Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

MTimer.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?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 4 #include "vibro.h"
igor_v 0:8ad47e2b6f00 5 #include "QEI.h"
igor_v 0:8ad47e2b6f00 6 #include "Global.h"
igor_v 0:8ad47e2b6f00 7 #include "SPI.h"
igor_v 0:8ad47e2b6f00 8 #include "InputOutput.h"
igor_v 0:8ad47e2b6f00 9 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 10 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 11 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 12
igor_v 0:8ad47e2b6f00 13 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 14 /////////////////////инициализация таймера 1 /////////////////////////
igor_v 0:8ad47e2b6f00 15 //////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 16 //unsigned int CountV=0;
igor_v 21:bc8c1cec3da6 17 //unsigned int CountVf=0 ;
igor_v 0:8ad47e2b6f00 18 unsigned int CountV31=0;
igor_v 21:bc8c1cec3da6 19 unsigned int CountV255=0 ;
igor_v 21:bc8c1cec3da6 20 unsigned int CountV64 = 0;
Kovalev_D 89:a0d344db227e 21 unsigned int Init_TIM1 (unsigned int TimerInterval )
igor_v 21:bc8c1cec3da6 22 {
igor_v 21:bc8c1cec3da6 23 LPC_TIM1->MR0 = TimerInterval;
igor_v 21:bc8c1cec3da6 24 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
igor_v 21:bc8c1cec3da6 25 NVIC_EnableIRQ(TIMER1_IRQn);
igor_v 21:bc8c1cec3da6 26 }
igor_v 21:bc8c1cec3da6 27
igor_v 21:bc8c1cec3da6 28
Kovalev_D 88:b5c1d9d338d1 29
Kovalev_D 88:b5c1d9d338d1 30
Kovalev_D 88:b5c1d9d338d1 31
Kovalev_D 88:b5c1d9d338d1 32
Kovalev_D 88:b5c1d9d338d1 33
Kovalev_D 88:b5c1d9d338d1 34
Kovalev_D 88:b5c1d9d338d1 35
Kovalev_D 88:b5c1d9d338d1 36 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 37 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 38 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 39 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 40 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 41 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 42 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 92:c892f0311aa7 43 { int i,t;
Kovalev_D 88:b5c1d9d338d1 44 if (Event1Hz) {
Kovalev_D 88:b5c1d9d338d1 45 Event1Hz--;
Kovalev_D 88:b5c1d9d338d1 46 Discharg ();
Kovalev_D 88:b5c1d9d338d1 47 BackLight ();
Kovalev_D 104:ab1cb4ff56b2 48
Kovalev_D 103:e96f08947def 49
Kovalev_D 93:b3803774f110 50 // sprintf(Time,"\r\n");
Kovalev_D 95:dd51e577e114 51 /* for ( i = 0; i < 32; i++ )
Kovalev_D 95:dd51e577e114 52 {
Kovalev_D 95:dd51e577e114 53 sprintf (Time," <%05d> ", Buff_32Point[i]);
Kovalev_D 95:dd51e577e114 54 WriteCon(Time);
Kovalev_D 95:dd51e577e114 55 }*/
Kovalev_D 95:dd51e577e114 56
Kovalev_D 95:dd51e577e114 57 // WriteCon("\n\r");
Kovalev_D 95:dd51e577e114 58 /* sprintf((Time),"%d", Spi.DAC_B);
Kovalev_D 93:b3803774f110 59 WriteCon(Time);
Kovalev_D 95:dd51e577e114 60 WriteCon("\n\r");*/
Kovalev_D 106:250ddd8629c6 61
Kovalev_D 92:c892f0311aa7 62 if( Rate_Flag)CMD_Rate();
Kovalev_D 107:4d178bcc9d8a 63
Kovalev_D 106:250ddd8629c6 64 //
Kovalev_D 92:c892f0311aa7 65
Kovalev_D 88:b5c1d9d338d1 66 }
Kovalev_D 88:b5c1d9d338d1 67 }
Kovalev_D 89:a0d344db227e 68 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 69 ///////////////////// 1kHz //////////////////////////
Kovalev_D 89:a0d344db227e 70 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 71 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 72 {
Kovalev_D 88:b5c1d9d338d1 73 if (Event1K) {
Kovalev_D 88:b5c1d9d338d1 74 Event1K --;
Kovalev_D 88:b5c1d9d338d1 75 Time1K++;
Kovalev_D 88:b5c1d9d338d1 76 if (Time1K == 1000) {
Kovalev_D 88:b5c1d9d338d1 77 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 78 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 79 Time1Hz++;
Kovalev_D 88:b5c1d9d338d1 80 }
Kovalev_D 106:250ddd8629c6 81
Kovalev_D 88:b5c1d9d338d1 82 }
Kovalev_D 88:b5c1d9d338d1 83 }
Kovalev_D 89:a0d344db227e 84 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 85 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 86 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 87 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 88 {
Kovalev_D 88:b5c1d9d338d1 89 if (Event100K) {
Kovalev_D 88:b5c1d9d338d1 90 Event100K --;
Kovalev_D 88:b5c1d9d338d1 91 Time100K++;
Kovalev_D 88:b5c1d9d338d1 92 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 93 if (OutBufCon1Count) {
Kovalev_D 88:b5c1d9d338d1 94 OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 88:b5c1d9d338d1 95 }
Kovalev_D 88:b5c1d9d338d1 96 if (Time100K == 100) {
Kovalev_D 88:b5c1d9d338d1 97 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 98 Event1K ++;
Kovalev_D 88:b5c1d9d338d1 99 }
Kovalev_D 88:b5c1d9d338d1 100 }
Kovalev_D 88:b5c1d9d338d1 101 }
