igor Apu
/
LG
Featured
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Command.c
- Committer:
- igor_v
- Date:
- 2016-01-30
- Revision:
- 0:8ad47e2b6f00
- Child:
- 17:44b2801ac94b
- Child:
- 21:bc8c1cec3da6
File content as of revision 0:8ad47e2b6f00:
#include "stdlib.h"
#include "LPC17xx.h"
#include "Command.h"
#include "el_lin.h"
#include "vibro.h"
#include "Global.h"
#include "uart_m.h"
#include "CntrlGLD.h"
#include "QEI.h"
#include "InputOutput.h"
#include "SPI.h"
unsigned int Rate_Flag;
unsigned int PC_Comand;
unsigned int n;
unsigned int CountBuFFIn;
unsigned int ParamIn;
unsigned int Err;
unsigned int N=0,CRC_N;
unsigned int Param1=0;
unsigned int Param2=0;
unsigned int Param3=0;
unsigned int Param4=0;
/*
void exec_CMD(void) //r. === ��������� ������������� ���������� � ���������� �������
{
unsigned int Comand_code;
//rx_buf_copy = 1; //r. ����������� ����� ����������� ��������� ������
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. ��������� ��� � ������ ��� �������� ��������
}*/
void CMD_Maintenance(void)
{
BuffTemp[0] = Main.SOC_Out;
BuffTemp[1] = Main.My_Addres;
BuffTemp[2] = Main.Firmware_Version;
BuffTemp[3] = Main.GLD_Serial;
BuffTemp[4]=0x00;
BuffTemp[5]=0x00;
Check(BuffTemp, 8);
WriteConN (BuffTemp,8);
}
void CMD_Rate(void)
{
unsigned int T_VibH , T_VibL; // ������� ������������.
unsigned int Cnt_PlsL , Cnt_PlsH; // ������� +.
unsigned int Cnt_MnsL , Cnt_MnsH; // ������� -.
unsigned int Cnt_DifL , Cnt_DifH; // �������� ���������.
unsigned int F_rasL , F_rasH; // ������� �����������.
unsigned int HF_regL , HF_regH; // ����� ���������� ���. �� �������
unsigned int HF_difL , HF_difH; // ������ ������ ����������� ���. �� �������
unsigned int WP_regL , WP_regH;
unsigned int ADC1L, ADC2L, ADC3L, ADC4L, ADC5L;
unsigned int ADC1H, ADC2H, ADC3H, ADC4H, ADC5H;
LoopOn
// Main.T_Vib=(unsigned int)((7680000*16/Main.Frq)*4096);
Main.T_Vib=(unsigned int)((7680000*16/(Main.Frq>>12)));
Main.Firmware_Version=0xff; /// ������������� �������
T_VibH = ( Main.T_Vib>>8 ) TakeByte;
T_VibL = ( Main.T_Vib ) TakeByte;
Cnt_PlsH = ( Main.Cnt_Pls>>8) TakeByte;
Cnt_PlsL = ( Main.Cnt_Pls ) TakeByte;
Cnt_MnsH = ( Main.Cnt_Mns>>8) TakeByte;
Cnt_MnsL = ( Main.Cnt_Mns ) TakeByte;
Cnt_DifH = ( Main.Cnt_Dif>>8) TakeByte;
Cnt_DifL = ( Main.Cnt_Dif ) TakeByte;
F_rasH = ( Main.F_ras>>8 ) TakeByte;
F_rasL = ( Main.F_ras ) TakeByte;
ADC1H = ( Spi.ADC1>>8 ) TakeByte;
ADC1L = ( Spi.ADC1 ) TakeByte;
ADC2H = ( Spi.ADC2>>8 ) TakeByte;
ADC2L = ( Spi.ADC2 ) TakeByte;
ADC3H = ( Spi.ADC3>>8 ) TakeByte;
ADC3L = ( Spi.ADC3 ) TakeByte;
ADC4H = ( Spi.ADC4>>8 ) TakeByte;
ADC4L = ( Spi.ADC4 ) TakeByte;
ADC5H = ( Spi.ADC5>>8 ) TakeByte;
ADC5L = ( Spi.ADC5 ) TakeByte;
WP_regH = ( Spi.DAC_B>>8 ) TakeByte;
WP_regL = ( Spi.DAC_B ) TakeByte;
HF_regH=0xff;
HF_regL=0xff;
HF_difH=0xff;
HF_difL=0xff;
BuffTemp[ 0] = Main.SOC_Out;
BuffTemp[ 1] = Main.My_Addres;
BuffTemp[ 2] = Cnt_PlsH;//������� ���� �������� +.
