Diff: Command.c

Revision:

107:4d178bcc9d8a

Parent:

106:250ddd8629c6

Child:

108:030cdde08314

--- a/Command.c	Fri Apr 01 10:05:35 2016 +0000
+++ b/Command.c	Fri Apr 01 16:13:55 2016 +0000
@@ -34,7 +34,7 @@
 
 void CMD_Rate(void)
 {
-
+  
     unsigned int T_VibH   , T_VibL;	// Частота вибропривода.
     unsigned int tau_VibH   , tau_VibL;				
     unsigned int Cnt_PlsL , Cnt_PlsH;			// Счетчик +.
@@ -52,6 +52,8 @@
   
 //	Gyro .T_Vib=(unsigned int)((7680000*16/Gyro.Frq)*4096);
     Gyro.T_Vib=(unsigned int)((7680000*16/(Gyro.Frq>>12)));
+    Gyro.tau=(unsigned int)(Gyro.T_Vib * Gyro.AmpPer/200);
+    
     Gyro.Firmware_Version=0xff; /// промежуточная затычка
 
     T_VibH   = ( Gyro.T_Vib>>8  ) TakeByte;
@@ -75,9 +77,11 @@
     F_rasH   = ( Gyro.F_ras>>8  ) TakeByte;
     F_rasL   = ( Gyro.F_ras     ) TakeByte;
      
-    HF_regL  = ( Spi.DAC_A>>8  ) TakeByte;
+    HF_regL  = ( Spi.DAC_A )     TakeByte;
     HF_regH  = ( Spi.DAC_A>>8  ) TakeByte;
-
+    
+    WP_regH  = ( Spi.DAC_A>>8  ) TakeByte;
+    WP_regL  = ( Spi.DAC_A     ) TakeByte;
 
     ADC1H    = ( Spi.ADC1>>8    ) TakeByte;
     ADC1L	 = ( Spi.ADC1       ) TakeByte;
@@ -126,11 +130,11 @@
     BuffTemp[14]  =  T_VibH;
     BuffTemp[15]  =  T_VibL;
 
-    BuffTemp[16] = 0x01;
+    BuffTemp[16] = 0xf;
     BuffTemp[17] = 0x02;
 
-    BuffTemp[18] =  tau_VibH;
-    BuffTemp[19] =  tau_VibL;
+    BuffTemp[18] = tau_VibH;
+    BuffTemp[19] = tau_VibL;
 
     BuffTemp[20] = 0x00;
     BuffTemp[21] = 0x00;