Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Global.c@189:8a16378724c4, 2016-08-22 (annotated)

Committer:
Kovalev_D
Date:
Mon Aug 22 10:39:08 2016 +0000
Revision:
189:8a16378724c4
Parent:
188:4c523cc373cc
Child:
190:289514f730ee
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 0:8ad47e2b6f00 3
igor_v 0:8ad47e2b6f00 4
Kovalev_D 89:a0d344db227e 5 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 6 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 112:4a96133a1311 7
Kovalev_D 89:a0d344db227e 8 unsigned char BuffTemp[100];
Kovalev_D 89:a0d344db227e 9 unsigned char Time[500];
Kovalev_D 86:398da56ef751 10 unsigned int Event1Hz;
Kovalev_D 124:9ae09249f842 11 unsigned int Event500Hz;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int Event1K ;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int EventVibro;
Kovalev_D 124:9ae09249f842 15
Kovalev_D 124:9ae09249f842 16 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 17 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 18 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 19 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 20 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 21 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 22 unsigned int ShiftL;
Kovalev_D 86:398da56ef751 23
Kovalev_D 140:1fbf117fc120 24
Kovalev_D 139:1716152517aa 25
Kovalev_D 134:caf4c9cd5052 26 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 27 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 28 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 29 BX R0
Kovalev_D 134:caf4c9cd5052 30 }
Kovalev_D 134:caf4c9cd5052 31
Kovalev_D 86:398da56ef751 32 void GLD_Init(void)
Kovalev_D 86:398da56ef751 33 {
Kovalev_D 183:7e200f4d9b16 34 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 90:d9b6a4bc5065 35 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 36 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 37 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 38 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 39 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 40 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 41 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 42 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 43 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 44 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 45 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 46 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 47 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 48 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 49 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 50 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 51 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 52 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 53 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 54 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 55 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 56 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 57 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 58 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 59 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 60 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 61 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 62 ShiftL = 0;
Kovalev_D 124:9ae09249f842 63 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 64 Time500Hz = 0;
Kovalev_D 139:1716152517aa 65
Kovalev_D 86:398da56ef751 66 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 67 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 68
Kovalev_D 88:b5c1d9d338d1 69
Kovalev_D 88:b5c1d9d338d1 70 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 71 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 72 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 73 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 74 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 132:2c7bec5cf6fe 75 Gyro.FlashMod=0;
Kovalev_D 189:8a16378724c4 76 Gyro.FrqHZ=450;
Kovalev_D 88:b5c1d9d338d1 77 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 189:8a16378724c4 78 Gyro.FrqHZmin = 350<<16;
Kovalev_D 189:8a16378724c4 79 Gyro.FrqHZmax = 450<<16;
Kovalev_D 189:8a16378724c4 80
Kovalev_D 183:7e200f4d9b16 81 Gyro.AmpPer=30;
Kovalev_D 189:8a16378724c4 82 Gyro.AmpPerMin = 20;
Kovalev_D 189:8a16378724c4 83 Gyro.AmpPerMax = 90;
Kovalev_D 189:8a16378724c4 84 Gyro.AmpSpeed = 1;
Kovalev_D 88:b5c1d9d338d1 85 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 86 Gyro.Amp = 10*65535;
Kovalev_D 180:375dcd9c0cb6 87 Gyro.AmpMin =5;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 88 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 89 //////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 90 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 91 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 92 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 93 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 94 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 95 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 96 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 97 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 98 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 99 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 100 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 101 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 102 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 103 Buff_16PointD[i] = 0x00;
Kovalev_D 129:406995a91322 104 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 105 }
Kovalev_D 129:406995a91322 106
Kovalev_D 129:406995a91322 107 for (int i = 0; i < 170; i++ ) {
Kovalev_D 129:406995a91322 108 GyroP.Array[i] =i;
Kovalev_D 88:b5c1d9d338d1 109 }
Kovalev_D 88:b5c1d9d338d1 110 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 111 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 112 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 113 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 114 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 115 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 116 // Temp_AMP=0;
Kovalev_D 96:1c8536458119 117 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 118 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 119 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 120 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 121 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 122 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 123 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 124 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 125 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 126 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 127 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 128 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 129 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 130 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 131 }
Kovalev_D 95:dd51e577e114 132 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 133 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 134 }
Kovalev_D 96:1c8536458119 135 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 136 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 137 }
Kovalev_D 96:1c8536458119 138 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 139 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 140 }
Kovalev_D 88:b5c1d9d338d1 141 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 142 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 143
Kovalev_D 88:b5c1d9d338d1 144
Kovalev_D 88:b5c1d9d338d1 145
Kovalev_D 88:b5c1d9d338d1 146
Kovalev_D 88:b5c1d9d338d1 147
Kovalev_D 92:c892f0311aa7 148
Kovalev_D 88:b5c1d9d338d1 149 Gyro.SOC_Out=0xDD;
Kovalev_D 188:4c523cc373cc 150 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 163:affb5706d191 151 Gyro.GLD_Serial = 0xD7; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 152 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 92:c892f0311aa7 153
Kovalev_D 188:4c523cc373cc 154 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 155 case 0:
Kovalev_D 188:4c523cc373cc 156 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 157 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 158 break;
