Dmitry Kovalev
forkd
Fork of
LG2
by 
Dmitry Kovalev
Revision 227:2774b56bfab0, committed 2018-01-05
- Comitter:
- Kovalev_D
- Date:
- Fri Jan 05 08:14:38 2018 +0000
- Parent:
- 226:4a4d5bd5fcd7
- Commit message:
- 05.01.2018
Changed in this revision
diff -r 4a4d5bd5fcd7 -r 2774b56bfab0 Command.c
--- a/Command.c Tue Dec 26 05:14:09 2017 +0000
+++ b/Command.c Fri Jan 05 08:14:38 2018 +0000
@@ -135,7 +135,7 @@
case 1: if(Gyro.Rate1_Event ) CMD_Rate(); break;
case 2: if(Gyro.Reper_Event ) CMD_Rate2(); break;
case 3: if(Gyro.Event_500Hz ) CMD_Delta_PS(); break;
- case 4: if(Gyro.EXT_Latch ) CMD_Delta_PS(); Gyro.EXT_Latch=0; LoopOff break;
+ case 4: if(Gyro.EXT_Latch ) CMD_Delta_PS(); Gyro.EXT_Latch=0; break;
case 5: if(Gyro.Event_500Hz ) CMD_Delta_Bins(); break;
case 6: if(Gyro.EXT_Latch ) CMD_B_Delta(); Gyro.EXT_Latch=0; break;
case 7: if(Gyro.Event_500Hz ) CMD_B_Delta(); break;
@@ -274,7 +274,7 @@
switch(NP)
{
- case 0: Gyro.My_Addres = GyroP.Str.My_Addres; break;
+ //case 0: Gyro.My_Addres = GyroP.Str.My_Addres; break;
case 1: Gyro.HFO_ref = (unsigned int)(GyroP.Str.HFO_ref) ; break;
case 2: Gyro.HFO_Gain = GyroP.Str.HFO_Gain; break;
case 3: if(Gyro.LG_Type) Gyro.HFO_Max=0xffff-GyroP.Str.DAC_current_Work; //((int)(GyroP.Str.DAC_current_Work*0.67)-2000);
@@ -365,30 +365,26 @@
}
void CMD_Maintenance(void)
{
-
- Gyro.ModeOut=0;
- Gyro.Device_Mode = 0;
+ unsigned int Temp;
+ Gyro.ModeOut = 0;
+ Gyro.Device_Mode = 0;
for(int q=0; q<64; q++)
{
BuffTemp[q]=0;
}
//Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
BuffTemp[0] = Gyro.SOC_Out;
-
BuffTemp[1] = Gyro.My_Addres;
- BuffTemp[2] = Gyro.Firmware_Version;
- /* sprintf((Time),"%d \r\n", Gyro.Firmware_Version);
- WriteCon(Time);*/
- BuffTemp[3] = Gyro.GLD_Serial;
-
- BuffTemp[4]=0x00;
-
- BuffTemp[5]=0x00;
+ Temp = 0xfff; //Gyro.Firmware_Version;
+ BuffTemp[2] = (Temp >> 0) & 0xff;
+ BuffTemp[3] = (Temp >> 8) & 0xff;
+
+ Temp = Gyro.GLD_Serial;
+ BuffTemp[4]=(Temp >> 0) & 0xff;
+ BuffTemp[5]=(Temp >> 8) & 0xff;
Check(BuffTemp, 8);
- /* sprintf((Time),"%d %d %d %d %d %d %d %d\r\n",BuffTemp[0], BuffTemp[1],BuffTemp[2],BuffTemp[3],BuffTemp[4],BuffTemp[5],BuffTemp[6],BuffTemp[7]);
- WriteCon(Time);*/
WriteConN (BuffTemp,8);
}
@@ -440,11 +436,12 @@
BuffTemp[ 1] = Gyro.My_Addres;
Gyro.CuruAngle = Gyro.CuruAngle + OldCuruAngle; //(72 град/с)
-
+
OldCuruAngle=Gyro.CuruAngle & 0xf; //сохраняем 3 бит для след измирений
- Temp=Gyro.CuruAngle>>4; //приводим к форме вывода
+ Temp=Gyro.CuruAngle>>4;
+ //приводим к форме вывода
Gyro.CuruAngle = 0;
-
+ //Temp=200;
