Dmitry Kovalev
/
LGfiltr
forkd
Fork of LGstaandart by
Command.c@121:bbae560cdd43, 2016-04-07 (annotated)
- Committer:
- Kovalev_D
- Date:
- Thu Apr 07 10:44:23 2016 +0000
- Revision:
- 121:bbae560cdd43
- Parent:
- 120:9f446f1495e8
- Child:
- 122:fbacb932a30b
Rate 2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
igor_v | 0:8ad47e2b6f00 | 1 | #include "stdlib.h" |
igor_v | 0:8ad47e2b6f00 | 2 | #include "LPC17xx.h" |
igor_v | 0:8ad47e2b6f00 | 3 | #include "Global.h" |
Kovalev_D | 106:250ddd8629c6 | 4 | int tempNH,tempNL; |
igor_v | 0:8ad47e2b6f00 | 5 | unsigned int Rate_Flag; |
igor_v | 0:8ad47e2b6f00 | 6 | unsigned int CountBuFFIn; |
igor_v | 21:bc8c1cec3da6 | 7 | unsigned int N=0,CRC_N; |
igor_v | 21:bc8c1cec3da6 | 8 | unsigned int Param1=0; |
igor_v | 21:bc8c1cec3da6 | 9 | unsigned int Param2=0; |
igor_v | 21:bc8c1cec3da6 | 10 | unsigned int Param3=0; |
igor_v | 21:bc8c1cec3da6 | 11 | unsigned int Param4=0; |
Kovalev_D | 102:4270092be987 | 12 | unsigned int Consol=123; |
Kovalev_D | 121:bbae560cdd43 | 13 | unsigned int TempParam=1; |
igor_v | 0:8ad47e2b6f00 | 14 | /* |
igor_v | 21:bc8c1cec3da6 | 15 | void exec_CMD(void) //r. === процедура окончательной дешифрации и исполнения команды |
igor_v | 0:8ad47e2b6f00 | 16 | { |
igor_v | 0:8ad47e2b6f00 | 17 | unsigned int Comand_code; |
igor_v | 21:bc8c1cec3da6 | 18 | |
igor_v | 21:bc8c1cec3da6 | 19 | //rx_buf_copy = 1; //r. предустанов флага копирования приемного буфера |
igor_v | 0:8ad47e2b6f00 | 20 | |
igor_v | 0:8ad47e2b6f00 | 21 | Comand_code = (rcv_buf[2] & 0xFF) << 8; |
igor_v | 21:bc8c1cec3da6 | 22 | PC_Comand = Comand_code | (rcv_buf[3] & 0xFF); //e. save it in the memory for echo-transmission //r. сохранить его в памяти для обратной передачи |
igor_v | 0:8ad47e2b6f00 | 23 | }*/ |
igor_v | 0:8ad47e2b6f00 | 24 | void CMD_Maintenance(void) |
igor_v | 0:8ad47e2b6f00 | 25 | { |
Kovalev_D | 121:bbae560cdd43 | 26 | Rate_Flag=0; |
igor_v | 30:17c84ed091b3 | 27 | BuffTemp[0] = Gyro.SOC_Out; |
igor_v | 30:17c84ed091b3 | 28 | BuffTemp[1] = Gyro .My_Addres; |
igor_v | 30:17c84ed091b3 | 29 | BuffTemp[2] = Gyro .Firmware_Version; |
igor_v | 30:17c84ed091b3 | 30 | BuffTemp[3] = Gyro .GLD_Serial; |
igor_v | 21:bc8c1cec3da6 | 31 | BuffTemp[4]=0x00; |
igor_v | 21:bc8c1cec3da6 | 32 | BuffTemp[5]=0x00; |
igor_v | 21:bc8c1cec3da6 | 33 | Check(BuffTemp, 8); |
igor_v | 21:bc8c1cec3da6 | 34 | WriteConN (BuffTemp,8); |
Kovalev_D | 121:bbae560cdd43 | 35 | |
igor_v | 0:8ad47e2b6f00 | 36 | } |
igor_v | 0:8ad47e2b6f00 | 37 | |
Kovalev_D | 121:bbae560cdd43 | 38 | void CMD_Rate2(void) |
Kovalev_D | 121:bbae560cdd43 | 39 | { |
Kovalev_D | 121:bbae560cdd43 | 40 | |
Kovalev_D | 121:bbae560cdd43 | 41 | BuffTemp[ 0] = Gyro.SOC_Out; |
Kovalev_D | 121:bbae560cdd43 | 42 | BuffTemp[ 1] = Gyro.My_Addres; |
Kovalev_D | 121:bbae560cdd43 | 43 | |
Kovalev_D | 121:bbae560cdd43 | 44 | |
Kovalev_D | 121:bbae560cdd43 | 45 | BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +. |
Kovalev_D | 121:bbae560cdd43 | 46 | BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +. |
Kovalev_D | 121:bbae560cdd43 | 47 | |
Kovalev_D | 121:bbae560cdd43 | 48 | BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -. |
Kovalev_D | 121:bbae560cdd43 | 49 | BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -. |
Kovalev_D | 121:bbae560cdd43 | 50 | |
Kovalev_D | 121:bbae560cdd43 | 51 | Check(BuffTemp, 44); |
Kovalev_D | 121:bbae560cdd43 | 52 | WriteConN (BuffTemp,44); |
Kovalev_D | 121:bbae560cdd43 | 53 | } |
igor_v | 0:8ad47e2b6f00 | 54 | void CMD_Rate(void) |
igor_v | 21:bc8c1cec3da6 | 55 | { |
Kovalev_D | 107:4d178bcc9d8a | 56 | |
Kovalev_D | 115:e5a230e5af52 | 57 | |
Kovalev_D | 108:030cdde08314 | 58 | unsigned int Temp; |
