Dmitry Kovalev / Mbed 2 deprecated LG2

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Dependencies:   mbed

Fork of LG by igor Apu

QEI.c@42:6fc307c4963e, 2016-02-07 (annotated)

Committer:
igor_v
Date:
Sun Feb 07 12:24:11 2016 +0000
Revision:
42:6fc307c4963e
Parent:
30:17c84ed091b3
Child:
43:3f7c8a0ea59c
;

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
igor_v 21:bc8c1cec3da6 4 int Pulse_midl = 0;
igor_v 21:bc8c1cec3da6 5 int PulseHalf = 0;
igor_v 21:bc8c1cec3da6 6 int CuruAngle = 0;
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
igor_v 21:bc8c1cec3da6 12 int Pulse_8Point = 0;
igor_v 21:bc8c1cec3da6 13 int Pulse_16Point = 0;
igor_v 21:bc8c1cec3da6 14 int Pulse_32Point = 0;
igor_v 21:bc8c1cec3da6 15 int Pulse_16PointD = 0;
igor_v 21:bc8c1cec3da6 16 unsigned 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
igor_v 42:6fc307c4963e 22 /*
igor_v 42:6fc307c4963e 23 unsigned int Buff_32Point [256];
igor_v 42:6fc307c4963e 24 unsigned int Buff_16Point [256];
igor_v 42:6fc307c4963e 25 unsigned int Buff_16PointD [256];
igor_v 42:6fc307c4963e 26 unsigned int Buff_8Point [256];
igor_v 42:6fc307c4963e 27 unsigned int Buff_1Point [256];
igor_v 21:bc8c1cec3da6 28 unsigned int Buff_Restored_sin [256];
igor_v 42:6fc307c4963e 29
igor_v 42:6fc307c4963e 30 */
igor_v 42:6fc307c4963e 31
igor_v 42:6fc307c4963e 32 int Buff_32Point [32]; // давай сделаем буфера поменьше
igor_v 42:6fc307c4963e 33 int Buff_16Point [32];
igor_v 42:6fc307c4963e 34 int Buff_16PointD [32];
igor_v 42:6fc307c4963e 35 int Buff_8Point [32];
igor_v 42:6fc307c4963e 36 int Buff_Restored_sin [32];
igor_v 42:6fc307c4963e 37
igor_v 42:6fc307c4963e 38 int Buff_1Point [256]; // этот на 256
igor_v 42:6fc307c4963e 39
igor_v 42:6fc307c4963e 40
igor_v 42:6fc307c4963e 41
igor_v 21:bc8c1cec3da6 42 int unsigned Cur_QEI = 0, Last_QEI=0;
igor_v 21:bc8c1cec3da6 43
igor_v 21:bc8c1cec3da6 44
igor_v 42:6fc307c4963e 45
igor_v 42:6fc307c4963e 46
igor_v 42:6fc307c4963e 47
igor_v 42:6fc307c4963e 48
igor_v 42:6fc307c4963e 49
igor_v 42:6fc307c4963e 50 // ДАВАЙ попробуем сделать бушера в целых (знаковы)
igor_v 42:6fc307c4963e 51 void D_QEI_Int(void)
igor_v 42:6fc307c4963e 52 {
igor_v 42:6fc307c4963e 53
igor_v 42:6fc307c4963e 54 Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера.
igor_v 42:6fc307c4963e 55 Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.()
igor_v 42:6fc307c4963e 56 Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения.
igor_v 42:6fc307c4963e 57
igor_v 42:6fc307c4963e 58 if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль
igor_v 42:6fc307c4963e 59 if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль
igor_v 42:6fc307c4963e 60
igor_v 42:6fc307c4963e 61
igor_v 42:6fc307c4963e 62 Buff_1Point[CountV255] = Dif_QEI;// накопление в буфер еденичных значений приращения по каждому такту.
igor_v 42:6fc307c4963e 63
igor_v 42:6fc307c4963e 64 ////////////////////////////////////////////////////////////////////////////////////////////
igor_v 42:6fc307c4963e 65 ///////////////////////////////////////////////////////////////////////////////////////////
igor_v 42:6fc307c4963e 66
igor_v 42:6fc307c4963e 67 // зачем это. мож к этому воремени стали вращатся назад
igor_v 42:6fc307c4963e 68
igor_v 42:6fc307c4963e 69 if (LPC_QEI->STAT) { //e. "+" direction //r. стали вращаться в "+"
igor_v 42:6fc307c4963e 70 Gyro.Cnt_Mns = Dif_QEI;
igor_v 42:6fc307c4963e 71 } else {
igor_v 42:6fc307c4963e 72 Gyro.Cnt_Pls = -Dif_QEI;
igor_v 42:6fc307c4963e 73 }
igor_v 42:6fc307c4963e 74
igor_v 42:6fc307c4963e 75
igor_v 42:6fc307c4963e 76
igor_v 42:6fc307c4963e 77 ////////// ???? Заплатка
