Dmitry Kovalev
fork
Diff: SPI.c
- Revision:
- 215:b58b887fd367
- Parent:
- 214:4c70e452c491
- Child:
- 216:189b0ea1dc38
--- a/SPI.c Wed Aug 16 09:00:25 2017 +0000
+++ b/SPI.c Tue Aug 29 06:33:08 2017 +0000
@@ -12,19 +12,16 @@
int flagmod=0,Bdelta;
int start=10;
int dispersion=0,side=1,tempstrafe=15000;
-unsigned int Temp_ADC_2;
-unsigned int Temp_ADC_3;
-unsigned int Temp_ADC_4;
-unsigned int Temp_ADC_5;
int ADC_5_T;
unsigned int TempA;
unsigned int TempTermLM;
unsigned int conuntPLS;
int ADC5Old,ADCDIF=0;
-int DACModReg;
+/*int DACModReg;*/
int SinPls=0,SinMns=0;
int TSinPls=0,TSinMns=0;
int timer=750;
+int sum=0,znak=0;
unsigned int testcount=0;
unsigned int ADC5New;
unsigned int Buff_ADC_1 [32];
@@ -35,45 +32,40 @@
int RegulADC,DeltaRegul,tempDeltaRegul;
- int BuffADC_1Point [255];
-unsigned int BuffADC_16Point [64];
-int BuffADC_32Point [64];
-int BuffADC_64Point [64];
-unsigned int Buff_ADC_5 [255];
-unsigned int BuffADC_testPoint [64];
-int BuffADC_32PointD [64];
+
+//int BuffADC_32Point [64];
-int Buff_Restored_Mod [64];
- int ADC_1Point;
- int ADC_32PointD;
- int ADC_64Point;
+//unsigned int Buff_ADC_5 [255];
-unsigned int PulseADC_16Point;
-unsigned int PulseADC_32Point;
-unsigned int PulseADC_64Point;
-unsigned int PulseADC_32PointD;
+
-unsigned int Buff_AMP [256];
-unsigned int Buff_AMP64P [256];
+//unsigned int PulseADC_16Point;
+//unsigned int PulseADC_32Point;
+//unsigned int PulseADC_64Point;
+//unsigned int PulseADC_32PointD;
+
+
+//unsigned int Buff_AMP [256];
+//unsigned int Buff_AMP64P [256];
unsigned int TypeMod=0;
unsigned int ModArraySin [64] = {50,55,59,64,68,73,77,81,85,88,91,94,96,98,99,99,100,99,99,98,96,94,91,88,85,81,77,73,68,64,59,55,50,45,41,36,32,27,23,19,16,12,9,7,4,2,1,1,0,1,1,2,4,7,9,12,16,19,23,27,32,36,41,45};
-unsigned int ModArrayTriangle [64];
-unsigned int ModArraySaw [64];
+//unsigned int ModArrayTriangle [64];
+//unsigned int ModArraySaw [64];
unsigned int Mod=0;
void InitMOD(void)
{
for (int i = 0; i < 64; i++ )
{
- if(i<32) { ModArrayTriangle[i]=Mod; Mod+=3;}
- else { ModArrayTriangle[i]=Mod; Mod-=3;}
+ /*if(i<32) { ModArrayTriangle[i]=Mod; Mod+=3;}
+ else { ModArrayTriangle[i]=Mod; Mod-=3;}*/
}
for (int i = 0; i < 16; i++ )
{
- ModArraySaw[i]=Mod;
- Mod+=1;
+ /* ModArraySaw[i]=Mod;
+ Mod+=1;*/
}
}
void Modulator(void)
@@ -83,43 +75,70 @@
switch(TypeMod)
{
case 0: LPC_DAC->DACR = (ModArraySin [(CountV64)&0x3f]*Gyro.ModAmp); break;
- case 1: LPC_DAC->DACR = (ModArraySaw [CountV64]*Gyro.ModAmp); break;
- case 2: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;
+ /* case 1: LPC_DAC->DACR = (ModArraySaw [CountV64]*Gyro.ModAmp); break;
+ case 2: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break;*/
}
+
+
+
+
+
}
}
void PLCRegul(void)
{
unsigned int temp, Temp_Dac_B=0,Side=0;
+
static int CountFaza;
-
- // Temp_Dac_B=(0xffff-Spi.DAC_B);
- if(conuntPLS<10)
- {
- /* for (CountFaza = 0; CountFaza <16; CountFaza++) SinPls+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];
