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Diff: host/Source/App/commandset.c
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- 23:12e6183f04d4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/host/Source/App/commandset.c Wed Feb 03 10:44:42 2016 +0300 @@ -0,0 +1,915 @@ +#include <string.h> +#include "commandset.h" +#include "el_lin.h" +#include "CyclesSync.h" +#include "CntrlGLD.h" +#include "InputOutput.h" +#include "Parameters.h" + +#define COMMAND_DEBUG + +//++++++++++++++++debug++++++++++++++++ +extern uint32_t In_Flag; +unsigned char BuffTemp1[100]; +//e. +++++++++++++++++++ variables +++++++++++++++++++++++++++++++++++++++++++ //r. +++++++++++++++++++ ïåðåìåííûå +++++++++++++++++++++++++++++++++++++++++++ +uint32_t CMD_Mode = 0; //e. operation mode of the device //r. ðåæèì ðàáîòû óñòðîéñòâà +uint32_t CMD_Code; //e. full code of the last recieved command //r. ïîëíûé êîä ïîñëåäíåé ïðèíÿòîé êîìàíäû +uint32_t wrk_period; //e. run period in cycles //r. ðàáî÷èé ïåðèîä â öèêëàõ +uint32_t blt_in_test; + + int32_t ScopeMode; //e. mode of display for a control point of an scope //r. ðåæèì îòîáðàæåíèÿ äëÿ êîíòðîëüíîé òî÷êè îñöèëëîãðàôà + + +void SetSpeedPeriod(void) //e.============ procedure of set of rate and periodicity of answer ======== //r.============ ïðîöåäóðà óñòàíîâêè ñêîðîñòè è ïåðèîäè÷íîñòè îòâåòà ======== +{ + if ((rcv_buf[3] & 0x0080) != 0) //e. is periodic data transmission needed? //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à òðóáóåòñÿ? + { + trm_cycl = 1; //e. yes, set present flag //r. äà, óñòàíîâèòü äàííûé ôëàã + } + else + { + trm_cycl = 0; //e. no, reset present flag //r. íåò, ñáðîñèòü äàííûé ôëàã + } + + SRgR &= 0xffcf; //e. clear the bit of transfer rate //r. î÷èñòêà áèò ñêîðîñòè ïåðåäà÷è + trm_rate = (rcv_buf[3] >> 1) & 0x0030; + SRgR |= trm_rate; //e. set present transfer rate //r. óñòàíîâèòü äàííóþ ñêîðîñòü ïåðåäà÷è +} // SetSpeedPeriod + + +void B_Delta_BINS(void) //r.===ïðîöåäóðà âûäà÷è íàêîïëåííûõ ðàçíîñòåé ñ÷åò÷èêîâ èìïóëüñîâ â ÈÍÑ â ôîðìàòå 14.18 +{ + Valid_Data = 0; // reset all bits of status word + + num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü 2 ïàðàìåòðà + addr_param[0] = &Output.Str.BINS_dif; //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà + addr_param[1] = &Valid_Data; //e. set the second paremeter address //r. çàäàòü àäðåñ âòîðîãî ïàðàìåòðà + size_param[0] = 4; //e. the length of the 1st parameter is 4 bytes //r. ïàðàìåòð 1 èìåeò äëèíó 4 áàéòà + size_param[1] = 1; //e. the length of the 2nd parameter is 1 byte (!! - the high byte, instead of low is transmitted) //r. ïàðàìåòð 2 èìååò äëèíó 1 áàéò (!!! ïåðåäàåòñÿ ñòàðøèé áàéò, à íå ìëàäøèé) + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà + +} // B_Delta_BINS + +void B_Delta_SF(void) //r.=== ïðîöåäóðà äëÿ èçìåðåíèÿ ìàñøòàáíîãî ìíîæèòåëÿ +{ + //e. time for data transfer has come, we work only with dither counters //r. ïðèøëî âðåìÿ ïåðåäàâàòü äàííûå, ðàáîòàåì òîëüêî ñ âèáðî-ñ÷åò÷èêàìè + RgConB = RATE_VIBRO_1; //e. set in the additional register of device control the mode of work with dither counters and the filter of moving average //r. óñòàíàâëèâàåì â äîïîëíèòåëüíîì ðåãèñòðå óïðàâëåíèÿ ðåæèì ðàáîòû ñ âèáðîñ÷åò÷èêàìè è ôèëüòðîì ñêîëüçÿùåãî ñðåäíåãî + + Valid_Data = 0; // reset all bits of status word + + num_of_par = 5;//8; //e. 8 parameters output //r. âûâîäèòü 8 ïàðàìåòðà + addr_param[0] = &Output.Str.SF_dif; //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà + addr_param[1] = &Out_main_cycle_latch; //e. set the second paremeter address //r. çàäàòü àäðåñ âòîðîãî ïàðàìåòðà + addr_param[2] = &Out_T_latch;//F_ras; + addr_param[3] = &Output.Str.WP_reg; + addr_param[4] = &Output.Str.Tmp_Out; + size_param[0] = 8; //e. the length of the 1st parameter is 4 bytes //r. ïàðàìåòð 1 èìåeò äëèíó 4 áàéòà + size_param[1] = 4; //e. the length of the 2nd parameter is 1 byte (!! - the high byte, instead of low is transmitted) //r. ïàðàìåòð 2 èìååò äëèíó 1 áàéò (!!! ïåðåäàåòñÿ ñòàðøèé áàéò, à íå ìëàäøèé) + size_param[2] = 2; + size_param[3] = 2; + size_param[4] = 12; + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà +} // B_Delta_SF + +void B_Delta_PS_execution(void) +{ + static void * paramTable[11] = {&(Output.Str.F_ras) , &(Output.Str.HF_reg), &(Output.Str.T_Vibro), &(Output.Str.L_Vibro), &(Output.Str.WP_reg), &(Output.Str.Tmp_Out[0]), &(Output.Str.Tmp_Out[1]), &(Output.Str.Tmp_Out[2]), &(Output.Str.Tmp_Out[3]), &(Output.Str.Tmp_Out[4]), &(Output.Str.Tmp_Out[5])}; + static uint32_t val, paramTmpWord; + static uint32_t * ptr; + static uint32_t index = 0; + + if ((index & 1) == 0) // high byte + { + ptr = (uint32_t*)paramTable[index >> 1]; + val = *ptr; + paramTmpWord = val >> 8; // move it to low byte of word + } + else + { + paramTmpWord = val; + } + paramTmpWord &= 0xFF; + paramTmpWord |= index << 8; + + Valid_Data = 0; // reset all bits of status word + + + num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü 2 ïàðàìåòðà + addr_param[0] = &Output.Str.PS_dif; //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà + addr_param[1] = ¶mTmpWord; + size_param[0] = 2; //e. the 1st parameter has 2 bytes length //r. ïàðàìåòð 1 èìåeò äëèíó 2 áàéò + size_param[1] = 2; //e. the 2nd and 3rd parameters have 1 bytes length//r. ïàðàìåòðû 2,3 èìåþò äëèíó 1 áàéò + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà + + index++; + if (index > 21) + { + index = 0; + } +} // B_Delta_PS_execution + +void M_Mirror(void) //e.---------------- prepare to transmission of the copy of receiving buffer ------------- //r.