Diff: SPI.c

Revision:

121:bbae560cdd43

Parent:

116:66f1f0ff2dab

Child:

122:fbacb932a30b

--- a/SPI.c	Wed Apr 06 15:40:17 2016 +0000
+++ b/SPI.c	Thu Apr 07 10:44:23 2016 +0000
@@ -81,21 +81,20 @@
 	    if(Gyro.RgConA&0x2)
 	    {
 			if 		(Gyro.PLC_Znak > 1)			{Gyro.PLC_Znak --;}
-			else if ( Gyro.PLC_Delta > 	(1000 * 65536)) 	{Gyro.PLC_Regul += 1000 << 16; 	Gyro.PLC_Znak = 5;}
-			else if ( Gyro.PLC_Delta < 	(-1000 * 65536)) 	{Gyro.PLC_Regul += 1000 << 16;	Gyro.PLC_Znak = 5;}
+			else if ( Gyro.PLC_Delta > 	(1000 * 65536)) 	{Spi.DAC_B += 2500; 	Gyro.PLC_Znak = 5;}
+			else if ( Gyro.PLC_Delta < 	(-1000 * 65536)) 	{Spi.DAC_B += 2500;		Gyro.PLC_Znak = 5;}
 	  	    else if ((Gyro.PLC_Delta * Gyro.PLC_Znak) > 0)  
 			{
 			Gyro.PLC_Znak = 1;
-			Gyro.PLC_Regul -= ((Gyro.PLC_Delta * Gyro.PLC_Znak)/100);	
-			Spi.DAC_B  -= ((Gyro.PLC_Delta * Gyro.PLC_Znak)/655360);
+//			Gyro.PLC_Regul -= ((Gyro.PLC_Delta * Gyro.PLC_Znak)/100);	
+			Spi.DAC_B  += (((Gyro.PLC_Delta * Gyro.PLC_Znak)/65536))*16;
 
 			}
 			else
 			{
 			Gyro.PLC_Znak = -1;
-			Gyro.PLC_Regul -= ((Gyro.PLC_Delta * Gyro.PLC_Znak)/100);	
-			Spi.DAC_B  -= ((Gyro.PLC_Delta * Gyro.PLC_Znak)/655360);
-
+//			Gyro.PLC_Regul -= ((Gyro.PLC_Delta * Gyro.PLC_Znak)/100);	
+			Spi.DAC_B  -= (((Gyro.PLC_Delta * Gyro.PLC_Znak)/65536))*16;
 			}
 //			Spi.DAC_B  = (Gyro.PLC_Regul + 0x1fffffff)/65536;