ТЕСТ

Видимо была проблема в измерениях с двигателя, они принимались непонятно в каком формате. Сейчас сделан модуль АЦП, который все правильно преобразует

Inu/MCU.c

@@ -152,7 +152,7 @@ static void mdlInitializeSizes(SimStruct *S)
  */
 static void mdlStart(SimStruct *S)
 {
-    SIM_Initialize_Simulation();
+    SIM_Initialize_Simulation(S);
 }
 #endif // MDL_START
 
@@ -167,10 +167,10 @@ static void mdlStart(SimStruct *S)
 static void mdlInitializeSampleTimes(SimStruct *S)
 {	
 	// Шаг дискретизации
-	hmcu.SimSampleTime = mxGetPr(ssGetSFcnParam(S,NPARAMS-1))[0];
+	hmcu.sSimSampleTime = mxGetPr(ssGetSFcnParam(S,NPARAMS-1))[0];
 
 	// Register one pair for each sample time
-	ssSetSampleTime(S, 0, hmcu.SimSampleTime);
+	ssSetSampleTime(S, 0, hmcu.sSimSampleTime);
 	ssSetOffsetTime(S, 0, 0.0);
 }
 
@@ -187,7 +187,7 @@ static void mdlTerminate(SimStruct *S)
 	hmcu.fMCU_Stop = 1;
 	ResumeThread(hmcu.hMCUThread);
 	WaitForSingleObject(hmcu.hMCUThread, 10000);
-	SIM_deInitialize_Simulation();
+	SIM_deInitialize_Simulation(S);
 	mexUnlock();
 }
 

Inu/Src/.vscode/c_cpp_properties.json

@@ -1,21 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "Win32",
-            "includePath": [
-                "${workspaceFolder}/**;",
-                "C:/ti/ccs1011/ccs/tools/compiler/ti-cgt-c2000_20.2.1.LTS/**"
-            ],
-            "defines": [
-                "_DEBUG",
-                "UNICODE",
-                "_UNICODE"
-            ],
-            "cStandard": "c99",
-            "cppStandard": "c++17",
-            "intelliSenseMode": "clang-x64",
-            "compilerPath": "C:/ti/ccs1011/ccs/tools/compiler/ti-cgt-c2000_20.2.1.LTS/bin/cl2000.exe"
-        }
-    ],
-    "version": 4
-}

Inu/Src/N12_Libs/CAN_Setup.c

@@ -5,27 +5,21 @@
 #include "DSP281x_Device.h"
 #include "global_time.h"
 #include "TuneUpPlane.h"
-#include "profile_interrupt.h"
 
 
 
 
-unsigned int CanTimeOutErrorTR = 0;
-unsigned int CanBusOffError = 0;
-
-
-
+int CanTimeOutErrorTR = 0;
 int enable_can_recive_after_units_box = 0;
 int flag_enable_can_from_mpu=0;
 int flag_enable_can_from_terminal=0;
 long time_pause_enable_can_from_mpu=0;
 long time_pause_enable_can_from_terminal=0;
-int flag_disable_update_modbus_in_can_from_mpu=0;
 
 //unsigned long    can_base_adr_terminal, can_base_adr_units, can_base_adr_mpu1, can_base_adr_alarm_log;
 
-//unsigned int  enable_profile_led1_can = 1;
-//unsigned int  enable_profile_led2_can = 0;
+unsigned int  enable_profile_led1_can = 1;
+unsigned int  enable_profile_led2_can = 0;
 
 #pragma DATA_SECTION(cycle,".slow_vars")
 CYCLE cycle[UNIT_QUA];
@@ -83,7 +77,7 @@ int CAN_count_cycle_input_units[UNIT_QUA_UNITS];
 #pragma DATA_SECTION(CAN_timeout_cicle,".fast_vars")
 //#pragma DATA_SECTION(CAN_timeout_cicle, ".slow_vars")
 // ñ÷åò÷èê
-unsigned int CAN_timeout_cicle[UNIT_QUA];
+int CAN_timeout_cicle[UNIT_QUA];
 
 
 
@@ -211,7 +205,7 @@ int init_alarm_log_can_boxs(ALARM_LOG_CAN_SETUP *p )
   int c,e;
 
   e = 0;
-  for (c=0;c<MAX_COUNT_UNITES_ALARM_LOG;c++)
+  for (c=0;c<MAX_COUNT_UNITES_TERMINAL;c++)
   {
     if (p->active_box[c])
     {
@@ -410,24 +404,17 @@ void reset_CAN_timeout_cicle(int box)
 #pragma CODE_SECTION(inc_CAN_timeout_cicle, ".fast_run2");
 void inc_CAN_timeout_cicle()
 {
-	unsigned int i, t_refresh;
-	static unsigned int old_time = 0;
-
-	t_refresh = get_delta_milisec(&old_time, 1);
-	if (t_refresh>1000)
-	    t_refresh = 1000;
+	int i;
 	
-
 	for(i = 0; i < UNIT_QUA; i++)
 	{
 		if (CAN_timeout_cicle[i] < MAX_CAN_WAIT_TIMEOUT)
 		{
-		        CAN_timeout_cicle[i] += t_refresh;
+			CAN_timeout_cicle[i]++;
 		}
 		else
 		{
 			CAN_timeout[i] = 1;
-			CAN_refresh_cicle[i] = -1;
 		}
 	}
 }
@@ -556,44 +543,22 @@ void InitCan(unsigned long can_base_adr_units, unsigned long can_base_adr_mpu, u
     ECanaShadow.CANBTC.all = ECanaRegs.CANBTC.all;
 //    ECanaShadow.CANBTC.bit.SJWREG = 1;
 
-#if (CAN_SPEED_BITS==125000)
-//    ECanaShadow.CANBTC.bit.BRPREG = 23;//11;// 47;                //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-//    ECanaShadow.CANBTC.bit.TSEG1REG = 15;//  15;      //5;//7;//14;//10;//7;  // Bit time = 15
-//    ECanaShadow.CANBTC.bit.TSEG2REG = 2; //  2;       //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-//    ECanaShadow.CANBTC.bit.SJWREG=1;
-    ECanaShadow.CANBTC.bit.BRPREG   = 63;//29;//11;// 47;              //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-    ECanaShadow.CANBTC.bit.TSEG1REG = 9;//9;//  15;        //5;//7;//14;//10;//7;  // Bit time = 15
-    ECanaShadow.CANBTC.bit.TSEG2REG = 3;//4; //  2;     //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-    ECanaShadow.CANBTC.bit.SJWREG   = 3;//3;
-//    ECanaShadow.CANBTC.bit.BRPREG   = 31;//29;//11;// 47;              //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-//    ECanaShadow.CANBTC.bit.TSEG1REG = 6;//9;//  15;        //5;//7;//14;//10;//7;  // Bit time = 15
-//    ECanaShadow.CANBTC.bit.TSEG2REG = 1;//4; //  2;     //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-//    ECanaShadow.CANBTC.bit.SJWREG   = 1;//3;
-#else
+
 #if (CAN_SPEED_BITS==250000)
-//    ECanaShadow.CANBTC.bit.BRPREG   = 23;//11;// 47;				//59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-//    ECanaShadow.CANBTC.bit.TSEG1REG = 15;//  15;		//5;//7;//14;//10;//7;  // Bit time = 15
-//    ECanaShadow.CANBTC.bit.TSEG2REG = 2; //  2;		//4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-//    ECanaShadow.CANBTC.bit.SJWREG   = 1;
-
-
-    ECanaShadow.CANBTC.bit.BRPREG   = 47;//29;//11;// 47;              //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-    ECanaShadow.CANBTC.bit.TSEG1REG = 6;//9;//  15;        //5;//7;//14;//10;//7;  // Bit time = 15
-    ECanaShadow.CANBTC.bit.TSEG2REG = 1;//4; //  2;     //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-    ECanaShadow.CANBTC.bit.SJWREG   = 1;//3;
+    ECanaShadow.CANBTC.bit.BRPREG = 23;//11;// 47;				//59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
+    ECanaShadow.CANBTC.bit.TSEG1REG = 15;//  15;		//5;//7;//14;//10;//7;  // Bit time = 15
+    ECanaShadow.CANBTC.bit.TSEG2REG = 2; //  2;		//4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
 #else
 #if (CAN_SPEED_BITS==500000)
     ECanaShadow.CANBTC.bit.BRPREG = 14;//11;//23;//11;// 47;             //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
     ECanaShadow.CANBTC.bit.TSEG1REG = 11;//12;//15;//  15;        //5;//7;//14;//10;//7;  // Bit time = 15
     ECanaShadow.CANBTC.bit.TSEG2REG = 2; //  2;     //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-    ECanaShadow.CANBTC.bit.SJWREG=1;
 #else
 #error "Set Can speed in CAN_project.h!!!"
 
 #endif
 #endif
-#endif
-
+	ECanaShadow.CANBTC.bit.SJWREG=1;
     ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;
 
     ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
@@ -633,18 +598,18 @@ void InitCan(unsigned long can_base_adr_units, unsigned long can_base_adr_mpu, u
 	PieVectTable.ECAN0INTA = &CAN_handler;
 	PieCtrlRegs.PIEIER9.bit.INTx5=1;     // PIE Group 9, INT6
 
-	ECanaShadow.CANGIM.bit.AAIM=1; //Abort Acknowledge Interrupt Mask.
-	ECanaShadow.CANGIM.bit.BOIM=1; // Bus-off interrupt mask
-	ECanaShadow.CANGIM.bit.EPIM=1; // Error-passive interrupt mask
-	ECanaShadow.CANGIM.bit.RMLIM=1; // Received-message-lost interrupt mask
-	ECanaShadow.CANGIM.bit.WUIM=1; // Wake-up interrupt mask
-	ECanaShadow.CANGIM.bit.WLIM=1; // Warning level interrupt mask
-	ECanaShadow.CANGIM.bit.WDIM=1; // Write denied interrupt mask
-	ECanaShadow.CANGIM.bit.TCOM=1; // Time stamp counter overflow mask
+	ECanaShadow.CANGIM.bit.AAIM=1;
+	ECanaShadow.CANGIM.bit.BOIM=1;
+	ECanaShadow.CANGIM.bit.EPIM=1;
+	ECanaShadow.CANGIM.bit.RMLIM=1;
+	ECanaShadow.CANGIM.bit.WUIM=1;
+	ECanaShadow.CANGIM.bit.WLIM=1;
+	ECanaShadow.CANGIM.bit.WDIM=1;
+	ECanaShadow.CANGIM.bit.TCOM=1;
 
-	ECanaShadow.CANGIM.bit.MTOM = 1; //Mailbox time-out interrupt mask
-	ECanaShadow.CANGIM.bit.I1EN = 1; //Interrupt 1 enable
-	ECanaShadow.CANGIM.bit.GIL = 1; // Global interrupt level for the interrupts TCOF, WDIF, WUIF, BOIF, EPIF, RMLIF, AAIF and WLIF.
+	ECanaShadow.CANGIM.bit.MTOM = 1;
+	ECanaShadow.CANGIM.bit.I1EN = 1;
+	ECanaShadow.CANGIM.bit.GIL = 1;
 	ECanaRegs.CANGIM.all = ECanaShadow.CANGIM.all;
 
