igor Apu / Mbed 2 deprecated LG Featured

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Dependencies:   mbed

Fork of LG by igor Apu

Command.c@131:ef5973569c02, 2016-04-12 (annotated)

Committer:
Kovalev_D
Date:
Tue Apr 12 14:16:03 2016 +0000
Revision:
131:ef5973569c02
Parent:
129:406995a91322
Child:
136:19b9e6abb86f
ddd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "stdlib.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "Global.h"
Kovalev_D 106:250ddd8629c6 4 int tempNH,tempNL;
igor_v 0:8ad47e2b6f00 5 unsigned int Rate_Flag;
igor_v 0:8ad47e2b6f00 6 unsigned int CountBuFFIn;
igor_v 21:bc8c1cec3da6 7 unsigned int N=0,CRC_N;
igor_v 21:bc8c1cec3da6 8 unsigned int Param1=0;
igor_v 21:bc8c1cec3da6 9 unsigned int Param2=0;
igor_v 21:bc8c1cec3da6 10 unsigned int Param3=0;
igor_v 21:bc8c1cec3da6 11 unsigned int Param4=0;
Kovalev_D 102:4270092be987 12 unsigned int Consol=123;
Kovalev_D 121:bbae560cdd43 13 unsigned int TempParam=1;
Kovalev_D 124:9ae09249f842 14 unsigned int CountParam=0;
Kovalev_D 129:406995a91322 15
Kovalev_D 131:ef5973569c02 16
Kovalev_D 129:406995a91322 17 void CMD_M_Param_R(void)
igor_v 0:8ad47e2b6f00 18 {
Kovalev_D 129:406995a91322 19 unsigned int NP;
Kovalev_D 129:406995a91322 20 unsigned int Param;
Kovalev_D 129:406995a91322 21 BuffTemp[0] = Gyro.SOC_Out;
Kovalev_D 129:406995a91322 22 BuffTemp[1] = Gyro.My_Addres;
Kovalev_D 129:406995a91322 23
Kovalev_D 129:406995a91322 24 NP = BuffTemp[3];
Kovalev_D 129:406995a91322 25
Kovalev_D 129:406995a91322 26 Param = GyroP.Array[NP];
Kovalev_D 129:406995a91322 27
Kovalev_D 129:406995a91322 28 BuffTemp[2] =(Param >> 8) & 0xff;//старший байт требуемого параметра
Kovalev_D 129:406995a91322 29 BuffTemp[3] =(Param >> 0) & 0xff;//младший байт требуемого параметра
Kovalev_D 129:406995a91322 30
Kovalev_D 129:406995a91322 31 Check(BuffTemp, 6);
Kovalev_D 129:406995a91322 32 WriteConN (BuffTemp,6);
Kovalev_D 129:406995a91322 33 }
Kovalev_D 129:406995a91322 34 void CMD_M_Param_W(void)
Kovalev_D 129:406995a91322 35 {
Kovalev_D 129:406995a91322 36 unsigned int NP;
Kovalev_D 129:406995a91322 37 unsigned int Param;
Kovalev_D 129:406995a91322 38
Kovalev_D 129:406995a91322 39 NP = BuffTemp[3];
Kovalev_D 129:406995a91322 40 Param = (BuffTemp[4]<<8);
Kovalev_D 129:406995a91322 41 Param |= BuffTemp[5];
Kovalev_D 129:406995a91322 42
Kovalev_D 129:406995a91322 43 GyroP.Array[NP] = Param;
Kovalev_D 129:406995a91322 44
Kovalev_D 129:406995a91322 45
Kovalev_D 129:406995a91322 46 BuffTemp[0] = Gyro.SOC_Out;
Kovalev_D 129:406995a91322 47 BuffTemp[1] = Gyro.My_Addres;
Kovalev_D 129:406995a91322 48 BuffTemp[2] = Gyro.CMD_In;
Kovalev_D 129:406995a91322 49 BuffTemp[3] = 0x00;//старший байт требуемого параметра
Kovalev_D 129:406995a91322 50
Kovalev_D 129:406995a91322 51 Check(BuffTemp, 6);
Kovalev_D 129:406995a91322 52 WriteConN (BuffTemp,6);
Kovalev_D 129:406995a91322 53 }
igor_v 0:8ad47e2b6f00 54 void CMD_Maintenance(void)
igor_v 0:8ad47e2b6f00 55 {
Kovalev_D 122:fbacb932a30b 56
Kovalev_D 122:fbacb932a30b 57 BuffTemp[0] = Gyro.SOC_Out;
Kovalev_D 124:9ae09249f842 58 BuffTemp[1] = Gyro.My_Addres;
Kovalev_D 124:9ae09249f842 59 BuffTemp[2] = Gyro.Firmware_Version;
Kovalev_D 124:9ae09249f842 60 BuffTemp[3] = Gyro.GLD_Serial;
igor_v 21:bc8c1cec3da6 61 BuffTemp[4]=0x00;
igor_v 21:bc8c1cec3da6 62 BuffTemp[5]=0x00;
igor_v 21:bc8c1cec3da6 63 Check(BuffTemp, 8);
igor_v 21:bc8c1cec3da6 64 WriteConN (BuffTemp,8);
Kovalev_D 121:bbae560cdd43 65
igor_v 0:8ad47e2b6f00 66 }
Kovalev_D 124:9ae09249f842 67 void CMD_Delta_500Hz(void)
Kovalev_D 124:9ae09249f842 68 {
Kovalev_D 124:9ae09249f842 69 Gyro.Delta500_Event=0;
Kovalev_D 122:fbacb932a30b 70 unsigned int Temp;
Kovalev_D 124:9ae09249f842 71 BuffTemp[ 0] = Gyro.SOC_Out;
Kovalev_D 122:fbacb932a30b 72 BuffTemp[ 1] = Gyro.My_Addres;
Kovalev_D 124:9ae09249f842 73
Kovalev_D 124:9ae09249f842 74 Temp = Gyro.CuruAngle;
Kovalev_D 124:9ae09249f842 75 Gyro.CuruAngle = 0;
Kovalev_D 124:9ae09249f842 76
Kovalev_D 124:9ae09249f842 77 BuffTemp[ 2] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 124:9ae09249f842 78 BuffTemp[ 3] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 124:9ae09249f842 79
Kovalev_D 124:9ae09249f842 80 BuffTemp[ 4] = CountParam;
Kovalev_D 124:9ae09249f842 81 switch(CountParam) {
Kovalev_D 124:9ae09249f842 82
Kovalev_D 124:9ae09249f842 83
Kovalev_D 124:9ae09249f842 84
Kovalev_D 124:9ae09249f842 85 //F_ras
Kovalev_D 124:9ae09249f842 86 case 0:
Kovalev_D 124:9ae09249f842 87 Temp = Gyro.F_ras;
Kovalev_D 124:9ae09249f842 88 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 89 break;
Kovalev_D 124:9ae09249f842 90
Kovalev_D 124:9ae09249f842 91 case 1:
Kovalev_D 124:9ae09249f842 92 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 93 break;
Kovalev_D 124:9ae09249f842 94
Kovalev_D 124:9ae09249f842 95
Kovalev_D 124:9ae09249f842 96
Kovalev_D 124:9ae09249f842 97 //HFO
Kovalev_D 124:9ae09249f842 98 case 2:
Kovalev_D 124:9ae09249f842 99 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 100 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 101 break;
