Dmitry Kovalev
/
LG2
fork
Fork of LG by
QEI.c@86:398da56ef751, 2016-03-24 (annotated)
- Committer:
- Kovalev_D
- Date:
- Thu Mar 24 08:20:43 2016 +0000
- Revision:
- 86:398da56ef751
- Parent:
- 45:cbc955aecebe
- Child:
- 87:7e575d26d6d0
GLD_Init
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
igor_v | 1:f2adcae3d304 | 1 | #include "Global.h" |
igor_v | 0:8ad47e2b6f00 | 2 | |
igor_v | 21:bc8c1cec3da6 | 3 | |
Kovalev_D | 86:398da56ef751 | 4 | |
Kovalev_D | 86:398da56ef751 | 5 | |
Kovalev_D | 86:398da56ef751 | 6 | int CuruAngle ; |
Kovalev_D | 86:398da56ef751 | 7 | |
igor_v | 21:bc8c1cec3da6 | 8 | int Dif_QEI; |
igor_v | 42:6fc307c4963e | 9 | |
igor_v | 21:bc8c1cec3da6 | 10 | int FFF=0;//для заплатки |
igor_v | 0:8ad47e2b6f00 | 11 | |
igor_v | 42:6fc307c4963e | 12 | |
Kovalev_D | 86:398da56ef751 | 13 | int Pulse_8Point; |
Kovalev_D | 86:398da56ef751 | 14 | int Pulse_16Point; |
Kovalev_D | 86:398da56ef751 | 15 | int Pulse_32Point; |
Kovalev_D | 86:398da56ef751 | 16 | int Pulse_16PointD; |
igor_v | 21:bc8c1cec3da6 | 17 | unsigned int Iras=0,Temp_F_ras=0; |
igor_v | 21:bc8c1cec3da6 | 18 | int yy = 0; |
igor_v | 0:8ad47e2b6f00 | 19 | |
igor_v | 0:8ad47e2b6f00 | 20 | |
igor_v | 42:6fc307c4963e | 21 | |
igor_v | 42:6fc307c4963e | 22 | |
Kovalev_D | 86:398da56ef751 | 23 | int Buff_32Point [32]; |
igor_v | 43:3f7c8a0ea59c | 24 | int Buff_16Point [32]; |
igor_v | 43:3f7c8a0ea59c | 25 | int Buff_16PointD [32]; |
igor_v | 43:3f7c8a0ea59c | 26 | int Buff_8Point [32]; |
igor_v | 43:3f7c8a0ea59c | 27 | int Buff_Restored_sin [32]; |
igor_v | 43:3f7c8a0ea59c | 28 | int Buff_1Point [256]; // этот на 256 |
igor_v | 42:6fc307c4963e | 29 | |
igor_v | 42:6fc307c4963e | 30 | |
igor_v | 42:6fc307c4963e | 31 | |
Kovalev_D | 86:398da56ef751 | 32 | int unsigned Cur_QEI, Last_QEI; |
igor_v | 21:bc8c1cec3da6 | 33 | |
igor_v | 21:bc8c1cec3da6 | 34 | |
igor_v | 42:6fc307c4963e | 35 | |
igor_v | 42:6fc307c4963e | 36 | |
igor_v | 42:6fc307c4963e | 37 | |
igor_v | 42:6fc307c4963e | 38 | |
igor_v | 42:6fc307c4963e | 39 | |
igor_v | 43:3f7c8a0ea59c | 40 | // ДАВАЙ попробуем сделать буфера в целых (знаковы) |
Kovalev_D | 86:398da56ef751 | 41 | |
Kovalev_D | 86:398da56ef751 | 42 | |
igor_v | 42:6fc307c4963e | 43 | void D_QEI_Int(void) |
igor_v | 42:6fc307c4963e | 44 | { |
igor_v | 42:6fc307c4963e | 45 | |
igor_v | 43:3f7c8a0ea59c | 46 | Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера. |
igor_v | 42:6fc307c4963e | 47 | Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.() |
igor_v | 42:6fc307c4963e | 48 | Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения. |
igor_v | 42:6fc307c4963e | 49 | |
igor_v | 42:6fc307c4963e | 50 | if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль |
igor_v | 42:6fc307c4963e | 51 | if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль |
igor_v | 42:6fc307c4963e | 52 | |
igor_v | 42:6fc307c4963e | 53 | |
igor_v | 42:6fc307c4963e | 54 | Buff_1Point[CountV255] = Dif_QEI;// накопление в буфер еденичных значений приращения по каждому такту. |
igor_v | 42:6fc307c4963e | 55 | |
