Dmitry Kovalev
/
LGfiltr
forkd
Fork of LGstaandart by
SPI.c@232:130a2b5003e6, 2018-01-31 (annotated)
- Committer:
- Kovalev_D
- Date:
- Wed Jan 31 13:41:23 2018 +0000
- Revision:
- 232:130a2b5003e6
- Parent:
- 231:079835d508ef
static termocorr
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
igor_v | 0:8ad47e2b6f00 | 1 | #include "Global.h" |
Kovalev_D | 228:a8195e1b1123 | 2 | #define NCoef 2 |
Kovalev_D | 228:a8195e1b1123 | 3 | #define DCgain 8192 |
igor_v | 0:8ad47e2b6f00 | 4 | struct SPI Spi; |
Kovalev_D | 227:2774b56bfab0 | 5 | |
Kovalev_D | 227:2774b56bfab0 | 6 | |
Kovalev_D | 215:b58b887fd367 | 7 | |
Kovalev_D | 197:7a05523bf588 | 8 | |
Kovalev_D | 197:7a05523bf588 | 9 | |
Kovalev_D | 231:079835d508ef | 10 | unsigned int TempTermLM; |
Kovalev_D | 231:079835d508ef | 11 | unsigned int ADC5New; |
Kovalev_D | 215:b58b887fd367 | 12 | |
Kovalev_D | 231:079835d508ef | 13 | int AMPSUM,SumDelta,HFOSumDelta,DeltaRegul,tempDeltaRegul; |
Kovalev_D | 231:079835d508ef | 14 | int count10v=0,PLC_EROR, PLC_Flag,HFO_Flag,HFOdelta,HFOregul; |
Kovalev_D | 231:079835d508ef | 15 | int PlcWormMN, PlcWormPL, PlcWormDelta, PlcWormMNout, PlcWormPLout, PlcWormDeltaout; |
Kovalev_D | 215:b58b887fd367 | 16 | |
Kovalev_D | 228:a8195e1b1123 | 17 | int HFOAmpSUM; |
Kovalev_D | 228:a8195e1b1123 | 18 | int HFOAmp; |
Kovalev_D | 228:a8195e1b1123 | 19 | int HFOAmpfilt; |
Kovalev_D | 228:a8195e1b1123 | 20 | int HFOAmpfiltC; |
Kovalev_D | 197:7a05523bf588 | 21 | unsigned int ModArraySin [64] = {50,55,59,64,68,73,77,81,85,88,91,94,96,98,99,99,100,99,99,98,96,94,91,88,85,81,77,73,68,64,59,55,50,45,41,36,32,27,23,19,16,12,9,7,4,2,1,1,0,1,1,2,4,7,9,12,16,19,23,27,32,36,41,45}; |
Kovalev_D | 231:079835d508ef | 22 | int WormFilt [64]; |
Kovalev_D | 231:079835d508ef | 23 | int WormFilt2 [64]; |
Kovalev_D | 231:079835d508ef | 24 | int Delt_T4 [40]; |
Kovalev_D | 231:079835d508ef | 25 | int Delt_T5 [40]; |
Kovalev_D | 231:079835d508ef | 26 | //int AVR_PLC_ERR [64]; |
Kovalev_D | 231:079835d508ef | 27 | //int ERRPLC; |
Kovalev_D | 231:079835d508ef | 28 | int tempPlcErr; |
Kovalev_D | 231:079835d508ef | 29 | |
Kovalev_D | 231:079835d508ef | 30 | |
Kovalev_D | 231:079835d508ef | 31 | |
Kovalev_D | 231:079835d508ef | 32 | |
Kovalev_D | 231:079835d508ef | 33 | |
Kovalev_D | 231:079835d508ef | 34 | |
Kovalev_D | 231:079835d508ef | 35 | |
Kovalev_D | 231:079835d508ef | 36 | |
Kovalev_D | 231:079835d508ef | 37 | |
Kovalev_D | 231:079835d508ef | 38 | |
Kovalev_D | 231:079835d508ef | 39 | |
Kovalev_D | 197:7a05523bf588 | 40 | void Modulator(void) |
Kovalev_D | 197:7a05523bf588 | 41 | { |
Kovalev_D | 231:079835d508ef | 42 | LPC_DAC->DACR = (ModArraySin [(CountV64+Gyro.PLC_Phase)&0x3f])*Gyro.ModAmp + Gyro.ShiftMod-32000; |
Kovalev_D | 209:224e7331a061 | 43 | } |
Kovalev_D | 226:4a4d5bd5fcd7 | 44 | |
Kovalev_D | 147:1aed74f19a8f | 45 | void ADS_Acum(void) |
Kovalev_D | 147:1aed74f19a8f | 46 | { |
Kovalev_D | 157:1069c80f4944 | 47 | Spi.ADC_NewData = 0; |
Kovalev_D | 231:079835d508ef | 48 | /*Gyro.IN1_Accum += Spi.ADC2; |
Kovalev_D | 231:079835d508ef | 49 | Gyro.IN2_Accum += Spi.ADC3;*/ |
Kovalev_D | 232:130a2b5003e6 | 50 | |
Kovalev_D | 232:130a2b5003e6 | 51 | Spi.ADC1 = (int)(((((Spi.ADC1>>1)*100)*0.0122)-27300)+Gyro.Tmp_OffsetT4); |
Kovalev_D | 232:130a2b5003e6 | 52 | Spi.ADC2 = (int)(((((Spi.ADC2>>1)*100)*0.0122)-27300)+Gyro.Tmp_OffsetT5); |
Kovalev_D | 232:130a2b5003e6 | 53 | Gyro.Termo = Spi.ADC1; |
Kovalev_D | 232:130a2b5003e6 | 54 | Gyro.DeltaT = Spi.ADC2; |
Kovalev_D | 232:130a2b5003e6 | 55 | /*Gyro.Termo = Spi.ADC1-44726; |
Kovalev_D | 232:130a2b5003e6 | 56 | Gyro.DeltaT = Spi.ADC2-44726;*/ |
Kovalev_D | 232:130a2b5003e6 | 57 | Gyro.DeltaTRate=(Spi.ADC2-Spi.ADC1); |
Kovalev_D | 211:ac8251b067d2 | 58 | Gyro.TermLM = Spi.ADC1; |
Kovalev_D | 147:1aed74f19a8f | 59 | } |