Kovalev_D | 115:e5a230e5af52 | 59 | |
igor_v | 21:bc8c1cec3da6 | 60 | unsigned int Cnt_PlsL , Cnt_PlsH; // Счетчик +. |
igor_v | 21:bc8c1cec3da6 | 61 | unsigned int Cnt_MnsL , Cnt_MnsH; // Счетчик -. |
igor_v | 21:bc8c1cec3da6 | 62 | unsigned int Cnt_DifL , Cnt_DifH; // Разность счетчиков. |
igor_v | 21:bc8c1cec3da6 | 63 | unsigned int F_rasL , F_rasH; // Частота расщепления. |
igor_v | 21:bc8c1cec3da6 | 64 | |
Kovalev_D | 106:250ddd8629c6 | 65 | unsigned int HF_regL , HF_regH; // Выход регулятора ГВЧ. |
Kovalev_D | 106:250ddd8629c6 | 66 | unsigned int HF_difL , HF_difH; // Сигнал ошибки регулячтора ГВЧ. |
igor_v | 21:bc8c1cec3da6 | 67 | |
igor_v | 21:bc8c1cec3da6 | 68 | unsigned int WP_regL , WP_regH; |
igor_v | 21:bc8c1cec3da6 | 69 | |
igor_v | 21:bc8c1cec3da6 | 70 | unsigned int ADC1L, ADC2L, ADC3L, ADC4L, ADC5L; |
igor_v | 21:bc8c1cec3da6 | 71 | unsigned int ADC1H, ADC2H, ADC3H, ADC4H, ADC5H; |
Kovalev_D | 106:250ddd8629c6 | 72 | |
Kovalev_D | 108:030cdde08314 | 73 | |
Kovalev_D | 107:4d178bcc9d8a | 74 | |
igor_v | 30:17c84ed091b3 | 75 | Gyro.Firmware_Version=0xff; /// промежуточная затычка |
igor_v | 21:bc8c1cec3da6 | 76 | |
Kovalev_D | 108:030cdde08314 | 77 | |
Kovalev_D | 108:030cdde08314 | 78 | |
Kovalev_D | 106:250ddd8629c6 | 79 | |
igor_v | 30:17c84ed091b3 | 80 | Cnt_PlsH = ( Gyro.Cnt_Pls>>8) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 81 | Cnt_PlsL = Gyro.Cnt_Pls TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 82 | Gyro.Cnt_Pls= 0; |
Kovalev_D | 106:250ddd8629c6 | 83 | |
igor_v | 30:17c84ed091b3 | 84 | Cnt_MnsH = ( Gyro.Cnt_Mns>>8) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 85 | Cnt_MnsL = Gyro.Cnt_Mns TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 86 | Gyro.Cnt_Mns=0; |
Kovalev_D | 106:250ddd8629c6 | 87 | |
Kovalev_D | 106:250ddd8629c6 | 88 | Cnt_DifH = ( Dif_QEI>>8) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 89 | Cnt_DifL = ( Dif_QEI ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 90 | |
Kovalev_D | 106:250ddd8629c6 | 91 | //Spi.DAC_A |
igor_v | 30:17c84ed091b3 | 92 | F_rasH = ( Gyro.F_ras>>8 ) TakeByte; |
igor_v | 30:17c84ed091b3 | 93 | F_rasL = ( Gyro.F_ras ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 94 | |
Kovalev_D | 107:4d178bcc9d8a | 95 | HF_regL = ( Spi.DAC_A ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 96 | HF_regH = ( Spi.DAC_A>>8 ) TakeByte; |
Kovalev_D | 107:4d178bcc9d8a | 97 | |
Kovalev_D | 107:4d178bcc9d8a | 98 | WP_regH = ( Spi.DAC_A>>8 ) TakeByte; |
Kovalev_D | 107:4d178bcc9d8a | 99 | WP_regL = ( Spi.DAC_A ) TakeByte; |
Kovalev_D | 106:250ddd8629c6 | 100 | |
igor_v | 21:bc8c1cec3da6 | 101 | ADC1H = ( Spi.ADC1>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 102 | ADC1L = ( Spi.ADC1 ) TakeByte; |
igor_v | 0:8ad47e2b6f00 | 103 | |
igor_v | 21:bc8c1cec3da6 | 104 | ADC2H = ( Spi.ADC2>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 105 | ADC2L = ( Spi.ADC2 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 106 | |
igor_v | 21:bc8c1cec3da6 | 107 | ADC3H = ( Spi.ADC3>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 108 | ADC3L = ( Spi.ADC3 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 109 | |
igor_v | 21:bc8c1cec3da6 | 110 | ADC4H = ( Spi.ADC4>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 111 | ADC4L = ( Spi.ADC4 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 112 | |
igor_v | 21:bc8c1cec3da6 | 113 | ADC5H = ( Spi.ADC5>>8 ) TakeByte; |
Kovalev_D | 45:cbc955aecebe | 114 | ADC5L = ( Spi.ADC5 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 115 | |
igor_v | 21:bc8c1cec3da6 | 116 | WP_regH = ( Spi.DAC_B>>8 ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 117 | WP_regL = ( Spi.DAC_B ) TakeByte; |