igor_v | 42:6fc307c4963e | 56 | //////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 42:6fc307c4963e | 57 | /////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 42:6fc307c4963e | 58 | |
igor_v | 42:6fc307c4963e | 59 | // зачем это. мож к этому воремени стали вращатся назад |
igor_v | 42:6fc307c4963e | 60 | |
igor_v | 42:6fc307c4963e | 61 | if (LPC_QEI->STAT) { //e. "+" direction //r. стали вращаться в "+" |
igor_v | 42:6fc307c4963e | 62 | Gyro.Cnt_Mns = Dif_QEI; |
igor_v | 42:6fc307c4963e | 63 | } else { |
igor_v | 42:6fc307c4963e | 64 | Gyro.Cnt_Pls = -Dif_QEI; |
igor_v | 42:6fc307c4963e | 65 | } |
igor_v | 42:6fc307c4963e | 66 | |
igor_v | 42:6fc307c4963e | 67 | |
igor_v | 43:3f7c8a0ea59c | 68 | // внимание , все расчеты в знаковых целых |
igor_v | 43:3f7c8a0ea59c | 69 | |
igor_v | 42:6fc307c4963e | 70 | |
igor_v | 42:6fc307c4963e | 71 | ////////// ???? Заплатка |
igor_v | 42:6fc307c4963e | 72 | ////////// ???? Проблема начального заполнения буферов |
igor_v | 42:6fc307c4963e | 73 | ////////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 42:6fc307c4963e | 74 | // если прошло 32 такта вибро подвеса начать заполнять остальные буверы. |
igor_v | 42:6fc307c4963e | 75 | Pulse_8Point += Buff_1Point[CountV255]; |
igor_v | 43:3f7c8a0ea59c | 76 | Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов |
igor_v | 42:6fc307c4963e | 77 | Buff_8Point[CountV31] =Pulse_8Point; |
igor_v | 42:6fc307c4963e | 78 | |
igor_v | 42:6fc307c4963e | 79 | Pulse_16Point += Buff_1Point[CountV255]; |
igor_v | 43:3f7c8a0ea59c | 80 | Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов |
igor_v | 42:6fc307c4963e | 81 | Buff_16Point[CountV31] = Pulse_16Point; |
igor_v | 42:6fc307c4963e | 82 | |
igor_v | 42:6fc307c4963e | 83 | Pulse_32Point += Buff_1Point[CountV255]; |
igor_v | 42:6fc307c4963e | 84 | Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов |
igor_v | 42:6fc307c4963e | 85 | Buff_32Point[CountV31] = Pulse_32Point; |
igor_v | 42:6fc307c4963e | 86 | |
igor_v | 42:6fc307c4963e | 87 | Pulse_16PointD += Buff_1Point[CountV255]; |
igor_v | 42:6fc307c4963e | 88 | Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз |
igor_v | 42:6fc307c4963e | 89 | Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; // |
igor_v | 42:6fc307c4963e | 90 | Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // з |
igor_v | 43:3f7c8a0ea59c | 91 | Buff_16PointD[CountV31] = Pulse_16PointD; |
igor_v | 43:3f7c8a0ea59c | 92 | Buff_Restored_sin [CountV31]= Buff_16PointD [ CountV31] - Buff_32Point[CountV31]; //Востанавливаем синус (для работы вибропривода) |
igor_v | 42:6fc307c4963e | 93 | |
igor_v | 43:3f7c8a0ea59c | 94 | Gyro.Cnt_Dif = (Pulse_32Point); |
igor_v | 42:6fc307c4963e | 95 | |
igor_v | 43:3f7c8a0ea59c | 96 | if(Buff_Restored_sin [CountV31] > 0) |
igor_v | 43:3f7c8a0ea59c | 97 | Temp_F_ras += Buff_Restored_sin [CountV31]; |
igor_v | 43:3f7c8a0ea59c | 98 | else Temp_F_ras -= Buff_Restored_sin [CountV31]; // расчет амплитуды |
igor_v | 42:6fc307c4963e | 99 | |
igor_v | 43:3f7c8a0ea59c | 100 | if (CountV31 == 0) { // если определеный так, то переписываем амиплитуду |
