Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Command.c@115:e5a230e5af52, 2016-04-05 (annotated)

Committer:
Kovalev_D
Date:
Tue Apr 05 10:31:28 2016 +0000
Revision:
115:e5a230e5af52
Parent:
113:8be429494918
Child:
116:66f1f0ff2dab
56

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "stdlib.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "Global.h"
Kovalev_D 106:250ddd8629c6 4 int tempNH,tempNL;
igor_v 0:8ad47e2b6f00 5 unsigned int Rate_Flag;
igor_v 0:8ad47e2b6f00 6 unsigned int CountBuFFIn;
igor_v 21:bc8c1cec3da6 7 unsigned int N=0,CRC_N;
igor_v 21:bc8c1cec3da6 8 unsigned int Param1=0;
igor_v 21:bc8c1cec3da6 9 unsigned int Param2=0;
igor_v 21:bc8c1cec3da6 10 unsigned int Param3=0;
igor_v 21:bc8c1cec3da6 11 unsigned int Param4=0;
Kovalev_D 102:4270092be987 12 unsigned int Consol=123;
igor_v 0:8ad47e2b6f00 13 /*
igor_v 21:bc8c1cec3da6 14 void exec_CMD(void) //r. === процедура окончательной дешифрации и исполнения команды
igor_v 0:8ad47e2b6f00 15 {
igor_v 0:8ad47e2b6f00 16 unsigned int Comand_code;
igor_v 21:bc8c1cec3da6 17
igor_v 21:bc8c1cec3da6 18 //rx_buf_copy = 1; //r. предустанов флага копирования приемного буфера
igor_v 0:8ad47e2b6f00 19
igor_v 0:8ad47e2b6f00 20 Comand_code = (rcv_buf[2] & 0xFF) << 8;
igor_v 21:bc8c1cec3da6 21 PC_Comand = Comand_code | (rcv_buf[3] & 0xFF); //e. save it in the memory for echo-transmission //r. сохранить его в памяти для обратной передачи
igor_v 0:8ad47e2b6f00 22 }*/
igor_v 0:8ad47e2b6f00 23 void CMD_Maintenance(void)
igor_v 0:8ad47e2b6f00 24 {
igor_v 30:17c84ed091b3 25 BuffTemp[0] = Gyro.SOC_Out;
igor_v 30:17c84ed091b3 26 BuffTemp[1] = Gyro .My_Addres;
igor_v 30:17c84ed091b3 27 BuffTemp[2] = Gyro .Firmware_Version;
igor_v 30:17c84ed091b3 28 BuffTemp[3] = Gyro .GLD_Serial;
igor_v 21:bc8c1cec3da6 29 BuffTemp[4]=0x00;
igor_v 21:bc8c1cec3da6 30 BuffTemp[5]=0x00;
igor_v 21:bc8c1cec3da6 31 Check(BuffTemp, 8);
igor_v 21:bc8c1cec3da6 32 WriteConN (BuffTemp,8);
igor_v 0:8ad47e2b6f00 33 }
igor_v 0:8ad47e2b6f00 34
igor_v 0:8ad47e2b6f00 35 void CMD_Rate(void)
igor_v 21:bc8c1cec3da6 36 {
Kovalev_D 107:4d178bcc9d8a 37
Kovalev_D 115:e5a230e5af52 38
Kovalev_D 108:030cdde08314 39 unsigned int Temp;
Kovalev_D 115:e5a230e5af52 40
igor_v 21:bc8c1cec3da6 41 unsigned int Cnt_PlsL , Cnt_PlsH; // Счетчик +.
igor_v 21:bc8c1cec3da6 42 unsigned int Cnt_MnsL , Cnt_MnsH; // Счетчик -.
igor_v 21:bc8c1cec3da6 43 unsigned int Cnt_DifL , Cnt_DifH; // Разность счетчиков.
igor_v 21:bc8c1cec3da6 44 unsigned int F_rasL , F_rasH; // Частота расщепления.
igor_v 21:bc8c1cec3da6 45
Kovalev_D 106:250ddd8629c6 46 unsigned int HF_regL , HF_regH; // Выход регулятора ГВЧ.