Kovalev_D 188:4c523cc373cc 159 case 1:
Kovalev_D 188:4c523cc373cc 160 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 161 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 162 break;
Kovalev_D 188:4c523cc373cc 163 case 2:
Kovalev_D 188:4c523cc373cc 164 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 165 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 166 break;
Kovalev_D 188:4c523cc373cc 167 case 3:
Kovalev_D 188:4c523cc373cc 168 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 169 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 170 break;
Kovalev_D 188:4c523cc373cc 171 }
Kovalev_D 89:a0d344db227e 172
Kovalev_D 88:b5c1d9d338d1 173 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 174 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 175 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 176 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 177 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 178 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 179 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 180 /////////////////////////////////////////////////////
Kovalev_D 159:38f39c0c143f 181
Kovalev_D 159:38f39c0c143f 182 // Spi.DAC_A = 20000;
Kovalev_D 188:4c523cc373cc 183 Spi.DAC_A = 38000;
Kovalev_D 159:38f39c0c143f 184 //Spi.DAC_A = 44000;
Kovalev_D 159:38f39c0c143f 185
Kovalev_D 157:1069c80f4944 186 //Spi.DAC_B = 0x7fff; //старое начало
Kovalev_D 188:4c523cc373cc 187 Spi.DAC_B = 38000; //40000
Kovalev_D 163:affb5706d191 188 //Spi.DAC_B = 11000; //для просмотра мод
Kovalev_D 158:0c8342e1837a 189
Kovalev_D 159:38f39c0c143f 190 Gyro.StrayHZ = 1000;
Kovalev_D 159:38f39c0c143f 191 Gyro.StrayHZ_flag = 0;
Kovalev_D 159:38f39c0c143f 192 Gyro.LogHZ = 0;
Kovalev_D 159:38f39c0c143f 193
Kovalev_D 159:38f39c0c143f 194 Gyro.StrayPLC_Pls =1000;
Kovalev_D 159:38f39c0c143f 195 Gyro.StrayPLC_Mns = -1000;
Kovalev_D 159:38f39c0c143f 196 Gyro.StrayPLC_2Mode = 2000;
Kovalev_D 159:38f39c0c143f 197 Gyro.StrayPLC_flag = 0;
Kovalev_D 159:38f39c0c143f 198 Gyro.LogPLC = 0;
Kovalev_D 159:38f39c0c143f 199 Gyro.PLC_Lern = 0;
Kovalev_D 168:f4a6abb18358 200 Gyro.ModJump = 0;
Kovalev_D 168:f4a6abb18358 201 Gyro.PLC_Error2Mode =500; //для записи мод
Kovalev_D 159:38f39c0c143f 202 //Gyro.PLC_Error2Mode = 65; //стандартное включение прибора регулировка (65 начальная задержка для поиска АМП мах)
Kovalev_D 86:398da56ef751 203 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 204 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 205 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 206 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 207 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 208 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 209 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 210 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 211
igor_v 16:18e3fd7b92d0 212
igor_v 16:18e3fd7b92d0 213
Kovalev_D 86:398da56ef751 214 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 215
Kovalev_D 86:398da56ef751 216
Kovalev_D 86:398da56ef751 217 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 218 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 219 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 220 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 221 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 222 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 223 Cur_QEI=0;
Kovalev_D 86:398da56ef751 224 Last_QEI=0;
Kovalev_D 86:398da56ef751 225 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 226 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 227 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 228 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 229 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 230 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 231 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 232 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 233
Kovalev_D 98:95b8e79f13e1 234
Kovalev_D 87:7e575d26d6d0 235 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 236 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 237 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 238 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 239
Kovalev_D 87:7e575d26d6d0 240 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 241 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 242
Kovalev_D 98:95b8e79f13e1 243 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 244 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 245 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 246 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 247
Kovalev_D 88:b5c1d9d338d1 248
Kovalev_D 89:a0d344db227e 249 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 250 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 251 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 252
Kovalev_D 89:a0d344db227e 253 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 254
Kovalev_D 89:a0d344db227e 255 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 256 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 257 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 258 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 259
Kovalev_D 89:a0d344db227e 260 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 261 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 262 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 263
Kovalev_D 89:a0d344db227e 264 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 265 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 266 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 267
Kovalev_D 99:3d8f206ceac2 268 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 269 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 270 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 271 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 272
Kovalev_D 89:a0d344db227e 273 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 274 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 275 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 276
Kovalev_D 86:398da56ef751 277
Kovalev_D 86:398da56ef751 278
Kovalev_D 92:c892f0311aa7 279
Kovalev_D 92:c892f0311aa7 280
Kovalev_D 92:c892f0311aa7 281
Kovalev_D 92:c892f0311aa7 282 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 283 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 284 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 285 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 286 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 287
Kovalev_D 92:c892f0311aa7 288 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 289 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 290
Kovalev_D 92:c892f0311aa7 291 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 292 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 293 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 294
Kovalev_D 92:c892f0311aa7 295 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 296 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 297 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 298
Kovalev_D 92:c892f0311aa7 299 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 300 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 301
Kovalev_D 92:c892f0311aa7 302 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 303 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 304
Kovalev_D 92:c892f0311aa7 305 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 306 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 307
Kovalev_D 92:c892f0311aa7 308 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 92:c892f0311aa7 309 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 310 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 311
Kovalev_D 92:c892f0311aa7 312 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 313 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 314
Kovalev_D 92:c892f0311aa7 315 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 316 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 317 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 318 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 319 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 320 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 321 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 322 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 323 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 324
