Dmitry Kovalev / Mbed 2 deprecated LG2

fork

Dependencies:   mbed

Fork of LG by igor Apu

Global.c@208:19150d2b528f, 2017-02-07 (annotated)

Committer:
Kovalev_D
Date:
Tue Feb 07 10:11:35 2017 +0000
Revision:
208:19150d2b528f
Parent:
207:d1ce992f5d17
Child:
209:224e7331a061
465

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
Kovalev_D 89:a0d344db227e 3 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 4 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 197:7a05523bf588 5 float t1;
Kovalev_D 89:a0d344db227e 6 unsigned char BuffTemp[100];
Kovalev_D 197:7a05523bf588 7 unsigned char Time[1000];
Kovalev_D 86:398da56ef751 8 unsigned int Event1Hz;
Kovalev_D 208:19150d2b528f 9 unsigned int Event100Hz;
Kovalev_D 124:9ae09249f842 10 unsigned int Event500Hz;
Kovalev_D 203:3a6615de9581 11 unsigned int Event1K;
Kovalev_D 88:b5c1d9d338d1 12 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 13 unsigned int EventVibro;
Kovalev_D 124:9ae09249f842 14
Kovalev_D 197:7a05523bf588 15 unsigned int Time250Hz;
Kovalev_D 197:7a05523bf588 16 unsigned int Event250Hz;
Kovalev_D 197:7a05523bf588 17
Kovalev_D 124:9ae09249f842 18 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 19 unsigned int Time1K;
Kovalev_D 124:9ae09249f842 20 unsigned int Time500Hz;
Kovalev_D 88:b5c1d9d338d1 21 unsigned int Time1Hz;
Kovalev_D 208:19150d2b528f 22 unsigned int Time100Hz;
Kovalev_D 88:b5c1d9d338d1 23 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 24 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 25 unsigned int ShiftL;
Kovalev_D 205:775d54fdf646 26 //unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 27
Kovalev_D 139:1716152517aa 28
Kovalev_D 134:caf4c9cd5052 29 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 30 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 31 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 32 BX R0
Kovalev_D 134:caf4c9cd5052 33 }
Kovalev_D 134:caf4c9cd5052 34
Kovalev_D 205:775d54fdf646 35 void Param_init(void)
Kovalev_D 205:775d54fdf646 36 {
Kovalev_D 208:19150d2b528f 37 int temp=0;
Kovalev_D 208:19150d2b528f 38
Kovalev_D 205:775d54fdf646 39 InitMOD();
Kovalev_D 206:00341a03e05c 40
Kovalev_D 208:19150d2b528f 41
Kovalev_D 205:775d54fdf646 42 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 43 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 44 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 45 Time_vibro = 0;
Kovalev_D 88:b5c1d9d338d1 46 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 47 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 48 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 49 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 50 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 51 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 52 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 53 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 54 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 55 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 56 ShiftL = 0;
Kovalev_D 124:9ae09249f842 57 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 58 Time500Hz = 0;
Kovalev_D 205:775d54fdf646 59 PulseADC_64Point= 0;
Kovalev_D 205:775d54fdf646 60 Temp_AMP64P = 0;
Kovalev_D 205:775d54fdf646 61 Temp_ADC_2 = 0;
Kovalev_D 205:775d54fdf646 62 Temp_ADC_3 = 0;
Kovalev_D 205:775d54fdf646 63 Temp_ADC_4 = 0;
Kovalev_D 205:775d54fdf646 64 Temp_ADC_5 = 0;
Kovalev_D 205:775d54fdf646 65 Gyro.Log = 0;
Kovalev_D 205:775d54fdf646 66 Gyro.LogPLC = 0;
Kovalev_D 205:775d54fdf646 67 Gyro.PLC_Lern = 0;
Kovalev_D 106:250ddd8629c6 68 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 69 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 70 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 71 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 72 Pulse_32Point = 0;
Kovalev_D 205:775d54fdf646 73 Gyro.FlashMod=0;
Kovalev_D 208:19150d2b528f 74
Kovalev_D 205:775d54fdf646 75
Kovalev_D 205:775d54fdf646 76 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 77 ///////////инициализация таймеров////////////
Kovalev_D 205:775d54fdf646 78 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 79 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 205:775d54fdf646 80 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 205:775d54fdf646 81 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 82 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 206:00341a03e05c 83
Kovalev_D 206:00341a03e05c 84 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 206:00341a03e05c 85 Gyro.PLC_Error2Mode = 1400;
Kovalev_D 206:00341a03e05c 86 Gyro.SOC_Out = 0xDD;
Kovalev_D 206:00341a03e05c 87
Kovalev_D 206:00341a03e05c 88
Kovalev_D 206:00341a03e05c 89 GyroP.Str.ParamMod=0;
Kovalev_D 206:00341a03e05c 90 ReadFlash ();
Kovalev_D 208:19150d2b528f 91 if(GyroP.Str.ParamMod)
Kovalev_D 206:00341a03e05c 92 {
Kovalev_D 208:19150d2b528f 93 Gyro.My_Addres = GyroP.Str.My_Addres; // Gyro.My_Addres = 0;
Kovalev_D 208:19150d2b528f 94 Gyro.GLD_Serial = GyroP.Str.GLD_Serial;
