Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

MTimer.c@203:3a6615de9581, 2016-11-18 (annotated)

Committer:
Kovalev_D
Date:
Fri Nov 18 14:06:22 2016 +0000
Revision:
203:3a6615de9581
Parent:
197:7a05523bf588
Child:
205:775d54fdf646
F_ras

Who changed what in which revision?

UserRevisionLine numberNew 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 112:4a96133a1311 15
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 92:c892f0311aa7 23 { int i,t;
Kovalev_D 115:e5a230e5af52 24 if (Event1Hz)
Kovalev_D 124:9ae09249f842 25 {
Kovalev_D 203:3a6615de9581 26
Kovalev_D 124:9ae09249f842 27 Gyro.Rate1_Event = 1;
Kovalev_D 122:fbacb932a30b 28 Event1Hz--;
Kovalev_D 122:fbacb932a30b 29 Time1Hz++;
Kovalev_D 117:eefe61968528 30 Discharg ();
Kovalev_D 193:a0fe8bfc97e4 31 BackLight();
Kovalev_D 196:f76dbc081e63 32 }
Kovalev_D 88:b5c1d9d338d1 33 }
Kovalev_D 89:a0d344db227e 34 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 35 ///////////////////// 1kHz //////////////////////////
Kovalev_D 197:7a05523bf588 36 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 37 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 88:b5c1d9d338d1 38 {
Kovalev_D 116:66f1f0ff2dab 39 if (Event1K)
Kovalev_D 116:66f1f0ff2dab 40 {
Kovalev_D 88:b5c1d9d338d1 41 Event1K --;
Kovalev_D 116:66f1f0ff2dab 42 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 193:a0fe8bfc97e4 43
Kovalev_D 116:66f1f0ff2dab 44 if (Time1K == 1000)
Kovalev_D 115:e5a230e5af52 45 {
Kovalev_D 88:b5c1d9d338d1 46 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 47 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 48 }
Kovalev_D 88:b5c1d9d338d1 49 }
Kovalev_D 88:b5c1d9d338d1 50 }
Kovalev_D 124:9ae09249f842 51 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 52 {
Kovalev_D 124:9ae09249f842 53 if(Event500Hz)
Kovalev_D 197:7a05523bf588 54 { Event500Hz--;
Kovalev_D 197:7a05523bf588 55 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 197:7a05523bf588 56 }
Kovalev_D 197:7a05523bf588 57 }
Kovalev_D 197:7a05523bf588 58
Kovalev_D 197:7a05523bf588 59
Kovalev_D 197:7a05523bf588 60 void Event_250Hz(void)// событие раз в 500 Гц
Kovalev_D 197:7a05523bf588 61 {
Kovalev_D 197:7a05523bf588 62 if(Event250Hz)
Kovalev_D 193:a0fe8bfc97e4 63 {
Kovalev_D 197:7a05523bf588 64 Event250Hz--;
Kovalev_D 197:7a05523bf588 65 Gyro.EventMOD=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 124:9ae09249f842 66 }
Kovalev_D 124:9ae09249f842 67 }
Kovalev_D 89:a0d344db227e 68 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 69 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 70 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 71 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 72 {
Kovalev_D 162:44e4ded32c6a 73
Kovalev_D 88:b5c1d9d338d1 74 if (Event100K) {
Kovalev_D 197:7a05523bf588 75
Kovalev_D 88:b5c1d9d338d1 76 Event100K --;
Kovalev_D 197:7a05523bf588 77
Kovalev_D 124:9ae09249f842 78 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 79
Kovalev_D 124:9ae09249f842 80 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 81 }
Kovalev_D 88:b5c1d9d338d1 82 }
Kovalev_D 89:a0d344db227e 83 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 84 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 85 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 86 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 87 {
Kovalev_D 88:b5c1d9d338d1 88 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 89 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 90 }
Kovalev_D 88:b5c1d9d338d1 91 }
Kovalev_D 89:a0d344db227e 92 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 93 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 94 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 95
Kovalev_D 88:b5c1d9d338d1 96
Kovalev_D 112:4a96133a1311 97 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 98 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 99 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 100
Kovalev_D 112:4a96133a1311 101 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 102 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 103 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 104
Kovalev_D 112:4a96133a1311 105 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 106 {
Kovalev_D 112:4a96133a1311 107 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 108 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 109 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 110 }
Kovalev_D 112:4a96133a1311 111
Kovalev_D 112:4a96133a1311 112
