Dmitry Kovalev / Mbed 2 deprecated LG2

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Dependencies:   mbed

Fork of LG by igor Apu

Global.c@95:dd51e577e114, 2016-03-28 (annotated)

Committer:
Kovalev_D
Date:
Mon Mar 28 11:33:45 2016 +0000
Revision:
95:dd51e577e114
Parent:
92:c892f0311aa7
Child:
96:1c8536458119
6

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 89:a0d344db227e 7 unsigned long MaxAmp=0;
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 88:b5c1d9d338d1 11 unsigned int Event1K ;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int EventVibro;
Kovalev_D 88:b5c1d9d338d1 14 unsigned int Time1K;
Kovalev_D 88:b5c1d9d338d1 15 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 16 unsigned int Time1Hz;
Kovalev_D 88:b5c1d9d338d1 17 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 18 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 19 unsigned int ShiftL;
Kovalev_D 86:398da56ef751 20
Kovalev_D 86:398da56ef751 21 void GLD_Init(void)
Kovalev_D 86:398da56ef751 22 {
Kovalev_D 90:d9b6a4bc5065 23 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 89:a0d344db227e 24 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 25 ///////////инициализация таймеров////////////
Kovalev_D 89:a0d344db227e 26 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 27 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 89:a0d344db227e 28 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 89:a0d344db227e 29 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 30 /////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 31
Kovalev_D 89:a0d344db227e 32
Kovalev_D 86:398da56ef751 33 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 34 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 35 /////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 36 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 37 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 38 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 39 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 40 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 41 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 42 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 43 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 44 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 45 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 46 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 47 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 48 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 49 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 50 ShiftL = 0;
Kovalev_D 86:398da56ef751 51 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 52 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 53
Kovalev_D 88:b5c1d9d338d1 54
Kovalev_D 88:b5c1d9d338d1 55 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 56 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 57 ///////////расчета значений буферов ВП///////////////
Kovalev_D 88:b5c1d9d338d1 58 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 59 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 88:b5c1d9d338d1 60 Gyro.FrqHZ=449;
Kovalev_D 88:b5c1d9d338d1 61 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 88:b5c1d9d338d1 62 Gyro.AmpPer=20;
Kovalev_D 88:b5c1d9d338d1 63 Gyro.AmpPerDel=10;
Kovalev_D 88:b5c1d9d338d1 64 Gyro.Amp = 10*65535;
Kovalev_D 88:b5c1d9d338d1 65 Gyro.AmpMin =10;// минимальное значение AmpT;
Kovalev_D 88:b5c1d9d338d1 66 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 88:b5c1d9d338d1 67 //////////////////////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 68 CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 69 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 70 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 71 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 72 Pulse_32Point = 0;
Kovalev_D 88:b5c1d9d338d1 73 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 74 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 75 ////////////////буферов вибропривода/////////////////
Kovalev_D 88:b5c1d9d338d1 76 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 77 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 78 Buff_16Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 79 Buff_8Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 80 Buff_32Point[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 81 Buff_16PointD[i] = 0x00;
Kovalev_D 88:b5c1d9d338d1 82 }
Kovalev_D 88:b5c1d9d338d1 83 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 84 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 85 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 86 /////////////обнуление переменых для/////////////////
Kovalev_D 88:b5c1d9d338d1 87 //////////////////переменных АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 88 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 89 Temp_AMP=0;
Kovalev_D 88:b5c1d9d338d1 90 Temp_ADC_2=0;
Kovalev_D 88:b5c1d9d338d1 91 Temp_ADC_3=0;
Kovalev_D 88:b5c1d9d338d1 92 Temp_ADC_4=0;
Kovalev_D 88:b5c1d9d338d1 93 Temp_ADC_5=0;
Kovalev_D 88:b5c1d9d338d1 94 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 95 /////////////предварительное заполнение//////////////
Kovalev_D 88:b5c1d9d338d1 96 /////////////////////буферов АЦП/////////////////////
Kovalev_D 88:b5c1d9d338d1 97 /////////////////////////////////////////////////////
Kovalev_D 95:dd51e577e114 98 for (int i = 0; i < 32; i++ ) {
Kovalev_D 88:b5c1d9d338d1 99 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 88:b5c1d9d338d1 100 Buff_ADC_2[i] = 0;
Kovalev_D 88:b5c1d9d338d1 101 Buff_ADC_3[i] = 0;
Kovalev_D 88:b5c1d9d338d1 102 Buff_ADC_4[i] = 0;
Kovalev_D 95:dd51e577e114 103 }
Kovalev_D 95:dd51e577e114 104 for (int i = 0; i < 256; i++ ) {
Kovalev_D 95:dd51e577e114 105 Buff_ADC_5[i]= 0;
Kovalev_D 88:b5c1d9d338d1 106 }
Kovalev_D 88:b5c1d9d338d1 107 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 108 ////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 109
Kovalev_D 88:b5c1d9d338d1 110
Kovalev_D 88:b5c1d9d338d1 111
Kovalev_D 88:b5c1d9d338d1 112
Kovalev_D 88:b5c1d9d338d1 113
Kovalev_D 92:c892f0311aa7 114
Kovalev_D 88:b5c1d9d338d1 115 Gyro.SOC_Out=0xDD;
Kovalev_D 86:398da56ef751 116 Gyro.Firmware_Version =0x15; //версия программы
Kovalev_D 86:398da56ef751 117 Gyro.GLD_Serial = 0x20; //серийный номер
Kovalev_D 86:398da56ef751 118 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 86:398da56ef751 119 Gyro.Discharg = StartDischarg;
Kovalev_D 86:398da56ef751 120 Gyro.BackLight = StartBackLight;
Kovalev_D 92:c892f0311aa7 121
Kovalev_D 88:b5c1d9d338d1 122
Kovalev_D 89:a0d344db227e 123
Kovalev_D 89:a0d344db227e 124
