Dmitry Kovalev
fork
Diff: QEI.c
- Revision:
- 21:bc8c1cec3da6
- Parent:
- 1:f2adcae3d304
- Child:
- 30:17c84ed091b3
--- a/QEI.c Tue Feb 02 17:14:25 2016 +0000
+++ b/QEI.c Wed Feb 03 07:19:30 2016 +0000
@@ -1,115 +1,103 @@
#include "Global.h"
- int Pulse_midl = 0;
- int PulseHalf = 0;
- int CuruAngle = 0;
- int Dif_QEI;
-int FFF=0;//��� ��������
+
+int Pulse_midl = 0;
+int PulseHalf = 0;
+int CuruAngle = 0;
+int Dif_QEI;
+int FFF=0;//для заплатки
- int Pulse_8Point = 0;
- int Pulse_16Point = 0;
- int Pulse_32Point = 0;
- int Pulse_16PointD = 0;
- unsigned int Iras=0,Temp_F_ras=0;
- int yy = 0;
-
-
- unsigned int Buff_32Point [256];
- unsigned int Buff_16Point [256];
- unsigned int Buff_16PointD [256];
- unsigned int Buff_8Point [256];
- unsigned int Buff_1Point [256];
- unsigned int Buff_Restored_sin [256];
- int unsigned Cur_QEI = 0, Last_QEI=0;
+int Pulse_8Point = 0;
+int Pulse_16Point = 0;
+int Pulse_32Point = 0;
+int Pulse_16PointD = 0;
+unsigned int Iras=0,Temp_F_ras=0;
+int yy = 0;
- void D_QEI(void)
- {
- Dif_QEI=0;
-
-
- Cur_QEI = LPC_QEI->POS & 0xFFFF; // ���������� �������� �������� ��������.
- Dif_QEI = (Cur_QEI - Last_QEI); // ��������� ����������.()
- Last_QEI = Cur_QEI; // ������ �������� �������� �������� � ������� ����������� ��������.
+unsigned int Buff_32Point [256];
+unsigned int Buff_16Point [256];
+unsigned int Buff_16PointD [256];
+unsigned int Buff_8Point [256];
+unsigned int Buff_1Point [256];
+unsigned int Buff_Restored_sin [256];
+int unsigned Cur_QEI = 0, Last_QEI=0;
+
+
+void D_QEI(void)
+{
+ Dif_QEI=0;
+
+
+ Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера.
+ Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.()
+ Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения.
+
+
+ if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль
+ if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль
- if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // ��������� ������� �������� ����� ����
- if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // ��������� ������� �������� ����� ����
-
-
- Buff_1Point[CountV255] = (unsigned int) (Dif_QEI + 0xffff);// ���������� � ����� ��������� �������� ���������� �� ������� �����.
-
- ////////////////////////////////////////////////////////////////////////////////////////////
- ///////////////////////////////////////////////////////////////////////////////////////////
-
- if (LPC_QEI->STAT) //e. "+" direction //r. ����� ��������� � "+" �������
- {
- Main.Cnt_Mns = Dif_QEI;
- }
- else
- {
- Main.Cnt_Pls = -Dif_QEI;
- }
- ////////// ???? ��������
- ////////// ???? �������� ���������� ���������� �������
- //////////////////////////////////////////////////////////////////////////////////////////////
- if(FFF==1) // ���� ������ 32 ����� ����� ������� ������ ��������� ��������� ������.
- {
- Pulse_8Point += Buff_1Point[CountV255];
- Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // ���������� ������ ���������� ���������� �� 8 ������
- Buff_8Point[CountV255] = (unsigned int) (Pulse_8Point + 0xffff);
-
- Pulse_16Point += Buff_1Point[CountV255];
- Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // ���������� ������ ���������� ���������� �� 16 ������
- Buff_16Point[CountV255] = (unsigned int) (Pulse_16Point + 0xffff);
-
- Pulse_32Point += Buff_1Point[CountV255];
- Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // ���������� ������ ���������� ���������� �� 32 ������
- Main.Cnt_Dif = (Pulse_32Point+ 0xffff);
- Buff_32Point[CountV255] = (unsigned int) (Pulse_32Point + 0xffff);
+ Buff_1Point[CountV255] = (unsigned int) (Dif_QEI + 0xffff);// накопление в буфер еденичных значений приращения по каждому такту.