igor_v 0:8ad47e2b6f00 113 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 114 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 115 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 116 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 117 {
igor_v 21:bc8c1cec3da6 118 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 119 return;
igor_v 21:bc8c1cec3da6 120 }
igor_v 0:8ad47e2b6f00 121
igor_v 0:8ad47e2b6f00 122
igor_v 0:8ad47e2b6f00 123 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 124 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 125 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 126
igor_v 0:8ad47e2b6f00 127 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 128 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 129 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 130 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 131 {
Kovalev_D 124:9ae09249f842 132 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 133 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 134 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 135 return 1;
igor_v 21:bc8c1cec3da6 136 }
igor_v 0:8ad47e2b6f00 137
igor_v 21:bc8c1cec3da6 138 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 139 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 140 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 141 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 142 {
igor_v 21:bc8c1cec3da6 143 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 144 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 145 }
igor_v 21:bc8c1cec3da6 146
igor_v 21:bc8c1cec3da6 147
Kovalev_D 112:4a96133a1311 148 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 149 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 150 //////////////////////////////////////////////////////////////////////
Kovalev_D 183:7e200f4d9b16 151 __irq void TIMER1_IRQHandler (void)//13.27 kHz
Kovalev_D 197:7a05523bf588 152 { // LoopOn
igor_v 114:5cc38a53d8a7 153 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 154 SetDAC(DAC);
Kovalev_D 112:4a96133a1311 155
igor_v 114:5cc38a53d8a7 156 CountV255++; // инкремент счеттчика
Kovalev_D 164:6f43f85fdd8d 157 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
Kovalev_D 197:7a05523bf588 158 CountV64 = CountV255 & 0x3f;
Kovalev_D 197:7a05523bf588 159 CountV31 = CountV255 & 0x1f; // малый счетчик
Kovalev_D 197:7a05523bf588 160
Kovalev_D 112:4a96133a1311 161 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 162 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 163
Kovalev_D 116:66f1f0ff2dab 164
Kovalev_D 116:66f1f0ff2dab 165 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 166 ResetDAC(DAC);
Kovalev_D 197:7a05523bf588 167 SPI_Exchange(); //Чтение ADC_SPI
igor_v 114:5cc38a53d8a7 168
Kovalev_D 112:4a96133a1311 169 LPC_TIM1->IR = 1;
Kovalev_D 193:a0fe8bfc97e4 170
Kovalev_D 197:7a05523bf588 171 // LoopOff
Kovalev_D 197:7a05523bf588 172
Kovalev_D 112:4a96133a1311 173 }
Kovalev_D 112:4a96133a1311 174
igor_v 21:bc8c1cec3da6 175 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 176 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 177 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 178 __irq void TIMER2_IRQHandler (void)
Kovalev_D 197:7a05523bf588 179 {
Kovalev_D 203:3a6615de9581 180 LoopOn
igor_v 21:bc8c1cec3da6 181 LPC_TIM2->IR = 1;
igor_v 21:bc8c1cec3da6 182 Global_Time++;
Kovalev_D 190:289514f730ee 183 if(Time_UART) Time_UART--;
igor_v 21:bc8c1cec3da6 184 Time_vibro++;
Kovalev_D 203:3a6615de9581 185 VibroOut();
Kovalev_D 112:4a96133a1311 186 Gyro.VibroOutF=1;
Kovalev_D 190:289514f730ee 187 Event100K ++;
Kovalev_D 197:7a05523bf588 188 Time500Hz++;
Kovalev_D 197:7a05523bf588 189 Time100K++;
Kovalev_D 197:7a05523bf588 190 Time250Hz++;
Kovalev_D 197:7a05523bf588 191 if (Time100K == 100)
Kovalev_D 197:7a05523bf588 192 {
Kovalev_D 197:7a05523bf588 193 Time100K = 0;
Kovalev_D 197:7a05523bf588 194 Event1K ++;
Kovalev_D 197:7a05523bf588 195 }
Kovalev_D 197:7a05523bf588 196 if (Time500Hz > 200)
Kovalev_D 197:7a05523bf588 197 {
Kovalev_D 197:7a05523bf588 198 Time500Hz -= 200;
Kovalev_D 197:7a05523bf588 199 Event500Hz ++;
Kovalev_D 197:7a05523bf588 200
Kovalev_D 197:7a05523bf588 201 }
Kovalev_D 197:7a05523bf588 202 if (Time250Hz > 400)
Kovalev_D 197:7a05523bf588 203 {
Kovalev_D 197:7a05523bf588 204 Time250Hz -= 400;
Kovalev_D 197:7a05523bf588 205 Event250Hz ++;
Kovalev_D 197:7a05523bf588 206 }
Kovalev_D 203:3a6615de9581 207 LoopOff
igor_v 21:bc8c1cec3da6 208 }