Dmitry Kovalev / Mbed 2 deprecated LGfiltr

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Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

host/Source/App/SIP.c@23:12e6183f04d4, 2016-02-03 (annotated)

Committer:
Kovalev_D
Date:
Wed Feb 03 10:44:42 2016 +0300
Revision:
23:12e6183f04d4
[thyz

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kovalev_D 23:12e6183f04d4 1 #include "mathDSP.h"
Kovalev_D 23:12e6183f04d4 2 #include "SIP.h"
Kovalev_D 23:12e6183f04d4 3 #include "CyclesSync.h"
Kovalev_D 23:12e6183f04d4 4 #include "CntrlGLD.h"
Kovalev_D 23:12e6183f04d4 5 #include "InputOutput.h"
Kovalev_D 23:12e6183f04d4 6 #include "ThermoCalc.h"
Kovalev_D 23:12e6183f04d4 7 #include "el_lin.h"
Kovalev_D 23:12e6183f04d4 8
Kovalev_D 23:12e6183f04d4 9
Kovalev_D 23:12e6183f04d4 10 uint32_t Old_Cnt_Vib = 0;
Kovalev_D 23:12e6183f04d4 11 uint32_t Old_Cnt = 0;
Kovalev_D 23:12e6183f04d4 12 int32_t RefMeand_Cnt_Dif;
Kovalev_D 23:12e6183f04d4 13 int32_t PSdif_sum_Vib_32 = 0;
Kovalev_D 23:12e6183f04d4 14 __int64 PSdif_sum_Vib_64 = 0;
Kovalev_D 23:12e6183f04d4 15 int32_t dif_Curr_32_Ext; //r. ðàçíîñòü (÷èñëî) äëÿ ðåæèìà âíåøíåé çàùåëêè
Kovalev_D 23:12e6183f04d4 16 int32_t dif_Curr_32_previous; //e. Previous (in comparison with Dif_Curr_32) number //r. ïðåäûäóùåå (ïî ñðàâíåíèþ ñ Dif_Curr_32) ÷èñëî
Kovalev_D 23:12e6183f04d4 17 int32_t temp22=0;
Kovalev_D 23:12e6183f04d4 18 //+++++++++++++++++++++++++++++++INPUT DATA++++++++++++++++++++++++++++++++++++++++++++++++
Kovalev_D 23:12e6183f04d4 19 uint32_t Curr_Cnt_Vib;
Kovalev_D 23:12e6183f04d4 20 uint32_t Cnt_curr;
Kovalev_D 23:12e6183f04d4 21
Kovalev_D 23:12e6183f04d4 22 //+++++++++++++++++++++++++++++++variables for output++++++++++++++++++++++++++++++++++++++
Kovalev_D 23:12e6183f04d4 23 int32_t Dif_Curr_Vib; //e. current difference output for dithering control in LightUp mode and Dither regulator
Kovalev_D 23:12e6183f04d4 24 int32_t Dif_Curr_32; //e. current difference without dithering for dithering control
Kovalev_D 23:12e6183f04d4 25
Kovalev_D 23:12e6183f04d4 26 #if (defined GLOBALRATE)//íå âõîäèò
Kovalev_D 23:12e6183f04d4 27
Kovalev_D 23:12e6183f04d4 28 //variables for rate mode
Kovalev_D 23:12e6183f04d4 29 int32_t cntPls_sum_32;
Kovalev_D 23:12e6183f04d4 30 ñññ int32_t last_Cnt_Plus;
Kovalev_D 23:12e6183f04d4 31 int32_t dif_sum_32;
Kovalev_D 23:12e6183f04d4 32 int32_t Cnt_Pls;
Kovalev_D 23:12e6183f04d4 33 int32_t Cnt_Mns;
Kovalev_D 23:12e6183f04d4 34 int32_t preLast_Cnt_Plus;
