Dmitry Kovalev / Mbed 2 deprecated LGstaandart

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Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

host/Source/App/QEI.c@23:12e6183f04d4, 2016-02-03 (annotated)

Committer:
Kovalev_D
Date:
Wed Feb 03 10:44:42 2016 +0300
Revision:
23:12e6183f04d4
[thyz

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kovalev_D 23:12e6183f04d4 1 #include "lpc17xx.h"
Kovalev_D 23:12e6183f04d4 2 #include "QEI.h"
Kovalev_D 23:12e6183f04d4 3 #include "vibro.h"
Kovalev_D 23:12e6183f04d4 4 #include "MTimer.h"
Kovalev_D 23:12e6183f04d4 5
Kovalev_D 23:12e6183f04d4 6 int Pulse_midl = 0;
Kovalev_D 23:12e6183f04d4 7 int PulseHalf = 0;
Kovalev_D 23:12e6183f04d4 8 int CuruAngle = 0;
Kovalev_D 23:12e6183f04d4 9 int Dif_QEI;
Kovalev_D 23:12e6183f04d4 10 int FFF=0;//äëÿ çàïëàòêè
Kovalev_D 23:12e6183f04d4 11
Kovalev_D 23:12e6183f04d4 12 int Pulse_8Point = 0;
Kovalev_D 23:12e6183f04d4 13 int Pulse_16Point = 0;
Kovalev_D 23:12e6183f04d4 14 int Pulse_32Point = 0;
Kovalev_D 23:12e6183f04d4 15 int Pulse_16PointD = 0;
Kovalev_D 23:12e6183f04d4 16 unsigned int Iras=0,Temp_F_ras=0;
Kovalev_D 23:12e6183f04d4 17 int yy = 0;
Kovalev_D 23:12e6183f04d4 18
Kovalev_D 23:12e6183f04d4 19
Kovalev_D 23:12e6183f04d4 20 unsigned int Buff_32Point [256];
Kovalev_D 23:12e6183f04d4 21 unsigned int Buff_16Point [256];
Kovalev_D 23:12e6183f04d4 22 unsigned int Buff_16PointD [256];
Kovalev_D 23:12e6183f04d4 23 unsigned int Buff_8Point [256];
Kovalev_D 23:12e6183f04d4 24 unsigned int Buff_1Point [256];
Kovalev_D 23:12e6183f04d4 25 unsigned int Buff_Restored_sin [256];
Kovalev_D 23:12e6183f04d4 26 int unsigned Cur_QEI = 0, Last_QEI=0;
Kovalev_D 23:12e6183f04d4 27
Kovalev_D 23:12e6183f04d4 28
Kovalev_D 23:12e6183f04d4 29 void D_QEI(void)
Kovalev_D 23:12e6183f04d4 30 {
Kovalev_D 23:12e6183f04d4 31 Dif_QEI=0;
Kovalev_D 23:12e6183f04d4 32
Kovalev_D 23:12e6183f04d4 33
Kovalev_D 23:12e6183f04d4 34 Cur_QEI = LPC_QEI->POS & 0xFFFF; // ñ÷èòûâàíèå òåêóùåãî çíà÷åíèÿ ýíêîäåðà.
Kovalev_D 23:12e6183f04d4 35 Dif_QEI = (Cur_QEI - Last_QEI); // ïîëó÷åíèå ïðèðàùåíèÿ.()
Kovalev_D 23:12e6183f04d4 36 Last_QEI = Cur_QEI; // çàïèñü òåêóùåãî çíà÷åíèÿ ýíêîäåðà â ðåãèñòð ïðåäûäóùåãî çíà÷åíèÿ.
Kovalev_D 23:12e6183f04d4 37
Kovalev_D 23:12e6183f04d4 38
Kovalev_D 23:12e6183f04d4 39 if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // îáðàáîòêà ïðîõîäà çíà÷åíèÿ ÷åðåç íîëü
Kovalev_D 23:12e6183f04d4 40 if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // îáðàáîòêà ïðîõîäà çíà÷åíèÿ ÷åðåç íîëü
Kovalev_D 23:12e6183f04d4 41
Kovalev_D 23:12e6183f04d4 42
Kovalev_D 23:12e6183f04d4 43 Buff_1Point[CountV255] = (unsigned int) (Dif_QEI + 0xffff);// íàêîïëåíèå â áóôåð åäåíè÷íûõ çíà÷åíèé ïðèðàùåíèÿ ïî êàæäîìó òàêòó.
Kovalev_D 23:12e6183f04d4 44
Kovalev_D 23:12e6183f04d4 45 ////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 23:12e6183f04d4 46 ///////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 23:12e6183f04d4 47
Kovalev_D 23:12e6183f04d4 48 if (LPC_QEI->STAT) //e. "+" direction //r. ñòàëè âðàùàòüñÿ â "+" ñòîðîíó
Kovalev_D 23:12e6183f04d4 49 {
Kovalev_D 23:12e6183f04d4 50 Main.Cnt_Mns = Dif_QEI;
Kovalev_D 23:12e6183f04d4 51 }
Kovalev_D 23:12e6183f04d4 52 else
Kovalev_D 23:12e6183f04d4 53 {
Kovalev_D 23:12e6183f04d4 54 Main.Cnt_Pls = -Dif_QEI;
Kovalev_D 23:12e6183f04d4 55 }
Kovalev_D 23:12e6183f04d4 56 ////////// ???? Çàïëàòêà
Kovalev_D 23:12e6183f04d4 57 ////////// ???? Ïðîáëåìà íà÷àëüíîãî çàïîëíåíèÿ áóôåðîâ