igor_v | 21:bc8c1cec3da6 | 118 | |
igor_v | 21:bc8c1cec3da6 | 119 | HF_regH=0xff; |
igor_v | 21:bc8c1cec3da6 | 120 | HF_regL=0xff; |
igor_v | 21:bc8c1cec3da6 | 121 | |
igor_v | 21:bc8c1cec3da6 | 122 | HF_difH=0xff; |
igor_v | 21:bc8c1cec3da6 | 123 | HF_difL=0xff; |
igor_v | 21:bc8c1cec3da6 | 124 | |
igor_v | 0:8ad47e2b6f00 | 125 | |
igor_v | 30:17c84ed091b3 | 126 | BuffTemp[ 0] = Gyro.SOC_Out; |
igor_v | 30:17c84ed091b3 | 127 | BuffTemp[ 1] = Gyro.My_Addres; |
igor_v | 21:bc8c1cec3da6 | 128 | |
Kovalev_D | 108:030cdde08314 | 129 | |
Kovalev_D | 112:4a96133a1311 | 130 | BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +. |
Kovalev_D | 112:4a96133a1311 | 131 | BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +. |
Kovalev_D | 108:030cdde08314 | 132 | |
Kovalev_D | 112:4a96133a1311 | 133 | BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -. |
Kovalev_D | 112:4a96133a1311 | 134 | BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -. |
Kovalev_D | 108:030cdde08314 | 135 | |
Kovalev_D | 113:8be429494918 | 136 | |
Kovalev_D | 108:030cdde08314 | 137 | Temp = Gyro.CuruAngle; |
Kovalev_D | 108:030cdde08314 | 138 | Gyro.CuruAngle = 0; |
Kovalev_D | 113:8be429494918 | 139 | |
Kovalev_D | 108:030cdde08314 | 140 | BuffTemp[ 6] =(Temp >> 8) & 0xff;//старший байт разности счетчиков |
Kovalev_D | 108:030cdde08314 | 141 | BuffTemp[ 7] =(Temp >> 0) & 0xff;//младший байт разности счетчиков |
Kovalev_D | 108:030cdde08314 | 142 | |
Kovalev_D | 108:030cdde08314 | 143 | |
Kovalev_D | 108:030cdde08314 | 144 | |
igor_v | 21:bc8c1cec3da6 | 145 | |
Kovalev_D | 106:250ddd8629c6 | 146 | BuffTemp[ 8] = F_rasH;//расщипление частота |
Kovalev_D | 106:250ddd8629c6 | 147 | BuffTemp[ 9] = F_rasL;// |
igor_v | 21:bc8c1cec3da6 | 148 | |
Kovalev_D | 108:030cdde08314 | 149 | BuffTemp[10] = (Temp >> 8) & 0xff;//выход регулятора гвч; |
Kovalev_D | 108:030cdde08314 | 150 | BuffTemp[11] = (Temp >> 0) & 0xff;; |
igor_v | 21:bc8c1cec3da6 | 151 | |
Kovalev_D | 121:bbae560cdd43 | 152 | Temp = (Gyro.AD_Slow >> 16)- 0x7fff;; |
Kovalev_D | 108:030cdde08314 | 153 | BuffTemp[12]=(Temp >> 8) & 0xff;//// |
Kovalev_D | 108:030cdde08314 | 154 | BuffTemp[13]=(Temp >> 0) & 0xff;//// |
igor_v | 21:bc8c1cec3da6 | 155 | |
Kovalev_D | 108:030cdde08314 | 156 | |
Kovalev_D | 108:030cdde08314 | 157 | Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12))); |
Kovalev_D | 108:030cdde08314 | 158 | BuffTemp[14] = (Temp >> 8) & 0xff; |
Kovalev_D | 108:030cdde08314 | 159 | BuffTemp[15] = (Temp >> 0) & 0xff; |
igor_v | 21:bc8c1cec3da6 | 160 | |
Kovalev_D | 107:4d178bcc9d8a | 161 | BuffTemp[16] = 0xf; |
Kovalev_D | 106:250ddd8629c6 | 162 | BuffTemp[17] = 0x02; |
Kovalev_D | 108:030cdde08314 | 163 | |
igor_v | 21:bc8c1cec3da6 | 164 | |
Kovalev_D | 108:030cdde08314 | 165 | Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12))); |
Kovalev_D | 108:030cdde08314 | 166 | BuffTemp[18] = (Temp >> 8) & 0xff; |
Kovalev_D | 108:030cdde08314 | 167 | BuffTemp[19] = (Temp >> 0) & 0xff; |
igor_v | 21:bc8c1cec3da6 | 168 | |
Kovalev_D | 106:250ddd8629c6 | 169 | BuffTemp[20] = 0x00; |
Kovalev_D | 106:250ddd8629c6 | 170 | BuffTemp[21] = 0x00; |
Kovalev_D | 120:9f446f1495e8 | 171 | |
Kovalev_D | 119:4d7fcece9e8e | 172 | |
Kovalev_D | 121:bbae560cdd43 | 173 | // if (Spi.DAC_B < 0x7fff) Temp = Spi.DAC_B - 0x7fff; else Temp = 0x7fff - Spi.DAC_B ; |
Kovalev_D | 121:bbae560cdd43 | 174 | Temp = Spi.DAC_B - 0x7fff; |
Kovalev_D | 108:030cdde08314 | 175 | BuffTemp[22] = (Temp >> 8) & 0xff; |
Kovalev_D | 108:030cdde08314 | 176 | BuffTemp[23] = (Temp >> 0) & 0xff; |
igor_v | 21:bc8c1cec3da6 | 177 | |
Kovalev_D | 121:bbae560cdd43 | 178 | |
