File content as of revision 122:fbacb932a30b:

#include "stdlib.h"
#include "LPC17xx.h"
#include "Global.h"
int tempNH,tempNL;
unsigned int Rate_Flag;
unsigned int CountBuFFIn;
unsigned int N=0,CRC_N;
unsigned int Param1=0;
unsigned int Param2=0;
unsigned int Param3=0;
unsigned int Param4=0;
unsigned int Consol=123;
unsigned int TempParam=1;
/*
void exec_CMD(void)       //r. === процедура окончательной дешифрации и исполнения команды
{
	unsigned int Comand_code;

	//rx_buf_copy = 1;                  //r. предустанов флага копирования приемного буфера

	Comand_code = (rcv_buf[2] & 0xFF) << 8;
	PC_Comand = Comand_code | (rcv_buf[3] & 0xFF);	//e. save it in the memory for echo-transmission //r. сохранить его в памяти для обратной передачи
}*/
void CMD_Maintenance(void)
{

    BuffTemp[0] =  Gyro.SOC_Out;
    BuffTemp[1] =  Gyro .My_Addres;
    BuffTemp[2] =  Gyro .Firmware_Version;
    BuffTemp[3] = Gyro .GLD_Serial;
    BuffTemp[4]=0x00;
    BuffTemp[5]=0x00;
    Check(BuffTemp, 8);
    WriteConN (BuffTemp,8);
   
}
void CMD_Rate3(void)
{	
    unsigned int Temp;
    BuffTemp[ 0] = Gyro.SOC_Out;
    BuffTemp[ 1] = Gyro.My_Addres;

    Temp=0x00;
    BuffTemp[ 2] =(Temp >> 8) & 0xff;//
    BuffTemp[ 3] =(Temp >> 0) & 0xff;//
    Temp=0x00;
    BuffTemp[ 4] =(Temp >> 8) & 0xff;//
    BuffTemp[ 5] =(Temp >> 0) & 0xff;//
 
    Check(BuffTemp, 44);
    WriteConN (BuffTemp,44);
}
void CMD_Rate2(void)
{
	Rate2VibFlag=0;
    BuffTemp[ 0] = Gyro.SOC_Out;
    BuffTemp[ 1] = Gyro.My_Addres;


    BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
    BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
 
    BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
    BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
 

 
 
    Check(BuffTemp, 8);
    WriteConN (BuffTemp,8);
}
void CMD_Rate(void)
{
  
     
   	unsigned int Temp;
    
    Gyro.Firmware_Version=0xff; /// промежуточная затычка
 

    BuffTemp[ 0] = Gyro.SOC_Out;
    BuffTemp[ 1] = Gyro.My_Addres;


    BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
    BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
 
    BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
    BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
 
  
Temp = Gyro.CuruAngle;
Gyro.CuruAngle = 0;

    BuffTemp[ 6] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
    BuffTemp[ 7] =(Temp >> 0) & 0xff;//младший байт разности счетчиков

  
    Temp = Gyro.F_ras;
    BuffTemp[ 8] = (Temp >> 8) & 0xff;//расщипление частота
    BuffTemp[ 9] = (Temp >> 0) & 0xff;//

    BuffTemp[10] = (Temp >> 8) & 0xff;//выход регулятора гвч;
    BuffTemp[11] = (Temp >> 0) & 0xff;

Temp = (Gyro.AD_Slow >> 16)- 0x7fff;
    BuffTemp[12]=(Temp >> 8) & 0xff;////
    BuffTemp[13]=(Temp >> 0) & 0xff;////

 
 	Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12))); 
    BuffTemp[14]  =  (Temp >> 8) & 0xff;
    BuffTemp[15]  =  (Temp >> 0) & 0xff;

    BuffTemp[16] = 0xf;
    BuffTemp[17] = 0x02;
 

 	Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12))); 
    BuffTemp[18]  =  (Temp >> 8) & 0xff;
    BuffTemp[19]  =  (Temp >> 0) & 0xff;

    BuffTemp[20] = 0x00;
    BuffTemp[21] = 0x00;


//	if (Spi.DAC_B < 0x7fff) Temp = Spi.DAC_B - 0x7fff; else Temp = 0x7fff - Spi.DAC_B ; 
 Temp = Spi.DAC_B - 0x7fff;
    BuffTemp[22] =  (Temp >> 8) & 0xff;
    BuffTemp[23] =  (Temp >> 0) & 0xff;

 
Temp = Gyro.PLC_Delta >> 16;
    BuffTemp[24] = (Temp >> 8) & 0xff;
    BuffTemp[25] = (Temp >> 0) & 0xff;// ХЗ
    