Kovalev_D | 226:4a4d5bd5fcd7 | 60 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 61 | void HFOFilt(void) |
Kovalev_D | 220:04c54405b82d | 62 | { |
Kovalev_D | 231:079835d508ef | 63 | HFOAmp = BUTTER(HFOAmp); |
Kovalev_D | 231:079835d508ef | 64 | |
Kovalev_D | 231:079835d508ef | 65 | HFOdelta=(int)((Gyro.HFO_ref)-(HFOAmp)); |
Kovalev_D | 231:079835d508ef | 66 | HFOSumDelta+=HFOdelta; |
Kovalev_D | 226:4a4d5bd5fcd7 | 67 | HFOregul=HFOSumDelta/(int)(Gyro.HFO_Gain); |
Kovalev_D | 231:079835d508ef | 68 | HFOSumDelta-=Gyro.HFO_Gain*HFOregul; |
Kovalev_D | 231:079835d508ef | 69 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 70 | tempDeltaRegul += HFOregul; |
Kovalev_D | 231:079835d508ef | 71 | |
Kovalev_D | 231:079835d508ef | 72 | HFO_Flag=1; |
Kovalev_D | 226:4a4d5bd5fcd7 | 73 | } |
Kovalev_D | 226:4a4d5bd5fcd7 | 74 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 75 | void PLCFilt(void) |
Kovalev_D | 231:079835d508ef | 76 | { static unsigned int countAVR=0; |
Kovalev_D | 231:079835d508ef | 77 | |
Kovalev_D | 231:079835d508ef | 78 | if (count10v>=64) |
Kovalev_D | 231:079835d508ef | 79 | { |
Kovalev_D | 231:079835d508ef | 80 | countAVR++; |
Kovalev_D | 231:079835d508ef | 81 | count10v=0; |
Kovalev_D | 231:079835d508ef | 82 | for(int q=0; q<31; q++) |
Kovalev_D | 220:04c54405b82d | 83 | { |
Kovalev_D | 231:079835d508ef | 84 | WormFilt[q]= WormFilt[q]*(-1); |
Kovalev_D | 231:079835d508ef | 85 | } |
Kovalev_D | 231:079835d508ef | 86 | for(int q=0; q<64; q++) |
Kovalev_D | 220:04c54405b82d | 87 | { |
Kovalev_D | 231:079835d508ef | 88 | WormFilt2[q] = WormFilt[q]; |
Kovalev_D | 231:079835d508ef | 89 | PlcWormDelta+=WormFilt[q]; |
Kovalev_D | 231:079835d508ef | 90 | WormFilt[q]=0; |
Kovalev_D | 222:7de7b3bf3a1d | 91 | } |
Kovalev_D | 222:7de7b3bf3a1d | 92 | |
Kovalev_D | 231:079835d508ef | 93 | PlcWormDeltaout =PLCF1hz(PlcWormDelta>>6); |
Kovalev_D | 231:079835d508ef | 94 | if(countAVR > 63) countAVR=0; |
Kovalev_D | 231:079835d508ef | 95 | PlcWormDelta=0; |
Kovalev_D | 231:079835d508ef | 96 | |
Kovalev_D | 231:079835d508ef | 97 | SumDelta-= PlcWormDeltaout; |
Kovalev_D | 220:04c54405b82d | 98 | Gyro.PLC_Eror_count=SumDelta/Gyro.PLC_Gain; |
Kovalev_D | 220:04c54405b82d | 99 | SumDelta-=Gyro.PLC_Gain*Gyro.PLC_Eror_count; |
Kovalev_D | 225:f8fee6c586cc | 100 | |
Kovalev_D | 225:f8fee6c586cc | 101 | PLC_EROR+=Gyro.PLC_Eror_count; |
Kovalev_D | 226:4a4d5bd5fcd7 | 102 | |
Kovalev_D | 220:04c54405b82d | 103 | PLC_Flag=1; |
Kovalev_D | 231:079835d508ef | 104 | } |
Kovalev_D | 231:079835d508ef | 105 | |
Kovalev_D | 220:04c54405b82d | 106 | } |
Kovalev_D | 231:079835d508ef | 107 | |
Kovalev_D | 231:079835d508ef | 108 | void TempClac(void) |
Kovalev_D | 226:4a4d5bd5fcd7 | 109 | { |
Kovalev_D | 231:079835d508ef | 110 | static unsigned int AVR_T_Count=0; |
Kovalev_D | 226:4a4d5bd5fcd7 | 111 | |
Kovalev_D | 231:079835d508ef | 112 | |
Kovalev_D | 231:079835d508ef | 113 | |
Kovalev_D | 231:079835d508ef | 114 | static int TempModT4=0; |
Kovalev_D | 231:079835d508ef | 115 | static int TempModT5=0; |
Kovalev_D | 231:079835d508ef | 116 | |
Kovalev_D | 231:079835d508ef | 117 | static int OldT4=0; |
Kovalev_D | 232:130a2b5003e6 | 118 | static int OldT5=0,LastTermoMod=0;; |
Kovalev_D | 231:079835d508ef | 119 | static int OldDeltaT4=0; |
Kovalev_D | 231:079835d508ef | 120 | static int OldDeltaT5=0; |
Kovalev_D | 231:079835d508ef | 121 | static int OldMod=0; |
Kovalev_D | 231:079835d508ef | 122 | |
Kovalev_D | 231:079835d508ef | 123 | |
Kovalev_D | 231:079835d508ef | 124 | AVR_T_Count++; |
Kovalev_D | 231:079835d508ef | 125 | |
Kovalev_D | 232:130a2b5003e6 | 126 | |
Kovalev_D | 231:079835d508ef | 127 | |
Kovalev_D | 231:079835d508ef | 128 | TempModT4 = (int)(Gyro.T4-OldT4); |
Kovalev_D | 231:079835d508ef | 129 | TempModT5 = (int)(Gyro.T5-OldT5); |
Kovalev_D | 231:079835d508ef | 130 | |