Kovalev_D 206:00341a03e05c 95
Kovalev_D 208:19150d2b528f 96
Kovalev_D 208:19150d2b528f 97 Gyro.FrqHZ = GyroP.Str.FrqHZ;
Kovalev_D 208:19150d2b528f 98 Gyro.Frq = GyroP.Str.FrqHZ<<16;
Kovalev_D 208:19150d2b528f 99 Gyro.FrqHZmin = GyroP.Str.FrqHZmin<<16;
Kovalev_D 208:19150d2b528f 100 Gyro.FrqHZmax = GyroP.Str.FrqHZmax<<16;
Kovalev_D 208:19150d2b528f 101 Gyro.FrqChengSpeed = GyroP.Str.FrqChengSpeed;
Kovalev_D 208:19150d2b528f 102 Gyro.PLC_Gain = GyroP.Str.PLC_Gain;
Kovalev_D 208:19150d2b528f 103 Gyro.PLC_Phase = GyroP.Str.PLC_Phase;
Kovalev_D 208:19150d2b528f 104 Gyro.ModAmp = GyroP.Str.ModAmp;
Kovalev_D 208:19150d2b528f 105 Gyro.FrqPhase = GyroP.Str.FrqPhase;
Kovalev_D 208:19150d2b528f 106 Gyro.AmpPer = GyroP.Str.AmpPer;
Kovalev_D 208:19150d2b528f 107 Gyro.Amp = GyroP.Str.AmpPer<<16;
Kovalev_D 208:19150d2b528f 108 Gyro.AmpSpeed = GyroP.Str.AmpSpeed;
Kovalev_D 208:19150d2b528f 109 Gyro.AmpPerDel = GyroP.Str.AmpPerDel;
Kovalev_D 208:19150d2b528f 110 temp=((GyroP.Str.VB_Fdf_Hi<<16) | GyroP.Str.VB_Fdf_Lo);
Kovalev_D 208:19150d2b528f 111 temp=temp/18.2;
Kovalev_D 208:19150d2b528f 112 Gyro.AmpTarget=(unsigned int)(temp);
Kovalev_D 208:19150d2b528f 113 Gyro.AmpPerMin = GyroP.Str.AmpPerMin;
Kovalev_D 208:19150d2b528f 114 Gyro.AmpPerMax = GyroP.Str.AmpPerMax;
Kovalev_D 208:19150d2b528f 115 Gyro.AmpMin = GyroP.Str.AmpMin;
Kovalev_D 208:19150d2b528f 116 Gyro.AmpTD = GyroP.Str.AmpTD;
Kovalev_D 208:19150d2b528f 117 Spi.DAC_A = GyroP.Str.DAC_current_Work;
Kovalev_D 208:19150d2b528f 118 // Gyro.TermoNKU = GyroP.Str.TermoNKU<<2;
Kovalev_D 206:00341a03e05c 119
Kovalev_D 208:19150d2b528f 120 // Spi.DAC_A = GyroP.Str.DAC_A;
Kovalev_D 208:19150d2b528f 121
Kovalev_D 208:19150d2b528f 122 // Spi.DAC_B = GyroP.Str.DAC_B;
Kovalev_D 206:00341a03e05c 123
Kovalev_D 208:19150d2b528f 124 Gyro.Gain_Sin = GyroP.Str.Gain_Sin;
Kovalev_D 208:19150d2b528f 125 Gyro.Gain_Cos = GyroP.Str.Gain_Cos;
Kovalev_D 208:19150d2b528f 126 Out_G_photo(Gyro.Gain_Sin, Gyro.Gain_Cos);
Kovalev_D 206:00341a03e05c 127 }
Kovalev_D 206:00341a03e05c 128 else
Kovalev_D 206:00341a03e05c 129 {
Kovalev_D 208:19150d2b528f 130
Kovalev_D 208:19150d2b528f 131 Gyro.PLC_Phase = 3;
Kovalev_D 208:19150d2b528f 132 Gyro.PLC_Gain = 3;
Kovalev_D 208:19150d2b528f 133 Gyro.FrqPhase = 8;
Kovalev_D 207:d1ce992f5d17 134 Gyro.FrqHZ = 403;
Kovalev_D 206:00341a03e05c 135 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 206:00341a03e05c 136 Gyro.FrqHZmin = 350<<16;
Kovalev_D 206:00341a03e05c 137 Gyro.FrqHZmax = 450<<16;
Kovalev_D 206:00341a03e05c 138 Gyro.FrqChengSpeed = 100;
Kovalev_D 206:00341a03e05c 139 Gyro.ModAmp = 250;
Kovalev_D 208:19150d2b528f 140 Gyro.AmpPer = 20;
Kovalev_D 207:d1ce992f5d17 141 Gyro.AmpPerMin = 2;
Kovalev_D 206:00341a03e05c 142 Gyro.AmpPerMax = 90;
Kovalev_D 206:00341a03e05c 143 Gyro.AmpSpeed = 1;
Kovalev_D 207:d1ce992f5d17 144 Gyro.AmpPerDel = 3;
Kovalev_D 208:19150d2b528f 145 Gyro.AmpTarget = 5500;// целевая амплитуда ВП
Kovalev_D 208:19150d2b528f 146 Gyro.Amp = 20*65535;
Kovalev_D 207:d1ce992f5d17 147 Gyro.AmpMin = 20;// минимальное значение AmpT;5
Kovalev_D 208:19150d2b528f 148 Gyro.AmpTD = 20;////////////////////////////////////////////////////////
Kovalev_D 206:00341a03e05c 149 Gyro.TermoNKU = 44700;//48824*0,0061-273=25 С°
Kovalev_D 208:19150d2b528f 150 Spi.DAC_B = 32220;
Kovalev_D 206:00341a03e05c 151 Gyro.PLC_Error2Mode = 1400; //для записи мод
Kovalev_D 207:d1ce992f5d17 152 Gyro.Gain_Sin = 175;
Kovalev_D 207:d1ce992f5d17 153 Gyro.Gain_Cos = 215;
Kovalev_D 205:775d54fdf646 154 Gyro.Firmware_Version = 0x9; //версия программы
Kovalev_D 205:775d54fdf646 155 Gyro.GLD_Serial = 123; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 156 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 208:19150d2b528f 157 Gyro.Tmp_OffsetT4 = 0;
Kovalev_D 208:19150d2b528f 158 Gyro.Tmp_OffsetT5 = 0;
Kovalev_D 208:19150d2b528f 159 Gyro.Tmp_scaleT4 = 1; //53
Kovalev_D 208:19150d2b528f 160 Gyro.Tmp_scaleT5 = 1;
Kovalev_D 208:19150d2b528f 161
Kovalev_D 208:19150d2b528f 162 Gyro.DAC_current_Work =50000; //3
Kovalev_D 208:19150d2b528f 163 Gyro.DAC_current_Start =41000;
Kovalev_D 206:00341a03e05c 164 }
Kovalev_D 188:4c523cc373cc 165 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 166 case 0:
Kovalev_D 188:4c523cc373cc 167 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 168 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 169 break;
Kovalev_D 188:4c523cc373cc 170 case 1:
Kovalev_D 188:4c523cc373cc 171 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 172 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 173 break;
Kovalev_D 188:4c523cc373cc 174 case 2:
Kovalev_D 188:4c523cc373cc 175 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 176 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 177 break;
Kovalev_D 188:4c523cc373cc 178 case 3:
Kovalev_D 188:4c523cc373cc 179 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 180 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 181 break;
Kovalev_D 205:775d54fdf646 182 }
