Diff: Command.c

Revision:

106:250ddd8629c6

Parent:

105:bd01d8d20fb6

Child:

107:4d178bcc9d8a

--- a/Command.c	Thu Mar 31 14:03:40 2016 +0000
+++ b/Command.c	Fri Apr 01 10:05:35 2016 +0000
@@ -1,7 +1,7 @@
 #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;
@@ -35,44 +35,50 @@
 void CMD_Rate(void)
 {
 
-    unsigned int T_VibH   , T_VibL;				// Частота вибропривода.
+    unsigned int T_VibH   , T_VibL;	// Частота вибропривода.
+    unsigned int tau_VibH   , tau_VibL;				
     unsigned int Cnt_PlsL , Cnt_PlsH;			// Счетчик +.
     unsigned int Cnt_MnsL , Cnt_MnsH;			// Счетчик -.
     unsigned int Cnt_DifL , Cnt_DifH;			// Разность счетчиков.
     unsigned int F_rasL   , F_rasH;				// Частота расщепления.
 
-    unsigned int HF_regL  , HF_regH;      // Выход регулятора ГВЧ.               НЕ СДЕЛАНО
-    unsigned int HF_difL  , HF_difH;      // Сигнал ошибки регулячтора ГВЧ.      НЕ СДЕЛАНО
+    unsigned int HF_regL  , HF_regH;      // Выход регулятора ГВЧ.             
+    unsigned int HF_difL  , HF_difH;      // Сигнал ошибки регулячтора ГВЧ.     
 
     unsigned int WP_regL  , WP_regH;
 
     unsigned int ADC1L, ADC2L, ADC3L, ADC4L, ADC5L;
     unsigned int ADC1H, ADC2H, ADC3H, ADC4H, ADC5H;
-
-
-   
+  
 //	Gyro .T_Vib=(unsigned int)((7680000*16/Gyro.Frq)*4096);
-//  Gyro.T_Vib=(unsigned int)((7680000*16/(Gyro.Frq>>12)));
+    Gyro.T_Vib=(unsigned int)((7680000*16/(Gyro.Frq>>12)));
     Gyro.Firmware_Version=0xff; /// промежуточная затычка
 
     T_VibH   = ( Gyro.T_Vib>>8  ) TakeByte;
     T_VibL   = ( Gyro.T_Vib     ) TakeByte;
-
+    
+    tau_VibH = ( Gyro.tau >>8  ) TakeByte;
+    tau_VibL = ( Gyro.tau ) TakeByte;
+    
     Cnt_PlsH = ( Gyro.Cnt_Pls>>8) TakeByte;
-    Cnt_PlsL = ( Gyro.Cnt_Pls   ) TakeByte;
-
+    Cnt_PlsL =  Gyro.Cnt_Pls TakeByte;
+    Gyro.Cnt_Pls= 0;
+    
     Cnt_MnsH = ( Gyro.Cnt_Mns>>8) TakeByte;
-    Cnt_MnsL = ( Gyro.Cnt_Mns   ) TakeByte;
-
-    Cnt_DifH = ( Gyro.Cnt_Dif>>8) TakeByte;
-    Cnt_DifL = ( Gyro.Cnt_Dif   ) TakeByte;
-
+    Cnt_MnsL =   Gyro.Cnt_Mns TakeByte;
+    Gyro.Cnt_Mns=0;
+    
+    Cnt_DifH = ( Dif_QEI>>8) TakeByte;
+    Cnt_DifL = ( Dif_QEI   ) TakeByte;
+   
+    //Spi.DAC_A
     F_rasH   = ( Gyro.F_ras>>8  ) TakeByte;
     F_rasL   = ( Gyro.F_ras     ) TakeByte;
-    
-    F_rasH =0;
-    F_rasL=1;
- 
+     
+    HF_regL  = ( Spi.DAC_A>>8  ) TakeByte;
+    HF_regH  = ( Spi.DAC_A>>8  ) TakeByte;
+
+
     ADC1H    = ( Spi.ADC1>>8    ) TakeByte;
     ADC1L	 = ( Spi.ADC1       ) TakeByte;
 
@@ -101,64 +107,62 @@
     BuffTemp[ 0] = Gyro.SOC_Out;
     BuffTemp[ 1] = Gyro.My_Addres;
 