Kovalev_D | 231:079835d508ef | 131 | OldT4=Gyro.T4; |
Kovalev_D | 231:079835d508ef | 132 | OldT5=Gyro.T5; |
Kovalev_D | 231:079835d508ef | 133 | |
Kovalev_D | 231:079835d508ef | 134 | |
Kovalev_D | 231:079835d508ef | 135 | Delt_T4 [AVR_T_Count & 0x1f] += TempModT4; |
Kovalev_D | 231:079835d508ef | 136 | Delt_T5 [AVR_T_Count & 0x1f] += TempModT5; |
Kovalev_D | 231:079835d508ef | 137 | |
Kovalev_D | 231:079835d508ef | 138 | if(AVR_T_Count==0x5ff) |
Kovalev_D | 231:079835d508ef | 139 | { |
Kovalev_D | 231:079835d508ef | 140 | for(int q=0; q<0x1f; q++) |
Kovalev_D | 231:079835d508ef | 141 | { |
Kovalev_D | 231:079835d508ef | 142 | Gyro.DeltaT4+=Delt_T4[q]; |
Kovalev_D | 231:079835d508ef | 143 | Delt_T4[q]=0; |
Kovalev_D | 231:079835d508ef | 144 | Gyro.DeltaT5+=Delt_T5[q]; |
Kovalev_D | 231:079835d508ef | 145 | Delt_T5[q]=0; |
Kovalev_D | 231:079835d508ef | 146 | } |
Kovalev_D | 232:130a2b5003e6 | 147 | |
Kovalev_D | 231:079835d508ef | 148 | if(Gyro.DeltaT4==0)Gyro.DeltaT4=OldDeltaT4; |
Kovalev_D | 231:079835d508ef | 149 | if(Gyro.DeltaT5==0)Gyro.DeltaT5=OldDeltaT5; |
Kovalev_D | 231:079835d508ef | 150 | |
Kovalev_D | 231:079835d508ef | 151 | OldDeltaT4=Gyro.DeltaT4; |
Kovalev_D | 231:079835d508ef | 152 | OldDeltaT5=Gyro.DeltaT5; |
Kovalev_D | 232:130a2b5003e6 | 153 | |
Kovalev_D | 232:130a2b5003e6 | 154 | |
Kovalev_D | 232:130a2b5003e6 | 155 | Gyro.TermoMod = Gyro.DeltaT4+Gyro.DeltaT5; |
Kovalev_D | 232:130a2b5003e6 | 156 | |
Kovalev_D | 232:130a2b5003e6 | 157 | |
Kovalev_D | 232:130a2b5003e6 | 158 | |
Kovalev_D | 232:130a2b5003e6 | 159 | if (Gyro.TermoMod> 0) Gyro.TermoMod=1; |
Kovalev_D | 232:130a2b5003e6 | 160 | else if(Gyro.TermoMod==0) Gyro.TermoMod=LastTermoMod ; |
Kovalev_D | 232:130a2b5003e6 | 161 | else Gyro.TermoMod=(-1); |
Kovalev_D | 231:079835d508ef | 162 | |
Kovalev_D | 232:130a2b5003e6 | 163 | LastTermoMod = Gyro.TermoMod; |
Kovalev_D | 231:079835d508ef | 164 | Gyro.DeltaT4=0; |
Kovalev_D | 231:079835d508ef | 165 | Gyro.DeltaT5=0; |
Kovalev_D | 231:079835d508ef | 166 | |
Kovalev_D | 231:079835d508ef | 167 | Gyro.TemperNewData=1; |
Kovalev_D | 231:079835d508ef | 168 | AVR_T_Count=0; |
Kovalev_D | 232:130a2b5003e6 | 169 | |
Kovalev_D | 232:130a2b5003e6 | 170 | |
Kovalev_D | 231:079835d508ef | 171 | |
Kovalev_D | 231:079835d508ef | 172 | } |
Kovalev_D | 231:079835d508ef | 173 | |
Kovalev_D | 226:4a4d5bd5fcd7 | 174 | } |
Kovalev_D | 220:04c54405b82d | 175 | |
igor_v | 114:5cc38a53d8a7 | 176 | void SPI_Exchange(void) // новая функция чтения, в нецй не должно быть ничего лишнего |
Kovalev_D | 157:1069c80f4944 | 177 | { |
Kovalev_D | 157:1069c80f4944 | 178 | unsigned int DummySPI; |
Kovalev_D | 231:079835d508ef | 179 | int FilAds; |
Kovalev_D | 231:079835d508ef | 180 | |
Kovalev_D | 197:7a05523bf588 | 181 | ADC5New = LPC_SSP0->DR;// Чтение АЦП |
Kovalev_D | 228:a8195e1b1123 | 182 | HFOAmpSUM+=0xffff-ADC5New; |
Kovalev_D | 231:079835d508ef | 183 | |
igor_v | 110:6406b7ac0442 | 184 | Spi.ADC4_Accum += LPC_SSP0->DR; |
igor_v | 110:6406b7ac0442 | 185 | Spi.ADC3_Accum += LPC_SSP0->DR; |
igor_v | 110:6406b7ac0442 | 186 | Spi.ADC2_Accum += LPC_SSP0->DR; |
igor_v | 110:6406b7ac0442 | 187 | Spi.ADC1_Accum += LPC_SSP0->DR; |
Kovalev_D | 207:d1ce992f5d17 | 188 | Spi.ADC5_Accum += ADC5New; |
Kovalev_D | 231:079835d508ef | 189 | |
Kovalev_D | 231:079835d508ef | 190 | FilAds = iir(0xffff-ADC5New); |
Kovalev_D | 231:079835d508ef | 191 | WormFilt[CountV64] = FilAds; |
Kovalev_D | 209:224e7331a061 | 192 | |
Kovalev_D | 231:079835d508ef | 193 | |
Kovalev_D | 207:d1ce992f5d17 | 194 | while (LPC_SSP0->SR & RX_SSP_notEMPT) |
Kovalev_D | 207:d1ce992f5d17 | 195 | { |
Kovalev_D | 170:d099c3025f87 | 196 | DummySPI = LPC_SSP0->DR; //если буфер SPI не пуст.//очистить буфер. |
Kovalev_D | 157:1069c80f4944 | 197 | } |
Kovalev_D | 112:4a96133a1311 | 198 | DAC_OutPut(); |
