Dmitry Kovalev / Mbed 2 deprecated LGstaandart

forkd

Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

Global.c@87:7e575d26d6d0, 2016-03-24 (annotated)

Committer:
Kovalev_D
Date:
Thu Mar 24 09:16:55 2016 +0000
Revision:
87:7e575d26d6d0
Parent:
86:398da56ef751
Child:
88:b5c1d9d338d1
GLD_Init

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 0:8ad47e2b6f00 3
igor_v 0:8ad47e2b6f00 4
igor_v 21:bc8c1cec3da6 5 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 86:398da56ef751 6 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
igor_v 0:8ad47e2b6f00 7 unsigned long MaxAmp=0;
igor_v 0:8ad47e2b6f00 8 unsigned char BuffTemp[100];
igor_v 51:81f47b817071 9 unsigned char Time[500];
Kovalev_D 86:398da56ef751 10 unsigned int Event1Hz;
Kovalev_D 86:398da56ef751 11 unsigned int Event1K ;
Kovalev_D 86:398da56ef751 12 unsigned int Event100K;
Kovalev_D 86:398da56ef751 13 unsigned int EventVibro;
Kovalev_D 86:398da56ef751 14 unsigned int Time1K;
Kovalev_D 86:398da56ef751 15 unsigned int Time100K;
Kovalev_D 86:398da56ef751 16 unsigned int Time1Hz;
Kovalev_D 86:398da56ef751 17 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 18 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 19 unsigned int ShiftL;
Kovalev_D 86:398da56ef751 20
Kovalev_D 86:398da56ef751 21 void GLD_Init(void)
Kovalev_D 86:398da56ef751 22 {
Kovalev_D 86:398da56ef751 23 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 24 ///////////обнуление счетчиков///////////////
Kovalev_D 86:398da56ef751 25 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 26 Global_Time = 0;
Kovalev_D 86:398da56ef751 27 Time_UART = 0;
Kovalev_D 86:398da56ef751 28 Time_Sec = 0;
Kovalev_D 86:398da56ef751 29 Time_vibro = 0;
Kovalev_D 86:398da56ef751 30 Time_1kHz = 0;
Kovalev_D 86:398da56ef751 31 Event1Hz = 0;
Kovalev_D 86:398da56ef751 32 Event1K = 0;
Kovalev_D 86:398da56ef751 33 Event100K = 0;
Kovalev_D 86:398da56ef751 34 EventVibro = 0;
Kovalev_D 86:398da56ef751 35 Time1K = 0;
Kovalev_D 86:398da56ef751 36 Time100K = 0;
Kovalev_D 86:398da56ef751 37 Time1Hz = 0;
Kovalev_D 86:398da56ef751 38 Clock1Hz = 0;
Kovalev_D 86:398da56ef751 39 ShiftD = 0;
Kovalev_D 86:398da56ef751 40 ShiftL = 0;
Kovalev_D 86:398da56ef751 41 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 42 /////////////////////////////////////////////
Kovalev_D 86:398da56ef751 43
Kovalev_D 86:398da56ef751 44 /*
Kovalev_D 86:398da56ef751 45 Gyro.SOC_Out=0xDD;
Kovalev_D 86:398da56ef751 46 Gyro.Firmware_Version =0x15; //версия программы
Kovalev_D 86:398da56ef751 47 Gyro.GLD_Serial = 0x20; //серийный номер
Kovalev_D 86:398da56ef751 48 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 86:398da56ef751 49 Gyro.Discharg = StartDischarg;
Kovalev_D 86:398da56ef751 50 Gyro.BackLight = StartBackLight;
Kovalev_D 86:398da56ef751 51 */
Kovalev_D 87:7e575d26d6d0 52
Kovalev_D 87:7e575d26d6d0 53
Kovalev_D 86:398da56ef751 54 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 55 ////////инициализация цап (р0.26 цап выход)//////////
Kovalev_D 86:398da56ef751 56 //////////////////середина шкалы/////////////////////
Kovalev_D 86:398da56ef751 57 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 58 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 86:398da56ef751 59 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 60 ////////////начальное значение для цап///////////////
Kovalev_D 86:398da56ef751 61 //////////////////середина шкалы/////////////////////
Kovalev_D 86:398da56ef751 62 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 63 Spi.DAC_A = 0x7fff;
Kovalev_D 86:398da56ef751 64 Spi.DAC_B = 0x7fff;
Kovalev_D 86:398da56ef751 65 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 66 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 67 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 68 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 69 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 70 K_DAC=0.8;
Kovalev_D 86:398da56ef751 71 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 72 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 73
igor_v 16:18e3fd7b92d0 74
igor_v 16:18e3fd7b92d0 75
Kovalev_D 86:398da56ef751 76 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 86:398da56ef751 77
Kovalev_D 86:398da56ef751 78
Kovalev_D 86:398da56ef751 79 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 80 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 81 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 82 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 83 Cur_QEI=0;
Kovalev_D 86:398da56ef751 84 Last_QEI=0;
Kovalev_D 86:398da56ef751 85 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 86 /////////////инициализация энкодера//////////////////
Kovalev_D 87:7e575d26d6d0 87 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 88 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 87:7e575d26d6d0 89 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=100MHz
