Dmitry Kovalev
/
LGfiltr
forkd
Fork of LGstaandart by
SPI.c@227:2774b56bfab0, 2018-01-05 (annotated)
- Committer:
- Kovalev_D
- Date:
- Fri Jan 05 08:14:38 2018 +0000
- Revision:
- 227:2774b56bfab0
- Parent:
- 226:4a4d5bd5fcd7
- Child:
- 228:a8195e1b1123
05.01.2018
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
igor_v | 0:8ad47e2b6f00 | 1 | #include "Global.h" |
igor_v | 0:8ad47e2b6f00 | 2 | struct SPI Spi; |
Kovalev_D | 112:4a96133a1311 | 3 | //unsigned int Temp_AMP; |
Kovalev_D | 96:1c8536458119 | 4 | unsigned int Temp_AMP64P; |
Kovalev_D | 196:f76dbc081e63 | 5 | int ttt=1; |
Kovalev_D | 99:3d8f206ceac2 | 6 | unsigned int Count_AMP, ADD_AMP, Cur_Amp; |
Kovalev_D | 99:3d8f206ceac2 | 7 | int Znak_Amp; |
Kovalev_D | 109:ee0cff33ad3b | 8 | int AD_Regul = 0; |
Kovalev_D | 190:289514f730ee | 9 | int temp9,tempADC5; |
Kovalev_D | 148:7ce8c1fd00f7 | 10 | int AD_MAX=0; |
Kovalev_D | 220:04c54405b82d | 11 | unsigned int SPIlog; |
Kovalev_D | 196:f76dbc081e63 | 12 | int k=0,l=0,r=0,n=0;//счетчики для регулировки периметра |
Kovalev_D | 188:4c523cc373cc | 13 | int flagmod=0,Bdelta; |
Kovalev_D | 191:40028201ddad | 14 | int start=10; |
Kovalev_D | 197:7a05523bf588 | 15 | int dispersion=0,side=1,tempstrafe=15000; |
Kovalev_D | 214:4c70e452c491 | 16 | int ADC_5_T; |
Kovalev_D | 227:2774b56bfab0 | 17 | int PLC_ERR_DAC,PLC_ERR_DAC_F; |
Kovalev_D | 227:2774b56bfab0 | 18 | |
Kovalev_D | 227:2774b56bfab0 | 19 | |
Kovalev_D | 147:1aed74f19a8f | 20 | unsigned int TempA; |
Kovalev_D | 158:0c8342e1837a | 21 | unsigned int TempTermLM; |
Kovalev_D | 211:ac8251b067d2 | 22 | unsigned int conuntPLS; |
Kovalev_D | 197:7a05523bf588 | 23 | int ADC5Old,ADCDIF=0; |
Kovalev_D | 215:b58b887fd367 | 24 | /*int DACModReg;*/ |
Kovalev_D | 197:7a05523bf588 | 25 | int SinPls=0,SinMns=0; |
Kovalev_D | 214:4c70e452c491 | 26 | int TSinPls=0,TSinMns=0; |
Kovalev_D | 213:9953db9543d6 | 27 | int timer=750; |
Kovalev_D | 216:189b0ea1dc38 | 28 | int sum=0; |
Kovalev_D | 216:189b0ea1dc38 | 29 | unsigned int testcount=0,faza, fazaFlag=0; |
Kovalev_D | 197:7a05523bf588 | 30 | unsigned int ADC5New; |
Kovalev_D | 95:dd51e577e114 | 31 | unsigned int Buff_ADC_1 [32]; |
Kovalev_D | 95:dd51e577e114 | 32 | unsigned int Buff_ADC_2 [32]; |
Kovalev_D | 95:dd51e577e114 | 33 | unsigned int Buff_ADC_3 [32]; |
Kovalev_D | 95:dd51e577e114 | 34 | unsigned int Buff_ADC_4 [32]; |
Kovalev_D | 220:04c54405b82d | 35 | int Buff_OUT1 [64]; |
Kovalev_D | 220:04c54405b82d | 36 | int Buff_OUT [64]; |
Kovalev_D | 213:9953db9543d6 | 37 | int RegulADC,DeltaRegul,tempDeltaRegul; |
Kovalev_D | 227:2774b56bfab0 | 38 | int count10HFO=0, count10v=0, AmpWorms,MinWorms,MaxWorms,AMPSUM,AMPSUMP,AMPSUMM,AMPSUMPout,AMPSUMMout,AMPSUMout,SumDelta,PLC_EROR,PLC_Flag,HFO_Flag,HFOdelta,HFOregul,HFOSumDelta; |
Kovalev_D | 214:4c70e452c491 | 39 | |
Kovalev_D | 215:b58b887fd367 | 40 | |
Kovalev_D | 215:b58b887fd367 | 41 | //int BuffADC_32Point [64]; |
Kovalev_D | 214:4c70e452c491 | 42 | |
Kovalev_D | 215:b58b887fd367 | 43 | //unsigned int Buff_ADC_5 [255]; |
Kovalev_D | 197:7a05523bf588 | 44 | |
Kovalev_D | 215:b58b887fd367 | 45 | |
Kovalev_D | 197:7a05523bf588 | 46 | |
Kovalev_D | 197:7a05523bf588 | 47 | |
Kovalev_D | 215:b58b887fd367 | 48 | //unsigned int PulseADC_16Point; |
Kovalev_D | 215:b58b887fd367 | 49 | //unsigned int PulseADC_32Point; |
Kovalev_D | 215:b58b887fd367 | 50 | //unsigned int PulseADC_64Point; |
Kovalev_D | 215:b58b887fd367 | 51 | //unsigned int PulseADC_32PointD; |
Kovalev_D | 215:b58b887fd367 | 52 | |
Kovalev_D | 215:b58b887fd367 | 53 | |
Kovalev_D | 215:b58b887fd367 | 54 | //unsigned int Buff_AMP [256]; |
Kovalev_D | 215:b58b887fd367 | 55 | //unsigned int Buff_AMP64P [256]; |
Kovalev_D | 220:04c54405b82d | 56 | unsigned int TypeMod=0; |