Kovalev_D 106:250ddd8629c6 47 unsigned int HF_difL , HF_difH; // Сигнал ошибки регулячтора ГВЧ.
igor_v 21:bc8c1cec3da6 48
igor_v 21:bc8c1cec3da6 49 unsigned int WP_regL , WP_regH;
igor_v 21:bc8c1cec3da6 50
igor_v 21:bc8c1cec3da6 51 unsigned int ADC1L, ADC2L, ADC3L, ADC4L, ADC5L;
igor_v 21:bc8c1cec3da6 52 unsigned int ADC1H, ADC2H, ADC3H, ADC4H, ADC5H;
Kovalev_D 106:250ddd8629c6 53
Kovalev_D 108:030cdde08314 54
Kovalev_D 107:4d178bcc9d8a 55
igor_v 30:17c84ed091b3 56 Gyro.Firmware_Version=0xff; /// промежуточная затычка
igor_v 21:bc8c1cec3da6 57
Kovalev_D 108:030cdde08314 58
Kovalev_D 108:030cdde08314 59
Kovalev_D 106:250ddd8629c6 60
igor_v 30:17c84ed091b3 61 Cnt_PlsH = ( Gyro.Cnt_Pls>>8) TakeByte;
Kovalev_D 106:250ddd8629c6 62 Cnt_PlsL = Gyro.Cnt_Pls TakeByte;
Kovalev_D 106:250ddd8629c6 63 Gyro.Cnt_Pls= 0;
Kovalev_D 106:250ddd8629c6 64
igor_v 30:17c84ed091b3 65 Cnt_MnsH = ( Gyro.Cnt_Mns>>8) TakeByte;
Kovalev_D 106:250ddd8629c6 66 Cnt_MnsL = Gyro.Cnt_Mns TakeByte;
Kovalev_D 106:250ddd8629c6 67 Gyro.Cnt_Mns=0;
Kovalev_D 106:250ddd8629c6 68
Kovalev_D 106:250ddd8629c6 69 Cnt_DifH = ( Dif_QEI>>8) TakeByte;
Kovalev_D 106:250ddd8629c6 70 Cnt_DifL = ( Dif_QEI ) TakeByte;
Kovalev_D 106:250ddd8629c6 71
Kovalev_D 106:250ddd8629c6 72 //Spi.DAC_A
igor_v 30:17c84ed091b3 73 F_rasH = ( Gyro.F_ras>>8 ) TakeByte;
igor_v 30:17c84ed091b3 74 F_rasL = ( Gyro.F_ras ) TakeByte;
Kovalev_D 106:250ddd8629c6 75
Kovalev_D 107:4d178bcc9d8a 76 HF_regL = ( Spi.DAC_A ) TakeByte;
Kovalev_D 106:250ddd8629c6 77 HF_regH = ( Spi.DAC_A>>8 ) TakeByte;
Kovalev_D 107:4d178bcc9d8a 78
Kovalev_D 107:4d178bcc9d8a 79 WP_regH = ( Spi.DAC_A>>8 ) TakeByte;
Kovalev_D 107:4d178bcc9d8a 80 WP_regL = ( Spi.DAC_A ) TakeByte;
Kovalev_D 106:250ddd8629c6 81
igor_v 21:bc8c1cec3da6 82 ADC1H = ( Spi.ADC1>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 83 ADC1L = ( Spi.ADC1 ) TakeByte;
igor_v 0:8ad47e2b6f00 84
igor_v 21:bc8c1cec3da6 85 ADC2H = ( Spi.ADC2>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 86 ADC2L = ( Spi.ADC2 ) TakeByte;
igor_v 21:bc8c1cec3da6 87
igor_v 21:bc8c1cec3da6 88 ADC3H = ( Spi.ADC3>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 89 ADC3L = ( Spi.ADC3 ) TakeByte;
igor_v 21:bc8c1cec3da6 90
igor_v 21:bc8c1cec3da6 91 ADC4H = ( Spi.ADC4>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 92 ADC4L = ( Spi.ADC4 ) TakeByte;
igor_v 21:bc8c1cec3da6 93
igor_v 21:bc8c1cec3da6 94 ADC5H = ( Spi.ADC5>>8 ) TakeByte;
Kovalev_D 45:cbc955aecebe 95 ADC5L = ( Spi.ADC5 ) TakeByte;
igor_v 21:bc8c1cec3da6 96
igor_v 21:bc8c1cec3da6 97 WP_regH = ( Spi.DAC_B>>8 ) TakeByte;
igor_v 21:bc8c1cec3da6 98 WP_regL = ( Spi.DAC_B ) TakeByte;
igor_v 21:bc8c1cec3da6 99
igor_v 21:bc8c1cec3da6 100 HF_regH=0xff;
igor_v 21:bc8c1cec3da6 101 HF_regL=0xff;
igor_v 21:bc8c1cec3da6 102
igor_v 21:bc8c1cec3da6 103 HF_difH=0xff;
igor_v 21:bc8c1cec3da6 104 HF_difL=0xff;
igor_v 21:bc8c1cec3da6 105
igor_v 0:8ad47e2b6f00 106
