Dmitry Kovalev
/
LGfiltr
forkd
Fork of LGstaandart by
MTimer.c@231:079835d508ef, 2018-01-25 (annotated)
- Committer:
- Kovalev_D
- Date:
- Thu Jan 25 13:59:43 2018 +0000
- Revision:
- 231:079835d508ef
- Parent:
- 228:a8195e1b1123
- Child:
- 232:130a2b5003e6
termo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
igor_v | 0:8ad47e2b6f00 | 1 | #include "MTimer.h" |
igor_v | 0:8ad47e2b6f00 | 2 | #include "LPC17xx.h" |
igor_v | 0:8ad47e2b6f00 | 3 | #include "MTimer.h" |
igor_v | 0:8ad47e2b6f00 | 4 | #include "vibro.h" |
igor_v | 0:8ad47e2b6f00 | 5 | #include "QEI.h" |
igor_v | 0:8ad47e2b6f00 | 6 | #include "Global.h" |
Kovalev_D | 228:a8195e1b1123 | 7 | #include "string.h" |
igor_v | 0:8ad47e2b6f00 | 8 | #include "SPI.h" |
igor_v | 0:8ad47e2b6f00 | 9 | #include "InputOutput.h" |
Kovalev_D | 228:a8195e1b1123 | 10 | #include "time.h" |
Kovalev_D | 231:079835d508ef | 11 | //#define HALFINT 16384 |
Kovalev_D | 197:7a05523bf588 | 12 | unsigned int CountV64=0; |
igor_v | 0:8ad47e2b6f00 | 13 | unsigned int CountV31=0; |
Kovalev_D | 197:7a05523bf588 | 14 | unsigned int CountV255=0; |
Kovalev_D | 215:b58b887fd367 | 15 | unsigned int CountV511=0; |
Kovalev_D | 209:224e7331a061 | 16 | unsigned int f,MODCount=0; |
Kovalev_D | 124:9ae09249f842 | 17 | int loop=0; |
Kovalev_D | 208:19150d2b528f | 18 | int t; |
Kovalev_D | 231:079835d508ef | 19 | float aPLC[5]; |
Kovalev_D | 231:079835d508ef | 20 | float bPLC[5]; |
Kovalev_D | 88:b5c1d9d338d1 | 21 | ///////////////////////////////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 22 | /////////////////////EVENT/////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 23 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 24 | ///////////////////////////////////////////////////// |
Kovalev_D | 214:4c70e452c491 | 25 | ///////////////////// 1250Hz /////////////////////////// |
Kovalev_D | 214:4c70e452c491 | 26 | ///////////////////////////////////////////////////// |
Kovalev_D | 214:4c70e452c491 | 27 | void Event_1250Hz(void)// событие раз в 1,25 КГц |
Kovalev_D | 214:4c70e452c491 | 28 | { |
Kovalev_D | 214:4c70e452c491 | 29 | if(Event1250Hz) |
Kovalev_D | 214:4c70e452c491 | 30 | { |
Kovalev_D | 231:079835d508ef | 31 | |
Kovalev_D | 214:4c70e452c491 | 32 | Gyro.EvenRate7=1; |
Kovalev_D | 231:079835d508ef | 33 | |
Kovalev_D | 231:079835d508ef | 34 | /* sprintf((Time),"%d %d\r\n", Spi.DAC_B, PlcWormDeltaout); |
Kovalev_D | 231:079835d508ef | 35 | WriteCon(Time);*/ |
Kovalev_D | 214:4c70e452c491 | 36 | Event1250Hz--; |
Kovalev_D | 215:b58b887fd367 | 37 | |
Kovalev_D | 214:4c70e452c491 | 38 | } |
Kovalev_D | 214:4c70e452c491 | 39 | } |
Kovalev_D | 222:7de7b3bf3a1d | 40 | |
Kovalev_D | 222:7de7b3bf3a1d | 41 | |
Kovalev_D | 222:7de7b3bf3a1d | 42 | |
Kovalev_D | 222:7de7b3bf3a1d | 43 | |
Kovalev_D | 222:7de7b3bf3a1d | 44 | void JumpMod(void) |
Kovalev_D | 222:7de7b3bf3a1d | 45 | { |
Kovalev_D | 222:7de7b3bf3a1d | 46 | static int JumpFlag=0; |
Kovalev_D | 222:7de7b3bf3a1d | 47 | switch(JumpFlag) { |