Kovalev_D | 197:7a05523bf588 | 57 | unsigned int ModArraySin [64] = {50,55,59,64,68,73,77,81,85,88,91,94,96,98,99,99,100,99,99,98,96,94,91,88,85,81,77,73,68,64,59,55,50,45,41,36,32,27,23,19,16,12,9,7,4,2,1,1,0,1,1,2,4,7,9,12,16,19,23,27,32,36,41,45}; |
Kovalev_D | 218:b4067cac75c0 | 58 | unsigned int ModArraySin32 [32] = {50,59,68,77,85,91,96,99,100,99,96,91,85,77,68,59,50,41,32,23,16,9,4,1,0,1,4,9,16,23,32,41}; |
Kovalev_D | 216:189b0ea1dc38 | 59 | unsigned int ModArrayTriangle [64]; |
Kovalev_D | 216:189b0ea1dc38 | 60 | unsigned int ModArraySaw [64]; |
Kovalev_D | 216:189b0ea1dc38 | 61 | unsigned int Mod=0; |
Kovalev_D | 216:189b0ea1dc38 | 62 | int znak; |
Kovalev_D | 227:2774b56bfab0 | 63 | unsigned int HFO_AVR; |
Kovalev_D | 197:7a05523bf588 | 64 | void InitMOD(void) |
Kovalev_D | 197:7a05523bf588 | 65 | { |
Kovalev_D | 220:04c54405b82d | 66 | for (int i = 0; i < 64; i++ ) |
Kovalev_D | 197:7a05523bf588 | 67 | { |
Kovalev_D | 220:04c54405b82d | 68 | if(i<32) { ModArrayTriangle[i]=Mod; Mod=100;} |
Kovalev_D | 220:04c54405b82d | 69 | else { ModArrayTriangle[i]=Mod; Mod=0;} |
Kovalev_D | 197:7a05523bf588 | 70 | } |
Kovalev_D | 197:7a05523bf588 | 71 | |
Kovalev_D | 207:d1ce992f5d17 | 72 | for (int i = 0; i < 16; i++ ) |
Kovalev_D | 197:7a05523bf588 | 73 | { |
Kovalev_D | 216:189b0ea1dc38 | 74 | ModArraySaw[i]=Mod; |
Kovalev_D | 216:189b0ea1dc38 | 75 | Mod+=1; |
Kovalev_D | 220:04c54405b82d | 76 | } |
Kovalev_D | 197:7a05523bf588 | 77 | } |
Kovalev_D | 197:7a05523bf588 | 78 | void Modulator(void) |
Kovalev_D | 197:7a05523bf588 | 79 | { |
Kovalev_D | 197:7a05523bf588 | 80 | switch(TypeMod) |
Kovalev_D | 197:7a05523bf588 | 81 | { |
Kovalev_D | 220:04c54405b82d | 82 | |
Kovalev_D | 220:04c54405b82d | 83 | // case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break; |
Kovalev_D | 220:04c54405b82d | 84 | case 0: LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; break; |
Kovalev_D | 220:04c54405b82d | 85 | |
Kovalev_D | 216:189b0ea1dc38 | 86 | case 1: LPC_DAC->DACR = (ModArraySaw [CountV64]*Gyro.ModAmp); break; |
Kovalev_D | 216:189b0ea1dc38 | 87 | case 2: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break; |
Kovalev_D | 216:189b0ea1dc38 | 88 | case 3: LPC_DAC->DACR = (ModArrayTriangle [(CountV64-2)&0x3f]*Gyro.ModAmp); break; |
Kovalev_D | 220:04c54405b82d | 89 | |
Kovalev_D | 220:04c54405b82d | 90 | //case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31)&0x1f]+150)*Gyro.ModAmp); break;ShiftMod |
Kovalev_D | 220:04c54405b82d | 91 | case 4: LPC_DAC->DACR = ((ModArraySin32 [(CountV31+8)&0x1f])*Gyro.ModAmp + Gyro.ShiftMod-32000); break; |
Kovalev_D | 218:b4067cac75c0 | 92 | case 5: break; |
Kovalev_D | 197:7a05523bf588 | 93 | } |
Kovalev_D | 197:7a05523bf588 | 94 | } |
Kovalev_D | 215:b58b887fd367 | 95 | |
Kovalev_D | 209:224e7331a061 | 96 | void PLCRegul250(void) |
Kovalev_D | 209:224e7331a061 | 97 | { |
Kovalev_D | 209:224e7331a061 | 98 | unsigned int temp; |
Kovalev_D | 209:224e7331a061 | 99 | static int CountFaza; |
Kovalev_D | 209:224e7331a061 | 100 | temp = MODCount; |
Kovalev_D | 215:b58b887fd367 | 101 | |
Kovalev_D | 216:189b0ea1dc38 | 102 | /*for (CountFaza = 0; CountFaza <16; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]); |
Kovalev_D | 215:b58b887fd367 | 103 | for (CountFaza = 16; CountFaza <32; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]); |
Kovalev_D | 215:b58b887fd367 | 104 | for (CountFaza = 32; CountFaza <48; CountFaza++) SinPls+= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]); |
Kovalev_D | 215:b58b887fd367 | 105 | for (CountFaza = 48; CountFaza <64; CountFaza++) SinMns-= (Buff_Restored_Mod[ (CountFaza - Gyro.PLC_Phase) & 0x3f]);*/ |
Kovalev_D | 215:b58b887fd367 | 106 | |
Kovalev_D | 214:4c70e452c491 | 107 | /* for (CountFaza = 0; CountFaza <32; CountFaza++ ) SinPls+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f]; |