 	PieVectTable.ECAN1INTA = &CAN_reset_err;
@@ -673,14 +638,14 @@ void InitCan(unsigned long can_base_adr_units, unsigned long can_base_adr_mpu, u
  	for(i=0;i<UNIT_QUA;i++)
 	{
 	     CAN_timeout[i]=1;
-	     CAN_timeout_cicle[i] = MAX_CAN_WAIT_TIMEOUT;
-		 CAN_refresh_cicle[i] = -1;
+	     CAN_timeout_cicle[i]=0;
+		 CAN_refresh_cicle[i]=0;
     }
 
 
 	for(i=0;i<UNIT_QUA_UNITS;i++)
 	{
-		CAN_count_cycle_input_units[i] = 0;
+		CAN_count_cycle_input_units[i]=0;
 		for(c=0;c<UNIT_LEN;c++)
              Unites[i][c]=0;
     }
@@ -690,7 +655,7 @@ void InitCan(unsigned long can_base_adr_units, unsigned long can_base_adr_mpu, u
     {
  //       CAN_count_cycle_input_units[i]=0;
         for(c=0;c<TERMINAL_UNIT_LEN;c++)
-            TerminalUnites[i][c] = 0;
+            TerminalUnites[i][c]=0;
     }
 
 
@@ -1321,7 +1286,7 @@ void CAN_cycle_send(int type_box, int box, unsigned long Addr, int * Data, unsig
 
 
 ////////////////////////////////////////////////////////////////
-//  èíêðåìåí ñ÷åò÷èêà ïîëíûõ ïîñûëîê äëÿ ÓÊÑÑ
+//  èíêðåìåí ñ÷åò÷èêà ïîëíûõ ïîñûëîê
 ////////////////////////////////////////////////////////////////
 void detect_time_refresh_units(int box, int adr)
 {
@@ -1329,30 +1294,10 @@ void detect_time_refresh_units(int box, int adr)
 	  return;
 
 	if (adr==unites_can_setup.adr_detect_refresh[box])
-	{
-	    //CAN_count_cycle_input_units[box]++;
-	    if (box<MAX_COUNT_UNITES_UKSS)
-	        unites_can_setup.CAN_count_cycle_input_units[box]++;
-	}
+     CAN_count_cycle_input_units[box]++;
+
 }
 
-////////////////////////////////////////////////////////////////
-//  èíêðåìåí ñ÷åò÷èêà ïîëíûõ ïîñûëîê äëÿ ÌÏÓ
-////////////////////////////////////////////////////////////////
-void detect_time_refresh_mpu(int box, int adr)
-{
-    if (box>=MPU_UNIT_QUA_UNITS)
-      return;
-
-    if (adr==mpu_can_setup.adr_detect_refresh[box])
-    {
-        //CAN_count_cycle_input_units[box]++;
-        if (box<MAX_COUNT_UNITES_MPU)
-            mpu_can_setup.CAN_count_cycle_input_units[box]++;
-    }
-}
-
-
 ////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////
 void messagePaserToUnitesIngitim(int box, unsigned long h_word, unsigned long l_word)
@@ -1454,11 +1399,9 @@ void parse_data_from_mbox(unsigned int box, unsigned long hiword,
 			    timer_pause_enable_can_from_mpu();
 				if (adr<SIZE_MODBUS_TABLE)
 				{
-					if (adr>0)
+					if ((adr>0) && flag_enable_can_from_mpu)
 					{
-					    if (flag_enable_can_from_mpu && flag_disable_update_modbus_in_can_from_mpu==0)
-					        modbus_table_can_in[adr-1].all = /*(unsigned int)*/((hiword    ) & 0xffff);
-			        	detect_time_refresh_mpu(local_number_box,adr-1);
+			        	modbus_table_can_in[adr-1].all = /*(unsigned int)*/((hiword    ) & 0xffff); 
 					}
 			        adr++;
 				}
@@ -1472,11 +1415,9 @@ void parse_data_from_mbox(unsigned int box, unsigned long hiword,
 				timer_pause_enable_can_from_mpu();
 				if (adr<SIZE_MODBUS_TABLE)
 				{
-		    		if (adr>0)
+		    		if ((adr>0) && flag_enable_can_from_mpu)
 			        {	
-		    		    if (flag_enable_can_from_mpu && flag_disable_update_modbus_in_can_from_mpu==0)
-		    		        modbus_table_can_in[adr-1].all = /*(unsigned int)*/((loword>>16) & 0xffff);
-			        	detect_time_refresh_mpu(local_number_box,adr-1);
+			        	modbus_table_can_in[adr-1].all = /*(unsigned int)*/((loword>>16) & 0xffff);
 					}
 			        adr++;
 				}
@@ -1491,11 +1432,9 @@ void parse_data_from_mbox(unsigned int box, unsigned long hiword,
 				timer_pause_enable_can_from_mpu();
 				if (adr<SIZE_MODBUS_TABLE)
 				{
-					if (adr>0)
+					if ((adr>0) && flag_enable_can_from_mpu)
 					{
-					    if (flag_enable_can_from_mpu && flag_disable_update_modbus_in_can_from_mpu==0)
-					        modbus_table_can_in[adr-1].all = /*(unsigned int)*/((loword) & 0xffff);
-	        		   detect_time_refresh_mpu(local_number_box,adr-1);
+	        		   modbus_table_can_in[adr-1].all = /*(unsigned int)*/((loword) & 0xffff);
 					}
 					adr++;
 				}
@@ -1625,11 +1564,11 @@ interrupt void CAN_handler(void)
 	PieCtrlRegs.PIEACK.all = 0xFFFF;   // Enable PIE interrupts	
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.can)
+    if (enable_profile_led1_can)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.can)
+    if (enable_profile_led2_can)
     i_led2_on_off_special(1);
 #endif
 
@@ -1755,11 +1694,11 @@ interrupt void CAN_handler(void)
 	PieCtrlRegs.PIEIER9.all = TempPIEIER;
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.can)
+    if (enable_profile_led1_can)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.can)
+    if (enable_profile_led2_can)
     i_led2_on_off_special(0);
 #endif
 
@@ -1780,47 +1719,25 @@ interrupt void CAN_reset_err(void)
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.can)
+    if (enable_profile_led1_can)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.can)
+    if (enable_profile_led2_can)
     i_led2_on_off_special(1);
 #endif
 
 	EINT;
 
-
-//    ECanaShadow.CANGIM.bit.AAIM=1; //Abort Acknowledge Interrupt Mask.
-//    ECanaShadow.CANGIM.bit.BOIM=1; // Bus-off interrupt mask
-//    ECanaShadow.CANGIM.bit.EPIM=1; // Error-passive interrupt mask
-//    ECanaShadow.CANGIM.bit.RMLIM=1; // Received-message-lost interrupt mask
-//    ECanaShadow.CANGIM.bit.WUIM=1; // Wake-up interrupt mask
-//    ECanaShadow.CANGIM.bit.WLIM=1; // Warning level interrupt mask
-//    ECanaShadow.CANGIM.bit.WDIM=1; // Write denied interrupt mask
-//    ECanaShadow.CANGIM.bit.TCOM=1; // Time stamp counter overflow mask
-//
-//    ECanaShadow.CANGIM.bit.MTOM = 1; //Mailbox time-out interrupt mask
-
-
-	if (ECanaRegs.CANGIF1.bit.AAIF1) // Abort-acknowledge interrupt flag
+	if (ECanaRegs.CANGIF1.bit.AAIF1)
 	{
 		ECanaRegs.CANAA.all = ECanaRegs.CANAA.all;
 	}
 
-	if (ECanaRegs.CANGIF1.bit.WDIF1)  //Write-denied interrupt flag
+	if (ECanaRegs.CANGIF1.bit.WDIF1)
 	{
 		ECanaRegs.CANGIF1.bit.WDIF1=1;
 	}
-
-    if (ECanaRegs.CANGIF1.bit.BOIF1) // Bus off interrupt flag
-    {
-        ECanaRegs.CANGIF1.bit.BOIF1=1;
-        CanBusOffError++;
-    }
-
-
-
 //	ECanaRegs.CANTRR.all = 1;
 	CanTimeOutErrorTR++;
 
@@ -1833,11 +1750,11 @@ interrupt void CAN_reset_err(void)
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.can)
+    if (enable_profile_led1_can)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.can)
+    if (enable_profile_led2_can)
     i_led2_on_off_special(0);
 #endif
 
@@ -1888,311 +1805,6 @@ unsigned int test_can_live_terminal(int n)
 
 
 