---------------- ïîäãîòîâêà ïåðåäà÷è êîïèè ïðèåìíîãî áóôåðà ------------- +{ + num_of_par = 1; //e. 1 parameter output //r. âûâîäèòü 1 ïàðàìåòð + + addr_param[0] = &rcv_copy; //e. set the address of the receiving buffer //r. óñòàíîâêà àäðåñà ïðèåìíîãî áóôåðà + + //e. multiply the number of copied words on 2, since each //r. óìíîæèòü ÷èñëî ñêîïèðîâàííûõ ñëîâ íà 2, ò.ê. êàæäîå + //e. will be trasferred in two steps: first zero, and then //r. áóäåò ïåðåäàâàòüñ÷ â äâà ïðèåìà: ñíà÷àëà íóëåâîé, à çàòåì + size_param[0] = rcv_byt_copy << 1; // multiplay by 2 + if (size_param[0] >= 64) + { + size_param[0] = 64; //e. maximal amount - no more than double length of the copy buffer //r. ìàêñèìàëüíîå êîëè÷åñòâî - íå áîëåå äâîéíîé äëèíû áóôåðà-êîïèè + } + trm_rate = 0; //e. set the transfer rate to the 38400 bauds //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è 38400 áîä + trm_cycl = 0; //e. forbid cyclic transmission of the parameter //r. çàïðåòèòü ïåðåäà÷ó ïàðàìåòðà â öèêëå + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà +} // M_Mirror + +void Mk_Ask1(void) //r.----------------- prepare of the standart answer 1 ---------------------- //r.----------------- ïîäãîòîâêà ñòàíäàðòíîãî îòâåòà 1 ---------------------- +{ + CMD_Code &= 0xff00; //e. clear bits of errors //r. î÷èñòèòü â íåì ïîëå îøèáîê + num_of_par = 1; //e. total amount parameters in aswer - 1 //r. âñåãî ïàðàìåòðîâ â îòâåòå - 1 + addr_param[0] = &CMD_Code; //e. and this parameter - returnable command code //r. è ýòîò ïàðàìåòð - âîçâðàùàåìûé êîä êîìàíäû + size_param[0] = 2; //e. and both its bytes //r. ïðè÷åì îáà åãî áàéòà + trm_ena = 1; //e. allow operation of the transmitter of the device //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà óñòðîéñòâà +} // Mk_Ask1 + +void Mk_AskDev(void) //r.----------------- answer on a command for device mode set ------------ //r.----------------- Îòâåò íà êîìàíäó óñòàíîâêè ðåæèìà ïðèáîðà ------------ +{ + num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü äâà ïàðàìåòðà + addr_param[0] = &Device_Mode; //e. address of the counter mode register (intenal latch, external latch, etc.) //r. àäðåñ ðåãèñòðà ðåæèìà ñ÷åò÷èêîâ (âíóòð., âíåøíÿÿ çàùåëêà è ò.ä.) + addr_param[1] = &SRgR; //e. address of the mode register of the processor card //r. àäðåñ ðåãèñòðà ðåæèìà ïëàòû ïðîöåññîðà + size_param[0] = 2; //e. size of the counter mode register - 2 bytes //r. ðàçìåð ðåãèñòðà ðåæèìà ñ÷åò÷èêîâ - 2 áàéòà + size_param[1] = 2; //e. size of the mode register of the processor card //r. ðàçìåð ðåãèñòðà ðåæèìà ïëàòû ïðîöåññîðà + trm_cycl = 0; //e. forbid cyclic transmission of the parameter //r. çàïðåòèòü ïåðåäà÷ó ïàðàìåòðà â öèêëå + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà +} // Mk_AskDev + +void GLD_Output(void) //e. ----------- Output modes --------- //r. --------- Ðåæèìû âûâîäà --------- +{ +if (Latch_Rdy) //latch appeared + { + if (trm_cycl) + trm_ena = 1; //enable packet generation + + switch (CMD_Mode) + { + case 1: //e. Delta _PS mode + B_Delta_PS_execution(); + break; + + case 5: + CMD_Code &= 0xff1f; //e. reset bits of current command code settings of periodicity and transfer rate //r. ñáðîñèòü â òåêóùåì êîäå êîìàíäû áèòû óñòàíîâêè ïåðèîäè÷íîñòè è ñêîðîñòè ïåðåäà÷è + if (CMD_Code == 0xdd02) //e. is it the Rate2 mode? //r. ýòî ðåæèì Rate2? + { + if (data_Rdy & WHOLE_PERIOD) + { + trm_ena = 1; + } + else + trm_ena = 0; + } + break; + } + } +} // GLD_Delta + + + +///// -------- commands ------------------------------------------------------------- +//e. set main device operation modes: //r. Óñòàíîâêà îñíîâíûõ ðåæèìîâ ðàáîòû ïðèáîðà: +//e. 1. acions with counters (internal latch, external latch with request over line, //r. 1. ðàáîòà ñî ñ÷åò÷èêàìè (âíóòðåííÿÿ çàùåëêà, âíåøíÿÿ çàùåëêè ñ çàïðîñîì ïî ëèíèè, +//e. external latch without request over line (instant answer after receiving of external latch pulse)) //r. âíåøíÿÿ çàùåëêà áåç çàïðîñà ïî ëèíèè (îòâåò ñðàçó ïîñëå ïðèõîäà èìïóëüñà âíåøí. çàùåëêè)) +//e. 2. line receiving/transmission rate //r. 2. ñêîðîñòü ïðèåìà/ïåðåäà÷è ïî ëèíèè +void B_Dev_Mode(void) +{ + Device_Mode = rcv_buf[3] & 0x00ff; //e. read the byte of command parameter from the receiver buffer //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà áàéò ïàðàìåòðà êîìàíäû + //e. and write it to the counter mode register //r. è çàïèñûâàåì â ðåãèñòð ðåæèìà ñ÷åò÷èêîâ + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_AskDev(); +} // B_Dev_Mode + +void B_BIT_Mode(void) +{ + uint8_t temp; + + temp = rcv_buf[3] & 0x000f & (~((rcv_buf[3] & 0x00f0) >> 4)); + if (temp == 1) // 1 - const test + { + Is_BIT = 1; + BIT_number = (long)(rcv_buf[4] & 0x00FF) << 24; + BIT_number |= (long)(rcv_buf[5] & 0x00FF) << 16; + BIT_number |= (long)(rcv_buf[6] & 0x00FF) << 8; + BIT_number |= (long)(rcv_buf[7] & 0x00FF); + } + else + { + Is_BIT = 0; + } + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_AskDev(); +} // B_BIT_Mode + +void M_Stimul(void) //e. === procedure of output of analog (DAC) and digital (flags) stimuluses //r. === ïðîöåäóðà âûâîäà àíàëîãîâûõ (ÖÀÏ) è äèñêðåòíûõ (ôëàãè) ñòèìóëîâ +{ + uint32_t chan; + + ScopeMode = 4; //e. WP_PHASE_DETECTOR allocate a mode of display for a control point of an scope //r. WP_PHASE_DETECTOR íàçíà÷èòü ðåæèì îòîáðàæåíèÿ äëÿ êîíòðîëüíîé òî÷êè îñöèëëîãðàôà + + chan = CMD_Code & 0x0007; //e. extracting the number of stimulus //r. âûäåëåíèå íîìåðà ñòèìóëà + + Output.ArrayOut[chan] = (((int)rcv_buf[4] << 8) | (int)rcv_buf[5])-0x8000; + + if ((CMD_Code & (1 << 7)) == 0) //e. to estimate: whether the answer is required //r. îöåíèòü: òðåáóåòñÿ ëè îòâåò + { + return; //e. if no - return //r. åñëè íåò - âîçâðàò + } + Mk_Ask1(); //e. otherwise - answer output //r. èíà÷å - âûäàòü îòâåò +} // M_Stymul + +void M_Status(void) //e. === procedure of initialization of transmission of the