BuffTemp[ 3] = Cnt_PlsL;//������� ���� �������� +.
BuffTemp[ 4] = Cnt_MnsH;//������� ���� �������� -.
BuffTemp[ 5] = Cnt_MnsL;//������� ���� �������� -.
BuffTemp[ 6] = Cnt_DifH;//������� ���� �������� ���������
BuffTemp[ 7] = Cnt_DifL;//������� ���� �������� ���������
BuffTemp[ 8] = F_rasH;
BuffTemp[ 9] = F_rasL;
BuffTemp[10] = HF_regH;
BuffTemp[11] = HF_regL;
BuffTemp[12] = HF_difH;
BuffTemp[13] = HF_difL;
BuffTemp[14] = T_VibH ;//
BuffTemp[15] = T_VibL; //?
BuffTemp[16] = Main.Firmware_Version;//��
BuffTemp[17] = Main.Firmware_Version;//��
BuffTemp[18] = T_VibH>>1;
BuffTemp[19] = T_VibL;
BuffTemp[20] = Main.Firmware_Version;//��
BuffTemp[21] = Main.Firmware_Version;//��
BuffTemp[22] = WP_regH; //��� Spi.DAC_B
BuffTemp[23] = WP_regL; //���
BuffTemp[24] = Main.Firmware_Version;// ��
BuffTemp[25] = Main.Firmware_Version;// ��
BuffTemp[26] = ADC1H;
BuffTemp[27] = ADC1L;
BuffTemp[28] = ADC1H;
BuffTemp[29] = ADC1L;
BuffTemp[30] = ADC1H;
BuffTemp[31] = ADC1L;
BuffTemp[32] = ADC1H;
BuffTemp[33] = ADC1L;
BuffTemp[34] = ADC1H;
BuffTemp[35] = ADC1L;
BuffTemp[36] = 0x00;//ADC6
BuffTemp[37] = 0x00;//ADC6
BuffTemp[38] = Main.Firmware_Version;
BuffTemp[39] = Main.Firmware_Version;
BuffTemp[40] = Main.Firmware_Version;
BuffTemp[41] = Main.Firmware_Version;
Check(BuffTemp, 44);
WriteConN (BuffTemp,44);
LoopOff
}
void CMD_M_Control_D8()///���������\����� ��������� ����������
{
int bit,NReg;
BuffTemp[0] = Main.SOC_Out; //DD
BuffTemp[1] = Main.My_Addres; //00
BuffTemp[2] = Main.CMD_In; //D8
//10?
if((Param1&0x80))
{
bit=1;
}
else
{
bit=0;
}
if ((Param1 & 0x10) == 0)
{
NReg=0;
switch(Param1&0xf) // Main.RgConA
{
case 0x0:
Main.RgConA|=bit;
break;
case 0x1:
Main.RgConA|=bit<<0x1;
break;
case 0x2:
Main.RgConA|=bit<<0x2;
break;
case 0x3:
Main.RgConA|=bit<<0x3;
break;
case 0x4:
Main.RgConA|=bit<<0x4;
break;
case 0x5:
Main.RgConA|=bit<<0x5;
break;
case 0x6:
Main.RgConA|=bit<<0x6;
break;
case 0x7:
Main.RgConA|=bit<<0x7;
break;
}
BuffTemp[3] = NReg<<4;
BuffTemp[4] = (Main.RgConA>>8 )& 0xff;
BuffTemp[5] = Main.RgConA & 0xff;
}
else
{
NReg=1; // Main.RgConB
switch(Param1&0xf) // Main.RgConB
{
case 0x0:
Main.RgConB|=bit;
break;
case 0x1:
Main.RgConB|=bit<1;
break;
case 0x2:
Main.RgConB|=bit<2;
break;
}
BuffTemp[3] = NReg<<4;
BuffTemp[4] = (Main.RgConB>>8 ) & 0xff;
BuffTemp[5] = Main.RgConB & 0xff;
}
Check(BuffTemp, CRC_N);
WriteConN (BuffTemp,CRC_N);
}
void CMD_M_Control_D9()///������ ��������� ����������
{
int bit,NReg;
BuffTemp[0] = Main.SOC_Out; //DD
