Dmitry Kovalev / Mbed 2 deprecated LG2

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Dependencies:   mbed

Fork of LG by igor Apu

MTimer.c@196:f76dbc081e63, 2016-09-23 (annotated)

Committer:
Kovalev_D
Date:
Fri Sep 23 05:34:50 2016 +0000
Revision:
196:f76dbc081e63
Parent:
193:a0fe8bfc97e4
Child:
197:7a05523bf588
???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 4 #include "vibro.h"
igor_v 0:8ad47e2b6f00 5 #include "QEI.h"
igor_v 0:8ad47e2b6f00 6 #include "Global.h"
igor_v 0:8ad47e2b6f00 7 #include "SPI.h"
igor_v 0:8ad47e2b6f00 8 #include "InputOutput.h"
Kovalev_D 112:4a96133a1311 9
igor_v 0:8ad47e2b6f00 10
Kovalev_D 112:4a96133a1311 11
igor_v 0:8ad47e2b6f00 12 //unsigned int CountV=0;
igor_v 21:bc8c1cec3da6 13 //unsigned int CountVf=0 ;
igor_v 0:8ad47e2b6f00 14 unsigned int CountV31=0;
Kovalev_D 115:e5a230e5af52 15 unsigned int CountV255=0,f ;
Kovalev_D 124:9ae09249f842 16 int loop=0;
Kovalev_D 112:4a96133a1311 17
Kovalev_D 88:b5c1d9d338d1 18 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 19 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 20 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 21 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 22 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 23 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 24 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 92:c892f0311aa7 25 { int i,t;
Kovalev_D 115:e5a230e5af52 26 if (Event1Hz)
Kovalev_D 124:9ae09249f842 27 {
Kovalev_D 124:9ae09249f842 28 Gyro.Rate1_Event = 1;
Kovalev_D 122:fbacb932a30b 29 Event1Hz--;
Kovalev_D 122:fbacb932a30b 30 Time1Hz++;
Kovalev_D 117:eefe61968528 31 Discharg ();
Kovalev_D 193:a0fe8bfc97e4 32 BackLight();
Kovalev_D 196:f76dbc081e63 33 }
Kovalev_D 88:b5c1d9d338d1 34 }
Kovalev_D 89:a0d344db227e 35 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 36 ///////////////////// 1kHz //////////////////////////
Kovalev_D 193:a0fe8bfc97e4 37 /////////////////////////////////////////////////////LoopOn LPC_GPIO1->FIOSET = (1<<30);
Kovalev_D 193:a0fe8bfc97e4 38 //#define LoopOff LPC_GPIO1->FIOCLR = (1<<30);
Kovalev_D 88:b5c1d9d338d1 39 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 40 {
Kovalev_D 116:66f1f0ff2dab 41 if (Event1K)
Kovalev_D 116:66f1f0ff2dab 42 {
Kovalev_D 88:b5c1d9d338d1 43 Event1K --;
Kovalev_D 116:66f1f0ff2dab 44 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 193:a0fe8bfc97e4 45
Kovalev_D 116:66f1f0ff2dab 46 if (Time1K == 1000)
Kovalev_D 115:e5a230e5af52 47 {
Kovalev_D 88:b5c1d9d338d1 48 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 49 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 50 }
Kovalev_D 88:b5c1d9d338d1 51 }
Kovalev_D 88:b5c1d9d338d1 52 }
Kovalev_D 124:9ae09249f842 53 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 54 {
Kovalev_D 124:9ae09249f842 55 if(Event500Hz)
Kovalev_D 193:a0fe8bfc97e4 56 {
Kovalev_D 124:9ae09249f842 57 Event500Hz--;
Kovalev_D 196:f76dbc081e63 58 //Gyro.Delta500_Event=1;
Kovalev_D 143:2b15794a6cd2 59 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 196:f76dbc081e63 60 //Gyro.Delta_Bins_Event500=1;
Kovalev_D 196:f76dbc081e63 61 //Gyro.B_Delta_Event500=1;
Kovalev_D 124:9ae09249f842 62 }
Kovalev_D 124:9ae09249f842 63 }
Kovalev_D 89:a0d344db227e 64 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 65 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 66 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 67 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 68 {
Kovalev_D 162:44e4ded32c6a 69
Kovalev_D 88:b5c1d9d338d1 70 if (Event100K) {
Kovalev_D 88:b5c1d9d338d1 71 Event100K --;
Kovalev_D 162:44e4ded32c6a 72 Time500Hz++;
Kovalev_D 116:66f1f0ff2dab 73
Kovalev_D 124:9ae09249f842 74 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 75
Kovalev_D 124:9ae09249f842 76 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 116:66f1f0ff2dab 77
Kovalev_D 116:66f1f0ff2dab 78 Time100K++;
Kovalev_D 124:9ae09249f842 79 if (Time100K == 100)
Kovalev_D 124:9ae09249f842 80 {
Kovalev_D 88:b5c1d9d338d1 81 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 82 Event1K ++;
Kovalev_D 124:9ae09249f842 83 }
Kovalev_D 162:44e4ded32c6a 84 if (Time500Hz > 200)
Kovalev_D 190:289514f730ee 85 {
Kovalev_D 162:44e4ded32c6a 86 Time500Hz -= 200;
Kovalev_D 162:44e4ded32c6a 87 Event500Hz ++;
Kovalev_D 190:289514f730ee 88 }
Kovalev_D 88:b5c1d9d338d1 89 }
Kovalev_D 88:b5c1d9d338d1 90 }
Kovalev_D 89:a0d344db227e 91 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 92 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 93 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 94 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 95 {
Kovalev_D 88:b5c1d9d338d1 96 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 97 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 98 }