Kovalev_D | 222:7de7b3bf3a1d | 48 | case 0: |
Kovalev_D | 222:7de7b3bf3a1d | 49 | Spi.DAC_B-=Gyro.JumpDelta; |
Kovalev_D | 222:7de7b3bf3a1d | 50 | JumpFlag=1; |
Kovalev_D | 222:7de7b3bf3a1d | 51 | break; |
Kovalev_D | 222:7de7b3bf3a1d | 52 | case 1: |
Kovalev_D | 222:7de7b3bf3a1d | 53 | Spi.DAC_B+=Gyro.JumpDelta; |
Kovalev_D | 222:7de7b3bf3a1d | 54 | JumpFlag=0; |
Kovalev_D | 222:7de7b3bf3a1d | 55 | break; |
Kovalev_D | 222:7de7b3bf3a1d | 56 | } |
Kovalev_D | 222:7de7b3bf3a1d | 57 | |
Kovalev_D | 222:7de7b3bf3a1d | 58 | } |
Kovalev_D | 222:7de7b3bf3a1d | 59 | |
Kovalev_D | 222:7de7b3bf3a1d | 60 | |
Kovalev_D | 214:4c70e452c491 | 61 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 62 | ///////////////////// 1Hz /////////////////////////// |
Kovalev_D | 89:a0d344db227e | 63 | ///////////////////////////////////////////////////// |
Kovalev_D | 231:079835d508ef | 64 | /*int InitPlcFilt ( void ) |
Kovalev_D | 231:079835d508ef | 65 | { |
Kovalev_D | 231:079835d508ef | 66 | |
Kovalev_D | 231:079835d508ef | 67 | int CenterFreq = 12800; |
Kovalev_D | 231:079835d508ef | 68 | int BandWidth = 50; |
Kovalev_D | 231:079835d508ef | 69 | float K, R, Cos_x_2, R_x_R; |
Kovalev_D | 231:079835d508ef | 70 | float pi = 3.1415; |
Kovalev_D | 231:079835d508ef | 71 | |
Kovalev_D | 231:079835d508ef | 72 | R = 1.0 - 3.0 * BandWidth; |
Kovalev_D | 231:079835d508ef | 73 | R_x_R = R * R; |
Kovalev_D | 231:079835d508ef | 74 | Cos_x_2 = cos(2.0 * pi * CenterFreq) * 2.0; |
Kovalev_D | 231:079835d508ef | 75 | K = (1.0 - R * Cos_x_2 + R_x_R)/(2.0 - Cos_x_2); |
Kovalev_D | 231:079835d508ef | 76 | |
Kovalev_D | 231:079835d508ef | 77 | aPLC[0] = ((1.0 - K)); |
Kovalev_D | 231:079835d508ef | 78 | aPLC[1] = (((K - R) * Cos_x_2)); |
Kovalev_D | 231:079835d508ef | 79 | aPLC[2] = ((R_x_R - K)); |
Kovalev_D | 231:079835d508ef | 80 | |
Kovalev_D | 231:079835d508ef | 81 | bPLC[0] = 0; |
Kovalev_D | 231:079835d508ef | 82 | bPLC[1] = ((R * Cos_x_2)); |
Kovalev_D | 231:079835d508ef | 83 | bPLC[2] = ((- R_x_R)); |
Kovalev_D | 231:079835d508ef | 84 | |
Kovalev_D | 231:079835d508ef | 85 | for(int q=0; q<3; q++) |
Kovalev_D | 231:079835d508ef | 86 | { |
Kovalev_D | 231:079835d508ef | 87 | sprintf((Time),"%f %f\r\n", aPLC[q],bPLC[q]); |
Kovalev_D | 231:079835d508ef | 88 | WriteCon(Time); |
Kovalev_D | 231:079835d508ef | 89 | } |
Kovalev_D | 231:079835d508ef | 90 | return 0; |
Kovalev_D | 231:079835d508ef | 91 | |
Kovalev_D | 231:079835d508ef | 92 | }*/ |
Kovalev_D | 231:079835d508ef | 93 | |
Kovalev_D | 231:079835d508ef | 94 | |
Kovalev_D | 222:7de7b3bf3a1d | 95 | |
Kovalev_D | 228:a8195e1b1123 | 96 | |
Kovalev_D | 88:b5c1d9d338d1 | 97 | void Event_1Hz(void)// событие раз в 1 Гц |
Kovalev_D | 222:7de7b3bf3a1d | 98 | { |
Kovalev_D | 231:079835d508ef | 99 | static int OldTermoMod; |
Kovalev_D | 222:7de7b3bf3a1d | 100 | static int tempdac=0,tempdac1,JumpTimer=0; |
Kovalev_D | 228:a8195e1b1123 | 101 | |
Kovalev_D | 115:e5a230e5af52 | 102 | if (Event1Hz) |