igor_v 42:6fc307c4963e 78 ////////// ???? Проблема начального заполнения буферов
igor_v 42:6fc307c4963e 79 //////////////////////////////////////////////////////////////////////////////////////////////
igor_v 42:6fc307c4963e 80 // если прошло 32 такта вибро подвеса начать заполнять остальные буверы.
igor_v 42:6fc307c4963e 81 Pulse_8Point += Buff_1Point[CountV255];
igor_v 42:6fc307c4963e 82 Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов
igor_v 42:6fc307c4963e 83 Buff_8Point[CountV31] =Pulse_8Point;
igor_v 42:6fc307c4963e 84
igor_v 42:6fc307c4963e 85 Pulse_16Point += Buff_1Point[CountV255];
igor_v 42:6fc307c4963e 86 Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов
igor_v 42:6fc307c4963e 87 Buff_16Point[CountV31] = Pulse_16Point;
igor_v 42:6fc307c4963e 88
igor_v 42:6fc307c4963e 89 Pulse_32Point += Buff_1Point[CountV255];
igor_v 42:6fc307c4963e 90 Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов
igor_v 42:6fc307c4963e 91 Buff_32Point[CountV31] = Pulse_32Point;
igor_v 42:6fc307c4963e 92
igor_v 42:6fc307c4963e 93
igor_v 42:6fc307c4963e 94
igor_v 42:6fc307c4963e 95
igor_v 42:6fc307c4963e 96 Gyro.Cnt_Dif = (Pulse_32Point);
igor_v 42:6fc307c4963e 97
igor_v 42:6fc307c4963e 98 Pulse_16PointD += Buff_1Point[CountV255];
igor_v 42:6fc307c4963e 99 Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз
igor_v 42:6fc307c4963e 100 Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
igor_v 42:6fc307c4963e 101 Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // з
igor_v 42:6fc307c4963e 102
igor_v 42:6fc307c4963e 103 Buff_16PointD[CountV31] = Pulse_16PointD;
igor_v 42:6fc307c4963e 104
igor_v 42:6fc307c4963e 105
igor_v 42:6fc307c4963e 106 // Buff_Restored_sin [CountVf]= (unsigned int)( ((Buff_16Point[CountVf]*2)) - Buff_32Point[CountVf] );
igor_v 42:6fc307c4963e 107
igor_v 42:6fc307c4963e 108 Buff_Restored_sin [CountV31]= Buff_16PointD [ CountV31] - Buff_32Point[CountV31];
igor_v 42:6fc307c4963e 109
igor_v 42:6fc307c4963e 110
igor_v 42:6fc307c4963e 111
igor_v 42:6fc307c4963e 112 if(Buff_32Point[CountV255]>0) {
igor_v 42:6fc307c4963e 113 Temp_F_ras += Buff_32Point[CountV255];
igor_v 42:6fc307c4963e 114 } else if ((CountV255 & 0x1f)==0) {
igor_v 42:6fc307c4963e 115 Gyro.F_ras=Temp_F_ras;
igor_v 42:6fc307c4963e 116 Temp_F_ras=0;
igor_v 42:6fc307c4963e 117 } else {
igor_v 42:6fc307c4963e 118 Temp_F_ras -= Buff_32Point[CountV255];
igor_v 42:6fc307c4963e 119 }
igor_v 42:6fc307c4963e 120
igor_v 42:6fc307c4963e 121 //unsigned int T_Vib;
igor_v 42:6fc307c4963e 122
igor_v 42:6fc307c4963e 123 }
igor_v 42:6fc307c4963e 124
igor_v 42:6fc307c4963e 125
igor_v 42:6fc307c4963e 126
igor_v 42:6fc307c4963e 127
igor_v 42:6fc307c4963e 128
igor_v 42:6fc307c4963e 129
igor_v 42:6fc307c4963e 130
igor_v 42:6fc307c4963e 131
igor_v 42:6fc307c4963e 132
igor_v 42:6fc307c4963e 133
igor_v 42:6fc307c4963e 134
igor_v 21:bc8c1cec3da6 135 void D_QEI(void)
igor_v 21:bc8c1cec3da6 136 {
igor_v 21:bc8c1cec3da6 137 Dif_QEI=0;
igor_v 21:bc8c1cec3da6 138 Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера.
igor_v 21:bc8c1cec3da6 139 Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.()
igor_v 21:bc8c1cec3da6 140 Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения.
igor_v 21:bc8c1cec3da6 141
igor_v 21:bc8c1cec3da6 142 if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль
igor_v 21:bc8c1cec3da6 143 if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль
igor_v 0:8ad47e2b6f00 144
igor_v 0:8ad47e2b6f00 145
igor_v 21:bc8c1cec3da6 146 Buff_1Point[CountV255] = (unsigned int) (Dif_QEI + 0xffff);// накопление в буфер еденичных значений приращения по каждому такту.
