Dmitry Kovalev
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LGstaandart
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Fork of LG2 by
MTimer.c@208:19150d2b528f, 2017-02-07 (annotated)
- Committer:
- Kovalev_D
- Date:
- Tue Feb 07 10:11:35 2017 +0000
- Revision:
- 208:19150d2b528f
- Parent:
- 207:d1ce992f5d17
- Child:
- 209:224e7331a061
465
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" |
igor_v | 0:8ad47e2b6f00 | 7 | #include "SPI.h" |
igor_v | 0:8ad47e2b6f00 | 8 | #include "InputOutput.h" |
Kovalev_D | 112:4a96133a1311 | 9 | |
Kovalev_D | 197:7a05523bf588 | 10 | unsigned int CountV64=0; |
igor_v | 0:8ad47e2b6f00 | 11 | unsigned int CountV31=0; |
Kovalev_D | 197:7a05523bf588 | 12 | unsigned int CountV255=0; |
Kovalev_D | 197:7a05523bf588 | 13 | unsigned int f; |
Kovalev_D | 124:9ae09249f842 | 14 | int loop=0; |
Kovalev_D | 208:19150d2b528f | 15 | int t; |
Kovalev_D | 88:b5c1d9d338d1 | 16 | ///////////////////////////////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 17 | /////////////////////EVENT/////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 18 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 19 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 20 | ///////////////////// 1Hz /////////////////////////// |
Kovalev_D | 89:a0d344db227e | 21 | ///////////////////////////////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 22 | void Event_1Hz(void)// событие раз в 1 Гц |
Kovalev_D | 208:19150d2b528f | 23 | { |
Kovalev_D | 115:e5a230e5af52 | 24 | if (Event1Hz) |
Kovalev_D | 208:19150d2b528f | 25 | { |
Kovalev_D | 208:19150d2b528f | 26 | /*if(i) {LoopOn i=0;} |
Kovalev_D | 208:19150d2b528f | 27 | else {LoopOff i=1;}*/ |
Kovalev_D | 208:19150d2b528f | 28 | Discharg(); |
Kovalev_D | 208:19150d2b528f | 29 | BackLight(); |
Kovalev_D | 208:19150d2b528f | 30 | Gyro.Rate1_Event = 1; |
Kovalev_D | 208:19150d2b528f | 31 | Event1Hz--; |
Kovalev_D | 208:19150d2b528f | 32 | Time1Hz++; |
Kovalev_D | 203:3a6615de9581 | 33 | |
Kovalev_D | 196:f76dbc081e63 | 34 | } |
Kovalev_D | 88:b5c1d9d338d1 | 35 | } |
Kovalev_D | 89:a0d344db227e | 36 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 37 | ///////////////////// 1kHz ////////////////////////// |
Kovalev_D | 197:7a05523bf588 | 38 | ///////////////////////////////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 39 | void Event_1KHz(void)// событие раз в 1 кГц |
Kovalev_D | 88:b5c1d9d338d1 | 40 | { |
Kovalev_D | 116:66f1f0ff2dab | 41 | if (Event1K) |
Kovalev_D | 116:66f1f0ff2dab | 42 | { |
Kovalev_D | 208:19150d2b528f | 43 | |
Kovalev_D | 88:b5c1d9d338d1 | 44 | Event1K --; |
Kovalev_D | 116:66f1f0ff2dab | 45 | Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц |
Kovalev_D | 116:66f1f0ff2dab | 46 | if (Time1K == 1000) |
Kovalev_D | 115:e5a230e5af52 | 47 | { |
Kovalev_D | 208:19150d2b528f | 48 | Time1K -=1000; |
Kovalev_D | 88:b5c1d9d338d1 | 49 | Event1Hz ++; |
Kovalev_D | 88:b5c1d9d338d1 | 50 | } |
Kovalev_D | 208:19150d2b528f | 51 | } |
Kovalev_D | 88:b5c1d9d338d1 | 52 | } |
Kovalev_D | 124:9ae09249f842 | 53 | void Event_500Hz(void)// событие раз в 500 Гц |
Kovalev_D | 124:9ae09249f842 | 54 | { |
Kovalev_D | 124:9ae09249f842 | 55 | if(Event500Hz) |
Kovalev_D | 205:775d54fdf646 | 56 | { |
Kovalev_D | 205:775d54fdf646 | 57 | Event500Hz--; |
Kovalev_D | 208:19150d2b528f | 58 | Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро |
Kovalev_D | 197:7a05523bf588 | 59 | } |
Kovalev_D | 197:7a05523bf588 | 60 | } |
Kovalev_D | 89:a0d344db227e | 61 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 62 | ///////////////////// 100kHz ////////////////////////// |
Kovalev_D | 89:a0d344db227e | 63 | ///////////////////////////////////////////////////// |
Kovalev_D | 193:a0fe8bfc97e4 | 64 | void Event_100KHz(void)// событие раз в 100 кГц |
Kovalev_D | 88:b5c1d9d338d1 | 65 | { |
Kovalev_D | 162:44e4ded32c6a | 66 | |