igor_v 30:17c84ed091b3 107 BuffTemp[ 0] = Gyro.SOC_Out;
igor_v 30:17c84ed091b3 108 BuffTemp[ 1] = Gyro.My_Addres;
igor_v 21:bc8c1cec3da6 109
Kovalev_D 108:030cdde08314 110
Kovalev_D 112:4a96133a1311 111 BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
Kovalev_D 112:4a96133a1311 112 BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
Kovalev_D 108:030cdde08314 113
Kovalev_D 112:4a96133a1311 114 BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
Kovalev_D 112:4a96133a1311 115 BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
Kovalev_D 108:030cdde08314 116
Kovalev_D 113:8be429494918 117
Kovalev_D 108:030cdde08314 118 Temp = Gyro.CuruAngle;
Kovalev_D 108:030cdde08314 119 Gyro.CuruAngle = 0;
Kovalev_D 113:8be429494918 120
Kovalev_D 108:030cdde08314 121 BuffTemp[ 6] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 108:030cdde08314 122 BuffTemp[ 7] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 108:030cdde08314 123
Kovalev_D 108:030cdde08314 124
Kovalev_D 108:030cdde08314 125
igor_v 21:bc8c1cec3da6 126
Kovalev_D 106:250ddd8629c6 127 BuffTemp[ 8] = F_rasH;//расщипление частота
Kovalev_D 106:250ddd8629c6 128 BuffTemp[ 9] = F_rasL;//
igor_v 21:bc8c1cec3da6 129
Kovalev_D 108:030cdde08314 130 BuffTemp[10] = (Temp >> 8) & 0xff;//выход регулятора гвч;
Kovalev_D 108:030cdde08314 131 BuffTemp[11] = (Temp >> 0) & 0xff;;
igor_v 21:bc8c1cec3da6 132
Kovalev_D 108:030cdde08314 133 BuffTemp[12]=(Temp >> 8) & 0xff;////
Kovalev_D 108:030cdde08314 134 BuffTemp[13]=(Temp >> 0) & 0xff;////
igor_v 21:bc8c1cec3da6 135
Kovalev_D 108:030cdde08314 136
Kovalev_D 108:030cdde08314 137 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 138 BuffTemp[14] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 139 BuffTemp[15] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 140
Kovalev_D 107:4d178bcc9d8a 141 BuffTemp[16] = 0xf;
Kovalev_D 106:250ddd8629c6 142 BuffTemp[17] = 0x02;
Kovalev_D 108:030cdde08314 143
igor_v 21:bc8c1cec3da6 144
Kovalev_D 108:030cdde08314 145 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 146 BuffTemp[18] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 147 BuffTemp[19] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 148
Kovalev_D 106:250ddd8629c6 149 BuffTemp[20] = 0x00;
Kovalev_D 106:250ddd8629c6 150 BuffTemp[21] = 0x00;
Kovalev_D 108:030cdde08314 151 Temp = Spi.DAC_B ;
Kovalev_D 108:030cdde08314 152 BuffTemp[22] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 153 BuffTemp[23] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 154
Kovalev_D 106:250ddd8629c6 155 BuffTemp[24] = 0x00;
Kovalev_D 106:250ddd8629c6 156 BuffTemp[25] = 0x00;// ХЗ
Kovalev_D 113:8be429494918 157
Kovalev_D 113:8be429494918 158 Temp = Gyro.AD_Fast >> 16;
Kovalev_D 113:8be429494918 159 BuffTemp[26] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 160 BuffTemp[27] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 161