Kovalev_D | 214:4c70e452c491 | 108 | for (CountFaza = 32; CountFaza <64; CountFaza++) SinMns+= BuffADC_64Point[ (CountFaza - Gyro.PLC_Phase) & 0x3f];*/ |
Kovalev_D | 209:224e7331a061 | 109 | Gyro.PLC_Eror = SinMns-SinPls; |
Kovalev_D | 214:4c70e452c491 | 110 | /* sprintf((Time)," %d %d %d %d %d\r\n",Spi.ADC5, Spi.DAC_B, SinPls, SinMns, Gyro.PLC_Eror); |
Kovalev_D | 209:224e7331a061 | 111 | WriteCon(Time);*/ |
Kovalev_D | 209:224e7331a061 | 112 | if(Gyro.RgConA&0x8) |
Kovalev_D | 209:224e7331a061 | 113 | { |
Kovalev_D | 222:7de7b3bf3a1d | 114 | /* if(Gyro.PLC_Eror>0) {Spi.DAC_B+=1 * Gyro.PLC_Gain;} |
Kovalev_D | 222:7de7b3bf3a1d | 115 | else {Spi.DAC_B-=1 * Gyro.PLC_Gain;}*/ |
Kovalev_D | 209:224e7331a061 | 116 | } |
Kovalev_D | 215:b58b887fd367 | 117 | /* if(Gyro.PLC_Eror>0) {Gyro.PLC_Eror_count++;} |
Kovalev_D | 215:b58b887fd367 | 118 | else {Gyro.PLC_Eror_count--;}*/ |
Kovalev_D | 209:224e7331a061 | 119 | |
Kovalev_D | 209:224e7331a061 | 120 | if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу. |
Kovalev_D | 209:224e7331a061 | 121 | else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000; |
igor_v | 110:6406b7ac0442 | 122 | |
Kovalev_D | 209:224e7331a061 | 123 | SinPls=0; |
Kovalev_D | 209:224e7331a061 | 124 | SinMns=0; |
Kovalev_D | 209:224e7331a061 | 125 | } |
Kovalev_D | 226:4a4d5bd5fcd7 | 126 | |
Kovalev_D | 147:1aed74f19a8f | 127 | void ADS_Acum(void) |
Kovalev_D | 147:1aed74f19a8f | 128 | { |
Kovalev_D | 157:1069c80f4944 | 129 | Spi.ADC_NewData = 0; |
Kovalev_D | 209:224e7331a061 | 130 | // Gyro.Termo = (unsigned int)(((Spi.ADC1>>1) + Gyro.Tmp_OffsetT4) * Gyro.Tmp_scaleT4); |
Kovalev_D | 227:2774b56bfab0 | 131 | Gyro.Termo = (unsigned int)((((Spi.ADC1>>1)*100)*0.0122)-27300); |
Kovalev_D | 227:2774b56bfab0 | 132 | //Gyro.Termo = |
Kovalev_D | 209:224e7331a061 | 133 | Gyro.IN1_Accum += Spi.ADC2; |
Kovalev_D | 209:224e7331a061 | 134 | Gyro.IN2_Accum += Spi.ADC3; |
Kovalev_D | 209:224e7331a061 | 135 | // Gyro.DeltaT = (unsigned int)(((Spi.ADC4>>1) + Gyro.Tmp_OffsetT5) * Gyro.Tmp_scaleT5); |
Kovalev_D | 221:53b256368ca1 | 136 | switch(Gyro.LG_Type) |
Kovalev_D | 221:53b256368ca1 | 137 | { |
Kovalev_D | 227:2774b56bfab0 | 138 | case 1: Gyro.DeltaT = (unsigned int)((((Spi.ADC2>>1)*100)*0.0122)-27300); break; |
Kovalev_D | 221:53b256368ca1 | 139 | |
Kovalev_D | 221:53b256368ca1 | 140 | case 0: Gyro.DeltaT = (unsigned int)(Spi.ADC4>>1); break; |
Kovalev_D | 221:53b256368ca1 | 141 | } |
Kovalev_D | 221:53b256368ca1 | 142 | |
Kovalev_D | 208:19150d2b528f | 143 | |
Kovalev_D | 172:ef7bf1663645 | 144 | TempA = (0xffff - Spi.ADC5); // перевернем знак и умножим на два (было 32000...0 стало 0 ...32000 /*сдвиг(<<1) стало 0 ...64000*/) |
Kovalev_D | 211:ac8251b067d2 | 145 | Gyro.TermLM = Spi.ADC1; |
Kovalev_D | 157:1069c80f4944 | 146 | Gyro.ADF_Accum += TempA; |
Kovalev_D | 157:1069c80f4944 | 147 | Gyro.ADS_Accum += TempA; |
Kovalev_D | 208:19150d2b528f | 148 | /// Gyro.ADS_AccumTermLM+=TempTermLM; |
Kovalev_D | 157:1069c80f4944 | 149 | Gyro.ADF_Count ++; |
Kovalev_D | 157:1069c80f4944 | 150 | Gyro.ADS_Count ++; |
Kovalev_D | 209:224e7331a061 | 151 | Gyro.ADM_Count ++; |
Kovalev_D | 209:224e7331a061 | 152 | /* sprintf((Time),"%d %d\r\n",((Gyro.In1>>1) - 0x4fff),(Spi.DAC_B-0x4fff)); |
Kovalev_D | 209:224e7331a061 | 153 | WriteCon(Time);*/ |
Kovalev_D | 209:224e7331a061 | 154 | if (Gyro.ADM_Count > 255) { |
Kovalev_D | 209:224e7331a061 | 155 | Gyro.In1 = Gyro.IN1_Accum>>8; |
Kovalev_D | 209:224e7331a061 | 156 | Gyro.In2 = Gyro.IN2_Accum>>8; |
Kovalev_D | 209:224e7331a061 | 157 | Gyro.IN1_Accum=0; |
Kovalev_D | 209:224e7331a061 | 158 | Gyro.IN2_Accum=0; |
Kovalev_D | 209:224e7331a061 | 159 | Gyro.ADM_Count=0; |
Kovalev_D | 209:224e7331a061 | 160 | } |
Kovalev_D | 207:d1ce992f5d17 | 161 | if (Gyro.ADF_Count > 15) { // если прошло 16 тактов виброподвеса |
Kovalev_D | 172:ef7bf1663645 | 162 | Gyro.AD_Fast = Gyro.ADF_Accum << 11; //обновляем данные и приводим в один масштаб |
