Diff: Command.c

Revision:

121:bbae560cdd43

Parent:

120:9f446f1495e8

Child:

122:fbacb932a30b

--- a/Command.c	Wed Apr 06 15:40:17 2016 +0000
+++ b/Command.c	Thu Apr 07 10:44:23 2016 +0000
@@ -10,6 +10,7 @@
 unsigned int Param3=0;
 unsigned int Param4=0;
 unsigned int Consol=123;
+unsigned int TempParam=1;
 /*
 void exec_CMD(void)       //r. === процедура окончательной дешифрации и исполнения команды
 {
@@ -22,6 +23,7 @@
 }*/
 void CMD_Maintenance(void)
 {
+    Rate_Flag=0;
     BuffTemp[0] = Gyro.SOC_Out;
     BuffTemp[1] =  Gyro .My_Addres;
     BuffTemp[2] =  Gyro .Firmware_Version;
@@ -30,8 +32,25 @@
     BuffTemp[5]=0x00;
     Check(BuffTemp, 8);
     WriteConN (BuffTemp,8);
+   
 }
 
+void CMD_Rate2(void)
+{
+	 
+    BuffTemp[ 0] = Gyro.SOC_Out;
+    BuffTemp[ 1] = Gyro.My_Addres;
+
+
+    BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
+    BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
+ 
+    BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
+    BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
+ 
+    Check(BuffTemp, 44);
+    WriteConN (BuffTemp,44);
+}
 void CMD_Rate(void)
 {
   
@@ -130,6 +149,7 @@
     BuffTemp[10] = (Temp >> 8) & 0xff;//выход регулятора гвч;
     BuffTemp[11] = (Temp >> 0) & 0xff;;
 
+Temp = (Gyro.AD_Slow >> 16)- 0x7fff;;
     BuffTemp[12]=(Temp >> 8) & 0xff;////
     BuffTemp[13]=(Temp >> 0) & 0xff;////
 
@@ -150,14 +170,17 @@
     BuffTemp[21] = 0x00;
 
 
-	if (Spi.DAC_B < 0x7fff) Temp = Spi.DAC_B - 0x7fff; else Temp = 0x7fff - Spi.DAC_B ; 
+//	if (Spi.DAC_B < 0x7fff) Temp = Spi.DAC_B - 0x7fff; else Temp = 0x7fff - Spi.DAC_B ; 
+ Temp = Spi.DAC_B - 0x7fff;
     BuffTemp[22] =  (Temp >> 8) & 0xff;
     BuffTemp[23] =  (Temp >> 0) & 0xff;
 
-    BuffTemp[24] = 0x00;
-    BuffTemp[25] = 0x00;// ХЗ
+ 
+Temp = Gyro.PLC_Delta >> 16;
+    BuffTemp[24] = (Temp >> 8) & 0xff;
+    BuffTemp[25] = (Temp >> 0) & 0xff;// ХЗ
     
-    Temp = Gyro.PLC_Delta >> 16;
+ Temp = 100;
     BuffTemp[26] =  (Temp >> 8) & 0xff;
     BuffTemp[27] =  (Temp >> 0) & 0xff;
     
@@ -353,7 +376,8 @@
 
 int Getlengf(void)
 {
-    unsigned int lengf=0;
+    unsigned int lengf;
+    lengf = 1;
     switch(Gyro.CMD_In) {
         case 0x99://Gyrotainance
             
@@ -462,8 +486,11 @@
      {
         ReadCon1(BuffTemp); 
             switch(Gyro.CMD_In) {
+                  Rate_Flag=0;
                 case 0x99:
+                  Rate_Flag=0;
                     CMD_Maintenance();
+                  
                     break;
                 case 0xD8:
                     CMD_M_Control_D8();
@@ -474,7 +501,11 @@
                     CMD_M_Stymul();
                     break;
                 case 0xDD:
-                    Rate_Flag=1;
+                   TempParam = BuffTemp[3];
+                   Rate_Flag=0;
+                   if     (TempParam==3)         Rate_Flag=3;
+                   else if(TempParam==2)         Rate_Flag=2;
+                   else                          Rate_Flag=1;
                     break; 
                case 0xE4:
                     CMD_M_vib();
@@ -488,7 +519,13 @@
                     
                       
      }
+    
     }
+//  else if(CountBuFFIn > 40 )
+//     {
+//       ReadCon1(BuffTemp); 
+//     }
+
 }