 Temp = 100;
    BuffTemp[26] =  (Temp >> 8) & 0xff;
    BuffTemp[27] =  (Temp >> 0) & 0xff;
    
    Temp = Gyro.AD_Slow >> 16;
    BuffTemp[28] = (Temp >> 8) & 0xff;
    BuffTemp[29] = (Temp >> 0) & 0xff;
	
	Temp = Gyro.In1;
    BuffTemp[30] = (Temp >> 8) & 0xff;//in1//2
    BuffTemp[31] = (Temp >> 0) & 0xff;
    
 	Temp = Gyro.In2;
    BuffTemp[32] = (Temp >> 8) & 0xff;
    BuffTemp[33] = (Temp >> 0) & 0xff;//in2//3
	
	Temp = Gyro.DeltaT;
    BuffTemp[34] = (Temp >> 8) & 0xff;//дельта
    BuffTemp[35] = (Temp >> 0) & 0xff;
	    
	Temp = Gyro.Termo;//0xa4=164

    BuffTemp[36] =(Temp >> 8) & 0xff;//температура
    BuffTemp[37] =(Temp >> 0) & 0xff;//ADC6   sesnsor 5

    BuffTemp[38] =0x00;
    BuffTemp[39] =0x00;
    BuffTemp[40] =0x00;
    BuffTemp[41] =0x00;


    Check(BuffTemp, 44);
    WriteConN (BuffTemp,44);
    
}

void CMD_M_Control_D8()///установка\сброс регистров управления
{
    unsigned int bit,NReg,Pa;
    unsigned int SR,V,A,Bit_num;
    SR=0;
    V=0;
    A=0;
    Bit_num=0;
    
    BuffTemp[0] = Gyro.SOC_Out;      //DD
    BuffTemp[1] = Gyro.My_Addres;    //00
    BuffTemp[2] = Gyro.CMD_In;       //D8
    
/*  
  
 FrqON  
PlcON
 HFOOFF  
HFOON 

 PlcOFF  
 PlcON
 */
    Pa = BuffTemp[3];
    
    SR = Pa >> 0x7;
    
    V  = Pa >> 0x5;
    V  = V  &  0x3;
    
    A  = Pa >> 0x4;
    A  = A  &  0x1;
    
    Bit_num = Pa & 0xf;
    
    if(SR) {
    	 switch (Bit_num){
    	 	
    	 case 0x06:
    	 FrqON
    	 break;
    	 
    	 case 0x03:
    	 HFOON
    	 break;
    	 
    	 case 0x01:
    	 PlcON
    	 break;
    	 }
    } 
   else{
   switch (Bit_num){
   	     
   	     case 0x06:
    	 FrqOff
    	 break;
    	 
    	 case 0x03:
    	 HFOOFF
    	 break;
    	 
    	 case 0x01:
    	 PlcOFF
    	 break;
    	}
   } 

}

void CMD_M_Control_D9()///чтение регистров управления
{
    int bit,NReg;
    BuffTemp[0] = Gyro.SOC_Out;      //DD
    BuffTemp[1] = Gyro.My_Addres;    //00
    BuffTemp[2] = Gyro.CMD_In;       //D9
    if ((Param1 & 0x10) == 0) {
        BuffTemp[3]=0<<4;
        BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff;
        BuffTemp[5] =  Gyro.RgConA     & 0xff;
    } else {
        BuffTemp[3]=1<<4;
        BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff;
        BuffTemp[5] =  Gyro.RgConB      & 0xff;
    }
    Check(BuffTemp, CRC_N);
    WriteConN (BuffTemp,CRC_N);
}
// (номер (код) ЦАПа 0...3, старший байт требуемого ЦАПа, младший байт треб ЦАПа)
void CMD_M_Stymul()
{
    int temp;
    int HFO;
    temp=BuffTemp[3];
    Consol = temp&0x3;
    HFO    = temp&0x3;// // (номер (код) ЦАПа 0...3, HFO - 3dac, PLC - 0DAC
    temp =((BuffTemp[4]<<8) | BuffTemp[5]);
    // temp=0;
    temp=temp&0xFFFF;
    
    if(HFO)
    {
     Spi.DAC_A=(unsigned int)temp;
    }
    else{
    DACF =(temp*K_DAC)+deltaDAC;
    Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC);
    }
}
void Gph_W()
{
 	Out_G_photo(BuffTemp[4],BuffTemp[5]);    
}

void CMD_M_vib()
{   
    unsigned int temp1,temp2;

    temp1 =((BuffTemp[4]<<8) | BuffTemp[5]);
    temp1=temp1&0xFFFF;
    
