File content as of revision 23:12e6183f04d4:

#include "stdlib.h"
#include "lpc17xx.h"
#include "Command.h"
#include "el_lin.h"
#include "vibro.h"
#include "Global.h"
#include "uart_m.h"
#include "CntrlGLD.h"
#include "QEI.h"
#include "InputOutput.h"
#include "SPI.h"
unsigned int Rate_Flag;
unsigned int PC_Comand;
unsigned int n;
unsigned int CountBuFFIn;
unsigned int ParamIn;
unsigned int Err;
	unsigned int N=0,CRC_N;
	unsigned int Param1=0;
	unsigned int Param2=0;
	unsigned int Param3=0;	
	unsigned int Param4=0;
	
/*
void exec_CMD(void)       //r. === ïðîöåäóðà îêîí÷àòåëüíîé äåøèôðàöèè è èñïîëíåíèÿ êîìàíäû
{
	unsigned int Comand_code;
	
	//rx_buf_copy = 1;                  //r. ïðåäóñòàíîâ ôëàãà êîïèðîâàíèÿ ïðèåìíîãî áóôåðà

	Comand_code = (rcv_buf[2] & 0xFF) << 8;
	PC_Comand = Comand_code | (rcv_buf[3] & 0xFF);	//e. save it in the memory for echo-transmission //r. ñîõðàíèòü åãî â ïàìÿòè äëÿ îáðàòíîé ïåðåäà÷è
}*/
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[4]=0x00;
	BuffTemp[5]=0x00;
	Check(BuffTemp, 8);
	WriteConN (BuffTemp,8);
}

void CMD_Rate(void)
{	
	
	unsigned int T_VibH   , T_VibL;				// ×àñòîòà âèáðîïðèâîäà.
	unsigned int Cnt_PlsL , Cnt_PlsH;			// Ñ÷åò÷èê +.
	unsigned int Cnt_MnsL , Cnt_MnsH;			// Ñ÷åò÷èê -.
	unsigned int Cnt_DifL , Cnt_DifH;			// Ðàçíîñòü ñ÷åò÷èêîâ.
  unsigned int F_rasL   , F_rasH;				// ×àñòîòà ðàñùåïëåíèÿ.
	
	unsigned int HF_regL  , HF_regH;      // Âûõîä ðåãóëÿòîðà ÃÂ×.               ÍÅ ÑÄÅËÀÍÎ
	unsigned int HF_difL  , HF_difH;      // Ñèãíàë îøèáêè ðåãóëÿ÷òîðà ÃÂ×.      ÍÅ ÑÄÅËÀÍÎ
	
	unsigned int WP_regL  , WP_regH; 
	
	unsigned int ADC1L, ADC2L, ADC3L, ADC4L, ADC5L; 
	unsigned int ADC1H, ADC2H, ADC3H, ADC4H, ADC5H; 
	
	
	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; /// ïðîìåæóòî÷íàÿ çàòû÷êà
	
	T_VibH   = ( Main.T_Vib>>8  ) TakeByte;
	T_VibL   = ( Main.T_Vib     ) TakeByte;
	
	Cnt_PlsH = ( Main.Cnt_Pls>>8) TakeByte;
	Cnt_PlsL = ( Main.Cnt_Pls   ) TakeByte;
	
	Cnt_MnsH = ( Main.Cnt_Mns>>8) TakeByte;
	Cnt_MnsL = ( Main.Cnt_Mns   ) TakeByte;
	
	Cnt_DifH = ( Main.Cnt_Dif>>8) TakeByte;
	Cnt_DifL = ( Main.Cnt_Dif   ) TakeByte;
	
	F_rasH   = ( Main.F_ras>>8  ) TakeByte;
	F_rasL   = ( Main.F_ras     ) TakeByte;
	
	ADC1H    = ( Spi.ADC1>>8    ) TakeByte;
	ADC1L		 = ( Spi.ADC1       ) TakeByte;
	
	ADC2H    = ( Spi.ADC2>>8    ) TakeByte;
	ADC2L		 = ( Spi.ADC2       ) TakeByte;
	
	ADC3H    = ( Spi.ADC3>>8    ) TakeByte;
	ADC3L		 = ( Spi.ADC3       ) TakeByte;
	
	ADC4H    = ( Spi.ADC4>>8    ) TakeByte;
	ADC4L		 = ( Spi.ADC4       ) TakeByte;
	
	ADC5H    = ( Spi.ADC5>>8    ) TakeByte;
	ADC5L		 = ( Spi.ADC5       ) TakeByte;
	
	WP_regH  = ( Spi.DAC_B>>8   ) TakeByte;
	WP_regL  = ( Spi.DAC_B      ) TakeByte;
	
	HF_regH=0xff;
	HF_regL=0xff;

  HF_difH=0xff;
	HF_difL=0xff;

	
	BuffTemp[ 0] = Main.SOC_Out;
	BuffTemp[ 1] = Main.My_Addres;
		
	BuffTemp[ 2] = Cnt_PlsH;//ñòàðøèé áàéò ñ÷åò÷èêà +.
	BuffTemp[ 3] = Cnt_PlsL;//ìëàäøèé áàéò ñ÷åò÷èêà +.
	