Kovalev_D | 157:1069c80f4944 | 163 | Gyro.ADF_Count = 0;// |
Kovalev_D | 157:1069c80f4944 | 164 | Gyro.ADF_Accum = 0; |
Kovalev_D | 157:1069c80f4944 | 165 | Gyro.ADF_NewData = 1; |
Kovalev_D | 157:1069c80f4944 | 166 | } |
Kovalev_D | 207:d1ce992f5d17 | 167 | if (Gyro.ADS_Count > 255) { // если прошло 256 тактов виброподвеса |
Kovalev_D | 172:ef7bf1663645 | 168 | Gyro.AD_Slow = Gyro.ADS_Accum << 7; //обновляем данные и приводим в один масштаб |
Kovalev_D | 211:ac8251b067d2 | 169 | // Gyro.TermLM = Gyro.ADS_AccumTermLM << 3; |
Kovalev_D | 157:1069c80f4944 | 170 | Gyro.ADS_Count = 0; |
Kovalev_D | 157:1069c80f4944 | 171 | Gyro.ADS_Accum = 0; |
Kovalev_D | 158:0c8342e1837a | 172 | Gyro.ADS_AccumTermLM=0; |
Kovalev_D | 207:d1ce992f5d17 | 173 | Gyro.ADS_NewData = 1; |
Kovalev_D | 209:224e7331a061 | 174 | } |
Kovalev_D | 147:1aed74f19a8f | 175 | } |
Kovalev_D | 226:4a4d5bd5fcd7 | 176 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 177 | void HFOFilt(void) |
Kovalev_D | 220:04c54405b82d | 178 | { |
Kovalev_D | 227:2774b56bfab0 | 179 | |
Kovalev_D | 227:2774b56bfab0 | 180 | |
Kovalev_D | 227:2774b56bfab0 | 181 | /* HFO_AVR+=(BuffADC_10v[CountV64]>>4); |
Kovalev_D | 227:2774b56bfab0 | 182 | HFO_AVR-=(BuffADC_10v[CountV64 - 32]>>4); |
Kovalev_D | 227:2774b56bfab0 | 183 | */ |
Kovalev_D | 227:2774b56bfab0 | 184 | HFOdelta=(int)((Gyro.HFO_ref)-(BuffADC_128Point[CountV64]>>7)); |
Kovalev_D | 227:2774b56bfab0 | 185 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 186 | HFOSumDelta+=HFOdelta; |
Kovalev_D | 226:4a4d5bd5fcd7 | 187 | HFOregul=HFOSumDelta/(int)(Gyro.HFO_Gain); |
Kovalev_D | 227:2774b56bfab0 | 188 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 189 | HFOSumDelta-=Gyro.HFO_Gain*HFOregul; |
Kovalev_D | 226:4a4d5bd5fcd7 | 190 | tempDeltaRegul += HFOregul; |
Kovalev_D | 226:4a4d5bd5fcd7 | 191 | AMPSUM=0; |
Kovalev_D | 226:4a4d5bd5fcd7 | 192 | HFO_Flag=1; |
Kovalev_D | 227:2774b56bfab0 | 193 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 194 | } |
Kovalev_D | 226:4a4d5bd5fcd7 | 195 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 196 | void PLCFilt(void) |
Kovalev_D | 226:4a4d5bd5fcd7 | 197 | { |
Kovalev_D | 226:4a4d5bd5fcd7 | 198 | static int SumBuff,Delta, OldDelta; |
Kovalev_D | 226:4a4d5bd5fcd7 | 199 | |
Kovalev_D | 225:f8fee6c586cc | 200 | if (count10v>=64*32) |
Kovalev_D | 220:04c54405b82d | 201 | { |
Kovalev_D | 227:2774b56bfab0 | 202 | C_PLC_F++; |
Kovalev_D | 227:2774b56bfab0 | 203 | C_PLC_F = C_PLC_F & 0xf; |
Kovalev_D | 220:04c54405b82d | 204 | count10v=0; |
Kovalev_D | 222:7de7b3bf3a1d | 205 | |
Kovalev_D | 220:04c54405b82d | 206 | for(int q=0; q<32; q++) |
Kovalev_D | 220:04c54405b82d | 207 | { |
Kovalev_D | 220:04c54405b82d | 208 | SumBuff += BuffADC_10v[q]; |
Kovalev_D | 220:04c54405b82d | 209 | SumBuff -= BuffADC_10v_OLD[q+32]; |
Kovalev_D | 220:04c54405b82d | 210 | BuffADC_10v_F [q] = SumBuff; |
Kovalev_D | 220:04c54405b82d | 211 | } |
Kovalev_D | 225:f8fee6c586cc | 212 | |
Kovalev_D | 220:04c54405b82d | 213 | for(int q=32; q<64; q++) |
Kovalev_D | 220:04c54405b82d | 214 | { |
Kovalev_D | 220:04c54405b82d | 215 | SumBuff += BuffADC_10v[q]; |
Kovalev_D | 220:04c54405b82d | 216 | SumBuff -= BuffADC_10v[q-32]; |
Kovalev_D | 220:04c54405b82d | 217 | BuffADC_10v_F [q] = SumBuff; |
Kovalev_D | 220:04c54405b82d | 218 | } |
Kovalev_D | 220:04c54405b82d | 219 | |
Kovalev_D | 225:f8fee6c586cc | 220 | for(int q=0; q<32; q++) {AMPSUMP += BuffADC_10v_F [q];} |
Kovalev_D | 225:f8fee6c586cc | 221 | for(int q=32; q<64; q++) {AMPSUMM += BuffADC_10v_F [q];} |
Kovalev_D | 225:f8fee6c586cc | 222 | |
Kovalev_D | 225:f8fee6c586cc | 223 | for(int q=0; q<64; q++) |
Kovalev_D | 220:04c54405b82d | 224 | { |
Kovalev_D | 227:2774b56bfab0 | 225 | AMPSUM+=BuffADC_10v[q]; |