Kovalev_D 23:12e6183f04d4 35 // uint32_t sumCnt_Mns = 0;
Kovalev_D 23:12e6183f04d4 36 //uint32_t sumCnt_Pls = 0;
Kovalev_D 23:12e6183f04d4 37 extern int32_t dif_cur_test[30];
Kovalev_D 23:12e6183f04d4 38 extern unsigned ii;
Kovalev_D 23:12e6183f04d4 39 uint32_t halfPeriod = 0;
Kovalev_D 23:12e6183f04d4 40 #endif
Kovalev_D 23:12e6183f04d4 41
Kovalev_D 23:12e6183f04d4 42 void ResetBitsOfWord(int * x32, int truncate_bits)
Kovalev_D 23:12e6183f04d4 43 {
Kovalev_D 23:12e6183f04d4 44 int hi_part;
Kovalev_D 23:12e6183f04d4 45
Kovalev_D 23:12e6183f04d4 46 hi_part = *x32 >> truncate_bits;
Kovalev_D 23:12e6183f04d4 47 *x32 -= hi_part << truncate_bits; //r. îñòàâëÿåì ìëàäøèå 16 áèò
Kovalev_D 23:12e6183f04d4 48 }
Kovalev_D 23:12e6183f04d4 49 /******************************************************************************
Kovalev_D 23:12e6183f04d4 50 ** Function name: interpolation
Kovalev_D 23:12e6183f04d4 51 **
Kovalev_D 23:12e6183f04d4 52 ** Descriptions: êîëè÷åñòâî èòåðïîëÿöèé äî ïîÿâëåíèÿ âíåøíåé çàùåëêè
Kovalev_D 23:12e6183f04d4 53 **
Kovalev_D 23:12e6183f04d4 54 ** Returned value: Number in moment of external latch appearing
Kovalev_D 23:12e6183f04d4 55 ** parameters: y_curr - current number, y_prev - number at one cycle before time
Kovalev_D 23:12e6183f04d4 56 ** x_interp - moment of external latch appearing,
Kovalev_D 23:12e6183f04d4 57
Kovalev_D 23:12e6183f04d4 58 ** Precision of interpolation is 1/8 of impulse (3 digits after point in 14.18 format)
Kovalev_D 23:12e6183f04d4 59 ******************************************************************************/
Kovalev_D 23:12e6183f04d4 60 int interpolation(int y_curr, int x_interp)
Kovalev_D 23:12e6183f04d4 61 {
Kovalev_D 23:12e6183f04d4 62 __int64 temp,temp3;
Kovalev_D 23:12e6183f04d4 63
Kovalev_D 23:12e6183f04d4 64 temp = (__int64)y_curr *(__int64)x_interp;
Kovalev_D 23:12e6183f04d4 65 temp /= PrevPeriod; // void ServiceTime(void) ||| PrevPeriod = LPC_PWM1->MR0; ||| (CyclesSync.c)
Kovalev_D 23:12e6183f04d4 66
Kovalev_D 23:12e6183f04d4 67 temp3 = (__int64)y_curr *(__int64)(x_interp+1);
Kovalev_D 23:12e6183f04d4 68 temp3 /= PrevPeriod;
Kovalev_D 23:12e6183f04d4 69 temp22 = (int)temp3;
Kovalev_D 23:12e6183f04d4 70
Kovalev_D 23:12e6183f04d4 71 return ((int)temp);
Kovalev_D 23:12e6183f04d4 72 } // interpolation
Kovalev_D 23:12e6183f04d4 73 /******************************************************************************