device status //r. === ïðîöåäóðà èíèöèàëèçàöèè ïåðåäà÷è ñòàòóñà óñòðîéñòâà +{ + SetSpeedPeriod(); //e. and set the answer transfer rate and its periodicity //r. è óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü + + num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü äâà ïàðàìåòðà + addr_param[0] = &blt_in_test; //e. the register address of the self-testing result //r. àäðåñ ðåãèñòðà ðåçóëüòàòà ñàìîòåñòèðîâàíèÿ + addr_param[1] = &ser_num; //e. address of the register of errors of line //r. àäðåñ ðåãèñòðà îøèáîê ëèíèè + size_param[0] = 2; //e. size of the self-test register - 2 bytes //r. ðàçìåð ðåãèñòðà ñàìîòåñòèðîâàíèÿ - 2 áàéòà + size_param[1] = 2; //e. size of the register of errors of line //r. ðàçìåð ðåãèñòðà îøèáîê ëèíèè + + trm_rate = 0; //e. set the transfer rate to the 38400 bauds //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è 38400 áîä + trm_cycl = 0; //e. forbid cyclic transmission of the parameter //r. çàïðåòèòü ïåðåäà÷ó ïàðàìåòðà â öèêëå + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà +} // M_Status + +void M_Clear(void) //e.---------------- cleaning of the register of errors of line -------------------------- //r.---------------- î÷èñòêà ðåãèñòðà îøèáîê ëèíèè -------------------------- +{ + line_err = 0; +} // M_Clear + +void M_Tmp_W(void) //e.----------------- write the command to the AD7714 IC ------------------------- //r.----------------- çàïèñü êîìàíäû â ñõåìû AD7714 ------------------------- +{ + + Mk_Ask1(); +} + +void M_Tmp_R(void) //e.----------------- read the data from the AD7714 IC -------------------------- //r.----------------- ÷òåíèå äàííûõ èç ñõåì AD7714 -------------------------- +{ + +} // M_Tmp_R + +void M_ADC_R(void) //e.----------------- read the data from the ADCs ADS1250, ADS8321 --------- //r.----------------- ÷òåíèå äàííûõ èç êàíàëîâ ÀÖÏ ADS1250, ADS8321 --------- +{ + SetSpeedPeriod(); //e. set the answer transfer rate and its periodicity //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü + UART_SwitchSpeed(trm_rate); + + num_of_par = 4; //e. 4 parameters output //r. âûâîäèòü ÷åòûðå ïàðàìåòðà + addr_param[0] = 0; //e. //r. <!-- èñïîëüçîâàëèñü äëÿ ÄÓÏ, òåïåðü íå èñïîëüçóþòñÿ + addr_param[1] = 0; //e. //r. --> + addr_param[2] = 0; + addr_param[3] = &(Input.StrIn.HF_out); //e. set the 4th parameter address _HF_out //r. çàäàòü àäðåñ ÷åòâåðòîãî ïàðàìåòðà _HF_out + size_param[0] = 2; //e. size of the parameters - 2 bytes //r. ðàçìåð ïàðàìåòðîâ - 2 áàéòà + size_param[1] = 2; + size_param[2] = 2; + size_param[3] = 2; + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà +} // M_ADC_R + +void M_Cnt_R(void) //r.----------------- read the counters of the Elio5 card -------------------------- //r.----------------- ÷òåíèå ñ÷åò÷èêîâ ïëàòû Elio5 -------------------------- +{ + SetSpeedPeriod(); //e. set the answer transfer rate and its periodicity //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü + UART_SwitchSpeed(trm_rate); + num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü äâà ïàðàìåòðà + + addr_param[0] = &(Output.Str.Cnt_Pls); //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà + addr_param[1] = &(Output.Str.Cnt_Mns); //e. set the second paremeter address //r. çàäàòü àäðåñ âòîðîãî ïàðàìåòðà + size_param[0] = 2; //e. size of the parameters - 2 bytes //r. ðàçìåð ïàðàìåòðîâ - 2 áàéòà + size_param[1] = 2; + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà +} // M_Cnt_R + +/*void M_e5r_W(void) //r.----------------- write to the mode register of the Elio5 card ------------------ //r.----------------- çàïèñü â ðåãèñòð ðåæèìà ïëàòû Elio5 ------------------ +{ + //e. read the byte of command parameter from the receiver buffer //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà áàéò ïàðàìåòðà êîìàíäû + //e. and write it to the card mode register and its copy //r. è çàïèñàòü åãî â ðåãèñòð ðåæèìà ïëàòû è â åãî êîïèþ +#if !defined COMMAND_DEBUG + Copy_e5_RgR = rcv_buf[3]; + io_space_write(E5_RGR, Copy_e5_RgR); +#endif + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_e5r_W */ +/* +void M_e5rA_W(void) //e.----- write to the 1st additional mode register of the Elio5 card ---------- //r.----- çàïèñü â 1-ûé äîïîëíèòåëüíûé ðåãèñòð ðåæèìà ïëàòû Elio5 ---------- +{ + //e. this command is used for switching a signal on which data counters are latched: //r. ýòà êîìàíäà èñïîëüçóåòñÿ äëÿ ïåðåêëþ÷åíèÿ ñèãíàëà, ïî êîòîðîìó çàùåëêèâàþòñÿ + //e. on the Reper signal or on Sign Meander //r. èíôîðìàöèîííûå ñ÷åò÷èêè: ëèáî ïî Reper`ó ëèáî ïî RefMeandr`ó + + //e. read the byte of command parameter from the receiver buffer //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà áàéò ïàðàìåòðà êîìàíäû + //e. and write it to the card mode register and its copy //r. è çàïèñàòü åãî â ðåãèñòð ðåæèìà ïëàòû è â åãî êîïèþ + Copy_e5_RgRA = rcv_buf[3]; +//??? Device_Mode = Copy_e5_RgRA; //e. and write it to the counter mode register //r. è çàïèñûâàåì â ðåãèñòð ðåæèìà ñ÷åò÷èêîâ +#if !defined COMMAND_DEBUG + io_space_write(E5_RGRA, Copy_e5_RgRA); +#endif + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_e5rA_W */ + +void M_Ctl_R(void) //r.----------------- reading the control register of the device ----------------- //r.