Dmitry Kovalev
forkd
Fork of
LGstaandart
by 
Dmitry Kovalev
Diff: Command.c
- Revision:
- 30:17c84ed091b3
- Parent:
- 25:1a6798ccd3cd
- Child:
- 38:716472a4492e
--- a/Command.c Fri Feb 05 08:02:55 2016 +0000
+++ b/Command.c Fri Feb 05 23:21:54 2016 +0000
@@ -29,10 +29,10 @@
}*/
void CMD_Maintenance(void)
{
- BuffTemp[0] = Main.SOC_Out;
- BuffTemp[1] = Main.My_Addres;
- BuffTemp[2] = Main.Firmware_Version;
- BuffTemp[3] = Main.GLD_Serial;
+ BuffTemp[0] = Gyro.SOC_Out;
+ BuffTemp[1] = Gyro .My_Addres;
+ BuffTemp[2] = Gyro .Firmware_Version;
+ BuffTemp[3] = Gyro .GLD_Serial;
BuffTemp[4]=0x00;
BuffTemp[5]=0x00;
Check(BuffTemp, 8);
@@ -58,24 +58,24 @@
LoopOn
-// Main.T_Vib=(unsigned int)((7680000*16/Main.Frq)*4096);
- Main.T_Vib=(unsigned int)((7680000*16/(Main.Frq>>12)));
- Main.Firmware_Version=0xff; /// промежуточная затычка
+// Gyro .T_Vib=(unsigned int)((7680000*16/Gyro.Frq)*4096);
+ Gyro.T_Vib=(unsigned int)((7680000*16/(Gyro.Frq>>12)));
+ Gyro.Firmware_Version=0xff; /// промежуточная затычка
- T_VibH = ( Main.T_Vib>>8 ) TakeByte;
- T_VibL = ( Main.T_Vib ) TakeByte;
+ T_VibH = ( Gyro.T_Vib>>8 ) TakeByte;
+ T_VibL = ( Gyro.T_Vib ) TakeByte;
- Cnt_PlsH = ( Main.Cnt_Pls>>8) TakeByte;
- Cnt_PlsL = ( Main.Cnt_Pls ) TakeByte;
+ Cnt_PlsH = ( Gyro.Cnt_Pls>>8) TakeByte;
+ Cnt_PlsL = ( Gyro.Cnt_Pls ) TakeByte;
- Cnt_MnsH = ( Main.Cnt_Mns>>8) TakeByte;
- Cnt_MnsL = ( Main.Cnt_Mns ) TakeByte;
+ Cnt_MnsH = ( Gyro.Cnt_Mns>>8) TakeByte;
+ Cnt_MnsL = ( Gyro.Cnt_Mns ) TakeByte;
- Cnt_DifH = ( Main.Cnt_Dif>>8) TakeByte;
- Cnt_DifL = ( Main.Cnt_Dif ) TakeByte;
+ Cnt_DifH = ( Gyro.Cnt_Dif>>8) TakeByte;
+ Cnt_DifL = ( Gyro.Cnt_Dif ) TakeByte;
- F_rasH = ( Main.F_ras>>8 ) TakeByte;
- F_rasL = ( Main.F_ras ) TakeByte;
+ F_rasH = ( Gyro.F_ras>>8 ) TakeByte;
+ F_rasL = ( Gyro.F_ras ) TakeByte;
ADC1H = ( Spi.ADC1>>8 ) TakeByte;
ADC1L = ( Spi.ADC1 ) TakeByte;
@@ -102,8 +102,8 @@
HF_difL=0xff;
- BuffTemp[ 0] = Main.SOC_Out;
- BuffTemp[ 1] = Main.My_Addres;
+ BuffTemp[ 0] = Gyro.SOC_Out;
+ BuffTemp[ 1] = Gyro.My_Addres;
BuffTemp[ 2] = Cnt_PlsH;//старший байт счетчика +.
BuffTemp[ 3] = Cnt_PlsL;//младший байт счетчика +.
@@ -126,20 +126,20 @@
BuffTemp[14] = T_VibH ;//
BuffTemp[15] = T_VibL; //?
