Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

MTimer.c@193:a0fe8bfc97e4, 2016-09-15 (annotated)

Committer:
Kovalev_D
Date:
Thu Sep 15 11:09:00 2016 +0000
Revision:
193:a0fe8bfc97e4
Parent:
190:289514f730ee
Child:
196:f76dbc081e63
B_delta

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
igor_v 0:8ad47e2b6f00 10
Kovalev_D 112:4a96133a1311 11
igor_v 0:8ad47e2b6f00 12 //unsigned int CountV=0;
igor_v 21:bc8c1cec3da6 13 //unsigned int CountVf=0 ;
igor_v 0:8ad47e2b6f00 14 unsigned int CountV31=0;
Kovalev_D 115:e5a230e5af52 15 unsigned int CountV255=0,f ;
Kovalev_D 124:9ae09249f842 16 int loop=0;
Kovalev_D 112:4a96133a1311 17
Kovalev_D 88:b5c1d9d338d1 18 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 19 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 20 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 21 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 22 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 23 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 24 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 92:c892f0311aa7 25 { int i,t;
Kovalev_D 115:e5a230e5af52 26 if (Event1Hz)
Kovalev_D 124:9ae09249f842 27 {
Kovalev_D 124:9ae09249f842 28 Gyro.Rate1_Event = 1;
Kovalev_D 122:fbacb932a30b 29 Event1Hz--;
Kovalev_D 122:fbacb932a30b 30 Time1Hz++;
Kovalev_D 117:eefe61968528 31 Discharg ();
Kovalev_D 193:a0fe8bfc97e4 32 BackLight();
Kovalev_D 124:9ae09249f842 33
Kovalev_D 88:b5c1d9d338d1 34 }
Kovalev_D 88:b5c1d9d338d1 35 }
Kovalev_D 89:a0d344db227e 36 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 37 ///////////////////// 1kHz //////////////////////////
Kovalev_D 193:a0fe8bfc97e4 38 /////////////////////////////////////////////////////LoopOn LPC_GPIO1->FIOSET = (1<<30);
Kovalev_D 193:a0fe8bfc97e4 39 //#define LoopOff LPC_GPIO1->FIOCLR = (1<<30);
Kovalev_D 88:b5c1d9d338d1 40 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 41 {
Kovalev_D 116:66f1f0ff2dab 42 if (Event1K)
Kovalev_D 116:66f1f0ff2dab 43 {
Kovalev_D 88:b5c1d9d338d1 44 Event1K --;
Kovalev_D 116:66f1f0ff2dab 45 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 193:a0fe8bfc97e4 46
Kovalev_D 116:66f1f0ff2dab 47 if (Time1K == 1000)
Kovalev_D 115:e5a230e5af52 48 {
Kovalev_D 88:b5c1d9d338d1 49 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 50 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 51 }
Kovalev_D 88:b5c1d9d338d1 52 }
Kovalev_D 88:b5c1d9d338d1 53 }
Kovalev_D 124:9ae09249f842 54 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 55 {
Kovalev_D 124:9ae09249f842 56 if(Event500Hz)
Kovalev_D 193:a0fe8bfc97e4 57 {
Kovalev_D 124:9ae09249f842 58 Event500Hz--;
Kovalev_D 124:9ae09249f842 59 Gyro.Delta500_Event=1;
Kovalev_D 143:2b15794a6cd2 60 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 193:a0fe8bfc97e4 61 Gyro.Delta_Bins_Event500=1;
Kovalev_D 193:a0fe8bfc97e4 62 Gyro.B_Delta_Event500=1;
Kovalev_D 124:9ae09249f842 63 }
Kovalev_D 124:9ae09249f842 64 }
Kovalev_D 89:a0d344db227e 65 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 66 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 67 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 68 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 69 {
Kovalev_D 162:44e4ded32c6a 70
Kovalev_D 88:b5c1d9d338d1 71 if (Event100K) {
Kovalev_D 88:b5c1d9d338d1 72 Event100K --;
Kovalev_D 162:44e4ded32c6a 73 Time500Hz++;
Kovalev_D 116:66f1f0ff2dab 74
Kovalev_D 124:9ae09249f842 75 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 76
Kovalev_D 124:9ae09249f842 77 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 116:66f1f0ff2dab 78
Kovalev_D 116:66f1f0ff2dab 79 Time100K++;
Kovalev_D 124:9ae09249f842 80 if (Time100K == 100)
Kovalev_D 124:9ae09249f842 81 {
Kovalev_D 88:b5c1d9d338d1 82 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 83 Event1K ++;
Kovalev_D 124:9ae09249f842 84 }
Kovalev_D 162:44e4ded32c6a 85 if (Time500Hz > 200)
Kovalev_D 190:289514f730ee 86 {
Kovalev_D 162:44e4ded32c6a 87 Time500Hz -= 200;
Kovalev_D 162:44e4ded32c6a 88 Event500Hz ++;
Kovalev_D 190:289514f730ee 89 }
Kovalev_D 88:b5c1d9d338d1 90 }
Kovalev_D 88:b5c1d9d338d1 91 }
Kovalev_D 89:a0d344db227e 92 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 93 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 94 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 95 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 96 {
Kovalev_D 88:b5c1d9d338d1 97 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 98 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 99 }
Kovalev_D 88:b5c1d9d338d1 100 }
