*16*16*16; |
Kovalev_D | 102:4270092be987 | 304 | Consol=Gyro.Frq ; |
Kovalev_D | 98:95b8e79f13e1 | 305 | } |
igor_v | 0:8ad47e2b6f00 | 306 | unsigned int Check(char *c, unsigned int Count) |
igor_v | 0:8ad47e2b6f00 | 307 | { |
igor_v | 21:bc8c1cec3da6 | 308 | int i=1; |
igor_v | 21:bc8c1cec3da6 | 309 | unsigned int temp,CRC; |
igor_v | 21:bc8c1cec3da6 | 310 | |
igor_v | 21:bc8c1cec3da6 | 311 | |
igor_v | 21:bc8c1cec3da6 | 312 | temp=1; |
igor_v | 21:bc8c1cec3da6 | 313 | CRC=0; |
igor_v | 21:bc8c1cec3da6 | 314 | |
igor_v | 21:bc8c1cec3da6 | 315 | |
igor_v | 21:bc8c1cec3da6 | 316 | for(; i<Count-2; i++) { |
igor_v | 21:bc8c1cec3da6 | 317 | CRC+=c[i]; |
igor_v | 21:bc8c1cec3da6 | 318 | } |
igor_v | 0:8ad47e2b6f00 | 319 | |
igor_v | 21:bc8c1cec3da6 | 320 | if(c[Count-2]!=((CRC>>8)&0xFF)) { |
igor_v | 21:bc8c1cec3da6 | 321 | temp=0; |
igor_v | 30:17c84ed091b3 | 322 | Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2; |
igor_v | 21:bc8c1cec3da6 | 323 | } |
igor_v | 0:8ad47e2b6f00 | 324 | |
igor_v | 21:bc8c1cec3da6 | 325 | if(c[Count-1]!=((CRC>>0)&0xFF)) { |
igor_v | 21:bc8c1cec3da6 | 326 | temp=0; |
igor_v | 30:17c84ed091b3 | 327 | // Gyro.RsErrLine= (Gyro.RsErrLine)=0x2; |
igor_v | 21:bc8c1cec3da6 | 328 | } |
igor_v | 21:bc8c1cec3da6 | 329 | |
igor_v | 21:bc8c1cec3da6 | 330 | c[Count-2]=(CRC>>8)&0xFF; |
igor_v | 21:bc8c1cec3da6 | 331 | c[Count-1]=(CRC>>0)&0xFF; |
igor_v | 21:bc8c1cec3da6 | 332 | |
igor_v | 21:bc8c1cec3da6 | 333 | |
igor_v | 21:bc8c1cec3da6 | 334 | |
igor_v | 21:bc8c1cec3da6 | 335 | return temp; |
igor_v | 0:8ad47e2b6f00 | 336 | } |
igor_v | 0:8ad47e2b6f00 | 337 | |
igor_v | 0:8ad47e2b6f00 | 338 | int Getlengf(void) |
igor_v | 0:8ad47e2b6f00 | 339 | { |
igor_v | 21:bc8c1cec3da6 | 340 | unsigned int lengf=0; |
igor_v | 30:17c84ed091b3 | 341 | switch(Gyro.CMD_In) { |
igor_v | 30:17c84ed091b3 | 342 | case 0x99://Gyrotainance |
Kovalev_D | 92:c892f0311aa7 | 343 | |
igor_v | 21:bc8c1cec3da6 | 344 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 345 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 346 | break; |
igor_v | 0:8ad47e2b6f00 | 347 | |
igor_v | 21:bc8c1cec3da6 | 348 | case 0x0A: //m_stymul |
igor_v | 21:bc8c1cec3da6 | 349 | lengf=8; |
igor_v | 21:bc8c1cec3da6 | 350 | break; |
igor_v | 21:bc8c1cec3da6 | 351 | |
igor_v | 21:bc8c1cec3da6 | 352 | case 0xA5://DeviceMode |
igor_v | 21:bc8c1cec3da6 | 353 | |
igor_v | 21:bc8c1cec3da6 | 354 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 355 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 356 | break; |
igor_v | 21:bc8c1cec3da6 | 357 | |
igor_v | 21:bc8c1cec3da6 | 358 | case 0xDD://m_rate |
igor_v | 0:8ad47e2b6f00 | 359 | |
igor_v | 21:bc8c1cec3da6 | 360 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 361 | CRC_N=44; |
igor_v | 21:bc8c1cec3da6 | 362 | break; |
igor_v | 21:bc8c1cec3da6 | 363 | |
igor_v | 21:bc8c1cec3da6 | 364 | case 0xB0://DeviceMode |
igor_v | 21:bc8c1cec3da6 | 365 | |