	BuffTemp[ 4] = Cnt_MnsH;//ñòàðøèé áàéò ñ÷åò÷èêà -.
	BuffTemp[ 5] = Cnt_MnsL;//ìëàäøèé áàéò ñ÷åò÷èêà -.
	
	BuffTemp[ 6] = Cnt_DifH;//ñòàðøèé áàéò ðàçíîñòè ñ÷åò÷èêîâ
	BuffTemp[ 7] = Cnt_DifL;//ìëàäøèé áàéò ðàçíîñòè ñ÷åò÷èêîâ
	
	BuffTemp[ 8] = F_rasH;
	BuffTemp[ 9] = F_rasL;
	
	BuffTemp[10] = HF_regH;
	BuffTemp[11] = HF_regL;
	
	BuffTemp[12] = HF_difH;
	BuffTemp[13] = HF_difL;
	
	BuffTemp[14] = T_VibH ;//
	BuffTemp[15] = T_VibL; //?
	
	BuffTemp[16] = Main.Firmware_Version;//ÕÇ
	BuffTemp[17] = Main.Firmware_Version;//ÕÇ
	
	BuffTemp[18] = T_VibH>>1;
	BuffTemp[19] = T_VibL;
	
	BuffTemp[20] = Main.Firmware_Version;//ÕÇ
	BuffTemp[21] = Main.Firmware_Version;//ÕÇ
	
	BuffTemp[22] = WP_regH;              //ÑÐÏ    Spi.DAC_B
	BuffTemp[23] = WP_regL;              //ÑÐÏ
	
	BuffTemp[24] = Main.Firmware_Version;// ÕÇ
	BuffTemp[25] = Main.Firmware_Version;// ÕÇ
	
	BuffTemp[26] = ADC1H;
	BuffTemp[27] = ADC1L;
	
	BuffTemp[28] = ADC1H;
	BuffTemp[29] = ADC1L;
	
	BuffTemp[30] = ADC1H;
	BuffTemp[31] = ADC1L;
	
  BuffTemp[32] = ADC1H;
	BuffTemp[33] = ADC1L;
	
	BuffTemp[34] = ADC1H;
	BuffTemp[35] = ADC1L;
	
	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;
	
	
	Check(BuffTemp, 44);
	WriteConN (BuffTemp,44);
	LoopOff
}

void CMD_M_Control_D8()///óñòàíîâêà\ñáðîñ ðåãèñòðîâ óïðàâëåíèÿ
{ 
	int bit,NReg;
	BuffTemp[0] = Main.SOC_Out;      //DD
	BuffTemp[1] = Main.My_Addres;    //00
	BuffTemp[2] = Main.CMD_In;       //D8
             //10?	
	if((Param1&0x80))
	 {
		bit=1;
	 }
	 else 
	   {
		  bit=0;
	   }
	
	if ((Param1 & 0x10) == 0) 
	 {
		 NReg=0;
		switch(Param1&0xf)  // Main.RgConA
	     {
		    case 0x0:
					Main.RgConA|=bit;
		    break;
				
				case 0x1:
					Main.RgConA|=bit<<0x1;
		    break;
				
				case 0x2:
					Main.RgConA|=bit<<0x2;
		    break;
				
				case 0x3:
					Main.RgConA|=bit<<0x3;
		    break;
				
				case 0x4:
					Main.RgConA|=bit<<0x4;
		    break;
				
				case 0x5:
					Main.RgConA|=bit<<0x5;
		    break;
				
				case 0x6:
					Main.RgConA|=bit<<0x6;
		    break;
				
				case 0x7:
					Main.RgConA|=bit<<0x7;
		    break;
	     }
		BuffTemp[3] = NReg<<4; 
		BuffTemp[4] = (Main.RgConA>>8 )& 0xff;
		BuffTemp[5] =  Main.RgConA     & 0xff;
	}
	else
	{
		 NReg=1;            // Main.RgConB
		switch(Param1&0xf)  // Main.RgConB
    	{
				case 0x0:
				Main.RgConB|=bit;
				break;
				case 0x1:
				Main.RgConB|=bit<1;
				break;
				case 0x2:
				Main.RgConB|=bit<2;
				break;
	}
		BuffTemp[3] =  NReg<<4; 
		BuffTemp[4] = (Main.RgConB>>8 ) & 0xff;
		BuffTemp[5] =  Main.RgConB      & 0xff;
	}
 