Kovalev_D | 157:1069c80f4944 | 199 | if (CountV31 == 0) { // просто фильтруем по 32 точкам. |
Kovalev_D | 231:079835d508ef | 200 | // выставояем бит, что есть новы данные |
Kovalev_D | 157:1069c80f4944 | 201 | Spi.ADC1 = Spi.ADC1_Accum >> 5; // подгоотавливаем данные (в той эе сетке) те ADC1 0..65535 |
Kovalev_D | 157:1069c80f4944 | 202 | Spi.ADC2 = Spi.ADC2_Accum >> 5; |
Kovalev_D | 157:1069c80f4944 | 203 | Spi.ADC3 = Spi.ADC3_Accum >> 5; |
Kovalev_D | 232:130a2b5003e6 | 204 | Spi.ADC4 = (Spi.ADC4_Accum >> 5); |
Kovalev_D | 232:130a2b5003e6 | 205 | Spi.ADC5 = (Spi.ADC5_Accum >> 5); |
Kovalev_D | 232:130a2b5003e6 | 206 | |
Kovalev_D | 232:130a2b5003e6 | 207 | Gyro.T4=Spi.ADC1; |
Kovalev_D | 232:130a2b5003e6 | 208 | Gyro.T5=Spi.ADC2; |
Kovalev_D | 157:1069c80f4944 | 209 | Spi.ADC1_Accum = 0; // сбрасывкем аккамулятор |
Kovalev_D | 157:1069c80f4944 | 210 | Spi.ADC2_Accum = 0; |
Kovalev_D | 157:1069c80f4944 | 211 | Spi.ADC3_Accum = 0; |
Kovalev_D | 157:1069c80f4944 | 212 | Spi.ADC4_Accum = 0; |
Kovalev_D | 157:1069c80f4944 | 213 | Spi.ADC5_Accum = 0; |
Kovalev_D | 157:1069c80f4944 | 214 | Spi.ADC_NewData = 1; |
Kovalev_D | 231:079835d508ef | 215 | TempClac(); |
Kovalev_D | 207:d1ce992f5d17 | 216 | } |
Kovalev_D | 231:079835d508ef | 217 | if(CountV31==31) |
Kovalev_D | 231:079835d508ef | 218 | { |
Kovalev_D | 228:a8195e1b1123 | 219 | HFOAmp=HFOAmpSUM>>5; |
Kovalev_D | 228:a8195e1b1123 | 220 | HFOAmpSUM=0; |
Kovalev_D | 231:079835d508ef | 221 | HFOFilt(); |
Kovalev_D | 231:079835d508ef | 222 | } |
Kovalev_D | 231:079835d508ef | 223 | count10v++; |
Kovalev_D | 231:079835d508ef | 224 | |
Kovalev_D | 231:079835d508ef | 225 | if(Time1Hz>3) PLCFilt(); |
Kovalev_D | 228:a8195e1b1123 | 226 | } |
Kovalev_D | 220:04c54405b82d | 227 | |
Kovalev_D | 231:079835d508ef | 228 | |
Kovalev_D | 231:079835d508ef | 229 | void HFORegul(void) |
Kovalev_D | 231:079835d508ef | 230 | { |
Kovalev_D | 231:079835d508ef | 231 | static unsigned int countHFO; |
Kovalev_D | 231:079835d508ef | 232 | countHFO=0; |
Kovalev_D | 231:079835d508ef | 233 | if(Gyro.RgConA&0x2) |
Kovalev_D | 231:079835d508ef | 234 | { |
Kovalev_D | 231:079835d508ef | 235 | if(HFO_Flag) |
Kovalev_D | 231:079835d508ef | 236 | { |
Kovalev_D | 231:079835d508ef | 237 | HFO_Flag=0; |
Kovalev_D | 231:079835d508ef | 238 | Spi.DAC_A -= HFOregul; |
Kovalev_D | 231:079835d508ef | 239 | DeltaRegul=0; |
Kovalev_D | 231:079835d508ef | 240 | } |
Kovalev_D | 231:079835d508ef | 241 | } |
Kovalev_D | 231:079835d508ef | 242 | else DeltaRegul=0; |
Kovalev_D | 231:079835d508ef | 243 | if(Spi.DAC_A>Gyro.HFO_Min-1) Spi.DAC_A=Gyro.HFO_Min-2; |
Kovalev_D | 231:079835d508ef | 244 | else if(Spi.DAC_A<Gyro.HFO_Max+1) Spi.DAC_A=Gyro.HFO_Max+2; |
Kovalev_D | 231:079835d508ef | 245 | } |
Kovalev_D | 231:079835d508ef | 246 | |
Kovalev_D | 231:079835d508ef | 247 | |
Kovalev_D | 231:079835d508ef | 248 | void PLCRegul(void) |
Kovalev_D | 231:079835d508ef | 249 | { |
Kovalev_D | 231:079835d508ef | 250 | static unsigned int Flag_64=0, count; |
Kovalev_D | 232:130a2b5003e6 | 251 | static int CountFaza,Sin,FlagGain; |
Kovalev_D | 232:130a2b5003e6 | 252 | |
Kovalev_D | 231:079835d508ef | 253 | |
Kovalev_D | 231:079835d508ef | 254 | |
Kovalev_D | 231:079835d508ef | 255 | if(Gyro.RgConA&0x8) |
Kovalev_D | 231:079835d508ef | 256 | { |
Kovalev_D | 231:079835d508ef | 257 | if(PLC_Flag) |
Kovalev_D | 231:079835d508ef | 258 | { |
Kovalev_D | 231:079835d508ef | 259 | PLC_Flag=0; |
Kovalev_D | 232:130a2b5003e6 | 260 | if(Gyro.PLCDelay) { FlagGain=1; } |
Kovalev_D | 232:130a2b5003e6 | 261 | else |
Kovalev_D | 232:130a2b5003e6 | 262 | { |
Kovalev_D | 232:130a2b5003e6 | 263 | if(FlagGain) |
Kovalev_D | 232:130a2b5003e6 | 264 | { |
Kovalev_D | 232:130a2b5003e6 | 265 | FlagGain=0; |
Kovalev_D | 232:130a2b5003e6 | 266 | Gyro.HFO_Gain = GyroP.Str.HFO_Gain; |