Kovalev_D 113:8be429494918 162 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 113:8be429494918 163 BuffTemp[28] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 164 BuffTemp[29] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 165
Kovalev_D 113:8be429494918 166 Temp = Gyro.In1;
Kovalev_D 113:8be429494918 167 BuffTemp[30] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 113:8be429494918 168 BuffTemp[31] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 169
Kovalev_D 113:8be429494918 170 Temp = Gyro.In2;
Kovalev_D 113:8be429494918 171 BuffTemp[32] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 172 BuffTemp[33] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 113:8be429494918 173
Kovalev_D 113:8be429494918 174 Temp = Gyro.DeltaT;
Kovalev_D 113:8be429494918 175 BuffTemp[34] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 113:8be429494918 176 BuffTemp[35] = (Temp >> 0) & 0xff;
Kovalev_D 115:e5a230e5af52 177
Kovalev_D 115:e5a230e5af52 178 Temp = ((Gyro.Termo)/0xa4)-0x111;//0xa4=164
Kovalev_D 115:e5a230e5af52 179
Kovalev_D 113:8be429494918 180 BuffTemp[36] =(Temp >> 8) & 0xff;//температура
Kovalev_D 115:e5a230e5af52 181 BuffTemp[37] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
igor_v 21:bc8c1cec3da6 182
Kovalev_D 106:250ddd8629c6 183 BuffTemp[38] =0x00;
Kovalev_D 106:250ddd8629c6 184 BuffTemp[39] =0x00;
Kovalev_D 106:250ddd8629c6 185 BuffTemp[40] =0x00;
Kovalev_D 106:250ddd8629c6 186 BuffTemp[41] =0x00;
igor_v 21:bc8c1cec3da6 187
igor_v 21:bc8c1cec3da6 188
igor_v 21:bc8c1cec3da6 189 Check(BuffTemp, 44);
igor_v 21:bc8c1cec3da6 190 WriteConN (BuffTemp,44);
Kovalev_D 92:c892f0311aa7 191
igor_v 0:8ad47e2b6f00 192 }
igor_v 0:8ad47e2b6f00 193
igor_v 21:bc8c1cec3da6 194 void CMD_M_Control_D8()///установка\сброс регистров управления
igor_v 21:bc8c1cec3da6 195 {
Kovalev_D 104:ab1cb4ff56b2 196 unsigned int bit,NReg,Pa;
Kovalev_D 104:ab1cb4ff56b2 197 unsigned int SR,V,A,Bit_num;
Kovalev_D 104:ab1cb4ff56b2 198 SR=0;
Kovalev_D 104:ab1cb4ff56b2 199 V=0;
Kovalev_D 104:ab1cb4ff56b2 200 A=0;
Kovalev_D 104:ab1cb4ff56b2 201 Bit_num=0;
Kovalev_D 104:ab1cb4ff56b2 202
igor_v 30:17c84ed091b3 203 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 204 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 205 BuffTemp[2] = Gyro.CMD_In; //D8
Kovalev_D 104:ab1cb4ff56b2 206
Kovalev_D 104:ab1cb4ff56b2 207 /*
Kovalev_D 104:ab1cb4ff56b2 208
Kovalev_D 104:ab1cb4ff56b2 209 FrqON
Kovalev_D 104:ab1cb4ff56b2 210 PlcON
Kovalev_D 104:ab1cb4ff56b2 211 HFOOFF
Kovalev_D 104:ab1cb4ff56b2 212 HFOON
igor_v 21:bc8c1cec3da6 213
Kovalev_D 104:ab1cb4ff56b2 214 PlcOFF
Kovalev_D 104:ab1cb4ff56b2 215 PlcON
Kovalev_D 104:ab1cb4ff56b2 216 */
Kovalev_D 104:ab1cb4ff56b2 217 Pa = BuffTemp[3];
Kovalev_D 104:ab1cb4ff56b2 218
Kovalev_D 104:ab1cb4ff56b2 219 SR = Pa >> 0x7;
Kovalev_D 104:ab1cb4ff56b2 220
Kovalev_D 104:ab1cb4ff56b2 221 V = Pa >> 0x5;