	Check(BuffTemp, CRC_N);
	WriteConN (BuffTemp,CRC_N);
}

 void CMD_M_Control_D9()///÷òåíèå ðåãèñòðîâ óïðàâëåíèÿ
 {
	int bit,NReg;
	BuffTemp[0] = Main.SOC_Out;      //DD
	BuffTemp[1] = Main.My_Addres;    //00
	BuffTemp[2] = Main.CMD_In;       //D9
	 if ((Param1 & 0x10) == 0) 
	 {
		 BuffTemp[3]=0<<4;
		 BuffTemp[4] = (Main.RgConA>>8 )& 0xff;
		 BuffTemp[5] =  Main.RgConA     & 0xff;
	 }
	 else
	 {
		 BuffTemp[3]=1<<4;
		 BuffTemp[4] = (Main.RgConB>>8 ) & 0xff;
		 BuffTemp[5] =  Main.RgConB      & 0xff;
	 }
	Check(BuffTemp, CRC_N);
	WriteConN (BuffTemp,CRC_N);
 }
// (íîìåð (êîä) ÖÀÏà 0...3, ñòàðøèé áàéò òðåáóåìîãî ÖÀÏà, ìëàäøèé áàéò òðåá ÖÀÏà)
void CMD_M_Stymul()
{
	int temp;
	 temp =((BuffTemp[4]<<8) | BuffTemp[5]);
			 // temp=0;
	 temp=temp&0xFFFF;
   DACF =(temp*K_DAC)+deltaDAC;
   Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC);
	
	//int temp;
//	temp =((BuffTemp[4]<<8) | BuffTemp[5]);
	//temp = 65535 - temp;
	/*if(temp<1000)
	{
		temp=0;
	}
	else if(temp>60000)
	{
		temp=65535;
	}*/
	//Spi.DAC_B =(((BuffTemp[4]<<8) | BuffTemp[5])*K_DAC+deltaDAC);/*((BuffTemp[4]<<8) | BuffTemp[5])-0xFFFF*///;  //((rcv_buf[4] << 8) | (int)rcv_buf[5]);K_DAC+deltaDAC
	//BuffTemp[0] = temp;      //DD
	//WriteConN (BuffTemp,1);
}

unsigned int Check(char *c, unsigned int Count)
{
	int i=1;
	unsigned int temp,CRC;

	
	temp=1;
	CRC=0;
	
	
	for(;i<Count-2;i++)
	{
		CRC+=c[i];
	}
	
	if(c[Count-2]!=((CRC>>8)&0xFF))
	{
		temp=0;
		Main.RsErrLine = (Main.RsErrLine)&=0x2;
	}

	if(c[Count-1]!=((CRC>>0)&0xFF))
	{
		temp=0;
//		Main.RsErrLine= (Main.RsErrLine)=0x2;
	}
	
	c[Count-2]=(CRC>>8)&0xFF;
	c[Count-1]=(CRC>>0)&0xFF;
	
	
	
	return temp;
}

int Getlengf(void)
{
	unsigned int lengf=0;
	switch(Main.CMD_In)
		{ 
			case 0x99://maintainance
      lengf=6;	
			CRC_N=8;
			break;
			
			case 0x0A: //m_stymul
			lengf=8;
			break;
			
			case 0xA5://DeviceMode

      lengf=6;
      CRC_N=8;			
			break;
			
			case 0xDD://m_rate

      lengf=6;
      CRC_N=44;			
			break;
			
			case 0xB0://DeviceMode

      lengf=6;
      CRC_N=8;			
			break;
			
			case 0xD8://m_control
		
      lengf=6;	
      CRC_N=8;			
			break;
			
			case 0xD9://m_control

      lengf=6;	
      CRC_N=8;			
			break;
		}
	return lengf;
}

void Read_CMD(void)
{	
	Main.SOC_Out=0xDD;	
	Main.RsErrLine = (Main.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;
					}
				}
	else if(CountBuFFIn==2) 
				{
				if (BuffTemp[1] != Main.My_Addres) 
					{
						ReadCon(BuffTemp);  
						Main.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
					}
				}
	else if(CountBuFFIn==3) 	
				{
				Main.CMD_In=BuffTemp[2];
				N=Getlengf();
				}		
				
	else if(CountBuFFIn==4 && N==6) 	
				{
				 Param1=BuffTemp[3];
				}			
	else if((CountBuFFIn==5)&&(N==7)) 	
				{
				//LoopOn
			  Param1=BuffTemp[3];
			  Param2=BuffTemp[4];
					 
				}				
	else if((CountBuFFIn==6)&&(N==8)) 	
				{
			  	Param1=BuffTemp[3];
			    Param2=BuffTemp[4];
					Param3=BuffTemp[5];
				}							
	else if(CountBuFFIn > (N-1)) 
			  {
				ReadCon(BuffTemp);
				if(Check(BuffTemp, CountBuFFIn))
				  {	
						switch(Main.CMD_In)
						{
							case CMD_MAINT: 
					    CMD_Maintenance();
							break;
							case 0xD8: 
					    CMD_M_Control_D8();
							case 0xD9: 
					    CMD_M_Control_D9();
							break;
							case 0x0A: 
					    CMD_M_Stymul(Param1,Param2,Param3);
							break;
							case 0xDD:
							Rate_Flag=1;
						  break;
							Main.RsErrLine = 0;
						}
				 				
					}
        }
}