-void InitCanSoft(void)
-{
-  struct ECAN_REGS ECanaShadow;
-  int i, c;
-  volatile struct MBOX *tmbox;
-  volatile Uint32 *tmoto;
-
-  unsigned long canme_bits  = 0;
-  unsigned long canmd_bits  = 0;
-  unsigned long canmim_bits = 0;
-
-
-//  Configure CAN pins using GPIO regs here
-    EALLOW;
-
-//    GpioMuxRegs.GPFMUX.bit.CANTXA_GPIOF6 = 1;
-//    GpioMuxRegs.GPFMUX.bit.CANRXA_GPIOF7 = 1;
-
-//  Configure the eCAN RX and TX pins for eCAN transmissions
-//    ECanaRegs.CANTIOC.all = 8;  //  only 3rd bit, TXFUNC, is significant
-//    ECanaRegs.CANRIOC.all = 8;  //  only 3rd bit, RXFUNC, is significant
-
-
-//  Specify that 8 bits will be sent/received
-//    for (c=0;c<32;c++)
-//    {
-//      tmbox = &ECanaMboxes.MBOX0 + c;
-//      tmbox->MSGCTRL.all = 0x00000008;
-//    }
-
-//  Disable all Mailboxes
-//  Required before writing the MSGIDs
-//    ECanaRegs.CANME.all = 0;
-
-    canme_bits  = 0;
-    canmd_bits  = 0;
-    canmim_bits = 0;
-
-    // receive+transive //Ura
-    for (c=0;c<32;c++)
-    {
-
-        if (mailboxs_can_setup.can_mbox_adr[c])
-        {
-//          tmbox = &ECanaMboxes.MBOX0 + c;
-//           if(mailboxs_can_setup.type_box[c] == UNITS_TYPE_BOX)
-//           {
-////              tmbox->MSGID.bit.IDE = 0;
-////              tmbox->MSGID.bit.STDMSGID = mailboxs_can_setup.can_mbox_adr[c];
-//                tmbox->MSGID.all = mailboxs_can_setup.can_mbox_adr[c];
-//           }
-//           else
-//           {
-//                if(mailboxs_can_setup.type_box[c] == CANOPEN_TYPE_BOX)
-//                {
-//                    tmbox->MSGID.bit.IDE = 0;
-//                    tmbox->MSGID.bit.STDMSGID = mailboxs_can_setup.can_mbox_adr[c];
-//                    //tmbox->MSGID.all = mailboxs_can_setup.can_mbox_adr[c];
-//                }
-//                else
-//                    tmbox->MSGID.all = mailboxs_can_setup.can_mbox_adr[c];
-//            }
-
-          canme_bits |= ((unsigned long)1<<c); // set select box bits
-          canmim_bits |= ((unsigned long)1<<c); // set interrupt bits
-
-          if (mailboxs_can_setup.type_in_out_box[c] == CAN_BOX_TYPE_IN)
-          {
-            canmd_bits |= ((unsigned long)1<<c); // set receive bits
-          }
-
-
-          if (mailboxs_can_setup.type_in_out_box[c] == CAN_BOX_TYPE_OUT)
-          {
-          }
-
-        }
-    }
-
-
-//  Ðåæèì ðàáîòû þùèêîâ (ïðè¸ì-ïåðåäà÷à)
-//    ECanaRegs.CANMD.all = canmd_bits;//0x0000FFFF;
-//  Âûáèðàåì þùèêè äëó ðàáîòû
-//    ECanaRegs.CANME.all = canme_bits;
-
-//  Clear all TAn bits
-    ECanaRegs.CANTA.all = 0xFFFFFFFF;
-//  Clear all RMPn bits
-    ECanaRegs.CANRMP.all = 0xFFFFFFFF;
-//  Clear all interrupt flag bits
-    ECanaRegs.CANGIF0.all = 0xFFFFFFFF;
-    ECanaRegs.CANGIF1.all = 0xFFFFFFFF;
-//  Clear all error and status bits
-    ECanaRegs.CANES.all=0xffffffff;
-
-    ECanaRegs.CANMIM.all = 0xFFFFFFFF;
-
-//  Request permission to change the configuration registers
-    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
-    ECanaShadow.CANMC.all = 0;
-    ECanaShadow.CANMC.bit.MBCC = 1; //  Mailbox timestamp counter clear bit
-    ECanaShadow.CANMC.bit.TCC = 1;  //  Time stamp counter MSB clear bit
-    ECanaShadow.CANMC.bit.SCB = 1;  //  eCAN mode (reqd to access 32 mailboxes)
-    ECanaShadow.CANMC.bit.WUBA = 1; //  Wake up on bus activity
-    ECanaShadow.CANMC.bit.ABO = 1;  //  Auto bus on
-    ECanaShadow.CANMC.bit.CCR = 1;
-//    ECanaShadow.CANMC.bit.CCE = 0;
-
- //   ECanaShadow.CANMC.bit.STM = 1;    //  self-test loop-back
-    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
-    EDIS;
-
-
-    do
-    {
-      ECanaShadow.CANES.all = ECanaRegs.CANES.all;
-    } while(ECanaShadow.CANES.bit.CCE != 1 );  // Wait for CCE bit to be set..
-//    while(!ECanaRegs.CANES.bit.CCE);
-
-
-// íàñòðèâàåì ñêîðîñòü CAN
-    EALLOW;
-    /*
-    EALLOW;
-    ECanaShadow.CANBTC.all = ECanaRegs.CANBTC.all;
-
-#if (CAN_SPEED_BITS==125000)
-//    ECanaShadow.CANBTC.bit.BRPREG = 23;//11;// 47;                //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-//    ECanaShadow.CANBTC.bit.TSEG1REG = 15;//  15;      //5;//7;//14;//10;//7;  // Bit time = 15
-//    ECanaShadow.CANBTC.bit.TSEG2REG = 2; //  2;       //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-//    ECanaShadow.CANBTC.bit.SJWREG=1;
-    ECanaShadow.CANBTC.bit.BRPREG   = 63;//29;//11;// 47;              //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-    ECanaShadow.CANBTC.bit.TSEG1REG = 9;//9;//  15;        //5;//7;//14;//10;//7;  // Bit time = 15
-    ECanaShadow.CANBTC.bit.TSEG2REG = 3;//4; //  2;     //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-    ECanaShadow.CANBTC.bit.SJWREG   = 3;//3;
-#else
-#if (CAN_SPEED_BITS==250000)
-//    ECanaShadow.CANBTC.bit.BRPREG   = 23;//11;// 47;              //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-//    ECanaShadow.CANBTC.bit.TSEG1REG = 15;//  15;      //5;//7;//14;//10;//7;  // Bit time = 15
-//    ECanaShadow.CANBTC.bit.TSEG2REG = 2; //  2;       //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-//    ECanaShadow.CANBTC.bit.SJWREG   = 1;
-
-
-    ECanaShadow.CANBTC.bit.BRPREG   = 47;//29;//11;// 47;              //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-    ECanaShadow.CANBTC.bit.TSEG1REG = 6;//9;//  15;        //5;//7;//14;//10;//7;  // Bit time = 15
-    ECanaShadow.CANBTC.bit.TSEG2REG = 1;//4; //  2;     //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-    ECanaShadow.CANBTC.bit.SJWREG   = 1;//3;
-#else
-#if (CAN_SPEED_BITS==500000)
-    ECanaShadow.CANBTC.bit.BRPREG = 14;//11;//23;//11;// 47;             //59;//49;//4;//9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
-    ECanaShadow.CANBTC.bit.TSEG1REG = 11;//12;//15;//  15;        //5;//7;//14;//10;//7;  // Bit time = 15
-    ECanaShadow.CANBTC.bit.TSEG2REG = 2; //  2;     //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
-    ECanaShadow.CANBTC.bit.SJWREG=1;
-#else
-#error "Set Can speed in CAN_project.h!!!"
-
-#endif
-#endif
-#endif
-
-    ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;
-*/
-    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
-    ECanaShadow.CANMC.bit.CCR = 0;          // Set CCR = 0
-    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
-    EDIS;
-
-
-    // Wait until the CPU no longer has permission to change the
-    // configuration registers
-    do
-    {
-      ECanaShadow.CANES.all = ECanaRegs.CANES.all;
-    } while(ECanaShadow.CANES.bit.CCE != 0 );
-
-//    while(ECanaRegs.CANES.bit.CCE);   // Wait for CCE bit to be cleared..
-
-    EALLOW;
-//  çàäàåì òàéìàóòû äëà îæèäàíèà îòïðàâêè ïîëó÷åíèà ïîñûëêè
-    for (c=0;c<32;c++)
-    {
-        tmoto = &ECanaMOTORegs.MOTO0 + c;
-        (*(volatile Uint32 *)( tmoto )) = 550000;
-    }
-
-    ECanaRegs.CANTOC.all = 0;//0x000000ff;
-    ECanaRegs.CANTOS.all = 0;   //  clear all time-out flags
-    ECanaRegs.CANTSC = 0;       //  clear time-out counter
-
-    ECanaShadow.CANGIM.all = 0;
-
-
-    ECanaRegs.CANMIM.all = canmim_bits; //  26.01.2011 Dimas
-    ECanaRegs.CANMIL.all = 0x00000000; // All mailbox interrupts are generated on interrupt line 0.
-    ECanaShadow.CANGIM.bit.I0EN = 1;
-
-//    PieVectTable.ECAN0INTA = &CAN_handler;
-    PieCtrlRegs.PIEIER9.bit.INTx5=1;     // PIE Group 9, INT6
-
-    ECanaShadow.CANGIM.bit.AAIM=1; //Abort Acknowledge Interrupt Mask.
-    ECanaShadow.CANGIM.bit.BOIM=1; // Bus-off interrupt mask
-    ECanaShadow.CANGIM.bit.EPIM=1; // Error-passive interrupt mask
-    ECanaShadow.CANGIM.bit.RMLIM=1; // Received-message-lost interrupt mask
-    ECanaShadow.CANGIM.bit.WUIM=1; // Wake-up interrupt mask
-    ECanaShadow.CANGIM.bit.WLIM=1; // Warning level interrupt mask
-    ECanaShadow.CANGIM.bit.WDIM=1; // Write denied interrupt mask
-    ECanaShadow.CANGIM.bit.TCOM=1; // Time stamp counter overflow mask
-
-    ECanaShadow.CANGIM.bit.MTOM = 1; //Mailbox time-out interrupt mask
-    ECanaShadow.CANGIM.bit.I1EN = 1; //Interrupt 1 enable
-    ECanaShadow.CANGIM.bit.GIL = 1; // Global interrupt level for the interrupts TCOF, WDIF, WUIF, BOIF, EPIF, RMLIF, AAIF and WLIF.
-    ECanaRegs.CANGIM.all = ECanaShadow.CANGIM.all;
-
-//    PieVectTable.ECAN1INTA = &CAN_reset_err;
-    PieCtrlRegs.PIEIER9.bit.INTx6=1;     // PIE Group 9, INT6
-
-
-
-// çàâåðøèëè íàñòðîéêó CAN àùèêîâ
-
-//    for(i=0;i<UNIT_QUA;i++)
-//    {
-//        cycle[i].busy = 0;
-//        cycle[i].FLY = 0;
-//        cycle[i].extended = 0;
-//        cycle[i].adr = 0;
-//        cycle[i].adr_from = 0;
-//        cycle[i].adr_to = 0;
-//        cycle[i].quant = 0;
-//    }
-//
-//    fifo.adr=0;
-//    refo.adr=0;
-
-    CanTimeOutErrorTR=0;
-
-//    for(i=0;i<UNIT_QUA;i++)
-//    {
-//         CAN_timeout[i]=1;
-//         CAN_timeout_cicle[i] = MAX_CAN_WAIT_TIMEOUT;
-//         CAN_refresh_cicle[i] = -1;
-//    }
-
-
-//    for(i=0;i<UNIT_QUA_UNITS;i++)
-//    {
-//        CAN_count_cycle_input_units[i] = 0;
-//        for(c=0;c<UNIT_LEN;c++)
-//             Unites[i][c]=0;
-//    }
-//
-//
-//    for(i=0;i<TERMINAL_UNIT_QUA_UNITS;i++)
-//    {
-//        for(c=0;c<TERMINAL_UNIT_LEN;c++)
-//            TerminalUnites[i][c] = 0;
-//    }
-//
-
-
-
-
-//    new_cycle_fifo.index_data = 0;
-//    new_cycle_fifo.index_send = 0;
-//    new_cycle_fifo.count_lost = 0;
-//    new_cycle_fifo.count_load = 0;
-//    new_cycle_fifo.count_free = 0;
-//    new_cycle_fifo.flag_inter = 0;
-//
-//    for(i=0;i<NEW_CYCLE_FIFO_LEN;i++)
-//    {
-//        new_cycle_fifo.cycle_data[i].busy        = 0;
-//        new_cycle_fifo.cycle_data[i].FLY         = 0;
-//        new_cycle_fifo.cycle_data[i].extended    = 0;
-//        new_cycle_fifo.cycle_data[i].adr         = 0;
-//        new_cycle_fifo.cycle_data[i].adr_from    = 0;
-//        new_cycle_fifo.cycle_data[i].adr_to      = 0;
-//        new_cycle_fifo.cycle_data[i].quant       = 0;
-//        new_cycle_fifo.cycle_data[i].box         = 0;
-//        new_cycle_fifo.cycle_data[i].priority    = 0;
-//        new_cycle_fifo.cycle_data[i].quant_block = 0;
-//    }
-//
-//
-//    for(i=0;i<UNIT_QUA;i++)
-//    {
-//        new_cycle_fifo.cycle_box[i] = 0;
-//        new_cycle_fifo.lost_box[i]  = 0;
-//    }
-//
-
-
-    //IER |= M_INT9;    // Enable CPU INT
-
-//  EDIS;
-
-    enable_can_recive_after_units_box = 1;
-
-
-}
-
-
-
-
-
 /*
 //===========================================================================
 // No more.