Kovalev_D 92:c892f0311aa7 325 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 326 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 327 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 328 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 329 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 330 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 331 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 332
Kovalev_D 92:c892f0311aa7 333
Kovalev_D 92:c892f0311aa7 334
Kovalev_D 92:c892f0311aa7 335
Kovalev_D 86:398da56ef751 336 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 337 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 338 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 339
Kovalev_D 89:a0d344db227e 340 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 341 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 342 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 343 PinCheng();
Kovalev_D 89:a0d344db227e 344 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 345
Kovalev_D 87:7e575d26d6d0 346 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 347 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 348 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 349
Kovalev_D 98:95b8e79f13e1 350 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 98:95b8e79f13e1 351 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 98:95b8e79f13e1 352 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 87:7e575d26d6d0 353 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 354 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 355 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 356
Kovalev_D 88:b5c1d9d338d1 357
Kovalev_D 87:7e575d26d6d0 358 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 359 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 360 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 361 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 362 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 363 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 364
Kovalev_D 88:b5c1d9d338d1 365
Kovalev_D 88:b5c1d9d338d1 366
Kovalev_D 87:7e575d26d6d0 367 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 368 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 369 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 370 LPC_PINCON->PINSEL0 &= ~(3<<8); //e. P0.4 is GPIO pin (запись ( 00 ) в 9:8 бит PISEL0 выбор P0.4 как GPIO)
Kovalev_D 98:95b8e79f13e1 371 LPC_PINCON->PINMODE0 |= (3<<8); //e. P0.4 is GPIO pin (запись ( 11 ) в 9:8 бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 372 LPC_GPIO0->FIODIR |= (1<<4); //e. P0.4 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.4 как выход)
Kovalev_D 87:7e575d26d6d0 373 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 374 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 375
Kovalev_D 88:b5c1d9d338d1 376
Kovalev_D 88:b5c1d9d338d1 377
Kovalev_D 87:7e575d26d6d0 378 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 379 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 380 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 381 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 382 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 383 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 384 LPC_GPIO1->FIODIR |= (1<<25); //e. P0.5 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 385 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 386 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 387 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 388 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 389 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 390 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 391 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 392 LPC_GPIO1->FIODIR |= (1<<28); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 393 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 394 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 395 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 396
Kovalev_D 88:b5c1d9d338d1 397
Kovalev_D 88:b5c1d9d338d1 398
Kovalev_D 87:7e575d26d6d0 399 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 400 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 401 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 402 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 403 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 404 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 405 LPC_GPIO2->FIODIR |= (1<<12); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 406 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 407 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 408 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 409
Kovalev_D 88:b5c1d9d338d1 410
Kovalev_D 88:b5c1d9d338d1 411 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 412 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 413 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 414 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 415 enable_timer1();
Kovalev_D 86:398da56ef751 416 enable_timer2();
Kovalev_D 89:a0d344db227e 417 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 418
Kovalev_D 89:a0d344db227e 419 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 420 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 421
Kovalev_D 90:d9b6a4bc5065 422
Kovalev_D 90:d9b6a4bc5065 423
Kovalev_D 90:d9b6a4bc5065 424 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 425 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 426 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 427 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 428 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 429
Kovalev_D 90:d9b6a4bc5065 430 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 431 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 432
Kovalev_D 90:d9b6a4bc5065 433 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 434 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 435 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 436
Kovalev_D 90:d9b6a4bc5065 437 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 438 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 439 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 440
Kovalev_D 90:d9b6a4bc5065 441 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 442 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 443
Kovalev_D 90:d9b6a4bc5065 444 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 445 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 446
Kovalev_D 90:d9b6a4bc5065 447 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 448 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 449
Kovalev_D 90:d9b6a4bc5065 450 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 90:d9b6a4bc5065 451 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 452 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 453
Kovalev_D 90:d9b6a4bc5065 454 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 455 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 456
Kovalev_D 90:d9b6a4bc5065 457 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 458 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 459 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 460 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 461 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 462 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 463 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 464 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 465 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 466
Kovalev_D 92:c892f0311aa7 467 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 468 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 469 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 470 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 471
Kovalev_D 86:398da56ef751 472 }
igor_v 13:e2a1d18677b8 473
igor_v 0:8ad47e2b6f00 474
igor_v 0:8ad47e2b6f00 475
igor_v 0:8ad47e2b6f00 476
igor_v 0:8ad47e2b6f00 477