Kovalev_D 124:9ae09249f842 102
Kovalev_D 124:9ae09249f842 103 case 3:
Kovalev_D 124:9ae09249f842 104 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 105 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 106 break;
Kovalev_D 124:9ae09249f842 107
Kovalev_D 124:9ae09249f842 108
Kovalev_D 124:9ae09249f842 109
Kovalev_D 124:9ae09249f842 110 //T_Vibro
Kovalev_D 124:9ae09249f842 111 case 4:
Kovalev_D 124:9ae09249f842 112 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 113 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 114 break;
Kovalev_D 124:9ae09249f842 115
Kovalev_D 124:9ae09249f842 116 case 5:
Kovalev_D 124:9ae09249f842 117 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 118 break;
Kovalev_D 124:9ae09249f842 119
Kovalev_D 124:9ae09249f842 120
Kovalev_D 124:9ae09249f842 121
Kovalev_D 124:9ae09249f842 122 //L_Vibro
Kovalev_D 124:9ae09249f842 123 case 6:
Kovalev_D 124:9ae09249f842 124 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 125 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 126
Kovalev_D 124:9ae09249f842 127 break;
Kovalev_D 124:9ae09249f842 128
Kovalev_D 124:9ae09249f842 129 case 7:
Kovalev_D 124:9ae09249f842 130 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 131 break;
Kovalev_D 124:9ae09249f842 132
Kovalev_D 124:9ae09249f842 133
Kovalev_D 124:9ae09249f842 134
Kovalev_D 124:9ae09249f842 135 //Напряжение на регуляторе периметра
Kovalev_D 124:9ae09249f842 136 case 8:
Kovalev_D 124:9ae09249f842 137 Temp = Spi.DAC_B - 0x7fff;
Kovalev_D 124:9ae09249f842 138 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 139
Kovalev_D 124:9ae09249f842 140 break;
Kovalev_D 124:9ae09249f842 141
Kovalev_D 124:9ae09249f842 142 case 9:
Kovalev_D 124:9ae09249f842 143 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 144 break;
Kovalev_D 124:9ae09249f842 145
Kovalev_D 124:9ae09249f842 146
Kovalev_D 124:9ae09249f842 147
Kovalev_D 124:9ae09249f842 148 //темпкратурный канал 0
Kovalev_D 124:9ae09249f842 149 case 10:
Kovalev_D 124:9ae09249f842 150 Temp = 100;
Kovalev_D 124:9ae09249f842 151 BuffTemp[5] = (Temp >> 8) & 0xff;
igor_v 0:8ad47e2b6f00 152
Kovalev_D 124:9ae09249f842 153 break;
Kovalev_D 124:9ae09249f842 154
Kovalev_D 124:9ae09249f842 155 case 11:
Kovalev_D 124:9ae09249f842 156 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 157 break;
Kovalev_D 124:9ae09249f842 158
Kovalev_D 124:9ae09249f842 159
Kovalev_D 124:9ae09249f842 160
Kovalev_D 124:9ae09249f842 161 //темпкратурный канал 1
Kovalev_D 124:9ae09249f842 162 case 12:
Kovalev_D 124:9ae09249f842 163 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 124:9ae09249f842 164 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 165
Kovalev_D 124:9ae09249f842 166 break;
Kovalev_D 124:9ae09249f842 167
Kovalev_D 124:9ae09249f842 168 case 13:
Kovalev_D 124:9ae09249f842 169 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 170 break;
Kovalev_D 124:9ae09249f842 171
Kovalev_D 124:9ae09249f842 172
Kovalev_D 124:9ae09249f842 173
Kovalev_D 124:9ae09249f842 174 //ток 1
Kovalev_D 124:9ae09249f842 175 case 14:
Kovalev_D 124:9ae09249f842 176 Temp = Gyro.In1;
Kovalev_D 124:9ae09249f842 177 BuffTemp[5] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 124:9ae09249f842 178
Kovalev_D 124:9ae09249f842 179 break;
Kovalev_D 124:9ae09249f842 180
Kovalev_D 124:9ae09249f842 181 case 15:
Kovalev_D 124:9ae09249f842 182 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 183 break;
Kovalev_D 124:9ae09249f842 184
Kovalev_D 124:9ae09249f842 185
Kovalev_D 124:9ae09249f842 186
Kovalev_D 124:9ae09249f842 187 //ток 2
Kovalev_D 124:9ae09249f842 188 case 16:
Kovalev_D 124:9ae09249f842 189 Temp = Gyro.In2;
Kovalev_D 124:9ae09249f842 190 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 191 break;
Kovalev_D 124:9ae09249f842 192
Kovalev_D 124:9ae09249f842 193 case 17:
Kovalev_D 124:9ae09249f842 194 BuffTemp[5] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 124:9ae09249f842 195 break;
Kovalev_D 124:9ae09249f842 196
Kovalev_D 124:9ae09249f842 197
Kovalev_D 124:9ae09249f842 198
Kovalev_D 124:9ae09249f842 199 //разностный температурный канал Delta Temp
Kovalev_D 124:9ae09249f842 200 case 18:
Kovalev_D 124:9ae09249f842 201 Temp = Gyro.DeltaT;
Kovalev_D 124:9ae09249f842 202 BuffTemp[5] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 124:9ae09249f842 203 break;
Kovalev_D 124:9ae09249f842 204
Kovalev_D 124:9ae09249f842 205 case 19:
Kovalev_D 124:9ae09249f842 206 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 207 break;
Kovalev_D 124:9ae09249f842 208
Kovalev_D 124:9ae09249f842 209
Kovalev_D 124:9ae09249f842 210
Kovalev_D 124:9ae09249f842 211 //температурный канал 5
Kovalev_D 124:9ae09249f842 212 case 20:
Kovalev_D 124:9ae09249f842 213 Temp = Gyro.Termo;//0xa4=164
Kovalev_D 124:9ae09249f842 214 BuffTemp[5] =(Temp >> 8) & 0xff;//температура
Kovalev_D 124:9ae09249f842 215
Kovalev_D 124:9ae09249f842 216 break;
Kovalev_D 124:9ae09249f842 217
Kovalev_D 124:9ae09249f842 218 case 21:
Kovalev_D 124:9ae09249f842 219 BuffTemp[5] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
Kovalev_D 124:9ae09249f842 220 break;
Kovalev_D 124:9ae09249f842 221 }
Kovalev_D 124:9ae09249f842 222 Check(BuffTemp, 6);
Kovalev_D 124:9ae09249f842 223 WriteConN (BuffTemp,6);
Kovalev_D 128:1e4675a36c93 224
Kovalev_D 124:9ae09249f842 225 CountParam++;
Kovalev_D 124:9ae09249f842 226 if(CountParam>21)CountParam=0;//зацикливания буфера от 0 до 21
Kovalev_D 124:9ae09249f842 227
Kovalev_D 124:9ae09249f842 228 }
Kovalev_D 124:9ae09249f842 229 void CMD_Delta_Ext(void)
Kovalev_D 124:9ae09249f842 230 {
Kovalev_D 124:9ae09249f842 231 unsigned int Temp;
Kovalev_D 128:1e4675a36c93 232 Gyro.EXT_Latch=0;
Kovalev_D 124:9ae09249f842 233 BuffTemp[ 0] = Gyro.SOC_Out;
Kovalev_D 124:9ae09249f842 234 BuffTemp[ 1] = Gyro.My_Addres;
Kovalev_D 124:9ae09249f842 235 Temp = Gyro.CuruAngle;
Kovalev_D 124:9ae09249f842 236 Gyro.CuruAngle = 0;
Kovalev_D 124:9ae09249f842 237
Kovalev_D 124:9ae09249f842 238 BuffTemp[ 2] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 124:9ae09249f842 239 BuffTemp[ 3] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 124:9ae09249f842 240
Kovalev_D 124:9ae09249f842 241 BuffTemp[ 4] = CountParam;
Kovalev_D 128:1e4675a36c93 242 switch(CountParam) {
Kovalev_D 124:9ae09249f842 243
Kovalev_D 128:1e4675a36c93 244 WriteCon("5");
Kovalev_D 124:9ae09249f842 245
Kovalev_D 124:9ae09249f842 246 //F_ras
Kovalev_D 124:9ae09249f842 247 case 0:
Kovalev_D 124:9ae09249f842 248 Temp = Gyro.F_ras;
Kovalev_D 124:9ae09249f842 249 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 128:1e4675a36c93 250
Kovalev_D 124:9ae09249f842 251 break;
Kovalev_D 124:9ae09249f842 252
Kovalev_D 124:9ae09249f842 253 case 1:
Kovalev_D 124:9ae09249f842 254 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 128:1e4675a36c93 255
Kovalev_D 124:9ae09249f842 256 break;
Kovalev_D 124:9ae09249f842 257
Kovalev_D 124:9ae09249f842 258
Kovalev_D 124:9ae09249f842 259
Kovalev_D 124:9ae09249f842 260 //HFO
Kovalev_D 124:9ae09249f842 261 case 2:
Kovalev_D 124:9ae09249f842 262 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 263 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 128:1e4675a36c93 264
Kovalev_D 124:9ae09249f842 265 break;
Kovalev_D 124:9ae09249f842 266
Kovalev_D 124:9ae09249f842 267 case 3:
Kovalev_D 124:9ae09249f842 268 Temp = 0;//HFO
Kovalev_D 124:9ae09249f842 269 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 128:1e4675a36c93 270
Kovalev_D 124:9ae09249f842 271 break;
Kovalev_D 124:9ae09249f842 272
Kovalev_D 124:9ae09249f842 273
Kovalev_D 124:9ae09249f842 274
Kovalev_D 124:9ae09249f842 275 //T_Vibro
Kovalev_D 124:9ae09249f842 276 case 4:
Kovalev_D 124:9ae09249f842 277 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 278 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 128:1e4675a36c93 279
Kovalev_D 124:9ae09249f842 280 break;
Kovalev_D 124:9ae09249f842 281
Kovalev_D 124:9ae09249f842 282 case 5:
Kovalev_D 124:9ae09249f842 283 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 128:1e4675a36c93 284
Kovalev_D 124:9ae09249f842 285 break;
Kovalev_D 124:9ae09249f842 286
Kovalev_D 124:9ae09249f842 287
Kovalev_D 124:9ae09249f842 288
Kovalev_D 124:9ae09249f842 289 //L_Vibro
Kovalev_D 124:9ae09249f842 290 case 6:
Kovalev_D 124:9ae09249f842 291 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 124:9ae09249f842 292 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 122:fbacb932a30b 293
Kovalev_D 124:9ae09249f842 294 break;
Kovalev_D 124:9ae09249f842 295
Kovalev_D 124:9ae09249f842 296 case 7:
Kovalev_D 124:9ae09249f842 297 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 298 break;
Kovalev_D 124:9ae09249f842 299
Kovalev_D 124:9ae09249f842 300
Kovalev_D 124:9ae09249f842 301
Kovalev_D 124:9ae09249f842 302 //Напряжение на регуляторе периметра
Kovalev_D 124:9ae09249f842 303 case 8:
Kovalev_D 124:9ae09249f842 304 Temp = Spi.DAC_B - 0x7fff;
Kovalev_D 124:9ae09249f842 305 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 306
Kovalev_D 124:9ae09249f842 307 break;
Kovalev_D 124:9ae09249f842 308
Kovalev_D 124:9ae09249f842 309 case 9:
Kovalev_D 124:9ae09249f842 310 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 311 break;
Kovalev_D 124:9ae09249f842 312
Kovalev_D 124:9ae09249f842 313
Kovalev_D 124:9ae09249f842 314
Kovalev_D 124:9ae09249f842 315 //темпкратурный канал 0
Kovalev_D 124:9ae09249f842 316 case 10:
Kovalev_D 124:9ae09249f842 317 Temp = 100;
Kovalev_D 124:9ae09249f842 318 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 319
Kovalev_D 124:9ae09249f842 320 break;
Kovalev_D 124:9ae09249f842 321
Kovalev_D 124:9ae09249f842 322 case 11:
Kovalev_D 124:9ae09249f842 323 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 324 break;
Kovalev_D 124:9ae09249f842 325
Kovalev_D 124:9ae09249f842 326
Kovalev_D 124:9ae09249f842 327
Kovalev_D 124:9ae09249f842 328 //темпкратурный канал 1
Kovalev_D 124:9ae09249f842 329 case 12:
Kovalev_D 124:9ae09249f842 330 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 124:9ae09249f842 331 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 332
Kovalev_D 124:9ae09249f842 333 break;
Kovalev_D 124:9ae09249f842 334
Kovalev_D 124:9ae09249f842 335 case 13:
Kovalev_D 124:9ae09249f842 336 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 337 break;
Kovalev_D 124:9ae09249f842 338
Kovalev_D 124:9ae09249f842 339
Kovalev_D 124:9ae09249f842 340
Kovalev_D 124:9ae09249f842 341 //ток 1
Kovalev_D 124:9ae09249f842 342 case 14:
Kovalev_D 124:9ae09249f842 343 Temp = Gyro.In1;
Kovalev_D 124:9ae09249f842 344 BuffTemp[5] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 124:9ae09249f842 345
Kovalev_D 124:9ae09249f842 346 break;
Kovalev_D 124:9ae09249f842 347
Kovalev_D 124:9ae09249f842 348 case 15:
Kovalev_D 124:9ae09249f842 349 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 350 break;
Kovalev_D 124:9ae09249f842 351
Kovalev_D 124:9ae09249f842 352
Kovalev_D 124:9ae09249f842 353
Kovalev_D 124:9ae09249f842 354 //ток 2
Kovalev_D 124:9ae09249f842 355 case 16:
Kovalev_D 124:9ae09249f842 356 Temp = Gyro.In2;
Kovalev_D 124:9ae09249f842 357 BuffTemp[5] = (Temp >> 8) & 0xff;
Kovalev_D 124:9ae09249f842 358 break;
Kovalev_D 124:9ae09249f842 359
Kovalev_D 124:9ae09249f842 360 case 17:
Kovalev_D 124:9ae09249f842 361 BuffTemp[5] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 124:9ae09249f842 362 break;
Kovalev_D 124:9ae09249f842 363
Kovalev_D 124:9ae09249f842 364
Kovalev_D 124:9ae09249f842 365
Kovalev_D 124:9ae09249f842 366 //разностный температурный канал Delta Temp
Kovalev_D 124:9ae09249f842 367 case 18:
Kovalev_D 124:9ae09249f842 368 Temp = Gyro.DeltaT;
Kovalev_D 124:9ae09249f842 369 BuffTemp[5] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 124:9ae09249f842 370 break;
Kovalev_D 124:9ae09249f842 371
Kovalev_D 124:9ae09249f842 372 case 19:
Kovalev_D 124:9ae09249f842 373 BuffTemp[5] = (Temp >> 0) & 0xff;
Kovalev_D 124:9ae09249f842 374 break;
Kovalev_D 124:9ae09249f842 375
Kovalev_D 124:9ae09249f842 376
Kovalev_D 124:9ae09249f842 377
Kovalev_D 124:9ae09249f842 378 //температурный канал 5
Kovalev_D 124:9ae09249f842 379 case 20:
Kovalev_D 124:9ae09249f842 380 Temp = Gyro.Termo;//0xa4=164
Kovalev_D 124:9ae09249f842 381 BuffTemp[5] =(Temp >> 8) & 0xff;//температура
Kovalev_D 124:9ae09249f842 382
Kovalev_D 124:9ae09249f842 383 break;
Kovalev_D 124:9ae09249f842 384
Kovalev_D 124:9ae09249f842 385 case 21:
Kovalev_D 124:9ae09249f842 386 BuffTemp[5] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
Kovalev_D 124:9ae09249f842 387 break;
Kovalev_D 124:9ae09249f842 388 }
Kovalev_D 128:1e4675a36c93 389 Check(BuffTemp, 8);
Kovalev_D 128:1e4675a36c93 390 WriteConN (BuffTemp,8);
Kovalev_D 124:9ae09249f842 391 CountParam++;
Kovalev_D 124:9ae09249f842 392 if(CountParam>21)CountParam=0;//зацикливания буфера от 0 до 21
Kovalev_D 122:fbacb932a30b 393 }
Kovalev_D 124:9ae09249f842 394
Kovalev_D 121:bbae560cdd43 395 void CMD_Rate2(void)
Kovalev_D 121:bbae560cdd43 396 {
Kovalev_D 124:9ae09249f842 397 Gyro.Rate2_Event=0;
Kovalev_D 121:bbae560cdd43 398 BuffTemp[ 0] = Gyro.SOC_Out;
Kovalev_D 121:bbae560cdd43 399 BuffTemp[ 1] = Gyro.My_Addres;
Kovalev_D 121:bbae560cdd43 400
Kovalev_D 121:bbae560cdd43 401
Kovalev_D 121:bbae560cdd43 402 BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
Kovalev_D 121:bbae560cdd43 403 BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
Kovalev_D 121:bbae560cdd43 404
Kovalev_D 121:bbae560cdd43 405 BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
Kovalev_D 121:bbae560cdd43 406 BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
Kovalev_D 124:9ae09249f842 407
Kovalev_D 122:fbacb932a30b 408 Check(BuffTemp, 8);
Kovalev_D 122:fbacb932a30b 409 WriteConN (BuffTemp,8);
Kovalev_D 121:bbae560cdd43 410 }
Kovalev_D 124:9ae09249f842 411
igor_v 0:8ad47e2b6f00 412 void CMD_Rate(void)
igor_v 21:bc8c1cec3da6 413 {
Kovalev_D 124:9ae09249f842 414
Kovalev_D 124:9ae09249f842 415 Gyro.Rate1_Event=0;
Kovalev_D 108:030cdde08314 416 unsigned int Temp;
Kovalev_D 107:4d178bcc9d8a 417
igor_v 28:17c84ed091b3 418 Gyro.Firmware_Version=0xff; /// промежуточная затычка
Kovalev_D 122:fbacb932a30b 419
igor_v 0:8ad47e2b6f00 420
igor_v 28:17c84ed091b3 421 BuffTemp[ 0] = Gyro.SOC_Out;
igor_v 28:17c84ed091b3 422 BuffTemp[ 1] = Gyro.My_Addres;
igor_v 21:bc8c1cec3da6 423
Kovalev_D 108:030cdde08314 424
Kovalev_D 112:4a96133a1311 425 BuffTemp[ 2] =(Gyro.CaunPlus >> 8) & 0xff;//старший байт счетчика +.
Kovalev_D 112:4a96133a1311 426 BuffTemp[ 3] =(Gyro.CaunPlus >> 0) & 0xff;//младший байт счетчика +.
Kovalev_D 108:030cdde08314 427
Kovalev_D 112:4a96133a1311 428 BuffTemp[ 4] =(Gyro.CaunMin >> 8) & 0xff;//старший байт счетчика -.
Kovalev_D 112:4a96133a1311 429 BuffTemp[ 5] =(Gyro.CaunMin >> 0) & 0xff;//младший байт счетчика -.
Kovalev_D 108:030cdde08314 430
Kovalev_D 113:8be429494918 431
Kovalev_D 108:030cdde08314 432 Temp = Gyro.CuruAngle;
Kovalev_D 108:030cdde08314 433 Gyro.CuruAngle = 0;
Kovalev_D 125:9400e64d0636 434 Temp = Gyro.AD_Fast >> 16;