----------------- ÷òåíèå ðåãèñòðà óïðàâëåíèÿ óñòðîéñòâà ----------------- +{ + num_of_par = 2; //e. 2 parameters transfer //r. ïåðåäàâàòü 2 ïàðàìåòðà + addr_param[0] = &CMD_Code; //e. the first parameter in answer - returned command code //r. ïåðâûé ïàðàìåòð â îòâåòå - âîçâðàùàåìûé êîä êîìàíäû + size_param[0] = 2; + size_param[1] = 2; //e. two bytes also have control registers //r. äâà áàéòà èìåþò òàêæå è ðåãèñòðû óïðàâëåíèÿ + if ((rcv_buf[3] & (1 << 4)) == 0) //e. is main control register needed? //r. òðåáóåòñÿ îñíîâíîé ðåãèñòð óïðàâëåíèÿ? + { + addr_param[1] = &RgConA; //e. yes //r. äà + } + else + { + addr_param[1] = &RgConB; //e. otherwise - load the address of the addititonal register //r. èíà÷å - çàãðóçèòü àäðåñ äîïîëíèòåëüíîãî ðåãèñòðà + } + CMD_Code &= 0xff10; //e. clear in it bit of errors and byte number //r. ñáðîñèòü â íåì ïîëÿ îøèáîê è íîìåðà áèòà + trm_ena = 1; //e. allow operation of the transmitter of line //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà ëèíèè +} // M_Ctl_R + +void M_Ctl_M(void) //r.----------------- modification of the control register of the device ------------ //r.----------------- ìîäèôèêàöèÿ ðåãèñòðà óïðàâëåíèÿ óñòðîéñòâà ------------ +{ + uint32_t * ptr; + uint32_t bit_numb; + + num_of_par = 2; //e. 2 parameters transfer //r. ïåðåäàâàòü 2 ïàðàìåòðà + addr_param[0] = &CMD_Code; //e. the first parameter in answer - returned command code //r. ïåðâûé ïàðàìåòð â îòâåòå - âîçâðàùàåìûé êîä êîìàíäû + size_param[0] = 2; + size_param[1] = 2; //e. two bytes also have control registers //r. äâà áàéòà èìåþò òàêæå è ðåãèñòðû óïðàâëåíèÿ + if ((CMD_Code & (1 << 4)) == 0) //e. is main control register needed? //r. òðåáóåòñÿ îñíîâíîé ðåãèñòð óïðàâëåíèÿ? + { + ptr = &RgConA; //e. yes //r. äà + } + else + { + ptr = &RgConB; //e. otherwise - load the address of the addititonal register //r. èíà÷å - çàãðóçèòü àäðåñ äîïîëíèòåëüíîãî ðåãèñòðà + } + addr_param[1] = ptr; //e. the second parameter in answer - modified register //r. âòîðîé ïàðàìåòð â îòâåòå - ìîäèôèöèðîâàííûé ðåãèñòð + + bit_numb = CMD_Code & 0x000f; //e. extract the number of the changeable bit //r. âûäåëèòü íîìåð èçìåíÿåìîãî áèòà + if ((CMD_Code & (1 << 7)) == 0) // Is clear bit + { + *ptr &= ~(1 << bit_numb); // yes, clear bit + } + else + { + *ptr |= 1 << bit_numb; // no, set bit + } + + CMD_Code &= 0xff10; //e. clear in command bit of errors and byte number //r. ñáðîñèòü â êîìàíäå ïîëÿ îøèáîê è íîìåðà áèòà + trm_cycl = 0; //e. forbid cyclic transmission of the parameter //r. çàïðåòèòü ïåðåäà÷ó ïàðàìåòðà â öèêëå + trm_ena = 1; //e. allow operation of the transmitter of line //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà ëèíèè +} // M_Ctl_M + +void M_Flg_R(void) //e.------------ reading the register of input flags --------------------------- //r.------------ ÷òåíèå ðåãèñòðà âõîäíûõ ôëàãîâ --------------------------- +{ + + num_of_par = 1; //e. 1 parameter output //r. âûâîäèòü îäèí ïàðàìåòð + addr_param[0] = &In_Flag; //e. the address of the flag register copy //r. àäðåñ êîïèè ðåãèñòðà ôëàãîâ + size_param[0] = 2; //e. size of the buffer - 2 bytes //r. ðàçìåð áóôåðà - 2 áàéòà + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà + +} // M_Flg_R + +void M_Vib_W(void) //r.------------ set the oscillation period of the dither drive ----------------- //r.------------ óñòàíîâêà ïåðèîäà êîëåáàíèé âèáðîïðèâîäà ----------------- +{ + ScopeMode = 1; //e. VB_PHASE_DETECTOR allocate a mode of display for a control point of an scope //r. VB_PHASE_DETECTOR íàçíà÷èòü ðåæèì îòîáðàæåíèÿ äëÿ êîíòðîëüíîé òî÷êè îñöèëëîãðàôà + + Output.Str.T_Vibro = (rcv_buf[4] << 8) | (rcv_buf[5] & 0xFF); //e. new variable of the period //r. íîâàÿ ïåðåìåííàÿ ïåðèîäà +/* sprintf(BuffTemp1, "\n\r F = %d ", Output.Str.T_Vibro); + SendToBuff(BuffTemp1,15);*/ + Output.Str.L_Vibro= (rcv_buf[6] << 8) | (rcv_buf[7] & 0xFF); //e. new variable of the pulse width //r. íîâàÿ ïåðåìåííàÿ äëèòåëüíîñòè èìïóëüñîâ + /*sprintf(BuffTemp1, "\n\r L = %d ", Output.Str.L_Vibro); + SendToBuff(BuffTemp1,15);*/ + VibroDither_Set(); //e. and output its value to period registers on card //r. âûâåñòè åå çíà÷åíèå â ðåãèñòðû ïåðèîäà íà ïëàòå + + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_Vib_W + +void M_Gph_W(void) //e.------------ set the gain factor of photodetector channels ------------------- //r.------------ óñòàíîâêà óñèëåíèÿ êàíàëîâ ôîòîïðèåìíèêà ------------------- +{ + Device_blk.Str.Gain_Ph_A = rcv_buf[4]; //e. read from the receiver buffer the value of the gain factor of the A channel //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà çíà÷åíèå óñèëåíèÿ êàíàëà À + Device_blk.Str.Gain_Ph_B = rcv_buf[5]; //e. read from the receiver buffer the value of the gain factor of the B channel //r. ñ÷èòàòü èç áóôåðà ïðèåìíèêà çíà÷åíèå óñèëåíèÿ êàíàëà  + + Out_G_photo(Device_blk.Str.Gain_Ph_A, Device_blk.Str.Gain_Ph_B); //e. display these values to digital potentiometers //r. âûâåñòè ýòè çíà÷åíèÿ â öèôðîâûå ïîòåíöèîìåòðû + + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_Gph_W + +void M_Rate(void) //e.------------ start of transfer of the M_Rate parameters stack ------------------- //r.------------ çàïóñê ïåðåäà÷è íàáîðà ïàðàìåòðîâ M_Rate ------------------- +{ + uint8_t mode; + + SetSpeedPeriod(); //e. set the answer transfer rate and its periodicity //r. óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü + UART_SwitchSpeed(trm_rate); + + mode = rcv_buf[3] & 0x001f; //e. extract number of the parameters stack in the command //r. âûäåëèòü íîìåð íàáîðà ïàðàìåòðîâ â êîìàíäå + + switch (mode) { + case 1: //e. it is the Rate stack //r. ýòî íàáîð Rate + RgConB = RATE_REPER_OR_REFMEANDR; //e. counter latch every vibro period + SwitchRefMeandInt(RATE_REPER_OR_REFMEANDR); //e. enable reference meander interrupt + + wrk_period = 12500000; //e. load needed length of working period 1 ñ.