Inu/Src/N12_Libs/CAN_Setup.h

@@ -473,8 +473,6 @@ typedef struct {
   int adr_detect_refresh[MAX_COUNT_UNITES_UKSS];
   int revers_box[MAX_COUNT_UNITES_UKSS];
 
-  unsigned int CAN_count_cycle_input_units[MAX_COUNT_UNITES_UKSS];
-
   int max_number;
 
 } UNITES_CAN_SETUP;
@@ -492,11 +490,6 @@ typedef struct {
 
   int active_box[MAX_COUNT_UNITES_MPU];
 
-  unsigned int CAN_count_cycle_input_units[MAX_COUNT_UNITES_MPU];
-
-
-  int adr_detect_refresh[MAX_COUNT_UNITES_MPU];
-
   int max_number;
 
 } MPU_CAN_SETUP;
@@ -514,8 +507,6 @@ typedef struct {
 
   int active_box[MAX_COUNT_UNITES_TERMINAL];
 
-  unsigned int CAN_count_cycle_input_units[MAX_COUNT_UNITES_TERMINAL];
-
   int max_number;
 
 } TERMINAL_CAN_SETUP;
@@ -534,69 +525,52 @@ typedef struct {
 
   int active_box[MAX_COUNT_UNITES_ALARM_LOG];
 
-  unsigned int CAN_count_cycle_input_units[MAX_COUNT_UNITES_ALARM_LOG];
-
   int max_number;
 
 } ALARM_LOG_CAN_SETUP;
 
 ////////////////////////////////////////////////////////////////////////////////
-#define _UNITS_DEFAULT_ZERO             {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
-#define _UNITS_DEFAULT_MINUS_ONE        {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}
 
-#define UNITES_CAN_SETUP_DEFAULT  { START_CAN_ADR_UNITS_DEFAULT, _UNITS_DEFAULT_ZERO,  \
-                                _UNITS_DEFAULT_ZERO,  \
-                                _UNITS_DEFAULT_MINUS_ONE, \
-                                _UNITS_DEFAULT_MINUS_ONE, \
-                                _UNITS_DEFAULT_MINUS_ONE, \
+#define UNITES_CAN_SETUP_DEFAULT  { START_CAN_ADR_UNITS_DEFAULT, {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},  \
+								{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},  \
+								{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}, \
+								{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}, \
+								{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}, \
 								{USE_UKSS_0,USE_UKSS_1,USE_UKSS_2,USE_UKSS_3,USE_UKSS_4,USE_UKSS_5, \
-								USE_UKSS_6,USE_UKSS_7,USE_UKSS_8,USE_UKSS_9,USE_UKSS_10, \
-								USE_UKSS_11,USE_UKSS_12,USE_UKSS_13,USE_UKSS_14,USE_UKSS_15},  \
-								_UNITS_DEFAULT_ZERO, \
-								{USE_R_B_0,USE_R_B_1,USE_R_B_2,USE_R_B_3,USE_R_B_4,USE_R_B_5,USE_R_B_6,USE_R_B_7,USE_R_B_8, \
-								 USE_R_B_9,USE_R_B_10,USE_R_B_11,USE_R_B_12,USE_R_B_13,USE_R_B_14,USE_R_B_15}, \
-								 _UNITS_DEFAULT_ZERO,  \
+								    USE_UKSS_6,USE_UKSS_7,USE_UKSS_8,USE_UKSS_9,USE_UKSS_10, \
+								    USE_UKSS_11,USE_UKSS_12,USE_UKSS_13,USE_UKSS_14,USE_UKSS_15},  \
+								    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, \
+								    {USE_R_B_0,USE_R_B_1,USE_R_B_2,USE_R_B_3,USE_R_B_4,USE_R_B_5,USE_R_B_6,USE_R_B_7,USE_R_B_8,USE_R_B_9,USE_R_B_10,USE_R_B_11,USE_R_B_12,USE_R_B_13,USE_R_B_14,USE_R_B_15}, \
 								0}
 
 /////////////////////////////////////////////////////////////////////
 
-#define _MPU_DEFAULT_ZERO             {0,0,0,0}
-#define _MPU_DEFAULT_MINUS_ONE        {-1,-1,-1,-1}
 
-#define  MPU_CAN_SETUP_DEFAULT  { CAN_ADR_MPU_DEFAULT, _MPU_DEFAULT_ZERO,  \
-                                _MPU_DEFAULT_ZERO,  \
-                                _MPU_DEFAULT_MINUS_ONE, \
-                                _MPU_DEFAULT_MINUS_ONE, \
-                                _MPU_DEFAULT_MINUS_ONE, \
+#define  MPU_CAN_SETUP_DEFAULT  { CAN_ADR_MPU_DEFAULT, {0,0,0,0},  \
+								{0,0,0,0},  \
+								{-1,-1,-1,-1}, \
+								{-1,-1,-1,-1}, \
+								{-1,-1,-1,-1}, \
 								{USE_MPU_0,USE_MPU_1,USE_MPU_2,USE_MPU_3},  \
-								_MPU_DEFAULT_ZERO,  \
-								_MPU_DEFAULT_ZERO,  \
 								0}
 
 //-------------------------------------------------------------------------------//
 
-#define _TERMINAL_DEFAULT_ZERO             {0,0,0,0}
-#define _TERMINAL_DEFAULT_MINUS_ONE        {-1,-1,-1,-1}
-
-#define  TERMINAL_CAN_SETUP_DEFAULT  {CAN_ADR_TERMINAL_DEFAULT, _TERMINAL_DEFAULT_ZERO,  \
-                                _TERMINAL_DEFAULT_ZERO,  \
-                                _TERMINAL_DEFAULT_MINUS_ONE, \
-                                _TERMINAL_DEFAULT_MINUS_ONE, \
-                                _TERMINAL_DEFAULT_MINUS_ONE, \
+#define  TERMINAL_CAN_SETUP_DEFAULT  {CAN_ADR_TERMINAL_DEFAULT, {0,0,0,0},  \
+                                {0,0,0,0},  \
+                                {-1,-1,-1,-1}, \
+                                {-1,-1,-1,-1}, \
+                                {-1,-1,-1,-1}, \
                                 {USE_TERMINAL_1_OSCIL,USE_TERMINAL_1_CMD,USE_TERMINAL_2_OSCIL,USE_TERMINAL_2_CMD},  \
-                                _TERMINAL_DEFAULT_ZERO,  \
                                 0}
 //-------------------------------------------------------------------------------//
-#define _ALARM_LOG_DEFAULT_ZERO             {0,0}
-#define _ALARM_LOG_DEFAULT_MINUS_ONE        {-1,-1}
 
-#define  ALARM_LOG_CAN_SETUP_DEFAULT  {CAN_ADR_ALARM_LOG_DEFAULT, _ALARM_LOG_DEFAULT_ZERO,  \
-                                _ALARM_LOG_DEFAULT_ZERO,  \
-                                _ALARM_LOG_DEFAULT_MINUS_ONE, \
-                                _ALARM_LOG_DEFAULT_MINUS_ONE, \
-                                _ALARM_LOG_DEFAULT_MINUS_ONE, \
+#define  ALARM_LOG_CAN_SETUP_DEFAULT  {CAN_ADR_ALARM_LOG_DEFAULT, {0,0},  \
+                                {0,0},  \
+                                {-1,-1}, \
+                                {-1,-1}, \
+                                {-1,-1}, \
                                 {USE_ALARM_LOG_0,USE_ALARM_LOG_1},  \
-                                _ALARM_LOG_DEFAULT_ZERO,  \
                                 0}
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -631,7 +605,7 @@ extern FIFO fifo;
 
 extern int CAN_timeout[];
 extern int CAN_request_sent[];
-extern unsigned int CAN_timeout_cicle[];
+extern int CAN_timeout_cicle[];
 
 
 //////////////////////////////////////////////////
@@ -689,14 +663,12 @@ void inc_CAN_timeout_cicle();
 
 unsigned int test_can_live_mpu(void);
 unsigned int test_can_live_terminal(int n);
-void InitCanSoft(void);
 
 void timer_pause_enable_can_from_mpu(void);
 void timer_pause_enable_can_from_terminal(void);
 void read_manch_can(void);
 void write_manch_can(void);
 void detect_time_refresh_units(int box, int adr);
-void detect_time_refresh_mpu(int box, int adr);
 
 
 
@@ -741,11 +713,6 @@ interrupt void CAN_reset_err(void);
 
 
 extern UNITES_CAN_SETUP unites_can_setup;
-extern MPU_CAN_SETUP mpu_can_setup;
-
-
-extern unsigned int CanTimeOutErrorTR;
-extern unsigned int CanBusOffError;
 
 #endif	// _CAN_SETUP
 

Inu/Src/N12_Libs/RS_modbus_pultl.c

@@ -11,16 +11,16 @@
 
 
 
-//#pragma DATA_SECTION(p_analog_data_in, ".logs");
+#pragma DATA_SECTION(p_analog_data_in, ".logs");
 MODBUS_REG_STRUCT *p_analog_data_in;
 
-//#pragma DATA_SECTION(p_analog_data_out, ".logs");
+#pragma DATA_SECTION(p_analog_data_out, ".logs");
 MODBUS_REG_STRUCT *p_analog_data_out;
 
-//#pragma DATA_SECTION(p_discrete_data_out, ".logs");
+#pragma DATA_SECTION(p_discrete_data_out, ".logs");
 MODBUS_REG_STRUCT *p_discrete_data_out;
 
-//#pragma DATA_SECTION(p_discrete_data_in, ".logs");
+#pragma DATA_SECTION(p_discrete_data_in, ".logs");
 MODBUS_REG_STRUCT *p_discrete_data_in;
 
 static int adres_wait_answer_cmd1 = 0;
@@ -73,7 +73,6 @@ void ModbusRTUsend1(RS_DATA_STRUCT *rs_arr, int adr_contr, unsigned int adr_star
 	rs_arr->buffer[9] = 0;
 
 	rs_arr->RS_DataWillSend = 1;
-	rs_arr->RS_DataWillSend2 = 1;
 