BuffTemp[ 2] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
BuffTemp[ 3] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
@@ -464,14 +461,8 @@
//HFO
case 2:
- /* Temp2 = ((Spi.DAC_A/0.65)-22544)-0x7fff;
- Temp1= (int)Temp2;*/
- //2930
- if(Gyro.LG_Type) {OutDeltaPS =(int)(((Spi.DAC_A-0x84bf))* 2);
- }
- else {OutDeltaPS =(unsigned int)(0x7fff-Spi.ADC5)*0.79;
- }
- // Temp = Spi.DAC_A-0x7fff;
+
+ OutDeltaPS = 0xffff - Spi.DAC_A;
BuffTemp[5] = (OutDeltaPS >> 8) & 0xff;
break;
@@ -509,7 +500,7 @@
//Напряжение на регуляторе периметра
case 8:
- OutDeltaPS =(int)(3300+(0x7fff+(Spi.DAC_B*1.083)));// (Spi.DAC_B - 0x7fff);
+ OutDeltaPS = ((Spi.DAC_B-0x7fff)&0xffff);
BuffTemp[5] = (OutDeltaPS >> 8) & 0xff;
break;
@@ -550,7 +541,7 @@
//ток 1
case 14:
//Temp = Gyro.In1;
- IntOutDeltaPS = ((Gyro.In1>>1)*0.800875)-0x3e0b;
+ IntOutDeltaPS = 0;//((Gyro.In1>>1)*0.800875)-0x3e0b;
BuffTemp[5] = (IntOutDeltaPS >> 8) & 0xff;//in1//2
break;
@@ -564,7 +555,7 @@
//ток 2
case 16:
// Temp = Gyro.In2;
- IntOutDeltaPS = ((Gyro.In2>>1)*0.800875)-0x3e0b;
+ IntOutDeltaPS =0;// ((Gyro.In2>>1)*0.800875)-0x3e0b;
BuffTemp[5] = (IntOutDeltaPS >> 8) & 0xff;
break;
@@ -590,7 +581,7 @@
//температурный канал 5
case 20:
OutDeltaPS = 0;
- OutDeltaPS = Gyro.Termo;//Spi.ADC1;// //Gyro.Termo;//0xa4=164
+ OutDeltaPS = Gyro.Termo;
BuffTemp[5] =(OutDeltaPS >> 8) & 0xff;//температура
break;
@@ -691,7 +682,7 @@
BuffTemp[13]=(Temp >> 0) & 0xff;//// 14 --сигнал ошибки регулятора ГВЧ
//Temp = (unsigned int)((7675000*16/(Gyro.Frq>>12)));
- Temp = (unsigned int)(7680000/(Gyro.Frq>>16));
+ Temp = Gyro.Frq>>12;//(unsigned int)(7680000/(Gyro.Frq>>16));
BuffTemp[14] = (Temp >> 8) & 0xff; //15 период вибропривода.(частота) T_Vibro
BuffTemp[15] = (Temp >> 0) & 0xff; //16 период вибропривода.
@@ -701,7 +692,7 @@
/*sprintf((Time),"%d %d\r\n",Gyro.FrqPhaseEror, Gyro.FrqPhaseEror<<2);
WriteCon(Time); */ //18
- Temp =Gyro.L_vibro/*>>1*/;//(unsigned int)(((7675000*16/200) * Gyro.AmpPer /(Gyro.Frq>>12)));
+ Temp = Gyro.AmpPer/*>>1*/;//(unsigned int)(((7675000*16/200) * Gyro.AmpPer /(Gyro.Frq>>12)));
BuffTemp[18] = (Temp >> 8) & 0xff; //19 длительность импулься вибропривода(амплитуда)
BuffTemp[19] = (Temp >> 0) & 0xff; //20
@@ -813,8 +804,8 @@
}
else Spi.DAC_B = (unsigned int)((temp-0x7fff)&0xffff);
- sprintf((Time),"%d %d \r\n", Spi.DAC_B, temp);
- WriteCon(Time);
+ /*sprintf((Time),"%d %d \r\n", Spi.DAC_B, temp);
+ WriteCon(Time); */
for(int q=0; q<64; q++)
{
BuffTemp[q]=0;
@@ -831,11 +822,18 @@
{
unsigned int temp1,temp2,anser;
temp1 = (((BuffTemp[4]<<8) | BuffTemp[5])&0xFFFF);
