File content as of revision 0:8ad47e2b6f00:

#include "lpc17xx.h"  
#include "QEI.h"
#include "vibro.h"
#include "MTimer.h"

			int Pulse_midl = 0;
			int PulseHalf = 0;
			int CuruAngle = 0;
      int Dif_QEI;
int FFF=0;//äëÿ çàïëàòêè

			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;


			void D_QEI(void)
			{ 
	     Dif_QEI=0;
				
				
				Cur_QEI  =  LPC_QEI->POS & 0xFFFF; // ñ÷èòûâàíèå òåêóùåãî çíà÷åíèÿ ýíêîäåðà.
				Dif_QEI  =  (Cur_QEI - Last_QEI);  // ïîëó÷åíèå ïðèðàùåíèÿ.()
				Last_QEI =  Cur_QEI;               // çàïèñü òåêóùåãî çíà÷åíèÿ ýíêîäåðà â ðåãèñòð ïðåäûäóùåãî çíà÷åíèÿ.


				if (Dif_QEI < -0xfff)  Dif_QEI += 0x10000;   // îáðàáîòêà ïðîõîäà çíà÷åíèÿ ÷åðåç íîëü
				if (Dif_QEI >  0xfff)  Dif_QEI -= 0x10000;    // îáðàáîòêà ïðîõîäà çíà÷åíèÿ ÷åðåç íîëü
				
				
				Buff_1Point[CountV255] = (unsigned int) (Dif_QEI + 0xffff);// íàêîïëåíèå â áóôåð åäåíè÷íûõ çíà÷åíèé ïðèðàùåíèÿ ïî êàæäîìó òàêòó.
			
			////////////////////////////////////////////////////////////////////////////////////////////
			///////////////////////////////////////////////////////////////////////////////////////////
		
		if (LPC_QEI->STAT)						//e. "+" direction //r. ñòàëè âðàùàòüñÿ â "+" ñòîðîíó
			    {
							Main.Cnt_Mns = Dif_QEI;
		      }
	 		    else
			        {	
				         Main.Cnt_Pls = -Dif_QEI;
			        }
			////////// ???? Çàïëàòêà
			////////// ???? Ïðîáëåìà íà÷àëüíîãî çàïîëíåíèÿ áóôåðîâ
			//////////////////////////////////////////////////////////////////////////////////////////////	
				if(FFF==1) // åñëè ïðîøëî 32 òàêòà âèáðî ïîäâåñà íà÷àòü çàïîëíÿòü îñòàëüíûå áóâåðû.
						{
							Pulse_8Point += Buff_1Point[CountV255];
							Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff];                    // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 8 òàêòîâ
							Buff_8Point[CountV255] = (unsigned int) (Pulse_8Point + 0xffff);
						
							Pulse_16Point += Buff_1Point[CountV255];
							Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff];									// çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 16 òàêòîâ
							Buff_16Point[CountV255] = (unsigned int) (Pulse_16Point + 0xffff);
						
							Pulse_32Point += Buff_1Point[CountV255];
							Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff];  								// çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 32 òàêòîâ
							Main.Cnt_Dif  =  (Pulse_32Point+ 0xffff);
							Buff_32Point[CountV255] = (unsigned int) (Pulse_32Point + 0xffff);

							Pulse_16PointD += Buff_1Point[CountV255];
							Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff];									// çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 16 òàêòîâ Äâîéíûç
							Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff];									// 
							Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff];									// ç

							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] );
            


              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;//âðåìåííàÿ çàïëàòêà  äëÿ ïàóçû ïåðåä çàïîëíåíèåì îñòàëüíûõ áóôåðîâ 
								for (yy = 0; yy < 256; yy++ ) 
								{
									Buff_1Point [yy] = 0xffff;
									Buff_16Point [yy] = 0xffff;
									Buff_32Point [yy] = 0xffff;
									Buff_16PointD [yy] = 0xffff;
								}

						}
				}