Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Command.c@125:9400e64d0636, 2016-04-08 (annotated)

Committer:
Kovalev_D
Date:
Fri Apr 08 17:52:16 2016 +0000
Revision:
125:9400e64d0636
Parent:
124:9ae09249f842
Child:
128:1e4675a36c93
11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "stdlib.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "Global.h"
Kovalev_D 106:250ddd8629c6 4 int tempNH,tempNL;
igor_v 0:8ad47e2b6f00 5 unsigned int Rate_Flag;
igor_v 0:8ad47e2b6f00 6 unsigned int CountBuFFIn;
igor_v 21:bc8c1cec3da6 7 unsigned int N=0,CRC_N;
igor_v 21:bc8c1cec3da6 8 unsigned int Param1=0;
igor_v 21:bc8c1cec3da6 9 unsigned int Param2=0;
igor_v 21:bc8c1cec3da6 10 unsigned int Param3=0;
igor_v 21:bc8c1cec3da6 11 unsigned int Param4=0;
Kovalev_D 102:4270092be987 12 unsigned int Consol=123;
Kovalev_D 121:bbae560cdd43 13 unsigned int TempParam=1;
Kovalev_D 124:9ae09249f842 14 unsigned int CountParam=0;
igor_v 0:8ad47e2b6f00 15 /*
igor_v 21:bc8c1cec3da6 16 void exec_CMD(void) //r. === процедура окончательной дешифрации и исполнения команды
igor_v 0:8ad47e2b6f00 17 {
igor_v 0:8ad47e2b6f00 18 unsigned int Comand_code;
igor_v 21:bc8c1cec3da6 19
igor_v 21:bc8c1cec3da6 20 //rx_buf_copy = 1; //r. предустанов флага копирования приемного буфера
igor_v 0:8ad47e2b6f00 21
igor_v 0:8ad47e2b6f00 22 Comand_code = (rcv_buf[2] & 0xFF) << 8;
igor_v 21:bc8c1cec3da6 23 PC_Comand = Comand_code | (rcv_buf[3] & 0xFF); //e. save it in the memory for echo-transmission //r. сохранить его в памяти для обратной передачи
igor_v 0:8ad47e2b6f00 24 }*/
igor_v 0:8ad47e2b6f00 25 void CMD_Maintenance(void)
igor_v 0:8ad47e2b6f00 26 {
Kovalev_D 122:fbacb932a30b 27
Kovalev_D 122:fbacb932a30b 28 BuffTemp[0] = Gyro.SOC_Out;
Kovalev_D 124:9ae09249f842 29 BuffTemp[1] = Gyro.My_Addres;
Kovalev_D 124:9ae09249f842 30 BuffTemp[2] = Gyro.Firmware_Version;
Kovalev_D 124:9ae09249f842 31 BuffTemp[3] = Gyro.GLD_Serial;
igor_v 21:bc8c1cec3da6 32 BuffTemp[4]=0x00;
igor_v 21:bc8c1cec3da6 33 BuffTemp[5]=0x00;
igor_v 21:bc8c1cec3da6 34 Check(BuffTemp, 8);
igor_v 21:bc8c1cec3da6 35 WriteConN (BuffTemp,8);
Kovalev_D 121:bbae560cdd43 36
igor_v 0:8ad47e2b6f00 37 }
Kovalev_D 124:9ae09249f842 38 void CMD_Delta_500Hz(void)
Kovalev_D 124:9ae09249f842 39 {
Kovalev_D 124:9ae09249f842 40 Gyro.Delta500_Event=0;
Kovalev_D 122:fbacb932a30b 41 unsigned int Temp;
Kovalev_D 124:9ae09249f842 42 BuffTemp[ 0] = Gyro.SOC_Out;
Kovalev_D 122:fbacb932a30b 43 BuffTemp[ 1] = Gyro.My_Addres;
Kovalev_D 124:9ae09249f842 44
Kovalev_D 124:9ae09249f842 45 Temp = Gyro.CuruAngle;
Kovalev_D 124:9ae09249f842 46 Gyro.CuruAngle = 0;
Kovalev_D 124:9ae09249f842 47
Kovalev_D 124:9ae09249f842 48 BuffTemp[ 2] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 124:9ae09249f842 49 BuffTemp[ 3] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 124:9ae09249f842 50
Kovalev_D 124:9ae09249f842 51 BuffTemp[ 4] = CountParam;
Kovalev_D 124:9ae09249f842 52 switch(CountParam) {
Kovalev_D 124:9ae09249f842 53
Kovalev_D 124:9ae09249f842 54
Kovalev_D 124:9ae09249f842 55
Kovalev_D 124:9ae09249f842 56 //F_ras
Kovalev_D 124:9ae09249f842 57 case 0:
Kovalev_D 124:9ae09249f842 58 Temp = Gyro.F_ras;
Kovalev_D 124:9ae09249f842 59 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 60 break;
Kovalev_D 124:9ae09249f842 61
Kovalev_D 124:9ae09249f842 62 case 1:
Kovalev_D 124:9ae09249f842 63 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 64 break;
Kovalev_D 124:9ae09249f842 65
Kovalev_D 124:9ae09249f842 66
Kovalev_D 124:9ae09249f842 67
Kovalev_D 124:9ae09249f842 68 //HFO
Kovalev_D 124:9ae09249f842 69 case 2:
Kovalev_D 124:9ae09249f842 70 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 71 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 72 break;
Kovalev_D 124:9ae09249f842 73
Kovalev_D 124:9ae09249f842 74 case 3:
Kovalev_D 124:9ae09249f842 75 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 76 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 77 break;
Kovalev_D 124:9ae09249f842 78
Kovalev_D 124:9ae09249f842 79
Kovalev_D 124:9ae09249f842 80
Kovalev_D 124:9ae09249f842 81 //T_Vibro
Kovalev_D 124:9ae09249f842 82 case 4:
Kovalev_D 124:9ae09249f842 83 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 84 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 85 break;
Kovalev_D 124:9ae09249f842 86
Kovalev_D 124:9ae09249f842 87 case 5:
Kovalev_D 124:9ae09249f842 88 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 89 break;
Kovalev_D 124:9ae09249f842 90
Kovalev_D 124:9ae09249f842 91
Kovalev_D 124:9ae09249f842 92
Kovalev_D 124:9ae09249f842 93 //L_Vibro
Kovalev_D 124:9ae09249f842 94 case 6:
Kovalev_D 124:9ae09249f842 95 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 96 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 97
Kovalev_D 124:9ae09249f842 98 break;
Kovalev_D 124:9ae09249f842 99
Kovalev_D 124:9ae09249f842 100 case 7:
Kovalev_D 124:9ae09249f842 101 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 102 break;
Kovalev_D 124:9ae09249f842 103
Kovalev_D 124:9ae09249f842 104
Kovalev_D 124:9ae09249f842 105
Kovalev_D 124:9ae09249f842 106 //Напряжение на регуляторе периметра
Kovalev_D 124:9ae09249f842 107 case 8:
Kovalev_D 124:9ae09249f842 108 Temp = Spi.DAC_B - 0x7fff;
Kovalev_D 124:9ae09249f842 109 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 110
Kovalev_D 124:9ae09249f842 111 break;
Kovalev_D 124:9ae09249f842 112
Kovalev_D 124:9ae09249f842 113 case 9:
Kovalev_D 124:9ae09249f842 114 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 115 break;
Kovalev_D 124:9ae09249f842 116
Kovalev_D 124:9ae09249f842 117
Kovalev_D 124:9ae09249f842 118
Kovalev_D 124:9ae09249f842 119 //темпкратурный канал 0
Kovalev_D 124:9ae09249f842 120 case 10:
Kovalev_D 124:9ae09249f842 121 Temp = 100;
Kovalev_D 124:9ae09249f842 122 BuffTemp[5] = (Temp >> 8) & 0xff;
igor_v 0:8ad47e2b6f00 123
Kovalev_D 124:9ae09249f842 124 break;
Kovalev_D 124:9ae09249f842 125
Kovalev_D 124:9ae09249f842 126 case 11:
Kovalev_D 124:9ae09249f842 127 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 128 break;
Kovalev_D 124:9ae09249f842 129
Kovalev_D 124:9ae09249f842 130
Kovalev_D 124:9ae09249f842 131
Kovalev_D 124:9ae09249f842 132 //темпкратурный канал 1
Kovalev_D 124:9ae09249f842 133 case 12:
Kovalev_D 124:9ae09249f842 134 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 124:9ae09249f842 135 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 136
Kovalev_D 124:9ae09249f842 137 break;
Kovalev_D 124:9ae09249f842 138
Kovalev_D 124:9ae09249f842 139 case 13:
Kovalev_D 124:9ae09249f842 140 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 141 break;
Kovalev_D 124:9ae09249f842 142
Kovalev_D 124:9ae09249f842 143
Kovalev_D 124:9ae09249f842 144
Kovalev_D 124:9ae09249f842 145 //ток 1
Kovalev_D 124:9ae09249f842 146 case 14:
Kovalev_D 124:9ae09249f842 147 Temp = Gyro.In1;
Kovalev_D 124:9ae09249f842 148 BuffTemp[5] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 124:9ae09249f842 149
Kovalev_D 124:9ae09249f842 150 break;
Kovalev_D 124:9ae09249f842 151
Kovalev_D 124:9ae09249f842 152 case 15:
Kovalev_D 124:9ae09249f842 153 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 154 break;
Kovalev_D 124:9ae09249f842 155
Kovalev_D 124:9ae09249f842 156
Kovalev_D 124:9ae09249f842 157
Kovalev_D 124:9ae09249f842 158 //ток 2
Kovalev_D 124:9ae09249f842 159 case 16:
Kovalev_D 124:9ae09249f842 160 Temp = Gyro.In2;
Kovalev_D 124:9ae09249f842 161 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 162 break;
Kovalev_D 124:9ae09249f842 163
Kovalev_D 124:9ae09249f842 164 case 17:
Kovalev_D 124:9ae09249f842 165 BuffTemp[5] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 124:9ae09249f842 166 break;
Kovalev_D 124:9ae09249f842 167
Kovalev_D 124:9ae09249f842 168
Kovalev_D 124:9ae09249f842 169
Kovalev_D 124:9ae09249f842 170 //разностный температурный канал Delta Temp
Kovalev_D 124:9ae09249f842 171 case 18:
Kovalev_D 124:9ae09249f842 172 Temp = Gyro.DeltaT;
Kovalev_D 124:9ae09249f842 173 BuffTemp[5] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 124:9ae09249f842 174 break;
Kovalev_D 124:9ae09249f842 175
Kovalev_D 124:9ae09249f842 176 case 19:
Kovalev_D 124:9ae09249f842 177 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 178 break;
Kovalev_D 124:9ae09249f842 179
Kovalev_D 124:9ae09249f842 180
Kovalev_D 124:9ae09249f842 181
Kovalev_D 124:9ae09249f842 182 //температурный канал 5
Kovalev_D 124:9ae09249f842 183 case 20:
Kovalev_D 124:9ae09249f842 184 Temp = Gyro.Termo;//0xa4=164
Kovalev_D 124:9ae09249f842 185 BuffTemp[5] =(Temp >> 8) & 0xff;//температура
Kovalev_D 124:9ae09249f842 186
Kovalev_D 124:9ae09249f842 187 break;
Kovalev_D 124:9ae09249f842 188
Kovalev_D 124:9ae09249f842 189 case 21:
Kovalev_D 124:9ae09249f842 190 BuffTemp[5] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
Kovalev_D 124:9ae09249f842 191 break;
Kovalev_D 124:9ae09249f842 192 }
Kovalev_D 124:9ae09249f842 193 Check(BuffTemp, 6);
Kovalev_D 124:9ae09249f842 194 WriteConN (BuffTemp,6);
Kovalev_D 124:9ae09249f842 195 CountParam++;
Kovalev_D 124:9ae09249f842 196
Kovalev_D 124:9ae09249f842 197 if(CountParam>21)CountParam=0;//зацикливания буфера от 0 до 21
Kovalev_D 124:9ae09249f842 198
Kovalev_D 124:9ae09249f842 199 }
Kovalev_D 124:9ae09249f842 200 void CMD_Delta_Ext(void)