Kovalev_D | 121:bbae560cdd43 | 179 | Temp = Gyro.PLC_Delta >> 16; |
Kovalev_D | 121:bbae560cdd43 | 180 | BuffTemp[24] = (Temp >> 8) & 0xff; |
Kovalev_D | 121:bbae560cdd43 | 181 | BuffTemp[25] = (Temp >> 0) & 0xff;// ХЗ |
Kovalev_D | 113:8be429494918 | 182 | |
Kovalev_D | 121:bbae560cdd43 | 183 | Temp = 100; |
Kovalev_D | 113:8be429494918 | 184 | BuffTemp[26] = (Temp >> 8) & 0xff; |
Kovalev_D | 113:8be429494918 | 185 | BuffTemp[27] = (Temp >> 0) & 0xff; |
Kovalev_D | 113:8be429494918 | 186 | |
Kovalev_D | 113:8be429494918 | 187 | Temp = Gyro.AD_Slow >> 16; |
Kovalev_D | 113:8be429494918 | 188 | BuffTemp[28] = (Temp >> 8) & 0xff; |
Kovalev_D | 113:8be429494918 | 189 | BuffTemp[29] = (Temp >> 0) & 0xff; |
Kovalev_D | 113:8be429494918 | 190 | |
Kovalev_D | 113:8be429494918 | 191 | Temp = Gyro.In1; |
Kovalev_D | 113:8be429494918 | 192 | BuffTemp[30] = (Temp >> 8) & 0xff;//in1//2 |
Kovalev_D | 113:8be429494918 | 193 | BuffTemp[31] = (Temp >> 0) & 0xff; |
Kovalev_D | 113:8be429494918 | 194 | |
Kovalev_D | 113:8be429494918 | 195 | Temp = Gyro.In2; |
Kovalev_D | 113:8be429494918 | 196 | BuffTemp[32] = (Temp >> 8) & 0xff; |
Kovalev_D | 113:8be429494918 | 197 | BuffTemp[33] = (Temp >> 0) & 0xff;//in2//3 |
Kovalev_D | 113:8be429494918 | 198 | |
Kovalev_D | 113:8be429494918 | 199 | Temp = Gyro.DeltaT; |
Kovalev_D | 113:8be429494918 | 200 | BuffTemp[34] = (Temp >> 8) & 0xff;//дельта |
Kovalev_D | 113:8be429494918 | 201 | BuffTemp[35] = (Temp >> 0) & 0xff; |
Kovalev_D | 115:e5a230e5af52 | 202 | |
Kovalev_D | 116:66f1f0ff2dab | 203 | Temp = Gyro.Termo;//0xa4=164 |
Kovalev_D | 115:e5a230e5af52 | 204 | |
Kovalev_D | 113:8be429494918 | 205 | BuffTemp[36] =(Temp >> 8) & 0xff;//температура |
Kovalev_D | 115:e5a230e5af52 | 206 | BuffTemp[37] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5 |
igor_v | 21:bc8c1cec3da6 | 207 | |
Kovalev_D | 106:250ddd8629c6 | 208 | BuffTemp[38] =0x00; |
Kovalev_D | 106:250ddd8629c6 | 209 | BuffTemp[39] =0x00; |
Kovalev_D | 106:250ddd8629c6 | 210 | BuffTemp[40] =0x00; |
Kovalev_D | 106:250ddd8629c6 | 211 | BuffTemp[41] =0x00; |
igor_v | 21:bc8c1cec3da6 | 212 | |
igor_v | 21:bc8c1cec3da6 | 213 | |
igor_v | 21:bc8c1cec3da6 | 214 | Check(BuffTemp, 44); |
igor_v | 21:bc8c1cec3da6 | 215 | WriteConN (BuffTemp,44); |
Kovalev_D | 92:c892f0311aa7 | 216 | |
igor_v | 0:8ad47e2b6f00 | 217 | } |
igor_v | 0:8ad47e2b6f00 | 218 | |
igor_v | 21:bc8c1cec3da6 | 219 | void CMD_M_Control_D8()///установка\сброс регистров управления |
igor_v | 21:bc8c1cec3da6 | 220 | { |
Kovalev_D | 104:ab1cb4ff56b2 | 221 | unsigned int bit,NReg,Pa; |
Kovalev_D | 104:ab1cb4ff56b2 | 222 | unsigned int SR,V,A,Bit_num; |
Kovalev_D | 104:ab1cb4ff56b2 | 223 | SR=0; |
Kovalev_D | 104:ab1cb4ff56b2 | 224 | V=0; |
Kovalev_D | 104:ab1cb4ff56b2 | 225 | A=0; |
Kovalev_D | 104:ab1cb4ff56b2 | 226 | Bit_num=0; |
Kovalev_D | 104:ab1cb4ff56b2 | 227 | |
igor_v | 30:17c84ed091b3 | 228 | BuffTemp[0] = Gyro.SOC_Out; //DD |
igor_v | 30:17c84ed091b3 | 229 | BuffTemp[1] = Gyro.My_Addres; //00 |
igor_v | 30:17c84ed091b3 | 230 | BuffTemp[2] = Gyro.CMD_In; //D8 |
Kovalev_D | 104:ab1cb4ff56b2 | 231 | |
Kovalev_D | 104:ab1cb4ff56b2 | 232 | /* |
Kovalev_D | 104:ab1cb4ff56b2 | 233 | |
Kovalev_D | 104:ab1cb4ff56b2 | 234 | FrqON |
Kovalev_D | 104:ab1cb4ff56b2 | 235 | PlcON |
Kovalev_D | 104:ab1cb4ff56b2 | 236 | HFOOFF |
Kovalev_D | 104:ab1cb4ff56b2 | 237 | HFOON |
igor_v | 21:bc8c1cec3da6 | 238 | |
Kovalev_D | 104:ab1cb4ff56b2 | 239 | PlcOFF |
Kovalev_D | 104:ab1cb4ff56b2 | 240 | PlcON |
Kovalev_D | 104:ab1cb4ff56b2 | 241 | */ |
Kovalev_D | 104:ab1cb4ff56b2 | 242 | Pa = BuffTemp[3]; |
Kovalev_D | 104:ab1cb4ff56b2 | 243 | |
Kovalev_D | 104:ab1cb4ff56b2 | 244 | SR = Pa >> 0x7; |
