Dmitry Kovalev
/
LGfiltr
forkd
Fork of LGstaandart by
QEI.c@231:079835d508ef, 2018-01-25 (annotated)
- Committer:
- Kovalev_D
- Date:
- Thu Jan 25 13:59:43 2018 +0000
- Revision:
- 231:079835d508ef
- Parent:
- 214:4c70e452c491
- Child:
- 232:130a2b5003e6
termo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
igor_v | 1:f2adcae3d304 | 1 | #include "Global.h" |
Kovalev_D | 231:079835d508ef | 2 | //#include "math.h" |
igor_v | 0:8ad47e2b6f00 | 3 | |
igor_v | 21:bc8c1cec3da6 | 4 | int Dif_QEI; |
igor_v | 42:6fc307c4963e | 5 | |
igor_v | 21:bc8c1cec3da6 | 6 | int FFF=0;//для заплатки |
igor_v | 0:8ad47e2b6f00 | 7 | |
Kovalev_D | 197:7a05523bf588 | 8 | unsigned int tempmod=64,tempmod2=1; |
Kovalev_D | 211:ac8251b067d2 | 9 | unsigned int tempReper,tempReper2; |
Kovalev_D | 86:398da56ef751 | 10 | int Pulse_8Point; |
Kovalev_D | 86:398da56ef751 | 11 | int Pulse_16Point; |
Kovalev_D | 86:398da56ef751 | 12 | int Pulse_32Point; |
Kovalev_D | 183:7e200f4d9b16 | 13 | int Pulse_64Point; |
Kovalev_D | 211:ac8251b067d2 | 14 | int Pulse_96Point; |
Kovalev_D | 211:ac8251b067d2 | 15 | int Pulse_128Point; |
Kovalev_D | 86:398da56ef751 | 16 | int Pulse_16PointD; |
Kovalev_D | 191:40028201ddad | 17 | unsigned int CaunAddPlus =0;//счетчик ипульсов энкодера"+" за такт ВП |
Kovalev_D | 192:d32c8cf7bcd9 | 18 | unsigned int CaunAddMin =0;//счетчик ипульсов энкодера"-" за такт ВП |
Kovalev_D | 231:079835d508ef | 19 | int TempAngelCompens=0; |
Kovalev_D | 112:4a96133a1311 | 20 | int unsigned Cur_QEI, Last_QEI; //текушее и предыдущее,(единичное) значение энкодера |
Kovalev_D | 207:d1ce992f5d17 | 21 | int temp32=0; |
Kovalev_D | 193:a0fe8bfc97e4 | 22 | int Buff_1Point [512]; |
Kovalev_D | 183:7e200f4d9b16 | 23 | int Buff_32Point [32]; |
Kovalev_D | 211:ac8251b067d2 | 24 | int Buff_64Point [32]; |
Kovalev_D | 211:ac8251b067d2 | 25 | int Buff_96Point [32]; |
Kovalev_D | 211:ac8251b067d2 | 26 | int Buff_128Point [32]; |
igor_v | 43:3f7c8a0ea59c | 27 | int Buff_16Point [32]; |
igor_v | 43:3f7c8a0ea59c | 28 | int Buff_16PointD [32]; |
igor_v | 43:3f7c8a0ea59c | 29 | int Buff_8Point [32]; |
igor_v | 43:3f7c8a0ea59c | 30 | int Buff_Restored_sin [32]; |
Kovalev_D | 196:f76dbc081e63 | 31 | int Buff_Restored_sin2 [32]; |
Kovalev_D | 231:079835d508ef | 32 | |
Kovalev_D | 231:079835d508ef | 33 | /* float i = 0.123; |
Kovalev_D | 231:079835d508ef | 34 | float j = 1.00000000000; |
Kovalev_D | 231:079835d508ef | 35 | static int SumTermoCompens=0,TermoCompens=0; |
Kovalev_D | 231:079835d508ef | 36 | int TermoCompensCalc; |
Kovalev_D | 231:079835d508ef | 37 | TermoCompensCalc = (TermoComp<<22)/(100 * Frq); |
Kovalev_D | 231:079835d508ef | 38 | SumTermoCompens += TermoCompensCalc; |
Kovalev_D | 231:079835d508ef | 39 | Gyro.AngelCompens += SumTermoCompens>>22; |
Kovalev_D | 231:079835d508ef | 40 | SumTermoCompens -= SumTermoCompens&0xffc00000;*/ |
Kovalev_D | 231:079835d508ef | 41 | |
Kovalev_D | 231:079835d508ef | 42 | |
Kovalev_D | 231:079835d508ef | 43 | int TermoCopensRecalc(unsigned int T4, unsigned int T5) |