Kovalev_D 87:7e575d26d6d0 90 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 91 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 87:7e575d26d6d0 92 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23, p1.24 ??are pulled-down??(притянуть к питанию)????
Kovalev_D 86:398da56ef751 93
Kovalev_D 87:7e575d26d6d0 94 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 87:7e575d26d6d0 95 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 96 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 87:7e575d26d6d0 97 LPC_QEI->CONF = (0<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 98
Kovalev_D 87:7e575d26d6d0 99 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 100 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 101
Kovalev_D 87:7e575d26d6d0 102 NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 87:7e575d26d6d0 103 NVIC_EnableIRQ(QEI_IRQn);
Kovalev_D 87:7e575d26d6d0 104 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 105 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 106
Kovalev_D 87:7e575d26d6d0 107
Kovalev_D 87:7e575d26d6d0 108
Kovalev_D 86:398da56ef751 109 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 110 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 111 ///////////расчета значений буферов ВП///////////////
Kovalev_D 86:398da56ef751 112 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 113
Kovalev_D 87:7e575d26d6d0 114
Kovalev_D 87:7e575d26d6d0 115 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 87:7e575d26d6d0 116 Gyro.FrqHZ=449;
Kovalev_D 87:7e575d26d6d0 117 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 87:7e575d26d6d0 118 Gyro.AmpPer=20;
Kovalev_D 87:7e575d26d6d0 119 Gyro.AmpPerDel=10;
Kovalev_D 87:7e575d26d6d0 120 Gyro.Amp = 10*65535;
Kovalev_D 87:7e575d26d6d0 121 Gyro.AmpMin =10;// минимальное значение AmpT;
Kovalev_D 87:7e575d26d6d0 122 Gyro.AmpTD =30;// максимальное значение AmpT; (AmpT частота ошумления)
Kovalev_D 87:7e575d26d6d0 123 //////////////////////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 124
Kovalev_D 86:398da56ef751 125 CuruAngle = 0;
Kovalev_D 86:398da56ef751 126 Pulse_8Point = 0;
Kovalev_D 86:398da56ef751 127 Pulse_16Point = 0;
Kovalev_D 86:398da56ef751 128 Pulse_16PointD = 0;
Kovalev_D 86:398da56ef751 129 Pulse_32Point = 0;
Kovalev_D 86:398da56ef751 130 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 131 /////////////предварительное заполнение//////////////
Kovalev_D 86:398da56ef751 132 ////////////////буферов вибропривода/////////////////
Kovalev_D 86:398da56ef751 133 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 134 for (int i = 0; i < 32; i++ ) {
Kovalev_D 86:398da56ef751 135
Kovalev_D 86:398da56ef751 136 Buff_16Point[i] = 0x00;
Kovalev_D 86:398da56ef751 137 Buff_8Point[i] = 0x00;
Kovalev_D 86:398da56ef751 138 Buff_32Point[i] = 0x00;
Kovalev_D 86:398da56ef751 139 Buff_16PointD[i] = 0x00;
Kovalev_D 86:398da56ef751 140 }
Kovalev_D 86:398da56ef751 141 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 142 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 143
Kovalev_D 86:398da56ef751 144
Kovalev_D 86:398da56ef751 145
Kovalev_D 86:398da56ef751 146
Kovalev_D 86:398da56ef751 147
Kovalev_D 86:398da56ef751 148
Kovalev_D 86:398da56ef751 149 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 150 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 151 //////////////////переменных ацп/////////////////////
Kovalev_D 86:398da56ef751 152 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 153 Temp_AMP=0;
Kovalev_D 86:398da56ef751 154 Temp_ADC_2=0;
Kovalev_D 86:398da56ef751 155 Temp_ADC_3=0;
Kovalev_D 86:398da56ef751 156 Temp_ADC_4=0;
Kovalev_D 86:398da56ef751 157 Temp_ADC_5=0;
Kovalev_D 86:398da56ef751 158 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 159 /////////////предварительное заполнение//////////////
Kovalev_D 86:398da56ef751 160 /////////////////////буферов АЦП/////////////////////
Kovalev_D 86:398da56ef751 161 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 162 for (int i = 0; i < 16; i++ ) {
Kovalev_D 86:398da56ef751 163 Buff_ADC_1[i] = 0; // ампл ацп.
Kovalev_D 86:398da56ef751 164 Buff_ADC_2[i] = 0;
Kovalev_D 86:398da56ef751 165 Buff_ADC_3[i] = 0;
Kovalev_D 86:398da56ef751 166 Buff_ADC_4[i] = 0;
Kovalev_D 86:398da56ef751 167 Buff_ADC_5[i] = 0;
Kovalev_D 86:398da56ef751 168 }
Kovalev_D 86:398da56ef751 169 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 170 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 171
Kovalev_D 86:398da56ef751 172
Kovalev_D 87:7e575d26d6d0 173
Kovalev_D 87:7e575d26d6d0 174
Kovalev_D 87:7e575d26d6d0 175
Kovalev_D 86:398da56ef751 176
Kovalev_D 87:7e575d26d6d0 177 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 178 /////////////////инициализация ног///////////////////
Kovalev_D 87:7e575d26d6d0 179 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 180 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 87:7e575d26d6d0 181 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 87:7e575d26d6d0 182 PinCheng();
Kovalev_D 87:7e575d26d6d0 183
