Dmitry Kovalev / Mbed 2 deprecated LG2

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Dependencies:   mbed

Fork of LG by igor Apu

MTimer.c@205:775d54fdf646, 2016-12-19 (annotated)

Committer:
Kovalev_D
Date:
Mon Dec 19 14:08:31 2016 +0000
Revision:
205:775d54fdf646
Parent:
203:3a6615de9581
Child:
207:d1ce992f5d17
WRE PARAMETR

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"
Kovalev_D 112:4a96133a1311 9
Kovalev_D 197:7a05523bf588 10 unsigned int CountV64=0;
igor_v 0:8ad47e2b6f00 11 unsigned int CountV31=0;
Kovalev_D 197:7a05523bf588 12 unsigned int CountV255=0;
Kovalev_D 197:7a05523bf588 13 unsigned int f;
Kovalev_D 124:9ae09249f842 14 int loop=0;
Kovalev_D 112:4a96133a1311 15
Kovalev_D 88:b5c1d9d338d1 16 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 17 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 18 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 19 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 20 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 21 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 22 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 92:c892f0311aa7 23 { int i,t;
Kovalev_D 115:e5a230e5af52 24 if (Event1Hz)
Kovalev_D 124:9ae09249f842 25 {
Kovalev_D 203:3a6615de9581 26
Kovalev_D 124:9ae09249f842 27 Gyro.Rate1_Event = 1;
Kovalev_D 122:fbacb932a30b 28 Event1Hz--;
Kovalev_D 122:fbacb932a30b 29 Time1Hz++;
Kovalev_D 117:eefe61968528 30 Discharg ();
Kovalev_D 193:a0fe8bfc97e4 31 BackLight();
Kovalev_D 196:f76dbc081e63 32 }
Kovalev_D 88:b5c1d9d338d1 33 }
Kovalev_D 89:a0d344db227e 34 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 35 ///////////////////// 1kHz //////////////////////////
Kovalev_D 197:7a05523bf588 36 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 37 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 38 {
Kovalev_D 116:66f1f0ff2dab 39 if (Event1K)
Kovalev_D 116:66f1f0ff2dab 40 {
Kovalev_D 88:b5c1d9d338d1 41 Event1K --;
Kovalev_D 116:66f1f0ff2dab 42 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 193:a0fe8bfc97e4 43
Kovalev_D 116:66f1f0ff2dab 44 if (Time1K == 1000)
Kovalev_D 115:e5a230e5af52 45 {
Kovalev_D 88:b5c1d9d338d1 46 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 47 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 48 }
Kovalev_D 88:b5c1d9d338d1 49 }
Kovalev_D 88:b5c1d9d338d1 50 }
Kovalev_D 124:9ae09249f842 51 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 52 {
Kovalev_D 124:9ae09249f842 53 if(Event500Hz)
Kovalev_D 205:775d54fdf646 54 {
Kovalev_D 205:775d54fdf646 55
Kovalev_D 205:775d54fdf646 56 Event500Hz--;
Kovalev_D 197:7a05523bf588 57 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 205:775d54fdf646 58 //CMD_Rate2();
Kovalev_D 197:7a05523bf588 59 }
Kovalev_D 197:7a05523bf588 60 }
Kovalev_D 197:7a05523bf588 61
Kovalev_D 205:775d54fdf646 62 /*
Kovalev_D 197:7a05523bf588 63 void Event_250Hz(void)// событие раз в 500 Гц
Kovalev_D 197:7a05523bf588 64 {
Kovalev_D 197:7a05523bf588 65 if(Event250Hz)
Kovalev_D 193:a0fe8bfc97e4 66 {
Kovalev_D 197:7a05523bf588 67 Event250Hz--;
Kovalev_D 197:7a05523bf588 68 Gyro.EventMOD=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 124:9ae09249f842 69 }
Kovalev_D 205:775d54fdf646 70 }*/
Kovalev_D 89:a0d344db227e 71 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 72 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 73 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 74 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 75 {
Kovalev_D 162:44e4ded32c6a 76
Kovalev_D 88:b5c1d9d338d1 77 if (Event100K) {
Kovalev_D 197:7a05523bf588 78
Kovalev_D 88:b5c1d9d338d1 79 Event100K --;
Kovalev_D 197:7a05523bf588 80
Kovalev_D 124:9ae09249f842 81 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 82
Kovalev_D 124:9ae09249f842 83 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 84 }
Kovalev_D 88:b5c1d9d338d1 85 }
Kovalev_D 89:a0d344db227e 86 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 87 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 88 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 89 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 90 {
Kovalev_D 88:b5c1d9d338d1 91 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 92 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 93 }
Kovalev_D 88:b5c1d9d338d1 94 }
Kovalev_D 89:a0d344db227e 95 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 96 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 97 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 98
Kovalev_D 88:b5c1d9d338d1 99
Kovalev_D 112:4a96133a1311 100 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 101 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 102 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 103
Kovalev_D 112:4a96133a1311 104 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 105 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 106 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 107