Kovalev_D 89:a0d344db227e 102 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 103 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 104 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 105 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 106 {
Kovalev_D 88:b5c1d9d338d1 107 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 108 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 109 }
Kovalev_D 88:b5c1d9d338d1 110 }
Kovalev_D 89:a0d344db227e 111 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 112 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 113 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 114
Kovalev_D 88:b5c1d9d338d1 115
Kovalev_D 88:b5c1d9d338d1 116
Kovalev_D 88:b5c1d9d338d1 117
Kovalev_D 88:b5c1d9d338d1 118
igor_v 0:8ad47e2b6f00 119 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 120 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 121 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 122 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 123 {
igor_v 21:bc8c1cec3da6 124 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 125 return;
igor_v 21:bc8c1cec3da6 126 }
igor_v 0:8ad47e2b6f00 127 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 128 /////////////////////////прерывание таймера 1//////////////////////////
igor_v 21:bc8c1cec3da6 129 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 130 __irq void TIMER1_IRQHandler (void)
igor_v 21:bc8c1cec3da6 131 {
igor_v 21:bc8c1cec3da6 132 ResetCS(ADC); //prepare ADC for sampling
igor_v 21:bc8c1cec3da6 133 SetDAC(DAC);
igor_v 21:bc8c1cec3da6 134
igor_v 21:bc8c1cec3da6 135 CountV255++;
igor_v 21:bc8c1cec3da6 136 CountV255 &= 0xff;
igor_v 21:bc8c1cec3da6 137 CountV31 =CountV255 & 0x1f;
igor_v 21:bc8c1cec3da6 138 CountV64 = CountV255 & 0x3f;
igor_v 42:6fc307c4963e 139
igor_v 21:bc8c1cec3da6 140 SetCS(ADC); //start ADC sampling
igor_v 21:bc8c1cec3da6 141 ResetDAC(DAC);
igor_v 21:bc8c1cec3da6 142
igor_v 42:6fc307c4963e 143 D_QEI(); //чтение данных по счетчику
Kovalev_D 106:250ddd8629c6 144 cheng(); // расчет вибропривода
Kovalev_D 106:250ddd8629c6 145
Kovalev_D 106:250ddd8629c6 146 Gyro.OldCuruAngle = Gyro.CuruAngle;
Kovalev_D 106:250ddd8629c6 147 Gyro.CuruAngle = Gyro.CuruAngle + Buff_32Point [CountV255];
Kovalev_D 106:250ddd8629c6 148 Gyro.Num += Gyro.CuruAngle-Gyro.OldCuruAngle;
Kovalev_D 106:250ddd8629c6 149
Kovalev_D 106:250ddd8629c6 150
igor_v 42:6fc307c4963e 151 SPI_Exchange(); //Чтение ADS_SPI
igor_v 21:bc8c1cec3da6 152 LPC_TIM1->IR = 1;
igor_v 21:bc8c1cec3da6 153
igor_v 21:bc8c1cec3da6 154 }
igor_v 0:8ad47e2b6f00 155
igor_v 0:8ad47e2b6f00 156
igor_v 0:8ad47e2b6f00 157 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 158 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 159 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 160
igor_v 0:8ad47e2b6f00 161 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 162 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 163 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 164 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 165 {
igor_v 21:bc8c1cec3da6 166 LPC_TIM2->MR0 = 250;
igor_v 21:bc8c1cec3da6 167 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 168 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 169 return 1;
igor_v 21:bc8c1cec3da6 170 }
igor_v 0:8ad47e2b6f00 171
igor_v 15:f5191a1c3805 172
igor_v 15:f5191a1c3805 173
igor_v 21:bc8c1cec3da6 174 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 175 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 176 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 177 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 178 {
igor_v 21:bc8c1cec3da6 179 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 180 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 181 }
igor_v 21:bc8c1cec3da6 182
igor_v 21:bc8c1cec3da6 183
igor_v 21:bc8c1cec3da6 184
igor_v 21:bc8c1cec3da6 185 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 186 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 187 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 188 __irq void TIMER2_IRQHandler (void)
igor_v 21:bc8c1cec3da6 189 {
igor_v 21:bc8c1cec3da6 190 LPC_TIM2->IR = 1;
igor_v 21:bc8c1cec3da6 191
igor_v 21:bc8c1cec3da6 192 Global_Time++;
igor_v 21:bc8c1cec3da6 193
igor_v 21:bc8c1cec3da6 194 Time_UART++;
igor_v 21:bc8c1cec3da6 195
igor_v 21:bc8c1cec3da6 196 Time_vibro++;
igor_v 21:bc8c1cec3da6 197
igor_v 21:bc8c1cec3da6 198 Time_1kHz++;
igor_v 21:bc8c1cec3da6 199
igor_v 21:bc8c1cec3da6 200 VibroOut();
igor_v 21:bc8c1cec3da6 201
Kovalev_D 88:b5c1d9d338d1 202 Event100K --;
igor_v 21:bc8c1cec3da6 203
igor_v 21:bc8c1cec3da6 204 }