Kovalev_D 87:7e575d26d6d0 184
Kovalev_D 87:7e575d26d6d0 185 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 186 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 187 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 188 LPC_PINCON->PINSEL0 = (0x00<<28); // а нужно, ведь по умолчаниб у них 0 функция. попробоввать без них потом убрать
Kovalev_D 87:7e575d26d6d0 189 LPC_PINCON->PINMODE0 = (0x3<<28);
Kovalev_D 87:7e575d26d6d0 190 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 191 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 192 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 193
Kovalev_D 87:7e575d26d6d0 194
Kovalev_D 87:7e575d26d6d0 195 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 196 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 197 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 198 LPC_GPIO2->FIODIR |= (1<<7);
Kovalev_D 87:7e575d26d6d0 199 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 200 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 201
Kovalev_D 87:7e575d26d6d0 202
Kovalev_D 87:7e575d26d6d0 203
Kovalev_D 87:7e575d26d6d0 204 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 205 ////////////////?????????????????////////////////////
Kovalev_D 87:7e575d26d6d0 206 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 207 LPC_PINCON->PINSEL0 &= ~(3<<8); //e. P0.4 is GPIO pin (запись ( 00 ) в 9:8 бит PISEL0 выбор P0.4 как GPIO)
Kovalev_D 87:7e575d26d6d0 208 LPC_PINCON->PINMODE0 |= (3<<8); //e. P0.4 is GPIO pin (запись ( 11 ) в 9:8 бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 209 LPC_GPIO0->FIODIR |= (1<<4); //e. P0.4 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.4 как выход)
Kovalev_D 87:7e575d26d6d0 210 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 211 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 212
Kovalev_D 87:7e575d26d6d0 213
Kovalev_D 87:7e575d26d6d0 214
Kovalev_D 87:7e575d26d6d0 215 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 216 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 217 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 218 LPC_PINCON->PINSEL3 = (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 219 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 220 LPC_GPIO1->FIODIR |= (1<<25); //e. P0.5 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 221 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 87:7e575d26d6d0 222 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 223 /////////////////////вибро 2/////////////////////////
Kovalev_D 87:7e575d26d6d0 224 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 225 LPC_PINCON->PINSEL3 = (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 226 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 227 LPC_GPIO1->FIODIR |= (1<<28); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 228 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 229 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 230 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 231
Kovalev_D 87:7e575d26d6d0 232
Kovalev_D 87:7e575d26d6d0 233
Kovalev_D 87:7e575d26d6d0 234 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 235 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 236 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 237 LPC_PINCON->PINSEL2 = (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 238 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 239 LPC_GPIO2->FIODIR |= (1<<12); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 240 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 87:7e575d26d6d0 241 ///////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 242 ///////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 243
Kovalev_D 87:7e575d26d6d0 244
Kovalev_D 87:7e575d26d6d0 245
Kovalev_D 87:7e575d26d6d0 246
Kovalev_D 87:7e575d26d6d0 247
Kovalev_D 87:7e575d26d6d0 248 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 249 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 250 init_timer(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 86:398da56ef751 251 enable_timer1();
Kovalev_D 86:398da56ef751 252 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 86:398da56ef751 253 enable_timer2();
Kovalev_D 87:7e575d26d6d0 254
Kovalev_D 87:7e575d26d6d0 255 LPC_GPIO0->FIOCLR = (1<<5);/////////////??????????????????????????
Kovalev_D 86:398da56ef751 256 }
igor_v 13:e2a1d18677b8 257
igor_v 30:17c84ed091b3 258 void ButtonLightUP(void) // включение аоджига и подсветки
igor_v 0:8ad47e2b6f00 259 {
igor_v 52:30f2e52a493f 260
igor_v 0:8ad47e2b6f00 261 if ((secPuls>100)&&(pulse_Rq==1))
igor_v 0:8ad47e2b6f00 262 {
igor_v 0:8ad47e2b6f00 263 pulse_Rq=0;
igor_v 30:17c84ed091b3 264 // LightUpCount=3000;
igor_v 30:17c84ed091b3 265 // BackLightCount=5000;
igor_v 30:17c84ed091b3 266
igor_v 0:8ad47e2b6f00 267 }
igor_v 0:8ad47e2b6f00 268 }
igor_v 0:8ad47e2b6f00 269
igor_v 0:8ad47e2b6f00 270
igor_v 0:8ad47e2b6f00 271
igor_v 0:8ad47e2b6f00 272
igor_v 0:8ad47e2b6f00 273