- Gyro.Frq = (122780000/temp1)<<12;
- F_vib=103200000/((Gyro.Frq>>16)*2);
- temp2 = (((BuffTemp[6]<<8) | BuffTemp[7])&0xFFFF);
- Gyro.AmpPer = ((((((Gyro.Frq>>12)*200)/16)*temp2)/7680000)/2);
- Gyro.Amp = (Gyro.AmpPer)<<15;
+ Gyro.Frq = (temp1<<12);
+ // Gyro.Frq = (122780000/temp1)<<12;
+
+ F_vib= (unsigned int)(825600000 / temp1);
+ temp2 = (((BuffTemp[6]<<8) | BuffTemp[7])&0xFFFF);
+
+ sprintf((Time),"%d %d \r\n",temp1, temp2);
+ WriteCon(Time);
+ Gyro.AmpPer = temp2;
+ Gyro.Amp = (Gyro.AmpPer<<17)/100;
+ /* Gyro.AmpPer = ((((((Gyro.Frq>>12)*200)/16)*temp2)/7680000)/2);
+ Gyro.Amp = (Gyro.AmpPer)<<17;*/
BuffTemp[0] = Gyro.SOC_Out;
BuffTemp[1] = Gyro.My_Addres;
@@ -1205,8 +1203,14 @@
if( Gyro.Debag2) Gyro.Debag2=0;
else Gyro.Debag2=1;
}
- if (Time[0] == 'C') Spi.DAC_A+=200;
- if (Time[0] == 'c') Spi.DAC_A-=200;
+ if (Time[0] == 'C') Spi.DAC_A+=32;
+ if (Time[0] == 'c') Spi.DAC_A-=32;
+
+ if (Time[0] == 'k') PLC_ERR_DAC_F = 0;
+
+ if (Time[0] == 'V') Spi.DAC_A+=160;
+ if (Time[0] == 'v') Spi.DAC_A-=160;
+
if (Time[0] == 'X') Spi.DAC_B+=2000;
if (Time[0] == 'x') Spi.DAC_B-=2000;
/////////////////////////////////////////////////////////////////
diff -r 4a4d5bd5fcd7 -r 2774b56bfab0 Global.c
--- a/Global.c Tue Dec 26 05:14:09 2017 +0000
+++ b/Global.c Fri Jan 05 08:14:38 2018 +0000
@@ -40,8 +40,11 @@
int BuffADC_128Point [100];
int BuffADC_64Point [100];
+
+ int BuffPLC_FILT [20];
+ unsigned int C_PLC_F=0;
+
int BuffADC_32Point [100];
-
int BuffADC_16Point [100];
int BuffADC_10HFO [100];
@@ -76,7 +79,10 @@
int temp=0;
InitMOD();
-
+ for(int q=0; q<20; q++)
+ {
+ BuffPLC_FILT [q] = 0;
+ }
Gyro.CuruAngleLog=0;
Global_Time = 0;
Time_UART = 0;
diff -r 4a4d5bd5fcd7 -r 2774b56bfab0 Global.h --- a/Global.h Tue Dec 26 05:14:09 2017 +0000 +++ b/Global.h Fri Jan 05 08:14:38 2018 +0000 @@ -47,7 +47,8 @@ extern unsigned int secPuls; extern unsigned char BuffTemp[]; extern unsigned char Time[]; - +extern int BuffPLC_FILT[]; +extern unsigned int C_PLC_F; extern unsigned int MODFlag; extern unsigned int Time250Hz; extern unsigned int Event250Hz;
diff -r 4a4d5bd5fcd7 -r 2774b56bfab0 MCPWM.c
--- a/MCPWM.c Tue Dec 26 05:14:09 2017 +0000
+++ b/MCPWM.c Fri Jan 05 08:14:38 2018 +0000
@@ -25,7 +25,9 @@
}
void ReVib(void)
-{ Gyro.AmpPer = ((Gyro.Amp*100)>>17);
+{
+
+ Gyro.AmpPer = ((Gyro.Amp*100)>>17);
F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
T_vibP = F_vib/10000;
diff -r 4a4d5bd5fcd7 -r 2774b56bfab0 MTimer.c
--- a/MTimer.c Tue Dec 26 05:14:09 2017 +0000
+++ b/MTimer.c Fri Jan 05 08:14:38 2018 +0000
@@ -61,10 +61,7 @@
if (Event1Hz)
