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Dependencies:   mbed

Fork of LG by igor Apu

QEI.c@92:c892f0311aa7, 2016-03-25 (annotated)

Committer:
Kovalev_D
Date:
Fri Mar 25 11:11:46 2016 +0000
Revision:
92:c892f0311aa7
Parent:
87:7e575d26d6d0
Child:
98:95b8e79f13e1
fff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 1:f2adcae3d304 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
igor_v 21:bc8c1cec3da6 3
Kovalev_D 86:398da56ef751 4
Kovalev_D 86:398da56ef751 5
Kovalev_D 86:398da56ef751 6 int CuruAngle ;
Kovalev_D 86:398da56ef751 7
igor_v 21:bc8c1cec3da6 8 int Dif_QEI;
igor_v 42:6fc307c4963e 9
igor_v 21:bc8c1cec3da6 10 int FFF=0;//для заплатки
igor_v 0:8ad47e2b6f00 11
igor_v 42:6fc307c4963e 12
Kovalev_D 86:398da56ef751 13 int Pulse_8Point;
Kovalev_D 86:398da56ef751 14 int Pulse_16Point;
Kovalev_D 86:398da56ef751 15 int Pulse_32Point;
Kovalev_D 86:398da56ef751 16 int Pulse_16PointD;
igor_v 21:bc8c1cec3da6 17 unsigned int Iras=0,Temp_F_ras=0;
igor_v 21:bc8c1cec3da6 18 int yy = 0;
igor_v 0:8ad47e2b6f00 19
igor_v 0:8ad47e2b6f00 20
igor_v 42:6fc307c4963e 21
igor_v 42:6fc307c4963e 22
Kovalev_D 86:398da56ef751 23 int Buff_32Point [32];
igor_v 43:3f7c8a0ea59c 24 int Buff_16Point [32];
igor_v 43:3f7c8a0ea59c 25 int Buff_16PointD [32];
igor_v 43:3f7c8a0ea59c 26 int Buff_8Point [32];
igor_v 43:3f7c8a0ea59c 27 int Buff_Restored_sin [32];
igor_v 43:3f7c8a0ea59c 28 int Buff_1Point [256]; // этот на 256
igor_v 42:6fc307c4963e 29
igor_v 42:6fc307c4963e 30
igor_v 42:6fc307c4963e 31
Kovalev_D 86:398da56ef751 32 int unsigned Cur_QEI, Last_QEI;
igor_v 21:bc8c1cec3da6 33
igor_v 43:3f7c8a0ea59c 34 // ДАВАЙ попробуем сделать буфера в целых (знаковы)
Kovalev_D 86:398da56ef751 35
igor_v 21:bc8c1cec3da6 36 void D_QEI(void)
igor_v 21:bc8c1cec3da6 37 {
igor_v 21:bc8c1cec3da6 38 Dif_QEI=0;
igor_v 21:bc8c1cec3da6 39 Cur_QEI = LPC_QEI->POS & 0xFFFF; // считывание текущего значения энкодера.
igor_v 21:bc8c1cec3da6 40 Dif_QEI = (Cur_QEI - Last_QEI); // получение приращения.()
igor_v 21:bc8c1cec3da6 41 Last_QEI = Cur_QEI; // запись текущего значения энкодера в регистр предыдущего значения.
igor_v 21:bc8c1cec3da6 42
igor_v 21:bc8c1cec3da6 43 if (Dif_QEI < -0xfff) Dif_QEI += 0x10000; // обработка прохода значения через ноль
igor_v 21:bc8c1cec3da6 44 if (Dif_QEI > 0xfff) Dif_QEI -= 0x10000; // обработка прохода значения через ноль
igor_v 0:8ad47e2b6f00 45
igor_v 0:8ad47e2b6f00 46
Kovalev_D 45:cbc955aecebe 47 Buff_1Point[CountV255] = /*(unsigned int)*/ (Dif_QEI /* + 0xffff*/ );// накопление в буфер еденичных значений приращения по каждому такту.
igor_v 21:bc8c1cec3da6 48
igor_v 21:bc8c1cec3da6 49 ////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 50 ///////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 51
igor_v 21:bc8c1cec3da6 52 if (LPC_QEI->STAT) { //e. "+" direction //r. стали вращаться в "+" сторону
igor_v 28:17c84ed091b3 53 Gyro.Cnt_Mns = Dif_QEI;
igor_v 21:bc8c1cec3da6 54 } else {
igor_v 28:17c84ed091b3 55 Gyro.Cnt_Pls = -Dif_QEI;
igor_v 21:bc8c1cec3da6 56 }
igor_v 42:6fc307c4963e 57
igor_v 21:bc8c1cec3da6 58 ////////// ???? Заплатка