Kovalev_D 88:b5c1d9d338d1 125 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 126 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 127 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 128 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 129 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 130 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 131 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 132 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 133 Spi.DAC_A = 0x7fff;
Kovalev_D 86:398da56ef751 134 Spi.DAC_B = 0x7fff;
Kovalev_D 86:398da56ef751 135 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 136 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 137 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 138 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 139 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 140 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 141 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 142 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 143
igor_v 16:18e3fd7b92d0 144
igor_v 16:18e3fd7b92d0 145
Kovalev_D 86:398da56ef751 146 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 88:b5c1d9d338d1 147
Kovalev_D 86:398da56ef751 148
Kovalev_D 86:398da56ef751 149 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 150 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 151 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 152 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 153 Cur_QEI=0;
Kovalev_D 86:398da56ef751 154 Last_QEI=0;
Kovalev_D 86:398da56ef751 155 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 156 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 157 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 158 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 87:7e575d26d6d0 159 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=100MHz
Kovalev_D 87:7e575d26d6d0 160 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 161 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 162 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 163
Kovalev_D 87:7e575d26d6d0 164 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 165 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 166 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 167 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 168
Kovalev_D 87:7e575d26d6d0 169 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 170 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 171
Kovalev_D 87:7e575d26d6d0 172 NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 87:7e575d26d6d0 173 NVIC_EnableIRQ(QEI_IRQn);
Kovalev_D 88:b5c1d9d338d1 174 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 175 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 176
Kovalev_D 88:b5c1d9d338d1 177
Kovalev_D 89:a0d344db227e 178 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 179 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 180 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 181
Kovalev_D 89:a0d344db227e 182 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 183
Kovalev_D 89:a0d344db227e 184 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 185 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 186 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 187 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 188
Kovalev_D 89:a0d344db227e 189 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 190 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 191 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 192
Kovalev_D 89:a0d344db227e 193 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 194 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 195 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 89:a0d344db227e 196 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 197 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 198 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 199
Kovalev_D 86:398da56ef751 200
Kovalev_D 86:398da56ef751 201
Kovalev_D 92:c892f0311aa7 202
Kovalev_D 92:c892f0311aa7 203
Kovalev_D 92:c892f0311aa7 204
Kovalev_D 92:c892f0311aa7 205 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 206 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 207 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 208 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 209 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 210
Kovalev_D 92:c892f0311aa7 211 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 212 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 213
Kovalev_D 92:c892f0311aa7 214 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 215 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 216 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 217
Kovalev_D 92:c892f0311aa7 218 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 219 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 220 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 221
Kovalev_D 92:c892f0311aa7 222 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 223 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 224
Kovalev_D 92:c892f0311aa7 225 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 226 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 227
Kovalev_D 92:c892f0311aa7 228 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 229 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 230
Kovalev_D 92:c892f0311aa7 231 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 232 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 233 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 234
Kovalev_D 92:c892f0311aa7 235 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 236 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 237
Kovalev_D 92:c892f0311aa7 238 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 239 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 240 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 241 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 242 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 243 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 244 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 245 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 246 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 247
Kovalev_D 92:c892f0311aa7 248 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 249 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 250 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 251 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 252 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 253 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 254 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 255
Kovalev_D 92:c892f0311aa7 256
Kovalev_D 92:c892f0311aa7 257
Kovalev_D 92:c892f0311aa7 258
Kovalev_D 86:398da56ef751 259 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 260 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 261 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 262