Kovalev_D | 222:7de7b3bf3a1d | 103 | { |
Kovalev_D | 231:079835d508ef | 104 | |
Kovalev_D | 231:079835d508ef | 105 | |
Kovalev_D | 231:079835d508ef | 106 | |
Kovalev_D | 231:079835d508ef | 107 | if(Gyro.ParamFlag) {/*Switch(Gyro.NP)*/}; |
Kovalev_D | 231:079835d508ef | 108 | |
Kovalev_D | 231:079835d508ef | 109 | |
Kovalev_D | 231:079835d508ef | 110 | |
Kovalev_D | 231:079835d508ef | 111 | |
Kovalev_D | 231:079835d508ef | 112 | |
Kovalev_D | 231:079835d508ef | 113 | |
Kovalev_D | 231:079835d508ef | 114 | if(Gyro.TemperNewData) |
Kovalev_D | 231:079835d508ef | 115 | { |
Kovalev_D | 231:079835d508ef | 116 | Gyro.TemperNewData = 0; |
Kovalev_D | 231:079835d508ef | 117 | |
Kovalev_D | 231:079835d508ef | 118 | if(Gyro.TermoMod>0)Gyro.TermoMod = 1; |
Kovalev_D | 231:079835d508ef | 119 | else if(Gyro.TermoMod==0)Gyro.TermoMod = OldTermoMod; |
Kovalev_D | 231:079835d508ef | 120 | else Gyro.TermoMod =(-1); |
Kovalev_D | 231:079835d508ef | 121 | OldTermoMod = Gyro.TermoMod; |
Kovalev_D | 231:079835d508ef | 122 | } |
Kovalev_D | 231:079835d508ef | 123 | |
Kovalev_D | 231:079835d508ef | 124 | PlcWormDeltaout=0; |
Kovalev_D | 227:2774b56bfab0 | 125 | |
Kovalev_D | 231:079835d508ef | 126 | if(Gyro.RgConA&0x4) JumpTimer=0; |
Kovalev_D | 222:7de7b3bf3a1d | 127 | else |
Kovalev_D | 222:7de7b3bf3a1d | 128 | { |
Kovalev_D | 231:079835d508ef | 129 | |
Kovalev_D | 222:7de7b3bf3a1d | 130 | JumpTimer++; |
Kovalev_D | 222:7de7b3bf3a1d | 131 | if(JumpTimer>(Gyro.TimeToJump-1)) |
Kovalev_D | 222:7de7b3bf3a1d | 132 | { |
Kovalev_D | 225:f8fee6c586cc | 133 | Gyro.PLCDelay = GyroP.Str.PLCDelay; |
Kovalev_D | 222:7de7b3bf3a1d | 134 | JumpMod(); |
Kovalev_D | 222:7de7b3bf3a1d | 135 | JumpTimer=0; |
Kovalev_D | 222:7de7b3bf3a1d | 136 | } |
Kovalev_D | 222:7de7b3bf3a1d | 137 | } |
Kovalev_D | 222:7de7b3bf3a1d | 138 | |
Kovalev_D | 222:7de7b3bf3a1d | 139 | |
Kovalev_D | 222:7de7b3bf3a1d | 140 | |
Kovalev_D | 208:19150d2b528f | 141 | Discharg(); |
Kovalev_D | 208:19150d2b528f | 142 | BackLight(); |
Kovalev_D | 208:19150d2b528f | 143 | Gyro.Rate1_Event = 1; |
Kovalev_D | 208:19150d2b528f | 144 | Event1Hz--; |
Kovalev_D | 208:19150d2b528f | 145 | Time1Hz++; |
Kovalev_D | 228:a8195e1b1123 | 146 | |
Kovalev_D | 228:a8195e1b1123 | 147 | |
Kovalev_D | 228:a8195e1b1123 | 148 | /* |
Kovalev_D | 228:a8195e1b1123 | 149 | sprintf((Time),"\r\n %s %d %d ",__DATE__, UItempDate, FtempDate); |
Kovalev_D | 228:a8195e1b1123 | 150 | WriteCon(Time);*/ |
Kovalev_D | 228:a8195e1b1123 | 151 | /*sprintf(Time,"%s %s.",__DATE__, __TIME__ ); //Подготовка даты и времени компиляции |
Kovalev_D | 228:a8195e1b1123 | 152 | WriteCon(Time);*/ |
Kovalev_D | 231:079835d508ef | 153 | |
Kovalev_D | 222:7de7b3bf3a1d | 154 | } |
Kovalev_D | 88:b5c1d9d338d1 | 155 | } |
Kovalev_D | 222:7de7b3bf3a1d | 156 | |
Kovalev_D | 89:a0d344db227e | 157 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 158 | ///////////////////// 1kHz ////////////////////////// |