Kovalev_D 89:a0d344db227e 101 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 102 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 103 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 104
Kovalev_D 88:b5c1d9d338d1 105
Kovalev_D 112:4a96133a1311 106 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 107 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 108 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 109
Kovalev_D 112:4a96133a1311 110 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 111 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 112 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 113
Kovalev_D 112:4a96133a1311 114 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 115 {
Kovalev_D 112:4a96133a1311 116 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 117 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 118 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 119 }
Kovalev_D 112:4a96133a1311 120
Kovalev_D 112:4a96133a1311 121
igor_v 0:8ad47e2b6f00 122 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 123 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 124 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 125 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 126 {
igor_v 21:bc8c1cec3da6 127 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 128 return;
igor_v 21:bc8c1cec3da6 129 }
igor_v 0:8ad47e2b6f00 130
igor_v 0:8ad47e2b6f00 131
igor_v 0:8ad47e2b6f00 132 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 133 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 134 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 135
igor_v 0:8ad47e2b6f00 136 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 137 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 138 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 139 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 140 {
Kovalev_D 124:9ae09249f842 141 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 142 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 143 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 144 return 1;
igor_v 21:bc8c1cec3da6 145 }
igor_v 0:8ad47e2b6f00 146
igor_v 15:f5191a1c3805 147
igor_v 15:f5191a1c3805 148
igor_v 21:bc8c1cec3da6 149 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 150 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 151 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 152 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 153 {
igor_v 21:bc8c1cec3da6 154 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 155 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 156 }
igor_v 21:bc8c1cec3da6 157
igor_v 21:bc8c1cec3da6 158
Kovalev_D 112:4a96133a1311 159 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 160 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 161 //////////////////////////////////////////////////////////////////////
Kovalev_D 183:7e200f4d9b16 162 __irq void TIMER1_IRQHandler (void)//13.27 kHz
Kovalev_D 193:a0fe8bfc97e4 163 {
igor_v 114:5cc38a53d8a7 164 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 165 SetDAC(DAC);
Kovalev_D 112:4a96133a1311 166
igor_v 114:5cc38a53d8a7 167 CountV255++; // инкремент счеттчика
Kovalev_D 164:6f43f85fdd8d 168 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
igor_v 114:5cc38a53d8a7 169 CountV31 =CountV255 & 0x1f; // малый счетчик
Kovalev_D 121:bbae560cdd43 170
Kovalev_D 112:4a96133a1311 171 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 172 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 173
Kovalev_D 116:66f1f0ff2dab 174
Kovalev_D 116:66f1f0ff2dab 175 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 176 ResetDAC(DAC);
igor_v 114:5cc38a53d8a7 177 SPI_Exchange(); //Чтение ADS_SPI
igor_v 114:5cc38a53d8a7 178
Kovalev_D 112:4a96133a1311 179 LPC_TIM1->IR = 1;
Kovalev_D 193:a0fe8bfc97e4 180
Kovalev_D 112:4a96133a1311 181 }
Kovalev_D 112:4a96133a1311 182
Kovalev_D 112:4a96133a1311 183
Kovalev_D 112:4a96133a1311 184
Kovalev_D 112:4a96133a1311 185
Kovalev_D 112:4a96133a1311 186
Kovalev_D 112:4a96133a1311 187
igor_v 21:bc8c1cec3da6 188 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 189 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 190 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 191 __irq void TIMER2_IRQHandler (void)
Kovalev_D 193:a0fe8bfc97e4 192 {
igor_v 21:bc8c1cec3da6 193 LPC_TIM2->IR = 1;
igor_v 21:bc8c1cec3da6 194 Global_Time++;
Kovalev_D 190:289514f730ee 195 if(Time_UART) Time_UART--;
igor_v 21:bc8c1cec3da6 196 Time_vibro++;
Kovalev_D 112:4a96133a1311 197 Gyro.VibroOutF=1;
Kovalev_D 190:289514f730ee 198 Event100K ++;
Kovalev_D 193:a0fe8bfc97e4 199
igor_v 21:bc8c1cec3da6 200 }