Diff: SPI.c

Revision:

143:2b15794a6cd2

Parent:

142:7a6f68601291

Child:

144:083c667ba848

--- a/SPI.c	Tue Apr 26 13:58:03 2016 +0000
+++ b/SPI.c	Wed Apr 27 06:46:17 2016 +0000
@@ -94,52 +94,29 @@
 	  	    else if ( Gyro.PLC_Delta >	( 55 * 65536)) k=64;
 	  	    else if ( Gyro.PLC_Delta < 	(-55 * 65536)) k=64;
 	  	    
-	  	    else if ( Gyro.PLC_Delta >	( 37 * 65536)) k=20;
-	  	    else if ( Gyro.PLC_Delta < 	(-37 * 65536)) k=20;
+	  	    else if ( Gyro.PLC_Delta >	( 40 * 65536)) k=30;
+	  	    else if ( Gyro.PLC_Delta < 	(-40 * 65536)) k=30;
 	  	    
-	  	    else if ( Gyro.PLC_Delta >  ( 25 * 65536)) k=16;
-	  	    else if ( Gyro.PLC_Delta < 	(-25 * 65536)) k=16;
+	  	    else if ( Gyro.PLC_Delta >  ( 25 * 65536)) k=20;
+	  	    else if ( Gyro.PLC_Delta < 	(-25 * 65536)) k=20;
 	  	    
-	  	    else if ( Gyro.PLC_Delta >  ( 15*65536)) k=8;
-	  	    else if ( Gyro.PLC_Delta < 	(-15*65536)) k=8;
+	  	    else if ( Gyro.PLC_Delta >  ( 15*65536)) k=16;
+	  	    else if ( Gyro.PLC_Delta < 	(-15*65536)) k=16;
 
-	  	    else if ( Gyro.PLC_Delta >  ( 5*65536)) k=6;
-	  	    else if ( Gyro.PLC_Delta < 	(-5*65536)) k=6;
+	  	    else if ( Gyro.PLC_Delta >  ( 5*65536)) k=12;
+	  	    else if ( Gyro.PLC_Delta < 	(-5*65536)) k=12;
 	  	    
-	  	    else if ( Gyro.PLC_Delta >  ( 2*65536)) k=4;
-	  	    else if ( Gyro.PLC_Delta < 	(-2*65536)) k=4;
+	  	    else if ( Gyro.PLC_Delta >  ( 2*65536)) k=6;
+	  	    else if ( Gyro.PLC_Delta < 	(-2*65536)) k=6;
 	  	    	  	    
 	  	
 			if 		(Gyro.PLC_Error2Mode > 0)				{Gyro.PLC_Error2Mode --; 						Gyro.PLC_ADC_DOld = 0; } 	// если ошибка(нахожление в двух модовом)
 			else if ( Gyro.PLC_Delta > 	(3000 * 65536)) 	{Spi.DAC_B += 2500;	Gyro.PLC_Error2Mode = 5; 	Gyro.PLC_ADC_DOld = 0;}		// проверка на двух модовость
 			else if ( Gyro.PLC_Delta < 	(-3000 * 65536)) 	{Spi.DAC_B += 2500;	Gyro.PLC_Error2Mode = 5; 	Gyro.PLC_ADC_DOld = 0;}
-			/*
-	  	    else if ( Gyro.PLC_Delta >	( 1500 * 65536)) k=128;
-	  	    else if ( Gyro.PLC_Delta < 	(-1500 * 65536)) k=128;
-	  	    
-	  	    else if ( Gyro.PLC_Delta >	( 1000 * 65536)) k=64;
-	  	    else if ( Gyro.PLC_Delta < 	(-1000 * 65536)) k=64;
-	  	    
-	  	    else if ( Gyro.PLC_Delta >	( 500 * 65536)) k=32;
-	  	    else if ( Gyro.PLC_Delta < 	(-500 * 65536)) k=32;
-	  	    
-	  	    else if ( Gyro.PLC_Delta >  ( 200 * 65536)) k=16;
-	  	    else if ( Gyro.PLC_Delta < 	(-200 * 65536)) k=16;
-	  	    
-	  	    else if ( Gyro.PLC_Delta >  ( 100*65536)) k=8;
-	  	    else if ( Gyro.PLC_Delta < 	(-100*65536)) k=8;
-
-	  	    else if ( Gyro.PLC_Delta >  ( 50*65536)) k=4;
-	  	    else if ( Gyro.PLC_Delta < 	(-50*65536)) k=4;
-	  	    
-	  	    else if ( Gyro.PLC_Delta >  ( 10*65536)) k=2;
-	  	    else if ( Gyro.PLC_Delta < 	(-10*65536)) k=2;
-	  	    	  	    
-	  	    */
 	  	    else if (Gyro.PLC_DeltaADD > 0)  
 			{
 	
-//				Gyro.PLC_ADC_DOld =	(Gyro.PLC_DeltaADD /6553600 )+1;
+//			Gyro.PLC_ADC_DOld =	(Gyro.PLC_DeltaADD /6553600 )+1;
 			Gyro.PLC_ADC_DOld = 1;
 			}
 	  	    else if (Gyro.PLC_DeltaADD < 0)