Kovalev_D | 104:ab1cb4ff56b2 | 245 | |
Kovalev_D | 104:ab1cb4ff56b2 | 246 | V = Pa >> 0x5; |
Kovalev_D | 104:ab1cb4ff56b2 | 247 | V = V & 0x3; |
Kovalev_D | 104:ab1cb4ff56b2 | 248 | |
Kovalev_D | 104:ab1cb4ff56b2 | 249 | A = Pa >> 0x4; |
Kovalev_D | 104:ab1cb4ff56b2 | 250 | A = A & 0x1; |
Kovalev_D | 104:ab1cb4ff56b2 | 251 | |
Kovalev_D | 104:ab1cb4ff56b2 | 252 | Bit_num = Pa & 0xf; |
Kovalev_D | 104:ab1cb4ff56b2 | 253 | |
Kovalev_D | 104:ab1cb4ff56b2 | 254 | if(SR) { |
Kovalev_D | 104:ab1cb4ff56b2 | 255 | switch (Bit_num){ |
Kovalev_D | 105:bd01d8d20fb6 | 256 | |
Kovalev_D | 104:ab1cb4ff56b2 | 257 | case 0x06: |
Kovalev_D | 104:ab1cb4ff56b2 | 258 | FrqON |
Kovalev_D | 105:bd01d8d20fb6 | 259 | break; |
Kovalev_D | 105:bd01d8d20fb6 | 260 | |
Kovalev_D | 104:ab1cb4ff56b2 | 261 | case 0x03: |
Kovalev_D | 105:bd01d8d20fb6 | 262 | HFOON |
Kovalev_D | 105:bd01d8d20fb6 | 263 | break; |
Kovalev_D | 105:bd01d8d20fb6 | 264 | |
Kovalev_D | 105:bd01d8d20fb6 | 265 | case 0x01: |
Kovalev_D | 105:bd01d8d20fb6 | 266 | PlcON |
Kovalev_D | 105:bd01d8d20fb6 | 267 | break; |
Kovalev_D | 104:ab1cb4ff56b2 | 268 | } |
Kovalev_D | 104:ab1cb4ff56b2 | 269 | } |
Kovalev_D | 104:ab1cb4ff56b2 | 270 | else{ |
Kovalev_D | 104:ab1cb4ff56b2 | 271 | switch (Bit_num){ |
Kovalev_D | 105:bd01d8d20fb6 | 272 | |
Kovalev_D | 105:bd01d8d20fb6 | 273 | case 0x06: |
Kovalev_D | 104:ab1cb4ff56b2 | 274 | FrqOff |
Kovalev_D | 105:bd01d8d20fb6 | 275 | break; |
Kovalev_D | 105:bd01d8d20fb6 | 276 | |
Kovalev_D | 105:bd01d8d20fb6 | 277 | case 0x03: |
Kovalev_D | 105:bd01d8d20fb6 | 278 | HFOOFF |
Kovalev_D | 105:bd01d8d20fb6 | 279 | break; |
Kovalev_D | 105:bd01d8d20fb6 | 280 | |
Kovalev_D | 105:bd01d8d20fb6 | 281 | case 0x01: |
Kovalev_D | 105:bd01d8d20fb6 | 282 | PlcOFF |
Kovalev_D | 105:bd01d8d20fb6 | 283 | break; |
Kovalev_D | 104:ab1cb4ff56b2 | 284 | } |
Kovalev_D | 104:ab1cb4ff56b2 | 285 | } |
igor_v | 21:bc8c1cec3da6 | 286 | |
igor_v | 0:8ad47e2b6f00 | 287 | } |
igor_v | 0:8ad47e2b6f00 | 288 | |
igor_v | 21:bc8c1cec3da6 | 289 | void CMD_M_Control_D9()///чтение регистров управления |
igor_v | 21:bc8c1cec3da6 | 290 | { |
igor_v | 21:bc8c1cec3da6 | 291 | int bit,NReg; |
igor_v | 30:17c84ed091b3 | 292 | BuffTemp[0] = Gyro.SOC_Out; //DD |
igor_v | 30:17c84ed091b3 | 293 | BuffTemp[1] = Gyro.My_Addres; //00 |
igor_v | 30:17c84ed091b3 | 294 | BuffTemp[2] = Gyro.CMD_In; //D9 |
igor_v | 21:bc8c1cec3da6 | 295 | if ((Param1 & 0x10) == 0) { |
igor_v | 21:bc8c1cec3da6 | 296 | BuffTemp[3]=0<<4; |
igor_v | 30:17c84ed091b3 | 297 | BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff; |
igor_v | 30:17c84ed091b3 | 298 | BuffTemp[5] = Gyro.RgConA & 0xff; |
igor_v | 21:bc8c1cec3da6 | 299 | } else { |
igor_v | 21:bc8c1cec3da6 | 300 | BuffTemp[3]=1<<4; |
igor_v | 30:17c84ed091b3 | 301 | BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff; |
igor_v | 30:17c84ed091b3 | 302 | BuffTemp[5] = Gyro.RgConB & 0xff; |
igor_v | 21:bc8c1cec3da6 | 303 | } |
igor_v | 21:bc8c1cec3da6 | 304 | Check(BuffTemp, CRC_N); |
igor_v | 21:bc8c1cec3da6 | 305 | WriteConN (BuffTemp,CRC_N); |
igor_v | 21:bc8c1cec3da6 | 306 | } |
igor_v | 21:bc8c1cec3da6 | 307 | // (номер (код) ЦАПа 0...3, старший байт требуемого ЦАПа, младший байт треб ЦАПа) |
igor_v | 0:8ad47e2b6f00 | 308 | void CMD_M_Stymul() |
igor_v | 0:8ad47e2b6f00 | 309 | { |
igor_v | 21:bc8c1cec3da6 | 310 | int temp; |
Kovalev_D | 102:4270092be987 | 311 | int HFO; |
Kovalev_D | 102:4270092be987 | 312 | temp=BuffTemp[3]; |
Kovalev_D | 102:4270092be987 | 313 | Consol = temp&0x3; |
Kovalev_D | 103:e96f08947def | 314 | HFO = temp&0x3;// // (номер (код) ЦАПа 0...3, HFO - 3dac, PLC - 0DAC |