 	RS_Send(rs_arr, rs_arr->buffer, 10);
 
@@ -261,7 +260,6 @@ void ModbusRTUsend3(RS_DATA_STRUCT *rs_arr, int adr_contr, unsigned int adr_star
 	rs_arr->buffer[9] = 0;
 
 	rs_arr->RS_DataWillSend = 1;
-	rs_arr->RS_DataWillSend2 = 1;
 
 	RS_Send(rs_arr, rs_arr->buffer, 10);
 
@@ -353,7 +351,6 @@ void ModbusRTUsend4(RS_DATA_STRUCT *rs_arr, int adr_contr, unsigned int adr_star
 	rs_arr->buffer[9] = 0;
 
 	rs_arr->RS_DataWillSend = 1;
-	rs_arr->RS_DataWillSend2 = 1;
 
 	RS_Send(rs_arr, rs_arr->buffer, 10);
 
@@ -515,7 +512,6 @@ void ModbusRTUsend5(RS_DATA_STRUCT *rs_arr, int adr_contr, unsigned int adr_star
 	rs_arr->buffer[8] = 0;
 	rs_arr->buffer[9] = 0;
 	rs_arr->RS_DataWillSend = 1;
-	rs_arr->RS_DataWillSend2 = 1;
 	RS_Send(rs_arr, rs_arr->buffer, 10);
 
 	/* æäåì îòâåòà     */
@@ -590,7 +586,6 @@ void ModbusRTUsend6(RS_DATA_STRUCT *rs_arr, int adr_contr, unsigned int adr_star
 	rs_arr->buffer[9] = 0;
 
 	rs_arr->RS_DataWillSend = 1;
-	rs_arr->RS_DataWillSend2 = 1;
 
 	RS_Send(rs_arr, rs_arr->buffer, 10);
 //	control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
@@ -722,7 +717,6 @@ void ModbusRTUsend15(RS_DATA_STRUCT *rs_arr, int adr_contr, unsigned int adr_sta
 	rs_arr->buffer[count_data_bytes + 10] = 0;
 
 	rs_arr->RS_DataWillSend = 1;
-	rs_arr->RS_DataWillSend2 = 1;
 
 //	RS_Send(rs_arr, rs_arr->buffer, (count_data_bytes + 10 + 2));
     RS_Send(rs_arr, rs_arr->buffer, (count_data_bytes + 10));
@@ -885,7 +879,6 @@ void ModbusRTUsend16(RS_DATA_STRUCT *rs_arr, int adr_contr, unsigned int adr_sta
 	rs_arr->buffer[count_word * 2 + 10] = 0;
 
 	rs_arr->RS_DataWillSend = 1;
-	rs_arr->RS_DataWillSend2 = 1;
 
 	RS_Send(rs_arr, rs_arr->buffer, (count_word * 2 + 10));
 //	control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
@@ -893,7 +886,6 @@ void ModbusRTUsend16(RS_DATA_STRUCT *rs_arr, int adr_contr, unsigned int adr_sta
 	// æäåì îòâåòà
 	if (adr_contr > 0 && adr_contr < 0xff)
 	{
-	    //rs_arr->RS_Length = -1;
 		RS_Len[CMD_RS232_MODBUS_16] = 8;
 		RS_SetControllerLeading(rs_arr, true);
 		RS_SetAdrAnswerController(rs_arr, adr_contr);

Inu/Src/N12_Libs/build_version.c

@@ -15,10 +15,3 @@ float build_time_f = BUILD_TIME;
 
 int build_data_i = (BUILD_DATA*1000);
 int build_time_i = (BUILD_TIME*1000);
-
-int build_year  =   BUILD_YEAR;
-int build_month  =   BUILD_MONTH;
-int build_day  =   BUILD_DAY;
-
-
-

Inu/Src/N12_Libs/build_version.h

@@ -23,8 +23,4 @@ extern int build_data_i;
 extern int build_time_i;
 
 
-extern int build_year, build_month, build_day;
-
-
-
 #endif /* SRC_N12_LIBS_BUILD_VERSION_H_ */

Inu/Src/N12_Libs/control_station.c

@@ -20,7 +20,7 @@ CONTROL_STATION control_station = CONTROL_STATION_DEFAULTS;
 
 void control_station_clear(CONTROL_STATION_handle cs)
 {
-    int i,k,j;
+    int i,k;
 
     for (i=0;i<COUNT_CONTROL_STATION;i++)
     {
@@ -49,21 +49,10 @@ void control_station_clear(CONTROL_STATION_handle cs)
        cs->time_detect_answer_485[i] = 0;
 
        for (k=0;k<CONTROL_STATION_MAX_RAW_DATA;k++)
-       {
            cs->raw_array_data[i][k].all = 0;
-           for (j=0;j<CONTROL_STATION_MAX_RAW_DATA_TEMP;j++)
-               cs->raw_array_data_temp[i][k][j].all = 0;
-       }
 
        cs->flag_refresh_array[i] = 0;
-
-       cs->prev_CAN_count_cycle_input_units[i] = 0;
-       cs->count_raw_array_data_temp[i] = 0;
-
     }
-
-    for (k=0;k<CONTROL_STATION_CMD_LAST;k++)
-               cs->active_array_cmd[k] = 0;
 }
 
 ///////////////////////////////////////////////////////////////////

Inu/Src/N12_Libs/control_station.h

@@ -30,8 +30,7 @@
 #define CONTROL_STATION_SETUP_TIME_DETECT_ACTIVE_RESEND_485 2           // â òèêàõ îò CONTROL_STATION_TIME_WAIT
 #define CONTROL_STATION_SETUP_TIME_SEND_CMD_AFTER_OFF       5           // â òèêàõ îò CONTROL_STATION_TIME_WAIT
 
-#define CONTROL_STATION_MAX_RAW_DATA                            256 //128         // ìàêñèìàëüíîå êîë-âî äàííûõ äëÿ ñûðûõ äàííûõ ïîëó÷åííûõ îò ïîñòîâ
-#define CONTROL_STATION_MAX_RAW_DATA_TEMP                       3 //128         // ñêîëüêî äàííûõ õðàíèì äëÿ âðåìåííîãî áóôåðà
+#define CONTROL_STATION_MAX_RAW_DATA                    256 //128         // максимальное кол-во данных для сырых данных полученных от постов
 
 //////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////
@@ -59,7 +58,6 @@ typedef struct {
     int active_array_cmd[CONTROL_STATION_CMD_LAST];                 // ìàññèâ äàííûõ àêòóàëüíûõ äëÿ àâòèâíîãî ïîñòà, äàííûå ïîñëå parse
 
     WORD_UINT2BITS_STRUCT raw_array_data[COUNT_CONTROL_STATION][CONTROL_STATION_MAX_RAW_DATA]; // ñûðîé ìàññèâ äàííûõ ïîëó÷åííûõ îò êàæäîãî èç ïîñòîâ, áåç parse.
-    WORD_UINT2BITS_STRUCT raw_array_data_temp[COUNT_CONTROL_STATION][CONTROL_STATION_MAX_RAW_DATA][CONTROL_STATION_MAX_RAW_DATA_TEMP]; // âðåìåííûé ñûðîé ìàññèâ äàííûõ ïîëó÷åííûõ îò êàæäîãî èç ïîñòîâ, áåç parse.
 
     unsigned int flag_message_sent[COUNT_CONTROL_STATION];       // ôëàã íà îæèäàíèå îòâåòà ïî ñèñòåìå çàïðîñ-îòâåò
     unsigned int flag_waiting_answer[COUNT_CONTROL_STATION];       // îæèäàòü ëè îòâåò ïî ñèñòåìå çàïðîñ-îòâåò
@@ -78,8 +76,6 @@ typedef struct {
     unsigned int cmd_checkback_from_control_station[COUNT_CONTROL_STATION];       // êâèòèðîâàíèå îò ïîñòà
     unsigned int cmd_test_leds_from_control_station[COUNT_CONTROL_STATION];       // òåñò ëàìï îò ïîñòà
 */
-    unsigned int prev_CAN_count_cycle_input_units[COUNT_CONTROL_STATION];   // ïðåä êîë-âî îáíîâëåíèé èç CAN
-    unsigned int count_raw_array_data_temp[COUNT_CONTROL_STATION];   // èíäåêñ ïåðåáîðà ïî CONTROL_STATION_MAX_RAW_DATA_TEMP
 
     void (*clear)();             // Clear buffers
     void (*update_timers)();                       // Îáíóëÿåì òàéìåðû íà ïîñòàõ ñ êîòîðûìè åñòü îáìåí
@@ -109,9 +105,6 @@ typedef CONTROL_STATION *CONTROL_STATION_handle;
                                 {0}, \
                                 {0}, \
                                 {0}, \
-                                {0}, \
-                                {0}, \
-                                {0}, \
                                 control_station_clear, \
                                 control_station_update_timers, \
                                 control_station_detect_active_station \

Inu/Src/N12_Libs/filter_v1.c

@@ -278,9 +278,6 @@ _iq19 exp_regul_iq19(_iq19 k_exp_regul, _iq19 InpVarCurr, _iq19 InpVarInstant)
 
 
 #pragma CODE_SECTION(exp_regul_iq,".fast_run");
-//
-// Tñåê = Tïåðèîä/k_exp_regul
-//
 _iq exp_regul_iq(_iq k_exp_regul, _iq InpVarFiltered, _iq InpVarInstant)
 {
  _iq t1;

Inu/Src/N12_Libs/filter_v1.h

@@ -65,6 +65,9 @@ void exp_regul_iq_fast(_iq k_exp_regul, _iq *InpVarCurr, _iq InpVarInstant);
 
 
 