Kovalev_D | 231:079835d508ef | 44 | { |
Kovalev_D | 231:079835d508ef | 45 | static int OldTempT4=0,OldTempT5=0,OldTempAVR; |
Kovalev_D | 231:079835d508ef | 46 | static int TempAVR; |
Kovalev_D | 231:079835d508ef | 47 | static unsigned int FlagRecalc=0; |
Kovalev_D | 231:079835d508ef | 48 | int DeltaT4, DeltaT5; |
Kovalev_D | 231:079835d508ef | 49 | |
Kovalev_D | 231:079835d508ef | 50 | DeltaT4=Spi.ADC1-OldTempT4; |
Kovalev_D | 231:079835d508ef | 51 | DeltaT4=abs(DeltaT4); |
Kovalev_D | 231:079835d508ef | 52 | if(DeltaT4>15) |
Kovalev_D | 231:079835d508ef | 53 | { |
Kovalev_D | 231:079835d508ef | 54 | sprintf((Time),"Recalc\r\n"); |
Kovalev_D | 231:079835d508ef | 55 | WriteCon(Time); |
Kovalev_D | 231:079835d508ef | 56 | OldTempT4=Spi.ADC1; |
Kovalev_D | 231:079835d508ef | 57 | FlagRecalc=1; |
Kovalev_D | 231:079835d508ef | 58 | } |
Kovalev_D | 231:079835d508ef | 59 | |
Kovalev_D | 231:079835d508ef | 60 | DeltaT5=Spi.ADC2-OldTempT5; |
Kovalev_D | 231:079835d508ef | 61 | DeltaT5=abs(DeltaT5); |
Kovalev_D | 231:079835d508ef | 62 | if(DeltaT5>15) |
Kovalev_D | 231:079835d508ef | 63 | { |
Kovalev_D | 231:079835d508ef | 64 | OldTempT5=Spi.ADC2; |
Kovalev_D | 231:079835d508ef | 65 | } |
Kovalev_D | 231:079835d508ef | 66 | |
Kovalev_D | 231:079835d508ef | 67 | return Gyro.AngelCompens ; |
Kovalev_D | 231:079835d508ef | 68 | } |
Kovalev_D | 231:079835d508ef | 69 | |
Kovalev_D | 231:079835d508ef | 70 | |
igor_v | 21:bc8c1cec3da6 | 71 | void D_QEI(void) |
igor_v | 21:bc8c1cec3da6 | 72 | { |
Kovalev_D | 231:079835d508ef | 73 | |
Kovalev_D | 209:224e7331a061 | 74 | |
igor_v | 21:bc8c1cec3da6 | 75 | Dif_QEI=0; |
igor_v | 21:bc8c1cec3da6 | 76 | Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера. |
Kovalev_D | 207:d1ce992f5d17 | 77 | |
Kovalev_D | 207:d1ce992f5d17 | 78 | |
Kovalev_D | 207:d1ce992f5d17 | 79 | |
Kovalev_D | 197:7a05523bf588 | 80 | //LPC_QEI->CON = 0xF; |
igor_v | 21:bc8c1cec3da6 | 81 | Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.() |
Kovalev_D | 208:19150d2b528f | 82 | /* temp32 = Dif_QEI; |
Kovalev_D | 207:d1ce992f5d17 | 83 | Gyro.CuruAngle32 += temp32; |
Kovalev_D | 208:19150d2b528f | 84 | temp32=0;*/ |
igor_v | 21:bc8c1cec3da6 | 85 | Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения. |
Kovalev_D | 207:d1ce992f5d17 | 86 | |
Kovalev_D | 211:ac8251b067d2 | 87 | |
Kovalev_D | 211:ac8251b067d2 | 88 | |
igor_v | 21:bc8c1cec3da6 | 89 | if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль |
igor_v | 21:bc8c1cec3da6 | 90 | if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль |
Kovalev_D | 211:ac8251b067d2 | 91 | |
Kovalev_D | 211:ac8251b067d2 | 92 | /* sprintf((Time)," %d %d %d \r\n",Gyro.CaunPlusReperAdd,Gyro.CaunMinReperAdd, Dif_QEI); |
Kovalev_D | 211:ac8251b067d2 | 93 | WriteCon(Time);*/ |
Kovalev_D | 108:030cdde08314 | 94 | Buff_1Point[CountV255] = Dif_QEI ; // накопление в буфер еденичных значений приращения по каждому такту. |
Kovalev_D | 208:19150d2b528f | 95 | |