BuffTemp[1] = Main.My_Addres; //00
BuffTemp[2] = Main.CMD_In; //D9
if ((Param1 & 0x10) == 0)
{
BuffTemp[3]=0<<4;
BuffTemp[4] = (Main.RgConA>>8 )& 0xff;
BuffTemp[5] = Main.RgConA & 0xff;
}
else
{
BuffTemp[3]=1<<4;
BuffTemp[4] = (Main.RgConB>>8 ) & 0xff;
BuffTemp[5] = Main.RgConB & 0xff;
}
Check(BuffTemp, CRC_N);
WriteConN (BuffTemp,CRC_N);
}
// (����� (���) ���� 0...3, ������� ���� ���������� ����, ������� ���� ���� ����)
void CMD_M_Stymul()
{
int temp;
temp =((BuffTemp[4]<<8) | BuffTemp[5]);
// temp=0;
temp=temp&0xFFFF;
DACF =(temp*K_DAC)+deltaDAC;
Spi.DAC_B =(unsigned int)(DACF) /*(unsigned int)(temp*K_DAC+deltaDAC)*/; // K_DAC);
//int temp;
// temp =((BuffTemp[4]<<8) | BuffTemp[5]);
//temp = 65535 - temp;
/*if(temp<1000)
{
temp=0;
}
else if(temp>60000)
{
temp=65535;
}*/
//Spi.DAC_B =(((BuffTemp[4]<<8) | BuffTemp[5])*K_DAC+deltaDAC);/*((BuffTemp[4]<<8) | BuffTemp[5])-0xFFFF*///; //((rcv_buf[4] << 8) | (int)rcv_buf[5]);K_DAC+deltaDAC
//BuffTemp[0] = temp; //DD
//WriteConN (BuffTemp,1);
}
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;
Main.RsErrLine = (Main.RsErrLine)&=0x2;
}
if(c[Count-1]!=((CRC>>0)&0xFF))
{
temp=0;
// Main.RsErrLine= (Main.RsErrLine)=0x2;
}
c[Count-2]=(CRC>>8)&0xFF;
c[Count-1]=(CRC>>0)&0xFF;
return temp;
}
int Getlengf(void)
{
unsigned int lengf=0;
switch(Main.CMD_In)
{
case 0x99://maintainance
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;
}
return lengf;
}
void Read_CMD(void)
{
Main.SOC_Out=0xDD;
Main.RsErrLine = (Main.RsErrLine)& 0xffff;
CountBuFFIn=ReadChekCon(BuffTemp);
if(CountBuFFIn==1)
{
if (BuffTemp[0] != SOC_In)
{
ReadCon(BuffTemp);
Main.RsErrLine += 0x100;//WriteCon("\n\r ...Error.... ");
BuffTemp[99]=Main.RsErrLine;
}
}
else if(CountBuFFIn==2)
{
if (BuffTemp[1] != Main.My_Addres)
{
ReadCon(BuffTemp);
Main.RsErrLine += 0x1;//WriteCon("\n\r ...Error_ADDRES.... ");
}
}
else if(CountBuFFIn==3)
{
Main.CMD_In=BuffTemp[2];
N=Getlengf();
}
else if(CountBuFFIn==4 && N==6)
{
Param1=BuffTemp[3];
}
else if((CountBuFFIn==5)&&(N==7))
{
//LoopOn
Param1=BuffTemp[3];
Param2=BuffTemp[4];
}
else if((CountBuFFIn==6)&&(N==8))
{
Param1=BuffTemp[3];
Param2=BuffTemp[4];
Param3=BuffTemp[5];
}
else if(CountBuFFIn > (N-1))
{
ReadCon(BuffTemp);
if(Check(BuffTemp, CountBuFFIn))
{
switch(Main.CMD_In)
{
case CMD_MAINT:
CMD_Maintenance();
break;
case 0xD8:
CMD_M_Control_D8();
case 0xD9:
CMD_M_Control_D9();
break;
case 0x0A:
CMD_M_Stymul(Param1,Param2,Param3);
break;
case 0xDD:
Rate_Flag=1;
break;
Main.RsErrLine = 0;
}
}
}
}