-    BuffTemp[ 2] = Cnt_PlsH;//старший байт счетчика +.
-    BuffTemp[ 3] = Cnt_PlsL;//младший байт счетчика +.
-
-    BuffTemp[ 4] = Cnt_MnsH;//старший байт счетчика -.
-    BuffTemp[ 5] = Cnt_MnsL;//младший байт счетчика -.
+    BuffTemp[ 2] =0x00;//старший байт счетчика +.
+    BuffTemp[ 3] =0x00;//младший байт счетчика +.
+    BuffTemp[ 4] =0x00;//старший байт счетчика -.
+    BuffTemp[ 5] =0x00;//младший байт счетчика -.
+    BuffTemp[ 6] =0x00;//старший байт разности счетчиков
+    BuffTemp[ 7] =0x00;//младший байт разности счетчиков
 
-    BuffTemp[ 6] = Cnt_DifH;//старший байт разности счетчиков
-    BuffTemp[ 7] = Cnt_DifL;//младший байт разности счетчиков
+    BuffTemp[ 8] = F_rasH;//расщипление частота
+    BuffTemp[ 9] = F_rasL;//
 
-    BuffTemp[ 8] = F_rasH;
-    BuffTemp[ 9] = F_rasL;
-
-    BuffTemp[10] = HF_regH;
+    BuffTemp[10] = HF_regH;//выход регулятора гвч;
     BuffTemp[11] = HF_regL;
 
-    BuffTemp[12] = HF_difH;
-    BuffTemp[13] = HF_difL;
+    BuffTemp[12]=0x01;////
+    BuffTemp[13]=0x01;////
 
-    BuffTemp[14] = T_VibH ;//
-    BuffTemp[15] = T_VibL; //?
+    BuffTemp[14]  =  T_VibH;
+    BuffTemp[15]  =  T_VibL;
 
-    BuffTemp[16] = Gyro.Firmware_Version;//ХЗ
-    BuffTemp[17] = Gyro.Firmware_Version;//ХЗ
+    BuffTemp[16] = 0x01;
+    BuffTemp[17] = 0x02;
 
-    BuffTemp[18] = T_VibH>>1;
-    BuffTemp[19] = T_VibL;
+    BuffTemp[18] =  tau_VibH;
+    BuffTemp[19] =  tau_VibL;
 
-    BuffTemp[20] = Gyro.Firmware_Version;//ХЗ
-    BuffTemp[21] = Gyro.Firmware_Version;//ХЗ
+    BuffTemp[20] = 0x00;
+    BuffTemp[21] = 0x00;
 
-    BuffTemp[22] = WP_regH;              //СРП    Spi.DAC_B
-    BuffTemp[23] = WP_regL;              //СРП
+    BuffTemp[22] =  0x00;
+    BuffTemp[23] =  0x00;
 
-    BuffTemp[24] = Gyro.Firmware_Version;// ХЗ
-    BuffTemp[25] = Gyro.Firmware_Version;// ХЗ
+    BuffTemp[24] = 0x00;
+    BuffTemp[25] = 0x00;// ХЗ
 
-    BuffTemp[26] = ADC1H;
-    BuffTemp[27] = ADC1L;
+    BuffTemp[26] =  ADC1H;
+    BuffTemp[27] =  ADC1L;
 
-    BuffTemp[28] = ADC1H;
-    BuffTemp[29] = ADC1L;
+    BuffTemp[28] = ADC2H;
+    BuffTemp[29] = ADC2L;
 
-    BuffTemp[30] = ADC1H;
-    BuffTemp[31] = ADC1L;
+    BuffTemp[30] = ADC2H;//in1
+    BuffTemp[31] = ADC2L;
 
-    BuffTemp[32] = ADC1H;
-    BuffTemp[33] = ADC1L;
+    BuffTemp[32] = ADC3H;
+    BuffTemp[33] = ADC3L;//in2
 
-    BuffTemp[34] = ADC1H;
-    BuffTemp[35] = ADC1L;
+    BuffTemp[34] = ADC5H;
+    BuffTemp[35] = ADC5L;
 
-    BuffTemp[36] = 0x00;//ADC6
-    BuffTemp[37] = 0x00;//ADC6
+    BuffTemp[36] =0x00;//ADC6
+    BuffTemp[37] =0x00;//ADC6
 
-    BuffTemp[38] = Gyro.Firmware_Version;
-    BuffTemp[39] = Gyro.Firmware_Version;
-    BuffTemp[40] = Gyro.Firmware_Version;
-    BuffTemp[41] = Gyro.Firmware_Version;
+    BuffTemp[38] =0x00;
+    BuffTemp[39] =0x00;
+    BuffTemp[40] =0x00;
+    BuffTemp[41] =0x00;
 
 
     Check(BuffTemp, 44);