igor_v 21:bc8c1cec3da6 59 ////////// ???? Проблема начального заполнения буферов
igor_v 21:bc8c1cec3da6 60 //////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 61 if(FFF==1) { // если прошло 32 такта вибро подвеса начать заполнять остальные буверы.
igor_v 21:bc8c1cec3da6 62 Pulse_8Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 63 Pulse_8Point -= Buff_1Point[(CountV255-8) & 0xff]; // заполнение буфера накопленых приращений за 8 тактов
Kovalev_D 92:c892f0311aa7 64 Buff_8Point[CountV31] = /*(unsigned int)*/ (Pulse_8Point/* + 0xffff*/);
igor_v 0:8ad47e2b6f00 65
igor_v 21:bc8c1cec3da6 66 Pulse_16Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 67 Pulse_16Point -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов
Kovalev_D 92:c892f0311aa7 68 Buff_16Point[CountV31] = /*(unsigned int)*/ (Pulse_16Point /*+ 0xffff*/);
igor_v 21:bc8c1cec3da6 69
igor_v 21:bc8c1cec3da6 70 Pulse_32Point += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 71 Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff]; // заполнение буфера накопленых приращений за 32 тактов
Kovalev_D 45:cbc955aecebe 72 Gyro.Cnt_Dif = (Pulse_32Point/*+ 0xffff*/);
Kovalev_D 92:c892f0311aa7 73 Buff_32Point[CountV31] = /*(unsigned int)*/ (Pulse_32Point /*+ 0xffff*/);
igor_v 0:8ad47e2b6f00 74
igor_v 21:bc8c1cec3da6 75 Pulse_16PointD += Buff_1Point[CountV255];
igor_v 21:bc8c1cec3da6 76 Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff]; // заполнение буфера накопленых приращений за 16 тактов Двойныз
igor_v 21:bc8c1cec3da6 77 Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff]; //
igor_v 21:bc8c1cec3da6 78 Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff]; // з
igor_v 21:bc8c1cec3da6 79
Kovalev_D 92:c892f0311aa7 80 Buff_16PointD[CountV31] = /*(unsigned int)*/ (Pulse_16PointD /*+ 0xffff*/);
igor_v 21:bc8c1cec3da6 81
Kovalev_D 92:c892f0311aa7 82 Buff_Restored_sin [CountV31]= /*(unsigned int)*/( Buff_16PointD [ CountV31] /*+ 65536 */ - Buff_32Point[CountV31] );
igor_v 21:bc8c1cec3da6 83
igor_v 0:8ad47e2b6f00 84
igor_v 0:8ad47e2b6f00 85
Kovalev_D 87:7e575d26d6d0 86 if(Buff_Restored_sin [CountV31] > 0)
Kovalev_D 87:7e575d26d6d0 87 Temp_F_ras += Buff_Restored_sin [CountV31];
Kovalev_D 87:7e575d26d6d0 88 else Temp_F_ras -= Buff_Restored_sin [CountV31]; // расчет амплитуды
igor_v 21:bc8c1cec3da6 89
Kovalev_D 87:7e575d26d6d0 90 if (CountV31 == 0) { // если определеный так, то переписываем амиплитуду
Kovalev_D 87:7e575d26d6d0 91 Gyro.F_ras = Temp_F_ras;
Kovalev_D 87:7e575d26d6d0 92 Temp_F_ras = 0;
Kovalev_D 87:7e575d26d6d0 93 }
Kovalev_D 87:7e575d26d6d0 94
igor_v 0:8ad47e2b6f00 95
igor_v 21:bc8c1cec3da6 96 } else if(CountV255 == 255) {
igor_v 21:bc8c1cec3da6 97 FFF=1;//временная заплатка для паузы перед заполнением остальных буферов
Kovalev_D 45:cbc955aecebe 98 for (yy = 0; yy < 31; yy++ ) {
igor_v 21:bc8c1cec3da6 99 Buff_1Point [yy] = 0xffff;
igor_v 21:bc8c1cec3da6 100 Buff_16Point [yy] = 0xffff;
igor_v 21:bc8c1cec3da6 101 Buff_32Point [yy] = 0xffff;
igor_v 21:bc8c1cec3da6 102 Buff_16PointD [yy] = 0xffff;
igor_v 21:bc8c1cec3da6 103 }
igor_v 0:8ad47e2b6f00 104
igor_v 21:bc8c1cec3da6 105 }
igor_v 21:bc8c1cec3da6 106 }