Kovalev_D 104:ab1cb4ff56b2 222 V = V & 0x3;
Kovalev_D 104:ab1cb4ff56b2 223
Kovalev_D 104:ab1cb4ff56b2 224 A = Pa >> 0x4;
Kovalev_D 104:ab1cb4ff56b2 225 A = A & 0x1;
Kovalev_D 104:ab1cb4ff56b2 226
Kovalev_D 104:ab1cb4ff56b2 227 Bit_num = Pa & 0xf;
Kovalev_D 104:ab1cb4ff56b2 228
Kovalev_D 104:ab1cb4ff56b2 229 if(SR) {
Kovalev_D 104:ab1cb4ff56b2 230 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 231
Kovalev_D 104:ab1cb4ff56b2 232 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 233 FrqON
Kovalev_D 105:bd01d8d20fb6 234 break;
Kovalev_D 105:bd01d8d20fb6 235
Kovalev_D 104:ab1cb4ff56b2 236 case 0x03:
Kovalev_D 105:bd01d8d20fb6 237 HFOON
Kovalev_D 105:bd01d8d20fb6 238 break;
Kovalev_D 105:bd01d8d20fb6 239
Kovalev_D 105:bd01d8d20fb6 240 case 0x01:
Kovalev_D 105:bd01d8d20fb6 241 PlcON
Kovalev_D 105:bd01d8d20fb6 242 break;
Kovalev_D 104:ab1cb4ff56b2 243 }
Kovalev_D 104:ab1cb4ff56b2 244 }
Kovalev_D 104:ab1cb4ff56b2 245 else{
Kovalev_D 104:ab1cb4ff56b2 246 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 247
Kovalev_D 105:bd01d8d20fb6 248 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 249 FrqOff
Kovalev_D 105:bd01d8d20fb6 250 break;
Kovalev_D 105:bd01d8d20fb6 251
Kovalev_D 105:bd01d8d20fb6 252 case 0x03:
Kovalev_D 105:bd01d8d20fb6 253 HFOOFF
Kovalev_D 105:bd01d8d20fb6 254 break;
Kovalev_D 105:bd01d8d20fb6 255
Kovalev_D 105:bd01d8d20fb6 256 case 0x01:
Kovalev_D 105:bd01d8d20fb6 257 PlcOFF
Kovalev_D 105:bd01d8d20fb6 258 break;
Kovalev_D 104:ab1cb4ff56b2 259 }
Kovalev_D 104:ab1cb4ff56b2 260 }
igor_v 21:bc8c1cec3da6 261
igor_v 0:8ad47e2b6f00 262 }
igor_v 0:8ad47e2b6f00 263
igor_v 21:bc8c1cec3da6 264 void CMD_M_Control_D9()///чтение регистров управления
igor_v 21:bc8c1cec3da6 265 {
igor_v 21:bc8c1cec3da6 266 int bit,NReg;
igor_v 30:17c84ed091b3 267 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 30:17c84ed091b3 268 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 30:17c84ed091b3 269 BuffTemp[2] = Gyro.CMD_In; //D9
igor_v 21:bc8c1cec3da6 270 if ((Param1 & 0x10) == 0) {
igor_v 21:bc8c1cec3da6 271 BuffTemp[3]=0<<4;
igor_v 30:17c84ed091b3 272 BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff;
igor_v 30:17c84ed091b3 273 BuffTemp[5] = Gyro.RgConA & 0xff;
igor_v 21:bc8c1cec3da6 274 } else {
igor_v 21:bc8c1cec3da6 275 BuffTemp[3]=1<<4;
igor_v 30:17c84ed091b3 276 BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff;
igor_v 30:17c84ed091b3 277 BuffTemp[5] = Gyro.RgConB & 0xff;
igor_v 21:bc8c1cec3da6 278 }
igor_v 21:bc8c1cec3da6 279 Check(BuffTemp, CRC_N);
igor_v 21:bc8c1cec3da6 280 WriteConN (BuffTemp,CRC_N);
igor_v 21:bc8c1cec3da6 281 }
igor_v 21:bc8c1cec3da6 282 // (номер (код) ЦАПа 0...3, старший байт требуемого ЦАПа, младший байт треб ЦАПа)
igor_v 0:8ad47e2b6f00 283 void CMD_M_Stymul()
igor_v 0:8ad47e2b6f00 284 {
igor_v 21:bc8c1cec3da6 285 int temp;
Kovalev_D 102:4270092be987 286 int HFO;
Kovalev_D 102:4270092be987 287 temp=BuffTemp[3];