Kovalev_D 23:12e6183f04d4 74 ** Function name: clc_Pulses
Kovalev_D 23:12e6183f04d4 75 **
Kovalev_D 23:12e6183f04d4 76 ** Descriptions: Processing of information from SPOI
Kovalev_D 23:12e6183f04d4 77 **
Kovalev_D 23:12e6183f04d4 78 ** parameters: None
Kovalev_D 23:12e6183f04d4 79 ** Returned value: None
Kovalev_D 23:12e6183f04d4 80 **
Kovalev_D 23:12e6183f04d4 81 ******************************************************************************/
Kovalev_D 23:12e6183f04d4 82
Kovalev_D 23:12e6183f04d4 83 void clc_Pulses()
Kovalev_D 23:12e6183f04d4 84 {
Kovalev_D 23:12e6183f04d4 85
Kovalev_D 23:12e6183f04d4 86 #if (!defined GLOBALRATE)
Kovalev_D 23:12e6183f04d4 87 static int32_t cntPls_sum_32;
Kovalev_D 23:12e6183f04d4 88 static int32_t last_Cnt_Plus;
Kovalev_D 23:12e6183f04d4 89 static int32_t dif_sum_32;
Kovalev_D 23:12e6183f04d4 90 static int32_t Cnt_Pls;
Kovalev_D 23:12e6183f04d4 91 static int32_t Cnt_Mns;
Kovalev_D 23:12e6183f04d4 92 static int32_t preLast_Cnt_Plus;
Kovalev_D 23:12e6183f04d4 93 #endif
Kovalev_D 23:12e6183f04d4 94
Kovalev_D 23:12e6183f04d4 95 Dif_Curr_Vib = Curr_Cnt_Vib - Old_Cnt_Vib; //Âû÷èñëåíèå ïðèðàùåíèÿ òåêóùåãî ñ÷åò÷èêà èìïóëüñîâ.
Kovalev_D 23:12e6183f04d4 96
Kovalev_D 23:12e6183f04d4 97 Old_Cnt_Vib = Curr_Cnt_Vib; //ñîõðàíåíèå òåêóùåãî ñ÷åò÷èêà èìïóëüñîâ äëÿ ñëåäóþùåãî öèêëà èçìåðåíèé
Kovalev_D 23:12e6183f04d4 98
Kovalev_D 23:12e6183f04d4 99
Kovalev_D 23:12e6183f04d4 100 Cnt_Overload(Dif_Curr_Vib, INT32MAX_DIV2, INT32MIN_DIV2); //ïðîâåðêà íà ïåðåïîëíåíèå (Dif_Curr_Vib).
Kovalev_D 23:12e6183f04d4 101 // Uin UpSat DwnSat
Kovalev_D 23:12e6183f04d4 102
Kovalev_D 23:12e6183f04d4 103 //#define Cnt_Overload(Uin, UpSat, DwnSat)
Kovalev_D 23:12e6183f04d4 104 /* if (Uin > UpSat)
Kovalev_D 23:12e6183f04d4 105
Kovalev_D 23:12e6183f04d4 106 {
Kovalev_D 23:12e6183f04d4 107 Uin -= INT32_MAX;
Kovalev_D 23:12e6183f04d4 108 }
Kovalev_D 23:12e6183f04d4 109 if (Uin < DwnSat)
Kovalev_D 23:12e6183f04d4 110 {
Kovalev_D 23:12e6183f04d4 111 Uin += INT32_MAX;
Kovalev_D 23:12e6183f04d4 112 } */
Kovalev_D 23:12e6183f04d4 113
Kovalev_D 23:12e6183f04d4 114
Kovalev_D 23:12e6183f04d4 115 Dif_Curr_32 = VibroReduce(Dif_Curr_Vib << SHIFT_TO_FRACT); // Òî÷íîñòü ôèëüòðàöèè 1/(2^18)
Kovalev_D 23:12e6183f04d4 116
Kovalev_D 23:12e6183f04d4 117
Kovalev_D 23:12e6183f04d4 118
Kovalev_D 23:12e6183f04d4 119
Kovalev_D 23:12e6183f04d4 120 switch (RgConB) //r. äîïîëíèòåëüíûé ðåãèñòð óïðàâëåíèÿ
Kovalev_D 23:12e6183f04d4 121 {
