Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Global.c@202:c03b7b128e11, 2016-11-18 (annotated)

Committer:
Kovalev_D
Date:
Fri Nov 18 06:07:37 2016 +0000
Revision:
202:c03b7b128e11
Parent:
201:76f4123bf22a 
not work

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 197:7a05523bf588 7 float t1;
Kovalev_D 89:a0d344db227e 8 unsigned char BuffTemp[100];
Kovalev_D 197:7a05523bf588 9 unsigned char Time[1000];
Kovalev_D 86:398da56ef751 10 unsigned int Event1Hz;
Kovalev_D 201:76f4123bf22a 11 unsigned int Event10Hz;
Kovalev_D 124:9ae09249f842 12 unsigned int Event500Hz;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int Event1K ;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 15 unsigned int EventVibro;
Kovalev_D 124:9ae09249f842 16
Kovalev_D 197:7a05523bf588 17 unsigned int Time250Hz;
Kovalev_D 197:7a05523bf588 18 unsigned int Event250Hz;
Kovalev_D 197:7a05523bf588 19
Kovalev_D 124:9ae09249f842 20 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 21 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 22 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 23 unsigned int Time1Hz;
Kovalev_D 201:76f4123bf22a 24 unsigned int Time10Hz;
Kovalev_D 88:b5c1d9d338d1 25 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 26 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 27 unsigned int ShiftL;
Kovalev_D 197:7a05523bf588 28 unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 29
Kovalev_D 139:1716152517aa 30
Kovalev_D 134:caf4c9cd5052 31 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 32 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 33 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 34 BX R0
Kovalev_D 134:caf4c9cd5052 35 }
Kovalev_D 134:caf4c9cd5052 36
Kovalev_D 86:398da56ef751 37 void GLD_Init(void)
Kovalev_D 197:7a05523bf588 38 {
Kovalev_D 197:7a05523bf588 39 InitMOD();
Kovalev_D 183:7e200f4d9b16 40 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 90:d9b6a4bc5065 41 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 42 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 43 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 44 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 45 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 46 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 201:76f4123bf22a 47 // Init_TIM0();
Kovalev_D 89:a0d344db227e 48 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 49 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 50 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 51 Gyro.RgConB = 0xffff;
Kovalev_D 202:c03b7b128e11 52 //AVibOFF //установить контур регулировки частоты в "0"
Kovalev_D 202:c03b7b128e11 53
Kovalev_D 86:398da56ef751 54 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 55 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 56 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 57 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 58 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 59 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 60 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 61 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 62 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 63 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 64 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 65 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 66 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 67 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 68 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 69 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 70 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 71 ShiftL = 0;
Kovalev_D 124:9ae09249f842 72 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 73 Time500Hz = 0;
Kovalev_D 139:1716152517aa 74
Kovalev_D 86:398da56ef751 75 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 76 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 77
Kovalev_D 197:7a05523bf588 78 // ModArray[]=[32,64,96,128,256,384,448,480,496,512,512];
Kovalev_D 88:b5c1d9d338d1 79 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 80 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 81 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 82 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 83 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 197:7a05523bf588 84
Kovalev_D 132:2c7bec5cf6fe 85 Gyro.FlashMod=0;
Kovalev_D 202:c03b7b128e11 86 Gyro.FrqHZ=400;
Kovalev_D 88:b5c1d9d338d1 87 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 189:8a16378724c4 88 Gyro.FrqHZmin = 350<<16;
Kovalev_D 202:c03b7b128e11 89 Gyro.FrqHZmax = 500<<16;
Kovalev_D 202:c03b7b128e11 90 Gyro.FrqChengSpeed=200;
Kovalev_D 202:c03b7b128e11 91 Gyro.AmpSpeed = 1;
Kovalev_D 202:c03b7b128e11 92 Gyro.ModAmp=250;
Kovalev_D 202:c03b7b128e11 93 Gyro.AmpPer=15;
Kovalev_D 201:76f4123bf22a 94 Gyro.AmpPerMin = 1;
Kovalev_D 189:8a16378724c4 95 Gyro.AmpPerMax = 90;
Kovalev_D 202:c03b7b128e11 96
Kovalev_D 202:c03b7b128e11 97 Gyro.AmpPerDel=2;
Kovalev_D 202:c03b7b128e11 98 Gyro.AmpTarget =1000;// целевая амплитуда ВП
Kovalev_D 202:c03b7b128e11 99 Gyro.Amp = 15*65535;
Kovalev_D 202:c03b7b128e11 100 Gyro.AmpMin =5;////нимальное значение AmpT;5
Kovalev_D 202:c03b7b128e11 101 Gyro.AmpTD =30;/////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 102 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 103 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 104 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 105 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 106 Pulse_32Point = 0;
Kovalev_D 202:c03b7b128e11 107 Gyro.Start=7000;
Kovalev_D 196:f76dbc081e63 108 Gyro.flag=1;
Kovalev_D 88:b5c1d9d338d1 109 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 110 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 111 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 112 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 113 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 114 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 115 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 116 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 117 Buff_16PointD[i] = 0x00;
Kovalev_D 197:7a05523bf588 118 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 119 }
Kovalev_D 197:7a05523bf588 120 for (int i = 0; i < 64; i++ ) {