Kovalev_D | 222:7de7b3bf3a1d | 226 | AMPSUMout+=BuffADC_10v_F[q]; |
Kovalev_D | 222:7de7b3bf3a1d | 227 | BuffADC_10v_OLD[q]= BuffADC_10v[q]; |
Kovalev_D | 225:f8fee6c586cc | 228 | BuffADC_10v[q] =0; |
Kovalev_D | 220:04c54405b82d | 229 | } |
Kovalev_D | 225:f8fee6c586cc | 230 | for(int q=0; q<64; q++) |
Kovalev_D | 222:7de7b3bf3a1d | 231 | { |
Kovalev_D | 222:7de7b3bf3a1d | 232 | Buff_OUT[q]=(BuffADC_10v_F[q]-(AMPSUM>>1))>>3; |
Kovalev_D | 222:7de7b3bf3a1d | 233 | } |
Kovalev_D | 222:7de7b3bf3a1d | 234 | |
Kovalev_D | 222:7de7b3bf3a1d | 235 | /*sprintf((Time),"%d \r\n", Spi.DAC_A); |
Kovalev_D | 222:7de7b3bf3a1d | 236 | WriteCon(Time);*/ |
Kovalev_D | 227:2774b56bfab0 | 237 | |
Kovalev_D | 227:2774b56bfab0 | 238 | AMPSUM=AMPSUM>>6; |
Kovalev_D | 227:2774b56bfab0 | 239 | AMPSUM=AMPSUM>>3; |
Kovalev_D | 227:2774b56bfab0 | 240 | AMPSUM=AMPSUM>>3; |
Kovalev_D | 227:2774b56bfab0 | 241 | |
Kovalev_D | 225:f8fee6c586cc | 242 | AMPSUMPout=AMPSUMP>>1; |
Kovalev_D | 225:f8fee6c586cc | 243 | AMPSUMMout=AMPSUMM>>1; |
Kovalev_D | 222:7de7b3bf3a1d | 244 | AMPSUMout=AMPSUM; |
Kovalev_D | 225:f8fee6c586cc | 245 | |
Kovalev_D | 220:04c54405b82d | 246 | Delta= (AMPSUMPout - AMPSUMMout); |
Kovalev_D | 225:f8fee6c586cc | 247 | |
Kovalev_D | 225:f8fee6c586cc | 248 | // if((Delta<(-5000000))||(Delta>5000000))Delta=0; |
Kovalev_D | 225:f8fee6c586cc | 249 | |
Kovalev_D | 220:04c54405b82d | 250 | SumDelta+=Delta; |
Kovalev_D | 225:f8fee6c586cc | 251 | |
Kovalev_D | 220:04c54405b82d | 252 | Gyro.PLC_Eror_count=SumDelta/Gyro.PLC_Gain; |
Kovalev_D | 220:04c54405b82d | 253 | SumDelta-=Gyro.PLC_Gain*Gyro.PLC_Eror_count; |
Kovalev_D | 225:f8fee6c586cc | 254 | |
Kovalev_D | 225:f8fee6c586cc | 255 | PLC_EROR+=Gyro.PLC_Eror_count; |
Kovalev_D | 226:4a4d5bd5fcd7 | 256 | |
Kovalev_D | 227:2774b56bfab0 | 257 | BuffPLC_FILT[C_PLC_F] = Gyro.PLC_Eror_count; |
Kovalev_D | 227:2774b56bfab0 | 258 | if(Time1Hz>10) |
Kovalev_D | 227:2774b56bfab0 | 259 | { |
Kovalev_D | 227:2774b56bfab0 | 260 | PLC_ERR_DAC_F += BuffPLC_FILT[C_PLC_F]; |
Kovalev_D | 227:2774b56bfab0 | 261 | PLC_ERR_DAC_F -= BuffPLC_FILT[(C_PLC_F-8)&0xf]; |
Kovalev_D | 227:2774b56bfab0 | 262 | } |
Kovalev_D | 227:2774b56bfab0 | 263 | PLC_ERR_DAC = PLC_ERR_DAC_F>>3; |
Kovalev_D | 220:04c54405b82d | 264 | PLC_Flag=1; |
Kovalev_D | 220:04c54405b82d | 265 | AMPSUMM=0; |
Kovalev_D | 220:04c54405b82d | 266 | AMPSUMP=0; |
Kovalev_D | 226:4a4d5bd5fcd7 | 267 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 268 | // LoopOff |
Kovalev_D | 220:04c54405b82d | 269 | } |
Kovalev_D | 220:04c54405b82d | 270 | } |
Kovalev_D | 226:4a4d5bd5fcd7 | 271 | void ModFilt(void) |
Kovalev_D | 226:4a4d5bd5fcd7 | 272 | { |
Kovalev_D | 226:4a4d5bd5fcd7 | 273 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 274 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 275 | PLCFilt(); |
Kovalev_D | 226:4a4d5bd5fcd7 | 276 | if(PLC_Flag) |
Kovalev_D | 226:4a4d5bd5fcd7 | 277 | { |
Kovalev_D | 226:4a4d5bd5fcd7 | 278 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 279 | HFOSumDelta=0; |
Kovalev_D | 226:4a4d5bd5fcd7 | 280 | } |
Kovalev_D | 226:4a4d5bd5fcd7 | 281 | else HFOFilt(); |
Kovalev_D | 226:4a4d5bd5fcd7 | 282 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 283 | } |
Kovalev_D | 220:04c54405b82d | 284 | |
igor_v | 114:5cc38a53d8a7 | 285 | void SPI_Exchange(void) // новая функция чтения, в нецй не должно быть ничего лишнего |
Kovalev_D | 157:1069c80f4944 | 286 | { |
Kovalev_D | 220:04c54405b82d | 287 | |
Kovalev_D | 157:1069c80f4944 | 288 | unsigned int DummySPI; |
Kovalev_D | 220:04c54405b82d | 289 | |
Kovalev_D | 197:7a05523bf588 | 290 | //unsigned int ADC5Dif; |
Kovalev_D | 197:7a05523bf588 | 291 | ADC5New = LPC_SSP0->DR;// Чтение АЦП |
Kovalev_D | 207:d1ce992f5d17 | 292 | //Spi.ADC5_Accum += LPC_SSP0->DR; |
igor_v | 110:6406b7ac0442 | 293 | Spi.ADC4_Accum += LPC_SSP0->DR; |