Kovalev_D 124:9ae09249f842 201 {
Kovalev_D 124:9ae09249f842 202 unsigned int Temp;
Kovalev_D 124:9ae09249f842 203 BuffTemp[ 0] = Gyro.SOC_Out;
Kovalev_D 124:9ae09249f842 204 BuffTemp[ 1] = Gyro.My_Addres;
Kovalev_D 124:9ae09249f842 205
Kovalev_D 124:9ae09249f842 206 Temp = Gyro.CuruAngle;
Kovalev_D 124:9ae09249f842 207 Gyro.CuruAngle = 0;
Kovalev_D 124:9ae09249f842 208
Kovalev_D 124:9ae09249f842 209 BuffTemp[ 2] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 124:9ae09249f842 210 BuffTemp[ 3] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 124:9ae09249f842 211
Kovalev_D 124:9ae09249f842 212 BuffTemp[ 4] = CountParam;
Kovalev_D 124:9ae09249f842 213 switch(CountParam) {
Kovalev_D 124:9ae09249f842 214
Kovalev_D 124:9ae09249f842 215
Kovalev_D 124:9ae09249f842 216
Kovalev_D 124:9ae09249f842 217 //F_ras
Kovalev_D 124:9ae09249f842 218 case 0:
Kovalev_D 124:9ae09249f842 219 Temp = Gyro.F_ras;
Kovalev_D 124:9ae09249f842 220 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 221 break;
Kovalev_D 124:9ae09249f842 222
Kovalev_D 124:9ae09249f842 223 case 1:
Kovalev_D 124:9ae09249f842 224 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 225 break;
Kovalev_D 124:9ae09249f842 226
Kovalev_D 124:9ae09249f842 227
Kovalev_D 124:9ae09249f842 228
Kovalev_D 124:9ae09249f842 229 //HFO
Kovalev_D 124:9ae09249f842 230 case 2:
Kovalev_D 124:9ae09249f842 231 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 232 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 233 break;
Kovalev_D 124:9ae09249f842 234
Kovalev_D 124:9ae09249f842 235 case 3:
Kovalev_D 124:9ae09249f842 236 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 237 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 238 break;
Kovalev_D 124:9ae09249f842 239
Kovalev_D 124:9ae09249f842 240
Kovalev_D 124:9ae09249f842 241
Kovalev_D 124:9ae09249f842 242 //T_Vibro
Kovalev_D 124:9ae09249f842 243 case 4:
Kovalev_D 124:9ae09249f842 244 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 245 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 246 break;
Kovalev_D 124:9ae09249f842 247
Kovalev_D 124:9ae09249f842 248 case 5:
Kovalev_D 124:9ae09249f842 249 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 250 break;
Kovalev_D 124:9ae09249f842 251
Kovalev_D 124:9ae09249f842 252
Kovalev_D 124:9ae09249f842 253
Kovalev_D 124:9ae09249f842 254 //L_Vibro
Kovalev_D 124:9ae09249f842 255 case 6:
Kovalev_D 124:9ae09249f842 256 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 257 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 122:fbacb932a30b 258
Kovalev_D 124:9ae09249f842 259 break;
Kovalev_D 124:9ae09249f842 260
Kovalev_D 124:9ae09249f842 261 case 7:
Kovalev_D 124:9ae09249f842 262 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 263 break;
Kovalev_D 124:9ae09249f842 264
Kovalev_D 124:9ae09249f842 265
Kovalev_D 124:9ae09249f842 266
Kovalev_D 124:9ae09249f842 267 //Напряжение на регуляторе периметра
Kovalev_D 124:9ae09249f842 268 case 8:
Kovalev_D 124:9ae09249f842 269 Temp = Spi.DAC_B - 0x7fff;
Kovalev_D 124:9ae09249f842 270 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 271
Kovalev_D 124:9ae09249f842 272 break;
Kovalev_D 124:9ae09249f842 273
Kovalev_D 124:9ae09249f842 274 case 9:
Kovalev_D 124:9ae09249f842 275 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 276 break;
Kovalev_D 124:9ae09249f842 277
Kovalev_D 124:9ae09249f842 278
Kovalev_D 124:9ae09249f842 279
Kovalev_D 124:9ae09249f842 280 //темпкратурный канал 0
Kovalev_D 124:9ae09249f842 281 case 10:
Kovalev_D 124:9ae09249f842 282 Temp = 100;
Kovalev_D 124:9ae09249f842 283 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 284
Kovalev_D 124:9ae09249f842 285 break;
Kovalev_D 124:9ae09249f842 286
Kovalev_D 124:9ae09249f842 287 case 11:
Kovalev_D 124:9ae09249f842 288 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 289 break;
Kovalev_D 124:9ae09249f842 290
Kovalev_D 124:9ae09249f842 291
Kovalev_D 124:9ae09249f842 292
Kovalev_D 124:9ae09249f842 293 //темпкратурный канал 1
Kovalev_D 124:9ae09249f842 294 case 12:
Kovalev_D 124:9ae09249f842 295 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 124:9ae09249f842 296 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 297
Kovalev_D 124:9ae09249f842 298 break;
Kovalev_D 124:9ae09249f842 299
Kovalev_D 124:9ae09249f842 300 case 13:
Kovalev_D 124:9ae09249f842 301 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 302 break;
Kovalev_D 124:9ae09249f842 303
Kovalev_D 124:9ae09249f842 304
Kovalev_D 124:9ae09249f842 305
Kovalev_D 124:9ae09249f842 306 //ток 1
Kovalev_D 124:9ae09249f842 307 case 14:
Kovalev_D 124:9ae09249f842 308 Temp = Gyro.In1;