+
+
+
 #ifdef __cplusplus
   }
 #endif

Inu/Src/N12_Libs/global_time.c

@@ -7,13 +7,9 @@ GLOBAL_TIME global_time = GLOBAL_TIME_DEFAULTS;
 void init_global_time_struct(unsigned int freq_pwm)
 {
 	global_time.total_seconds = 0;
-	global_time.total_seconds10 = 0;
-	global_time.total_seconds10full = 0;
 	global_time.microseconds = 0;
-	global_time.microseconds_temp = 0;
 	global_time.pwm_tics = 0;
 	global_time.miliseconds = 0;
-	global_time.miliseconds_long = 0;
 	global_time.seconds = 0;
 	global_time.minuts = 0;
 	global_time.hours = 0;
@@ -24,40 +20,14 @@ void init_global_time_struct(unsigned int freq_pwm)
 #pragma CODE_SECTION(global_time_calc,".fast_run2");
 void global_time_calc(GLOBAL_TIME_handle gt)
 {
-    unsigned int miliseconds_temp = 0;
-    static unsigned int miliseconds_temp10 = 0;
-
 	gt->pwm_tics++;
 	gt->microseconds += gt->microseconds_add;
-	gt->microseconds_temp += gt->microseconds_add;
-
-	if (gt->microseconds_temp>=1000)
-	{
-	    if (gt->microseconds_temp>=2000)
-	    {
-	        miliseconds_temp = gt->microseconds_temp/1000;
-	        gt->microseconds_temp -= miliseconds_temp*1000;
-	    }
-	    else
-	    {
-	        miliseconds_temp = 1;
-	        gt->microseconds_temp -= 1000;
-	    }
-	}
-
-//	gt->miliseconds = gt->microseconds / 1000;
-
-    gt->miliseconds += miliseconds_temp;
-    miliseconds_temp10 += miliseconds_temp;
-
+	gt->miliseconds = gt->microseconds / 1000;
 	if(gt->pwm_tics == gt->freq_pwm_hz)
 	{
 		gt->total_seconds++;
-        gt->total_seconds10 += 10;
-
 		gt->seconds++;
 		gt->pwm_tics = 0;
-		miliseconds_temp10 = 0;
 
 		if(gt->seconds == 60)
 		{
@@ -71,9 +41,6 @@ void global_time_calc(GLOBAL_TIME_handle gt)
 			}
 		}
 	}
-
-	//gt->total_seconds10 += 10;
-	gt->total_seconds10full = gt->total_seconds10 + miliseconds_temp10/100;
 }
 
 
@@ -90,17 +57,9 @@ void init_timer_milisec(unsigned int *start_time)
 int detect_pause_sec(unsigned int wait_pause, unsigned int *old_time)
 {
 	unsigned long delta;
+	delta = (unsigned int)((unsigned int)global_time.total_seconds - *old_time);
 
-    if(global_time.total_seconds >= *old_time)
-    {
-        delta = (unsigned int)((unsigned int)global_time.total_seconds - *old_time);
-    }
-    else
-    {
-        delta = (unsigned int)((unsigned int)global_time.total_seconds + (0xFFFFUL - *old_time));
-    }
-
-    if (delta>=wait_pause)
+    if (delta>wait_pause) 
 	{
 	   *old_time = (unsigned int)global_time.total_seconds;
 	   return 1;
@@ -121,7 +80,7 @@ int detect_pause_milisec(unsigned int wait_pause, unsigned int *old_time)
 		delta = (unsigned int)((unsigned int)global_time.miliseconds + (0xFFFFUL - *old_time));
 	}
 
-    if (delta>=wait_pause)
+    if (delta>wait_pause) 
 	{
 	   *old_time = (unsigned int)global_time.miliseconds;
 	   return 1;
@@ -129,21 +88,3 @@ int detect_pause_milisec(unsigned int wait_pause, unsigned int *old_time)
 	else
 	   return 0;
 }
-
-unsigned int get_delta_milisec(unsigned int *old_time, unsigned int upd)
-{
-    unsigned long delta;
-
-    if(global_time.miliseconds >= *old_time)
-    {
-        delta = (unsigned int)((unsigned int)global_time.miliseconds - *old_time);
-    }
-    else
-    {
-        delta = (unsigned int)((unsigned int)global_time.miliseconds + (0xFFFFUL - *old_time));
-    }
-    if (upd)
-        *old_time = (unsigned int)global_time.miliseconds;
-
-    return delta;
-}

Inu/Src/N12_Libs/global_time.h

@@ -3,13 +3,8 @@
 
 typedef struct {
 	unsigned long total_seconds; //Âñåãî ñåêóíä ñ ìîìåíòà âêëþ÷åíèß
-    unsigned long total_seconds10; //Âñåãî ñåêóíä ñ ìîìåíòà âêëþ÷åíèß ñ äåñÿòûìè
-    unsigned long total_seconds10full; //Âñåãî ñåêóíä ñ ìîìåíòà âêëþ÷åíèß ñ äåñÿòûìè
 	unsigned long microseconds;
-    unsigned int microseconds_temp;
-
 	unsigned int miliseconds;	//???
-    unsigned long miliseconds_long;   //???
 	unsigned int pwm_tics;
 	unsigned int seconds;
 	unsigned int minuts;
@@ -30,11 +25,7 @@ Default initalizer for the GLOBAL_TIME object.
 #define GLOBAL_TIME_DEFAULTS {	0, \
 								0, \
 								0, \
-                                0, \
 								0, \
-                                0, \
-                                0, \
-                                0, \
 								0, \
 								0, \
 								0, \
@@ -53,6 +44,5 @@ void init_timer_sec(unsigned int *start_time);	//
 void init_timer_milisec(unsigned int *start_time);	//Èíèöèàëèçèðóåò ïåðåìåííóþ, âðåìß ñòàðòà â ìèëèñåêóíäàõ
 int detect_pause_sec(unsigned int wait_pause, unsigned int *old_time);	//ïàóçà â ñåêóíäàõ
 int detect_pause_milisec(unsigned int wait_pause, unsigned int *old_time);	//Ïàóçà â ìèëèñåêóíäàõ (íå áîëåå 60000ìëñåê)
-unsigned int get_delta_milisec(unsigned int *old_time, unsigned int upd); // âåðíóëè ñêîëüêî âðåìåíè ïðîøëî îò âðåìåíè old_time ; upd=1 - îáíîâèòü old_time - òåêóùèì
 
 #endif //_GLOBAL_TIME

Inu/Src/N12_Libs/iq_values_norma_oborot.h

@@ -1,22 +0,0 @@
-/*
- * iq_values_norma.h
- *
- *  Created on: 9 èþë. 2024 ã.
- *      Author: Evgeniy_Sokolov
- */
-
-#ifndef _IQ_VALUES_N_H_
-#define _IQ_VALUES_N_H_
-
-#include "params_norma.h"
-
-
-#if (NORMA_MZZ_INT==3000)
-
-#endif
-
-
-
-
-
-#endif /* _IQ_VALUES_NORMA_N_H_ */

Inu/Src/N12_Libs/log_params.c

@@ -1,149 +0,0 @@
-#include "log_params.h"
-#include "log_to_memory.h"
-#include "MemoryFunctions.h"
-
-//#pragma DATA_SECTION(log_params, ".fast_vars");
-TYPE_LOG_PARAMS log_params = TYPE_LOG_PARAMS_DEFAULT;
-
-void defineVarsErrSlowLogs(void)
-{
-    //volatile static
-    unsigned long l1;
-
-    //fastlog
-    log_params.volume_of_fast_log = VOLUME_OF_FAST_LOG;
-	log_params.start_address_log = START_ADDRESS_LOG;
-	l1 = (unsigned long)(log_params.BlockSizeErr*VOLUME_OF_FAST_LOG);
-//	l1 = (unsigned long)(VOLUME_OF_FAST_LOG) * l1;
-	log_params.end_address_log = (unsigned long)log_params.start_address_log + (unsigned long)l1 - 1;
-	// âûðàâíèâàåì êîíåö áëîêà åñëè âûøåë çà ãðàíèöû
-	while (log_params.end_address_log >= START_ADDRESS_LOG_SLOW)
-	{
-	    log_params.end_address_log -= log_params.BlockSizeErr;
-	    log_params.volume_of_fast_log--;
-	}
-
-	l1 = (unsigned long)(log_params.volume_of_fast_log/3);
-	l1 = (unsigned long)(log_params.BlockSizeErr*l1);
-	log_params.end_address_log_level_1 = (unsigned long)log_params.start_address_log + (unsigned long)l1 - 1;
-	log_params.end_address_log_level_2 = log_params.end_address_log_level_1 + (unsigned long)l1 - 1;
-
-
-	//slow log
-    log_params.volume_of_slow_log = VOLUME_OF_SLOW_LOG;
-	log_params.start_address_log_slow = ((unsigned long)log_params.end_address_log + 0x1);
-	l1 = (unsigned long)VOLUME_OF_SLOW_LOG * (unsigned long)log_params.BlockSizeSlow;
-	log_params.end_address_log_slow = ((unsigned long)log_params.start_address_log_slow + l1 - 1);
-    // âûðàâíèâàåì êîíåö áëîêà åñëè âûøåë çà ãðàíèöû
-    while (log_params.end_address_log_slow >= END_ADDRESS_LOGS)
-    {
-        log_params.end_address_log_slow -= log_params.BlockSizeSlow;
-        log_params.volume_of_slow_log--;
-    }
-    l1 = (unsigned long)(log_params.volume_of_slow_log/3);
-    l1 = (unsigned long)(log_params.BlockSizeSlow*l1);
-    log_params.end_address_log_slow_level_1 = (unsigned long)log_params.start_address_log_slow + (unsigned long)l1 - 1;
-    log_params.end_address_log_slow_level_2 = log_params.end_address_log_slow_level_1 + (unsigned long)l1 - 1;
-
-//	log_params.start_address_save_log_memory = START_ADDRESS_SAVE_ON_ALARM;
-//	log_params.end_address_save_log_memory = END_ADDRESS_LOGS;
-
-//	log_params.end_address_log_slow_level_2 = log_params.end_address_save_log_memory - 0x2000;
-//	log_params.end_address_log_slow_level_3 = log_params.end_address_save_log_memory - 0x4000;
-
-
-    // èíäåêñû â íà÷àëî
-    log_params.addres_mem = log_params.start_address_log;
-    log_params.addres_mem_slow = log_params.start_address_log_slow;
-
-}
-
-void initLogSize(unsigned int c_fast, unsigned int c_slow)
-{
-    log_params.size_slow_done = 0;
-    log_params.size_fast_done = 0;
-	log_params.init = 0;
-
-	if (c_fast>SIZE_LOGS_ARRAY)
-	    c_fast = SIZE_LOGS_ARRAY;
-
-    if (c_slow>SIZE_LOGS_ARRAY)
-        c_slow = SIZE_LOGS_ARRAY;
-
-	logsdata.block_size_fast = c_fast;
-    logsdata.block_size_slow = c_slow;
-
-	getFastLogs(1);
-	getSlowLogs(1);
-	
-//	log_params.BlockSizeErr = logpar.block_size_counter_fast;//block_size_counter_fast;
-//	log_params.BlockSizeSlow = logpar.block_size_counter_slow;
-
-	defineVarsErrSlowLogs();
-
-	log_params.init = 1;
-
-	clear_mem_all();
-
-
-//    clear_mem(FAST_LOG);
-//    clear_mem(SLOW_LOG);
-
-	//	set_start_mem(FAST_LOG);
-	//	getFastLogs();
-	//	log_params.BlockSizeErr = block_size_counter_fast;
-	//	set_start_mem(SLOW_LOG);
-	//	getLogs();
-	//	log_params.BlockSizeSlow = block_size_counter_slow;
-}
-
-//void initErrLog()
-//{
-//
-//	static unsigned long SizeLogErr = 0;
-//	static unsigned long SizeLogSlow = 0;
-//	unsigned int sizeHiword = 0;
-//	unsigned int sizeLoword = 0;
-//	unsigned int addrHiword = 0;
-//	unsigned int addrLoword = 0;
-//
-//	set_start_mem(FAST_LOG);
-////	set_start_mem(ALARM_SAVE_MEMORY);
-//	set_start_mem(INIT_LOG);
-////	set_start_mem(ERR_LOG);
-//
-//	clear_mem(INIT_LOG);
-//	clear_mem(FAST_LOG);
-////	clear_mem(ALARM_SAVE_MEMORY);
-////	clear_mem(ERR_LOG);
-//
-////	SizeLog = log_params.end_address_log - log_params.start_address_log;				 //  END_ADDRESS_LOG - START_ADDRESS_LOG; //ERR_BLOCK_SIZE*600;
-//	SizeLogErr = log_params.end_address_err_log - log_params.start_address_err_log;	//  END_ADDRESS_ERR_LOG - START_ADDRESS_ERR_LOG;//(long)ERR_BLOCK_SIZE*(long)3000;
-//	SizeLogSlow = log_params.end_address_save_log_memory - log_params.start_address_save_log_memory; //  END_ADDRESS_LOG_SLOW - START_ADDRESS_LOG_SLOW;
-//
-//	sizeHiword = SizeLogErr >> 16;
-//	sizeLoword = SizeLogErr;
-//
-//	WriteMemory(ADDR_SIZE_ERR_LOW, sizeLoword);
-//	WriteMemory(ADDR_SIZE_ERR_HIGH, sizeHiword);
-//
-//	sizeHiword = SizeLogSlow >> 16;
-//	sizeLoword = SizeLogSlow;
-//	WriteMemory(ADDR_SIZE_SLOW_LOW, sizeLoword);
-//	WriteMemory(ADDR_SIZE_SLOW_HIGH, sizeHiword); //!!!
-//
-//	WriteMemory(ADDR_ERR_BLOCK_SIZE, log_params.BlockSizeErr);
-//	WriteMemory(ADDR_SLOW_BLOCK_SIZE, log_params.BlockSizeSlow);
-//
-//	addrHiword = log_params.start_address_err_log >> 16;
-//	addrLoword = log_params.start_address_err_log;
-//	WriteMemory(ADDR_START_ADDR_ERR_LOG_LOW, addrLoword);
-//	WriteMemory(ADDR_START_ADDR_ERR_LOG_HIGH, addrHiword);
-//
-//	addrHiword = log_params.start_address_save_log_memory >> 16;
-//	addrLoword = log_params.start_address_save_log_memory;
-//	WriteMemory(ADDR_START_ADDR_SLOW_LOG_LOW, addrLoword);
-//	WriteMemory(ADDR_START_ADDR_SLOW_LOG_HIGH, addrHiword);
-//}
-
-