igor_v | 110:6406b7ac0442 | 294 | Spi.ADC3_Accum += LPC_SSP0->DR; |
igor_v | 110:6406b7ac0442 | 295 | Spi.ADC2_Accum += LPC_SSP0->DR; |
igor_v | 110:6406b7ac0442 | 296 | Spi.ADC1_Accum += LPC_SSP0->DR; |
Kovalev_D | 207:d1ce992f5d17 | 297 | Spi.ADC5_Accum += ADC5New; |
Kovalev_D | 209:224e7331a061 | 298 | |
Kovalev_D | 207:d1ce992f5d17 | 299 | while (LPC_SSP0->SR & RX_SSP_notEMPT) |
Kovalev_D | 207:d1ce992f5d17 | 300 | { |
Kovalev_D | 170:d099c3025f87 | 301 | DummySPI = LPC_SSP0->DR; //если буфер SPI не пуст.//очистить буфер. |
Kovalev_D | 157:1069c80f4944 | 302 | } |
Kovalev_D | 112:4a96133a1311 | 303 | DAC_OutPut(); |
Kovalev_D | 157:1069c80f4944 | 304 | if (CountV31 == 0) { // просто фильтруем по 32 точкам. |
Kovalev_D | 197:7a05523bf588 | 305 | // выставояем бит, что есть новы данные |
Kovalev_D | 157:1069c80f4944 | 306 | Spi.ADC1 = Spi.ADC1_Accum >> 5; // подгоотавливаем данные (в той эе сетке) те ADC1 0..65535 |
Kovalev_D | 157:1069c80f4944 | 307 | Spi.ADC2 = Spi.ADC2_Accum >> 5; |
Kovalev_D | 157:1069c80f4944 | 308 | Spi.ADC3 = Spi.ADC3_Accum >> 5; |
Kovalev_D | 157:1069c80f4944 | 309 | Spi.ADC4 = Spi.ADC4_Accum >> 5; |
Kovalev_D | 157:1069c80f4944 | 310 | Spi.ADC5 = Spi.ADC5_Accum >> 5; |
Kovalev_D | 157:1069c80f4944 | 311 | Spi.ADC1_Accum = 0; // сбрасывкем аккамулятор |
Kovalev_D | 157:1069c80f4944 | 312 | Spi.ADC2_Accum = 0; |
Kovalev_D | 157:1069c80f4944 | 313 | Spi.ADC3_Accum = 0; |
Kovalev_D | 157:1069c80f4944 | 314 | Spi.ADC4_Accum = 0; |
Kovalev_D | 157:1069c80f4944 | 315 | Spi.ADC5_Accum = 0; |
Kovalev_D | 157:1069c80f4944 | 316 | Spi.ADC_NewData = 1; |
Kovalev_D | 209:224e7331a061 | 317 | |
Kovalev_D | 207:d1ce992f5d17 | 318 | } |
Kovalev_D | 215:b58b887fd367 | 319 | if(Time1Hz>6) |
Kovalev_D | 215:b58b887fd367 | 320 | { |
Kovalev_D | 220:04c54405b82d | 321 | BuffADC_1Point[CountV255] = (0x7fff-ADC5New)&0x7fff; |
Kovalev_D | 218:b4067cac75c0 | 322 | BuffADC_1Point_64[CountV31]=(0x7fff-ADC5New)&0x7fff; |
Kovalev_D | 216:189b0ea1dc38 | 323 | |
Kovalev_D | 227:2774b56bfab0 | 324 | ADC_128Point += BuffADC_1Point[CountV255]; |
Kovalev_D | 220:04c54405b82d | 325 | ADC_128Point -= BuffADC_1Point[(CountV255 - 128) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов |
Kovalev_D | 227:2774b56bfab0 | 326 | BuffADC_128Point[CountV64] = ADC_128Point; |
Kovalev_D | 220:04c54405b82d | 327 | |
Kovalev_D | 220:04c54405b82d | 328 | |
Kovalev_D | 220:04c54405b82d | 329 | // Buff_Restored_Mod[CountV31] =(int)(BuffADC_1Point_64[CountV31] - ((BuffADC_128Point[CountV64])>>7)); |
Kovalev_D | 220:04c54405b82d | 330 | // Buff_Restored_Mod[CountV64] =(int)(BuffADC_32PointD[CountV64]*2 - BuffADC_64Point[CountV64]); |
Kovalev_D | 220:04c54405b82d | 331 | |
Kovalev_D | 220:04c54405b82d | 332 | |
Kovalev_D | 220:04c54405b82d | 333 | count10v++; |
Kovalev_D | 226:4a4d5bd5fcd7 | 334 | count10HFO++; |
Kovalev_D | 220:04c54405b82d | 335 | BuffADC_10v[CountV64] += BuffADC_1Point[CountV255]; |
Kovalev_D | 226:4a4d5bd5fcd7 | 336 | // BuffADC_10HFO[CountV64] += BuffADC_1Point[CountV255]; |
Kovalev_D | 220:04c54405b82d | 337 | ModFilt(); |
Kovalev_D | 220:04c54405b82d | 338 | } |
Kovalev_D | 220:04c54405b82d | 339 | |
Kovalev_D | 220:04c54405b82d | 340 | } |
Kovalev_D | 220:04c54405b82d | 341 | |
Kovalev_D | 220:04c54405b82d | 342 | void HFORegul(void) |
Kovalev_D | 220:04c54405b82d | 343 | { |
Kovalev_D | 220:04c54405b82d | 344 | static unsigned int countHFO; |
Kovalev_D | 220:04c54405b82d | 345 | |
Kovalev_D | 220:04c54405b82d | 346 | countHFO=0; |
Kovalev_D | 220:04c54405b82d | 347 | |
Kovalev_D | 220:04c54405b82d | 348 | if(Gyro.RgConA&0x2) |
Kovalev_D | 220:04c54405b82d | 349 | { |
Kovalev_D | 220:04c54405b82d | 350 | if(HFO_Flag) |
Kovalev_D | 220:04c54405b82d | 351 | { |
Kovalev_D | 220:04c54405b82d | 352 | Spi.DAC_A -= HFOregul; |
Kovalev_D | 220:04c54405b82d | 353 | HFO_Flag=0; |