Kovalev_D 23:12e6183f04d4 122 case RATE_VIBRO_1: //r. ðàçíîñòü âèáðîñ÷åò÷èêîâ ïîñëå ôèëüòðà ñêîëüçÿùíãî ñðåäíåãî
Kovalev_D 23:12e6183f04d4 123
Kovalev_D 23:12e6183f04d4 124 if (Latch_Rdy) //e. latch has arrived
Kovalev_D 23:12e6183f04d4 125 {
Kovalev_D 23:12e6183f04d4 126 //dif_Curr_32_Ext ðàçíîñòü (÷èñëî) äëÿ ðåæèìà âíåøíåé çàùåëêè
Kovalev_D 23:12e6183f04d4 127 dif_Curr_32_Ext = interpolation(Dif_Curr_32, LatchPhase ); //èíòåðïîëÿöèÿ
Kovalev_D 23:12e6183f04d4 128 Output.Str.Tmp_Out[2] = (int)((Curr_Cnt_Vib>>16)& 0xffff);
Kovalev_D 23:12e6183f04d4 129 Output.Str.Tmp_Out[3] = (int)(Curr_Cnt_Vib & 0xffff);
Kovalev_D 23:12e6183f04d4 130 //r. äîáàâëÿåì ê íàêîïëåííîé ñóììå èíòåðïîëèðîâàííûé îòñ÷åò âíåøíåé çàùåëêè
Kovalev_D 23:12e6183f04d4 131 PSdif_sum_Vib_32 += dif_Curr_32_Ext;
Kovalev_D 23:12e6183f04d4 132 PSdif_sum_Vib_64 += dif_Curr_32_Ext; //e. receive last data
Kovalev_D 23:12e6183f04d4 133 //count--;
Kovalev_D 23:12e6183f04d4 134
Kovalev_D 23:12e6183f04d4 135 //r. ïîäãîòîâèòü ÷èñëî äëÿ âûäà÷è
Kovalev_D 23:12e6183f04d4 136 Output.Str.BINS_dif = PSdif_sum_Vib_32 - TermoCompens_Sum; //r. èç íàêîïëåííîãî ÷èñëà âû÷èòàåì íàêîïëåííóþ òåðìîêîìïåíñàöèîííóþ ñîñòàâëÿþùóþ
Kovalev_D 23:12e6183f04d4 137 Output.Str.PS_dif = Output.Str.BINS_dif >> 16;
Kovalev_D 23:12e6183f04d4 138 LatchPhase = INT32_MAX; //INT32_MAX=2147483647 //in Latch_Event it's indicator of latch appearing
Kovalev_D 23:12e6183f04d4 139 Output.Str.SF_dif = PSdif_sum_Vib_64;
Kovalev_D 23:12e6183f04d4 140 TermoCompens_Sum = 0; //r. îáíóëÿåì íàêîïëåííóþ òåðìîêîìïåíñàöèþ äëÿ íà÷àëà íîâîãî öèêëà íàêîïëåíèÿ
Kovalev_D 23:12e6183f04d4 141
Kovalev_D 23:12e6183f04d4 142 if ((Device_Mode == DM_EXT_LATCH_DELTA_BINS_PULSE)||((Device_Mode == DM_EXT_LATCH_DELTA_SF_PULSE) && Ext_Latch_ResetEnable))
Kovalev_D 23:12e6183f04d4 143 {
Kovalev_D 23:12e6183f04d4 144 PSdif_sum_Vib_32 = 0; //r. èíèöèàëèçèðîâàòü íîâûé öèêë èçìåðåíèÿ ïî çàùåëêå
Kovalev_D 23:12e6183f04d4 145 PSdif_sum_Vib_64 = 0;
Kovalev_D 23:12e6183f04d4 146 }
Kovalev_D 23:12e6183f04d4 147 else
Kovalev_D 23:12e6183f04d4 148 ResetBitsOfWord(&PSdif_sum_Vib_32, 16);
Kovalev_D 23:12e6183f04d4 149
Kovalev_D 23:12e6183f04d4 150 dif_Curr_32_Ext = Dif_Curr_32 - temp22;//dif_Curr_32_Ext;
Kovalev_D 23:12e6183f04d4 151
Kovalev_D 23:12e6183f04d4 152 PSdif_sum_Vib_32 += dif_Curr_32_Ext; // preserve rest of counters difference for next measure cycle: PSdif_sum_Vib_32 += Dif_Curr_32 - dif_Curr_32_Ext;