//r. çàãðóçèòü òðåáóåìóþ äëèòåëüíîñòü ðàáî÷åãî ïåðèîäà 1 ñ. + num_of_par = 14; //e. 9 parameters or groups of parameters output //r. âûâîäèòü 9 ïàðàìåòðîâ èëè ãðóïï ïàðàìåòðîâ + + Valid_Data = 0; // reset all bits of status word + + addr_param[0] = &(Output.Str.Cnt_Pls); //e. set the address of the 1st parameter in the 1st group //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà â 1-îé ãðóïïå + addr_param[1] = &(Output.Str.Cnt_Mns); //e. set the address of the 1st parameter in the 2nd group //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà â 2-îé ãðóïïå + addr_param[2] = &(Output.Str.Cnt_Dif); //e. set the address of the 1st parameter in the 3rd group //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà â 3-îé ãðóïïå + addr_param[3] = &(Output.Str.F_ras); //e. set the address of the _F_ras parameter in the 4th group //r. çàäàòü àäðåñ ïàðàìåòðà _F_ras âî 4-îé ãðóïïå + addr_param[4] = &(Output.Str.HF_reg); //e. set the address of the _HF_reg parameter in the 5th group //r. çàäàòü àäðåñ ïàðàìåòðà _HF_reg â 5-åé ãðóïïå + addr_param[5] = &(Output.Str.HF_dif); //e. set the address of the _HF_dif parameter in the 6th group //r. çàäàòü àäðåñ ïàðàìåòðà _HF_dif â 6-îé ãðóïïå + addr_param[6] = &(Output.Str.T_Vibro); //e. parameter _T_Vibro //r. ïàðàìåòð _T_Vibro + addr_param[7] = &(Output.Str.T_VB_pll); //e. parameter _T_VB_pll //r.ïàðàìåòðâ _T_VB_pll + addr_param[8] = &(Output.Str.L_Vibro); //e. parameter _L_Vibro //r. ïàðàìåòð _L_Vibro + addr_param[9] = &(Input.StrIn.HF_out); //e. set the address of the _RI_reg parameter in the 8th group //r. çàäàòü àäðåñ ïàðàìåòðà _RI_reg â 8-îé ãðóïïå + addr_param[10] = &(Output.Str.WP_reg); //e. parameters: _WP_reg, _WP_pll //r. ïàðàìåòðîâ _WP_reg, _WP_pll + addr_param[11] = &(Output.Str.WP_pll); //e. parameters: _WP_reg, _WP_pll //r. ïàðàìåòðîâ _WP_reg, _WP_pll + addr_param[12] = &(Output.Str.Tmp_Out); //e. set the address of the temperature sensors array //r. çàäàòü àäðåñ ìàññèâà äàò÷èêîâ òåìïåðàòóðû + addr_param[13] = &(Output.Str.WP_scope1); //e. reserved //r. çàðåçåðâèðîâàíî äëÿ äàëüíåéøèõ ïðèìåíåíèé + + size_param[0] = 2; //e. groups 1-6, 8-10 consists of one parameter ... //r. ãðóïïû 1-6, 8-10 ñîäåðæàò ïî îäíîìó ïàðàìåòðó + size_param[1] = 2; //e. and have 2 bytes length each //r. è èìåþò äëèíó 2 áàéòà êàæäàÿ + size_param[2] = 2; + size_param[3] = 2; + size_param[4] = 2; + size_param[5] = 2; + size_param[6] = 2; + size_param[7] = 2; + size_param[8] = 2; + size_param[9] = 2; + size_param[10] = 2; + size_param[11] = 2; + + size_param[13] = 4; //e. the 11th group parameters has length of 4 bytes //r. 11-z ãðóïïà ïàðàìåòðîâ èìååò äëèíó 4 áàéòà + + size_param[12] = 12; //e. format o the GLD array of temperatures - 12 bytes //r. ôîðìàò ìàññèâà òåìïåðàòóð ÃËÄ - 12 áàéò + + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà + break; + + case 2: //e. it is the Rate2 stack //r. ýòî íàáîð Rate2 + RgConB = RATE_REPER_OR_REFMEANDR; + SwitchRefMeandInt(RATE_REPER_OR_REFMEANDR); //e. enable interrupt from ref. meander + wrk_period = 0; //e. frequency of output = fvibro //r. ÷àñòîòà âûâîäà ðàâíà ÷àñòîòå ÂÏ + + num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü 2 ïàðàìåòðà + + addr_param[0] = &(Output.Str.Cnt_Pls); //e. set the first parameter address //r. çàäàòü àäðåñ ïåðâîãî ïàðàìåòðà + addr_param[1] = &(Output.Str.Cnt_Mns); //e. and the 2nd //r. è âòîðîãî + size_param[0] = 2; //e. parameters has 2 bytes length //r. ïàðàìåòðû èìååò äëèíó 2 áàéòà + size_param[1] = 2; + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà + break; + + case 3: //e. it is the Rate3 stack //r. ýòî íàáîð Rate3 + + wrk_period = 2500; //e. frequency of output = 10000 Hz //r. n=1, ÷àñòîòà âûâîäà = 10000 Hz + num_of_par = 2; //e. 2 parameters output //r. âûâîäèòü 2 ïàðàìåòðà + + addr_param[0] = &(Output.Str.WP_scope1); //e. set the addresses of output parameters //r. çàäàòü àäðåñà âûâîäèìûõ ïàðàìåòðîâ + addr_param[1] = &(Output.Str.WP_scope2); + size_param[0] = 2; //e. all parameters has 2 bytes length //r. âñå ïàðàìåòðû èìåþò äëèíó 2 áàéòà + size_param[1] = 2; + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà + break; + + case 4: //e. it is the Rate4 stack //r. ýòî íàáîð Rate4 + wrk_period = 20000; //e. correspond to output frequency 1.25 kHz //r. ñîîòâåñòâóåò ÷àñòîòå âûâîäà 1.25 kHz + num_of_par = 4; //e. 4 parameters output //r. âûâîäèòü 4 ïàðàìåòðà + + //e. set the addresses of output parameters //r. çàäàòü àäðåñà âûâîäèìûõ ïàðàìåòðîâ + // --- raw data array of numbers --- + // addr_param[0] = &Dif_Curr_Array; + // --- filtered array of numbers --- + // addr_param[1] = &Dif_Filt_Array; + // --------------------------------- + addr_param[2] = &(Output.Str.HF_reg); //e. HFO regulator //r. íàïðÿæåíèå ÃÂ× + addr_param[3] = &(Output.Str.WP_reg); //e. CPLC heater regulator //r. íàïðÿæåíèå íàãðåâàòåëÿ + size_param[0] = 16; + size_param[1] = 32; + size_param[2] = 2; + size_param[3] = 2; + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà + break; + case 7: + wrk_period = 20000; //e. correspond to output frequency 1250 Hz //r. ñîîòâåñòâóåò ÷àñòîòå âûâîäà 1.25 kHz + num_of_par = 5; //e. 4 parameters output //r. âûâîäèòü 5 ïàðàìåòðà + + //e. set the addresses of output parameters //r. çàäàòü àäðåñà âûâîäèìûõ ïàðàìåòðîâ + // --- raw data array of PLC phase --- + addr_param[0] = &(Output.Str.WP_Phase_Det_Array); + // --- filtered array of reference sin--- + addr_param[1] = &(Output.Str.WP_sin_Array); + // --------------------------------- + addr_param[2] = &(Output.Str.WP_reg); //e. CPLC heater regulator //r. íàïðÿæåíèå íàãðåâàòåëÿ + addr_param[3] = &(Output.Str.WP_pll); //e. CPLC phase //r. ôàçà + addr_param[4] = &(Output.Str.HF_reg); //e. set the address of the _HF_reg parameter in the 5th group //r. çàäàòü àäðåñ ïàðàìåòðà _HF_reg â 5-åé ãðóïïå + size_param[0] = 16; + size_param[1] = 16; + size_param[2] = 2; + size_param[3] = 2; + size_param[4] = 2; + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà + break; + } + SetIntLatch(wrk_period); +} // M_Rate + +void M_Reset(void) +{ + while(1); +} // will not achieve + +void M_Param_R(void) //e. ------------ read the parameter of the GLD from the data memory ---------------------- //r.