    temp2 =((BuffTemp[6]<<8) | BuffTemp[7]);
    temp2=temp2&0xFFFF;
    Gyro.Frq = ((unsigned int) ((7680000*16/temp1)))*16*16*16; 
    Consol=Gyro.Frq ;
}
unsigned int Check(char *c, unsigned int Count)
{
    int i=1;
    unsigned int temp,CRC;


    temp=1;
    CRC=0;


    for(; i<Count-2; i++) {
        CRC+=c[i];
    }

    if(c[Count-2]!=((CRC>>8)&0xFF)) {
        temp=0;
        Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2;
    }

    if(c[Count-1]!=((CRC>>0)&0xFF)) {
        temp=0;
//		Gyro.RsErrLine= (Gyro.RsErrLine)=0x2;
    }

    c[Count-2]=(CRC>>8)&0xFF;
    c[Count-1]=(CRC>>0)&0xFF;



    return temp;
}

int Getlengf(void)
{
    unsigned int lengf;
    lengf = 1;
    switch(Gyro.CMD_In) {
        case 0x99://Gyrotainance
            
            lengf=6;
            CRC_N=8;
            break;

        case 0x0A: //m_stymul
            lengf=8;
            break;

        case 0xA5://DeviceMode

            lengf=6;
            CRC_N=8;
            break;

        case 0xDD://m_rate
            lengf=6;
            CRC_N=44;
            break;

        case 0xB0://DeviceMode

            lengf=6;
            CRC_N=8;
            break;

        case 0xD8://m_control

            lengf=6;
            CRC_N=8;
            break;

        case 0xD9://m_control

            lengf=6;
            CRC_N=8;
            break;
            
        case 0xE4: 
            lengf=8;
            break;
            
            
            case 0xE6: 
            lengf=8;
            break;
     
    }
    
    return lengf;
}

void Read_CMD(void)
{
 
 						
    Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;//для сброса ошибки

    CountBuFFIn=ReadChekCon1(BuffTemp);		// чтение данных из консоли

    if(CountBuFFIn==1) { 					// если есть первый байт 
        if (BuffTemp[0] != SOC_In) {
            ReadCon1(BuffTemp);
            Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
            BuffTemp[99]=Gyro.RsErrLine; 
            
        }
    } else if(CountBuFFIn==2) {		//если второй ,fqn
        if (BuffTemp[1] != Gyro.My_Addres) {
            ReadCon1(BuffTemp); 
            Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
        }
    } else if(CountBuFFIn==3) {				// если ьоетий байт
        Gyro.CMD_In=BuffTemp[2];
        N=Getlengf(); 
    } 
    else if(CountBuFFIn==4 && (N==6)) 
    {	// N -  длина посылки аскглд(для записи параметров). определяется по коду команды в Getlengf();
        Param1=BuffTemp[3];
    } 
    else if((CountBuFFIn==5)&&(N==7)) 
    {
       
        Param1=BuffTemp[3];
        Param2=BuffTemp[4];

    } 
    else if((CountBuFFIn==6)&&(N==8))
     {
        Param1=BuffTemp[3];
        Param2=BuffTemp[4];
        Param3=BuffTemp[5];
    } 
    else if((CountBuFFIn==8)&&(N==10))
     {
        Param1=BuffTemp[4];
        Param2=BuffTemp[5];
        Param3=BuffTemp[6];
        Param4=BuffTemp[7];
    } 
  
    else if(CountBuFFIn > (N-1))
     {
        ReadCon1(BuffTemp); 
            switch(Gyro.CMD_In) {
                Rate_Flag=0;
                case 0x99:
                	Rate_Flag=0;
                    CMD_Maintenance();
                  
                    break;
                case 0xD8:
                    CMD_M_Control_D8();
                case 0xD9:
                    CMD_M_Control_D9();
                    break;
                case 0x0A:
                    CMD_M_Stymul();
                    break;
                case 0xDD:
                 Rate_Flag=0;
                 TempParam=(BuffTemp[3]) & 0x9f;
                 if      (TempParam == 0x01)        { Rate_Flag=0; CMD_Rate(); 			WriteCon("Rate11");}
                 else if (TempParam == 0x02)        { Rate_Flag=0; CMD_Rate2(); 		WriteCon("Rate21");}
                 else if (TempParam == 0x81)        { Rate_Flag=1; 						WriteCon("Rate12");}
                 else if (TempParam == 0x82)        { Rate_Flag=2; Rate2VibFlag==0;		WriteCon("Rate22");}

                 break; 
               case 0xE4:
                    CMD_M_vib();
                    break; 
               case 0xE6:
                    Gph_W();
                    break; 
              
                    
                    Gyro.RsErrLine = 0;
                    
                      
     }
    
    }
//  else if(CountBuFFIn > 40 )
//     {
//       ReadCon1(BuffTemp); 
//     }

}