Kovalev_D 124:9ae09249f842 309 BuffTemp[5] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 124:9ae09249f842 310
Kovalev_D 124:9ae09249f842 311 break;
Kovalev_D 124:9ae09249f842 312
Kovalev_D 124:9ae09249f842 313 case 15:
Kovalev_D 124:9ae09249f842 314 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 315 break;
Kovalev_D 124:9ae09249f842 316
Kovalev_D 124:9ae09249f842 317
Kovalev_D 124:9ae09249f842 318
Kovalev_D 124:9ae09249f842 319 //ток 2
Kovalev_D 124:9ae09249f842 320 case 16:
Kovalev_D 124:9ae09249f842 321 Temp = Gyro.In2;
Kovalev_D 124:9ae09249f842 322 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 323 break;
Kovalev_D 124:9ae09249f842 324
Kovalev_D 124:9ae09249f842 325 case 17:
Kovalev_D 124:9ae09249f842 326 BuffTemp[5] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 124:9ae09249f842 327 break;
Kovalev_D 124:9ae09249f842 328
Kovalev_D 124:9ae09249f842 329
Kovalev_D 124:9ae09249f842 330
Kovalev_D 124:9ae09249f842 331 //разностный температурный канал Delta Temp
Kovalev_D 124:9ae09249f842 332 case 18:
Kovalev_D 124:9ae09249f842 333 Temp = Gyro.DeltaT;
Kovalev_D 124:9ae09249f842 334 BuffTemp[5] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 124:9ae09249f842 335 break;
Kovalev_D 124:9ae09249f842 336
Kovalev_D 124:9ae09249f842 337 case 19:
Kovalev_D 124:9ae09249f842 338 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 339 break;
Kovalev_D 124:9ae09249f842 340
Kovalev_D 124:9ae09249f842 341
Kovalev_D 124:9ae09249f842 342
Kovalev_D 124:9ae09249f842 343 //температурный канал 5
Kovalev_D 124:9ae09249f842 344 case 20:
Kovalev_D 124:9ae09249f842 345 Temp = Gyro.Termo;//0xa4=164
Kovalev_D 124:9ae09249f842 346 BuffTemp[5] =(Temp >> 8) & 0xff;//температура
Kovalev_D 124:9ae09249f842 347
Kovalev_D 124:9ae09249f842 348 break;
Kovalev_D 124:9ae09249f842 349
Kovalev_D 124:9ae09249f842 350 case 21:
Kovalev_D 124:9ae09249f842 351 BuffTemp[5] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
Kovalev_D 124:9ae09249f842 352 break;
Kovalev_D 124:9ae09249f842 353 }
Kovalev_D 124:9ae09249f842 354 Check(BuffTemp, 6);
Kovalev_D 124:9ae09249f842 355 WriteConN (BuffTemp,6);
Kovalev_D 124:9ae09249f842 356 CountParam++;
Kovalev_D 124:9ae09249f842 357
Kovalev_D 124:9ae09249f842 358 if(CountParam>21)CountParam=0;//зацикливания буфера от 0 до 21
Kovalev_D 122:fbacb932a30b 359 }
Kovalev_D 124:9ae09249f842 360
Kovalev_D 121:bbae560cdd43 361 void CMD_Rate2(void)
Kovalev_D 121:bbae560cdd43 362 {
Kovalev_D 124:9ae09249f842 363 Gyro.Rate2_Event=0;
Kovalev_D 121:bbae560cdd43 364 BuffTemp[ 0] = Gyro.SOC_Out;
Kovalev_D 121:bbae560cdd43 365 BuffTemp[ 1] = Gyro.My_Addres;
Kovalev_D 121:bbae560cdd43 366
Kovalev_D 121:bbae560cdd43 367
Kovalev_D 121:bbae560cdd43 368 BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
Kovalev_D 121:bbae560cdd43 369 BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
Kovalev_D 121:bbae560cdd43 370
Kovalev_D 121:bbae560cdd43 371 BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
Kovalev_D 121:bbae560cdd43 372 BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
Kovalev_D 124:9ae09249f842 373
Kovalev_D 122:fbacb932a30b 374 Check(BuffTemp, 8);
Kovalev_D 122:fbacb932a30b 375 WriteConN (BuffTemp,8);
Kovalev_D 121:bbae560cdd43 376 }
Kovalev_D 124:9ae09249f842 377
igor_v 0:8ad47e2b6f00 378 void CMD_Rate(void)
igor_v 21:bc8c1cec3da6 379 {
Kovalev_D 124:9ae09249f842 380
Kovalev_D 124:9ae09249f842 381 Gyro.Rate1_Event=0;
Kovalev_D 108:030cdde08314 382 unsigned int Temp;
Kovalev_D 107:4d178bcc9d8a 383
igor_v 30:17c84ed091b3 384 Gyro.Firmware_Version=0xff; /// промежуточная затычка
Kovalev_D 122:fbacb932a30b 385
igor_v 0:8ad47e2b6f00 386
igor_v 30:17c84ed091b3 387 BuffTemp[ 0] = Gyro.SOC_Out;
igor_v 30:17c84ed091b3 388 BuffTemp[ 1] = Gyro.My_Addres;
igor_v 21:bc8c1cec3da6 389
Kovalev_D 108:030cdde08314 390
Kovalev_D 112:4a96133a1311 391 BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
Kovalev_D 112:4a96133a1311 392 BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
Kovalev_D 108:030cdde08314 393
Kovalev_D 112:4a96133a1311 394 BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
Kovalev_D 112:4a96133a1311 395 BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
Kovalev_D 108:030cdde08314 396
Kovalev_D 113:8be429494918 397
Kovalev_D 108:030cdde08314 398 Temp = Gyro.CuruAngle;
Kovalev_D 108:030cdde08314 399 Gyro.CuruAngle = 0;
Kovalev_D 125:9400e64d0636 400 Temp = Gyro.AD_Fast >> 16;
Kovalev_D 108:030cdde08314 401 BuffTemp[ 6] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 108:030cdde08314 402 BuffTemp[ 7] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 108:030cdde08314 403