Kovalev_D | 208:19150d2b528f | 96 | |
Kovalev_D | 205:775d54fdf646 | 97 | |
igor_v | 21:bc8c1cec3da6 | 98 | ////////////////////////////////////////////////////////////////////////////////////////////// |
Kovalev_D | 108:030cdde08314 | 99 | Pulse_8Point += Buff_1Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 100 | Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов |
Kovalev_D | 112:4a96133a1311 | 101 | Buff_8Point[CountV31] = (Pulse_8Point); |
igor_v | 0:8ad47e2b6f00 | 102 | |
igor_v | 21:bc8c1cec3da6 | 103 | Pulse_16Point += Buff_1Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 104 | Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов |
Kovalev_D | 112:4a96133a1311 | 105 | Buff_16Point[CountV31] = (Pulse_16Point ); |
igor_v | 21:bc8c1cec3da6 | 106 | |
igor_v | 21:bc8c1cec3da6 | 107 | Pulse_32Point += Buff_1Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 108 | Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов |
Kovalev_D | 112:4a96133a1311 | 109 | Gyro.Cnt_Dif = (Pulse_32Point); |
Kovalev_D | 112:4a96133a1311 | 110 | Buff_32Point[CountV31] = (Pulse_32Point ); |
Kovalev_D | 209:224e7331a061 | 111 | |
Kovalev_D | 231:079835d508ef | 112 | /* Pulse_64Point += Buff_1Point[CountV255]; |
Kovalev_D | 211:ac8251b067d2 | 113 | Pulse_64Point -= Buff_1Point[(CountV255-64) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов |
Kovalev_D | 183:7e200f4d9b16 | 114 | Buff_64Point[CountV31] = (Pulse_64Point ); |
Kovalev_D | 211:ac8251b067d2 | 115 | |
Kovalev_D | 211:ac8251b067d2 | 116 | Pulse_96Point += Buff_1Point[CountV255]; |
Kovalev_D | 211:ac8251b067d2 | 117 | Pulse_96Point -= Buff_1Point[(CountV255-96) & 0xff]; // заполнение буфера накопленых приращений за 96 тактов |
Kovalev_D | 211:ac8251b067d2 | 118 | Buff_96Point[CountV31] = (Pulse_96Point ); |
Kovalev_D | 211:ac8251b067d2 | 119 | |
Kovalev_D | 211:ac8251b067d2 | 120 | Pulse_128Point += Buff_1Point[CountV255]; |
Kovalev_D | 211:ac8251b067d2 | 121 | Pulse_128Point -= Buff_1Point[(CountV255-128) & 0xff]; // заполнение буфера накопленых приращений за 128 тактов |
Kovalev_D | 211:ac8251b067d2 | 122 | Buff_128Point[CountV31] = (Pulse_128Point ); |
Kovalev_D | 193:a0fe8bfc97e4 | 123 | |
igor_v | 0:8ad47e2b6f00 | 124 | |
igor_v | 21:bc8c1cec3da6 | 125 | Pulse_16PointD += Buff_1Point[CountV255]; |
igor_v | 21:bc8c1cec3da6 | 126 | Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз |
igor_v | 21:bc8c1cec3da6 | 127 | Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; // |
Kovalev_D | 169:140743e3bb96 | 128 | Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // |
Kovalev_D | 231:079835d508ef | 129 | Buff_16PointD[CountV31] = Pulse_16PointD ;*/ |
Kovalev_D | 183:7e200f4d9b16 | 130 | |
Kovalev_D | 214:4c70e452c491 | 131 | |
Kovalev_D | 214:4c70e452c491 | 132 | |
Kovalev_D | 214:4c70e452c491 | 133 | |
Kovalev_D | 214:4c70e452c491 | 134 | |
Kovalev_D | 214:4c70e452c491 | 135 | |
Kovalev_D | 214:4c70e452c491 | 136 | |
Kovalev_D | 214:4c70e452c491 | 137 | |
Kovalev_D | 214:4c70e452c491 | 138 | |
