Dmitry Kovalev / Mbed 2 deprecated LG2

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Dependencies:   mbed

Fork of LG by igor Apu

QEI.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 1:f2adcae3d304 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 21:bc8c1cec3da6 3
Kovalev_D 86:398da56ef751 4
Kovalev_D 86:398da56ef751 5
Kovalev_D 86:398da56ef751 6
igor_v 21:bc8c1cec3da6 7 int Dif_QEI;
igor_v 42:6fc307c4963e 8
igor_v 21:bc8c1cec3da6 9 int FFF=0;//для заплатки
igor_v 0:8ad47e2b6f00 10
igor_v 42:6fc307c4963e 11
Kovalev_D 86:398da56ef751 12 int Pulse_8Point;
Kovalev_D 86:398da56ef751 13 int Pulse_16Point;
Kovalev_D 86:398da56ef751 14 int Pulse_32Point;
Kovalev_D 86:398da56ef751 15 int Pulse_16PointD;
Kovalev_D 105:bd01d8d20fb6 16 int Iras=0,Temp_F_ras=0;
igor_v 21:bc8c1cec3da6 17 int yy = 0;
igor_v 0:8ad47e2b6f00 18
igor_v 0:8ad47e2b6f00 19
igor_v 42:6fc307c4963e 20
igor_v 42:6fc307c4963e 21
Kovalev_D 86:398da56ef751 22 int Buff_32Point [32];
igor_v 43:3f7c8a0ea59c 23 int Buff_16Point [32];
igor_v 43:3f7c8a0ea59c 24 int Buff_16PointD [32];
igor_v 43:3f7c8a0ea59c 25 int Buff_8Point [32];
igor_v 43:3f7c8a0ea59c 26 int Buff_Restored_sin [32];
igor_v 43:3f7c8a0ea59c 27 int Buff_1Point [256]; // этот на 256
igor_v 42:6fc307c4963e 28
igor_v 42:6fc307c4963e 29
igor_v 42:6fc307c4963e 30
Kovalev_D 86:398da56ef751 31 int unsigned Cur_QEI, Last_QEI;
igor_v 21:bc8c1cec3da6 32
igor_v 43:3f7c8a0ea59c 33 // ДАВАЙ попробуем сделать буфера в целых (знаковы)
Kovalev_D 98:95b8e79f13e1 34 /*__irq void QEI_IRQHandler (void)
Kovalev_D 98:95b8e79f13e1 35 {
Kovalev_D 98:95b8e79f13e1 36 Cur_QEI = LPC_QEI->POS & 0xFFFF; //e. read accumulated value of counter
Kovalev_D 98:95b8e79f13e1 37 LPC_QEI->CLR = 0x1fff; //e. reset interrupt request //r. сбросить запрос прерывания
Kovalev_D 98:95b8e79f13e1 38 }*/
Kovalev_D 86:398da56ef751 39
igor_v 21:bc8c1cec3da6 40 void D_QEI(void)
igor_v 21:bc8c1cec3da6 41 {
igor_v 21:bc8c1cec3da6 42 Dif_QEI=0;
igor_v 21:bc8c1cec3da6 43 Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера.
igor_v 21:bc8c1cec3da6 44 Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.()
igor_v 21:bc8c1cec3da6 45 Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения.
igor_v 21:bc8c1cec3da6 46
igor_v 21:bc8c1cec3da6 47 if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль
igor_v 21:bc8c1cec3da6 48 if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль
igor_v 0:8ad47e2b6f00 49
igor_v 0:8ad47e2b6f00 50
Kovalev_D 45:cbc955aecebe 51 Buff_1Point[CountV255] = /*(unsigned int)*/ (Dif_QEI /* + 0xffff*/ );// накопление в буфер еденичных значений приращения по каждому такту.
igor_v 21:bc8c1cec3da6 52
igor_v 21:bc8c1cec3da6 53 ////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 54 ///////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 55 /*
igor_v 21:bc8c1cec3da6 56 if (LPC_QEI->STAT) { //e. "+" direction //r. стали вращаться в "+" сторону
Kovalev_D 106:250ddd8629c6 57 Gyro.Cnt_Mns -= Cur_QEI;
igor_v 21:bc8c1cec3da6 58 } else {
Kovalev_D 105:bd01d8d20fb6 59 Gyro.Cnt_Pls = Cur_QEI;
igor_v 21:bc8c1cec3da6 60 }