- for (CountFaza = 16; CountFaza <48; CountFaza++) SinMns+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];
- for (CountFaza = 48; CountFaza <64; CountFaza++) SinPls+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];
- conuntPLS++;*/
- }
- else
- {
- conuntPLS=0;
- Gyro.PLC_Eror = (SinMns-SinPls)>>16;
- /*sprintf((Time)," %d %d %d \r\n", SinMns, SinPls,Gyro.PLC_Eror);
- WriteCon(Time);*/
- TSinPls= SinPls;
- TSinMns=SinMns;
+ if(conuntPLS<30)
+ {
+ // Temp_Dac_B=(0xffff-Spi.DAC_B);Buff_Restored_Mod[CountV64] BuffADC_1Point[CountV255]
+ /* if( (ModArraySin[(CountV64)&0x3f]-50)>0) znak=1;
+ else znak = -1;
+ for (CountFaza = 0; CountFaza <32; CountFaza++) SinPls += ((Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]))>>5;
+ for (CountFaza = 32; CountFaza <64; CountFaza++) SinMns += ((Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]))>>5;*/
+ /* for (CountFaza = 0; CountFaza <32; CountFaza++) SinPls += (( BuffADC_1Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f]))>>5;
+ for (CountFaza = 32; CountFaza <64; CountFaza++) SinMns += (( BuffADC_1Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f]))>>5; */
+ /*for (CountFaza = 0; CountFaza <64; CountFaza++)
+ {
+ if(Buff_Restored_Mod[CountFaza]>0) SinPls+=(Buff_Restored_Mod[CountFaza])>>5;
+ else SinMns+=(Buff_Restored_Mod[CountFaza])>>5;
+ sum += (Buff_Restored_Mod[CountFaza])>>5;
+ }*/
+
+ conuntPLS++;
+ }
+ else{
+
+ TSinPls=SinPls;
+ TSinMns=SinMns;
+ conuntPLS=0;
+ Gyro.PLC_Eror = (TSinMns+TSinPls)>>5;
+ sum+=Gyro.PLC_Eror ;
+ sprintf((Time)," %d %d %d %d\r\n", Buff_Restored_Mod[ (CountV64 - Gyro.PLC_Phase) & 0x3f], Buff_Restored_Mod[ (CountV64 - Gyro.PLC_Phase+1) & 0x3f],Buff_Restored_Mod[ (CountV64 - Gyro.PLC_Phase+2) & 0x3f], Buff_Restored_Mod[ (CountV64 - Gyro.PLC_Phase+23) & 0x3f]);
+ WriteCon(Time);
SinPls=0;
SinMns=0;
+
+
+
+ /* if(Gyro.PLC_Eror>0) {Gyro.PLC_regul--;}
+ else {Gyro.PLC_regul++;}
+*/
+
if(Gyro.RgConA&0x8)
{
- if(Gyro.PLC_Eror>0) {Spi.DAC_B-=Gyro.PLC_Eror*Gyro.PLC_Gain;}
- else {Spi.DAC_B+=Gyro.PLC_Eror*Gyro.PLC_Gain;}
+ Spi.DAC_B-=(Gyro.PLC_Eror>>4)*Gyro.PLC_Gain;
+ /* if(Gyro.PLC_Eror>0) {Spi.DAC_B+=Gyro.PLC_Eror*Gyro.PLC_Gain;}
+ else {Spi.DAC_B-=Gyro.PLC_Eror*Gyro.PLC_Gain;}*/
}
- if(Gyro.PLC_Eror>0) {Gyro.PLC_Eror_count++;}
- else {Gyro.PLC_Eror_count--;}
+
+ if(Gyro.PLC_Eror>0){ Gyro.PLC_Eror_count++;}
+ else {Gyro.PLC_Eror_count--;}
+
+ Gyro.PLC_Eror=0;
if(Gyro.LG_Type==1)
{
@@ -127,13 +146,13 @@
else if ( Spi.DAC_B > Gyro.DownTreshold ) Spi.DAC_B = (Gyro.ResetLevelCool);
}
- else
+ else
{
- if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
+ if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
}
+ }
- }
}
@@ -142,6 +161,12 @@
unsigned int temp;
static int CountFaza;
temp = MODCount;
+
+ /* for (CountFaza = 0; CountFaza <16; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
+ for (CountFaza = 16; CountFaza <32; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
+ for (CountFaza = 32; CountFaza <48; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);