Kovalev_D | 214:4c70e452c491 | 139 | |
Kovalev_D | 214:4c70e452c491 | 140 | |
Kovalev_D | 211:ac8251b067d2 | 141 | Buff_Restored_sin [CountV31] = (Buff_16Point[CountV31])*2 - Buff_32Point[CountV31]; |
Kovalev_D | 209:224e7331a061 | 142 | |
Kovalev_D | 214:4c70e452c491 | 143 | if((Buff_Restored_sin [CountV31]) > 0) CaunAddPlus += Buff_Restored_sin [CountV31]; // счетчик положительных импульсов |
Kovalev_D | 209:224e7331a061 | 144 | else CaunAddMin -= Buff_Restored_sin [CountV31]; //счетчик отрицательных импульсов // расчет амплитуды |
Kovalev_D | 209:224e7331a061 | 145 | |
Kovalev_D | 211:ac8251b067d2 | 146 | |
Kovalev_D | 209:224e7331a061 | 147 | switch(CountV31){ |
Kovalev_D | 209:224e7331a061 | 148 | case 31: |
Kovalev_D | 209:224e7331a061 | 149 | Gyro.CaunMinRate = Gyro.CaunMinRateAdd; |
Kovalev_D | 209:224e7331a061 | 150 | Gyro.CaunPlusRate = Gyro.CaunPlusRateAdd; |
Kovalev_D | 209:224e7331a061 | 151 | Gyro.CaunMinRateAdd = 0; |
Kovalev_D | 209:224e7331a061 | 152 | Gyro.CaunPlusRateAdd = 0; |
Kovalev_D | 209:224e7331a061 | 153 | break; |
Kovalev_D | 211:ac8251b067d2 | 154 | |
Kovalev_D | 209:224e7331a061 | 155 | break; |
Kovalev_D | 209:224e7331a061 | 156 | } |
Kovalev_D | 231:079835d508ef | 157 | |
Kovalev_D | 211:ac8251b067d2 | 158 | |
Kovalev_D | 211:ac8251b067d2 | 159 | if(Dif_QEI > 0) |
Kovalev_D | 211:ac8251b067d2 | 160 | { |
Kovalev_D | 211:ac8251b067d2 | 161 | if(tempReper) |
Kovalev_D | 211:ac8251b067d2 | 162 | { |
Kovalev_D | 211:ac8251b067d2 | 163 | Gyro.CaunMinReper = Gyro.CaunMinReperAdd; |
Kovalev_D | 211:ac8251b067d2 | 164 | Gyro.CaunPlusReper = Gyro.CaunPlusReperAdd; |
Kovalev_D | 211:ac8251b067d2 | 165 | Gyro.CaunMinReperAdd = 0; |
Kovalev_D | 211:ac8251b067d2 | 166 | Gyro.CaunPlusReperAdd = 0; |
Kovalev_D | 211:ac8251b067d2 | 167 | Gyro.Reper_Event=1; |
Kovalev_D | 211:ac8251b067d2 | 168 | // Gyro.CuruAngle += Gyro.CaunPlusReper-Gyro.CaunMinReper; |
Kovalev_D | 211:ac8251b067d2 | 169 | tempReper=0; |
Kovalev_D | 211:ac8251b067d2 | 170 | } |
Kovalev_D | 211:ac8251b067d2 | 171 | Gyro.CaunPlusReperAdd += Dif_QEI; |
Kovalev_D | 211:ac8251b067d2 | 172 | } |
Kovalev_D | 211:ac8251b067d2 | 173 | else |
Kovalev_D | 211:ac8251b067d2 | 174 | { |
Kovalev_D | 211:ac8251b067d2 | 175 | tempReper=1; |
Kovalev_D | 211:ac8251b067d2 | 176 | Gyro.CaunMinReperAdd -= Dif_QEI; |
Kovalev_D | 211:ac8251b067d2 | 177 | } |
Kovalev_D | 211:ac8251b067d2 | 178 | |
Kovalev_D | 231:079835d508ef | 179 | |
Kovalev_D | 231:079835d508ef | 180 | |
Kovalev_D | 231:079835d508ef | 181 | |
Kovalev_D | 231:079835d508ef | 182 | // Gyro.TermoModAdd=TermoCopensRecalc(Gyro.CurTermoCompens, Gyro.Frq>>11); |
Kovalev_D | 210:b02fa166315d | 183 | |
Kovalev_D | 231:079835d508ef | 184 | |
Kovalev_D | 231:079835d508ef | 185 | Gyro.CuruAngle += Buff_32Point [CountV31]; |
Kovalev_D | 231:079835d508ef | 186 | |
igor_v | 21:bc8c1cec3da6 | 187 | } |
Kovalev_D | 211:ac8251b067d2 | 188 | |
Kovalev_D | 231:079835d508ef | 189 | |
Kovalev_D | 193:a0fe8bfc97e4 | 190 |