Kovalev_D 108:030cdde08314 435 BuffTemp[ 6] =(Temp >> 8) & 0xff;//старший байт разности счетчиков
Kovalev_D 108:030cdde08314 436 BuffTemp[ 7] =(Temp >> 0) & 0xff;//младший байт разности счетчиков
Kovalev_D 108:030cdde08314 437
Kovalev_D 108:030cdde08314 438
Kovalev_D 122:fbacb932a30b 439 Temp = Gyro.F_ras;
Kovalev_D 122:fbacb932a30b 440 BuffTemp[ 8] = (Temp >> 8) & 0xff;//расщипление частота
Kovalev_D 122:fbacb932a30b 441 BuffTemp[ 9] = (Temp >> 0) & 0xff;//
igor_v 21:bc8c1cec3da6 442
Kovalev_D 108:030cdde08314 443 BuffTemp[10] = (Temp >> 8) & 0xff;//выход регулятора гвч;
Kovalev_D 122:fbacb932a30b 444 BuffTemp[11] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 445
Kovalev_D 122:fbacb932a30b 446 Temp = (Gyro.AD_Slow >> 16)- 0x7fff;
Kovalev_D 108:030cdde08314 447 BuffTemp[12]=(Temp >> 8) & 0xff;////
Kovalev_D 108:030cdde08314 448 BuffTemp[13]=(Temp >> 0) & 0xff;////
igor_v 21:bc8c1cec3da6 449
Kovalev_D 108:030cdde08314 450
Kovalev_D 108:030cdde08314 451 Temp = (unsigned int)((7680000*16/(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 452 BuffTemp[14] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 453 BuffTemp[15] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 454
Kovalev_D 107:4d178bcc9d8a 455 BuffTemp[16] = 0xf;
Kovalev_D 106:250ddd8629c6 456 BuffTemp[17] = 0x02;
Kovalev_D 108:030cdde08314 457
igor_v 21:bc8c1cec3da6 458
Kovalev_D 108:030cdde08314 459 Temp = (unsigned int)(((7680000*16/200) *Gyro.AmpPer /(Gyro.Frq>>12)));
Kovalev_D 108:030cdde08314 460 BuffTemp[18] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 461 BuffTemp[19] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 462
Kovalev_D 106:250ddd8629c6 463 BuffTemp[20] = 0x00;
Kovalev_D 106:250ddd8629c6 464 BuffTemp[21] = 0x00;
Kovalev_D 120:9f446f1495e8 465
Kovalev_D 119:4d7fcece9e8e 466
Kovalev_D 125:9400e64d0636 467
Kovalev_D 121:bbae560cdd43 468 Temp = Spi.DAC_B - 0x7fff;
Kovalev_D 108:030cdde08314 469 BuffTemp[22] = (Temp >> 8) & 0xff;
Kovalev_D 108:030cdde08314 470 BuffTemp[23] = (Temp >> 0) & 0xff;
igor_v 21:bc8c1cec3da6 471
Kovalev_D 121:bbae560cdd43 472
Kovalev_D 121:bbae560cdd43 473 Temp = Gyro.PLC_Delta >> 16;
Kovalev_D 121:bbae560cdd43 474 BuffTemp[24] = (Temp >> 8) & 0xff;
Kovalev_D 121:bbae560cdd43 475 BuffTemp[25] = (Temp >> 0) & 0xff;// ХЗ
Kovalev_D 113:8be429494918 476
Kovalev_D 125:9400e64d0636 477 Temp = 100;
Kovalev_D 125:9400e64d0636 478 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 113:8be429494918 479 BuffTemp[26] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 480 BuffTemp[27] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 481
Kovalev_D 113:8be429494918 482 Temp = Gyro.AD_Slow >> 16;
Kovalev_D 113:8be429494918 483 BuffTemp[28] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 484 BuffTemp[29] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 485
Kovalev_D 113:8be429494918 486 Temp = Gyro.In1;
Kovalev_D 113:8be429494918 487 BuffTemp[30] = (Temp >> 8) & 0xff;//in1//2
Kovalev_D 113:8be429494918 488 BuffTemp[31] = (Temp >> 0) & 0xff;
Kovalev_D 113:8be429494918 489
Kovalev_D 113:8be429494918 490 Temp = Gyro.In2;
Kovalev_D 113:8be429494918 491 BuffTemp[32] = (Temp >> 8) & 0xff;
Kovalev_D 113:8be429494918 492 BuffTemp[33] = (Temp >> 0) & 0xff;//in2//3
Kovalev_D 113:8be429494918 493
Kovalev_D 113:8be429494918 494 Temp = Gyro.DeltaT;
Kovalev_D 113:8be429494918 495 BuffTemp[34] = (Temp >> 8) & 0xff;//дельта
Kovalev_D 113:8be429494918 496 BuffTemp[35] = (Temp >> 0) & 0xff;
Kovalev_D 115:e5a230e5af52 497
Kovalev_D 116:66f1f0ff2dab 498 Temp = Gyro.Termo;//0xa4=164
Kovalev_D 115:e5a230e5af52 499
Kovalev_D 113:8be429494918 500 BuffTemp[36] =(Temp >> 8) & 0xff;//температура
Kovalev_D 115:e5a230e5af52 501 BuffTemp[37] =(Temp >> 0) & 0xff;//ADC6 sesnsor 5
igor_v 21:bc8c1cec3da6 502
Kovalev_D 106:250ddd8629c6 503 BuffTemp[38] =0x00;
Kovalev_D 106:250ddd8629c6 504 BuffTemp[39] =0x00;
Kovalev_D 106:250ddd8629c6 505 BuffTemp[40] =0x00;
Kovalev_D 106:250ddd8629c6 506 BuffTemp[41] =0x00;
igor_v 21:bc8c1cec3da6 507
igor_v 21:bc8c1cec3da6 508
igor_v 21:bc8c1cec3da6 509 Check(BuffTemp, 44);
igor_v 21:bc8c1cec3da6 510 WriteConN (BuffTemp,44);
Kovalev_D 92:c892f0311aa7 511
igor_v 0:8ad47e2b6f00 512 }
igor_v 0:8ad47e2b6f00 513
igor_v 21:bc8c1cec3da6 514 void CMD_M_Control_D8()///установка\сброс регистров управления
igor_v 21:bc8c1cec3da6 515 {
Kovalev_D 104:ab1cb4ff56b2 516 unsigned int bit,NReg,Pa;
Kovalev_D 104:ab1cb4ff56b2 517 unsigned int SR,V,A,Bit_num;
Kovalev_D 104:ab1cb4ff56b2 518 SR=0;
Kovalev_D 104:ab1cb4ff56b2 519 V=0;
Kovalev_D 104:ab1cb4ff56b2 520 A=0;
Kovalev_D 104:ab1cb4ff56b2 521 Bit_num=0;
Kovalev_D 104:ab1cb4ff56b2 522
igor_v 28:17c84ed091b3 523 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 28:17c84ed091b3 524 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 28:17c84ed091b3 525 BuffTemp[2] = Gyro.CMD_In; //D8
Kovalev_D 104:ab1cb4ff56b2 526
Kovalev_D 104:ab1cb4ff56b2 527 /*
Kovalev_D 104:ab1cb4ff56b2 528
Kovalev_D 104:ab1cb4ff56b2 529 FrqON
Kovalev_D 104:ab1cb4ff56b2 530 PlcON
Kovalev_D 104:ab1cb4ff56b2 531 HFOOFF