Kovalev_D | 197:7a05523bf588 | 159 | ///////////////////////////////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 160 | void Event_1KHz(void)// событие раз в 1 кГц |
Kovalev_D | 214:4c70e452c491 | 161 | { if (Event1K) |
Kovalev_D | 116:66f1f0ff2dab | 162 | { |
Kovalev_D | 214:4c70e452c491 | 163 | if(Gyro.PLCDelay) Gyro.PLCDelay--; |
Kovalev_D | 88:b5c1d9d338d1 | 164 | Event1K --; |
Kovalev_D | 215:b58b887fd367 | 165 | |
Kovalev_D | 116:66f1f0ff2dab | 166 | Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц |
Kovalev_D | 231:079835d508ef | 167 | if (Time1K > 1007) |
Kovalev_D | 115:e5a230e5af52 | 168 | { |
Kovalev_D | 231:079835d508ef | 169 | Time1K =0; |
Kovalev_D | 88:b5c1d9d338d1 | 170 | Event1Hz ++; |
Kovalev_D | 88:b5c1d9d338d1 | 171 | } |
Kovalev_D | 231:079835d508ef | 172 | |
Kovalev_D | 214:4c70e452c491 | 173 | } |
Kovalev_D | 88:b5c1d9d338d1 | 174 | } |
Kovalev_D | 209:224e7331a061 | 175 | |
Kovalev_D | 231:079835d508ef | 176 | void Event_10KHz(void)// событие раз в 5 кГц |
Kovalev_D | 218:b4067cac75c0 | 177 | { |
Kovalev_D | 218:b4067cac75c0 | 178 | int temp=0; |
Kovalev_D | 231:079835d508ef | 179 | if (Event10K) |
Kovalev_D | 222:7de7b3bf3a1d | 180 | { |
Kovalev_D | 231:079835d508ef | 181 | // Gyro.EvenRate10K++; |
Kovalev_D | 231:079835d508ef | 182 | Event10K --; |
Kovalev_D | 209:224e7331a061 | 183 | } |
Kovalev_D | 209:224e7331a061 | 184 | } |
Kovalev_D | 124:9ae09249f842 | 185 | void Event_500Hz(void)// событие раз в 500 Гц |
Kovalev_D | 124:9ae09249f842 | 186 | { |
Kovalev_D | 124:9ae09249f842 | 187 | if(Event500Hz) |
Kovalev_D | 225:f8fee6c586cc | 188 | { |
Kovalev_D | 231:079835d508ef | 189 | |
Kovalev_D | 205:775d54fdf646 | 190 | Event500Hz--; |
Kovalev_D | 208:19150d2b528f | 191 | Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро |
Kovalev_D | 197:7a05523bf588 | 192 | } |
Kovalev_D | 197:7a05523bf588 | 193 | } |
Kovalev_D | 209:224e7331a061 | 194 | void Event_250Hz(void) |
Kovalev_D | 209:224e7331a061 | 195 | { |
Kovalev_D | 209:224e7331a061 | 196 | if(Event250Hz) |
Kovalev_D | 209:224e7331a061 | 197 | { |
Kovalev_D | 218:b4067cac75c0 | 198 | |
Kovalev_D | 209:224e7331a061 | 199 | // Gyro.CuruAngle=0; |
Kovalev_D | 209:224e7331a061 | 200 | Event250Hz--; |
Kovalev_D | 209:224e7331a061 | 201 | MODCount++; |
Kovalev_D | 209:224e7331a061 | 202 | } |
Kovalev_D | 209:224e7331a061 | 203 | } |
Kovalev_D | 89:a0d344db227e | 204 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 205 | ///////////////////// 100kHz ////////////////////////// |
Kovalev_D | 89:a0d344db227e | 206 | ///////////////////////////////////////////////////// |
Kovalev_D | 193:a0fe8bfc97e4 | 207 | void Event_100KHz(void)// событие раз в 100 кГц |
Kovalev_D | 88:b5c1d9d338d1 | 208 | { |
Kovalev_D | 162:44e4ded32c6a | 209 | |
Kovalev_D | 88:b5c1d9d338d1 | 210 | if (Event100K) { |
Kovalev_D | 197:7a05523bf588 | 211 | |
Kovalev_D | 88:b5c1d9d338d1 | 212 | Event100K --; |
Kovalev_D | 197:7a05523bf588 | 213 | |