------------ ÷òåíèå ïàðàìåòðà GLD èç ïàìÿòè äàííûõ ---------------------- +{ + num_of_par = 1; //e. 1 parameter output //r. âûâîäèòü îäèí ïàðàìåòð + addr_param[0] = (void *)(&Device_blk.Str.My_Addres + rcv_buf[3]); //e. address of the needed parameter in the block //r. àäðåñ òðåáóåìîãî ïàðàìåòðà â áëîêå + size_param[0] = 2; //e. size of the buffer - 2 bytes //r. ðàçìåð áóôåðà - 2 áàéòà + + trm_ena = 1; //e. allow operation of the transmitter //r. ðàçðåøèòü ðàáîòó ïåðåäàò÷èêà +} // M_Param_R + +void M_Param_W(void) //e.------------ write the parameter of the GLD from the data memory ----------------------- //r.------------ çàïèñü ïàðàìåòðà GLD â ïàìÿòü äàííûõ ----------------------- +{ + int * ptr; + + ScopeMode = 0; //e. VB_DELAY_MEANDER allocate a mode of display for a control point of an scope //r. VB_DELAY_MEANDER íàçíà÷èòü ðåæèì îòîáðàæåíèÿ äëÿ êîíòðîëüíîé òî÷êè îñöèëëîãðàôà + + ptr = (int *)&Device_blk.Str.My_Addres; // pointer to Parameters block + ptr += rcv_buf[3]; // calculate offset + *ptr = (rcv_buf[4] << 8) | (rcv_buf[5] & 0xFF); // write new parameter value + + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_Param_W + +void M_LdPar_F() //e.============ procedure for load the GLD parameters from the flash-memory =========== //r.============ ïðîöåäóðà çàãðóçêè ïàðàìåòðîâ ÃËÄ èç ôëýø-ïàìÿòè =========== +{ + + LoadFlashParam(FromFLASH); //e. load the GLD parameters from the flash-memory //r. çàãðóçèòü ïàðàìåòðû ÃËÄ èç ôäýø-ïàìÿòè + blt_in_test = ((uint32_t)FIRMWARE_VER << 8) | (Device_blk.Str.Device_SerialNumber & 0x00FF); +// Init_software(); + + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_LdPar_F + +void M_LdPar_D(void) //e.============ procedure for set parameters of the GLD by default ============ //r.============ ïðîöåäóðà óñòàíîâêè ïàðàìåòðîâ ÃËÄ ïî óìîë÷àíèþ ============ +{ +#if !defined COMMAND_DEBUG + LoadFlashParam(ByDefault); //e. define parameters of the GLD by default //r. îïðåäåëèòü ïàðàìåòðû ÃËÄ ïî óìîë÷àíèþ (default) + Init_software(); +#endif + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_LdPar_D + +void M_Start(void) //e.============ initialization of the GLD switch on ================================= //r.============ èíèöèàëèçàöèÿ çàïóñêà ÃËÄ ================================= +{ + start_Rq = 1; //e. set the flag of the GLD switch on request //r. óñòàíîâèòü ôëàã çàïðîñà ñòàðòà ÃËÄ + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_Start + +void M_Stop(void) //e.============ initialization of the GLD switch off ============================== //r.============ èíèöèàëèçàöèÿ âûêëþ÷åíèÿ ÃËÄ ============================== +{ + stop_Rq = 1; //e. set the flag of the GLD switch off request //r. óñòàíîâèòü ôëàã çàïðîñà âûêëþ÷åíèÿ ÃËÄ + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_Stop + +void M_Pulse(void) //e.============ generetion of the light-up pulse ========================= //r.============ ãåíåðàöèÿ èìïóëüñà çàïóñêà ëàçåðà ========================= +{ + pulse_Rq = 1; //e. set the flag of the GLD switch on request //r. óñòàíîâèòü ôëàã çàïðîñà ñòàðòà ÃËÄ + trm_cycl = 0; //e. periodic data transmission is not needed //r. ïåðèîäè÷åñêàÿ ïåðåäà÷à îòâåòà íå òðåáóåòñÿ + Mk_Ask1(); +} // M_Pulse + +void B_Rate(void) //e. === procedure of device operation in a mode of continuous output of raw data //r. === ïðîöåäóðà ðàáîòû ïðèáîðà â ðåæèìå íåïðåðûâíîé âûäà÷è "ñûðûõ" äàííûõ +{ +} // B_Rate + +void B_Delta(void) //e. === procedure not used //r. === ïðîöåäóðà íå èñïîëüçóåòñÿ +{ +} // B_Delta + +void D_Period_W(void) //e. === set the period of the angle increase output //r. === óñòàíîâêà ïåðèîäà âûäà÷è ïðèðàùåíèÿ óãëà +{ +} // D_Period_W + + // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +void exec_CMD(void) //e. === the final decoding and command execution procedure //r. === ïðîöåäóðà îêîí÷àòåëüíîé äåøèôðàöèè è èñïîëíåíèÿ êîìàíäû +{ + uint32_t wcode; + + rx_buf_copy = 1; //e. initialization of the flag of copying of receiving buffer //r. ïðåäóñòàíîâ ôëàãà êîïèðîâàíèÿ ïðèåìíîãî áóôåðà + + wcode = (rcv_buf[2] & 0xFF) << 8; + CMD_Code = wcode | (rcv_buf[3] & 0xFF); //e. save it in the memory for echo-transmission //r. ñîõðàíèòü åãî â ïàìÿòè äëÿ îáðàòíîé ïåðåäà÷è + + if (wcode == CMD_RATE) //e. is it Rate command? //r. ýòî êîìàíäà Rate? + { + B_Rate(); + return; + } + else if (wcode == CMD_DEV_MODE) //e. is it the Device_Mode command? //r. ýòî êîìàíäà óñòàíîâêè ðåæèìà ïðèáîðà? + { + CMD_Mode = 3; + B_Dev_Mode(); + return; + } + else if (wcode == CMD_DELTA_BINS) //e. is it the B_DeltaBINS command (command of request for data transfer to the navigation system)? //r. ýòî êîìàíäà çàïðîñà ïåðåäà÷è äàííûõ â íàâèã.ñèñòåìó? + { + RgConB = RATE_VIBRO_1; //e. set in the additional register of device control the mode of work with dither counters and the filter of moving average //r. óñòàíàâëèâàåì â äîïîëíèòåëüíîì ðåãèñòðå óïðàâëåíèÿ ðåæèì ðàáîòû ñ âèáðîñ÷åò÷èêàìè è ôèëüòðîì ñêîëüçÿùåãî ñðåäíåãî + SetSpeedPeriod(); + UART_SwitchSpeed(trm_rate); + CMD_Mode = 4; + B_Delta_BINS(); + return; + } + else if (wcode == CMD_DELTA_PS) //e. is it the B_DeltaPS command (command of request for data transfer to the uPC)? //r. ýòî êîìàíäà çàïðîñà ïåðåäà÷è äàííûõ â MkPC? + { + SetSpeedPeriod(); //e. and set the answer transfer rate and its periodicity //r. è óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü (_trm_cycl) + UART_SwitchSpeed(trm_rate); + if (Device_Mode < 4) //e. work with internal latch + Device_Mode = DM_INT_LATCH_DELTA_PS; + else + Device_Mode = DM_EXT_LATCH_DELTA_PS_PULSE; + CMD_Mode = 