Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

MTimer.c@197:7a05523bf588, 2016-10-19 (annotated)

Committer:
Kovalev_D
Date:
Wed Oct 19 10:55:05 2016 +0000
Revision:
197:7a05523bf588
Parent:
196:f76dbc081e63
Child:
200:1df682165694
Child:
201:76f4123bf22a
Child:
203:3a6615de9581
modul

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