Kovalev_D 102:4270092be987 288 Consol = temp&0x3;
Kovalev_D 103:e96f08947def 289 HFO = temp&0x3;// // (номер (код) ЦАПа 0...3, HFO - 3dac, PLC - 0DAC
igor_v 21:bc8c1cec3da6 290 temp =((BuffTemp[4]<<8) | BuffTemp[5]);
igor_v 21:bc8c1cec3da6 291 // temp=0;
igor_v 21:bc8c1cec3da6 292 temp=temp&0xFFFF;
Kovalev_D 102:4270092be987 293
Kovalev_D 102:4270092be987 294 if(HFO)
Kovalev_D 102:4270092be987 295 {
Kovalev_D 102:4270092be987 296 Spi.DAC_A=(unsigned int)temp;
Kovalev_D 102:4270092be987 297 }
Kovalev_D 102:4270092be987 298 else{
igor_v 21:bc8c1cec3da6 299 DACF =(temp*K_DAC)+deltaDAC;
igor_v 21:bc8c1cec3da6 300 Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC);
igor_v 21:bc8c1cec3da6 301 }
igor_v 0:8ad47e2b6f00 302 }
Kovalev_D 103:e96f08947def 303 void Gph_W()
Kovalev_D 103:e96f08947def 304 {
Kovalev_D 108:030cdde08314 305 Out_G_photo(BuffTemp[4],BuffTemp[5]);
Kovalev_D 103:e96f08947def 306 }
igor_v 0:8ad47e2b6f00 307
Kovalev_D 98:95b8e79f13e1 308 void CMD_M_vib()
Kovalev_D 115:e5a230e5af52 309 {
Kovalev_D 102:4270092be987 310 unsigned int temp1,temp2;
Kovalev_D 102:4270092be987 311
Kovalev_D 102:4270092be987 312 temp1 =((BuffTemp[4]<<8) | BuffTemp[5]);
Kovalev_D 102:4270092be987 313 temp1=temp1&0xFFFF;
Kovalev_D 102:4270092be987 314
Kovalev_D 102:4270092be987 315 temp2 =((BuffTemp[6]<<8) | BuffTemp[7]);
Kovalev_D 102:4270092be987 316 temp2=temp2&0xFFFF;
Kovalev_D 102:4270092be987 317 Gyro.Frq = ((unsigned int) ((7680000*16/temp1)))*16*16*16;
Kovalev_D 102:4270092be987 318 Consol=Gyro.Frq ;
Kovalev_D 98:95b8e79f13e1 319 }
igor_v 0:8ad47e2b6f00 320 unsigned int Check(char *c, unsigned int Count)
igor_v 0:8ad47e2b6f00 321 {
igor_v 21:bc8c1cec3da6 322 int i=1;
igor_v 21:bc8c1cec3da6 323 unsigned int temp,CRC;
igor_v 21:bc8c1cec3da6 324
igor_v 21:bc8c1cec3da6 325
igor_v 21:bc8c1cec3da6 326 temp=1;
igor_v 21:bc8c1cec3da6 327 CRC=0;
igor_v 21:bc8c1cec3da6 328
igor_v 21:bc8c1cec3da6 329
igor_v 21:bc8c1cec3da6 330 for(; i<Count-2; i++) {
igor_v 21:bc8c1cec3da6 331 CRC+=c[i];
igor_v 21:bc8c1cec3da6 332 }
igor_v 0:8ad47e2b6f00 333
igor_v 21:bc8c1cec3da6 334 if(c[Count-2]!=((CRC>>8)&0xFF)) {
igor_v 21:bc8c1cec3da6 335 temp=0;
igor_v 30:17c84ed091b3 336 Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2;
igor_v 21:bc8c1cec3da6 337 }
igor_v 0:8ad47e2b6f00 338
igor_v 21:bc8c1cec3da6 339 if(c[Count-1]!=((CRC>>0)&0xFF)) {
igor_v 21:bc8c1cec3da6 340 temp=0;
igor_v 30:17c84ed091b3 341 // Gyro.RsErrLine= (Gyro.RsErrLine)=0x2;
igor_v 21:bc8c1cec3da6 342 }
igor_v 21:bc8c1cec3da6 343
igor_v 21:bc8c1cec3da6 344 c[Count-2]=(CRC>>8)&0xFF;
igor_v 21:bc8c1cec3da6 345 c[Count-1]=(CRC>>0)&0xFF;
igor_v 21:bc8c1cec3da6 346
igor_v 21:bc8c1cec3da6 347
igor_v 21:bc8c1cec3da6 348
igor_v 21:bc8c1cec3da6 349 return temp;
igor_v 0:8ad47e2b6f00 350 }
igor_v 0:8ad47e2b6f00 351
igor_v 0:8ad47e2b6f00 352 int Getlengf(void)
igor_v 0:8ad47e2b6f00 353 {
igor_v 21:bc8c1cec3da6 354 unsigned int lengf=0;