Inu/Src/N12_Libs/log_params.h

@@ -1,109 +0,0 @@
-
-#ifndef _LOG_PARAMS
-#define _LOG_PARAMS
-
-#define PERIOD_LOGS 3
-
-
-#define START_ADDRESS_LOG 				0xA0000    //0xa0000
-#define START_ADDRESS_LOG_SLOW          0xC0000   //0xa0000
-#define END_ADDRESS_LOGS  		 	    0x0dffff  //0x0ef000
-#define END_ADDRESS_LOGS_FINAL          0x0efff0  //0x0ef000
-
-//#define COUNTER_ERR_WRITES              1
-#define VOLUME_OF_FAST_LOG              2000L //0x800L // 0x1000	//0x3500
-#define VOLUME_OF_SLOW_LOG              2000L //0x800L // 0x800 // 0x1000 //0x3500
-
-
-//#define MAX_SUZE_LOG 0x20000
-//#define END_ADDRESS_LOD_TEMP 0xC0000
-//#define START_ADDRESS_SAVE_ON_ALARM 0xC0000
-
-//#define LENGTH_HAZARD       100
-#define COUNT_SAVE_LOG_OFF  50 //500
-
-
-
-#define ADDR_SIZE_ERR_LOW  				0xa0000
-#define ADDR_SIZE_ERR_HIGH 				0xa0001
-#define ADDR_SIZE_SLOW_LOW				0xa0002
-#define ADDR_SIZE_SLOW_HIGH				0xa0003
-#define ADDR_ERR_BLOCK_SIZE				0xa0004
-#define ADDR_SLOW_BLOCK_SIZE			0xa0005
-#define ADDR_START_ADDR_ERR_LOG_LOW		0xa0006
-#define ADDR_START_ADDR_ERR_LOG_HIGH	0xa0007
-#define ADDR_START_ADDR_SLOW_LOG_LOW	0xa0008
-#define ADDR_START_ADDR_SLOW_LOG_HIGH	0xa0009
-
-
-#define START_ADDR_TIME_ERR_WRITE 		0xa000a
-#define END_ADDR_TIME_ERR_WRITE 		0xa000e
-#define LAST_WRITTEN_BLOCK 				0xa000f
-
-
-
-typedef struct
-{   
-    int stop_log_level_1;
-    int stop_log_level_2;
-
-    int stop_log_slow_level_1;
-    int stop_log_slow_level_2;
-
-
-    unsigned int init;
-    unsigned int BlockSizeErr;          
-    unsigned int BlockSizeSlow; 
-
-
-    unsigned long start_address_log;//START_ADDRESS_LOG         
-    unsigned long end_address_log;//END_ADDRESS_LOG
-    unsigned long end_address_log_level_1;//END_ADDRESS_LOG_LEVEL_2
-    unsigned long end_address_log_level_2;
-
-    //	unsigned long addr_size_err_low;//ADDR_SIZE_ERR_LOW
-
-    unsigned long start_address_log_slow;//START_ADDRESS_LOG_SLOW
-	unsigned long end_address_log_slow;
-//	unsigned long start_address_save_log_memory;
-//	unsigned long end_address_save_log_memory;
-
-	unsigned long end_address_log_slow_level_1;
-	unsigned long end_address_log_slow_level_2;
-//	unsigned long end_address_log_slow_level_3;
-//	unsigned long start_address_err_log;//START_ADDRESS_ERR_LOG
-//	unsigned long end_address_err_log;//END_ADDRESS_ERR_LOG
-
-	unsigned long addres_mem;//START_ADDRESS_LOG
-    unsigned long addres_mem_slow;//START_ADDRESS_LOG
-	unsigned int log_cycle_done;
-    unsigned int log_cycle_done_slow;
-
-    int no_write_slow;
-    int no_write_fast;
-    int size_slow_done;
-    int size_fast_done;
-
-    int stop_log_fast;
-    int stop_log_slow;
-    int log_saved_to_const_mem;
-    int copy_log_to_const_memory;
-
-    unsigned int volume_of_fast_log;
-    unsigned int volume_of_slow_log;
-
-    unsigned int cur_volume_of_fast_log;
-    unsigned int cur_volume_of_slow_log;
-
-
-
-} TYPE_LOG_PARAMS;
-
-#define TYPE_LOG_PARAMS_DEFAULT  {0,0,0,0, 0,0,0,0, 0,0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0, 0,0, 0,0}
-
-extern TYPE_LOG_PARAMS log_params;
-
-void initErrLog(void);
-void initLogSize(unsigned int c_fast, unsigned int c_slow);
-
-#endif	//_LOG_PARAMS