Kovalev_D | 232:130a2b5003e6 | 267 | } |
Kovalev_D | 232:130a2b5003e6 | 268 | Spi.DAC_B+=Gyro.PLC_Eror_count; |
Kovalev_D | 232:130a2b5003e6 | 269 | } |
Kovalev_D | 231:079835d508ef | 270 | } |
Kovalev_D | 231:079835d508ef | 271 | switch(Gyro.TermoMod) |
Kovalev_D | 231:079835d508ef | 272 | { |
Kovalev_D | 231:079835d508ef | 273 | case -1: |
Kovalev_D | 231:079835d508ef | 274 | if(Spi.DAC_B > Gyro.HighTreshold ) |
Kovalev_D | 231:079835d508ef | 275 | { |
Kovalev_D | 232:130a2b5003e6 | 276 | Gyro.HFO_Gain = GyroP.Str.HFO_Gain_Reset_PLC; |
Kovalev_D | 232:130a2b5003e6 | 277 | Spi.DAC_B = (Gyro.ResetLevelCool); |
Kovalev_D | 231:079835d508ef | 278 | Gyro.PLCDelay = GyroP.Str.PLCDelay; |
Kovalev_D | 231:079835d508ef | 279 | } |
Kovalev_D | 231:079835d508ef | 280 | break; |
Kovalev_D | 232:130a2b5003e6 | 281 | |
Kovalev_D | 231:079835d508ef | 282 | case 1: |
Kovalev_D | 231:079835d508ef | 283 | if(Spi.DAC_B < Gyro.DownTreshold ) |
Kovalev_D | 231:079835d508ef | 284 | { |
Kovalev_D | 232:130a2b5003e6 | 285 | Gyro.HFO_Gain = GyroP.Str.HFO_Gain_Reset_PLC; |
Kovalev_D | 231:079835d508ef | 286 | Spi.DAC_B = (Gyro.ResetLevelHeat); |
Kovalev_D | 231:079835d508ef | 287 | Gyro.PLCDelay = GyroP.Str.PLCDelay; |
Kovalev_D | 231:079835d508ef | 288 | } |
Kovalev_D | 231:079835d508ef | 289 | break; |
Kovalev_D | 231:079835d508ef | 290 | } |
Kovalev_D | 231:079835d508ef | 291 | } |
Kovalev_D | 231:079835d508ef | 292 | |
Kovalev_D | 220:04c54405b82d | 293 | } |
Kovalev_D | 220:04c54405b82d | 294 | |
Kovalev_D | 228:a8195e1b1123 | 295 | |
Kovalev_D | 228:a8195e1b1123 | 296 | |
Kovalev_D | 228:a8195e1b1123 | 297 | |
Kovalev_D | 231:079835d508ef | 298 | |
Kovalev_D | 231:079835d508ef | 299 | #define NCoefB 4 |
Kovalev_D | 231:079835d508ef | 300 | float iir(float NewSampleB) { |
Kovalev_D | 231:079835d508ef | 301 | /* float ACoefB[NCoefB+1] = { |
Kovalev_D | 231:079835d508ef | 302 | 0.00013312359920503476, |
Kovalev_D | 231:079835d508ef | 303 | 0.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 304 | -0.00026624719841006952, |
Kovalev_D | 231:079835d508ef | 305 | 0.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 306 | 0.00013312359920503476 |
Kovalev_D | 228:a8195e1b1123 | 307 | }; |
Kovalev_D | 228:a8195e1b1123 | 308 | |
Kovalev_D | 231:079835d508ef | 309 | float BCoefB[NCoefB+1] = { |
Kovalev_D | 231:079835d508ef | 310 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 311 | -3.95329685155055670000, |
Kovalev_D | 231:079835d508ef | 312 | 5.87955844350996500000, |
Kovalev_D | 231:079835d508ef | 313 | -3.89878590567108720000, |
Kovalev_D | 231:079835d508ef | 314 | 0.97261396930668409000 |
Kovalev_D | 231:079835d508ef | 315 | };*/ |
Kovalev_D | 231:079835d508ef | 316 | |
Kovalev_D | 231:079835d508ef | 317 | |
Kovalev_D | 231:079835d508ef | 318 | float ACoefB[NCoefB+1] = { |
Kovalev_D | 231:079835d508ef | 319 | 0.00002732713446345492, |
Kovalev_D | 231:079835d508ef | 320 | 0.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 321 | -0.00005465426892690984, |
Kovalev_D | 231:079835d508ef | 322 | 0.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 323 | 0.00002732713446345492 |
Kovalev_D | 228:a8195e1b1123 | 324 | }; |
Kovalev_D | 228:a8195e1b1123 | 325 | |
Kovalev_D | 231:079835d508ef | 326 | float BCoefB[NCoefB+1] = { |
Kovalev_D | 231:079835d508ef | 327 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 328 | -3.97797739472029300000, |
Kovalev_D | 231:079835d508ef | 329 | 5.95330114200914020000, |
Kovalev_D | 231:079835d508ef | 330 | -3.97245819689350290000, |
Kovalev_D | 231:079835d508ef | 331 | 0.99722704990382360000 |
Kovalev_D | 231:079835d508ef | 332 | }; |
Kovalev_D | 231:079835d508ef | 333 | static float yB[NCoefB+1]; //output samples |
Kovalev_D | 231:079835d508ef | 334 | static float xB[NCoefB+1]; //input samples |