Kovalev_D | 124:9ae09249f842 | 214 | if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу |
Kovalev_D | 124:9ae09249f842 | 215 | |
Kovalev_D | 124:9ae09249f842 | 216 | PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами. |
Kovalev_D | 88:b5c1d9d338d1 | 217 | } |
Kovalev_D | 88:b5c1d9d338d1 | 218 | } |
Kovalev_D | 89:a0d344db227e | 219 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 220 | //////////////////vibro EVENT//////////////////////// |
Kovalev_D | 89:a0d344db227e | 221 | ///////////////////////////////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 222 | void Event_Vibro(void)// событие от вибр |
Kovalev_D | 88:b5c1d9d338d1 | 223 | { |
Kovalev_D | 88:b5c1d9d338d1 | 224 | if (EventVibro) { |
Kovalev_D | 88:b5c1d9d338d1 | 225 | EventVibro --; |
Kovalev_D | 88:b5c1d9d338d1 | 226 | } |
Kovalev_D | 88:b5c1d9d338d1 | 227 | } |
Kovalev_D | 89:a0d344db227e | 228 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 229 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 230 | ///////////////////////////////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 231 | |
Kovalev_D | 88:b5c1d9d338d1 | 232 | |
Kovalev_D | 112:4a96133a1311 | 233 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 234 | ////////////////////////////////////////////////////////TIMER1//////////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 235 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 236 | |
Kovalev_D | 112:4a96133a1311 | 237 | ////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 238 | /////////////////////инициализация таймера 1 ///////////////////////// |
Kovalev_D | 112:4a96133a1311 | 239 | ////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 240 | |
Kovalev_D | 112:4a96133a1311 | 241 | unsigned int Init_TIM1 (unsigned int TimerInterval ) |
Kovalev_D | 112:4a96133a1311 | 242 | { |
Kovalev_D | 214:4c70e452c491 | 243 | // LPC_SC->PCLKSEL0 |= (1<<4); |
Kovalev_D | 220:04c54405b82d | 244 | |
Kovalev_D | 112:4a96133a1311 | 245 | LPC_TIM1->MR0 = TimerInterval; |
Kovalev_D | 112:4a96133a1311 | 246 | LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */ |
Kovalev_D | 112:4a96133a1311 | 247 | NVIC_EnableIRQ(TIMER1_IRQn); |
Kovalev_D | 112:4a96133a1311 | 248 | } |
Kovalev_D | 112:4a96133a1311 | 249 | |
Kovalev_D | 112:4a96133a1311 | 250 | |
igor_v | 0:8ad47e2b6f00 | 251 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 252 | /////////////////////////включение таймера 1////////////////////////// |
igor_v | 0:8ad47e2b6f00 | 253 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 254 | void enable_timer1( void ) |
igor_v | 21:bc8c1cec3da6 | 255 | { |
igor_v | 21:bc8c1cec3da6 | 256 | LPC_TIM1->TCR = 1; |
igor_v | 21:bc8c1cec3da6 | 257 | return; |
igor_v | 21:bc8c1cec3da6 | 258 | } |
igor_v | 0:8ad47e2b6f00 | 259 | |
igor_v | 0:8ad47e2b6f00 | 260 | |
igor_v | 0:8ad47e2b6f00 | 261 | ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 0:8ad47e2b6f00 | 262 | /////////////////////////////////////////////////TIMER2////////////////////////////////////////////////////////////////////////////////// |