Kovalev_D 108:030cdde08314 404
Kovalev_D 122:fbacb932a30b 405 Temp = Gyro.F_ras;
Kovalev_D 122:fbacb932a30b 406 BuffTemp[ 8] = (Temp >> 8) & 0xff;//расщипление частота
Kovalev_D 122:fbacb932a30b 407 BuffTemp[ 9] = (Temp >> 0) & 0xff;//
igor_v 21:bc8c1cec3da6 408
Kovalev_D 108:030cdde08314 409 BuffTemp[10] = (Temp >> 8) & 0xff;//выход регулятора гвч;
Kovalev_D 122:fbacb932a30b 410 BuffTemp[11] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 411
Kovalev_D 122:fbacb932a30b 412 Temp = (Gyro.AD_Slow >> 16)- 0x7fff;
Kovalev_D 108:030cdde08314 413 BuffTemp[12]=(Temp >> 8) & 0xff;////
Kovalev_D 108:030cdde08314 414 BuffTemp[13]=(Temp >> 0) & 0xff;////
igor_v 21:bc8c1cec3da6 415
Kovalev_D 108:030cdde08314 416
Kovalev_D 108:030cdde08314 417 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 418 BuffTemp[14] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 419 BuffTemp[15] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 420
Kovalev_D 107:4d178bcc9d8a 421 BuffTemp[16] = 0xf;
Kovalev_D 106:250ddd8629c6 422 BuffTemp[17] = 0x02;
Kovalev_D 108:030cdde08314 423
igor_v 21:bc8c1cec3da6 424
Kovalev_D 108:030cdde08314 425 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 426 BuffTemp[18] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 427 BuffTemp[19] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 428
Kovalev_D 106:250ddd8629c6 429 BuffTemp[20] = 0x00;
Kovalev_D 106:250ddd8629c6 430 BuffTemp[21] = 0x00;
Kovalev_D 120:9f446f1495e8 431
Kovalev_D 119:4d7fcece9e8e 432
Kovalev_D 125:9400e64d0636 433
Kovalev_D 121:bbae560cdd43 434 Temp = Spi.DAC_B - 0x7fff;
Kovalev_D 108:030cdde08314 435 BuffTemp[22] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 436 BuffTemp[23] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 437
Kovalev_D 121:bbae560cdd43 438
Kovalev_D 121:bbae560cdd43 439 Temp = Gyro.PLC_Delta >> 16;
Kovalev_D 121:bbae560cdd43 440 BuffTemp[24] = (Temp >> 8) & 0xff;
Kovalev_D 121:bbae560cdd43 441 BuffTemp[25] = (Temp >> 0) & 0xff;// ХЗ
Kovalev_D 113:8be429494918 442
Kovalev_D 125:9400e64d0636 443 Temp = 100;
Kovalev_D 125:9400e64d0636 444 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 113:8be429494918 445 BuffTemp[26] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 446 BuffTemp[27] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 447
Kovalev_D 113:8be429494918 448 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 113:8be429494918 449 BuffTemp[28] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 450 BuffTemp[29] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 451
Kovalev_D 113:8be429494918 452 Temp = Gyro.In1;
Kovalev_D 113:8be429494918 453 BuffTemp[30] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 113:8be429494918 454 BuffTemp[31] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 455
Kovalev_D 113:8be429494918 456 Temp = Gyro.In2;
Kovalev_D 113:8be429494918 457 BuffTemp[32] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 458 BuffTemp[33] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 113:8be429494918 459
Kovalev_D 113:8be429494918 460 Temp = Gyro.DeltaT;
Kovalev_D 113:8be429494918 461 BuffTemp[34] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 113:8be429494918 462 BuffTemp[35] = (Temp >> 0) & 0xff;
Kovalev_D 115:e5a230e5af52 463
Kovalev_D 116:66f1f0ff2dab 464 Temp = Gyro.Termo;//0xa4=164
Kovalev_D 115:e5a230e5af52 465
Kovalev_D 113:8be429494918 466 BuffTemp[36] =(Temp >> 8) & 0xff;//температура
Kovalev_D 115:e5a230e5af52 467 BuffTemp[37] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
igor_v 21:bc8c1cec3da6 468
Kovalev_D 106:250ddd8629c6 469 BuffTemp[38] =0x00;
Kovalev_D 106:250ddd8629c6 470 BuffTemp[39] =0x00;
Kovalev_D 106:250ddd8629c6 471 BuffTemp[40] =0x00;
Kovalev_D 106:250ddd8629c6 472 BuffTemp[41] =0x00;
igor_v 21:bc8c1cec3da6 473
igor_v 21:bc8c1cec3da6 474
igor_v 21:bc8c1cec3da6 475 Check(BuffTemp, 44);
igor_v 21:bc8c1cec3da6 476 WriteConN (BuffTemp,44);
Kovalev_D 92:c892f0311aa7 477
igor_v 0:8ad47e2b6f00 478 }
igor_v 0:8ad47e2b6f00 479
igor_v 21:bc8c1cec3da6 480 void CMD_M_Control_D8()///установка\сброс регистров управления
igor_v 21:bc8c1cec3da6 481 {
Kovalev_D 104:ab1cb4ff56b2 482 unsigned int bit,NReg,Pa;
Kovalev_D 104:ab1cb4ff56b2 483 unsigned int SR,V,A,Bit_num;
Kovalev_D 104:ab1cb4ff56b2 484 SR=0;
Kovalev_D 104:ab1cb4ff56b2 485 V=0;
Kovalev_D 104:ab1cb4ff56b2 486 A=0;
Kovalev_D 104:ab1cb4ff56b2 487 Bit_num=0;
Kovalev_D 104:ab1cb4ff56b2 488
igor_v 30:17c84ed091b3 489 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 490 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 491 BuffTemp[2] = Gyro.CMD_In; //D8