igor_v | 21:bc8c1cec3da6 | 315 | temp =((BuffTemp[4]<<8) | BuffTemp[5]); |
igor_v | 21:bc8c1cec3da6 | 316 | // temp=0; |
igor_v | 21:bc8c1cec3da6 | 317 | temp=temp&0xFFFF; |
Kovalev_D | 102:4270092be987 | 318 | |
Kovalev_D | 102:4270092be987 | 319 | if(HFO) |
Kovalev_D | 102:4270092be987 | 320 | { |
Kovalev_D | 102:4270092be987 | 321 | Spi.DAC_A=(unsigned int)temp; |
Kovalev_D | 102:4270092be987 | 322 | } |
Kovalev_D | 102:4270092be987 | 323 | else{ |
igor_v | 21:bc8c1cec3da6 | 324 | DACF =(temp*K_DAC)+deltaDAC; |
igor_v | 21:bc8c1cec3da6 | 325 | Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC); |
igor_v | 21:bc8c1cec3da6 | 326 | } |
igor_v | 0:8ad47e2b6f00 | 327 | } |
Kovalev_D | 103:e96f08947def | 328 | void Gph_W() |
Kovalev_D | 103:e96f08947def | 329 | { |
Kovalev_D | 108:030cdde08314 | 330 | Out_G_photo(BuffTemp[4],BuffTemp[5]); |
Kovalev_D | 103:e96f08947def | 331 | } |
igor_v | 0:8ad47e2b6f00 | 332 | |
Kovalev_D | 98:95b8e79f13e1 | 333 | void CMD_M_vib() |
Kovalev_D | 115:e5a230e5af52 | 334 | { |
Kovalev_D | 102:4270092be987 | 335 | unsigned int temp1,temp2; |
Kovalev_D | 102:4270092be987 | 336 | |
Kovalev_D | 102:4270092be987 | 337 | temp1 =((BuffTemp[4]<<8) | BuffTemp[5]); |
Kovalev_D | 102:4270092be987 | 338 | temp1=temp1&0xFFFF; |
Kovalev_D | 102:4270092be987 | 339 | |
Kovalev_D | 102:4270092be987 | 340 | temp2 =((BuffTemp[6]<<8) | BuffTemp[7]); |
Kovalev_D | 102:4270092be987 | 341 | temp2=temp2&0xFFFF; |
Kovalev_D | 102:4270092be987 | 342 | Gyro.Frq = ((unsigned int) ((7680000*16/temp1)))*16*16*16; |
Kovalev_D | 102:4270092be987 | 343 | Consol=Gyro.Frq ; |
Kovalev_D | 98:95b8e79f13e1 | 344 | } |
igor_v | 0:8ad47e2b6f00 | 345 | unsigned int Check(char *c, unsigned int Count) |
igor_v | 0:8ad47e2b6f00 | 346 | { |
igor_v | 21:bc8c1cec3da6 | 347 | int i=1; |
igor_v | 21:bc8c1cec3da6 | 348 | unsigned int temp,CRC; |
igor_v | 21:bc8c1cec3da6 | 349 | |
igor_v | 21:bc8c1cec3da6 | 350 | |
igor_v | 21:bc8c1cec3da6 | 351 | temp=1; |
igor_v | 21:bc8c1cec3da6 | 352 | CRC=0; |
igor_v | 21:bc8c1cec3da6 | 353 | |
igor_v | 21:bc8c1cec3da6 | 354 | |
igor_v | 21:bc8c1cec3da6 | 355 | for(; i<Count-2; i++) { |
igor_v | 21:bc8c1cec3da6 | 356 | CRC+=c[i]; |
igor_v | 21:bc8c1cec3da6 | 357 | } |
igor_v | 0:8ad47e2b6f00 | 358 | |
igor_v | 21:bc8c1cec3da6 | 359 | if(c[Count-2]!=((CRC>>8)&0xFF)) { |
igor_v | 21:bc8c1cec3da6 | 360 | temp=0; |
igor_v | 30:17c84ed091b3 | 361 | Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2; |
igor_v | 21:bc8c1cec3da6 | 362 | } |
igor_v | 0:8ad47e2b6f00 | 363 | |
igor_v | 21:bc8c1cec3da6 | 364 | if(c[Count-1]!=((CRC>>0)&0xFF)) { |
igor_v | 21:bc8c1cec3da6 | 365 | temp=0; |
igor_v | 30:17c84ed091b3 | 366 | // Gyro.RsErrLine= (Gyro.RsErrLine)=0x2; |
igor_v | 21:bc8c1cec3da6 | 367 | } |
igor_v | 21:bc8c1cec3da6 | 368 | |
igor_v | 21:bc8c1cec3da6 | 369 | c[Count-2]=(CRC>>8)&0xFF; |
igor_v | 21:bc8c1cec3da6 | 370 | c[Count-1]=(CRC>>0)&0xFF; |
igor_v | 21:bc8c1cec3da6 | 371 | |
igor_v | 21:bc8c1cec3da6 | 372 | |
igor_v | 21:bc8c1cec3da6 | 373 | |
igor_v | 21:bc8c1cec3da6 | 374 | return temp; |
igor_v | 0:8ad47e2b6f00 | 375 | } |
igor_v | 0:8ad47e2b6f00 | 376 | |
igor_v | 0:8ad47e2b6f00 | 377 | int Getlengf(void) |
igor_v | 0:8ad47e2b6f00 | 378 | { |
Kovalev_D | 121:bbae560cdd43 | 379 | unsigned int lengf; |
Kovalev_D | 121:bbae560cdd43 | 380 | lengf = 1; |
igor_v | 30:17c84ed091b3 | 381 | switch(Gyro.CMD_In) { |
igor_v | 30:17c84ed091b3 | 382 | case 0x99://Gyrotainance |
Kovalev_D | 92:c892f0311aa7 | 383 | |
igor_v | 21:bc8c1cec3da6 | 384 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 385 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 386 | break; |
igor_v | 0:8ad47e2b6f00 | 387 | |
