Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Global.c@134:caf4c9cd5052, 2016-04-14 (annotated)

Committer:
Kovalev_D
Date:
Thu Apr 14 14:13:18 2016 +0000
Revision:
134:caf4c9cd5052
Parent:
132:2c7bec5cf6fe
Child:
139:1716152517aa
kjhg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 0:8ad47e2b6f00 3
igor_v 0:8ad47e2b6f00 4
Kovalev_D 89:a0d344db227e 5 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 6 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 112:4a96133a1311 7
Kovalev_D 89:a0d344db227e 8 unsigned char BuffTemp[100];
Kovalev_D 89:a0d344db227e 9 unsigned char Time[500];
Kovalev_D 86:398da56ef751 10 unsigned int Event1Hz;
Kovalev_D 124:9ae09249f842 11 unsigned int Event500Hz;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int Event1K ;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int EventVibro;
Kovalev_D 124:9ae09249f842 15
Kovalev_D 124:9ae09249f842 16 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 17 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 18 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 19 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 20 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 21 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 22 unsigned int ShiftL;
Kovalev_D 86:398da56ef751 23
Kovalev_D 134:caf4c9cd5052 24 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 25 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 26 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 27 BX R0
Kovalev_D 134:caf4c9cd5052 28 }
Kovalev_D 134:caf4c9cd5052 29
Kovalev_D 86:398da56ef751 30 void GLD_Init(void)
Kovalev_D 86:398da56ef751 31 {
Kovalev_D 90:d9b6a4bc5065 32 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 33 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 34 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 35 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 36 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 37 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 38 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 39 /////////////////////////////////////////////
Kovalev_D 104:ab1cb4ff56b2 40 Gyro.RgConA = 0xffff;
Kovalev_D 104:ab1cb4ff56b2 41 Gyro.RgConB = 0xffff;
Kovalev_D 86:398da56ef751 42 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 43 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 44 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 45 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 46 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 47 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 48 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 49 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 50 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 51 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 52 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 53 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 54 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 55 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 56 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 57 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 58 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 59 ShiftL = 0;
Kovalev_D 124:9ae09249f842 60 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 61 Time500Hz = 0;
Kovalev_D 86:398da56ef751 62 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 63 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 64
Kovalev_D 88:b5c1d9d338d1 65
Kovalev_D 88:b5c1d9d338d1 66 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 67 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 68 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 69 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 70 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 132:2c7bec5cf6fe 71 Gyro.FlashMod=0;
Kovalev_D 99:3d8f206ceac2 72 Gyro.FrqHZ=400;
Kovalev_D 88:b5c1d9d338d1 73 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 88:b5c1d9d338d1 74 Gyro.AmpPer=20;
Kovalev_D 88:b5c1d9d338d1 75 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 76 Gyro.Amp = 10*65535;
Kovalev_D 88:b5c1d9d338d1 77 Gyro.AmpMin =10;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 78 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 79 //////////////////////////////////////////////////////////////////////
Kovalev_D 106:250ddd8629c6 80 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 81 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 82 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 83 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 84 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 85 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 86 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 87 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 88 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 89 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 90 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 91 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 92 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 93 Buff_16PointD[i] = 0x00;
Kovalev_D 129:406995a91322 94 GyroP.Array[i] = 0x00;
Kovalev_D 129:406995a91322 95 }
Kovalev_D 129:406995a91322 96
Kovalev_D 129:406995a91322 97 for (int i = 0; i < 170; i++ ) {
Kovalev_D 129:406995a91322 98 GyroP.Array[i] =i;
Kovalev_D 88:b5c1d9d338d1 99 }
Kovalev_D 88:b5c1d9d338d1 100 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 101 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 102 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 103 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 104 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 105 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 106 // Temp_AMP=0;
Kovalev_D 96:1c8536458119 107 Temp_AMP64P=0;
Kovalev_D 88:b5c1d9d338d1 108 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 109 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 110 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 111 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 112 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 113 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 114 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 115 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 116 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 117 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 118 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 119 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 120 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 121 }
Kovalev_D 95:dd51e577e114 122 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 123 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 124 }
Kovalev_D 96:1c8536458119 125 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 126 Buff_AMP64P[i]= 0;
Kovalev_D 96:1c8536458119 127 }
Kovalev_D 96:1c8536458119 128 for (int i = 0; i < 256; i++ ) {
Kovalev_D 96:1c8536458119 129 Buff_AMP[i]= 0;
Kovalev_D 96:1c8536458119 130 }
Kovalev_D 88:b5c1d9d338d1 131 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 132 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 133
Kovalev_D 88:b5c1d9d338d1 134
Kovalev_D 88:b5c1d9d338d1 135
Kovalev_D 88:b5c1d9d338d1 136
Kovalev_D 88:b5c1d9d338d1 137
Kovalev_D 92:c892f0311aa7 138
Kovalev_D 88:b5c1d9d338d1 139 Gyro.SOC_Out=0xDD;
Kovalev_D 86:398da56ef751 140 Gyro.Firmware_Version =0x15; //версия программы