igor_v | 0:8ad47e2b6f00 | 263 | ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 264 | |
igor_v | 0:8ad47e2b6f00 | 265 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 266 | /////////////////////инициализация таймера 2 ///////////////////////// |
igor_v | 0:8ad47e2b6f00 | 267 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 268 | unsigned int Init_TIM2 (void) |
igor_v | 21:bc8c1cec3da6 | 269 | { |
Kovalev_D | 124:9ae09249f842 | 270 | LPC_TIM2->MR0 = 257; |
igor_v | 21:bc8c1cec3da6 | 271 | LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */ |
igor_v | 21:bc8c1cec3da6 | 272 | NVIC_EnableIRQ(TIMER2_IRQn); |
igor_v | 21:bc8c1cec3da6 | 273 | return 1; |
igor_v | 21:bc8c1cec3da6 | 274 | } |
igor_v | 0:8ad47e2b6f00 | 275 | |
igor_v | 21:bc8c1cec3da6 | 276 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 277 | /////////////////////////включение таймера 2////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 278 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 279 | void enable_timer2(void) |
igor_v | 21:bc8c1cec3da6 | 280 | { |
igor_v | 21:bc8c1cec3da6 | 281 | LPC_TIM2->TCR = 1; |
igor_v | 21:bc8c1cec3da6 | 282 | LPC_TIM2->TCR = 0x01; |
igor_v | 21:bc8c1cec3da6 | 283 | } |
igor_v | 21:bc8c1cec3da6 | 284 | |
igor_v | 21:bc8c1cec3da6 | 285 | |
Kovalev_D | 112:4a96133a1311 | 286 | ////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 287 | /////////////////////////прерывание таймера 1////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 288 | ////////////////////////////////////////////////////////////////////// |
Kovalev_D | 215:b58b887fd367 | 289 | __irq void TIMER1_IRQHandler (void)//13.27 kHz(vibro*32) |
Kovalev_D | 205:775d54fdf646 | 290 | { |
Kovalev_D | 208:19150d2b528f | 291 | |
igor_v | 114:5cc38a53d8a7 | 292 | ResetCS(ADC); //prepare ADC for sampling |
Kovalev_D | 112:4a96133a1311 | 293 | SetDAC(DAC); |
Kovalev_D | 208:19150d2b528f | 294 | Global_Time++; |
igor_v | 114:5cc38a53d8a7 | 295 | CountV255++; // инкремент счеттчика |
Kovalev_D | 215:b58b887fd367 | 296 | CountV511++; |
Kovalev_D | 164:6f43f85fdd8d | 297 | CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА |
Kovalev_D | 215:b58b887fd367 | 298 | CountV511 &= 0x1ff; |
Kovalev_D | 197:7a05523bf588 | 299 | CountV64 = CountV255 & 0x3f; |
Kovalev_D | 197:7a05523bf588 | 300 | CountV31 = CountV255 & 0x1f; // малый счетчик |
Kovalev_D | 197:7a05523bf588 | 301 | |
Kovalev_D | 112:4a96133a1311 | 302 | D_QEI(); //чтение данных по счетчику |
Kovalev_D | 143:2b15794a6cd2 | 303 | cheng(); // выставление флагов в 32 тактном цикле. |
Kovalev_D | 116:66f1f0ff2dab | 304 | |
Kovalev_D | 116:66f1f0ff2dab | 305 | |
Kovalev_D | 116:66f1f0ff2dab | 306 | SetCS(ADC); //start ADC sampling |
Kovalev_D | 116:66f1f0ff2dab | 307 | ResetDAC(DAC); |
Kovalev_D | 197:7a05523bf588 | 308 | SPI_Exchange(); //Чтение ADC_SPI |
igor_v | 114:5cc38a53d8a7 | 309 | |
Kovalev_D | 214:4c70e452c491 | 310 | LPC_TIM1->IR = 1; |