igor_v | 21:bc8c1cec3da6 | 388 | case 0x0A: //m_stymul |
igor_v | 21:bc8c1cec3da6 | 389 | lengf=8; |
igor_v | 21:bc8c1cec3da6 | 390 | break; |
igor_v | 21:bc8c1cec3da6 | 391 | |
igor_v | 21:bc8c1cec3da6 | 392 | case 0xA5://DeviceMode |
igor_v | 21:bc8c1cec3da6 | 393 | |
igor_v | 21:bc8c1cec3da6 | 394 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 395 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 396 | break; |
igor_v | 21:bc8c1cec3da6 | 397 | |
igor_v | 21:bc8c1cec3da6 | 398 | case 0xDD://m_rate |
igor_v | 0:8ad47e2b6f00 | 399 | |
igor_v | 21:bc8c1cec3da6 | 400 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 401 | CRC_N=44; |
igor_v | 21:bc8c1cec3da6 | 402 | break; |
igor_v | 21:bc8c1cec3da6 | 403 | |
igor_v | 21:bc8c1cec3da6 | 404 | case 0xB0://DeviceMode |
igor_v | 21:bc8c1cec3da6 | 405 | |
igor_v | 21:bc8c1cec3da6 | 406 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 407 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 408 | break; |
igor_v | 21:bc8c1cec3da6 | 409 | |
igor_v | 21:bc8c1cec3da6 | 410 | case 0xD8://m_control |
igor_v | 0:8ad47e2b6f00 | 411 | |
igor_v | 21:bc8c1cec3da6 | 412 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 413 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 414 | break; |
igor_v | 21:bc8c1cec3da6 | 415 | |
igor_v | 21:bc8c1cec3da6 | 416 | case 0xD9://m_control |
igor_v | 0:8ad47e2b6f00 | 417 | |
igor_v | 21:bc8c1cec3da6 | 418 | lengf=6; |
igor_v | 21:bc8c1cec3da6 | 419 | CRC_N=8; |
igor_v | 21:bc8c1cec3da6 | 420 | break; |
Kovalev_D | 102:4270092be987 | 421 | |
Kovalev_D | 102:4270092be987 | 422 | case 0xE4: |
Kovalev_D | 98:95b8e79f13e1 | 423 | lengf=8; |
Kovalev_D | 98:95b8e79f13e1 | 424 | break; |
Kovalev_D | 103:e96f08947def | 425 | |
Kovalev_D | 103:e96f08947def | 426 | |
Kovalev_D | 103:e96f08947def | 427 | case 0xE6: |
Kovalev_D | 103:e96f08947def | 428 | lengf=8; |
Kovalev_D | 103:e96f08947def | 429 | break; |
Kovalev_D | 103:e96f08947def | 430 | |
igor_v | 21:bc8c1cec3da6 | 431 | } |
Kovalev_D | 98:95b8e79f13e1 | 432 | |
igor_v | 21:bc8c1cec3da6 | 433 | return lengf; |
igor_v | 0:8ad47e2b6f00 | 434 | } |
igor_v | 0:8ad47e2b6f00 | 435 | |
igor_v | 0:8ad47e2b6f00 | 436 | void Read_CMD(void) |
igor_v | 21:bc8c1cec3da6 | 437 | { |
Kovalev_D | 92:c892f0311aa7 | 438 | |
Kovalev_D | 45:cbc955aecebe | 439 | |
Kovalev_D | 45:cbc955aecebe | 440 | Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;//для сброса ошибки |
igor_v | 21:bc8c1cec3da6 | 441 | |
Kovalev_D | 93:b3803774f110 | 442 | CountBuFFIn=ReadChekCon1(BuffTemp); // чтение данных из консоли |
igor_v | 42:6fc307c4963e | 443 | |
Kovalev_D | 92:c892f0311aa7 | 444 | if(CountBuFFIn==1) { // если есть первый байт |
igor_v | 21:bc8c1cec3da6 | 445 | if (BuffTemp[0] != SOC_In) { |
Kovalev_D | 93:b3803774f110 | 446 | ReadCon1(BuffTemp); |
igor_v | 30:17c84ed091b3 | 447 | Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... "); |
Kovalev_D | 93:b3803774f110 | 448 | BuffTemp[99]=Gyro.RsErrLine; |
Kovalev_D | 102:4270092be987 | 449 | |
igor_v | 21:bc8c1cec3da6 | 450 | } |
Kovalev_D | 92:c892f0311aa7 | 451 | } else if(CountBuFFIn==2) { //если второй ,fqn |
igor_v | 30:17c84ed091b3 | 452 | if (BuffTemp[1] != Gyro.My_Addres) { |
Kovalev_D | 93:b3803774f110 | 453 | ReadCon1(BuffTemp); |
igor_v | 30:17c84ed091b3 | 454 | Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... "); |
igor_v | 21:bc8c1cec3da6 | 455 | } |
igor_v | 42:6fc307c4963e | 456 | } else if(CountBuFFIn==3) { // если ьоетий байт |
igor_v | 30:17c84ed091b3 | 457 | Gyro.CMD_In=BuffTemp[2]; |
Kovalev_D | 92:c892f0311aa7 | 458 | N=Getlengf(); |
Kovalev_D | 92:c892f0311aa7 | 459 | } |