Kovalev_D | 88:b5c1d9d338d1 | 67 | if (Event100K) { |
Kovalev_D | 197:7a05523bf588 | 68 | |
Kovalev_D | 88:b5c1d9d338d1 | 69 | Event100K --; |
Kovalev_D | 197:7a05523bf588 | 70 | |
Kovalev_D | 124:9ae09249f842 | 71 | if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу |
Kovalev_D | 124:9ae09249f842 | 72 | |
Kovalev_D | 124:9ae09249f842 | 73 | PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами. |
Kovalev_D | 88:b5c1d9d338d1 | 74 | } |
Kovalev_D | 88:b5c1d9d338d1 | 75 | } |
Kovalev_D | 89:a0d344db227e | 76 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 77 | //////////////////vibro EVENT//////////////////////// |
Kovalev_D | 89:a0d344db227e | 78 | ///////////////////////////////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 79 | void Event_Vibro(void)// событие от вибр |
Kovalev_D | 88:b5c1d9d338d1 | 80 | { |
Kovalev_D | 88:b5c1d9d338d1 | 81 | if (EventVibro) { |
Kovalev_D | 88:b5c1d9d338d1 | 82 | EventVibro --; |
Kovalev_D | 88:b5c1d9d338d1 | 83 | } |
Kovalev_D | 88:b5c1d9d338d1 | 84 | } |
Kovalev_D | 89:a0d344db227e | 85 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 86 | ///////////////////////////////////////////////////// |
Kovalev_D | 89:a0d344db227e | 87 | ///////////////////////////////////////////////////// |
Kovalev_D | 88:b5c1d9d338d1 | 88 | |
Kovalev_D | 88:b5c1d9d338d1 | 89 | |
Kovalev_D | 112:4a96133a1311 | 90 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 91 | ////////////////////////////////////////////////////////TIMER1//////////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 92 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 93 | |
Kovalev_D | 112:4a96133a1311 | 94 | ////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 95 | /////////////////////инициализация таймера 1 ///////////////////////// |
Kovalev_D | 112:4a96133a1311 | 96 | ////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 97 | |
Kovalev_D | 112:4a96133a1311 | 98 | unsigned int Init_TIM1 (unsigned int TimerInterval ) |
Kovalev_D | 112:4a96133a1311 | 99 | { |
Kovalev_D | 112:4a96133a1311 | 100 | LPC_TIM1->MR0 = TimerInterval; |
Kovalev_D | 112:4a96133a1311 | 101 | LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */ |
Kovalev_D | 112:4a96133a1311 | 102 | NVIC_EnableIRQ(TIMER1_IRQn); |
Kovalev_D | 112:4a96133a1311 | 103 | } |
Kovalev_D | 112:4a96133a1311 | 104 | |
Kovalev_D | 112:4a96133a1311 | 105 | |
igor_v | 0:8ad47e2b6f00 | 106 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 107 | /////////////////////////включение таймера 1////////////////////////// |
igor_v | 0:8ad47e2b6f00 | 108 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 109 | void enable_timer1( void ) |
igor_v | 21:bc8c1cec3da6 | 110 | { |
igor_v | 21:bc8c1cec3da6 | 111 | LPC_TIM1->TCR = 1; |
igor_v | 21:bc8c1cec3da6 | 112 | return; |
igor_v | 21:bc8c1cec3da6 | 113 | } |
igor_v | 0:8ad47e2b6f00 | 114 | |
igor_v | 0:8ad47e2b6f00 | 115 | |
igor_v | 0:8ad47e2b6f00 | 116 | ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 0:8ad47e2b6f00 | 117 | /////////////////////////////////////////////////TIMER2////////////////////////////////////////////////////////////////////////////////// |
igor_v | 0:8ad47e2b6f00 | 118 | ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 119 | |
igor_v | 0:8ad47e2b6f00 | 120 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 121 | /////////////////////инициализация таймера 2 ///////////////////////// |
igor_v | 0:8ad47e2b6f00 | 122 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 123 | unsigned int Init_TIM2 (void) |
igor_v | 21:bc8c1cec3da6 | 124 | { |
Kovalev_D | 124:9ae09249f842 | 125 | LPC_TIM2->MR0 = 257; |
igor_v | 21:bc8c1cec3da6 | 126 | LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */ |
igor_v | 21:bc8c1cec3da6 | 127 | NVIC_EnableIRQ(TIMER2_IRQn); |
igor_v | 21:bc8c1cec3da6 | 128 | return 1; |
igor_v | 21:bc8c1cec3da6 | 129 | } |