Kovalev_D 88:b5c1d9d338d1 99 }
Kovalev_D 89:a0d344db227e 100 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 101 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 102 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 103
Kovalev_D 88:b5c1d9d338d1 104
Kovalev_D 112:4a96133a1311 105 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 106 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 107 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 108
Kovalev_D 112:4a96133a1311 109 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 110 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 111 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 112
Kovalev_D 112:4a96133a1311 113 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 114 {
Kovalev_D 112:4a96133a1311 115 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 116 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 117 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 118 }
Kovalev_D 112:4a96133a1311 119
Kovalev_D 112:4a96133a1311 120
igor_v 0:8ad47e2b6f00 121 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 122 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 123 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 124 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 125 {
igor_v 21:bc8c1cec3da6 126 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 127 return;
igor_v 21:bc8c1cec3da6 128 }
igor_v 0:8ad47e2b6f00 129
igor_v 0:8ad47e2b6f00 130
igor_v 0:8ad47e2b6f00 131 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 132 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 133 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 134
igor_v 0:8ad47e2b6f00 135 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 136 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 137 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 138 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 139 {
Kovalev_D 124:9ae09249f842 140 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 141 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 142 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 143 return 1;
igor_v 21:bc8c1cec3da6 144 }
igor_v 0:8ad47e2b6f00 145
igor_v 15:f5191a1c3805 146
igor_v 15:f5191a1c3805 147
igor_v 21:bc8c1cec3da6 148 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 149 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 150 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 151 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 152 {
igor_v 21:bc8c1cec3da6 153 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 154 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 155 }
igor_v 21:bc8c1cec3da6 156
igor_v 21:bc8c1cec3da6 157
Kovalev_D 112:4a96133a1311 158 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 159 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 160 //////////////////////////////////////////////////////////////////////
Kovalev_D 183:7e200f4d9b16 161 __irq void TIMER1_IRQHandler (void)//13.27 kHz
Kovalev_D 193:a0fe8bfc97e4 162 {
igor_v 114:5cc38a53d8a7 163 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 164 SetDAC(DAC);
Kovalev_D 112:4a96133a1311 165
igor_v 114:5cc38a53d8a7 166 CountV255++; // инкремент счеттчика
Kovalev_D 164:6f43f85fdd8d 167 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
igor_v 114:5cc38a53d8a7 168 CountV31 =CountV255 & 0x1f; // малый счетчик
Kovalev_D 121:bbae560cdd43 169
Kovalev_D 112:4a96133a1311 170 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 171 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 172
Kovalev_D 116:66f1f0ff2dab 173
Kovalev_D 116:66f1f0ff2dab 174 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 175 ResetDAC(DAC);
igor_v 114:5cc38a53d8a7 176 SPI_Exchange(); //Чтение ADS_SPI
igor_v 114:5cc38a53d8a7 177
Kovalev_D 112:4a96133a1311 178 LPC_TIM1->IR = 1;
Kovalev_D 193:a0fe8bfc97e4 179
Kovalev_D 112:4a96133a1311 180 }
Kovalev_D 112:4a96133a1311 181
Kovalev_D 112:4a96133a1311 182
Kovalev_D 112:4a96133a1311 183
Kovalev_D 112:4a96133a1311 184
Kovalev_D 112:4a96133a1311 185
Kovalev_D 112:4a96133a1311 186
igor_v 21:bc8c1cec3da6 187 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 188 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 189 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 190 __irq void TIMER2_IRQHandler (void)
Kovalev_D 193:a0fe8bfc97e4 191 {
igor_v 21:bc8c1cec3da6 192 LPC_TIM2->IR = 1;
igor_v 21:bc8c1cec3da6 193 Global_Time++;
Kovalev_D 190:289514f730ee 194 if(Time_UART) Time_UART--;
igor_v 21:bc8c1cec3da6 195 Time_vibro++;
Kovalev_D 112:4a96133a1311 196 Gyro.VibroOutF=1;
Kovalev_D 190:289514f730ee 197 Event100K ++;
Kovalev_D 193:a0fe8bfc97e4 198
igor_v 21:bc8c1cec3da6 199 }