igor_v | 21:bc8c1cec3da6 | 366 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 367 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 368 | break; |
igor_v | 21:bc8c1cec3da6 | 369 | |
igor_v | 21:bc8c1cec3da6 | 370 | case 0xD8://m_control |
igor_v | 0:8ad47e2b6f00 | 371 | |
igor_v | 21:bc8c1cec3da6 | 372 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 373 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 374 | break; |
igor_v | 21:bc8c1cec3da6 | 375 | |
igor_v | 21:bc8c1cec3da6 | 376 | case 0xD9://m_control |
igor_v | 0:8ad47e2b6f00 | 377 | |
igor_v | 21:bc8c1cec3da6 | 378 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 379 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 380 | break; |
Kovalev_D | 102:4270092be987 | 381 | |
Kovalev_D | 102:4270092be987 | 382 | case 0xE4: |
Kovalev_D | 98:95b8e79f13e1 | 383 | lengf=8; |
Kovalev_D | 98:95b8e79f13e1 | 384 | break; |
Kovalev_D | 103:e96f08947def | 385 | |
Kovalev_D | 103:e96f08947def | 386 | |
Kovalev_D | 103:e96f08947def | 387 | case 0xE6: |
Kovalev_D | 103:e96f08947def | 388 | lengf=8; |
Kovalev_D | 103:e96f08947def | 389 | break; |
Kovalev_D | 103:e96f08947def | 390 | |
igor_v | 21:bc8c1cec3da6 | 391 | } |
Kovalev_D | 98:95b8e79f13e1 | 392 | |
igor_v | 21:bc8c1cec3da6 | 393 | return lengf; |
igor_v | 0:8ad47e2b6f00 | 394 | } |
igor_v | 0:8ad47e2b6f00 | 395 | |
igor_v | 0:8ad47e2b6f00 | 396 | void Read_CMD(void) |
igor_v | 21:bc8c1cec3da6 | 397 | { |
Kovalev_D | 92:c892f0311aa7 | 398 | |
Kovalev_D | 45:cbc955aecebe | 399 | |
Kovalev_D | 45:cbc955aecebe | 400 | Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;//для сброса ошибки |
igor_v | 21:bc8c1cec3da6 | 401 | |
igor_v | 21:bc8c1cec3da6 | 402 | |
Kovalev_D | 45:cbc955aecebe | 403 | |
Kovalev_D | 93:b3803774f110 | 404 | CountBuFFIn=ReadChekCon1(BuffTemp); // чтение данных из консоли |
igor_v | 42:6fc307c4963e | 405 | |
Kovalev_D | 92:c892f0311aa7 | 406 | if(CountBuFFIn==1) { // если есть первый байт |
igor_v | 21:bc8c1cec3da6 | 407 | if (BuffTemp[0] != SOC_In) { |
Kovalev_D | 93:b3803774f110 | 408 | ReadCon1(BuffTemp); |
igor_v | 30:17c84ed091b3 | 409 | Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... "); |
Kovalev_D | 93:b3803774f110 | 410 | BuffTemp[99]=Gyro.RsErrLine; |
Kovalev_D | 102:4270092be987 | 411 | |
igor_v | 21:bc8c1cec3da6 | 412 | } |
Kovalev_D | 92:c892f0311aa7 | 413 | } else if(CountBuFFIn==2) { //если второй ,fqn |
igor_v | 30:17c84ed091b3 | 414 | if (BuffTemp[1] != Gyro.My_Addres) { |
Kovalev_D | 93:b3803774f110 | 415 | ReadCon1(BuffTemp); |
igor_v | 30:17c84ed091b3 | 416 | Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... "); |
igor_v | 21:bc8c1cec3da6 | 417 | } |
igor_v | 42:6fc307c4963e | 418 | } else if(CountBuFFIn==3) { // если ьоетий байт |
igor_v | 30:17c84ed091b3 | 419 | Gyro.CMD_In=BuffTemp[2]; |
Kovalev_D | 92:c892f0311aa7 | 420 | N=Getlengf(); |
Kovalev_D | 92:c892f0311aa7 | 421 | } |
Kovalev_D | 92:c892f0311aa7 | 422 | else if(CountBuFFIn==4 && (N==6)) |