Kovalev_D 205:775d54fdf646 183
Kovalev_D 88:b5c1d9d338d1 184 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 185 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 186 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 187 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 188 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 189 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 190 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 191 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 192
Kovalev_D 86:398da56ef751 193 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 194 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 195 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 196 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 197 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 198 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 199
Kovalev_D 86:398da56ef751 200 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 201 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 202 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 203 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 204 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 112:4a96133a1311 205 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 206 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 207 Cur_QEI=0;
Kovalev_D 86:398da56ef751 208 Last_QEI=0;
Kovalev_D 205:775d54fdf646 209 }
Kovalev_D 205:775d54fdf646 210
Kovalev_D 205:775d54fdf646 211 void GLD_Init(void)
Kovalev_D 205:775d54fdf646 212 { int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 86:398da56ef751 213 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 214 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 215 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 216 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 217 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 218 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 219 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 220 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 221
Kovalev_D 98:95b8e79f13e1 222
Kovalev_D 87:7e575d26d6d0 223 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 224 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 225 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 226 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 227
Kovalev_D 87:7e575d26d6d0 228 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 229 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 230
Kovalev_D 98:95b8e79f13e1 231 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 232 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 233 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 234 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 235
Kovalev_D 88:b5c1d9d338d1 236
Kovalev_D 89:a0d344db227e 237 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 238 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 239 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 240
Kovalev_D 89:a0d344db227e 241 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 242
Kovalev_D 89:a0d344db227e 243 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 244 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 245 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 246 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 247
Kovalev_D 89:a0d344db227e 248 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 249 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 250 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 251
Kovalev_D 89:a0d344db227e 252 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 253 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 254 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 255
Kovalev_D 99:3d8f206ceac2 256 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 257 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 258 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 259 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 260
Kovalev_D 89:a0d344db227e 261 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 262 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 263 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 264
Kovalev_D 86:398da56ef751 265
Kovalev_D 86:398da56ef751 266
Kovalev_D 92:c892f0311aa7 267
Kovalev_D 92:c892f0311aa7 268
Kovalev_D 92:c892f0311aa7 269
Kovalev_D 92:c892f0311aa7 270 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 271 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 272 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 273 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 274 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 275
Kovalev_D 92:c892f0311aa7 276 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 277 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 278
Kovalev_D 92:c892f0311aa7 279 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 280 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 281 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 282
