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Dependencies:   mbed

Fork of LG by igor Apu

Diff: QEI.c

Revision:
185:7e200f4d9b16
Parent:
179:2b4e6bc277df
Child:
189:8a16378724c4
--- a/QEI.c	Thu Jul 14 14:10:49 2016 +0000
+++ b/QEI.c	Fri Jul 15 14:03:47 2016 +0000
@@ -12,17 +12,20 @@
 int Pulse_8Point;
 int Pulse_16Point;
 int Pulse_32Point;
+int Pulse_64Point;
 int Pulse_16PointD;
-
+int Pulse_16PointDD;
 int CaunAddPlus	=0;//счетчик ипульсов энкодера"+" за такт ВП
 int CaunAddMin	=0;//счетчик ипульсов энкодера"-" за такт ВП
 
 int unsigned Cur_QEI, Last_QEI; //текушее и предыдущее,(единичное) значение энкодера
 
 int Buff_1Point			[256];			// этот на 256
-int Buff_32Point		[32];			
+int Buff_32Point		[32];		
+int Buff_64Point		[32];	
 int Buff_16Point		[32];
 int Buff_16PointD		[32];
+int Buff_16PointDD		[64];
 int Buff_8Point			[32];
 int Buff_Restored_sin 	[32];
 
@@ -51,16 +54,34 @@
         Pulse_32Point -= Buff_1Point[(CountV255-32) & 0xff];  								// заполнение буфера накопленых приращений за 32 тактов
         Gyro.Cnt_Dif  =  (Pulse_32Point);
         Buff_32Point[CountV31] = (Pulse_32Point );
+       
+/*      Pulse_64Point += Buff_1Point[CountV255];
+        Pulse_64Point -= Buff_1Point[(CountV255-64) & 0xff];  								// заполнение буфера накопленых приращений за 32 тактов
+        Gyro.Cnt_Dif  =  (Pulse_64Point);
+        Buff_64Point[CountV31] = (Pulse_64Point );
+*/
 
         Pulse_16PointD += Buff_1Point[CountV255];
         Pulse_16PointD -= Buff_1Point[(CountV255-16) & 0xff];									// заполнение буфера накопленых приращений за 16 тактов Двойныз
         Pulse_16PointD += Buff_1Point[(CountV255-32) & 0xff];									//
         Pulse_16PointD -= Buff_1Point[(CountV255-48) & 0xff];									// 
         Buff_16PointD[CountV31] = Pulse_16PointD ;
+     
+/*
+        Pulse_16PointDD += Buff_1Point[CountV255];
+        Pulse_16PointDD -= Buff_1Point[(CountV255-16) &  0xff];									// заполнение буфера накопленых приращений за 16 тактов Двойныз
+        Pulse_16PointDD += Buff_1Point[(CountV255-32) &  0xff];									//
+        Pulse_16PointDD -= Buff_1Point[(CountV255-48) &  0xff];									// 
+        Pulse_16PointDD += Buff_1Point[(CountV255-64) &  0xff];
+        Pulse_16PointDD -= Buff_1Point[(CountV255-80) &  0xff];									// заполнение буфера накопленых приращений за 16 тактов Двойныз
+        Pulse_16PointDD += Buff_1Point[(CountV255-96) &  0xff];									//
+        Pulse_16PointDD -= Buff_1Point[(CountV255-112) & 0xff];
+        Buff_16PointDD[CountV31] = Pulse_16PointDD ;  
+        Buff_Restored_sin [CountV31]= Buff_16PointDD[ CountV31] - Buff_64Point[CountV31];
+*/
 
-        Buff_Restored_sin [CountV31]= Buff_16PointD [ CountV31] - Buff_32Point[CountV31];
 
-    
+        Buff_Restored_sin [CountV31]= Buff_16PointD[CountV31] - Buff_32Point[CountV31];
     	if((Buff_Restored_sin [CountV31]) > 0)	CaunAddPlus += Buff_Restored_sin  [CountV31];
     	else 									CaunAddMin	-= (Buff_Restored_sin [CountV31]); 			// расчет амплитуды