+ for (CountFaza = 48; CountFaza <64; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);*/
+
/* for (CountFaza = 0; CountFaza <32; CountFaza++ ) SinPls+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];
for (CountFaza = 32; CountFaza <64; CountFaza++) SinMns+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];*/
Gyro.PLC_Eror = SinMns-SinPls;
@@ -152,8 +177,8 @@
if(Gyro.PLC_Eror>0) {Spi.DAC_B+=1 * Gyro.PLC_Gain;}
else {Spi.DAC_B-=1 * Gyro.PLC_Gain;}
}
- if(Gyro.PLC_Eror>0) {Gyro.PLC_Eror_count++;}
- else {Gyro.PLC_Eror_count--;}
+ /* if(Gyro.PLC_Eror>0) {Gyro.PLC_Eror_count++;}
+ else {Gyro.PLC_Eror_count--;}*/
if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
@@ -202,7 +227,7 @@
Gyro.IN1_Accum += Spi.ADC2;
Gyro.IN2_Accum += Spi.ADC3;
// Gyro.DeltaT = (unsigned int)(((Spi.ADC4>>1) + Gyro.Tmp_OffsetT5) * Gyro.Tmp_scaleT5);
- Gyro.DeltaT = (unsigned int)(Spi.ADC4>>1);
+ Gyro.DeltaT = (unsigned int)(Spi.ADC4>>1);
TempA = (0xffff - Spi.ADC5); // перевернем знак и умножим на два (было 32000...0 стало 0 ...32000 /*сдвиг(<<1) стало 0 ...64000*/)
Gyro.TermLM = Spi.ADC1;
@@ -239,6 +264,7 @@
}
void SPI_Exchange(void) // новая функция чтения, в нецй не должно быть ничего лишнего
{
+
unsigned int DummySPI;
//unsigned int ADC5Dif;
ADC5New = LPC_SSP0->DR;// Чтение АЦП
@@ -269,25 +295,47 @@
Spi.ADC_NewData = 1;
}
-
-
- BuffADC_1Point[CountV255]=(0x7fff-ADC5New);
+ if(Time1Hz>6)
+ {
+ BuffADC_1Point[CountV255]=ADC5New;//(0x7fff-ADC5New)&0x7fff;
- ADC_64Point += BuffADC_1Point[CountV255 ];
- ADC_64Point -= BuffADC_1Point[(CountV255 - 64) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов
+ ADC_64Point += BuffADC_1Point[CountV255];
+ ADC_64Point -= BuffADC_1Point[(CountV255 - 64) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов
BuffADC_64Point[CountV64] = ADC_64Point;
+
+
-
+ ADC_32PointD += BuffADC_1Point[CountV255];
ADC_32PointD -= BuffADC_1Point[(CountV255 - 32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов
- ADC_32PointD += BuffADC_1Point[CountV255];
+ ADC_32PointD += BuffADC_1Point[(CountV255 - 64) & 0xff];
+ ADC_32PointD -= BuffADC_1Point[(CountV255 - 96) & 0xff];
BuffADC_32PointD[CountV64] = ADC_32PointD;
+
- Buff_Restored_Mod[CountV64] = BuffADC_32PointD[CountV64]*2 - BuffADC_64Point[CountV64];
-
+ ADC_16Point += BuffADC_1Point[CountV255];
+ ADC_16Point -= BuffADC_1Point[(CountV255 - 16) & 0xff];
+ BuffADC_16Point [CountV64] = ADC_16Point;
+
+
+ Buff_Restored_Mod[CountV64] =(int)(BuffADC_32PointD[CountV64] - BuffADC_64Point[CountV64]);
+
+
+
+ /* if( (ModArraySin[(CountV64)&0x3f]-50)>0) znak=1;
+ else znak = -1;*/
+ if (CountV64<32) SinPls += (Buff_Restored_Mod[ (CountV64 - Gyro.PLC_Phase) & 0x3f]/*znak*/)>>5;
+ else SinMns += (Buff_Restored_Mod[ (CountV64 - Gyro.PLC_Phase) & 0x3f]/*znak*/)>>5;
+ }
+
+ /*if(Gyro.LogMod)
+ {
+ sprintf((Time),"%i\r\n", Buff_Restored_Mod[CountV64]);
+ WriteCon(Time);
+ }*/
// BuffADC_64Point[CountV64]=ADC5New;
- Buff_ADC_5[CountV255] = (0x7fff-ADC5New)<<2;
+ // Buff_ADC_5[CountV255] = (0x7fff-ADC5New)<<2;
}