Kovalev_D 89:a0d344db227e 263 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 264 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 265 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 266 PinCheng();
Kovalev_D 89:a0d344db227e 267 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 268
Kovalev_D 87:7e575d26d6d0 269 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 270 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 271 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 272 LPC_PINCON->PINSEL0 = (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 87:7e575d26d6d0 273 LPC_PINCON->PINMODE0 = (0x3<<28);
Kovalev_D 87:7e575d26d6d0 274 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 275 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 276 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 277
Kovalev_D 88:b5c1d9d338d1 278
Kovalev_D 87:7e575d26d6d0 279 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 280 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 281 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 282 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 283 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 284 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 285
Kovalev_D 88:b5c1d9d338d1 286
Kovalev_D 88:b5c1d9d338d1 287
Kovalev_D 87:7e575d26d6d0 288 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 289 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 290 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 291 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 87:7e575d26d6d0 292 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 293 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 294 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 295 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 296
Kovalev_D 88:b5c1d9d338d1 297
Kovalev_D 88:b5c1d9d338d1 298
Kovalev_D 87:7e575d26d6d0 299 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 300 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 301 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 302 LPC_PINCON->PINSEL3 = (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 303 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 304 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 305 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 306 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 307 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 308 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 309 LPC_PINCON->PINSEL3 = (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 310 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 311 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 312 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 313 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 314 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 315
Kovalev_D 88:b5c1d9d338d1 316
Kovalev_D 88:b5c1d9d338d1 317
Kovalev_D 87:7e575d26d6d0 318 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 319 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 320 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 321 LPC_PINCON->PINSEL2 = (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 322 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 323 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 324 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 325 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 326 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 327
Kovalev_D 88:b5c1d9d338d1 328
Kovalev_D 88:b5c1d9d338d1 329 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 330 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 331 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 332 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 333 enable_timer1();
Kovalev_D 86:398da56ef751 334 enable_timer2();
Kovalev_D 89:a0d344db227e 335 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 336
Kovalev_D 89:a0d344db227e 337 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 338 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 339
Kovalev_D 90:d9b6a4bc5065 340
Kovalev_D 90:d9b6a4bc5065 341
Kovalev_D 90:d9b6a4bc5065 342 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 343 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 344 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 345 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 346 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 347
Kovalev_D 90:d9b6a4bc5065 348 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 349 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 350
Kovalev_D 90:d9b6a4bc5065 351 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 352 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 353 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 354
Kovalev_D 90:d9b6a4bc5065 355 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 356 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 357 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 358
Kovalev_D 90:d9b6a4bc5065 359 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 360 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 361
Kovalev_D 90:d9b6a4bc5065 362 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 363 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 364
Kovalev_D 90:d9b6a4bc5065 365 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 366 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 367
Kovalev_D 90:d9b6a4bc5065 368 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 369 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 370 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 371
Kovalev_D 90:d9b6a4bc5065 372 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 373 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 374
Kovalev_D 90:d9b6a4bc5065 375 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 376 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 377 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 378 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 90:d9b6a4bc5065 379 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 380 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 381 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 382 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 383 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 384
Kovalev_D 92:c892f0311aa7 385 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 386 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 387 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 388 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 389
Kovalev_D 86:398da56ef751 390 }
igor_v 13:e2a1d18677b8 391
igor_v 0:8ad47e2b6f00 392
igor_v 0:8ad47e2b6f00 393
igor_v 0:8ad47e2b6f00 394
igor_v 0:8ad47e2b6f00 395