Kovalev_D 106:250ddd8629c6 61 */
igor_v 21:bc8c1cec3da6 62 ////////// ???? Заплатка
igor_v 21:bc8c1cec3da6 63 ////////// ???? Проблема начального заполнения буферов
igor_v 21:bc8c1cec3da6 64 //////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 65 if(1)// if(FFF==1) { // если прошло 32 такта вибро подвеса начать заполнять остальные буверы.
Kovalev_D 98:95b8e79f13e1 66 { Pulse_8Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 67 Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов
Kovalev_D 92:c892f0311aa7 68 Buff_8Point[CountV31] = /*(unsigned int)*/ (Pulse_8Point/* + 0xffff*/);
igor_v 0:8ad47e2b6f00 69
igor_v 21:bc8c1cec3da6 70 Pulse_16Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 71 Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов
Kovalev_D 92:c892f0311aa7 72 Buff_16Point[CountV31] = /*(unsigned int)*/ (Pulse_16Point /*+ 0xffff*/);
igor_v 21:bc8c1cec3da6 73
igor_v 21:bc8c1cec3da6 74 Pulse_32Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 75 Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов
Kovalev_D 45:cbc955aecebe 76 Gyro.Cnt_Dif = (Pulse_32Point/*+ 0xffff*/);
Kovalev_D 92:c892f0311aa7 77 Buff_32Point[CountV31] = /*(unsigned int)*/ (Pulse_32Point /*+ 0xffff*/);
igor_v 0:8ad47e2b6f00 78
igor_v 21:bc8c1cec3da6 79 Pulse_16PointD += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 80 Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз
igor_v 21:bc8c1cec3da6 81 Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
igor_v 21:bc8c1cec3da6 82 Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // з
igor_v 21:bc8c1cec3da6 83
Kovalev_D 92:c892f0311aa7 84 Buff_16PointD[CountV31] = /*(unsigned int)*/ (Pulse_16PointD /*+ 0xffff*/);
igor_v 21:bc8c1cec3da6 85
Kovalev_D 92:c892f0311aa7 86 Buff_Restored_sin [CountV31]= /*(unsigned int)*/( Buff_16PointD [ CountV31] /*+ 65536 */ - Buff_32Point[CountV31] );
Kovalev_D 107:4d178bcc9d8a 87
Kovalev_D 106:250ddd8629c6 88
Kovalev_D 105:bd01d8d20fb6 89 if(Buff_Restored_sin [CountV31] > 0)Temp_F_ras += Buff_Restored_sin [CountV31];
Kovalev_D 87:7e575d26d6d0 90 else Temp_F_ras -= Buff_Restored_sin [CountV31]; // расчет амплитуды
igor_v 21:bc8c1cec3da6 91
Kovalev_D 87:7e575d26d6d0 92 if (CountV31 == 0) { // если определеный так, то переписываем амиплитуду
Kovalev_D 87:7e575d26d6d0 93 Gyro.F_ras = Temp_F_ras;
Kovalev_D 87:7e575d26d6d0 94 Temp_F_ras = 0;
Kovalev_D 105:bd01d8d20fb6 95
Kovalev_D 87:7e575d26d6d0 96 }
Kovalev_D 105:bd01d8d20fb6 97
igor_v 0:8ad47e2b6f00 98
igor_v 21:bc8c1cec3da6 99 } else if(CountV255 == 255) {
igor_v 21:bc8c1cec3da6 100 FFF=1;//временная заплатка для паузы перед заполнением остальных буферов
Kovalev_D 98:95b8e79f13e1 101 // for (yy = 0; yy < 31; yy++ ) {
Kovalev_D 98:95b8e79f13e1 102 /// Buff_1Point [yy] = 0x00;
Kovalev_D 98:95b8e79f13e1 103 // Buff_16Point [yy] = 0x00;
Kovalev_D 98:95b8e79f13e1 104 // Buff_32Point [yy] = 0x00;
Kovalev_D 98:95b8e79f13e1 105 // Buff_16PointD [yy] = 0x0;
Kovalev_D 98:95b8e79f13e1 106 // }
igor_v 0:8ad47e2b6f00 107
igor_v 21:bc8c1cec3da6 108 }
igor_v 21:bc8c1cec3da6 109 }