Kovalev_D 197:7a05523bf588 121 BuffADC_16Point[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 122 BuffADC_32Point[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 123 BuffADC_32PointD[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 124 BuffADC_64Point[CountV64]=0x00;
Kovalev_D 197:7a05523bf588 125 }
Kovalev_D 197:7a05523bf588 126 PulseADC_64Point=0;
Kovalev_D 88:b5c1d9d338d1 127 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 128 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 129 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 130 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 131 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 132 /////////////////////////////////////////////////////
Kovalev_D 96:1c8536458119 133 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 134 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 135 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 136 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 137 Temp_ADC_5=0;
Kovalev_D 197:7a05523bf588 138
Kovalev_D 197:7a05523bf588 139
Kovalev_D 197:7a05523bf588 140
Kovalev_D 201:76f4123bf22a 141 Gyro.Gain_Sin =125;
Kovalev_D 202:c03b7b128e11 142 Gyro.Gain_Cos =185;
Kovalev_D 197:7a05523bf588 143
Kovalev_D 197:7a05523bf588 144
Kovalev_D 196:f76dbc081e63 145
Kovalev_D 88:b5c1d9d338d1 146 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 147 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 148 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 149 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 150 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 151 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 152 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 153 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 154 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 155 }
Kovalev_D 95:dd51e577e114 156 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 157 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 158 }
Kovalev_D 96:1c8536458119 159 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 160 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 161 }
Kovalev_D 96:1c8536458119 162 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 163 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 164 }
Kovalev_D 88:b5c1d9d338d1 165 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 166 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 167
Kovalev_D 88:b5c1d9d338d1 168 Gyro.SOC_Out=0xDD;
Kovalev_D 188:4c523cc373cc 169 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 163:affb5706d191 170 Gyro.GLD_Serial = 0xD7; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 171 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 92:c892f0311aa7 172
Kovalev_D 188:4c523cc373cc 173 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 174 case 0:
Kovalev_D 188:4c523cc373cc 175 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 176 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 177 break;
Kovalev_D 188:4c523cc373cc 178 case 1:
Kovalev_D 188:4c523cc373cc 179 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 180 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 181 break;
Kovalev_D 188:4c523cc373cc 182 case 2:
Kovalev_D 188:4c523cc373cc 183 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 184 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 185 break;
Kovalev_D 188:4c523cc373cc 186 case 3:
Kovalev_D 188:4c523cc373cc 187 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 188 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 189 break;
Kovalev_D 188:4c523cc373cc 190 }
Kovalev_D 89:a0d344db227e 191
Kovalev_D 88:b5c1d9d338d1 192 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 193 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 194 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 195 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 196 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 197 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 198 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 199 /////////////////////////////////////////////////////
Kovalev_D 159:38f39c0c143f 200
Kovalev_D 196:f76dbc081e63 201 Gyro.Ktermo=1;// K°
Kovalev_D 201:76f4123bf22a 202 Gyro.TermoNKU=48824;//48824*0,0061-273=25 С°
Kovalev_D 197:7a05523bf588 203 Spi.DAC_A = 41000;
Kovalev_D 201:76f4123bf22a 204 Spi.DAC_B = 32767;
Kovalev_D 158:0c8342e1837a 205
Kovalev_D 196:f76dbc081e63 206 Gyro.StrayHZ = 200;
Kovalev_D 159:38f39c0c143f 207 Gyro.StrayHZ_flag = 0;
Kovalev_D 159:38f39c0c143f 208 Gyro.LogHZ = 0;
Kovalev_D 159:38f39c0c143f 209
Kovalev_D 192:d32c8cf7bcd9 210 Gyro.StrayPLC_Pls = 1000;
Kovalev_D 159:38f39c0c143f 211 Gyro.StrayPLC_Mns = -1000;
Kovalev_D 159:38f39c0c143f 212 Gyro.StrayPLC_2Mode = 2000;
Kovalev_D 159:38f39c0c143f 213 Gyro.StrayPLC_flag = 0;
Kovalev_D 202:c03b7b128e11 214 Gyro.LogPLC = 1;
Kovalev_D 159:38f39c0c143f 215 Gyro.PLC_Lern = 0;
Kovalev_D 168:f4a6abb18358 216 Gyro.ModJump = 0;
Kovalev_D 197:7a05523bf588 217 Gyro.PLC_Error2Mode =1400; //для записи мод
Kovalev_D 159:38f39c0c143f 218 //Gyro.PLC_Error2Mode = 65; //стандартное включение прибора регулировка (65 начальная задержка для поиска АМП мах)
Kovalev_D 86:398da56ef751 219 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 220 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 221 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 222 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 223 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 224 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 225 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 226 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 227
Kovalev_D 86:398da56ef751 228 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 229
Kovalev_D 86:398da56ef751 230 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 231 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 232 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 233 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 234 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 235 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 236 Cur_QEI=0;
Kovalev_D 86:398da56ef751 237 Last_QEI=0;