Kovalev_D 92:c892f0311aa7 283 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 284 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 285 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 286
Kovalev_D 92:c892f0311aa7 287 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 288 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 289
Kovalev_D 92:c892f0311aa7 290 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 291 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 292
Kovalev_D 92:c892f0311aa7 293 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 294 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 295
Kovalev_D 92:c892f0311aa7 296 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 92:c892f0311aa7 297 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 298 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 299
Kovalev_D 92:c892f0311aa7 300 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 301 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 302
Kovalev_D 92:c892f0311aa7 303 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 304 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 305 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 306 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 307 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 308 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 309 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 310 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 311 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 312
Kovalev_D 92:c892f0311aa7 313 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 314 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 315 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 316 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 317 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 318 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 319 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 320
Kovalev_D 92:c892f0311aa7 321
Kovalev_D 92:c892f0311aa7 322
Kovalev_D 92:c892f0311aa7 323
Kovalev_D 86:398da56ef751 324 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 325 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 326 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 327
Kovalev_D 89:a0d344db227e 328 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 329 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 330 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 331 PinCheng();
Kovalev_D 89:a0d344db227e 332 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 333 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 334 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 335 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 336 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 337
Kovalev_D 98:95b8e79f13e1 338 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 190:289514f730ee 339 LPC_PINCON->PINSEL0 |= (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 190:289514f730ee 340 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 341 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 342 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 343 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 344 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 345 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 346 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 347 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 348 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 349 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 350 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 351 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 352 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 353
Kovalev_D 88:b5c1d9d338d1 354
Kovalev_D 88:b5c1d9d338d1 355
Kovalev_D 87:7e575d26d6d0 356 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 357 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 358 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 359 LPC_PINCON->PINSEL0 &= ~(3<<8); //e. P0.4 is GPIO pin (запись ( 00 ) в 9:8 бит PISEL0 выбор P0.4 как GPIO)
Kovalev_D 98:95b8e79f13e1 360 LPC_PINCON->PINMODE0 |= (3<<8); //e. P0.4 is GPIO pin (запись ( 11 ) в 9:8 бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 361 LPC_GPIO0->FIODIR |= (1<<4); //e. P0.4 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.4 как выход)
Kovalev_D 87:7e575d26d6d0 362 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 363 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 364
Kovalev_D 88:b5c1d9d338d1 365
Kovalev_D 88:b5c1d9d338d1 366