Kovalev_D | 228:a8195e1b1123 | 335 | int n; |
Kovalev_D | 228:a8195e1b1123 | 336 | |
Kovalev_D | 228:a8195e1b1123 | 337 | //shift the old samples |
Kovalev_D | 231:079835d508ef | 338 | for(n=NCoefB; n>0; n--) { |
Kovalev_D | 231:079835d508ef | 339 | xB[n] = xB[n-1]; |
Kovalev_D | 231:079835d508ef | 340 | yB[n] = yB[n-1]; |
Kovalev_D | 228:a8195e1b1123 | 341 | } |
Kovalev_D | 228:a8195e1b1123 | 342 | |
Kovalev_D | 228:a8195e1b1123 | 343 | //Calculate the new output |
Kovalev_D | 231:079835d508ef | 344 | xB[0] = NewSampleB; |
Kovalev_D | 231:079835d508ef | 345 | yB[0] = ACoefB[0] * xB[0]; |
Kovalev_D | 231:079835d508ef | 346 | for(n=1; n<=NCoefB; n++) |
Kovalev_D | 231:079835d508ef | 347 | yB[0] += ACoefB[n] * xB[n] - BCoefB[n] * yB[n]; |
Kovalev_D | 228:a8195e1b1123 | 348 | |
Kovalev_D | 231:079835d508ef | 349 | return yB[0]; |
Kovalev_D | 228:a8195e1b1123 | 350 | } |
Kovalev_D | 228:a8195e1b1123 | 351 | |
Kovalev_D | 228:a8195e1b1123 | 352 | |
Kovalev_D | 228:a8195e1b1123 | 353 | |
Kovalev_D | 228:a8195e1b1123 | 354 | |
Kovalev_D | 228:a8195e1b1123 | 355 | |
Kovalev_D | 228:a8195e1b1123 | 356 | |
Kovalev_D | 228:a8195e1b1123 | 357 | |
Kovalev_D | 228:a8195e1b1123 | 358 | |
Kovalev_D | 220:04c54405b82d | 359 | |
Kovalev_D | 214:4c70e452c491 | 360 | |
Kovalev_D | 231:079835d508ef | 361 | float BUTTER(float NewSample) { |
Kovalev_D | 231:079835d508ef | 362 | |
Kovalev_D | 231:079835d508ef | 363 | float ACoef[NCoef+1] = { |
Kovalev_D | 231:079835d508ef | 364 | 0.00140639079012754060, |
Kovalev_D | 231:079835d508ef | 365 | 0.00281278158025508130, |
Kovalev_D | 231:079835d508ef | 366 | 0.00140639079012754060 |
Kovalev_D | 231:079835d508ef | 367 | }; |
Kovalev_D | 231:079835d508ef | 368 | |
Kovalev_D | 231:079835d508ef | 369 | float BCoef[NCoef+1] = { |
Kovalev_D | 231:079835d508ef | 370 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 371 | -1.88903307939452490000, |
Kovalev_D | 231:079835d508ef | 372 | 0.89487434461663573000 |
Kovalev_D | 231:079835d508ef | 373 | }; |
Kovalev_D | 231:079835d508ef | 374 | |
Kovalev_D | 231:079835d508ef | 375 | static float y[NCoef+1]; //output samples |
Kovalev_D | 231:079835d508ef | 376 | static float x[NCoef+1]; //input samples |
Kovalev_D | 231:079835d508ef | 377 | int n; |
Kovalev_D | 215:b58b887fd367 | 378 | |
Kovalev_D | 231:079835d508ef | 379 | //shift the old samples |
Kovalev_D | 231:079835d508ef | 380 | for(n=NCoef; n>0; n--) |
Kovalev_D | 231:079835d508ef | 381 | { |
Kovalev_D | 231:079835d508ef | 382 | x[n] = x[n-1]; |
Kovalev_D | 231:079835d508ef | 383 | y[n] = y[n-1]; |
Kovalev_D | 231:079835d508ef | 384 | } |
Kovalev_D | 231:079835d508ef | 385 | |
Kovalev_D | 231:079835d508ef | 386 | //Calculate the new output |
Kovalev_D | 231:079835d508ef | 387 | x[0] = NewSample; |
Kovalev_D | 231:079835d508ef | 388 | y[0] = ACoef[0] * x[0]; |
Kovalev_D | 231:079835d508ef | 389 | |
Kovalev_D | 231:079835d508ef | 390 | |
Kovalev_D | 231:079835d508ef | 391 | for(n=1; n<=NCoef; n++) |
Kovalev_D | 231:079835d508ef | 392 | { |
Kovalev_D | 231:079835d508ef | 393 | y[0] += ACoef[n] * x[n] - BCoef[n] * y[n]; |
Kovalev_D | 231:079835d508ef | 394 | |
Kovalev_D | 231:079835d508ef | 395 | } |
Kovalev_D | 231:079835d508ef | 396 | |
Kovalev_D | 231:079835d508ef | 397 | return y[0]; |
Kovalev_D | 231:079835d508ef | 398 | } |
Kovalev_D | 231:079835d508ef | 399 | |
Kovalev_D | 231:079835d508ef | 400 | |
Kovalev_D | 231:079835d508ef | 401 | |
Kovalev_D | 216:189b0ea1dc38 | 402 | |
Kovalev_D | 216:189b0ea1dc38 | 403 | |
Kovalev_D | 231:079835d508ef | 404 | #define NCoefP 2 |
Kovalev_D | 231:079835d508ef | 405 | float PLCF1hz(float NewSampleP) { |
Kovalev_D | 231:079835d508ef | 406 | |
Kovalev_D | 231:079835d508ef | 407 | /* float ACoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 408 | 0.02010938982754319900, |
