Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

QEI.c@207:d1ce992f5d17, 2017-01-13 (annotated)

Committer:
Kovalev_D
Date:
Fri Jan 13 08:27:28 2017 +0000
Revision:
207:d1ce992f5d17
Parent:
205:775d54fdf646
Child:
208:19150d2b528f
4566

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 1:f2adcae3d304 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 21:bc8c1cec3da6 3 int Dif_QEI;
igor_v 42:6fc307c4963e 4
igor_v 21:bc8c1cec3da6 5 int FFF=0;//для заплатки
igor_v 0:8ad47e2b6f00 6
Kovalev_D 197:7a05523bf588 7 unsigned int tempmod=64,tempmod2=1;
igor_v 42:6fc307c4963e 8
Kovalev_D 86:398da56ef751 9 int Pulse_8Point;
Kovalev_D 86:398da56ef751 10 int Pulse_16Point;
Kovalev_D 86:398da56ef751 11 int Pulse_32Point;
Kovalev_D 183:7e200f4d9b16 12 int Pulse_64Point;
Kovalev_D 86:398da56ef751 13 int Pulse_16PointD;
Kovalev_D 191:40028201ddad 14 unsigned int CaunAddPlus =0;//счетчик ипульсов энкодера"+" за такт ВП
Kovalev_D 192:d32c8cf7bcd9 15 unsigned int CaunAddMin =0;//счетчик ипульсов энкодера"-" за такт ВП
Kovalev_D 108:030cdde08314 16
Kovalev_D 112:4a96133a1311 17 int unsigned Cur_QEI, Last_QEI; //текушее и предыдущее,(единичное) значение энкодера
Kovalev_D 207:d1ce992f5d17 18 int temp32=0;
Kovalev_D 193:a0fe8bfc97e4 19 int Buff_1Point [512];
Kovalev_D 183:7e200f4d9b16 20 int Buff_32Point [32];
Kovalev_D 193:a0fe8bfc97e4 21 int Buff_64Point [32];
igor_v 43:3f7c8a0ea59c 22 int Buff_16Point [32];
igor_v 43:3f7c8a0ea59c 23 int Buff_16PointD [32];
igor_v 43:3f7c8a0ea59c 24 int Buff_8Point [32];
igor_v 43:3f7c8a0ea59c 25 int Buff_Restored_sin [32];
Kovalev_D 196:f76dbc081e63 26 int Buff_Restored_sin2 [32];
igor_v 21:bc8c1cec3da6 27 void D_QEI(void)
igor_v 21:bc8c1cec3da6 28 {
igor_v 21:bc8c1cec3da6 29 Dif_QEI=0;
igor_v 21:bc8c1cec3da6 30 Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера.
Kovalev_D 207:d1ce992f5d17 31
Kovalev_D 207:d1ce992f5d17 32
Kovalev_D 207:d1ce992f5d17 33
Kovalev_D 197:7a05523bf588 34 //LPC_QEI->CON = 0xF;
igor_v 21:bc8c1cec3da6 35 Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.()
Kovalev_D 207:d1ce992f5d17 36 temp32 = Dif_QEI;
Kovalev_D 207:d1ce992f5d17 37 Gyro.CuruAngle32 += temp32;
Kovalev_D 207:d1ce992f5d17 38 temp32=0;
igor_v 21:bc8c1cec3da6 39 Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения.
Kovalev_D 207:d1ce992f5d17 40
igor_v 21:bc8c1cec3da6 41 if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль
igor_v 21:bc8c1cec3da6 42 if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль
Kovalev_D 108:030cdde08314 43 Buff_1Point[CountV255] = Dif_QEI ; // накопление в буфер еденичных значений приращения по каждому такту.
Kovalev_D 193:a0fe8bfc97e4 44
Kovalev_D 197:7a05523bf588 45
Kovalev_D 197:7a05523bf588 46
Kovalev_D 205:775d54fdf646 47
igor_v 21:bc8c1cec3da6 48 //////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 108:030cdde08314 49 Pulse_8Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 50 Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов
Kovalev_D 112:4a96133a1311 51 Buff_8Point[CountV31] = (Pulse_8Point);