Kovalev_D 104:ab1cb4ff56b2 532 HFOON
igor_v 21:bc8c1cec3da6 533
Kovalev_D 104:ab1cb4ff56b2 534 PlcOFF
Kovalev_D 104:ab1cb4ff56b2 535 PlcON
Kovalev_D 104:ab1cb4ff56b2 536 */
Kovalev_D 104:ab1cb4ff56b2 537 Pa = BuffTemp[3];
Kovalev_D 104:ab1cb4ff56b2 538
Kovalev_D 104:ab1cb4ff56b2 539 SR = Pa >> 0x7;
Kovalev_D 104:ab1cb4ff56b2 540
Kovalev_D 104:ab1cb4ff56b2 541 V = Pa >> 0x5;
Kovalev_D 104:ab1cb4ff56b2 542 V = V & 0x3;
Kovalev_D 104:ab1cb4ff56b2 543
Kovalev_D 104:ab1cb4ff56b2 544 A = Pa >> 0x4;
Kovalev_D 104:ab1cb4ff56b2 545 A = A & 0x1;
Kovalev_D 104:ab1cb4ff56b2 546
Kovalev_D 104:ab1cb4ff56b2 547 Bit_num = Pa & 0xf;
Kovalev_D 104:ab1cb4ff56b2 548
Kovalev_D 104:ab1cb4ff56b2 549 if(SR) {
Kovalev_D 104:ab1cb4ff56b2 550 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 551
Kovalev_D 104:ab1cb4ff56b2 552 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 553 FrqON
Kovalev_D 105:bd01d8d20fb6 554 break;
Kovalev_D 105:bd01d8d20fb6 555
Kovalev_D 104:ab1cb4ff56b2 556 case 0x03:
Kovalev_D 105:bd01d8d20fb6 557 HFOON
Kovalev_D 105:bd01d8d20fb6 558 break;
Kovalev_D 105:bd01d8d20fb6 559
Kovalev_D 105:bd01d8d20fb6 560 case 0x01:
Kovalev_D 105:bd01d8d20fb6 561 PlcON
Kovalev_D 105:bd01d8d20fb6 562 break;
Kovalev_D 104:ab1cb4ff56b2 563 }
Kovalev_D 104:ab1cb4ff56b2 564 }
Kovalev_D 104:ab1cb4ff56b2 565 else{
Kovalev_D 104:ab1cb4ff56b2 566 switch (Bit_num){
Kovalev_D 105:bd01d8d20fb6 567
Kovalev_D 105:bd01d8d20fb6 568 case 0x06:
Kovalev_D 104:ab1cb4ff56b2 569 FrqOff
Kovalev_D 105:bd01d8d20fb6 570 break;
Kovalev_D 105:bd01d8d20fb6 571
Kovalev_D 105:bd01d8d20fb6 572 case 0x03:
Kovalev_D 105:bd01d8d20fb6 573 HFOOFF
Kovalev_D 105:bd01d8d20fb6 574 break;
Kovalev_D 105:bd01d8d20fb6 575
Kovalev_D 105:bd01d8d20fb6 576 case 0x01:
Kovalev_D 105:bd01d8d20fb6 577 PlcOFF
Kovalev_D 105:bd01d8d20fb6 578 break;
Kovalev_D 104:ab1cb4ff56b2 579 }
Kovalev_D 104:ab1cb4ff56b2 580 }
Kovalev_D 129:406995a91322 581 BuffTemp[0] = Gyro.SOC_Out; //DD
Kovalev_D 129:406995a91322 582 BuffTemp[1] = Gyro.My_Addres; //00
Kovalev_D 129:406995a91322 583 BuffTemp[2] = Gyro.CMD_In; //D8
Kovalev_D 129:406995a91322 584 BuffTemp[3] = A<<4;
Kovalev_D 129:406995a91322 585 BuffTemp[4] = 0x0;
Kovalev_D 129:406995a91322 586 BuffTemp[5] = 0x0;
Kovalev_D 129:406995a91322 587 Check(BuffTemp, CRC_N);
Kovalev_D 129:406995a91322 588 WriteConN (BuffTemp,CRC_N);
igor_v 0:8ad47e2b6f00 589 }
igor_v 0:8ad47e2b6f00 590
igor_v 21:bc8c1cec3da6 591 void CMD_M_Control_D9()///чтение регистров управления
igor_v 21:bc8c1cec3da6 592 {
igor_v 21:bc8c1cec3da6 593 int bit,NReg;
igor_v 28:17c84ed091b3 594 BuffTemp[0] = Gyro.SOC_Out; //DD
igor_v 28:17c84ed091b3 595 BuffTemp[1] = Gyro.My_Addres; //00
igor_v 28:17c84ed091b3 596 BuffTemp[2] = Gyro.CMD_In; //D9
igor_v 21:bc8c1cec3da6 597 if ((Param1 & 0x10) == 0) {
igor_v 21:bc8c1cec3da6 598 BuffTemp[3]=0<<4;
igor_v 28:17c84ed091b3 599 BuffTemp[4] = (Gyro.RgConA>>8 )& 0xff;
igor_v 28:17c84ed091b3 600 BuffTemp[5] = Gyro.RgConA & 0xff;
igor_v 21:bc8c1cec3da6 601 } else {
igor_v 21:bc8c1cec3da6 602 BuffTemp[3]=1<<4;
igor_v 28:17c84ed091b3 603 BuffTemp[4] = (Gyro.RgConB>>8 ) & 0xff;
igor_v 28:17c84ed091b3 604 BuffTemp[5] = Gyro.RgConB & 0xff;
igor_v 21:bc8c1cec3da6 605 }
igor_v 21:bc8c1cec3da6 606 Check(BuffTemp, CRC_N);
igor_v 21:bc8c1cec3da6 607 WriteConN (BuffTemp,CRC_N);
igor_v 21:bc8c1cec3da6 608 }
igor_v 21:bc8c1cec3da6 609 // (номер (код) ЦАПа 0...3, старший байт требуемого ЦАПа, младший байт треб ЦАПа)
igor_v 0:8ad47e2b6f00 610 void CMD_M_Stymul()
igor_v 0:8ad47e2b6f00 611 {
igor_v 21:bc8c1cec3da6 612 int temp;
Kovalev_D 102:4270092be987 613 int HFO;
Kovalev_D 102:4270092be987 614 temp=BuffTemp[3];
Kovalev_D 102:4270092be987 615 Consol = temp&0x3;
Kovalev_D 103:e96f08947def 616 HFO = temp&0x3;// // (номер (код) ЦАПа 0...3, HFO - 3dac, PLC - 0DAC
igor_v 21:bc8c1cec3da6 617 temp =((BuffTemp[4]<<8) | BuffTemp[5]);
igor_v 21:bc8c1cec3da6 618 // temp=0;
igor_v 21:bc8c1cec3da6 619 temp=temp&0xFFFF;
Kovalev_D 102:4270092be987 620
Kovalev_D 102:4270092be987 621 if(HFO)
Kovalev_D 102:4270092be987 622 {
Kovalev_D 102:4270092be987 623 Spi.DAC_A=(unsigned int)temp;
Kovalev_D 102:4270092be987 624 }
Kovalev_D 102:4270092be987 625 else{
igor_v 21:bc8c1cec3da6 626 DACF =(temp*K_DAC)+deltaDAC;
igor_v 21:bc8c1cec3da6 627 Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC);
igor_v 21:bc8c1cec3da6 628 }
igor_v 0:8ad47e2b6f00 629 }
Kovalev_D 103:e96f08947def 630 void Gph_W()
Kovalev_D 103:e96f08947def 631 {
Kovalev_D 108:030cdde08314 632 Out_G_photo(BuffTemp[4],BuffTemp[5]);
Kovalev_D 103:e96f08947def 633 }
igor_v 0:8ad47e2b6f00 634
Kovalev_D 98:95b8e79f13e1 635 void CMD_M_vib()
Kovalev_D 115:e5a230e5af52 636 {
Kovalev_D 102:4270092be987 637 unsigned int temp1,temp2;
Kovalev_D 102:4270092be987 638
Kovalev_D 102:4270092be987 639 temp1 =((BuffTemp[4]<<8) | BuffTemp[5]);
Kovalev_D 102:4270092be987 640 temp1=temp1&0xFFFF;
Kovalev_D 102:4270092be987 641
Kovalev_D 102:4270092be987 642 temp2 =((BuffTemp[6]<<8) | BuffTemp[7]);