Kovalev_D | 231:079835d508ef | 409 | 0.04021877965508639800, |
Kovalev_D | 231:079835d508ef | 410 | 0.02010938982754319900 |
Kovalev_D | 231:079835d508ef | 411 | }; // 10HZ |
Kovalev_D | 231:079835d508ef | 412 | |
Kovalev_D | 231:079835d508ef | 413 | float BCoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 414 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 415 | -1.56101807580071790000, |
Kovalev_D | 231:079835d508ef | 416 | 0.64135153805756284000 |
Kovalev_D | 231:079835d508ef | 417 | };*/ |
Kovalev_D | 231:079835d508ef | 418 | /* |
Kovalev_D | 231:079835d508ef | 419 | float ACoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 420 | 0.00554950417857849340, |
Kovalev_D | 231:079835d508ef | 421 | 0.01109900835715698700, |
Kovalev_D | 231:079835d508ef | 422 | 0.00554950417857849340 |
Kovalev_D | 231:079835d508ef | 423 | }; // 5HZ |
Kovalev_D | 225:f8fee6c586cc | 424 | |
Kovalev_D | 231:079835d508ef | 425 | float BCoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 426 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 427 | -1.77863177782458480000, |
Kovalev_D | 231:079835d508ef | 428 | 0.80080264666570744000 |
Kovalev_D | 231:079835d508ef | 429 | };*/ |
Kovalev_D | 231:079835d508ef | 430 | /* float ACoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 431 | 0.00024156733395523967, |
Kovalev_D | 231:079835d508ef | 432 | 0.00048313466791047934, |
Kovalev_D | 231:079835d508ef | 433 | 0.00024156733395523967 |
Kovalev_D | 231:079835d508ef | 434 | }; //2HZ |
Kovalev_D | 231:079835d508ef | 435 | |
Kovalev_D | 231:079835d508ef | 436 | float BCoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 437 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 438 | -1.95557824031503500000, |
Kovalev_D | 231:079835d508ef | 439 | 0.95654367651120309000 |
Kovalev_D | 231:079835d508ef | 440 | };*//* |
Kovalev_D | 231:079835d508ef | 441 | float ACoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 442 | 0.00000530383940879362, |
Kovalev_D | 231:079835d508ef | 443 | 0.00001060767881758724, |
Kovalev_D | 231:079835d508ef | 444 | 0.00000530383940879362 |
Kovalev_D | 231:079835d508ef | 445 | }; //0.125HZ |
Kovalev_D | 231:079835d508ef | 446 | |
Kovalev_D | 231:079835d508ef | 447 | float BCoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 448 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 449 | -1.99444641054192680000, |
Kovalev_D | 231:079835d508ef | 450 | 0.99446178907595384000 |
Kovalev_D | 231:079835d508ef | 451 | };*/ |
Kovalev_D | 231:079835d508ef | 452 | /*float ACoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 453 | 0.00024156733395523967, |
Kovalev_D | 231:079835d508ef | 454 | 0.00048313466791047934, |
Kovalev_D | 231:079835d508ef | 455 | 0.00024156733395523967 |
Kovalev_D | 231:079835d508ef | 456 | }; //1HZ |
Kovalev_D | 227:2774b56bfab0 | 457 | |
Kovalev_D | 231:079835d508ef | 458 | float BCoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 459 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 460 | -1.95557824031503500000, |
Kovalev_D | 231:079835d508ef | 461 | 0.95654367651120309000 |
Kovalev_D | 231:079835d508ef | 462 | };*/ |
Kovalev_D | 231:079835d508ef | 463 | /* |
Kovalev_D | 231:079835d508ef | 464 | float ACoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 465 | 0.00013397155178191382, |
Kovalev_D | 231:079835d508ef | 466 | 0.00026794310356382763, |
Kovalev_D | 231:079835d508ef | 467 | 0.00013397155178191382 |
Kovalev_D | 231:079835d508ef | 468 | }; //0.75HZ |
Kovalev_D | 231:079835d508ef | 469 | |
Kovalev_D | 231:079835d508ef | 470 | float BCoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 471 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 472 | -1.96668138526348500000, |
Kovalev_D | 231:079835d508ef | 473 | 0.96722742815186025000 |
Kovalev_D | 231:079835d508ef | 474 | };*/ |