+
+ ////////////////////////////////////////////////////////////////////////////////////////////
+ ///////////////////////////////////////////////////////////////////////////////////////////
+
+ if (LPC_QEI->STAT) { //e. "+" direction //r. стали вращаться в "+" сторону
+ Main.Cnt_Mns = Dif_QEI;
+ } else {
+ Main.Cnt_Pls = -Dif_QEI;
+ }
+ ////////// ???? Заплатка
+ ////////// ???? Проблема начального заполнения буферов
+ //////////////////////////////////////////////////////////////////////////////////////////////
+ if(FFF==1) { // если прошло 32 такта вибро подвеса начать заполнять остальные буверы.
+ Pulse_8Point += Buff_1Point[CountV255];
+ Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов
+ Buff_8Point[CountV255] = (unsigned int) (Pulse_8Point + 0xffff);
- Pulse_16PointD += Buff_1Point[CountV255];
- Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // ���������� ������ ���������� ���������� �� 16 ������ �������
- Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
- Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // �
+ Pulse_16Point += Buff_1Point[CountV255];
+ Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов
+ Buff_16Point[CountV255] = (unsigned int) (Pulse_16Point + 0xffff);
+
+ Pulse_32Point += Buff_1Point[CountV255];
+ Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов
+ Main.Cnt_Dif = (Pulse_32Point+ 0xffff);
+ Buff_32Point[CountV255] = (unsigned int) (Pulse_32Point + 0xffff);
- Buff_16PointD[CountV255] = (unsigned int) (Pulse_16PointD + 0xffff);
-
-
+ Pulse_16PointD += Buff_1Point[CountV255];
+ Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз
+ Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
+ Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // з
+
+ Buff_16PointD[CountV255] = (unsigned int) (Pulse_16PointD + 0xffff);
+
+
// Buff_Restored_sin [CountVf]= (unsigned int)( ((Buff_16Point[CountVf]*2)) - Buff_32Point[CountVf] );
- Buff_Restored_sin [CountV255]= (unsigned int)( Buff_16PointD [ CountV255] + 65536 - Buff_32Point[CountV255] );
-
+ Buff_Restored_sin [CountV255]= (unsigned int)( Buff_16PointD [ CountV255] + 65536 - Buff_32Point[CountV255] );
+
- if(Buff_32Point[CountV255]>0)
- {
- Temp_F_ras += Buff_32Point[CountV255];
- }
- else if ((CountV255 & 0x1f)==0)
- {
- Main.F_ras=Temp_F_ras;
- Temp_F_ras=0;
- }
- else
- {
- Temp_F_ras -= Buff_32Point[CountV255];
- }
-
- //unsigned int T_Vib;
+ if(Buff_32Point[CountV255]>0) {
+ Temp_F_ras += Buff_32Point[CountV255];
+ } else if ((CountV255 & 0x1f)==0) {
+ Main.F_ras=Temp_F_ras;
+ Temp_F_ras=0;
+ } else {
+ Temp_F_ras -= Buff_32Point[CountV255];
+ }
+
+ //unsigned int T_Vib;
- }
- else if(CountV255 == 255)
- {
- FFF=1;//��������� �������� ��� ����� ����� ����������� ��������� �������
- for (yy = 0; yy < 256; yy++ )
- {
- Buff_1Point [yy] = 0xffff;
- Buff_16Point [yy] = 0xffff;
- Buff_32Point [yy] = 0xffff;
- Buff_16PointD [yy] = 0xffff;
- }
+ } else if(CountV255 == 255) {
+ FFF=1;//временная заплатка для паузы перед заполнением остальных буферов
+ for (yy = 0; yy < 256; yy++ ) {
+ Buff_1Point [yy] = 0xffff;
+ Buff_16Point [yy] = 0xffff;
+ Buff_32Point [yy] = 0xffff;
+ Buff_16PointD [yy] = 0xffff;
+ }
- }
- }
-
+ }
+}