Kovalev_D 86:398da56ef751 141 Gyro.GLD_Serial = 0x20; //серийный номер
Kovalev_D 86:398da56ef751 142 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 86:398da56ef751 143 Gyro.Discharg = StartDischarg;
Kovalev_D 86:398da56ef751 144 Gyro.BackLight = StartBackLight;
Kovalev_D 92:c892f0311aa7 145
Kovalev_D 88:b5c1d9d338d1 146
Kovalev_D 89:a0d344db227e 147
Kovalev_D 89:a0d344db227e 148
Kovalev_D 88:b5c1d9d338d1 149 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 150 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 151 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 152 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 153 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 154 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 155 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 156 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 157 Spi.DAC_A = 0x7fff;
Kovalev_D 86:398da56ef751 158 Spi.DAC_B = 0x7fff;
Kovalev_D 86:398da56ef751 159 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 160 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 161 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 162 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 163 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 164 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 165 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 166 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 167
igor_v 16:18e3fd7b92d0 168
igor_v 16:18e3fd7b92d0 169
Kovalev_D 86:398da56ef751 170 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 171
Kovalev_D 86:398da56ef751 172
Kovalev_D 86:398da56ef751 173 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 174 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 175 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 176 /////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 177 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 178 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 179 Cur_QEI=0;
Kovalev_D 86:398da56ef751 180 Last_QEI=0;
Kovalev_D 86:398da56ef751 181 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 182 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 183 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 184 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 87:7e575d26d6d0 185 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=100MHz
Kovalev_D 87:7e575d26d6d0 186 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 187 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 188 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 189
Kovalev_D 98:95b8e79f13e1 190
Kovalev_D 87:7e575d26d6d0 191 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 192 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 193 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 194 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 195
Kovalev_D 87:7e575d26d6d0 196 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 197 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 198
Kovalev_D 98:95b8e79f13e1 199 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 200 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 201 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 202 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 203
Kovalev_D 88:b5c1d9d338d1 204
Kovalev_D 89:a0d344db227e 205 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 206 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 207 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 208
Kovalev_D 89:a0d344db227e 209 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 210
Kovalev_D 89:a0d344db227e 211 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 212 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 213 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 214 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 215
Kovalev_D 89:a0d344db227e 216 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 217 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 218 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 219
Kovalev_D 89:a0d344db227e 220 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 221 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 222 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 223
Kovalev_D 99:3d8f206ceac2 224 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 225 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 226 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 227 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 228
Kovalev_D 89:a0d344db227e 229 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 230 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 231 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 232
Kovalev_D 86:398da56ef751 233
Kovalev_D 86:398da56ef751 234
Kovalev_D 92:c892f0311aa7 235
Kovalev_D 92:c892f0311aa7 236
Kovalev_D 92:c892f0311aa7 237
Kovalev_D 92:c892f0311aa7 238 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 239 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 240 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 241 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 242 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 243
Kovalev_D 92:c892f0311aa7 244 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 245 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 246
Kovalev_D 92:c892f0311aa7 247 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 248 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 249 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 250
Kovalev_D 92:c892f0311aa7 251 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 252 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 253 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 254
Kovalev_D 92:c892f0311aa7 255 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 256 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 257
Kovalev_D 92:c892f0311aa7 258 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 259 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 260
Kovalev_D 92:c892f0311aa7 261 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 262 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 263
Kovalev_D 92:c892f0311aa7 264 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 92:c892f0311aa7 265 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 266 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 267
Kovalev_D 92:c892f0311aa7 268 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 269 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 270
Kovalev_D 92:c892f0311aa7 271 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 272 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 273 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 274 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 275 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 276 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 277 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 278 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 279 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 280
Kovalev_D 92:c892f0311aa7 281 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 282 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 283 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 284 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 285 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 286 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 287 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 288