{
-
- /* sprintf((Time),"%d \r\n",Gyro.EXT_Latch);
- WriteCon(Time);*/
-
+
if(Gyro.RgConA&0x4) JumpTimer=0;
else
@@ -81,20 +78,14 @@
}
- /*if(Gyro.ShowMod2)
- {
- sprintf((Time),"%d %d %d\r\n",Spi.DAC_B,AMPSUM_DESP,Spi.DAC_A);
- WriteCon(Time);
- Spi.DAC_B+=200;
- }*/
Discharg();
BackLight();
Gyro.Rate1_Event = 1;
Event1Hz--;
Time1Hz++;
- // sprintf((Time),"%d \r\n",Gyro.ModeOut );
- // WriteCon(Time);
+ sprintf((Time),"%d \r\n",GyroP.Str.GLD_Serial );
+ WriteCon(Time);
}
}
@@ -132,8 +123,9 @@
{
if(Gyro.Debag2)
{
- sprintf((Time),"%d %d \r\n", (0xffff-Spi.DAC_A)-30000, ((Spi.DAC_B-0x7fff)&0xffff));
+ sprintf((Time),"%d %d %d\r\n", (0xffff-Spi.DAC_A), ((Spi.DAC_B-0x7fff)&0xffff), BuffADC_128Point[CountV64]);
WriteCon(Time);
+
}
Event500Hz--;
Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
diff -r 4a4d5bd5fcd7 -r 2774b56bfab0 SPI.c
--- a/SPI.c Tue Dec 26 05:14:09 2017 +0000
+++ b/SPI.c Fri Jan 05 08:14:38 2018 +0000
@@ -14,6 +14,9 @@
int start=10;
int dispersion=0,side=1,tempstrafe=15000;
int ADC_5_T;
+int PLC_ERR_DAC,PLC_ERR_DAC_F;
+
+
unsigned int TempA;
unsigned int TempTermLM;
unsigned int conuntPLS;
@@ -32,7 +35,7 @@
int Buff_OUT1 [64];
int Buff_OUT [64];
int RegulADC,DeltaRegul,tempDeltaRegul;
-int count10HFO=0, count10v=0, AmpWorms,MinWorms,MaxWorms,AMPSUM,AMPSUMP,AMPSUMM,AMPSUM_DESP,AMPSUMPout,AMPSUMMout,AMPSUMout,SumDelta,PLC_EROR,PLC_Flag,HFO_Flag,HFOdelta,HFOregul,HFOSumDelta;
+int count10HFO=0, count10v=0, AmpWorms,MinWorms,MaxWorms,AMPSUM,AMPSUMP,AMPSUMM,AMPSUMPout,AMPSUMMout,AMPSUMout,SumDelta,PLC_EROR,PLC_Flag,HFO_Flag,HFOdelta,HFOregul,HFOSumDelta;
//int BuffADC_32Point [64];
@@ -57,7 +60,7 @@
unsigned int ModArraySaw [64];
unsigned int Mod=0;
int znak;
-
+unsigned int HFO_AVR;
void InitMOD(void)
{
for (int i = 0; i < 64; i++ )
@@ -125,13 +128,14 @@
{
Spi.ADC_NewData = 0;
// Gyro.Termo = (unsigned int)(((Spi.ADC1>>1) + Gyro.Tmp_OffsetT4) * Gyro.Tmp_scaleT4);
- Gyro.Termo = (unsigned int)(Spi.ADC1>>1);
+ Gyro.Termo = (unsigned int)((((Spi.ADC1>>1)*100)*0.0122)-27300);
+ //Gyro.Termo =
Gyro.IN1_Accum += Spi.ADC2;
Gyro.IN2_Accum += Spi.ADC3;
// Gyro.DeltaT = (unsigned int)(((Spi.ADC4>>1) + Gyro.Tmp_OffsetT5) * Gyro.Tmp_scaleT5);
switch(Gyro.LG_Type)
{
- case 1: Gyro.DeltaT = (unsigned int)(Spi.ADC2>>1); break;
+ case 1: Gyro.DeltaT = (unsigned int)((((Spi.ADC2>>1)*100)*0.0122)-27300); break;
case 0: Gyro.DeltaT = (unsigned int)(Spi.ADC4>>1); break;
}
@@ -172,31 +176,21 @@
void HFOFilt(void)
{
- if (count10HFO>=64*8)
- {
- count10HFO=0;
- for(int q=0; q<64; q++)
- {
- AMPSUM+=BuffADC_10v[q];
- }