igor_v 30:17c84ed091b3 355 switch(Gyro.CMD_In) {
igor_v 30:17c84ed091b3 356 case 0x99://Gyrotainance
Kovalev_D 92:c892f0311aa7 357
igor_v 21:bc8c1cec3da6 358 lengf=6;
igor_v 21:bc8c1cec3da6 359 CRC_N=8;
igor_v 21:bc8c1cec3da6 360 break;
igor_v 0:8ad47e2b6f00 361
igor_v 21:bc8c1cec3da6 362 case 0x0A: //m_stymul
igor_v 21:bc8c1cec3da6 363 lengf=8;
igor_v 21:bc8c1cec3da6 364 break;
igor_v 21:bc8c1cec3da6 365
igor_v 21:bc8c1cec3da6 366 case 0xA5://DeviceMode
igor_v 21:bc8c1cec3da6 367
igor_v 21:bc8c1cec3da6 368 lengf=6;
igor_v 21:bc8c1cec3da6 369 CRC_N=8;
igor_v 21:bc8c1cec3da6 370 break;
igor_v 21:bc8c1cec3da6 371
igor_v 21:bc8c1cec3da6 372 case 0xDD://m_rate
igor_v 0:8ad47e2b6f00 373
igor_v 21:bc8c1cec3da6 374 lengf=6;
igor_v 21:bc8c1cec3da6 375 CRC_N=44;
igor_v 21:bc8c1cec3da6 376 break;
igor_v 21:bc8c1cec3da6 377
igor_v 21:bc8c1cec3da6 378 case 0xB0://DeviceMode
igor_v 21:bc8c1cec3da6 379
igor_v 21:bc8c1cec3da6 380 lengf=6;
igor_v 21:bc8c1cec3da6 381 CRC_N=8;
igor_v 21:bc8c1cec3da6 382 break;
igor_v 21:bc8c1cec3da6 383
igor_v 21:bc8c1cec3da6 384 case 0xD8://m_control
igor_v 0:8ad47e2b6f00 385
igor_v 21:bc8c1cec3da6 386 lengf=6;
igor_v 21:bc8c1cec3da6 387 CRC_N=8;
igor_v 21:bc8c1cec3da6 388 break;
igor_v 21:bc8c1cec3da6 389
igor_v 21:bc8c1cec3da6 390 case 0xD9://m_control
igor_v 0:8ad47e2b6f00 391
igor_v 21:bc8c1cec3da6 392 lengf=6;
igor_v 21:bc8c1cec3da6 393 CRC_N=8;
igor_v 21:bc8c1cec3da6 394 break;
Kovalev_D 102:4270092be987 395
Kovalev_D 102:4270092be987 396 case 0xE4:
Kovalev_D 98:95b8e79f13e1 397 lengf=8;
Kovalev_D 98:95b8e79f13e1 398 break;
Kovalev_D 103:e96f08947def 399
Kovalev_D 103:e96f08947def 400
Kovalev_D 103:e96f08947def 401 case 0xE6:
Kovalev_D 103:e96f08947def 402 lengf=8;
Kovalev_D 103:e96f08947def 403 break;
Kovalev_D 103:e96f08947def 404
igor_v 21:bc8c1cec3da6 405 }
Kovalev_D 98:95b8e79f13e1 406
igor_v 21:bc8c1cec3da6 407 return lengf;
igor_v 0:8ad47e2b6f00 408 }
igor_v 0:8ad47e2b6f00 409
igor_v 0:8ad47e2b6f00 410 void Read_CMD(void)
igor_v 21:bc8c1cec3da6 411 {
Kovalev_D 92:c892f0311aa7 412
Kovalev_D 45:cbc955aecebe 413
Kovalev_D 45:cbc955aecebe 414 Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;//для сброса ошибки
igor_v 21:bc8c1cec3da6 415
Kovalev_D 93:b3803774f110 416 CountBuFFIn=ReadChekCon1(BuffTemp); // чтение данных из консоли
igor_v 42:6fc307c4963e 417
Kovalev_D 92:c892f0311aa7 418 if(CountBuFFIn==1) { // если есть первый байт
igor_v 21:bc8c1cec3da6 419 if (BuffTemp[0] != SOC_In) {
Kovalev_D 93:b3803774f110 420 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 421 Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
Kovalev_D 93:b3803774f110 422 BuffTemp[99]=Gyro.RsErrLine;
Kovalev_D 102:4270092be987 423
igor_v 21:bc8c1cec3da6 424 }
Kovalev_D 92:c892f0311aa7 425 } else if(CountBuFFIn==2) { //если второй ,fqn
igor_v 30:17c84ed091b3 426 if (BuffTemp[1] != Gyro.My_Addres) {
