Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

MTimer.c@211:ac8251b067d2, 2017-07-03 (annotated)

Committer:
Kovalev_D
Date:
Mon Jul 03 05:50:08 2017 +0000
Revision:
211:ac8251b067d2
Parent:
210:b02fa166315d
Child:
213:9953db9543d6
prizm worck

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 209:224e7331a061 13 unsigned int f,MODCount=0;
Kovalev_D 124:9ae09249f842 14 int loop=0;
Kovalev_D 208:19150d2b528f 15 int t;
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 211:ac8251b067d2 23 { int tempdac,tempdac1;
Kovalev_D 115:e5a230e5af52 24 if (Event1Hz)
Kovalev_D 208:19150d2b528f 25 {
Kovalev_D 209:224e7331a061 26 if(Gyro.LogMod) ShowMod2();
Kovalev_D 208:19150d2b528f 27 Discharg();
Kovalev_D 208:19150d2b528f 28 BackLight();
Kovalev_D 208:19150d2b528f 29 Gyro.Rate1_Event = 1;
Kovalev_D 208:19150d2b528f 30 Event1Hz--;
Kovalev_D 208:19150d2b528f 31 Time1Hz++;
Kovalev_D 211:ac8251b067d2 32 sprintf((Time),"%i %i %i %i %d\r\n",Spi.DAC_A, Gyro.HFO_Min, Gyro.HFO_Max,Gyro.RgConA );
Kovalev_D 211:ac8251b067d2 33 WriteCon(Time);
Kovalev_D 211:ac8251b067d2 34 /* sprintf((Time)," %d %d %d \r\n", Gyro.PLC_Eror, Spi.DAC_B , Gyro.PLCDelay ,Gyro.RgConA);
Kovalev_D 211:ac8251b067d2 35 Gyro.CuruAngle=0;
Kovalev_D 211:ac8251b067d2 36 WriteCon(Time);*/
Kovalev_D 211:ac8251b067d2 37 if(Gyro.CuruAngleLog)
Kovalev_D 211:ac8251b067d2 38 {
Kovalev_D 211:ac8251b067d2 39 /* sprintf((Time),"%d %d %d %d \r\n", Gyro.CuruAngle, Gyro.CuruAngle64, Gyro.CuruAngle96, Gyro.CuruAngle128);
Kovalev_D 211:ac8251b067d2 40 WriteCon(Time);*/
Kovalev_D 211:ac8251b067d2 41
Kovalev_D 211:ac8251b067d2 42 /* Gyro.CuruAngle = 0;
Kovalev_D 211:ac8251b067d2 43 Gyro.CuruAngle64 = 0;
Kovalev_D 211:ac8251b067d2 44 Gyro.CuruAngle96 = 0;
Kovalev_D 211:ac8251b067d2 45 Gyro.CuruAngle128 = 0; */
Kovalev_D 211:ac8251b067d2 46 }
Kovalev_D 211:ac8251b067d2 47
Kovalev_D 211:ac8251b067d2 48
Kovalev_D 209:224e7331a061 49
Kovalev_D 209:224e7331a061 50 /* for(int i=0; i<32;i++)
Kovalev_D 209:224e7331a061 51 {
Kovalev_D 209:224e7331a061 52 sprintf((Time),"%d ", Buff_Restored_sin[i]);
Kovalev_D 209:224e7331a061 53 WriteCon(Time);
Kovalev_D 209:224e7331a061 54 }
Kovalev_D 209:224e7331a061 55 sprintf((Time),"\r\n");
Kovalev_D 209:224e7331a061 56 WriteCon(Time);
Kovalev_D 209:224e7331a061 57 for(int i=0; i<32;i++)
Kovalev_D 209:224e7331a061 58 {
Kovalev_D 209:224e7331a061 59 sprintf((Time)," %d ", Buff_1Point[i-7]);
Kovalev_D 209:224e7331a061 60 WriteCon(Time);
Kovalev_D 209:224e7331a061 61 }
Kovalev_D 209:224e7331a061 62 sprintf((Time),"\r\n");
Kovalev_D 209:224e7331a061 63 WriteCon(Time);*/
Kovalev_D 209:224e7331a061 64 }
Kovalev_D 203:3a6615de9581 65
Kovalev_D 88:b5c1d9d338d1 66 }
Kovalev_D 89:a0d344db227e 67 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 68 ///////////////////// 1kHz //////////////////////////
Kovalev_D 197:7a05523bf588 69 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 70 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 71 {
Kovalev_D 116:66f1f0ff2dab 72 if (Event1K)
Kovalev_D 116:66f1f0ff2dab 73 {
Kovalev_D 211:ac8251b067d2 74 if(Gyro.PLCDelay)Gyro.PLCDelay--;
Kovalev_D 88:b5c1d9d338d1 75 Event1K --;
Kovalev_D 116:66f1f0ff2dab 76 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 209:224e7331a061 77 if (Time1K > 1000)
Kovalev_D 115:e5a230e5af52 78 {
Kovalev_D 208:19150d2b528f 79 Time1K -=1000;
Kovalev_D 88:b5c1d9d338d1 80 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 81 }
Kovalev_D 209:224e7331a061 82
Kovalev_D 208:19150d2b528f 83 }
Kovalev_D 88:b5c1d9d338d1 84 }
Kovalev_D 209:224e7331a061 85
Kovalev_D 209:224e7331a061 86 void Event_2KHz(void)// событие раз в 1 кГц
Kovalev_D 209:224e7331a061 87 {
Kovalev_D 209:224e7331a061 88 if (Event2K)
Kovalev_D 209:224e7331a061 89 {
Kovalev_D 209:224e7331a061 90 Event2K --;
Kovalev_D 209:224e7331a061 91 Gyro.Rate3_Event++;
Kovalev_D 209:224e7331a061 92 }
Kovalev_D 209:224e7331a061 93 }
Kovalev_D 124:9ae09249f842 94 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 95 {
Kovalev_D 124:9ae09249f842 96 if(Event500Hz)
Kovalev_D 211:ac8251b067d2 97 {
Kovalev_D 211:ac8251b067d2 98
Kovalev_D 205:775d54fdf646 99 Event500Hz--;
Kovalev_D 208:19150d2b528f 100 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 197:7a05523bf588 101 }