igor_v | 43:3f7c8a0ea59c | 101 | Gyro.F_ras = Temp_F_ras; |
igor_v | 43:3f7c8a0ea59c | 102 | Temp_F_ras = 0; |
igor_v | 43:3f7c8a0ea59c | 103 | } |
igor_v | 43:3f7c8a0ea59c | 104 | // зачем это. |
igor_v | 42:6fc307c4963e | 105 | |
igor_v | 42:6fc307c4963e | 106 | |
igor_v | 42:6fc307c4963e | 107 | |
Kovalev_D | 45:cbc955aecebe | 108 | /* if(Buff_32Point[CountV255]>0) { |
igor_v | 42:6fc307c4963e | 109 | Temp_F_ras += Buff_32Point[CountV255]; |
igor_v | 42:6fc307c4963e | 110 | } else if ((CountV255 & 0x1f)==0) { |
igor_v | 42:6fc307c4963e | 111 | Gyro.F_ras=Temp_F_ras; |
igor_v | 42:6fc307c4963e | 112 | Temp_F_ras=0; |
igor_v | 42:6fc307c4963e | 113 | } else { |
igor_v | 42:6fc307c4963e | 114 | Temp_F_ras -= Buff_32Point[CountV255]; |
igor_v | 42:6fc307c4963e | 115 | } |
igor_v | 42:6fc307c4963e | 116 | |
Kovalev_D | 45:cbc955aecebe | 117 | */ |
igor_v | 42:6fc307c4963e | 118 | } |
igor_v | 42:6fc307c4963e | 119 | |
igor_v | 42:6fc307c4963e | 120 | |
igor_v | 42:6fc307c4963e | 121 | |
igor_v | 21:bc8c1cec3da6 | 122 | void D_QEI(void) |
igor_v | 21:bc8c1cec3da6 | 123 | { |
igor_v | 21:bc8c1cec3da6 | 124 | Dif_QEI=0; |
igor_v | 21:bc8c1cec3da6 | 125 | Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера. |
igor_v | 21:bc8c1cec3da6 | 126 | Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.() |
igor_v | 21:bc8c1cec3da6 | 127 | Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения. |
igor_v | 21:bc8c1cec3da6 | 128 | |
igor_v | 21:bc8c1cec3da6 | 129 | if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль |
igor_v | 21:bc8c1cec3da6 | 130 | if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль |
igor_v | 0:8ad47e2b6f00 | 131 | |
igor_v | 0:8ad47e2b6f00 | 132 | |
Kovalev_D | 45:cbc955aecebe | 133 | Buff_1Point[CountV255] = /*(unsigned int)*/ (Dif_QEI /* + 0xffff*/ );// накопление в буфер еденичных значений приращения по каждому такту. |
igor_v | 21:bc8c1cec3da6 | 134 | |
igor_v | 21:bc8c1cec3da6 | 135 | //////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 136 | /////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 137 | |
igor_v | 21:bc8c1cec3da6 | 138 | if (LPC_QEI->STAT) { //e. "+" direction //r. стали вращаться в "+" сторону |
igor_v | 30:17c84ed091b3 | 139 | Gyro.Cnt_Mns = Dif_QEI; |
igor_v | 21:bc8c1cec3da6 | 140 | } else { |
igor_v | 30:17c84ed091b3 | 141 | Gyro.Cnt_Pls = -Dif_QEI; |
igor_v | 21:bc8c1cec3da6 | 142 | } |
igor_v | 42:6fc307c4963e | 143 | |
igor_v | 21:bc8c1cec3da6 | 144 | ////////// ???? Заплатка |
igor_v | 21:bc8c1cec3da6 | 145 | ////////// ???? Проблема начального заполнения буферов |
igor_v | 21:bc8c1cec3da6 | 146 | ////////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 147 | if(FFF==1) { // если прошло 32 такта вибро подвеса начать заполнять остальные буверы. |
igor_v | 21:bc8c1cec3da6 | 148 | Pulse_8Point += Buff_1Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 149 | Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов |
Kovalev_D | 45:cbc955aecebe | 150 | Buff_8Point[CountV255] = /*(unsigned int)*/ (Pulse_8Point/* + 0xffff*/); |