- AMPSUM=AMPSUM>>6;
- AMPSUM=AMPSUM>>3;
- //AMPSUM=AMPSUM>>3;
-
- AMPSUM_DESP=AMPSUM;
- HFOdelta=(int)((Gyro.HFO_ref)-AMPSUM);
-
-
+
+
+ /* HFO_AVR+=(BuffADC_10v[CountV64]>>4);
+ HFO_AVR-=(BuffADC_10v[CountV64 - 32]>>4);
+ */
+ HFOdelta=(int)((Gyro.HFO_ref)-(BuffADC_128Point[CountV64]>>7));
+
HFOSumDelta+=HFOdelta;
HFOregul=HFOSumDelta/(int)(Gyro.HFO_Gain);
-
+
HFOSumDelta-=Gyro.HFO_Gain*HFOregul;
-
- // tempDeltaRegul = HFOregul;
tempDeltaRegul += HFOregul;
AMPSUM=0;
HFO_Flag=1;
- }
+
}
void PLCFilt(void)
@@ -205,7 +199,8 @@
if (count10v>=64*32)
{
-
+ C_PLC_F++;
+ C_PLC_F = C_PLC_F & 0xf;
count10v=0;
for(int q=0; q<32; q++)
@@ -227,7 +222,7 @@
for(int q=0; q<64; q++)
{
- // AMPSUM+=BuffADC_10v[q];
+ AMPSUM+=BuffADC_10v[q];
AMPSUMout+=BuffADC_10v_F[q];
BuffADC_10v_OLD[q]= BuffADC_10v[q];
BuffADC_10v[q] =0;
@@ -239,7 +234,11 @@
/*sprintf((Time),"%d \r\n", Spi.DAC_A);
WriteCon(Time);*/
-
+
+ AMPSUM=AMPSUM>>6;
+ AMPSUM=AMPSUM>>3;
+ AMPSUM=AMPSUM>>3;
+
AMPSUMPout=AMPSUMP>>1;
AMPSUMMout=AMPSUMM>>1;
AMPSUMout=AMPSUM;
@@ -255,6 +254,13 @@
PLC_EROR+=Gyro.PLC_Eror_count;
+ BuffPLC_FILT[C_PLC_F] = Gyro.PLC_Eror_count;
+ if(Time1Hz>10)
+ {
+ PLC_ERR_DAC_F += BuffPLC_FILT[C_PLC_F];
+ PLC_ERR_DAC_F -= BuffPLC_FILT[(C_PLC_F-8)&0xf];
+ }
+ PLC_ERR_DAC = PLC_ERR_DAC_F>>3;
PLC_Flag=1;
AMPSUMM=0;
AMPSUMP=0;
@@ -315,9 +321,9 @@
BuffADC_1Point[CountV255] = (0x7fff-ADC5New)&0x7fff;
BuffADC_1Point_64[CountV31]=(0x7fff-ADC5New)&0x7fff;
- /* ADC_128Point += BuffADC_1Point[CountV255];
+ ADC_128Point += BuffADC_1Point[CountV255];
ADC_128Point -= BuffADC_1Point[(CountV255 - 128) & 0xff]; // заполнение буфера накопленых приращений за 64 тактов
- BuffADC_128Point[CountV64] = ADC_128Point;*/
+ BuffADC_128Point[CountV64] = ADC_128Point;
// Buff_Restored_Mod[CountV31] =(int)(BuffADC_1Point_64[CountV31] - ((BuffADC_128Point[CountV64])>>7));
@@ -372,30 +378,35 @@
{
}
- else Spi.DAC_B+=(Gyro.PLC_Eror_count);
+ else
+ {
+ /* if(Gyro.PLC_Eror_count>600) Gyro.PLC_Eror_count=0;
+ else if(Gyro.PLC_Eror_count<(-600)) Gyro.PLC_Eror_count=0;*/
+
+ Spi.DAC_B+=PLC_ERR_DAC;
+
+ }
}
- }
- Gyro.PLC_Eror_count=0;
- if(Gyro.LG_Type==1)
- {
- if(Spi.DAC_B > Gyro.HighTreshold )
- {
+ if(Spi.DAC_B > Gyro.HighTreshold )
+ {
Spi.DAC_B = (Gyro.ResetLevelCool);
Gyro.PLCDelay = GyroP.Str.PLCDelay;
- }
- else if(Spi.DAC_B < Gyro.DownTreshold )
- {
+ }
+ else if(Spi.DAC_B < Gyro.DownTreshold )
+ {
Spi.DAC_B = (Gyro.ResetLevelHeat);
Gyro.PLCDelay = GyroP.Str.PLCDelay;
- }
- }
- else
- {
- if ( Spi.DAC_B < 10300 ) Spi.DAC_B = 32000; //проверка на переваливание за границу.