Kovalev_D 197:7a05523bf588 102 }
Kovalev_D 209:224e7331a061 103 void Event_250Hz(void)
Kovalev_D 209:224e7331a061 104 {
Kovalev_D 209:224e7331a061 105 if(Event250Hz)
Kovalev_D 209:224e7331a061 106 {
Kovalev_D 209:224e7331a061 107
Kovalev_D 209:224e7331a061 108 // Gyro.CuruAngle=0;
Kovalev_D 209:224e7331a061 109 Event250Hz--;
Kovalev_D 209:224e7331a061 110 MODCount++;
Kovalev_D 209:224e7331a061 111 if((MODCount&0x3f)==0)
Kovalev_D 209:224e7331a061 112 {/*
Kovalev_D 209:224e7331a061 113 sprintf((Time),"%d %d %d\r\n", Spi.DAC_B, (0xffff - Spi.ADC5), Gyro.CuruAngle);
Kovalev_D 209:224e7331a061 114 WriteCon(Time);
Kovalev_D 209:224e7331a061 115 Gyro.CuruAngle = 0;
Kovalev_D 209:224e7331a061 116 Gyro.CaunMinRate = 0;
Kovalev_D 209:224e7331a061 117 Gyro.CaunPlusRate = 0;
Kovalev_D 209:224e7331a061 118 */
Kovalev_D 209:224e7331a061 119 }
Kovalev_D 209:224e7331a061 120 if(MODFlag==2)
Kovalev_D 209:224e7331a061 121 {
Kovalev_D 209:224e7331a061 122 BuffADC_64Point[MODCount&0x3f]=ADC5New;
Kovalev_D 209:224e7331a061 123 LPC_DAC->DACR = (ModArraySin[MODCount&0x3f] * Gyro.ModAmp);
Kovalev_D 209:224e7331a061 124
Kovalev_D 209:224e7331a061 125 if((MODCount&0x3f)==0) PLCRegul250();
Kovalev_D 209:224e7331a061 126 }
Kovalev_D 209:224e7331a061 127 }
Kovalev_D 209:224e7331a061 128 }
Kovalev_D 89:a0d344db227e 129 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 130 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 131 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 132 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 133 {
Kovalev_D 162:44e4ded32c6a 134
Kovalev_D 88:b5c1d9d338d1 135 if (Event100K) {
Kovalev_D 197:7a05523bf588 136
Kovalev_D 88:b5c1d9d338d1 137 Event100K --;
Kovalev_D 197:7a05523bf588 138
Kovalev_D 124:9ae09249f842 139 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 140
Kovalev_D 124:9ae09249f842 141 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 142 }
Kovalev_D 88:b5c1d9d338d1 143 }
Kovalev_D 89:a0d344db227e 144 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 145 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 146 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 147 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 148 {
Kovalev_D 88:b5c1d9d338d1 149 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 150 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 151 }
Kovalev_D 88:b5c1d9d338d1 152 }
Kovalev_D 89:a0d344db227e 153 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 154 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 155 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 156
Kovalev_D 88:b5c1d9d338d1 157
Kovalev_D 112:4a96133a1311 158 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 159 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 160 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 161
Kovalev_D 112:4a96133a1311 162 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 163 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 164 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 165
Kovalev_D 112:4a96133a1311 166 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 167 {
Kovalev_D 112:4a96133a1311 168 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 169 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 170 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 171 }
Kovalev_D 112:4a96133a1311 172
Kovalev_D 112:4a96133a1311 173
igor_v 0:8ad47e2b6f00 174 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 175 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 176 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 177 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 178 {
igor_v 21:bc8c1cec3da6 179 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 180 return;
igor_v 21:bc8c1cec3da6 181 }
igor_v 0:8ad47e2b6f00 182
igor_v 0:8ad47e2b6f00 183
igor_v 0:8ad47e2b6f00 184 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 185 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 186 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 187
igor_v 0:8ad47e2b6f00 188 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 189 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 190 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 191 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 192 {