Kovalev_D 86:398da56ef751 238 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 239 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 240 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 241 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 242 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 243 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 244 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 245 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 246
Kovalev_D 98:95b8e79f13e1 247
Kovalev_D 87:7e575d26d6d0 248 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 249 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 250 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 251 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 252
Kovalev_D 87:7e575d26d6d0 253 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 254 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 255
Kovalev_D 98:95b8e79f13e1 256 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 257 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 258 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 259 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 260
Kovalev_D 88:b5c1d9d338d1 261
Kovalev_D 89:a0d344db227e 262 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 263 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 264 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 265
Kovalev_D 89:a0d344db227e 266 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 267
Kovalev_D 89:a0d344db227e 268 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 269 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 270 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 271 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 272
Kovalev_D 89:a0d344db227e 273 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 274 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 275 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 276
Kovalev_D 89:a0d344db227e 277 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 278 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 279 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 280
Kovalev_D 99:3d8f206ceac2 281 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 282 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 283 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 284 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 285
Kovalev_D 89:a0d344db227e 286 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 287 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 288 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 289
Kovalev_D 86:398da56ef751 290
Kovalev_D 86:398da56ef751 291
Kovalev_D 92:c892f0311aa7 292
Kovalev_D 92:c892f0311aa7 293
Kovalev_D 92:c892f0311aa7 294
Kovalev_D 92:c892f0311aa7 295 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 296 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 297 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 298 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 299 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 300
Kovalev_D 92:c892f0311aa7 301 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 302 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 303
Kovalev_D 92:c892f0311aa7 304 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 305 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 306 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 307
Kovalev_D 92:c892f0311aa7 308 // P0.15~0.18 as SSP0
Kovalev_D 201:76f4123bf22a 309 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); /// //установит Р 0.15
Kovalev_D 92:c892f0311aa7 310 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 311
Kovalev_D 92:c892f0311aa7 312 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 313 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 314
Kovalev_D 92:c892f0311aa7 315 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 316 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 317
Kovalev_D 92:c892f0311aa7 318 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 319 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 320
Kovalev_D 201:76f4123bf22a 321 LPC_SSP0->CR0 = ((0<<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 322 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 323 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 324
Kovalev_D 92:c892f0311aa7 325 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 326 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 327
Kovalev_D 92:c892f0311aa7 328 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 329 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 330 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 331 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 332 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 333 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 334 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 335 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 336 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 337
Kovalev_D 92:c892f0311aa7 338 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 339 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 340 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 341 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 342 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 343 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 344 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 345
Kovalev_D 92:c892f0311aa7 346
Kovalev_D 92:c892f0311aa7 347
Kovalev_D 92:c892f0311aa7 348
Kovalev_D 86:398da56ef751 349 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 350 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 351 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 352
Kovalev_D 89:a0d344db227e 353 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 354 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 355 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 356 PinCheng();
Kovalev_D 89:a0d344db227e 357 /////////////////////////////////////////////////////
Kovalev_D 202:c03b7b128e11 358 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 359 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 360 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 361 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 362
Kovalev_D 98:95b8e79f13e1 363 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 202:c03b7b128e11 364 LPC_PINCON->PINSEL0 |= (0x00<<28);