1; + // B_Delta_PS(); + return; + } + else if (wcode == CMD_DELTA_SF) // is it the B_DeltaSF command? + { + SetSpeedPeriod(); //e. and set the answer transfer rate and its periodicity //r. è óñòàíîâèòü ñêîðîñòü ïåðåäà÷è îòâåòà è åãî ïåðèîäè÷íîñòü (_trm_cycl) + CMD_Mode = 7; + if ((rcv_buf[3] & 0x0001) != 0) //e.reset of accumulated number is disabled //r. ñáðîñ íàêîïëåííîãî ìåæäó çàùåëêàìè ÷èñëà çàïðåùåí + Ext_Latch_ResetEnable = 0; + else + Ext_Latch_ResetEnable = 1; + B_Delta_SF(); + return; + } + else if (wcode == CMD_BIT_MODE) //e. is this the BIT mode command? //r. ýòî êîìàíäà òåñòèðîâàíèÿ? + { + CMD_Mode = 6; //e. set the value of the Delta mode//r. óñòàíîâèòü çíà÷åíèå ðåæèìà Delta + B_BIT_Mode(); + return; + } + else if (wcode == CMD_DELTA) //e. is this the B_Delta command? //r. ýòî êîìàíäà B_Delta? + { + CMD_Mode = 2; //e. set the value of the Delta mode//r. óñòàíîâèòü çíà÷åíèå ðåæèìà Delta + B_Delta(); //e. output calculated value of angle increase //r. âûâîäèòü âû÷èñëåííîå çíà÷åíèå ïðèðàùåíèÿ óãëà + return; + } + else if (CMD_Code == CMD_MAINT) //e. is this the Maintenance mode command? //r. ýòî êîìàíäà Maintenance mode? + { + if (!RgConB) + { + RgConB = RATE_VIBRO_1; + SwitchRefMeandInt(RATE_VIBRO_1); //e. disable interrupt from referense meander + } + CMD_Mode = 5; //e. yes, switch on present mode //r. äà, âêëþ÷èòü äàííûé ðåæèì + M_Status(); //e. output the status stack of registers //r. âûâåñòè ñòàòóñíûé íàáîð ðåãèñòðîâ + if (Device_Mode != DM_INT_10KHZ_LATCH) //e. mode of internal latch 10 kHz //r. ðåæèì âíóòðåííåé çàùåëêè 10 êÃö + { + Device_Mode = DM_INT_10KHZ_LATCH; + trm_ena = 0; + } + else + UART_SwitchSpeed(trm_rate); + return; + } + else if (wcode == SUBCMD_M_RESET) //e. is this subcommand for modification of the device control register? //r. ýòî ïîäêîìàíäà ìîäèôèêàöèè ðåãèñòðà óïðàâëåíèÿ ó-âà? + { +// Mk_AskDev(); + M_Reset(); + return; + } + else // subcommand analyse + { + if (CMD_Mode == 2) //e. is this the 2(Delta) mode? //r. ýòî ðåæèì 2? (Delta) + { + if (CMD_Code == CMD_D_PERIOD_W) //e. the Delta mode, check the subcommand ... //r. ðåæèì DElta, ïðîâåðèòü ïîäêîìàíäó çàãðóçêè ïåðèîäà + { + D_Period_W(); //e. otherwise - set the data transfer period //r. èíà÷å óñòàíîâèòèü ïåðèîä âûäà÷è äàííûõ + return; + } + else + { + line_sts = line_sts | CODE_ERR; // invalid command code + return; + } + } + else if (CMD_Mode == 5) //e. check the 5 mode (Maintenance) //r. ïðîâåðêà ðåæèìà 5 (Maintenance) + { + if (CMD_Code == SUBCMD_M_CLEAR) //e. is this subcommand of cleaning of the error register? //r. ýòî ïîäêîìàíäà î÷èñòêè ðåãèñòðà îøèáîê ëèíèè? + { + M_Clear(); //e. yes, cleaning the error register //r. äà, î÷èñòêà ðåãèñòðà îøèáîê + M_Status(); //e. preparing for trabsfer of the device status //r. ïîäãîòîâêà ïåðåäà÷è ñòàòóñà óñòðîéñòâà + UART_SwitchSpeed(trm_rate); + return; + } + else if (CMD_Code == SUBCMD_M_MIRR) //e. is this subcommand of return of previous command? //r. ýòî ïîäêîìàíäà âîçâðàòà ïðåäûäóùåé êîìàíäû? + { + rx_buf_copy = 0; //e. yes, forbid copying of command on saving previous //r. äà, çàïðåòèòü êîïèðîâàíèå êîìàíäû äëÿ ñîõðàíåíèÿ ïðåäûäóùåé + M_Mirror(); //e. prepare transfer of the receiving buffer copy //r. ïîäãîòîâèòü ïåðåäà÷ó êîïèè ïðèåìíîãî áóôåðà + return; + } + /* else if (wcode == SUBCMD_M_TMP_W) //e. is this subcommand for writing instructions to the AD7714? //r. ýòî ïîäêîìàíäà çàïèñè èíñòðóêöèé â AD7714? + { + // M_Tmp_W(); //e. yes, procedure call of write of the command //r. äà, âûçîâ ïðîöåäóðû çàïèñè êîìàíäû + return; + } */ + else if (wcode == SUBCMD_M_TMP_R) //e. is this subcommand for data read from the AD7714? //r. ýòî ïîäêîìàíäà ÷òåíèÿ äàííûõ èç AD7714? + { + M_Tmp_R(); //r. yes, call the procedure for data read //e. äà, âûçîâ ïðîöåäóðû ÷òåíèÿ äàííûõ + return; + } + /* else if (wcode == SUBCMD_M_E5R_W) //e. is this subcommand for write to the mode register? //r. ýòî ïîäêîìàíäà çàïèñè â ðåãèñòð ðåæèìà? + { + M_e5r_W(); //e. yes, write data to the mode register of the Elio5 card //r. äà, çàïèñàòü äàííûå â ðåãèñòð ðåæèìà ïëàòû Elio5 + return; + } + else if (wcode == SUBCMD_M_E5RA_W) //e. is this subcommand for write to the mode register? //r. ýòî ïîäêîìàíäà çàïèñè â ðåãèñòð ðåæèìà? + { + M_e5rA_W(); //e. yes, write data to the mode register of the Elio5 card //r. äà, çàïèñàòü äàííûå â ðåãèñòð ðåæèìà ïëàòû Elio5 + return; + } */ + else if (wcode == SUBCMD_M_ADC_R) //e. is t the subcommand for data read from ADCs ADS1250 and ADS8321 ? //r. ýòî ïîäêîìàíäà ÷òåíèÿ äàííûõ èç ÀÖÏ ADS1250 è ADS8321? + { + M_ADC_R(); //e. read of ADC channels //r. ÷òåíèå êàíàëîâ ÀÖÏ + return; + } + else if (wcode == SUBCMD_M_CNT_R) //e. is this subcommand of data read from pulse counters? //r. ýòî ïîäêîìàíäà ÷òåíèÿ äàííûõ èç ñ÷åò÷èêîâ èìïóëüñîâ? + { + M_Cnt_R(); //e. read of counters //r. ÷òåíèå ñ÷åò÷èêîâ + return; + } + else if (wcode == SUBCMD_M_FLG_R) //e. is it the command of data read about input flags? //r. ýòî ïîäêîìàíäà ÷òåíèÿ äàííûõ î âõîäíûõ ôëàãàõ? + { + M_Flg_R(); //e. read the input flags //r. ÷èòàòü âõîäíûå ôëàãè + return; + } + else if (wcode == SUBCMD_M_VIB_W) //e. is this subcommand for load the dither drive period? //r. ýòî ïîäêîìàíäà çàãðóçêè ïåðèîäà âèáðîïðèâîäà? + { + M_Vib_W(); //e. set the new value of the period //r. óñòàíîâèòü íîâîå çíà÷åíèå ïåðèîäà + return; + } + else if (wcode == SUBCMD_M_GPH_W) //e. is this subcommand for set the gain factor of photodetector channels? //r. ýòî ïîäêîìàíäà óñòàíîâêè óñèëåíèÿ êàíàëîâ ôîòîïðèåìíèêà ? + { + M_Gph_W(); //e. set the new values of gain factor //r. óñòàíîâèòü íîâûå çíà÷åíèÿ óñèëåíèÿ + return; + } + else if (wcode == SUBCMD_M_STIMUL) //e. is this subcommand for set the values of the DACs and