Kovalev_D 23:12e6183f04d4 153 PSdif_sum_Vib_64 += dif_Curr_32_Ext; //ñîõðàíèòü îñòàëüíûå ñ÷åò÷èêè ðàçíèöû äëÿ ñëåäóþùåãî òàêòà öèêëà
Kovalev_D 23:12e6183f04d4 154
Kovalev_D 23:12e6183f04d4 155 }
Kovalev_D 23:12e6183f04d4 156 else //r. çàùåëêè íà íàñòîÿùèé ìîìåíò íå áûëî
Kovalev_D 23:12e6183f04d4 157 {
Kovalev_D 23:12e6183f04d4 158 //r. ïðîäîëæàåì íàêàïëèâàòü ñóììó èç âíóòðåííèõ îòñ÷åòîâ
Kovalev_D 23:12e6183f04d4 159 PSdif_sum_Vib_32 += Dif_Curr_32; // PSdif_sum_Vib_32 += Dif_Curr_32 ;
Kovalev_D 23:12e6183f04d4 160 PSdif_sum_Vib_64 += Dif_Curr_32; //e. sum for scale factor measurement mode
Kovalev_D 23:12e6183f04d4 161 }
Kovalev_D 23:12e6183f04d4 162
Kovalev_D 23:12e6183f04d4 163 dif_Curr_32_previous = Dif_Curr_32; //r. çàïîìèíàåì ïðåäûäóùåå ÷èñëî
Kovalev_D 23:12e6183f04d4 164 break;
Kovalev_D 23:12e6183f04d4 165
Kovalev_D 23:12e6183f04d4 166 case RATE_REPER_OR_REFMEANDR:
Kovalev_D 23:12e6183f04d4 167
Kovalev_D 23:12e6183f04d4 168 if (data_Rdy & HALF_PERIOD) //e. calculate Cnt_Mns or Cnt_Pls
Kovalev_D 23:12e6183f04d4 169 {
Kovalev_D 23:12e6183f04d4 170 RefMeand_Cnt_Dif = Cnt_curr - Old_Cnt;
Kovalev_D 23:12e6183f04d4 171 Old_Cnt = Cnt_curr;
Kovalev_D 23:12e6183f04d4 172 // LPC_GPIO2->FIOCLR = 0x10;
Kovalev_D 23:12e6183f04d4 173 Cnt_Overload(RefMeand_Cnt_Dif, INT32MAX_DIV2, INT32MIN_DIV2);
Kovalev_D 23:12e6183f04d4 174
Kovalev_D 23:12e6183f04d4 175 if (LPC_QEI->STAT) //e. "+" direction //r. ñòàëè âðàùàòüñÿ â "+" ñòîðîíó
Kovalev_D 23:12e6183f04d4 176 {
Kovalev_D 23:12e6183f04d4 177 //sumCnt_Mns += -RefMeand_Cnt_Dif; //e. accumulation during 1 sec
Kovalev_D 23:12e6183f04d4 178 Cnt_Mns = RefMeand_Cnt_Dif;
Kovalev_D 23:12e6183f04d4 179 }
Kovalev_D 23:12e6183f04d4 180 else
Kovalev_D 23:12e6183f04d4 181 {
Kovalev_D 23:12e6183f04d4 182 //r. ñòàëè âðàùàòüñÿ â "-" ñòîðîíó
Kovalev_D 23:12e6183f04d4 183 //sumCnt_Pls += RefMeand_Cnt_Dif; //e. accumulation during 1 sec
Kovalev_D 23:12e6183f04d4 184 Cnt_Pls = -RefMeand_Cnt_Dif;
Kovalev_D 23:12e6183f04d4 185 }
Kovalev_D 23:12e6183f04d4 186
Kovalev_D 23:12e6183f04d4 187 // UART1_SendByte((dif_sum_32>>8) & 0xff);
Kovalev_D 23:12e6183f04d4 188 // UART1_SendByte((dif_sum_32) & 0xff);
Kovalev_D 23:12e6183f04d4 189
Kovalev_D 23:12e6183f04d4 190 if (data_Rdy & WHOLE_PERIOD) //e. period of vibro elapsed
Kovalev_D 23:12e6183f04d4 191 {
Kovalev_D 23:12e6183f04d4 192 // LPC_GPIO2->FIOSET = 0x10;
Kovalev_D 23:12e6183f04d4 193 last_Cnt_Plus = Cnt_Pls;
Kovalev_D 23:12e6183f04d4 194 dif_sum_32 += Cnt_Pls - Cnt_Mns;