Kovalev_D 124:9ae09249f842 193 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 194 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 195 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 196 return 1;
igor_v 21:bc8c1cec3da6 197 }
igor_v 0:8ad47e2b6f00 198
igor_v 21:bc8c1cec3da6 199 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 200 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 201 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 202 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 203 {
igor_v 21:bc8c1cec3da6 204 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 205 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 206 }
igor_v 21:bc8c1cec3da6 207
igor_v 21:bc8c1cec3da6 208
Kovalev_D 112:4a96133a1311 209 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 210 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 211 //////////////////////////////////////////////////////////////////////
Kovalev_D 183:7e200f4d9b16 212 __irq void TIMER1_IRQHandler (void)//13.27 kHz
Kovalev_D 205:775d54fdf646 213 {
Kovalev_D 208:19150d2b528f 214
Kovalev_D 208:19150d2b528f 215
igor_v 114:5cc38a53d8a7 216 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 217 SetDAC(DAC);
Kovalev_D 208:19150d2b528f 218 Global_Time++;
igor_v 114:5cc38a53d8a7 219 CountV255++; // инкремент счеттчика
Kovalev_D 164:6f43f85fdd8d 220 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
Kovalev_D 197:7a05523bf588 221 CountV64 = CountV255 & 0x3f;
Kovalev_D 197:7a05523bf588 222 CountV31 = CountV255 & 0x1f; // малый счетчик
Kovalev_D 197:7a05523bf588 223
Kovalev_D 112:4a96133a1311 224 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 225 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 226
Kovalev_D 116:66f1f0ff2dab 227
Kovalev_D 116:66f1f0ff2dab 228 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 229 ResetDAC(DAC);
Kovalev_D 197:7a05523bf588 230 SPI_Exchange(); //Чтение ADC_SPI
igor_v 114:5cc38a53d8a7 231
Kovalev_D 112:4a96133a1311 232 LPC_TIM1->IR = 1;
Kovalev_D 208:19150d2b528f 233
Kovalev_D 208:19150d2b528f 234
Kovalev_D 112:4a96133a1311 235 }
Kovalev_D 112:4a96133a1311 236
igor_v 21:bc8c1cec3da6 237 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 238 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 239 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 240 __irq void TIMER2_IRQHandler (void)
Kovalev_D 210:b02fa166315d 241 {
Kovalev_D 210:b02fa166315d 242 LoopOn
igor_v 21:bc8c1cec3da6 243 LPC_TIM2->IR = 1;
Kovalev_D 208:19150d2b528f 244
Kovalev_D 190:289514f730ee 245 if(Time_UART) Time_UART--;
igor_v 21:bc8c1cec3da6 246 Time_vibro++;
Kovalev_D 203:3a6615de9581 247 VibroOut();
Kovalev_D 112:4a96133a1311 248 Gyro.VibroOutF=1;
Kovalev_D 190:289514f730ee 249 Event100K ++;
Kovalev_D 197:7a05523bf588 250 Time500Hz++;
Kovalev_D 209:224e7331a061 251 Time250Hz++;
Kovalev_D 197:7a05523bf588 252 Time100K++;
Kovalev_D 209:224e7331a061 253 Time2K++;
Kovalev_D 209:224e7331a061 254 //Time2K++;
Kovalev_D 205:775d54fdf646 255 // Time250Hz++;
Kovalev_D 197:7a05523bf588 256 if (Time100K == 100)
Kovalev_D 197:7a05523bf588 257 {
Kovalev_D 197:7a05523bf588 258 Time100K = 0;
Kovalev_D 197:7a05523bf588 259 Event1K ++;
Kovalev_D 197:7a05523bf588 260 }
Kovalev_D 209:224e7331a061 261
Kovalev_D 209:224e7331a061 262 if (Time2K== 50)
Kovalev_D 209:224e7331a061 263 { Time2K=0;
Kovalev_D 209:224e7331a061 264 //Time100K = 0;
Kovalev_D 209:224e7331a061 265 Event2K ++;
Kovalev_D 209:224e7331a061 266 }
Kovalev_D 209:224e7331a061 267
Kovalev_D 197:7a05523bf588 268 if (Time500Hz > 200)
Kovalev_D 208:19150d2b528f 269 { // LoopOn
Kovalev_D 197:7a05523bf588 270 Time500Hz -= 200;
Kovalev_D 208:19150d2b528f 271 Event500Hz ++;
Kovalev_D 197:7a05523bf588 272 }
Kovalev_D 209:224e7331a061 273
Kovalev_D 209:224e7331a061 274 if (Time250Hz > 6)
Kovalev_D 209:224e7331a061 275 { // LoopOn
Kovalev_D 209:224e7331a061 276 Time250Hz -= 6;
Kovalev_D 209:224e7331a061 277 Event250Hz ++;
Kovalev_D 209:224e7331a061 278 }
Kovalev_D 210:b02fa166315d 279
Kovalev_D 210:b02fa166315d 280 LoopOff
igor_v 21:bc8c1cec3da6 281 }