Kovalev_D | 92:c892f0311aa7 | 423 | { // N - длина посылки аскглд(для записи параметров). определяется по коду команды в Getlengf(); |
igor_v | 21:bc8c1cec3da6 | 424 | Param1=BuffTemp[3]; |
Kovalev_D | 92:c892f0311aa7 | 425 | } |
Kovalev_D | 92:c892f0311aa7 | 426 | else if((CountBuFFIn==5)&&(N==7)) |
Kovalev_D | 92:c892f0311aa7 | 427 | { |
Kovalev_D | 92:c892f0311aa7 | 428 | |
igor_v | 21:bc8c1cec3da6 | 429 | Param1=BuffTemp[3]; |
igor_v | 21:bc8c1cec3da6 | 430 | Param2=BuffTemp[4]; |
igor_v | 0:8ad47e2b6f00 | 431 | |
Kovalev_D | 92:c892f0311aa7 | 432 | } |
Kovalev_D | 92:c892f0311aa7 | 433 | else if((CountBuFFIn==6)&&(N==8)) |
Kovalev_D | 92:c892f0311aa7 | 434 | { |
igor_v | 21:bc8c1cec3da6 | 435 | Param1=BuffTemp[3]; |
igor_v | 21:bc8c1cec3da6 | 436 | Param2=BuffTemp[4]; |
igor_v | 21:bc8c1cec3da6 | 437 | Param3=BuffTemp[5]; |
Kovalev_D | 92:c892f0311aa7 | 438 | } |
Kovalev_D | 102:4270092be987 | 439 | else if((CountBuFFIn==8)&&(N==10)) |
Kovalev_D | 102:4270092be987 | 440 | { |
Kovalev_D | 102:4270092be987 | 441 | Param1=BuffTemp[4]; |
Kovalev_D | 102:4270092be987 | 442 | Param2=BuffTemp[5]; |
Kovalev_D | 102:4270092be987 | 443 | Param3=BuffTemp[6]; |
Kovalev_D | 102:4270092be987 | 444 | Param4=BuffTemp[7]; |
Kovalev_D | 102:4270092be987 | 445 | } |
Kovalev_D | 98:95b8e79f13e1 | 446 | |
Kovalev_D | 92:c892f0311aa7 | 447 | else if(CountBuFFIn > (N-1)) |
Kovalev_D | 92:c892f0311aa7 | 448 | { |
Kovalev_D | 93:b3803774f110 | 449 | ReadCon1(BuffTemp); |
igor_v | 30:17c84ed091b3 | 450 | switch(Gyro.CMD_In) { |
Kovalev_D | 92:c892f0311aa7 | 451 | case 0x99: |
Kovalev_D | 93:b3803774f110 | 452 | |
igor_v | 21:bc8c1cec3da6 | 453 | CMD_Maintenance(); |
igor_v | 21:bc8c1cec3da6 | 454 | break; |
igor_v | 21:bc8c1cec3da6 | 455 | case 0xD8: |
igor_v | 21:bc8c1cec3da6 | 456 | CMD_M_Control_D8(); |
igor_v | 21:bc8c1cec3da6 | 457 | case 0xD9: |
igor_v | 21:bc8c1cec3da6 | 458 | CMD_M_Control_D9(); |
igor_v | 21:bc8c1cec3da6 | 459 | break; |
igor_v | 21:bc8c1cec3da6 | 460 | case 0x0A: |
Kovalev_D | 45:cbc955aecebe | 461 | CMD_M_Stymul(); |
igor_v | 21:bc8c1cec3da6 | 462 | break; |
igor_v | 21:bc8c1cec3da6 | 463 | case 0xDD: |
igor_v | 21:bc8c1cec3da6 | 464 | Rate_Flag=1; |
Kovalev_D | 102:4270092be987 | 465 | break; |
Kovalev_D | 102:4270092be987 | 466 | case 0xE4: |
Kovalev_D | 102:4270092be987 | 467 | CMD_M_vib(); |
Kovalev_D | 102:4270092be987 | 468 | break; |
Kovalev_D | 103:e96f08947def | 469 | case 0xE6: |
Kovalev_D | 103:e96f08947def | 470 | Gph_W(); |
Kovalev_D | 103:e96f08947def | 471 | break; |
Kovalev_D | 103:e96f08947def | 472 | |
Kovalev_D | 103:e96f08947def | 473 | |
igor_v | 30:17c84ed091b3 | 474 | Gyro.RsErrLine = 0; |
Kovalev_D | 103:e96f08947def | 475 | |
Kovalev_D | 103:e96f08947def | 476 | |
Kovalev_D | 102:4270092be987 | 477 | } |
igor_v | 21:bc8c1cec3da6 | 478 | } |
igor_v | 0:8ad47e2b6f00 | 479 | } |
igor_v | 0:8ad47e2b6f00 | 480 | |
igor_v | 0:8ad47e2b6f00 | 481 | |
igor_v | 21:bc8c1cec3da6 | 482 |