Kovalev_D 112:4a96133a1311 108 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 109 {
Kovalev_D 112:4a96133a1311 110 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 111 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 112 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 113 }
Kovalev_D 112:4a96133a1311 114
Kovalev_D 112:4a96133a1311 115
igor_v 0:8ad47e2b6f00 116 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 117 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 118 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 119 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 120 {
igor_v 21:bc8c1cec3da6 121 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 122 return;
igor_v 21:bc8c1cec3da6 123 }
igor_v 0:8ad47e2b6f00 124
igor_v 0:8ad47e2b6f00 125
igor_v 0:8ad47e2b6f00 126 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 127 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 128 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 129
igor_v 0:8ad47e2b6f00 130 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 131 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 132 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 133 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 134 {
Kovalev_D 124:9ae09249f842 135 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 136 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 137 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 138 return 1;
igor_v 21:bc8c1cec3da6 139 }
igor_v 0:8ad47e2b6f00 140
igor_v 21:bc8c1cec3da6 141 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 142 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 143 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 144 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 145 {
igor_v 21:bc8c1cec3da6 146 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 147 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 148 }
igor_v 21:bc8c1cec3da6 149
igor_v 21:bc8c1cec3da6 150
Kovalev_D 112:4a96133a1311 151 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 152 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 153 //////////////////////////////////////////////////////////////////////
Kovalev_D 183:7e200f4d9b16 154 __irq void TIMER1_IRQHandler (void)//13.27 kHz
Kovalev_D 205:775d54fdf646 155 {
igor_v 114:5cc38a53d8a7 156 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 157 SetDAC(DAC);
Kovalev_D 112:4a96133a1311 158
igor_v 114:5cc38a53d8a7 159 CountV255++; // инкремент счеттчика
Kovalev_D 164:6f43f85fdd8d 160 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
Kovalev_D 197:7a05523bf588 161 CountV64 = CountV255 & 0x3f;
Kovalev_D 197:7a05523bf588 162 CountV31 = CountV255 & 0x1f; // малый счетчик
Kovalev_D 197:7a05523bf588 163
Kovalev_D 112:4a96133a1311 164 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 165 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 166
Kovalev_D 116:66f1f0ff2dab 167
Kovalev_D 116:66f1f0ff2dab 168 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 169 ResetDAC(DAC);
Kovalev_D 197:7a05523bf588 170 SPI_Exchange(); //Чтение ADC_SPI
igor_v 114:5cc38a53d8a7 171
Kovalev_D 112:4a96133a1311 172 LPC_TIM1->IR = 1;
Kovalev_D 193:a0fe8bfc97e4 173
Kovalev_D 205:775d54fdf646 174
Kovalev_D 112:4a96133a1311 175 }
Kovalev_D 112:4a96133a1311 176
igor_v 21:bc8c1cec3da6 177 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 178 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 179 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 180 __irq void TIMER2_IRQHandler (void)
Kovalev_D 197:7a05523bf588 181 {
igor_v 21:bc8c1cec3da6 182 LPC_TIM2->IR = 1;
igor_v 21:bc8c1cec3da6 183 Global_Time++;
Kovalev_D 190:289514f730ee 184 if(Time_UART) Time_UART--;
igor_v 21:bc8c1cec3da6 185 Time_vibro++;
Kovalev_D 203:3a6615de9581 186 VibroOut();
Kovalev_D 112:4a96133a1311 187 Gyro.VibroOutF=1;
Kovalev_D 190:289514f730ee 188 Event100K ++;
Kovalev_D 197:7a05523bf588 189 Time500Hz++;
Kovalev_D 197:7a05523bf588 190 Time100K++;
Kovalev_D 205:775d54fdf646 191 // Time250Hz++;
Kovalev_D 197:7a05523bf588 192 if (Time100K == 100)
Kovalev_D 197:7a05523bf588 193 {
Kovalev_D 197:7a05523bf588 194 Time100K = 0;
Kovalev_D 197:7a05523bf588 195 Event1K ++;
Kovalev_D 197:7a05523bf588 196 }
Kovalev_D 197:7a05523bf588 197 if (Time500Hz > 200)
Kovalev_D 197:7a05523bf588 198 {
Kovalev_D 197:7a05523bf588 199 Time500Hz -= 200;
Kovalev_D 197:7a05523bf588 200 Event500Hz ++;
Kovalev_D 197:7a05523bf588 201
Kovalev_D 197:7a05523bf588 202 }
Kovalev_D 205:775d54fdf646 203 /* if (Time250Hz > 400)
Kovalev_D 197:7a05523bf588 204 {
Kovalev_D 197:7a05523bf588 205 Time250Hz -= 400;
Kovalev_D 197:7a05523bf588 206 Event250Hz ++;
Kovalev_D 205:775d54fdf646 207 }*/
Kovalev_D 203:3a6615de9581 208 LoopOff
igor_v 21:bc8c1cec3da6 209 }