Kovalev_D 23:12e6183f04d4 195 }
Kovalev_D 23:12e6183f04d4 196 data_Rdy &= ~RESET_PERIOD;
Kovalev_D 23:12e6183f04d4 197 }
Kovalev_D 23:12e6183f04d4 198 if (Latch_Rdy) //e it's time for output
Kovalev_D 23:12e6183f04d4 199 {
Kovalev_D 23:12e6183f04d4 200 LatchPhase = INT32_MAX;
Kovalev_D 23:12e6183f04d4 201
Kovalev_D 23:12e6183f04d4 202 Output.Str.Tmp_Out[2] = (int)((Curr_Cnt_Vib>>16)& 0xffff);
Kovalev_D 23:12e6183f04d4 203 Output.Str.Tmp_Out[3] = (int)(Curr_Cnt_Vib & 0xffff);
Kovalev_D 23:12e6183f04d4 204
Kovalev_D 23:12e6183f04d4 205 cntPls_sum_32 += last_Cnt_Plus - preLast_Cnt_Plus;
Kovalev_D 23:12e6183f04d4 206
Kovalev_D 23:12e6183f04d4 207 Output.Str.Cnt_Dif = dif_sum_32;
Kovalev_D 23:12e6183f04d4 208 Output.Str.Cnt_Dif += cntPls_sum_32 >> 1;
Kovalev_D 23:12e6183f04d4 209
Kovalev_D 23:12e6183f04d4 210 dif_sum_32 = 0; //r. è ñáðîñèòü ðåãèñòðû íàêîïëåíèÿ
Kovalev_D 23:12e6183f04d4 211 ResetBitsOfWord(&cntPls_sum_32, 1); //r. îñòàâëÿåì ìëàäøèé ðàçðÿä, ÷òîáû íå òåðÿëàñü òî÷íîñòü ïðè ñóììèðîâàíèè
Kovalev_D 23:12e6183f04d4 212 preLast_Cnt_Plus = last_Cnt_Plus; //r. òåêóùèé ïîñëåäíèé îòñ÷åò ñòàë ïðåäûäóùèì
Kovalev_D 23:12e6183f04d4 213
Kovalev_D 23:12e6183f04d4 214 Output.Str.Cnt_Mns = Cnt_Mns;//sumCnt_Mns; //e. rewrite accumulated data to output
Kovalev_D 23:12e6183f04d4 215 Output.Str.Cnt_Pls = Cnt_Pls;//sumCnt_Pls;
Kovalev_D 23:12e6183f04d4 216
Kovalev_D 23:12e6183f04d4 217 //sumCnt_Mns = 0; //e. prepare for new accumulation
Kovalev_D 23:12e6183f04d4 218 //sumCnt_Pls = 0;
Kovalev_D 23:12e6183f04d4 219 }
Kovalev_D 23:12e6183f04d4 220 break; // RATE_REPER_OR_REFMEANDR
Kovalev_D 23:12e6183f04d4 221 }
Kovalev_D 23:12e6183f04d4 222 //e. WP_scope1, WP_scope2 - variables for control in the Rate3 mode //r. WP_scope1, WP_scope2 - ïåðåìåííûå äëÿ êîíòðîëÿ â ðåæèìå rate3
Kovalev_D 23:12e6183f04d4 223 Output.Str.WP_scope1 = Dif_Curr_Vib;
Kovalev_D 23:12e6183f04d4 224 Output.Str.WP_scope2 = (Dif_Curr_32 >> (SHIFT_TO_FRACT-2)); //r. 2 äðîáíûõ ðàçðÿäà îñòàâëÿåì äëÿ áîëüøåé íàãëÿäíîñòè ïðè àíàëèçå ñèãíàëà rate3
Kovalev_D 23:12e6183f04d4 225 }
Kovalev_D 23:12e6183f04d4 226 // clc_Pulses
Kovalev_D 23:12e6183f04d4 227
Kovalev_D 23:12e6183f04d4 228
Kovalev_D 23:12e6183f04d4 229 /******************************************************************************
Kovalev_D 23:12e6183f04d4 230 ** Function name: SOI_Init
Kovalev_D 23:12e6183f04d4 231 **
Kovalev_D 23:12e6183f04d4 232 ** Descriptions: Quadrature encoder initialization.