Kovalev_D 102:4270092be987 643 temp2=temp2&0xFFFF;
Kovalev_D 102:4270092be987 644 Gyro.Frq = ((unsigned int) ((7680000*16/temp1)))*16*16*16;
Kovalev_D 102:4270092be987 645 Consol=Gyro.Frq ;
Kovalev_D 98:95b8e79f13e1 646 }
igor_v 0:8ad47e2b6f00 647 unsigned int Check(char *c, unsigned int Count)
igor_v 0:8ad47e2b6f00 648 {
igor_v 21:bc8c1cec3da6 649 int i=1;
igor_v 21:bc8c1cec3da6 650 unsigned int temp,CRC;
igor_v 21:bc8c1cec3da6 651
igor_v 21:bc8c1cec3da6 652
igor_v 21:bc8c1cec3da6 653 temp=1;
igor_v 21:bc8c1cec3da6 654 CRC=0;
igor_v 21:bc8c1cec3da6 655
igor_v 21:bc8c1cec3da6 656
igor_v 21:bc8c1cec3da6 657 for(; i<Count-2; i++) {
igor_v 21:bc8c1cec3da6 658 CRC+=c[i];
igor_v 21:bc8c1cec3da6 659 }
igor_v 0:8ad47e2b6f00 660
igor_v 21:bc8c1cec3da6 661 if(c[Count-2]!=((CRC>>8)&0xFF)) {
igor_v 21:bc8c1cec3da6 662 temp=0;
igor_v 28:17c84ed091b3 663 Gyro.RsErrLine = (Gyro.RsErrLine)&=0x2;
igor_v 21:bc8c1cec3da6 664 }
igor_v 0:8ad47e2b6f00 665
igor_v 21:bc8c1cec3da6 666 if(c[Count-1]!=((CRC>>0)&0xFF)) {
igor_v 21:bc8c1cec3da6 667 temp=0;
igor_v 28:17c84ed091b3 668 // Gyro.RsErrLine= (Gyro.RsErrLine)=0x2;
igor_v 21:bc8c1cec3da6 669 }
igor_v 21:bc8c1cec3da6 670
igor_v 21:bc8c1cec3da6 671 c[Count-2]=(CRC>>8)&0xFF;
igor_v 21:bc8c1cec3da6 672 c[Count-1]=(CRC>>0)&0xFF;
igor_v 21:bc8c1cec3da6 673
igor_v 21:bc8c1cec3da6 674
igor_v 21:bc8c1cec3da6 675
igor_v 21:bc8c1cec3da6 676 return temp;
igor_v 0:8ad47e2b6f00 677 }
igor_v 0:8ad47e2b6f00 678
igor_v 0:8ad47e2b6f00 679 int Getlengf(void)
igor_v 0:8ad47e2b6f00 680 {
Kovalev_D 121:bbae560cdd43 681 unsigned int lengf;
Kovalev_D 121:bbae560cdd43 682 lengf = 1;
igor_v 28:17c84ed091b3 683 switch(Gyro.CMD_In) {
igor_v 28:17c84ed091b3 684 case 0x99://Gyrotainance
Kovalev_D 92:c892f0311aa7 685
igor_v 21:bc8c1cec3da6 686 lengf=6;
igor_v 21:bc8c1cec3da6 687 CRC_N=8;
igor_v 21:bc8c1cec3da6 688 break;
igor_v 0:8ad47e2b6f00 689
igor_v 21:bc8c1cec3da6 690 case 0x0A: //m_stymul
igor_v 21:bc8c1cec3da6 691 lengf=8;
igor_v 21:bc8c1cec3da6 692 break;
igor_v 21:bc8c1cec3da6 693
Kovalev_D 129:406995a91322 694 case 0xE9://DeviceMode
igor_v 21:bc8c1cec3da6 695
igor_v 21:bc8c1cec3da6 696 lengf=6;
igor_v 21:bc8c1cec3da6 697 CRC_N=8;
igor_v 21:bc8c1cec3da6 698 break;
Kovalev_D 129:406995a91322 699 case 0xE8://DeviceMode
igor_v 21:bc8c1cec3da6 700
Kovalev_D 129:406995a91322 701 lengf=6;
Kovalev_D 129:406995a91322 702 CRC_N=8;
Kovalev_D 129:406995a91322 703 break;
Kovalev_D 129:406995a91322 704
Kovalev_D 129:406995a91322 705 case 0xA5://DeviceMode
Kovalev_D 129:406995a91322 706
Kovalev_D 129:406995a91322 707 lengf=6;
Kovalev_D 129:406995a91322 708 CRC_N=8;
Kovalev_D 129:406995a91322 709 break;
Kovalev_D 129:406995a91322 710
igor_v 21:bc8c1cec3da6 711 case 0xDD://m_rate
igor_v 21:bc8c1cec3da6 712 lengf=6;
igor_v 21:bc8c1cec3da6 713 CRC_N=44;
igor_v 21:bc8c1cec3da6 714 break;
Kovalev_D 124:9ae09249f842 715
Kovalev_D 124:9ae09249f842 716 case 0xA0://Delta_PS
Kovalev_D 124:9ae09249f842 717 lengf=6;
Kovalev_D 124:9ae09249f842 718 CRC_N=8;
Kovalev_D 124:9ae09249f842 719 break;
Kovalev_D 124:9ae09249f842 720
Kovalev_D 124:9ae09249f842 721
igor_v 21:bc8c1cec3da6 722 case 0xB0://DeviceMode
igor_v 21:bc8c1cec3da6 723
igor_v 21:bc8c1cec3da6 724 lengf=6;
igor_v 21:bc8c1cec3da6 725 CRC_N=8;
igor_v 21:bc8c1cec3da6 726 break;
igor_v 21:bc8c1cec3da6 727
igor_v 21:bc8c1cec3da6 728 case 0xD8://m_control
igor_v 0:8ad47e2b6f00 729
igor_v 21:bc8c1cec3da6 730 lengf=6;
igor_v 21:bc8c1cec3da6 731 CRC_N=8;
igor_v 21:bc8c1cec3da6 732 break;
igor_v 21:bc8c1cec3da6 733
igor_v 21:bc8c1cec3da6 734 case 0xD9://m_control
igor_v 0:8ad47e2b6f00 735
igor_v 21:bc8c1cec3da6 736 lengf=6;
igor_v 21:bc8c1cec3da6 737 CRC_N=8;
igor_v 21:bc8c1cec3da6 738 break;
Kovalev_D 102:4270092be987 739
Kovalev_D 102:4270092be987 740 case 0xE4:
Kovalev_D 98:95b8e79f13e1 741 lengf=8;
Kovalev_D 98:95b8e79f13e1 742 break;
Kovalev_D 103:e96f08947def 743
Kovalev_D 103:e96f08947def 744
Kovalev_D 103:e96f08947def 745 case 0xE6:
Kovalev_D 103:e96f08947def 746 lengf=8;
Kovalev_D 103:e96f08947def 747 break;
Kovalev_D 103:e96f08947def 748
igor_v 21:bc8c1cec3da6 749 }
Kovalev_D 98:95b8e79f13e1 750
igor_v 21:bc8c1cec3da6 751 return lengf;
igor_v 0:8ad47e2b6f00 752 }
igor_v 0:8ad47e2b6f00 753
igor_v 0:8ad47e2b6f00 754 void Read_CMD(void)
igor_v 21:bc8c1cec3da6 755 {
Kovalev_D 92:c892f0311aa7 756
Kovalev_D 45:cbc955aecebe 757
Kovalev_D 45:cbc955aecebe 758 Gyro.RsErrLine = (Gyro.RsErrLine)& 0xffff;//для сброса ошибки
igor_v 21:bc8c1cec3da6 759
Kovalev_D 93:b3803774f110 760 CountBuFFIn=ReadChekCon1(BuffTemp); // чтение данных из консоли
igor_v 42:6fc307c4963e 761
Kovalev_D 92:c892f0311aa7 762 if(CountBuFFIn==1) { // если есть первый байт
igor_v 21:bc8c1cec3da6 763 if (BuffTemp[0] != SOC_In) {
Kovalev_D 93:b3803774f110 764 ReadCon1(BuffTemp);
igor_v 28:17c84ed091b3 765 Gyro.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
Kovalev_D 93:b3803774f110 766 BuffTemp[99]=Gyro.RsErrLine;
Kovalev_D 102:4270092be987 767
igor_v 21:bc8c1cec3da6 768 }