- BuffTemp[16] = Main.Firmware_Version;//ХЗ
- BuffTemp[17] = Main.Firmware_Version;//ХЗ
+ BuffTemp[16] = Gyro.Firmware_Version;//ХЗ
+ BuffTemp[17] = Gyro.Firmware_Version;//ХЗ
BuffTemp[18] = T_VibH>>1;
BuffTemp[19] = T_VibL;
- BuffTemp[20] = Main.Firmware_Version;//ХЗ
- BuffTemp[21] = Main.Firmware_Version;//ХЗ
+ BuffTemp[20] = Gyro.Firmware_Version;//ХЗ
+ BuffTemp[21] = Gyro.Firmware_Version;//ХЗ
BuffTemp[22] = WP_regH; //СРП Spi.DAC_B
BuffTemp[23] = WP_regL; //СРП
- BuffTemp[24] = Main.Firmware_Version;// ХЗ
- BuffTemp[25] = Main.Firmware_Version;// ХЗ
+ BuffTemp[24] = Gyro.Firmware_Version;// ХЗ
+ BuffTemp[25] = Gyro.Firmware_Version;// ХЗ
BuffTemp[26] = ADC1H;
BuffTemp[27] = ADC1L;
@@ -159,10 +159,10 @@
BuffTemp[36] = 0x00;//ADC6
BuffTemp[37] = 0x00;//ADC6
- BuffTemp[38] = Main.Firmware_Version;
- BuffTemp[39] = Main.Firmware_Version;
- BuffTemp[40] = Main.Firmware_Version;
- BuffTemp[41] = Main.Firmware_Version;
+ BuffTemp[38] = Gyro.Firmware_Version;
+ BuffTemp[39] = Gyro.Firmware_Version;
+ BuffTemp[40] = Gyro.Firmware_Version;
+ BuffTemp[41] = Gyro.Firmware_Version;
Check(BuffTemp, 44);
@@ -173,9 +173,9 @@
void CMD_M_Control_D8()///установка\сброс регистров управления
{
int bit,NReg;
- BuffTemp[0] = Main.SOC_Out; //DD
- BuffTemp[1] = Main.My_Addres; //00
- BuffTemp[2] = Main.CMD_In; //D8
+ BuffTemp[0] = Gyro.SOC_Out; //DD
+ BuffTemp[1] = Gyro.My_Addres; //00
+ BuffTemp[2] = Gyro.CMD_In; //D8
//10?
if((Param1&0x80)) {
bit=1;
@@ -185,58 +185,58 @@
if ((Param1 & 0x10) == 0) {
NReg=0;
- switch(Param1&0xf) { // Main.RgConA
+ switch(Param1&0xf) { // Gyro.RgConA
case 0x0:
- Main.RgConA|=bit;
+ Gyro.RgConA|=bit;
break;
case 0x1:
- Main.RgConA|=bit<<0x1;
+ Gyro.RgConA|=bit<<0x1;
break;
case 0x2:
- Main.RgConA|=bit<<0x2;
+ Gyro.RgConA|=bit<<0x2;
break;
case 0x3:
- Main.RgConA|=bit<<0x3;
+ Gyro.RgConA|=bit<<0x3;
break;
case 0x4:
- Main.RgConA|=bit<<0x4;
+ Gyro.RgConA|=bit<<0x4;
break;
case 0x5:
- Main.RgConA|=bit<<0x5;
+ Gyro.RgConA|=bit<<0x5;
break;
case 0x6:
- Main.RgConA|=bit<<0x6;
+ Gyro.RgConA|=bit<<0x6;
break;
case 0x7:
- Main.RgConA|=bit<<0x7;
+ Gyro.RgConA|=bit<<0x7;
break;
}
BuffTemp[3] = NReg<<4;
- BuffTemp[4] = (Main.RgConA>>8 )& 0xff;
- BuffTemp[5] = Main.RgConA & 0xff;
+ BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff;
+ BuffTemp[5] = Gyro.RgConA & 0xff;
} else {
- NReg=1; // Main.RgConB
- switch(Param1&0xf) { // Main.RgConB
+ NReg=1; // Gyro.RgConB
+ switch(Param1&0xf) { // Gyro.RgConB
case 0x0:
- Main.RgConB|=bit;
+ Gyro.RgConB|=bit;
break;
case 0x1:
- Main.RgConB|=bit<1;
+ Gyro.RgConB|=bit<1;
break;
case 0x2:
- Main.RgConB|=bit<2;
+ Gyro.RgConB|=bit<2;
break;
}
BuffTemp[3] = NReg<<4;