Kovalev_D 23:12e6183f04d4 233 **
Kovalev_D 23:12e6183f04d4 234 ** parameters: None
Kovalev_D 23:12e6183f04d4 235 ** Returned value: None
Kovalev_D 23:12e6183f04d4 236 **
Kovalev_D 23:12e6183f04d4 237 ******************************************************************************/
Kovalev_D 23:12e6183f04d4 238 void SOI_Init(void)
Kovalev_D 23:12e6183f04d4 239 {
Kovalev_D 23:12e6183f04d4 240 LPC_SC->PCONP |= (1<<18);//0x00040000; âêëþ÷åíèå êâàäðàòóðíîãî ýíêîäåðà.
Kovalev_D 23:12e6183f04d4 241 LPC_SC->PCLKSEL1 |= 0x00000001; // âûáîð ÷àñòîòû äëÿ êâ.ý. CLK=100MHz
Kovalev_D 23:12e6183f04d4 242 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 23:12e6183f04d4 243 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 óñòàíîâèòü êàê âõîäû êâ.ý
Kovalev_D 23:12e6183f04d4 244 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23, p1.24 ??are pulled-down??(ïðèòÿíóòü ê ïèòàíèþ)????
Kovalev_D 23:12e6183f04d4 245
Kovalev_D 23:12e6183f04d4 246 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"ðåãèñòîð ìàêñèìàëüíîãî ïîëîæåíèÿ" = 2147483646
Kovalev_D 23:12e6183f04d4 247 LPC_QEI->FILTER = 2; // ôèëüòð( ?? )
Kovalev_D 23:12e6183f04d4 248 LPC_QEI->CON = 0xF; //ñáðîñèòü â íîëü âñå ñ÷åò÷èêè êâ.ý. (ñêîðîñòü, íàïðàâëåíèå, ïîçèöèþ è òä)
Kovalev_D 23:12e6183f04d4 249 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 23:12e6183f04d4 250
Kovalev_D 23:12e6183f04d4 251 LPC_QEI->CLR = 0x1fff; //r. ñáðîñèòü âñå ïðåðûâàíèÿ
Kovalev_D 23:12e6183f04d4 252 LPC_QEI->IEC = 0x1fff; //r. çàïðåòèòü ïðåðûâàíèå ïðè èçìåíåíèè íàïðàâëåíèÿ
Kovalev_D 23:12e6183f04d4 253
Kovalev_D 23:12e6183f04d4 254 NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 23:12e6183f04d4 255 NVIC_EnableIRQ(QEI_IRQn);
Kovalev_D 23:12e6183f04d4 256 return;
Kovalev_D 23:12e6183f04d4 257 }
Kovalev_D 23:12e6183f04d4 258
Kovalev_D 23:12e6183f04d4 259
Kovalev_D 23:12e6183f04d4 260 /******************************************************************************
Kovalev_D 23:12e6183f04d4 261 ** End Of File
Kovalev_D 23:12e6183f04d4 262 ******************************************************************************/