Kovalev_D 87:7e575d26d6d0 367 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 368 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 369 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 370 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 371 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 372 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 373 LPC_GPIO1->FIODIR |= (1<<25); //e. P0.5 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 374 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 375 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 376 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 377 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 378 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 379 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 380 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 381 LPC_GPIO1->FIODIR |= (1<<28); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 382 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 383 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 384 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 385
Kovalev_D 88:b5c1d9d338d1 386
Kovalev_D 88:b5c1d9d338d1 387
Kovalev_D 87:7e575d26d6d0 388 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 389 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 390 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 391 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 392 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 393 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 394 LPC_GPIO2->FIODIR |= (1<<12); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 395 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 396 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 397 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 398
Kovalev_D 88:b5c1d9d338d1 399
Kovalev_D 88:b5c1d9d338d1 400 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 401 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 402 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 403 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 404 enable_timer1();
Kovalev_D 86:398da56ef751 405 enable_timer2();
Kovalev_D 89:a0d344db227e 406 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 407
Kovalev_D 89:a0d344db227e 408 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 409 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 410
Kovalev_D 90:d9b6a4bc5065 411
Kovalev_D 90:d9b6a4bc5065 412
Kovalev_D 90:d9b6a4bc5065 413 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 414 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 415 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 416 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 417 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 418
Kovalev_D 90:d9b6a4bc5065 419 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 420 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 421
Kovalev_D 90:d9b6a4bc5065 422 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 423 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 424 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 425
Kovalev_D 90:d9b6a4bc5065 426 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 427 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 428 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 429
Kovalev_D 90:d9b6a4bc5065 430 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 431 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 432
Kovalev_D 90:d9b6a4bc5065 433 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 434 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 435
Kovalev_D 90:d9b6a4bc5065 436 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 437 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 438
Kovalev_D 90:d9b6a4bc5065 439 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 90:d9b6a4bc5065 440 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 441 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 442
Kovalev_D 90:d9b6a4bc5065 443 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 444 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 445
Kovalev_D 90:d9b6a4bc5065 446 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 447 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 448 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 449 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 450 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 451 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 452 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 453 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 454 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 455
Kovalev_D 92:c892f0311aa7 456 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 457 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 458 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 459 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 205:775d54fdf646 460 //Gyro=GyroP.str;
Kovalev_D 205:775d54fdf646 461 //Gyro = (*(struct Gyro*)(&GyroP.Str));
Kovalev_D 90:d9b6a4bc5065 462
Kovalev_D 86:398da56ef751 463 }
igor_v 13:e2a1d18677b8 464
igor_v 0:8ad47e2b6f00 465
igor_v 0:8ad47e2b6f00 466
igor_v 0:8ad47e2b6f00 467
igor_v 0:8ad47e2b6f00 468