igor_v | 0:8ad47e2b6f00 | 130 | |
igor_v | 21:bc8c1cec3da6 | 131 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 132 | /////////////////////////включение таймера 2////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 133 | ////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 134 | void enable_timer2(void) |
igor_v | 21:bc8c1cec3da6 | 135 | { |
igor_v | 21:bc8c1cec3da6 | 136 | LPC_TIM2->TCR = 1; |
igor_v | 21:bc8c1cec3da6 | 137 | LPC_TIM2->TCR = 0x01; |
igor_v | 21:bc8c1cec3da6 | 138 | } |
igor_v | 21:bc8c1cec3da6 | 139 | |
igor_v | 21:bc8c1cec3da6 | 140 | |
Kovalev_D | 112:4a96133a1311 | 141 | ////////////////////////////////////////////////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 142 | /////////////////////////прерывание таймера 1////////////////////////// |
Kovalev_D | 112:4a96133a1311 | 143 | ////////////////////////////////////////////////////////////////////// |
Kovalev_D | 183:7e200f4d9b16 | 144 | __irq void TIMER1_IRQHandler (void)//13.27 kHz |
Kovalev_D | 205:775d54fdf646 | 145 | { |
Kovalev_D | 208:19150d2b528f | 146 | |
Kovalev_D | 208:19150d2b528f | 147 | |
igor_v | 114:5cc38a53d8a7 | 148 | ResetCS(ADC); //prepare ADC for sampling |
Kovalev_D | 112:4a96133a1311 | 149 | SetDAC(DAC); |
Kovalev_D | 208:19150d2b528f | 150 | Global_Time++; |
igor_v | 114:5cc38a53d8a7 | 151 | CountV255++; // инкремент счеттчика |
Kovalev_D | 164:6f43f85fdd8d | 152 | CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА |
Kovalev_D | 197:7a05523bf588 | 153 | CountV64 = CountV255 & 0x3f; |
Kovalev_D | 197:7a05523bf588 | 154 | CountV31 = CountV255 & 0x1f; // малый счетчик |
Kovalev_D | 197:7a05523bf588 | 155 | |
Kovalev_D | 112:4a96133a1311 | 156 | D_QEI(); //чтение данных по счетчику |
Kovalev_D | 143:2b15794a6cd2 | 157 | cheng(); // выставление флагов в 32 тактном цикле. |
Kovalev_D | 116:66f1f0ff2dab | 158 | |
Kovalev_D | 116:66f1f0ff2dab | 159 | |
Kovalev_D | 116:66f1f0ff2dab | 160 | SetCS(ADC); //start ADC sampling |
Kovalev_D | 116:66f1f0ff2dab | 161 | ResetDAC(DAC); |
Kovalev_D | 197:7a05523bf588 | 162 | SPI_Exchange(); //Чтение ADC_SPI |
igor_v | 114:5cc38a53d8a7 | 163 | |
Kovalev_D | 112:4a96133a1311 | 164 | LPC_TIM1->IR = 1; |
Kovalev_D | 208:19150d2b528f | 165 | |
Kovalev_D | 208:19150d2b528f | 166 | |
Kovalev_D | 112:4a96133a1311 | 167 | } |
Kovalev_D | 112:4a96133a1311 | 168 | |
igor_v | 21:bc8c1cec3da6 | 169 | /////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 170 | /////////////////////////прерывание таймера 2////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 171 | /////////////////////////////////////////////////////////////////////// |
igor_v | 21:bc8c1cec3da6 | 172 | __irq void TIMER2_IRQHandler (void) |
Kovalev_D | 208:19150d2b528f | 173 | { |
Kovalev_D | 208:19150d2b528f | 174 | |
igor_v | 21:bc8c1cec3da6 | 175 | LPC_TIM2->IR = 1; |
Kovalev_D | 208:19150d2b528f | 176 | |
Kovalev_D | 190:289514f730ee | 177 | if(Time_UART) Time_UART--; |
igor_v | 21:bc8c1cec3da6 | 178 | Time_vibro++; |
Kovalev_D | 203:3a6615de9581 | 179 | VibroOut(); |
Kovalev_D | 112:4a96133a1311 | 180 | Gyro.VibroOutF=1; |
Kovalev_D | 190:289514f730ee | 181 | Event100K ++; |
Kovalev_D | 197:7a05523bf588 | 182 | Time500Hz++; |
Kovalev_D | 197:7a05523bf588 | 183 | Time100K++; |
Kovalev_D | 205:775d54fdf646 | 184 | // Time250Hz++; |
Kovalev_D | 197:7a05523bf588 | 185 | if (Time100K == 100) |
Kovalev_D | 197:7a05523bf588 | 186 | { |
Kovalev_D | 197:7a05523bf588 | 187 | Time100K = 0; |
Kovalev_D | 197:7a05523bf588 | 188 | Event1K ++; |
Kovalev_D | 197:7a05523bf588 | 189 | } |
Kovalev_D | 197:7a05523bf588 | 190 | if (Time500Hz > 200) |
Kovalev_D | 208:19150d2b528f | 191 | { // LoopOn |
Kovalev_D | 197:7a05523bf588 | 192 | Time500Hz -= 200; |
Kovalev_D | 208:19150d2b528f | 193 | Event500Hz ++; |
Kovalev_D | 197:7a05523bf588 | 194 | } |
Kovalev_D | 208:19150d2b528f | 195 | |
igor_v | 21:bc8c1cec3da6 | 196 | } |