igor_v | 0:8ad47e2b6f00 | 151 | |
igor_v | 21:bc8c1cec3da6 | 152 | Pulse_16Point += Buff_1Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 153 | Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов |
Kovalev_D | 45:cbc955aecebe | 154 | Buff_16Point[CountV255] = /*(unsigned int)*/ (Pulse_16Point /*+ 0xffff*/); |
igor_v | 21:bc8c1cec3da6 | 155 | |
igor_v | 21:bc8c1cec3da6 | 156 | Pulse_32Point += Buff_1Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 157 | Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов |
Kovalev_D | 45:cbc955aecebe | 158 | Gyro.Cnt_Dif = (Pulse_32Point/*+ 0xffff*/); |
Kovalev_D | 45:cbc955aecebe | 159 | Buff_32Point[CountV255] = /*(unsigned int)*/ (Pulse_32Point /*+ 0xffff*/); |
igor_v | 0:8ad47e2b6f00 | 160 | |
igor_v | 21:bc8c1cec3da6 | 161 | Pulse_16PointD += Buff_1Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 162 | Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз |
igor_v | 21:bc8c1cec3da6 | 163 | Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; // |
igor_v | 21:bc8c1cec3da6 | 164 | Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // з |
igor_v | 21:bc8c1cec3da6 | 165 | |
Kovalev_D | 45:cbc955aecebe | 166 | Buff_16PointD[CountV255] = /*(unsigned int)*/ (Pulse_16PointD /*+ 0xffff*/); |
igor_v | 21:bc8c1cec3da6 | 167 | |
igor_v | 21:bc8c1cec3da6 | 168 | |
igor_v | 0:8ad47e2b6f00 | 169 | // Buff_Restored_sin [CountVf]= (unsigned int)( ((Buff_16Point[CountVf]*2)) - Buff_32Point[CountVf] ); |
igor_v | 0:8ad47e2b6f00 | 170 | |
Kovalev_D | 45:cbc955aecebe | 171 | Buff_Restored_sin [CountV255]= /*(unsigned int)*/( Buff_16PointD [ CountV255] /*+ 65536 */ - Buff_32Point[CountV255] ); |
igor_v | 21:bc8c1cec3da6 | 172 | |
igor_v | 0:8ad47e2b6f00 | 173 | |
igor_v | 0:8ad47e2b6f00 | 174 | |
igor_v | 21:bc8c1cec3da6 | 175 | if(Buff_32Point[CountV255]>0) { |
igor_v | 21:bc8c1cec3da6 | 176 | Temp_F_ras += Buff_32Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 177 | } else if ((CountV255 & 0x1f)==0) { |
igor_v | 30:17c84ed091b3 | 178 | Gyro.F_ras=Temp_F_ras; |
igor_v | 21:bc8c1cec3da6 | 179 | Temp_F_ras=0; |
igor_v | 21:bc8c1cec3da6 | 180 | } else { |
igor_v | 21:bc8c1cec3da6 | 181 | Temp_F_ras -= Buff_32Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 182 | } |
igor_v | 21:bc8c1cec3da6 | 183 | |
igor_v | 21:bc8c1cec3da6 | 184 | //unsigned int T_Vib; |
igor_v | 0:8ad47e2b6f00 | 185 | |
igor_v | 21:bc8c1cec3da6 | 186 | } else if(CountV255 == 255) { |
igor_v | 21:bc8c1cec3da6 | 187 | FFF=1;//временная заплатка для паузы перед заполнением остальных буферов |
Kovalev_D | 45:cbc955aecebe | 188 | for (yy = 0; yy < 31; yy++ ) { |
igor_v | 21:bc8c1cec3da6 | 189 | Buff_1Point [yy] = 0xffff; |
igor_v | 21:bc8c1cec3da6 | 190 | Buff_16Point [yy] = 0xffff; |
igor_v | 21:bc8c1cec3da6 | 191 | Buff_32Point [yy] = 0xffff; |
igor_v | 21:bc8c1cec3da6 | 192 | Buff_16PointD [yy] = 0xffff; |
igor_v | 21:bc8c1cec3da6 | 193 | } |
igor_v | 0:8ad47e2b6f00 | 194 | |
igor_v | 21:bc8c1cec3da6 | 195 | } |
igor_v | 21:bc8c1cec3da6 | 196 | } |