Kovalev_D | 220:04c54405b82d | 354 | DeltaRegul=0; |
Kovalev_D | 220:04c54405b82d | 355 | } |
Kovalev_D | 220:04c54405b82d | 356 | } |
Kovalev_D | 220:04c54405b82d | 357 | |
Kovalev_D | 220:04c54405b82d | 358 | else DeltaRegul=0; |
Kovalev_D | 220:04c54405b82d | 359 | |
Kovalev_D | 220:04c54405b82d | 360 | if(Spi.DAC_A>Gyro.HFO_Min-1) Spi.DAC_A=Gyro.HFO_Min-2; |
Kovalev_D | 220:04c54405b82d | 361 | else if(Spi.DAC_A<Gyro.HFO_Max+1) Spi.DAC_A=Gyro.HFO_Max+2; |
Kovalev_D | 220:04c54405b82d | 362 | |
Kovalev_D | 220:04c54405b82d | 363 | } |
Kovalev_D | 220:04c54405b82d | 364 | |
Kovalev_D | 214:4c70e452c491 | 365 | |
Kovalev_D | 220:04c54405b82d | 366 | void PLCRegul(void) |
Kovalev_D | 215:b58b887fd367 | 367 | |
Kovalev_D | 220:04c54405b82d | 368 | { |
Kovalev_D | 220:04c54405b82d | 369 | static unsigned int Flag_64=0, count; |
Kovalev_D | 220:04c54405b82d | 370 | static int CountFaza,Sin; |
Kovalev_D | 216:189b0ea1dc38 | 371 | |
Kovalev_D | 216:189b0ea1dc38 | 372 | |
Kovalev_D | 220:04c54405b82d | 373 | if(Gyro.RgConA&0x8) |
Kovalev_D | 220:04c54405b82d | 374 | { |
Kovalev_D | 220:04c54405b82d | 375 | if(PLC_Flag) |
Kovalev_D | 220:04c54405b82d | 376 | { |
Kovalev_D | 226:4a4d5bd5fcd7 | 377 | if (Gyro.PLCDelay) |
Kovalev_D | 225:f8fee6c586cc | 378 | { |
Kovalev_D | 225:f8fee6c586cc | 379 | |
Kovalev_D | 225:f8fee6c586cc | 380 | } |
Kovalev_D | 227:2774b56bfab0 | 381 | else |
Kovalev_D | 227:2774b56bfab0 | 382 | { |
Kovalev_D | 227:2774b56bfab0 | 383 | /* if(Gyro.PLC_Eror_count>600) Gyro.PLC_Eror_count=0; |
Kovalev_D | 227:2774b56bfab0 | 384 | else if(Gyro.PLC_Eror_count<(-600)) Gyro.PLC_Eror_count=0;*/ |
Kovalev_D | 227:2774b56bfab0 | 385 | |
Kovalev_D | 227:2774b56bfab0 | 386 | Spi.DAC_B+=PLC_ERR_DAC; |
Kovalev_D | 227:2774b56bfab0 | 387 | |
Kovalev_D | 227:2774b56bfab0 | 388 | } |
Kovalev_D | 220:04c54405b82d | 389 | } |
Kovalev_D | 227:2774b56bfab0 | 390 | if(Spi.DAC_B > Gyro.HighTreshold ) |
Kovalev_D | 227:2774b56bfab0 | 391 | { |
Kovalev_D | 222:7de7b3bf3a1d | 392 | Spi.DAC_B = (Gyro.ResetLevelCool); |
Kovalev_D | 225:f8fee6c586cc | 393 | Gyro.PLCDelay = GyroP.Str.PLCDelay; |
Kovalev_D | 227:2774b56bfab0 | 394 | } |
Kovalev_D | 227:2774b56bfab0 | 395 | else if(Spi.DAC_B < Gyro.DownTreshold ) |
Kovalev_D | 227:2774b56bfab0 | 396 | { |
Kovalev_D | 222:7de7b3bf3a1d | 397 | Spi.DAC_B = (Gyro.ResetLevelHeat); |
Kovalev_D | 225:f8fee6c586cc | 398 | Gyro.PLCDelay = GyroP.Str.PLCDelay; |
Kovalev_D | 227:2774b56bfab0 | 399 | } |
Kovalev_D | 227:2774b56bfab0 | 400 | } |
Kovalev_D | 227:2774b56bfab0 | 401 | |
Kovalev_D | 227:2774b56bfab0 | 402 | |
Kovalev_D | 227:2774b56bfab0 | 403 | |
Kovalev_D | 227:2774b56bfab0 | 404 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 405 | if(PLC_Flag) |
Kovalev_D | 226:4a4d5bd5fcd7 | 406 | { |
Kovalev_D | 227:2774b56bfab0 | 407 | /*sprintf((Time),"%d %d %d\r\n", PLC_ERR_DAC, Spi.DAC_B, Spi.DAC_A); |
Kovalev_D | 227:2774b56bfab0 | 408 | WriteCon(Time);*/ |
Kovalev_D | 227:2774b56bfab0 | 409 | PLC_ERR_DAC=0; |
Kovalev_D | 226:4a4d5bd5fcd7 | 410 | PLC_Flag=0; |
Kovalev_D | 226:4a4d5bd5fcd7 | 411 | } |
Kovalev_D | 220:04c54405b82d | 412 | } |
Kovalev_D | 216:189b0ea1dc38 | 413 | |
Kovalev_D | 220:04c54405b82d | 414 | |
Kovalev_D | 220:04c54405b82d | 415 | |
Kovalev_D | 113:8be429494918 | 416 | |
Kovalev_D | 190:289514f730ee | 417 | void ShowMod(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап |
Kovalev_D | 158:0c8342e1837a | 418 | { |
Kovalev_D | 158:0c8342e1837a | 419 | |
Kovalev_D | 158:0c8342e1837a | 420 | ////////////////////////////////////////////////////////////////////////////////////////////////// |
Kovalev_D | 158:0c8342e1837a | 421 | //////////////////////////////////смотрим все моды///////////////////////////////////////////////// |
