Diff: MTimer.c

Revision:

108:030cdde08314

Parent:

107:4d178bcc9d8a

Child:

112:4a96133a1311

--- a/MTimer.c	Fri Apr 01 16:13:55 2016 +0000
+++ b/MTimer.c	Sat Apr 02 11:15:38 2016 +0000
@@ -143,11 +143,24 @@
     D_QEI();								//чтение данных по счетчику
     cheng();		             			// расчет вибропривода
     
-    Gyro.OldCuruAngle = Gyro.CuruAngle;
-    Gyro.CuruAngle = Gyro.CuruAngle + Buff_32Point [CountV255];
-    Gyro.Num += Gyro.CuruAngle-Gyro.OldCuruAngle;
+
     
     
+//    Gyro.CuruAngle += 	((Buff_1Point [CountV255])*32)-Buff_32Point [CountV255];
+//    Gyro.CuruAngle += 	Buff_1Point [CountV255]*32  + ((Buff_1Point [(CountV255 - 1 - 32) & 0xff] *32) - Buff_32Point [(CountV255 - 1) & 0xff]) - ((Buff_1Point [(CountV255  - 32) & 0xff] *32) - Buff_32Point [(CountV255 ) & 0xff]);
+//     Gyro.CuruAngle += 	Buff_32Point [(CountV255 + 32) & 0xff]; //- Buff_32Point [(CountV255 ) & 0xff];
+
+      Gyro.CuruAngle += 	Buff_32Point [CountV31];//  - Buff_1Point [(CountV255  -  1) & 0xff]*32;
+
+
+    //Gyro.OldCuruAngle = Gyro.CuruAngle;
+    //Gyro.CuruAngle = Gyro.CuruAngle + Buff_32Point [CountV255];
+    //Gyro.Num += Gyro.CuruAngle-Gyro.OldCuruAngle;
+    
+    
+
+
+
     SPI_Exchange(); 				//Чтение ADS_SPI
     LPC_TIM1->IR = 1;