igor_v 0:8ad47e2b6f00 52
igor_v 21:bc8c1cec3da6 53 Pulse_16Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 54 Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов
Kovalev_D 112:4a96133a1311 55 Buff_16Point[CountV31] = (Pulse_16Point );
igor_v 21:bc8c1cec3da6 56
igor_v 21:bc8c1cec3da6 57 Pulse_32Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 58 Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов
Kovalev_D 112:4a96133a1311 59 Gyro.Cnt_Dif = (Pulse_32Point);
Kovalev_D 112:4a96133a1311 60 Buff_32Point[CountV31] = (Pulse_32Point );
Kovalev_D 183:7e200f4d9b16 61
Kovalev_D 207:d1ce992f5d17 62
Kovalev_D 207:d1ce992f5d17 63
Kovalev_D 207:d1ce992f5d17 64
Kovalev_D 193:a0fe8bfc97e4 65 Pulse_64Point += Buff_1Point[CountV255];
Kovalev_D 193:a0fe8bfc97e4 66 Pulse_64Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за два 32 тактов
Kovalev_D 183:7e200f4d9b16 67 Gyro.Cnt_Dif = (Pulse_64Point);
Kovalev_D 183:7e200f4d9b16 68 Buff_64Point[CountV31] = (Pulse_64Point );
Kovalev_D 193:a0fe8bfc97e4 69
igor_v 0:8ad47e2b6f00 70
igor_v 21:bc8c1cec3da6 71 Pulse_16PointD += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 72 Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз
igor_v 21:bc8c1cec3da6 73 Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
Kovalev_D 169:140743e3bb96 74 Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; //
Kovalev_D 108:030cdde08314 75 Buff_16PointD[CountV31] = Pulse_16PointD ;
Kovalev_D 183:7e200f4d9b16 76
Kovalev_D 197:7a05523bf588 77
Kovalev_D 197:7a05523bf588 78 //LoopOff
Kovalev_D 196:f76dbc081e63 79 Buff_Restored_sin [CountV31] = (Buff_16PointD[CountV31]) - Buff_32Point[CountV31];
Kovalev_D 196:f76dbc081e63 80 Buff_Restored_sin2 [CountV31] = (Buff_16Point[CountV31]) - Buff_32Point[CountV31];
Kovalev_D 193:a0fe8bfc97e4 81 if((Buff_Restored_sin [CountV31]) > 0)
Kovalev_D 193:a0fe8bfc97e4 82 {
Kovalev_D 193:a0fe8bfc97e4 83 CaunAddPlus += Buff_Restored_sin [CountV31];
Kovalev_D 193:a0fe8bfc97e4 84 } // счетчик положительных импульсов
Kovalev_D 205:775d54fdf646 85 else {CaunAddMin -= Buff_Restored_sin [CountV31];} //счетчик отрицательных импульсов // расчет амплитуды
Kovalev_D 205:775d54fdf646 86
Kovalev_D 197:7a05523bf588 87 Gyro.CuruAngle += Buff_32Point [CountV31];
Kovalev_D 197:7a05523bf588 88
igor_v 21:bc8c1cec3da6 89 }
Kovalev_D 196:f76dbc081e63 90 /*
Kovalev_D 193:a0fe8bfc97e4 91 void CurAngle(void)
Kovalev_D 193:a0fe8bfc97e4 92 {
Kovalev_D 193:a0fe8bfc97e4 93 for (int i = 0; i < 32; i++ )
Kovalev_D 193:a0fe8bfc97e4 94 {
Kovalev_D 197:7a05523bf588 95 Gyro.CuruAngle += Buff_32Point[i];
Kovalev_D 193:a0fe8bfc97e4 96 }
Kovalev_D 193:a0fe8bfc97e4 97 }
Kovalev_D 193:a0fe8bfc97e4 98 void CurAngleLOG(void)
Kovalev_D 193:a0fe8bfc97e4 99 {
Kovalev_D 193:a0fe8bfc97e4 100 sprintf((Time)," %d %d \r\n", Gyro.tempdelta,Gyro.CuruAngle);
Kovalev_D 193:a0fe8bfc97e4 101 WriteCon(Time);
Kovalev_D 193:a0fe8bfc97e4 102 Gyro.CuruAngle=0;
Kovalev_D 193:a0fe8bfc97e4 103 Gyro.tempdelta=0;
Kovalev_D 196:f76dbc081e63 104 }*/
Kovalev_D 193:a0fe8bfc97e4 105