Kovalev_D | 92:c892f0311aa7 | 460 | else if(CountBuFFIn==4 && (N==6)) |
Kovalev_D | 92:c892f0311aa7 | 461 | { // N - длина посылки аскглд(для записи параметров). определяется по коду команды в Getlengf(); |
igor_v | 21:bc8c1cec3da6 | 462 | Param1=BuffTemp[3]; |
Kovalev_D | 92:c892f0311aa7 | 463 | } |
Kovalev_D | 92:c892f0311aa7 | 464 | else if((CountBuFFIn==5)&&(N==7)) |
Kovalev_D | 92:c892f0311aa7 | 465 | { |
Kovalev_D | 92:c892f0311aa7 | 466 | |
igor_v | 21:bc8c1cec3da6 | 467 | Param1=BuffTemp[3]; |
igor_v | 21:bc8c1cec3da6 | 468 | Param2=BuffTemp[4]; |
igor_v | 0:8ad47e2b6f00 | 469 | |
Kovalev_D | 92:c892f0311aa7 | 470 | } |
Kovalev_D | 92:c892f0311aa7 | 471 | else if((CountBuFFIn==6)&&(N==8)) |
Kovalev_D | 92:c892f0311aa7 | 472 | { |
igor_v | 21:bc8c1cec3da6 | 473 | Param1=BuffTemp[3]; |
igor_v | 21:bc8c1cec3da6 | 474 | Param2=BuffTemp[4]; |
igor_v | 21:bc8c1cec3da6 | 475 | Param3=BuffTemp[5]; |
Kovalev_D | 92:c892f0311aa7 | 476 | } |
Kovalev_D | 102:4270092be987 | 477 | else if((CountBuFFIn==8)&&(N==10)) |
Kovalev_D | 102:4270092be987 | 478 | { |
Kovalev_D | 102:4270092be987 | 479 | Param1=BuffTemp[4]; |
Kovalev_D | 102:4270092be987 | 480 | Param2=BuffTemp[5]; |
Kovalev_D | 102:4270092be987 | 481 | Param3=BuffTemp[6]; |
Kovalev_D | 102:4270092be987 | 482 | Param4=BuffTemp[7]; |
Kovalev_D | 102:4270092be987 | 483 | } |
Kovalev_D | 98:95b8e79f13e1 | 484 | |
Kovalev_D | 92:c892f0311aa7 | 485 | else if(CountBuFFIn > (N-1)) |
Kovalev_D | 92:c892f0311aa7 | 486 | { |
Kovalev_D | 93:b3803774f110 | 487 | ReadCon1(BuffTemp); |
igor_v | 30:17c84ed091b3 | 488 | switch(Gyro.CMD_In) { |
Kovalev_D | 121:bbae560cdd43 | 489 | Rate_Flag=0; |
Kovalev_D | 92:c892f0311aa7 | 490 | case 0x99: |
Kovalev_D | 121:bbae560cdd43 | 491 | Rate_Flag=0; |
igor_v | 21:bc8c1cec3da6 | 492 | CMD_Maintenance(); |
Kovalev_D | 121:bbae560cdd43 | 493 | |
igor_v | 21:bc8c1cec3da6 | 494 | break; |
igor_v | 21:bc8c1cec3da6 | 495 | case 0xD8: |
igor_v | 21:bc8c1cec3da6 | 496 | CMD_M_Control_D8(); |
igor_v | 21:bc8c1cec3da6 | 497 | case 0xD9: |
igor_v | 21:bc8c1cec3da6 | 498 | CMD_M_Control_D9(); |
igor_v | 21:bc8c1cec3da6 | 499 | break; |
igor_v | 21:bc8c1cec3da6 | 500 | case 0x0A: |
Kovalev_D | 45:cbc955aecebe | 501 | CMD_M_Stymul(); |
igor_v | 21:bc8c1cec3da6 | 502 | break; |
igor_v | 21:bc8c1cec3da6 | 503 | case 0xDD: |
Kovalev_D | 121:bbae560cdd43 | 504 | TempParam = BuffTemp[3]; |
Kovalev_D | 121:bbae560cdd43 | 505 | Rate_Flag=0; |
Kovalev_D | 121:bbae560cdd43 | 506 | if (TempParam==3) Rate_Flag=3; |
Kovalev_D | 121:bbae560cdd43 | 507 | else if(TempParam==2) Rate_Flag=2; |
Kovalev_D | 121:bbae560cdd43 | 508 | else Rate_Flag=1; |
Kovalev_D | 102:4270092be987 | 509 | break; |
Kovalev_D | 102:4270092be987 | 510 | case 0xE4: |
Kovalev_D | 102:4270092be987 | 511 | CMD_M_vib(); |
Kovalev_D | 102:4270092be987 | 512 | break; |
Kovalev_D | 103:e96f08947def | 513 | case 0xE6: |
Kovalev_D | 103:e96f08947def | 514 | Gph_W(); |
Kovalev_D | 103:e96f08947def | 515 | break; |
Kovalev_D | 108:030cdde08314 | 516 | |
Kovalev_D | 103:e96f08947def | 517 | |
igor_v | 30:17c84ed091b3 | 518 | Gyro.RsErrLine = 0; |
Kovalev_D | 103:e96f08947def | 519 | |
Kovalev_D | 103:e96f08947def | 520 | |
Kovalev_D | 102:4270092be987 | 521 | } |
Kovalev_D | 121:bbae560cdd43 | 522 | |
igor_v | 21:bc8c1cec3da6 | 523 | } |
Kovalev_D | 121:bbae560cdd43 | 524 | // else if(CountBuFFIn > 40 ) |
Kovalev_D | 121:bbae560cdd43 | 525 | // { |
Kovalev_D | 121:bbae560cdd43 | 526 | // ReadCon1(BuffTemp); |
Kovalev_D | 121:bbae560cdd43 | 527 | // } |
Kovalev_D | 121:bbae560cdd43 | 528 | |
igor_v | 0:8ad47e2b6f00 | 529 | } |
igor_v | 0:8ad47e2b6f00 | 530 | |
igor_v | 0:8ad47e2b6f00 | 531 | |
igor_v | 21:bc8c1cec3da6 | 532 |