Kovalev_D | 231:079835d508ef | 475 | float ACoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 476 | 0.00036133932576050832, |
Kovalev_D | 231:079835d508ef | 477 | 0.00072267865152101664, |
Kovalev_D | 231:079835d508ef | 478 | 0.00036133932576050832 |
Kovalev_D | 231:079835d508ef | 479 | }; //1.25HZ |
Kovalev_D | 231:079835d508ef | 480 | |
Kovalev_D | 231:079835d508ef | 481 | float BCoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 482 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 483 | -1.94447765776709370000, |
Kovalev_D | 231:079835d508ef | 484 | 0.94597793623228155000 |
Kovalev_D | 231:079835d508ef | 485 | }; |
Kovalev_D | 231:079835d508ef | 486 | |
Kovalev_D | 231:079835d508ef | 487 | |
Kovalev_D | 231:079835d508ef | 488 | /* |
Kovalev_D | 231:079835d508ef | 489 | float ACoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 490 | 0.29289321881333569000, |
Kovalev_D | 231:079835d508ef | 491 | 0.58578643762667137000, |
Kovalev_D | 231:079835d508ef | 492 | 0.29289321881333569000 |
Kovalev_D | 231:079835d508ef | 493 | }; // 100HZ |
Kovalev_D | 231:079835d508ef | 494 | |
Kovalev_D | 231:079835d508ef | 495 | float BCoefP[NCoefP+1] = { |
Kovalev_D | 231:079835d508ef | 496 | 1.00000000000000000000, |
Kovalev_D | 231:079835d508ef | 497 | 0.00000000000000004878, |
Kovalev_D | 231:079835d508ef | 498 | 0.17157287525380990000 |
Kovalev_D | 231:079835d508ef | 499 | };*/ |
Kovalev_D | 231:079835d508ef | 500 | static float yP[NCoefP+1]; //output samples |
Kovalev_D | 231:079835d508ef | 501 | static float xP[NCoefP+1]; //input samples |
Kovalev_D | 231:079835d508ef | 502 | int n; |
Kovalev_D | 231:079835d508ef | 503 | |
Kovalev_D | 231:079835d508ef | 504 | //shift the old samples |
Kovalev_D | 231:079835d508ef | 505 | for(n=NCoef; n>0; n--) { |
Kovalev_D | 231:079835d508ef | 506 | xP[n] = xP[n-1]; |
Kovalev_D | 231:079835d508ef | 507 | yP[n] = yP[n-1]; |
Kovalev_D | 231:079835d508ef | 508 | } |
Kovalev_D | 231:079835d508ef | 509 | |
Kovalev_D | 231:079835d508ef | 510 | //Calculate the new output |
Kovalev_D | 231:079835d508ef | 511 | xP[0] = NewSampleP; |
Kovalev_D | 231:079835d508ef | 512 | yP[0] = ACoefP[0] * xP[0]; |
Kovalev_D | 231:079835d508ef | 513 | for(n=1; n<=NCoefP; n++) |
Kovalev_D | 231:079835d508ef | 514 | yP[0] += ACoefP[n] * xP[n] - BCoefP[n] * yP[n]; |
Kovalev_D | 231:079835d508ef | 515 | |
Kovalev_D | 231:079835d508ef | 516 | return yP[0]; |
Kovalev_D | 220:04c54405b82d | 517 | } |
Kovalev_D | 216:189b0ea1dc38 | 518 | |
Kovalev_D | 112:4a96133a1311 | 519 | void DAC_OutPut(void)//выдача в цапы |
igor_v | 0:8ad47e2b6f00 | 520 | { |
Kovalev_D | 220:04c54405b82d | 521 | /*if(Gyro.RgConA&0x10)*/ Modulator(); |
Kovalev_D | 157:1069c80f4944 | 522 | LPC_SSP0->DR=0x5555; |
igor_v | 31:c783288001b5 | 523 | LPC_SSP0->DR=0x5555; |
igor_v | 31:c783288001b5 | 524 | LPC_SSP0->DR=0x5555; |
igor_v | 0:8ad47e2b6f00 | 525 | |
Kovalev_D | 209:224e7331a061 | 526 | if (CountV31 & 1) |
Kovalev_D | 209:224e7331a061 | 527 | { //если нечетный такт то |
Kovalev_D | 218:b4067cac75c0 | 528 | LPC_SSP0->DR = WRITE_DAC0; //e.команда для ЦАП_0 передавать. |
Kovalev_D | 220:04c54405b82d | 529 | LPC_SSP0->DR = (Spi.DAC_A); //e. передача 12 бит |
Kovalev_D | 209:224e7331a061 | 530 | } |
Kovalev_D | 209:224e7331a061 | 531 | else |
Kovalev_D | 209:224e7331a061 | 532 | { //если такт четный. |
Kovalev_D | 157:1069c80f4944 | 533 | LPC_SSP0->DR = WRITE_DAC1 ; //e.команда для ЦАП_1 передавать. |
Kovalev_D | 220:04c54405b82d | 534 | LPC_SSP0->DR = (Spi.DAC_B) ; |
igor_v | 31:c783288001b5 | 535 | } |
Kovalev_D | 112:4a96133a1311 | 536 | } |
Kovalev_D | 112:4a96133a1311 | 537 | |
Kovalev_D | 112:4a96133a1311 | 538 | |
Kovalev_D | 113:8be429494918 | 539 | |
Kovalev_D | 113:8be429494918 | 540 | |
Kovalev_D | 113:8be429494918 | 541 | |
Kovalev_D | 113:8be429494918 | 542 |