Dmitry Kovalev
/
LGstaandart
forkd
Fork of LG2 by
host/Source/App/commandset.c
- Committer:
- Kovalev_D
- Date:
- 2016-02-03
- Revision:
- 23:12e6183f04d4
File content as of revision 23:12e6183f04d4:
#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