Kovalev_D 23:12e6183f04d4 58 //////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 23:12e6183f04d4 59 if(FFF==1) // åñëè ïðîøëî 32 òàêòà âèáðî ïîäâåñà íà÷àòü çàïîëíÿòü îñòàëüíûå áóâåðû.
Kovalev_D 23:12e6183f04d4 60 {
Kovalev_D 23:12e6183f04d4 61 Pulse_8Point += Buff_1Point[CountV255];
Kovalev_D 23:12e6183f04d4 62 Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 8 òàêòîâ
Kovalev_D 23:12e6183f04d4 63 Buff_8Point[CountV255] = (unsigned int) (Pulse_8Point + 0xffff);
Kovalev_D 23:12e6183f04d4 64
Kovalev_D 23:12e6183f04d4 65 Pulse_16Point += Buff_1Point[CountV255];
Kovalev_D 23:12e6183f04d4 66 Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 16 òàêòîâ
Kovalev_D 23:12e6183f04d4 67 Buff_16Point[CountV255] = (unsigned int) (Pulse_16Point + 0xffff);
Kovalev_D 23:12e6183f04d4 68
Kovalev_D 23:12e6183f04d4 69 Pulse_32Point += Buff_1Point[CountV255];
Kovalev_D 23:12e6183f04d4 70 Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 32 òàêòîâ
Kovalev_D 23:12e6183f04d4 71 Main.Cnt_Dif = (Pulse_32Point+ 0xffff);
Kovalev_D 23:12e6183f04d4 72 Buff_32Point[CountV255] = (unsigned int) (Pulse_32Point + 0xffff);
Kovalev_D 23:12e6183f04d4 73
Kovalev_D 23:12e6183f04d4 74 Pulse_16PointD += Buff_1Point[CountV255];
Kovalev_D 23:12e6183f04d4 75 Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // çàïîëíåíèå áóôåðà íàêîïëåíûõ ïðèðàùåíèé çà 16 òàêòîâ Äâîéíûç
Kovalev_D 23:12e6183f04d4 76 Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
Kovalev_D 23:12e6183f04d4 77 Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // ç
Kovalev_D 23:12e6183f04d4 78
Kovalev_D 23:12e6183f04d4 79 Buff_16PointD[CountV255] = (unsigned int) (Pulse_16PointD + 0xffff);
Kovalev_D 23:12e6183f04d4 80
Kovalev_D 23:12e6183f04d4 81
Kovalev_D 23:12e6183f04d4 82 // Buff_Restored_sin [CountVf]= (unsigned int)( ((Buff_16Point[CountVf]*2)) - Buff_32Point[CountVf] );
Kovalev_D 23:12e6183f04d4 83
Kovalev_D 23:12e6183f04d4 84 Buff_Restored_sin [CountV255]= (unsigned int)( Buff_16PointD [ CountV255] + 65536 - Buff_32Point[CountV255] );
Kovalev_D 23:12e6183f04d4 85
Kovalev_D 23:12e6183f04d4 86
Kovalev_D 23:12e6183f04d4 87
Kovalev_D 23:12e6183f04d4 88 if(Buff_32Point[CountV255]>0)
Kovalev_D 23:12e6183f04d4 89 {
Kovalev_D 23:12e6183f04d4 90 Temp_F_ras += Buff_32Point[CountV255];
Kovalev_D 23:12e6183f04d4 91 }
Kovalev_D 23:12e6183f04d4 92 else if ((CountV255 & 0x1f)==0)
Kovalev_D 23:12e6183f04d4 93 {
Kovalev_D 23:12e6183f04d4 94 Main.F_ras=Temp_F_ras;
Kovalev_D 23:12e6183f04d4 95 Temp_F_ras=0;
Kovalev_D 23:12e6183f04d4 96 }
Kovalev_D 23:12e6183f04d4 97 else
Kovalev_D 23:12e6183f04d4 98 {
Kovalev_D 23:12e6183f04d4 99 Temp_F_ras -= Buff_32Point[CountV255];
Kovalev_D 23:12e6183f04d4 100 }
Kovalev_D 23:12e6183f04d4 101
Kovalev_D 23:12e6183f04d4 102 //unsigned int T_Vib;
Kovalev_D 23:12e6183f04d4 103
Kovalev_D 23:12e6183f04d4 104 }
Kovalev_D 23:12e6183f04d4 105 else if(CountV255 == 255)
Kovalev_D 23:12e6183f04d4 106 {
Kovalev_D 23:12e6183f04d4 107 FFF=1;//âðåìåííàÿ çàïëàòêà äëÿ ïàóçû ïåðåä çàïîëíåíèåì îñòàëüíûõ áóôåðîâ
Kovalev_D 23:12e6183f04d4 108 for (yy = 0; yy < 256; yy++ )
Kovalev_D 23:12e6183f04d4 109 {
Kovalev_D 23:12e6183f04d4 110 Buff_1Point [yy] = 0xffff;
Kovalev_D 23:12e6183f04d4 111 Buff_16Point [yy] = 0xffff;
Kovalev_D 23:12e6183f04d4 112 Buff_32Point [yy] = 0xffff;
Kovalev_D 23:12e6183f04d4 113 Buff_16PointD [yy] = 0xffff;
Kovalev_D 23:12e6183f04d4 114 }
Kovalev_D 23:12e6183f04d4 115
Kovalev_D 23:12e6183f04d4 116 }
Kovalev_D 23:12e6183f04d4 117 }