Kovalev_D | 231:079835d508ef | 311 | |
Kovalev_D | 112:4a96133a1311 | 312 | } |
Kovalev_D | 112:4a96133a1311 | 313 | |
igor_v | 21:bc8c1cec3da6 | 314 | /////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 315 | /////////////////////////прерывание таймера 2////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 316 | /////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 317 | __irq void TIMER2_IRQHandler (void) |
Kovalev_D | 231:079835d508ef | 318 | { |
Kovalev_D | 231:079835d508ef | 319 | |
igor_v | 21:bc8c1cec3da6 | 320 | LPC_TIM2->IR = 1; |
Kovalev_D | 213:9953db9543d6 | 321 | if (Gyro.UARTFlag) |
Kovalev_D | 213:9953db9543d6 | 322 | { |
Kovalev_D | 213:9953db9543d6 | 323 | if(Time_UART) Time_UART--; |
Kovalev_D | 213:9953db9543d6 | 324 | } |
Kovalev_D | 214:4c70e452c491 | 325 | // |
Kovalev_D | 214:4c70e452c491 | 326 | |
igor_v | 21:bc8c1cec3da6 | 327 | Time_vibro++; |
Kovalev_D | 214:4c70e452c491 | 328 | // VibroOut(); |
Kovalev_D | 112:4a96133a1311 | 329 | Gyro.VibroOutF=1; |
Kovalev_D | 214:4c70e452c491 | 330 | Event100K ++; |
Kovalev_D | 214:4c70e452c491 | 331 | Time1250Hz++; |
Kovalev_D | 197:7a05523bf588 | 332 | Time500Hz++; |
Kovalev_D | 209:224e7331a061 | 333 | Time250Hz++; |
Kovalev_D | 197:7a05523bf588 | 334 | Time100K++; |
Kovalev_D | 231:079835d508ef | 335 | Time10K++; |
Kovalev_D | 209:224e7331a061 | 336 | //Time2K++; |
Kovalev_D | 205:775d54fdf646 | 337 | // Time250Hz++; |
Kovalev_D | 214:4c70e452c491 | 338 | |
Kovalev_D | 231:079835d508ef | 339 | if (Time1250Hz > 1000) |
Kovalev_D | 214:4c70e452c491 | 340 | { |
Kovalev_D | 231:079835d508ef | 341 | Time1250Hz -= 1000; |
Kovalev_D | 214:4c70e452c491 | 342 | Event1250Hz ++; |
Kovalev_D | 214:4c70e452c491 | 343 | } |
Kovalev_D | 231:079835d508ef | 344 | if (Time100K == 89) |
Kovalev_D | 231:079835d508ef | 345 | { |
Kovalev_D | 231:079835d508ef | 346 | |
Kovalev_D | 231:079835d508ef | 347 | Time100K -= 89; |
Kovalev_D | 197:7a05523bf588 | 348 | Event1K ++; |
Kovalev_D | 231:079835d508ef | 349 | |
Kovalev_D | 197:7a05523bf588 | 350 | } |
Kovalev_D | 209:224e7331a061 | 351 | |
Kovalev_D | 231:079835d508ef | 352 | if (Time10K > 8) |
Kovalev_D | 231:079835d508ef | 353 | { |
Kovalev_D | 231:079835d508ef | 354 | |
Kovalev_D | 231:079835d508ef | 355 | |
Kovalev_D | 231:079835d508ef | 356 | Time10K = 0; |
Kovalev_D | 231:079835d508ef | 357 | |
Kovalev_D | 231:079835d508ef | 358 | |
Kovalev_D | 231:079835d508ef | 359 | Event10K ++; |
Kovalev_D | 231:079835d508ef | 360 | |
Kovalev_D | 209:224e7331a061 | 361 | } |
Kovalev_D | 209:224e7331a061 | 362 | |
Kovalev_D | 231:079835d508ef | 363 | if (Time500Hz > 180) |
Kovalev_D | 208:19150d2b528f | 364 | { // LoopOn |
Kovalev_D | 231:079835d508ef | 365 | |
Kovalev_D | 231:079835d508ef | 366 | Time500Hz -= 180; |
Kovalev_D | 231:079835d508ef | 367 | Event500Hz ++; |
Kovalev_D | 231:079835d508ef | 368 | |
Kovalev_D | 197:7a05523bf588 | 369 | } |
igor_v | 21:bc8c1cec3da6 | 370 | } |