- else if ( Spi.DAC_B > 57000 ) Spi.DAC_B = 32000;
- }
+ }
+ }
+
+
+
+
if(PLC_Flag)
{
+ /*sprintf((Time),"%d %d %d\r\n", PLC_ERR_DAC, Spi.DAC_B, Spi.DAC_A);
+ WriteCon(Time);*/
+ PLC_ERR_DAC=0;
PLC_Flag=0;
}
}
diff -r 4a4d5bd5fcd7 -r 2774b56bfab0 SPI.h --- a/SPI.h Tue Dec 26 05:14:09 2017 +0000 +++ b/SPI.h Fri Jan 05 08:14:38 2018 +0000 @@ -37,6 +37,7 @@ extern unsigned int Cur_Amp,faza; extern int Znak_Amp; extern int AD_Regul ; +extern int PLC_ERR_DAC,PLC_ERR_DAC_F; extern unsigned int SinPLC[]; //extern unsigned int Temp_AMP; @@ -72,8 +73,8 @@ extern int BuffADC_10v []; extern int BuffADC_10v_OLD []; extern int BuffADC_10v_F []; -extern int count10v,AmpWorms,MinWorms,MaxWorms,PLC_Flag,AMPSUM,AMPSUM_DESP,AMPSUMP,AMPSUMM,AMPSUMPout,AMPSUMMout,AMPSUMout,SumDelta, PLC_EROR; - +extern int count10v,AmpWorms,MinWorms,MaxWorms,PLC_Flag,AMPSUM,AMPSUMP,AMPSUMM,AMPSUMPout,AMPSUMMout,AMPSUMout,SumDelta, PLC_EROR; +extern unsigned int HFO_AVR; extern int Buff_Restored_Mod []; extern int Buff_PLC_Eror []; extern int BSinMns [];
diff -r 4a4d5bd5fcd7 -r 2774b56bfab0 vibro.c
--- a/vibro.c Tue Dec 26 05:14:09 2017 +0000
+++ b/vibro.c Fri Jan 05 08:14:38 2018 +0000
@@ -14,54 +14,6 @@
Gyro.EXT_Latch=1;
LPC_GPIOINT->IO0IntClr |= (1<<1);
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
-
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
-
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
-
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
-
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
- LoopOn
}
@@ -211,9 +163,9 @@
temp=temp>>6;
LowDZ = ((Gyro.AmpSpeed<<3)*(-1));
HiDZ = (Gyro.AmpSpeed<<3);
- Gyro.Amp -= temp>>4; // расчет амплитуды ВП с учетом разници
- if((Gyro.Amp>>16) > (Gyro.AmpPerMax)) {Gyro.Amp = (Gyro.AmpPerMax << 16);} // временное ограничение роста амплитуды ВП в случае неподоженного гироскопа//////////
- if((Gyro.Amp>>16) < (Gyro.AmpPerMin)) {Gyro.Amp = (Gyro.AmpPerMin << 16);} // временное ограничение роста амплитуды ВП в случае неподоженного гироскопа//////////
+ Gyro.Amp -= temp>>4; // расчет амплитуды ВП с учетом разници(Gyro.AmpPer<<17)/100;
+ if((Gyro.AmpPer) > (Gyro.AmpPerMax)) {Gyro.Amp = ((Gyro.AmpPerMax<<17)/100);} // временное ограничение роста амплитуды ВП в случае неподоженного гироскопа//////////
+ if((Gyro.AmpPer) < (Gyro.AmpPerMin)) {Gyro.Amp = ((Gyro.AmpPerMin<<17)/100);} // временное ограничение роста амплитуды ВП в случае неподоженного гироскопа//////////
// Gyro.AmpPer = (Gyro.Amp)>>16; //приведение амплитуды ВП к виду 0%-100%
}
LPC_MCPWM->MAT1 = T_vib_1;