Kovalev_D | 158:0c8342e1837a | 422 | /////////////////////////////////////////////////////////////////////////////////////////////////// |
Kovalev_D | 197:7a05523bf588 | 423 | if(dispersion>5) |
Kovalev_D | 197:7a05523bf588 | 424 | { |
Kovalev_D | 197:7a05523bf588 | 425 | if( (Gyro.PLC_Lern<60000)&&(Gyro.PLC_Error2Mode >1))//пробигаем по нескольким значениям цап(60*0х3с=0хВВ8) для определения максимальной амплитуды. |
Kovalev_D | 158:0c8342e1837a | 426 | { |
Kovalev_D | 158:0c8342e1837a | 427 | Gyro.PLC_Error2Mode--; |
Kovalev_D | 158:0c8342e1837a | 428 | Gyro.PLC_Lern++; |
Kovalev_D | 197:7a05523bf588 | 429 | Spi.DAC_B += tempstrafe*side; |
Kovalev_D | 197:7a05523bf588 | 430 | if(side>0)side=(-1); |
Kovalev_D | 197:7a05523bf588 | 431 | else side = 1; |
Kovalev_D | 197:7a05523bf588 | 432 | tempstrafe-=40; |
Kovalev_D | 197:7a05523bf588 | 433 | dispersion=0; |
Kovalev_D | 168:f4a6abb18358 | 434 | } |
Kovalev_D | 197:7a05523bf588 | 435 | else {Gyro.LogPLC=0;} |
Kovalev_D | 197:7a05523bf588 | 436 | } |
Kovalev_D | 197:7a05523bf588 | 437 | else dispersion++; |
Kovalev_D | 222:7de7b3bf3a1d | 438 | /*sprintf((Time),"%d %d %d %d \r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Gyro.Termo); |
Kovalev_D | 222:7de7b3bf3a1d | 439 | Gyro.CuruAngle=0;*/ |
Kovalev_D | 197:7a05523bf588 | 440 | WriteCon(Time); |
Kovalev_D | 158:0c8342e1837a | 441 | } |
Kovalev_D | 209:224e7331a061 | 442 | void ShowMod2(void)//технологическая функция для просмотра в ориджине мод на всем диапазпне цап |
Kovalev_D | 209:224e7331a061 | 443 | { |
Kovalev_D | 211:ac8251b067d2 | 444 | if(dispersion>3) |
Kovalev_D | 211:ac8251b067d2 | 445 | { |
Kovalev_D | 213:9953db9543d6 | 446 | unsigned int step = 50, ENDMOD=65400; |
Kovalev_D | 222:7de7b3bf3a1d | 447 | /*sprintf((Time),"%d %d %d %d %d %d %d\r\n", Gyro.CuruAngle, Spi.DAC_B, Gyro.AD_Slow, Spi.ADC5, 0xfFFf-Spi.ADC1, Spi.ADC1, Gyro.Termo); |
Kovalev_D | 209:224e7331a061 | 448 | Gyro.CuruAngle=0; |
Kovalev_D | 222:7de7b3bf3a1d | 449 | WriteCon(Time);*/ |
Kovalev_D | 213:9953db9543d6 | 450 | Spi.DAC_B+=step; |
Kovalev_D | 213:9953db9543d6 | 451 | if(Spi.DAC_B>ENDMOD) |
Kovalev_D | 211:ac8251b067d2 | 452 | { |
Kovalev_D | 214:4c70e452c491 | 453 | // Gyro.LogMod=0; |
Kovalev_D | 211:ac8251b067d2 | 454 | PlcON |
Kovalev_D | 213:9953db9543d6 | 455 | Spi.DAC_B = 48000; |
Kovalev_D | 211:ac8251b067d2 | 456 | } |
Kovalev_D | 211:ac8251b067d2 | 457 | dispersion=0; |
Kovalev_D | 209:224e7331a061 | 458 | } |
Kovalev_D | 211:ac8251b067d2 | 459 | else dispersion++; |
Kovalev_D | 191:40028201ddad | 460 | } |
Kovalev_D | 112:4a96133a1311 | 461 | void DAC_OutPut(void)//выдача в цапы |
igor_v | 0:8ad47e2b6f00 | 462 | { |
Kovalev_D | 220:04c54405b82d | 463 | /*if(Gyro.RgConA&0x10)*/ Modulator(); |
Kovalev_D | 157:1069c80f4944 | 464 | LPC_SSP0->DR=0x5555; |
igor_v | 31:c783288001b5 | 465 | LPC_SSP0->DR=0x5555; |
igor_v | 31:c783288001b5 | 466 | LPC_SSP0->DR=0x5555; |
igor_v | 0:8ad47e2b6f00 | 467 | |
Kovalev_D | 209:224e7331a061 | 468 | if (CountV31 & 1) |
Kovalev_D | 209:224e7331a061 | 469 | { //если нечетный такт то |
Kovalev_D | 218:b4067cac75c0 | 470 | LPC_SSP0->DR = WRITE_DAC0; //e.команда для ЦАП_0 передавать. |
Kovalev_D | 220:04c54405b82d | 471 | LPC_SSP0->DR = (Spi.DAC_A); //e. передача 12 бит |
Kovalev_D | 209:224e7331a061 | 472 | } |
Kovalev_D | 209:224e7331a061 | 473 | else |
Kovalev_D | 209:224e7331a061 | 474 | { //если такт четный. |
Kovalev_D | 157:1069c80f4944 | 475 | LPC_SSP0->DR = WRITE_DAC1 ; //e.команда для ЦАП_1 передавать. |
Kovalev_D | 220:04c54405b82d | 476 | LPC_SSP0->DR = (Spi.DAC_B) ; |
igor_v | 31:c783288001b5 | 477 | } |
Kovalev_D | 112:4a96133a1311 | 478 | } |
Kovalev_D | 112:4a96133a1311 | 479 | |
Kovalev_D | 112:4a96133a1311 | 480 | |
Kovalev_D | 113:8be429494918 | 481 | |
Kovalev_D | 113:8be429494918 | 482 | |
Kovalev_D | 113:8be429494918 | 483 | |
Kovalev_D | 113:8be429494918 | 484 |