Kovalev_D 92:c892f0311aa7 769 } else if(CountBuFFIn==2) { //если второй ,fqn
igor_v 28:17c84ed091b3 770 if (BuffTemp[1] != Gyro.My_Addres) {
Kovalev_D 93:b3803774f110 771 ReadCon1(BuffTemp);
igor_v 28:17c84ed091b3 772 Gyro.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
igor_v 21:bc8c1cec3da6 773 }
igor_v 42:6fc307c4963e 774 } else if(CountBuFFIn==3) { // если ьоетий байт
igor_v 28:17c84ed091b3 775 Gyro.CMD_In=BuffTemp[2];
Kovalev_D 92:c892f0311aa7 776 N=Getlengf();
Kovalev_D 92:c892f0311aa7 777 }
Kovalev_D 92:c892f0311aa7 778 else if(CountBuFFIn==4 && (N==6))
Kovalev_D 92:c892f0311aa7 779 { // N - длина посылки аскглд(для записи параметров). определяется по коду команды в Getlengf();
igor_v 21:bc8c1cec3da6 780 Param1=BuffTemp[3];
Kovalev_D 92:c892f0311aa7 781 }
Kovalev_D 92:c892f0311aa7 782 else if((CountBuFFIn==5)&&(N==7))
Kovalev_D 92:c892f0311aa7 783 {
Kovalev_D 92:c892f0311aa7 784
igor_v 21:bc8c1cec3da6 785 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 786 Param2=BuffTemp[4];
igor_v 0:8ad47e2b6f00 787
Kovalev_D 92:c892f0311aa7 788 }
Kovalev_D 92:c892f0311aa7 789 else if((CountBuFFIn==6)&&(N==8))
Kovalev_D 92:c892f0311aa7 790 {
igor_v 21:bc8c1cec3da6 791 Param1=BuffTemp[3];
igor_v 21:bc8c1cec3da6 792 Param2=BuffTemp[4];
igor_v 21:bc8c1cec3da6 793 Param3=BuffTemp[5];
Kovalev_D 92:c892f0311aa7 794 }
Kovalev_D 102:4270092be987 795 else if((CountBuFFIn==8)&&(N==10))
Kovalev_D 102:4270092be987 796 {
Kovalev_D 102:4270092be987 797 Param1=BuffTemp[4];
Kovalev_D 102:4270092be987 798 Param2=BuffTemp[5];
Kovalev_D 102:4270092be987 799 Param3=BuffTemp[6];
Kovalev_D 102:4270092be987 800 Param4=BuffTemp[7];
Kovalev_D 102:4270092be987 801 }
Kovalev_D 98:95b8e79f13e1 802
Kovalev_D 92:c892f0311aa7 803 else if(CountBuFFIn > (N-1))
Kovalev_D 92:c892f0311aa7 804 {
Kovalev_D 93:b3803774f110 805 ReadCon1(BuffTemp);
igor_v 28:17c84ed091b3 806 switch(Gyro.CMD_In) {
Kovalev_D 122:fbacb932a30b 807 Rate_Flag=0;
Kovalev_D 129:406995a91322 808
Kovalev_D 92:c892f0311aa7 809 case 0x99:
Kovalev_D 124:9ae09249f842 810 Gyro.ModeOut=0;
igor_v 21:bc8c1cec3da6 811 CMD_Maintenance();
Kovalev_D 124:9ae09249f842 812 break;
Kovalev_D 129:406995a91322 813
Kovalev_D 124:9ae09249f842 814 case 0xA0:
Kovalev_D 124:9ae09249f842 815 TempParam=(BuffTemp[3]) & 0x90;
Kovalev_D 124:9ae09249f842 816 if (TempParam==Delta_500) CMD_Delta_500Hz();
Kovalev_D 124:9ae09249f842 817 else if (TempParam==Delta_EXT) CMD_Delta_Ext();
Kovalev_D 124:9ae09249f842 818 else if (TempParam==PDelta_500) { Gyro.ModeOut=3; Gyro.Delta500_Event=0; WriteCon("Delta500"); }
Kovalev_D 124:9ae09249f842 819 else if (TempParam==PDelta_EXT) { Gyro.ModeOut=4; Gyro.DeltaEXT_Event=0; WriteCon("deltaEXT"); }
igor_v 21:bc8c1cec3da6 820 break;
Kovalev_D 129:406995a91322 821
igor_v 21:bc8c1cec3da6 822 case 0xD8:
igor_v 21:bc8c1cec3da6 823 CMD_M_Control_D8();
Kovalev_D 124:9ae09249f842 824 break;
Kovalev_D 129:406995a91322 825
Kovalev_D 129:406995a91322 826 case 0xE9://чтение параметров
Kovalev_D 129:406995a91322 827 CMD_M_Param_R();
Kovalev_D 129:406995a91322 828 break;
Kovalev_D 129:406995a91322 829
Kovalev_D 129:406995a91322 830 case 0xE8://запись параметра
Kovalev_D 129:406995a91322 831 CMD_M_Param_W();
Kovalev_D 129:406995a91322 832 break;
Kovalev_D 129:406995a91322 833
igor_v 21:bc8c1cec3da6 834 case 0xD9:
igor_v 21:bc8c1cec3da6 835 CMD_M_Control_D9();
igor_v 21:bc8c1cec3da6 836 break;
Kovalev_D 129:406995a91322 837
igor_v 21:bc8c1cec3da6 838 case 0x0A:
Kovalev_D 45:cbc955aecebe 839 CMD_M_Stymul();
igor_v 21:bc8c1cec3da6 840 break;
Kovalev_D 129:406995a91322 841
igor_v 21:bc8c1cec3da6 842 case 0xDD:
Kovalev_D 124:9ae09249f842 843 TempParam=(BuffTemp[3]) & 0x9f;
Kovalev_D 124:9ae09249f842 844 if (TempParam == Rate1) { CMD_Rate(); WriteCon("Rate11");}
Kovalev_D 124:9ae09249f842 845 else if (TempParam == Rate2) { CMD_Rate2(); WriteCon("Rate21");}
Kovalev_D 124:9ae09249f842 846 else if (TempParam == PRate1) { Gyro.ModeOut=1; Gyro.Rate1_Event=0; WriteCon("Rate12");}
Kovalev_D 124:9ae09249f842 847 else if (TempParam == PRate2) { Gyro.ModeOut=2; Gyro.Rate2_Event=0; WriteCon("Rate22");}
Kovalev_D 122:fbacb932a30b 848 break;
Kovalev_D 129:406995a91322 849
Kovalev_D 102:4270092be987 850 case 0xE4:
Kovalev_D 102:4270092be987 851 CMD_M_vib();
Kovalev_D 102:4270092be987 852 break;
Kovalev_D 129:406995a91322 853
Kovalev_D 103:e96f08947def 854 case 0xE6:
Kovalev_D 103:e96f08947def 855 Gph_W();
Kovalev_D 103:e96f08947def 856 break;
Kovalev_D 108:030cdde08314 857
Kovalev_D 103:e96f08947def 858
igor_v 28:17c84ed091b3 859 Gyro.RsErrLine = 0;
Kovalev_D 103:e96f08947def 860
Kovalev_D 103:e96f08947def 861
Kovalev_D 102:4270092be987 862 }
Kovalev_D 121:bbae560cdd43 863
igor_v 21:bc8c1cec3da6 864 }
Kovalev_D 121:bbae560cdd43 865 // else if(CountBuFFIn > 40 )
Kovalev_D 121:bbae560cdd43 866 // {
Kovalev_D 121:bbae560cdd43 867 // ReadCon1(BuffTemp);
Kovalev_D 121:bbae560cdd43 868 // }
Kovalev_D 121:bbae560cdd43 869
igor_v 0:8ad47e2b6f00 870 }
igor_v 0:8ad47e2b6f00 871
igor_v 0:8ad47e2b6f00 872
igor_v 21:bc8c1cec3da6 873