Kovalev_D 104:ab1cb4ff56b2 492
Kovalev_D 104:ab1cb4ff56b2 493 /*
Kovalev_D 104:ab1cb4ff56b2 494
Kovalev_D 104:ab1cb4ff56b2 495 FrqON
Kovalev_D 104:ab1cb4ff56b2 496 PlcON
Kovalev_D 104:ab1cb4ff56b2 497 HFOOFF
Kovalev_D 104:ab1cb4ff56b2 498 HFOON
igor_v 21:bc8c1cec3da6 499
Kovalev_D 104:ab1cb4ff56b2 500 PlcOFF
Kovalev_D 104:ab1cb4ff56b2 501 PlcON
Kovalev_D 104:ab1cb4ff56b2 502 */
Kovalev_D 104:ab1cb4ff56b2 503 Pa = BuffTemp[3];
Kovalev_D 104:ab1cb4ff56b2 504
Kovalev_D 104:ab1cb4ff56b2 505 SR = Pa >> 0x7;
Kovalev_D 104:ab1cb4ff56b2 506
Kovalev_D 104:ab1cb4ff56b2 507 V = Pa >> 0x5;
Kovalev_D 104:ab1cb4ff56b2 508 V = V & 0x3;
Kovalev_D 104:ab1cb4ff56b2 509
Kovalev_D 104:ab1cb4ff56b2 510 A = Pa >> 0x4;
Kovalev_D 104:ab1cb4ff56b2 511 A = A & 0x1;
Kovalev_D 104:ab1cb4ff56b2 512
Kovalev_D 104:ab1cb4ff56b2 513 Bit_num = Pa & 0xf;
Kovalev_D 104:ab1cb4ff56b2 514
Kovalev_D 104:ab1cb4ff56b2 515 if(SR) {
Kovalev_D 104:ab1cb4ff56b2 516 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 517
Kovalev_D 104:ab1cb4ff56b2 518 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 519 FrqON
Kovalev_D 105:bd01d8d20fb6 520 break;
Kovalev_D 105:bd01d8d20fb6 521
Kovalev_D 104:ab1cb4ff56b2 522 case 0x03:
Kovalev_D 105:bd01d8d20fb6 523 HFOON
Kovalev_D 105:bd01d8d20fb6 524 break;
Kovalev_D 105:bd01d8d20fb6 525
Kovalev_D 105:bd01d8d20fb6 526 case 0x01:
Kovalev_D 105:bd01d8d20fb6 527 PlcON
Kovalev_D 105:bd01d8d20fb6 528 break;
Kovalev_D 104:ab1cb4ff56b2 529 }
Kovalev_D 104:ab1cb4ff56b2 530 }
Kovalev_D 104:ab1cb4ff56b2 531 else{
Kovalev_D 104:ab1cb4ff56b2 532 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 533
Kovalev_D 105:bd01d8d20fb6 534 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 535 FrqOff
Kovalev_D 105:bd01d8d20fb6 536 break;
Kovalev_D 105:bd01d8d20fb6 537
Kovalev_D 105:bd01d8d20fb6 538 case 0x03:
Kovalev_D 105:bd01d8d20fb6 539 HFOOFF
Kovalev_D 105:bd01d8d20fb6 540 break;
Kovalev_D 105:bd01d8d20fb6 541
Kovalev_D 105:bd01d8d20fb6 542 case 0x01:
Kovalev_D 105:bd01d8d20fb6 543 PlcOFF
Kovalev_D 105:bd01d8d20fb6 544 break;
Kovalev_D 104:ab1cb4ff56b2 545 }
Kovalev_D 104:ab1cb4ff56b2 546 }
igor_v 21:bc8c1cec3da6 547
igor_v 0:8ad47e2b6f00 548 }
igor_v 0:8ad47e2b6f00 549
igor_v 21:bc8c1cec3da6 550 void CMD_M_Control_D9()///чтение регистров управления
igor_v 21:bc8c1cec3da6 551 {
igor_v 21:bc8c1cec3da6 552 int bit,NReg;
igor_v 30:17c84ed091b3 553 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 554 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 555 BuffTemp[2] = Gyro.CMD_In; //D9
igor_v 21:bc8c1cec3da6 556 if ((Param1 & 0x10) == 0) {
igor_v 21:bc8c1cec3da6 557 BuffTemp[3]=0<<4;
igor_v 30:17c84ed091b3 558 BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff;
igor_v 30:17c84ed091b3 559 BuffTemp[5] = Gyro.RgConA & 0xff;
igor_v 21:bc8c1cec3da6 560 } else {
igor_v 21:bc8c1cec3da6 561 BuffTemp[3]=1<<4;
igor_v 30:17c84ed091b3 562 BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff;
igor_v 30:17c84ed091b3 563 BuffTemp[5] = Gyro.RgConB & 0xff;
igor_v 21:bc8c1cec3da6 564 }
igor_v 21:bc8c1cec3da6 565 Check(BuffTemp, CRC_N);
igor_v 21:bc8c1cec3da6 566 WriteConN (BuffTemp,CRC_N);
igor_v 21:bc8c1cec3da6 567 }
igor_v 21:bc8c1cec3da6 568 // (номер (код) ЦАПа 0...3, старший байт требуемого ЦАПа, младший байт треб ЦАПа)
igor_v 0:8ad47e2b6f00 569 void CMD_M_Stymul()
igor_v 0:8ad47e2b6f00 570 {
igor_v 21:bc8c1cec3da6 571 int temp;
Kovalev_D 102:4270092be987 572 int HFO;
Kovalev_D 102:4270092be987 573 temp=BuffTemp[3];
Kovalev_D 102:4270092be987 574 Consol = temp&0x3;
Kovalev_D 103:e96f08947def 575 HFO = temp&0x3;// // (номер (код) ЦАПа 0...3, HFO - 3dac, PLC - 0DAC
igor_v 21:bc8c1cec3da6 576 temp =((BuffTemp[4]<<8) | BuffTemp[5]);
igor_v 21:bc8c1cec3da6 577 // temp=0;
igor_v 21:bc8c1cec3da6 578 temp=temp&0xFFFF;
Kovalev_D 102:4270092be987 579
Kovalev_D 102:4270092be987 580 if(HFO)
Kovalev_D 102:4270092be987 581 {
Kovalev_D 102:4270092be987 582 Spi.DAC_A=(unsigned int)temp;
Kovalev_D 102:4270092be987 583 }
Kovalev_D 102:4270092be987 584 else{
igor_v 21:bc8c1cec3da6 585 DACF =(temp*K_DAC)+deltaDAC;
igor_v 21:bc8c1cec3da6 586 Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC);
igor_v 21:bc8c1cec3da6 587 }
igor_v 0:8ad47e2b6f00 588 }
Kovalev_D 103:e96f08947def 589 void Gph_W()
Kovalev_D 103:e96f08947def 590 {
Kovalev_D 108:030cdde08314 591 Out_G_photo(BuffTemp[4],BuffTemp[5]);
Kovalev_D 103:e96f08947def 592 }
igor_v 0:8ad47e2b6f00 593
Kovalev_D 98:95b8e79f13e1 594 void CMD_M_vib()
Kovalev_D 115:e5a230e5af52 595 {
Kovalev_D 102:4270092be987 596 unsigned int temp1,temp2;
Kovalev_D 102:4270092be987 597