Kovalev_D 92:c892f0311aa7 289
Kovalev_D 92:c892f0311aa7 290
Kovalev_D 92:c892f0311aa7 291
Kovalev_D 86:398da56ef751 292 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 293 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 294 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 295
Kovalev_D 89:a0d344db227e 296 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 297 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 298 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 299 PinCheng();
Kovalev_D 89:a0d344db227e 300 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 301
Kovalev_D 87:7e575d26d6d0 302 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 303 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 304 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 305
Kovalev_D 98:95b8e79f13e1 306 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 98:95b8e79f13e1 307 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 98:95b8e79f13e1 308 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 87:7e575d26d6d0 309 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 310 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 311 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 312
Kovalev_D 88:b5c1d9d338d1 313
Kovalev_D 87:7e575d26d6d0 314 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 315 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 316 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 317 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 318 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 319 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 320
Kovalev_D 88:b5c1d9d338d1 321
Kovalev_D 88:b5c1d9d338d1 322
Kovalev_D 87:7e575d26d6d0 323 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 324 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 325 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 326 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 327 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 328 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 329 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 330 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 331
Kovalev_D 88:b5c1d9d338d1 332
Kovalev_D 88:b5c1d9d338d1 333
Kovalev_D 87:7e575d26d6d0 334 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 335 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 336 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 337 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 338 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 339 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 340 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 341 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 342 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 343 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 344 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 345 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 346 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 347 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 348 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 349 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 350 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 351 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 352
Kovalev_D 88:b5c1d9d338d1 353
Kovalev_D 88:b5c1d9d338d1 354
Kovalev_D 87:7e575d26d6d0 355 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 356 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 357 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 358 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 359 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 360 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 361 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 362 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 363 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 364 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 365
Kovalev_D 88:b5c1d9d338d1 366
Kovalev_D 88:b5c1d9d338d1 367 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 368 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 369 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 370 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 371 enable_timer1();
Kovalev_D 86:398da56ef751 372 enable_timer2();
Kovalev_D 89:a0d344db227e 373 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 374
Kovalev_D 89:a0d344db227e 375 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 376 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 377
Kovalev_D 90:d9b6a4bc5065 378
Kovalev_D 90:d9b6a4bc5065 379
Kovalev_D 90:d9b6a4bc5065 380 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 381 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 382 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 383 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 384 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 385
Kovalev_D 90:d9b6a4bc5065 386 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 387 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 388
Kovalev_D 90:d9b6a4bc5065 389 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 390 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 391 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 392
Kovalev_D 90:d9b6a4bc5065 393 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 394 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 395 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 396
Kovalev_D 90:d9b6a4bc5065 397 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 398 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 399
Kovalev_D 90:d9b6a4bc5065 400 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 401 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 402
Kovalev_D 90:d9b6a4bc5065 403 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 404 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 405
Kovalev_D 90:d9b6a4bc5065 406 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 407 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 408 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 409
Kovalev_D 90:d9b6a4bc5065 410 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 411 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 412
Kovalev_D 90:d9b6a4bc5065 413 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 414 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 415 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 416 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 90:d9b6a4bc5065 417 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 418 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 419 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 420 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 421 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 422
Kovalev_D 92:c892f0311aa7 423 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 424 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 425 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 426 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 427
Kovalev_D 86:398da56ef751 428 }
igor_v 13:e2a1d18677b8 429
igor_v 0:8ad47e2b6f00 430
igor_v 0:8ad47e2b6f00 431
igor_v 0:8ad47e2b6f00 432
igor_v 0:8ad47e2b6f00 433