- BuffTemp[4] = (Main.RgConB>>8 ) & 0xff;
- BuffTemp[5] = Main.RgConB & 0xff;
+ BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff;
+ BuffTemp[5] = Gyro.RgConB & 0xff;
}
Check(BuffTemp, CRC_N);
@@ -246,17 +246,17 @@
void CMD_M_Control_D9()///чтение регистров управления
{
int bit,NReg;
- BuffTemp[0] = Main.SOC_Out; //DD
- BuffTemp[1] = Main.My_Addres; //00
- BuffTemp[2] = Main.CMD_In; //D9
+ BuffTemp[0] = Gyro.SOC_Out; //DD
+ BuffTemp[1] = Gyro.My_Addres; //00
+ BuffTemp[2] = Gyro.CMD_In; //D9
if ((Param1 & 0x10) == 0) {
BuffTemp[3]=0<<4;
- BuffTemp[4] = (Main.RgConA>>8 )& 0xff;
- BuffTemp[5] = Main.RgConA & 0xff;
+ BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff;
+ BuffTemp[5] = Gyro.RgConA & 0xff;
} else {
BuffTemp[3]=1<<4;
- BuffTemp[4] = (Main.RgConB>>8 ) & 0xff;
- BuffTemp[5] = Main.RgConB & 0xff;
+ BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff;
+ BuffTemp[5] = Gyro.RgConB & 0xff;
}
Check(BuffTemp, CRC_N);
WriteConN (BuffTemp,CRC_N);
@@ -303,12 +303,12 @@
if(c[Count-2]!=((CRC>>8)&0xFF)) {
temp=0;
- Main.RsErrLine = (Main.RsErrLine)&=0x2;
+ Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2;
}
if(c[Count-1]!=((CRC>>0)&0xFF)) {
temp=0;
-// Main.RsErrLine= (Main.RsErrLine)=0x2;
+// Gyro.RsErrLine= (Gyro.RsErrLine)=0x2;
}
c[Count-2]=(CRC>>8)&0xFF;
@@ -322,8 +322,8 @@
int Getlengf(void)
{
unsigned int lengf=0;
- switch(Main.CMD_In) {
- case 0x99://maintainance
+ switch(Gyro.CMD_In) {
+ case 0x99://Gyrotainance
lengf=6;
CRC_N=8;
break;
@@ -367,24 +367,24 @@
void Read_CMD(void)
{
- Main.SOC_Out=0xDD;
- Main.RsErrLine = (Main.RsErrLine)& 0xffff;
+ Gyro.SOC_Out=0xDD;
+ Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;
CountBuFFIn=ReadChekCon(BuffTemp);
if(CountBuFFIn==1) {
if (BuffTemp[0] != SOC_In) {
ReadCon(BuffTemp);
- Main.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
- BuffTemp[99]=Main.RsErrLine;
+ Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
+ BuffTemp[99]=Gyro.RsErrLine;
}
} else if(CountBuFFIn==2) {
- if (BuffTemp[1] != Main.My_Addres) {
+ if (BuffTemp[1] != Gyro.My_Addres) {
ReadCon(BuffTemp);
- Main.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
+ Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
}
} else if(CountBuFFIn==3) {
- Main.CMD_In=BuffTemp[2];
+ Gyro.CMD_In=BuffTemp[2];
N=Getlengf();
} else if(CountBuFFIn==4 && N==6) {
Param1=BuffTemp[3];
@@ -400,7 +400,7 @@
} else if(CountBuFFIn > (N-1)) {
ReadCon(BuffTemp);
if(Check(BuffTemp, CountBuFFIn)) {
- switch(Main.CMD_In) {
+ switch(Gyro.CMD_In) {
case CMD_MAINT:
CMD_Maintenance();
break;
@@ -415,7 +415,7 @@
case 0xDD:
Rate_Flag=1;
break;
- Main.RsErrLine = 0;
+ Gyro.RsErrLine = 0;
}
}