Kovalev_D 102:4270092be987 598 temp1 =((BuffTemp[4]<<8) | BuffTemp[5]);
Kovalev_D 102:4270092be987 599 temp1=temp1&0xFFFF;
Kovalev_D 102:4270092be987 600
Kovalev_D 102:4270092be987 601 temp2 =((BuffTemp[6]<<8) | BuffTemp[7]);
Kovalev_D 102:4270092be987 602 temp2=temp2&0xFFFF;
Kovalev_D 102:4270092be987 603 Gyro.Frq = ((unsigned int) ((7680000*16/temp1)))*16*16*16;
Kovalev_D 102:4270092be987 604 Consol=Gyro.Frq ;
Kovalev_D 98:95b8e79f13e1 605 }
igor_v 0:8ad47e2b6f00 606 unsigned int Check(char *c, unsigned int Count)
igor_v 0:8ad47e2b6f00 607 {
igor_v 21:bc8c1cec3da6 608 int i=1;
igor_v 21:bc8c1cec3da6 609 unsigned int temp,CRC;
igor_v 21:bc8c1cec3da6 610
igor_v 21:bc8c1cec3da6 611
igor_v 21:bc8c1cec3da6 612 temp=1;
igor_v 21:bc8c1cec3da6 613 CRC=0;
igor_v 21:bc8c1cec3da6 614
igor_v 21:bc8c1cec3da6 615
igor_v 21:bc8c1cec3da6 616 for(; i<Count-2; i++) {
igor_v 21:bc8c1cec3da6 617 CRC+=c[i];
igor_v 21:bc8c1cec3da6 618 }
igor_v 0:8ad47e2b6f00 619
igor_v 21:bc8c1cec3da6 620 if(c[Count-2]!=((CRC>>8)&0xFF)) {
igor_v 21:bc8c1cec3da6 621 temp=0;
igor_v 30:17c84ed091b3 622 Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2;
igor_v 21:bc8c1cec3da6 623 }
igor_v 0:8ad47e2b6f00 624
igor_v 21:bc8c1cec3da6 625 if(c[Count-1]!=((CRC>>0)&0xFF)) {
igor_v 21:bc8c1cec3da6 626 temp=0;
igor_v 30:17c84ed091b3 627 // Gyro.RsErrLine= (Gyro.RsErrLine)=0x2;
igor_v 21:bc8c1cec3da6 628 }
igor_v 21:bc8c1cec3da6 629
igor_v 21:bc8c1cec3da6 630 c[Count-2]=(CRC>>8)&0xFF;
igor_v 21:bc8c1cec3da6 631 c[Count-1]=(CRC>>0)&0xFF;
igor_v 21:bc8c1cec3da6 632
igor_v 21:bc8c1cec3da6 633
igor_v 21:bc8c1cec3da6 634
igor_v 21:bc8c1cec3da6 635 return temp;
igor_v 0:8ad47e2b6f00 636 }
igor_v 0:8ad47e2b6f00 637
igor_v 0:8ad47e2b6f00 638 int Getlengf(void)
igor_v 0:8ad47e2b6f00 639 {
Kovalev_D 121:bbae560cdd43 640 unsigned int lengf;
Kovalev_D 121:bbae560cdd43 641 lengf = 1;
igor_v 30:17c84ed091b3 642 switch(Gyro.CMD_In) {
igor_v 30:17c84ed091b3 643 case 0x99://Gyrotainance
Kovalev_D 92:c892f0311aa7 644
igor_v 21:bc8c1cec3da6 645 lengf=6;
igor_v 21:bc8c1cec3da6 646 CRC_N=8;
igor_v 21:bc8c1cec3da6 647 break;
igor_v 0:8ad47e2b6f00 648
igor_v 21:bc8c1cec3da6 649 case 0x0A: //m_stymul
igor_v 21:bc8c1cec3da6 650 lengf=8;
igor_v 21:bc8c1cec3da6 651 break;
igor_v 21:bc8c1cec3da6 652
igor_v 21:bc8c1cec3da6 653 case 0xA5://DeviceMode
igor_v 21:bc8c1cec3da6 654
igor_v 21:bc8c1cec3da6 655 lengf=6;
igor_v 21:bc8c1cec3da6 656 CRC_N=8;
igor_v 21:bc8c1cec3da6 657 break;
igor_v 21:bc8c1cec3da6 658
igor_v 21:bc8c1cec3da6 659 case 0xDD://m_rate
igor_v 21:bc8c1cec3da6 660 lengf=6;
igor_v 21:bc8c1cec3da6 661 CRC_N=44;
igor_v 21:bc8c1cec3da6 662 break;
Kovalev_D 124:9ae09249f842 663
Kovalev_D 124:9ae09249f842 664 case 0xA0://Delta_PS
Kovalev_D 124:9ae09249f842 665 lengf=6;
Kovalev_D 124:9ae09249f842 666 CRC_N=8;
Kovalev_D 124:9ae09249f842 667 break;
Kovalev_D 124:9ae09249f842 668
Kovalev_D 124:9ae09249f842 669
igor_v 21:bc8c1cec3da6 670 case 0xB0://DeviceMode
igor_v 21:bc8c1cec3da6 671
igor_v 21:bc8c1cec3da6 672 lengf=6;
igor_v 21:bc8c1cec3da6 673 CRC_N=8;
igor_v 21:bc8c1cec3da6 674 break;
igor_v 21:bc8c1cec3da6 675
igor_v 21:bc8c1cec3da6 676 case 0xD8://m_control
igor_v 0:8ad47e2b6f00 677
igor_v 21:bc8c1cec3da6 678 lengf=6;
igor_v 21:bc8c1cec3da6 679 CRC_N=8;
igor_v 21:bc8c1cec3da6 680 break;
igor_v 21:bc8c1cec3da6 681
igor_v 21:bc8c1cec3da6 682 case 0xD9://m_control
igor_v 0:8ad47e2b6f00 683
igor_v 21:bc8c1cec3da6 684 lengf=6;
igor_v 21:bc8c1cec3da6 685 CRC_N=8;
igor_v 21:bc8c1cec3da6 686 break;
Kovalev_D 102:4270092be987 687
Kovalev_D 102:4270092be987 688 case 0xE4:
Kovalev_D 98:95b8e79f13e1 689 lengf=8;
Kovalev_D 98:95b8e79f13e1 690 break;
Kovalev_D 103:e96f08947def 691
Kovalev_D 103:e96f08947def 692
Kovalev_D 103:e96f08947def 693 case 0xE6:
Kovalev_D 103:e96f08947def 694 lengf=8;
Kovalev_D 103:e96f08947def 695 break;
Kovalev_D 103:e96f08947def 696
igor_v 21:bc8c1cec3da6 697 }
Kovalev_D 98:95b8e79f13e1 698
igor_v 21:bc8c1cec3da6 699 return lengf;
igor_v 0:8ad47e2b6f00 700 }
igor_v 0:8ad47e2b6f00 701
igor_v 0:8ad47e2b6f00 702 void Read_CMD(void)
igor_v 21:bc8c1cec3da6 703 {
Kovalev_D 92:c892f0311aa7 704
Kovalev_D 45:cbc955aecebe 705
Kovalev_D 45:cbc955aecebe 706 Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;//для сброса ошибки
igor_v 21:bc8c1cec3da6 707
Kovalev_D 93:b3803774f110 708 CountBuFFIn=ReadChekCon1(BuffTemp); // чтение данных из консоли
igor_v 42:6fc307c4963e 709
Kovalev_D 92:c892f0311aa7 710 if(CountBuFFIn==1) { // если есть первый байт
igor_v 21:bc8c1cec3da6 711 if (BuffTemp[0] != SOC_In) {
Kovalev_D 93:b3803774f110 712 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 713 Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