igor_v 21:bc8c1cec3da6 147
igor_v 21:bc8c1cec3da6 148 ////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 149 ///////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 150
igor_v 21:bc8c1cec3da6 151 if (LPC_QEI->STAT) { //e. "+" direction //r. стали вращаться в "+" сторону
igor_v 30:17c84ed091b3 152 Gyro.Cnt_Mns = Dif_QEI;
igor_v 21:bc8c1cec3da6 153 } else {
igor_v 30:17c84ed091b3 154 Gyro.Cnt_Pls = -Dif_QEI;
igor_v 21:bc8c1cec3da6 155 }
igor_v 42:6fc307c4963e 156
igor_v 21:bc8c1cec3da6 157 ////////// ???? Заплатка
igor_v 21:bc8c1cec3da6 158 ////////// ???? Проблема начального заполнения буферов
igor_v 21:bc8c1cec3da6 159 //////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 160 if(FFF==1) { // если прошло 32 такта вибро подвеса начать заполнять остальные буверы.
igor_v 21:bc8c1cec3da6 161 Pulse_8Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 162 Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов
igor_v 21:bc8c1cec3da6 163 Buff_8Point[CountV255] = (unsigned int) (Pulse_8Point + 0xffff);
igor_v 0:8ad47e2b6f00 164
igor_v 21:bc8c1cec3da6 165 Pulse_16Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 166 Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов
igor_v 21:bc8c1cec3da6 167 Buff_16Point[CountV255] = (unsigned int) (Pulse_16Point + 0xffff);
igor_v 21:bc8c1cec3da6 168
igor_v 21:bc8c1cec3da6 169 Pulse_32Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 170 Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов
igor_v 30:17c84ed091b3 171 Gyro.Cnt_Dif = (Pulse_32Point+ 0xffff);
igor_v 21:bc8c1cec3da6 172 Buff_32Point[CountV255] = (unsigned int) (Pulse_32Point + 0xffff);
igor_v 0:8ad47e2b6f00 173
igor_v 21:bc8c1cec3da6 174 Pulse_16PointD += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 175 Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз
igor_v 21:bc8c1cec3da6 176 Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
igor_v 21:bc8c1cec3da6 177 Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // з
igor_v 21:bc8c1cec3da6 178
igor_v 21:bc8c1cec3da6 179 Buff_16PointD[CountV255] = (unsigned int) (Pulse_16PointD + 0xffff);
igor_v 21:bc8c1cec3da6 180
igor_v 21:bc8c1cec3da6 181
igor_v 0:8ad47e2b6f00 182 // Buff_Restored_sin [CountVf]= (unsigned int)( ((Buff_16Point[CountVf]*2)) - Buff_32Point[CountVf] );
igor_v 0:8ad47e2b6f00 183
igor_v 21:bc8c1cec3da6 184 Buff_Restored_sin [CountV255]= (unsigned int)( Buff_16PointD [ CountV255] + 65536 - Buff_32Point[CountV255] );
igor_v 21:bc8c1cec3da6 185
igor_v 0:8ad47e2b6f00 186
igor_v 0:8ad47e2b6f00 187
igor_v 21:bc8c1cec3da6 188 if(Buff_32Point[CountV255]>0) {
igor_v 21:bc8c1cec3da6 189 Temp_F_ras += Buff_32Point[CountV255];
igor_v 21:bc8c1cec3da6 190 } else if ((CountV255 & 0x1f)==0) {
igor_v 30:17c84ed091b3 191 Gyro.F_ras=Temp_F_ras;
igor_v 21:bc8c1cec3da6 192 Temp_F_ras=0;
igor_v 21:bc8c1cec3da6 193 } else {
igor_v 21:bc8c1cec3da6 194 Temp_F_ras -= Buff_32Point[CountV255];
igor_v 21:bc8c1cec3da6 195 }
igor_v 21:bc8c1cec3da6 196
igor_v 21:bc8c1cec3da6 197 //unsigned int T_Vib;
igor_v 0:8ad47e2b6f00 198
igor_v 21:bc8c1cec3da6 199 } else if(CountV255 == 255) {
igor_v 21:bc8c1cec3da6 200 FFF=1;//временная заплатка для паузы перед заполнением остальных буферов
igor_v 21:bc8c1cec3da6 201 for (yy = 0; yy < 256; yy++ ) {
igor_v 21:bc8c1cec3da6 202 Buff_1Point [yy] = 0xffff;
igor_v 21:bc8c1cec3da6 203 Buff_16Point [yy] = 0xffff;
igor_v 21:bc8c1cec3da6 204 Buff_32Point [yy] = 0xffff;
igor_v 21:bc8c1cec3da6 205 Buff_16PointD [yy] = 0xffff;
igor_v 21:bc8c1cec3da6 206 }
igor_v 0:8ad47e2b6f00 207
igor_v 21:bc8c1cec3da6 208 }
igor_v 21:bc8c1cec3da6 209 }