Kovalev_D 93:b3803774f110 427 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 428 Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
igor_v 21:bc8c1cec3da6 429 }
igor_v 42:6fc307c4963e 430 } else if(CountBuFFIn==3) { // если ьоетий байт
igor_v 30:17c84ed091b3 431 Gyro.CMD_In=BuffTemp[2];
Kovalev_D 92:c892f0311aa7 432 N=Getlengf();
Kovalev_D 92:c892f0311aa7 433 }
Kovalev_D 92:c892f0311aa7 434 else if(CountBuFFIn==4 && (N==6))
Kovalev_D 92:c892f0311aa7 435 { // N - длина посылки аскглд(для записи параметров). определяется по коду команды в Getlengf();
igor_v 21:bc8c1cec3da6 436 Param1=BuffTemp[3];
Kovalev_D 92:c892f0311aa7 437 }
Kovalev_D 92:c892f0311aa7 438 else if((CountBuFFIn==5)&&(N==7))
Kovalev_D 92:c892f0311aa7 439 {
Kovalev_D 92:c892f0311aa7 440
igor_v 21:bc8c1cec3da6 441 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 442 Param2=BuffTemp[4];
igor_v 0:8ad47e2b6f00 443
Kovalev_D 92:c892f0311aa7 444 }
Kovalev_D 92:c892f0311aa7 445 else if((CountBuFFIn==6)&&(N==8))
Kovalev_D 92:c892f0311aa7 446 {
igor_v 21:bc8c1cec3da6 447 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 448 Param2=BuffTemp[4];
igor_v 21:bc8c1cec3da6 449 Param3=BuffTemp[5];
Kovalev_D 92:c892f0311aa7 450 }
Kovalev_D 102:4270092be987 451 else if((CountBuFFIn==8)&&(N==10))
Kovalev_D 102:4270092be987 452 {
Kovalev_D 102:4270092be987 453 Param1=BuffTemp[4];
Kovalev_D 102:4270092be987 454 Param2=BuffTemp[5];
Kovalev_D 102:4270092be987 455 Param3=BuffTemp[6];
Kovalev_D 102:4270092be987 456 Param4=BuffTemp[7];
Kovalev_D 102:4270092be987 457 }
Kovalev_D 98:95b8e79f13e1 458
Kovalev_D 92:c892f0311aa7 459 else if(CountBuFFIn > (N-1))
Kovalev_D 92:c892f0311aa7 460 {
Kovalev_D 93:b3803774f110 461 ReadCon1(BuffTemp);
igor_v 30:17c84ed091b3 462 switch(Gyro.CMD_In) {
Kovalev_D 92:c892f0311aa7 463 case 0x99:
igor_v 21:bc8c1cec3da6 464 CMD_Maintenance();
igor_v 21:bc8c1cec3da6 465 break;
igor_v 21:bc8c1cec3da6 466 case 0xD8:
igor_v 21:bc8c1cec3da6 467 CMD_M_Control_D8();
igor_v 21:bc8c1cec3da6 468 case 0xD9:
igor_v 21:bc8c1cec3da6 469 CMD_M_Control_D9();
igor_v 21:bc8c1cec3da6 470 break;
igor_v 21:bc8c1cec3da6 471 case 0x0A:
Kovalev_D 45:cbc955aecebe 472 CMD_M_Stymul();
igor_v 21:bc8c1cec3da6 473 break;
igor_v 21:bc8c1cec3da6 474 case 0xDD:
igor_v 21:bc8c1cec3da6 475 Rate_Flag=1;
Kovalev_D 102:4270092be987 476 break;
Kovalev_D 102:4270092be987 477 case 0xE4:
Kovalev_D 102:4270092be987 478 CMD_M_vib();
Kovalev_D 102:4270092be987 479 break;
Kovalev_D 103:e96f08947def 480 case 0xE6:
Kovalev_D 103:e96f08947def 481 Gph_W();
Kovalev_D 103:e96f08947def 482 break;
Kovalev_D 108:030cdde08314 483
Kovalev_D 103:e96f08947def 484
igor_v 30:17c84ed091b3 485 Gyro.RsErrLine = 0;
Kovalev_D 103:e96f08947def 486
Kovalev_D 103:e96f08947def 487
Kovalev_D 102:4270092be987 488 }
igor_v 21:bc8c1cec3da6 489 }
igor_v 0:8ad47e2b6f00 490 }
igor_v 0:8ad47e2b6f00 491
igor_v 0:8ad47e2b6f00 492
igor_v 21:bc8c1cec3da6 493