flags? //r. ýòî ïîäêîìàíäà óñòàíîâêè çíà÷åíèÿ ÖÀÏîâ è ôäàãîâ ? + { + M_Stimul(); //e. set the new values //r. óñòàíîâèòü íîâûå çíà÷åíèÿ + return; + } + else if (wcode == SUBCMD_M_RATE) //e. is this subcommand for set the M_Rate output stack //r. ýòî ïîäêîìàíäà óñòàíîâêè âûäà÷è íàáîðà M_Rate ? + { + M_Rate(); //e. switch on the M_Rate data transfer //r. âêëþ÷èòü ïåðåäà÷ó äàííûõ M_Rate + return; + } + else if (wcode == SUBCMD_M_PARAM_W) //e. is this subcommand for write the new value of the GLD parameter ... //r. ýòî ïîäêîìàíäà çàïèñè íîâîãî çíà÷åíèÿ ïàðàìåòðà GLD + { + M_Param_W(); //e. write the new value of the parameter //r. çàïèñàòü íîâîå çíà÷åíèå ïàðàìåòðà + return; + } + else if (wcode == SUBCMD_M_PARAM_R) //e. is this subcommand for read the value of the GLD parameter? //r. ýòî ïîäêîìàíäà ÷òåíèÿ çíà÷åíèÿ ïàðàìåòðà GLD? + { + M_Param_R(); //e. read the value from the data memory //r. ñ÷èòàòü çíà÷åíèå ïàðàìåòðà èç ïàìÿòè äàíûõ + return; + } + else if (CMD_Code == SUBCMD_M_LDPAR_F) //e. is this subcommand for load GLD parameters ... //r. ýòî ïîäêîìàíäà çàãðóçêè ïàðàìåòðîâ GLD + { + M_LdPar_F(); //e. start the loading of parameters //r. çàïóñòèòü çàãðóçêó ïàðàìåòðîâ + return; + } + else if (CMD_Code == SUBCMD_M_LDPAR_D) //e. is this subcommand for direct setting of the GLD parameters ... //r. ýòî ïîäêîìàíäà ïðÿìîãî íàçíà÷åíèÿ ïàðàìåòðîâ GLD + { + M_LdPar_D(); //e. read the value of the parameter from the data memory //r. ñ÷èòàòü çíà÷åíèå ïàðàìåòðà èç ïàìÿòè äàíûõ + return; + } + else if (CMD_Code == SUBCMD_M_START) //e. is this subcommand for GLD starting? //r. ýòî ïîäêîìàíäà çàïóñêà GLD? + { + M_Start(); //e. call the procedure of start //r. çàïóñòèòü ïðîöåäóðó ñòàðòà + return; + } + else if (CMD_Code == SUBCMD_M_PULSE) //e. is this subcommand for GLD starting? //r. ýòî ïîäêîìàíäà çàïóñêà GLD? + { + M_Pulse(); //e. call light-up function //r. âûäàòü èìïóëüñ ïîäæèãà + return; + } + else if (CMD_Code == SUBCMD_M_STOP) //e. is this subcommand for GLD switch off? //r. ýòî ïîäêîìàíäà âûêëþ÷åíèÿ GLD? + { + M_Stop(); //e. otherwise- switch off all regulators and stop device //r. âûêëþ÷èòü âñå êîíòóðû è îñòàíîâèòü ïðèáîð + return; + } + else if (wcode == SUBCMD_M_CTL_R) //e. is this subcommand for read the device control register? //r. ýòî ïîäêîìàíäà ÷òåíèÿ ðåãèñòðà óïðàâëåíèÿ ó-âà? + { + M_Ctl_R(); + return; + } + else if (wcode == SUBCMD_M_CTL_M) //e. is this subcommand for modification of the device control register? //r. ýòî ïîäêîìàíäà ìîäèôèêàöèè ðåãèñòðà óïðàâëåíèÿ ó-âà? + { + M_Ctl_M(); + return; + } +/* else if (wcode == SUBCMD_M_RESET) //e. is this subcommand for modification of the device control register? //r. ýòî ïîäêîìàíäà ìîäèôèêàöèè ðåãèñòðà óïðàâëåíèÿ ó-âà? + { + M_Reset(); + return; + }*/ + else + { + line_sts = line_sts | MODE_ERR; // mode error + return; + } + } + } +} // exec_CMD + +void decode_CMD(void) +{ + int size; + + if (!rcv_Rdy) //e. is data in receive buffer? //r. â ïðèåìíîì áóôåðå åñòü èíôîðìàöèÿ? + { + return; //e. if no, stop processing //r. åñëè íåò, çàêîí÷èòü îáðàáîòêó + } + + if (!line_sts) //e. Whether there were errors of receiving of start-bit? //r. áûëè ëè îøèáêè ïðèåìà ñòàðò-áèòà ? + { + //e. there were not errors of receiving of bytes, check the device address //r. îøèáîê ïðèåìà áàéòîâ íå áûëî, ïðîâåðèòü àäðåñ îáðàùåíèÿ + //Is_Brodcast_Req = 0; //e. reset the flag of broadcasting request //r. ñáðîñèòü ôëàã øèðîêîâåùàòåëüíîãî çàïðîñà + if (rcv_buf[1] != Device_blk.Str.My_Addres) + { + if (rcv_buf[1] != BROADCAST_ADDRESS) + { + goto end; + } + } + + if (rcv_buf[0] == COMMAND_PREFIX) + { //e. there is new command in the receiver buffer, stop the transfer //r. â áóôåðå ïðèåìíèêà åñòü íîâàÿ êîìàíäà, ïðåêðàòèòü ïåðåäà÷ó + trm_ena = 0; //e. reset the flag of transmission allowing //r. ñáðîñèòü ôëàã ðàçðåøåíèÿ ïåðåäà÷è + + //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + + exec_CMD(); // øåé êîìàíäû + + ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + + + //e. check up presence of errors in operation of this procedure //r. ïðîâåðèòü, íàëè÷èå îøèáîê â ðàáîòå äàííîé ïîöåäóðû + //e. did is the "unknown code of a command" or "parameters were set incorrectly" error? //r. áûëà îøèáêà "íåèçâåñòíûé êîä êîìàíäû" èëè "íåâåðíî çàäàííûå ïàðàìåòðû"? + if ( ((line_sts & CODE_ERR) == CODE_ERR) || ((line_sts & PARAM_ERR) == PARAM_ERR) ) + { + line_err = line_sts; //e. set error bits in the error register of the line //r. óñòàíîâèòü áèòû îøèáîê â ðåãèñòðå îøèáîê ëèíèè + } + } + else + { + line_err = line_sts | NO_CMD_ERR; // äîáàâëåíèå îøèáêè â ðåãèñòð îøèáîê + } + + } + else + { + line_err = line_sts; + } +end: + if (rx_buf_copy) //e. is copying of present received packet needed? //r. òðåáóåòñÿ êîïèðîâàíèå äàííîãî ïðèíÿòîãî ïàêåòà? + { + size = rcv_num_byt; + rcv_byt_copy = rcv_num_byt; //e. save the size of copy //r. çàïîìíèòü ðàçìåð êîïèè + if (rcv_num_byt > sizeof(rcv_buf)) //e. compare the size of receiving buffer with amount of received bytes //r. êîïèðîâàíèå òðåáóåòñÿ, ñðàâíèòü ðàçìåð ïðèåìíîãî áóôåðà ñ ÷èñëîì ïðèíÿòûõ áàéò + { + size = sizeof(rcv_buf); + } + memcpy(rcv_copy, rcv_buf, size); //e. copy of received amount of bytes, but no more than buffer size //r. êîïèðîâàòü ïðèíÿòîå ÷èñëî áàéò, íî íå áîëåå ðàçìåðà áóôåðà + } + rx_buf_copy = 0; //e. reset the flag of necessity of copying of receiving buffer //r. ñáðîñèòü ôëàã íåîáõîäèìîñòè êîïèðîâàíèÿ ïðèåìíîãî áóôåðà + + do + rcv_buf[--rcv_num_byt] = 0; + while(rcv_num_byt); + rcv_num_byt_old = rcv_num_byt; + line_sts = 0; //e. reset the line status register //r. ñáðîñèòü ðåãèñòð ñòàòóñà ëèíèè + rcv_Rdy = 0; //e. allow further data reception //r. ðàçðåøèòü äàëüíåéøèé ïðèåì äàííûõ +} // decode_CMD +