Kovalev_D 93:b3803774f110 714 BuffTemp[99]=Gyro.RsErrLine;
Kovalev_D 102:4270092be987 715
igor_v 21:bc8c1cec3da6 716 }
Kovalev_D 92:c892f0311aa7 717 } else if(CountBuFFIn==2) { //если второй ,fqn
igor_v 30:17c84ed091b3 718 if (BuffTemp[1] != Gyro.My_Addres) {
Kovalev_D 93:b3803774f110 719 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 720 Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
igor_v 21:bc8c1cec3da6 721 }
igor_v 42:6fc307c4963e 722 } else if(CountBuFFIn==3) { // если ьоетий байт
igor_v 30:17c84ed091b3 723 Gyro.CMD_In=BuffTemp[2];
Kovalev_D 92:c892f0311aa7 724 N=Getlengf();
Kovalev_D 92:c892f0311aa7 725 }
Kovalev_D 92:c892f0311aa7 726 else if(CountBuFFIn==4 && (N==6))
Kovalev_D 92:c892f0311aa7 727 { // N - длина посылки аскглд(для записи параметров). определяется по коду команды в Getlengf();
igor_v 21:bc8c1cec3da6 728 Param1=BuffTemp[3];
Kovalev_D 92:c892f0311aa7 729 }
Kovalev_D 92:c892f0311aa7 730 else if((CountBuFFIn==5)&&(N==7))
Kovalev_D 92:c892f0311aa7 731 {
Kovalev_D 92:c892f0311aa7 732
igor_v 21:bc8c1cec3da6 733 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 734 Param2=BuffTemp[4];
igor_v 0:8ad47e2b6f00 735
Kovalev_D 92:c892f0311aa7 736 }
Kovalev_D 92:c892f0311aa7 737 else if((CountBuFFIn==6)&&(N==8))
Kovalev_D 92:c892f0311aa7 738 {
igor_v 21:bc8c1cec3da6 739 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 740 Param2=BuffTemp[4];
igor_v 21:bc8c1cec3da6 741 Param3=BuffTemp[5];
Kovalev_D 92:c892f0311aa7 742 }
Kovalev_D 102:4270092be987 743 else if((CountBuFFIn==8)&&(N==10))
Kovalev_D 102:4270092be987 744 {
Kovalev_D 102:4270092be987 745 Param1=BuffTemp[4];
Kovalev_D 102:4270092be987 746 Param2=BuffTemp[5];
Kovalev_D 102:4270092be987 747 Param3=BuffTemp[6];
Kovalev_D 102:4270092be987 748 Param4=BuffTemp[7];
Kovalev_D 102:4270092be987 749 }
Kovalev_D 98:95b8e79f13e1 750
Kovalev_D 92:c892f0311aa7 751 else if(CountBuFFIn > (N-1))
Kovalev_D 92:c892f0311aa7 752 {
Kovalev_D 93:b3803774f110 753 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 754 switch(Gyro.CMD_In) {
Kovalev_D 122:fbacb932a30b 755 Rate_Flag=0;
Kovalev_D 92:c892f0311aa7 756 case 0x99:
Kovalev_D 124:9ae09249f842 757 Gyro.ModeOut=0;
igor_v 21:bc8c1cec3da6 758 CMD_Maintenance();
Kovalev_D 124:9ae09249f842 759 break;
Kovalev_D 124:9ae09249f842 760 case 0xA0:
Kovalev_D 124:9ae09249f842 761 TempParam=(BuffTemp[3]) & 0x90;
Kovalev_D 124:9ae09249f842 762 if (TempParam==Delta_500) CMD_Delta_500Hz();
Kovalev_D 124:9ae09249f842 763 else if (TempParam==Delta_EXT) CMD_Delta_Ext();
Kovalev_D 124:9ae09249f842 764 else if (TempParam==PDelta_500) { Gyro.ModeOut=3; Gyro.Delta500_Event=0; WriteCon("Delta500"); }
Kovalev_D 124:9ae09249f842 765 else if (TempParam==PDelta_EXT) { Gyro.ModeOut=4; Gyro.DeltaEXT_Event=0; WriteCon("deltaEXT"); }
igor_v 21:bc8c1cec3da6 766 break;
igor_v 21:bc8c1cec3da6 767 case 0xD8:
igor_v 21:bc8c1cec3da6 768 CMD_M_Control_D8();
Kovalev_D 124:9ae09249f842 769 break;
igor_v 21:bc8c1cec3da6 770 case 0xD9:
igor_v 21:bc8c1cec3da6 771 CMD_M_Control_D9();
igor_v 21:bc8c1cec3da6 772 break;
igor_v 21:bc8c1cec3da6 773 case 0x0A:
Kovalev_D 45:cbc955aecebe 774 CMD_M_Stymul();
igor_v 21:bc8c1cec3da6 775 break;
igor_v 21:bc8c1cec3da6 776 case 0xDD:
Kovalev_D 124:9ae09249f842 777 TempParam=(BuffTemp[3]) & 0x9f;
Kovalev_D 124:9ae09249f842 778 if (TempParam == Rate1) { CMD_Rate(); WriteCon("Rate11");}
Kovalev_D 124:9ae09249f842 779 else if (TempParam == Rate2) { CMD_Rate2(); WriteCon("Rate21");}
Kovalev_D 124:9ae09249f842 780 else if (TempParam == PRate1) { Gyro.ModeOut=1; Gyro.Rate1_Event=0; WriteCon("Rate12");}
Kovalev_D 124:9ae09249f842 781 else if (TempParam == PRate2) { Gyro.ModeOut=2; Gyro.Rate2_Event=0; WriteCon("Rate22");}
Kovalev_D 122:fbacb932a30b 782 break;
Kovalev_D 102:4270092be987 783 case 0xE4:
Kovalev_D 102:4270092be987 784 CMD_M_vib();
Kovalev_D 102:4270092be987 785 break;
Kovalev_D 103:e96f08947def 786 case 0xE6:
Kovalev_D 103:e96f08947def 787 Gph_W();
Kovalev_D 103:e96f08947def 788 break;
Kovalev_D 108:030cdde08314 789
Kovalev_D 103:e96f08947def 790
igor_v 30:17c84ed091b3 791 Gyro.RsErrLine = 0;
Kovalev_D 103:e96f08947def 792
Kovalev_D 103:e96f08947def 793
Kovalev_D 102:4270092be987 794 }
Kovalev_D 121:bbae560cdd43 795
igor_v 21:bc8c1cec3da6 796 }
Kovalev_D 121:bbae560cdd43 797 // else if(CountBuFFIn > 40 )
Kovalev_D 121:bbae560cdd43 798 // {
Kovalev_D 121:bbae560cdd43 799 // ReadCon1(BuffTemp);
Kovalev_D 121:bbae560cdd43 800 // }
Kovalev_D 121:bbae560cdd43 801
igor_v 0:8ad47e2b6f00 802 }
igor_v 0:8ad47e2b6f00 803
igor_v 0:8ad47e2b6f00 804
igor_v 21:bc8c1cec3da6 805