Kovalev_D 190:289514f730ee 365 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 366 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 367 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 368 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 369 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 370 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 371 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 372 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 373 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 374 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 375 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 376 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 377 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 378
Kovalev_D 88:b5c1d9d338d1 379
Kovalev_D 88:b5c1d9d338d1 380
Kovalev_D 87:7e575d26d6d0 381 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 382 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 383 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 384 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 385 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 386 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 387 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 388 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 389
Kovalev_D 88:b5c1d9d338d1 390
Kovalev_D 88:b5c1d9d338d1 391
Kovalev_D 87:7e575d26d6d0 392 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 393 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 394 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 395 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 396 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 397 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 398 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 399 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 400 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 401 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 402 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 403 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 404 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 405 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 406 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 407 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 408 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 409 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 410
Kovalev_D 88:b5c1d9d338d1 411
Kovalev_D 88:b5c1d9d338d1 412
Kovalev_D 87:7e575d26d6d0 413 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 414 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 415 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 416 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 417 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 418 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 419 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 420 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 421 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 422 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 423
Kovalev_D 88:b5c1d9d338d1 424
Kovalev_D 88:b5c1d9d338d1 425 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 426 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 427 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 428 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 429 enable_timer1();
Kovalev_D 86:398da56ef751 430 enable_timer2();
Kovalev_D 201:76f4123bf22a 431 // enable_timer0();
Kovalev_D 89:a0d344db227e 432 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 433
Kovalev_D 89:a0d344db227e 434 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 435 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 436
Kovalev_D 90:d9b6a4bc5065 437
Kovalev_D 90:d9b6a4bc5065 438
Kovalev_D 90:d9b6a4bc5065 439 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 440 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 441 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 442 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 443 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 444
Kovalev_D 90:d9b6a4bc5065 445 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 446 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 447
Kovalev_D 90:d9b6a4bc5065 448 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 449 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 450 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 451
Kovalev_D 90:d9b6a4bc5065 452 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 453 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 454 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 455
Kovalev_D 90:d9b6a4bc5065 456 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 457 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 458
Kovalev_D 90:d9b6a4bc5065 459 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 460 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 461
Kovalev_D 90:d9b6a4bc5065 462 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 463 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 464
Kovalev_D 90:d9b6a4bc5065 465 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 466 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 467 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 468
Kovalev_D 90:d9b6a4bc5065 469 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 470 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 471
Kovalev_D 90:d9b6a4bc5065 472 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 473 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 474 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 475 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 476 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 477 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 478 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 479 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 480 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 481
Kovalev_D 92:c892f0311aa7 482 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 483 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 484 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 485 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 486
Kovalev_D 86:398da56ef751 487 }
igor_v 13:e2a1d18677b8 488
igor_v 0:8ad47e2b6f00 489
igor_v 0:8ad47e2b6f00 490
igor_v 0:8ad47e2b6f00 491
igor_v 0:8ad47e2b6f00 492