Inu/Src/N12_Libs/log_to_memory.c

@@ -1,484 +0,0 @@
-/****************************************************************/
-/*			    	  		TMS320C32							*/
-/* 	======             BIOS, ÊËÀÈÍ, ÊËÂÑÏ              ====== 	*/
-/* 	 		   		ÖÍÈÈ ÑÝÒ	  (ñ) 1998-2001ã.				*/
-/****************************************************************/
-/*   log_to_mem.c
- ****************************************************************
- *					Çàïèñü ëîãîâ â ïàìyòü						*
- ****************************************************************/
-
-#include "log_to_memory.h"
-#include "MemoryFunctions.h"
-#include "log_params.h"
-
-#include "global_time.h"
-
-// ïåðåìåííûå èñïîëüçóåìûå òîëüêî â ýòîì ìîäóëå
-// Ïåðåìåííûå èç ï/ï logs_data(), write_to_mem è clear_mem
-// Íà÷àëüíûé àäðåñ ïàìyòè äëy çàïèñè ëîãîâ (ñì. ï/ï write_to_mem)
-
-//#pragma DATA_SECTION(count_mem, ".fast_vars1");
-//static unsigned long count_mem = START_ADDRESS_LOG; //static
-//#pragma DATA_SECTION(count_mem_slow, ".fast_vars1");
-//static unsigned long count_mem_slow; // =  START_ADDRESS_LOG_SLOW;//START_ADDRESS_LOG_SLOW; //static
-//#pragma DATA_SECTION(count_mem_err, ".fast_vars1");
-//static unsigned long count_mem_err; // =  START_ADDRESS_ERR_LOG;//START_ADDRESS_ERR_LOG;	//static
-//#pragma DATA_SECTION(count_mem_init, ".fast_vars1");
-//static unsigned long count_mem_init = ADDR_SIZE_ERR_LOW;
-
-// Îáyçàòåëüíîå íà÷àëüíîå çíà÷åíèå èíà÷å ïîðyäîê çàïèñè
-// íàðóøàåòñy ïðè ïåðâîì çààïîëíåíèè áóôåðà
-int hb_logs_data = 0;
-//int stop_log = 0;
-//int stop_log_slow = 0;
-//int block_size_counter_slow = 0;
-
-//int block_size_counter_fast = 0;
-
-//#pragma DATA_SECTION(LOAG, ".fast_vars1");
-//int LOAG[12];
-
-#pragma DATA_SECTION(logsdata, ".fast_vars1");
-LOGSDATA logsdata = LOGSDATA_DEFAULT;
-
-//int no_write = 0;	  // Ôëàã, ÷òîáû íå ïèñàòü (åñëè ÷òî)
-//int no_write_slow = 0; // Ôëàã, ÷òîáû íå ïèñàòü (åñëè ÷òî)
-
-//int size_fast_done = 0;
-//int size_slow_done = 0;
-
-
-//#pragma CODE_SECTION(clear_logpar,".fast_run");
-void clear_logpar(void)
-{
-    int i;
-    for(i=0;i<SIZE_LOGS_ARRAY;i++)
-        logsdata.logs[i] = 0;
-}
-
-
-// Çàïèñü äâóõ ìëàäøèõ áàéòîâ àðãóìåíòà â ïàìyòü, ãäå ëîãè ëåæàò
-#pragma CODE_SECTION(write_to_mem, ".fast_run2");
-void write_to_mem(int tlog, int DataM)
-{
-	//  int DataT;
-
-	if (tlog == FAST_LOG)
-	{
-		if (!log_params.size_fast_done)
-		{
-		    log_params.BlockSizeErr++;
-			return;
-		}
-
-		if (log_params.no_write_fast)
-			return;
-//		if (log_params.stop_log_level_1)
-//			return;
-		if (log_params.addres_mem >= log_params.end_address_log)
-			log_params.addres_mem = log_params.end_address_log;
-
-		WriteMemory(log_params.addres_mem, DataM);
-		//	 Fast_log_written = 1;
-		//	 if (one_block) block_size_counter++;
-		//	*(int *)count_mem = ((DataM & 0xFFFF) );
-		log_params.addres_mem++;
-
-		return;
-	}
-
-    if (tlog == SLOW_LOG)
-    {
-        if (!log_params.size_slow_done)
-        {
-            log_params.BlockSizeSlow++;
-            return;
-        }
-
-        if (log_params.no_write_slow)
-            return;
-//        if (logpar.stop_log_level_1)
-//            return;
-        if (log_params.addres_mem_slow >= log_params.end_address_log_slow)
-            log_params.addres_mem_slow = log_params.end_address_log_slow;
-
-        WriteMemory(log_params.addres_mem_slow, DataM);
-        //   Fast_log_written = 1;
-        //   if (one_block) block_size_counter++;
-        //  *(int *)count_mem = ((DataM & 0xFFFF) );
-        log_params.addres_mem_slow++;
-        return;
-    }
-
-//	if (tlog == ALARM_SAVE_MEMORY)
-//	{
-//
-//		if (!size_slow_done)
-//		{
-//			block_size_counter_slow++;
-//			return;
-//		}
-//
-//		if (no_write_slow)
-//			return;
-//
-//		if (logpar.stop_log_slow_level_1)
-//			return;
-//
-//		if (count_mem_slow >= log_params.end_address_save_log_memory)
-//			count_mem_slow = log_params.end_address_save_log_memory;
-//
-//		WriteMemory(count_mem_slow, DataM);
-//		count_mem_slow++;
-//
-//		return;
-//	}
-
-	/*	if (tlog==ERR_LOG)
-	{
-	 if (count_mem_err >= END_ADDRESS_ERR_LOG) count_mem_err = END_ADDRESS_ERR_LOG;
-	  WriteMemory(count_mem_err,DataM);
-	 count_mem_err++;
-	}	
-*/
-}
-
-#pragma CODE_SECTION(test_mem_limit, ".fast_run");
-void test_mem_limit(int tlog, int ciclelog)
-{
-
-	if (tlog == FAST_LOG)
-	{
-		// block_size_counter = 0;
-		if (log_params.addres_mem >= log_params.end_address_log)
-		{
-			log_params.log_cycle_done = 1;
-		    if (ciclelog == 1)
-			{
-		        log_params.stop_log_fast = 0;
-//				log_params.stop_log_level_1 = 0;
-				log_params.addres_mem = log_params.start_address_log;
-			}
-			else
-			{
-			    log_params.stop_log_fast = 1;
-//				log_params.stop_log_level_1 = 1;
-			}
-		}
-
-		if (log_params.addres_mem >= (log_params.end_address_log_level_1))
-		{
-		    log_params.stop_log_level_1 = 1;
-		}
-		else
-		{
-		    log_params.stop_log_level_1 = 0;
-		}
-
-		if (log_params.addres_mem >= (log_params.end_address_log_level_2))
-		{
-		    log_params.stop_log_level_2 = 1;
-		}
-		else
-		{
-		    log_params.stop_log_level_2 = 0;
-		}
-		return;
-	}
-
-    if (tlog == SLOW_LOG)
-    {
-        // block_size_counter = 0;
-        if (log_params.addres_mem_slow >= log_params.end_address_log_slow)
-        {
-            log_params.log_cycle_done_slow = 1;
-            if (ciclelog == 1)
-            {
-                log_params.stop_log_slow = 0;
-   ///             logpar.stop_log_level_1 = 0;
-                log_params.addres_mem_slow= log_params.start_address_log_slow;
-            }
-            else
-            {
-                log_params.stop_log_slow = 1;
-    //            logpar.stop_log_level_1 = 1;
-            }
-
-            if (log_params.addres_mem_slow >= (log_params.end_address_log_slow_level_1))
-            {
-                log_params.stop_log_slow_level_1= 1;
-            }
-            else
-            {
-                log_params.stop_log_slow_level_1 = 0;
-            }
-
-            if (log_params.addres_mem_slow >= (log_params.end_address_log_slow_level_2))
-            {
-                log_params.stop_log_slow_level_2 = 1;
-            }
-            else
-            {
-                log_params.stop_log_slow_level_2 = 0;
-            }
-        }
-
-        return;
-    }
-//	if (tlog == ALARM_SAVE_MEMORY)
-//	{
-//		if (ciclelog == 1)
-//		{
-//			logpar.stop_log_slow_level_1 = 0;
-//		}
-//
-//		if (count_mem_slow >= (log_params.end_address_save_log_memory - LENGTH_HAZARD))
-//		{
-//			if (ciclelog == 1)
-//			{
-//				stop_log_slow = 0;
-//				logpar.stop_log_slow_level_1 = 0;
-//				count_mem_slow = log_params.start_address_save_log_memory;
-//			}
-//			else
-//			{
-//				stop_log_slow = 1;
-//				logpar.stop_log_slow_level_1 = 1;
-//			}
-//		}
-//
-//		if (count_mem_slow >= (log_params.end_address_log_slow_level_2))
-//		{
-//			logpar.stop_log_slow_level_2 = 1;
-//		}
-//		else
-//		{
-//			logpar.stop_log_slow_level_2 = 0;
-//		}
-//
-//		if (count_mem_slow >= (log_params.end_address_log_slow_level_3))
-//		{
-//			logpar.stop_log_slow_level_3 = 1;
-//		}
-//		else
-//		{
-//			logpar.stop_log_slow_level_3 = 0;
-//		}
-//
-//		return;
-//	}
-}
-
-// Î÷èùåíèå ïàìyòè, ãäå ëîãè ïèøóòñÿ
-void clear_mem(int tlog)
-{
-
-
-	if (tlog == FAST_LOG)
-	{
-
-		for (log_params.addres_mem = log_params.start_address_log; log_params.addres_mem < log_params.end_address_log; log_params.addres_mem++)
-			WriteMemory(log_params.addres_mem, 0x0);
-
-		log_params.addres_mem = log_params.start_address_log;
-		hb_logs_data = 0;
-		log_params.stop_log_fast = 0;
-
-		log_params.stop_log_level_1 = 0;
-		log_params.stop_log_level_2 = 0;
-
-		return;
-	}
-
-    if (tlog == SLOW_LOG)
-    {
-
-        for (log_params.addres_mem_slow = log_params.start_address_log_slow; log_params.addres_mem_slow < log_params.end_address_log_slow; log_params.addres_mem_slow++)
-            WriteMemory(log_params.addres_mem_slow, 0x0);
-
-        log_params.addres_mem_slow = log_params.start_address_log_slow;
-        hb_logs_data = 0;
-        log_params.stop_log_slow = 0;
-        log_params.stop_log_slow_level_1 = 0;
-        log_params.stop_log_slow_level_2 = 0;
-
-
-
-        return;
-    }
-//	if (tlog == ALARM_SAVE_MEMORY)
-//	{
-//
-//		for (count_mem_slow = log_params.start_address_save_log_memory; count_mem_slow < log_params.end_address_save_log_memory; count_mem_slow++)
-//			WriteMemory(count_mem_slow, 0x0);
-//
-//		count_mem_slow = log_params.start_address_save_log_memory;
-//		hb_logs_data = 0;
-//		stop_log_slow = 0;
-//
-//		logpar.stop_log_slow_level_1 = 0;
-//		logpar.stop_log_slow_level_2 = 0;
-//		logpar.stop_log_slow_level_3 = 0;
-//
-//		return;
-//	}
-
-//	if (tlog == ERR_LOG)
-//	{
-//
-//		for (count_mem_err = log_params.start_address_err_log; count_mem_err < log_params.end_address_err_log; count_mem_err++)
-//			WriteMemory(count_mem_err, 0x0);
-//
-//		count_mem_err = log_params.start_address_err_log;
-//		return;
-//	}
-
-//	if (tlog == INIT_LOG)
-//	{
-//		for (count_mem_init = ADDR_SIZE_ERR_LOW; count_mem_init <= END_ADDR_TIME_ERR_WRITE; count_mem_init++)
-//			WriteMemory(count_mem_init, 0x0);
-//
-//		count_mem_init = ADDR_SIZE_ERR_LOW;
-//		return;
-//	}
-}
-
-//Î÷èùåíèå âñåé ïàìÿòè ñîõðàíåíèÿ ëîãîâ
-void clear_mem_all() {
-    for (log_params.addres_mem = START_ADDRESS_LOG; log_params.addres_mem < END_ADDRESS_LOGS; log_params.addres_mem++) {
-        WriteMemory(log_params.addres_mem, 0x0);
-    }
-
-    log_params.addres_mem = log_params.start_address_log;
-    log_params.stop_log_fast = 0;
-    log_params.stop_log_level_1 = 0;
-    log_params.stop_log_level_2 = 0;
-    log_params.log_cycle_done = 0;
-
-    hb_logs_data = 0;
-    log_params.addres_mem_slow = log_params.start_address_log_slow;
-    log_params.stop_log_slow = 0;
-    log_params.stop_log_slow_level_1 = 0;
-    log_params.stop_log_slow_level_2 = 0;
-
-}
-
-// Âûñòàâëåíèå ïîçèöèè ëîãîâ â íà÷àëî
-void set_start_mem(int tlog)
-{
-
-	if (tlog == FAST_LOG)
-	{
-
-		log_params.addres_mem = log_params.start_address_log;
-		log_params.log_cycle_done = 0;
-		hb_logs_data = 0;
-		log_params.stop_log_fast = 0;
-
-		log_params.stop_log_level_1 = 0;
-		log_params.stop_log_level_2 = 0;
-	}
-
-	if (tlog == SLOW_LOG)
-    {
-
-        log_params.addres_mem_slow = log_params.start_address_log_slow;
-        log_params.log_cycle_done = 0;
-        hb_logs_data = 0;
-        log_params.stop_log_slow = 0;
-
-        log_params.stop_log_slow_level_1 = 0;
-        log_params.stop_log_slow_level_2 = 0;
-    }
-
-//	if (tlog == ALARM_SAVE_MEMORY)
-//	{
-//
-//		count_mem_slow = log_params.start_address_save_log_memory;
-//		hb_logs_data = 0;
-//		stop_log_slow = 0;
-//
-//		logpar.stop_log_slow_level_1 = 0;
-//		logpar.stop_log_slow_level_2 = 0;
-//		logpar.stop_log_slow_level_3 = 0;
-//	}
-
-//	if (tlog == ERR_LOG)
-//	{
-//
-//		count_mem_err = log_params.start_address_err_log;
-//		hb_logs_data = 0;
-//		stop_log_slow = 0;
-//
-//		logpar.stop_log_slow_level_1 = 0;
-//		logpar.stop_log_slow_level_2 = 0;
-//		logpar.stop_log_slow_level_3 = 0;
-//	}
-//	if (tlog == INIT_LOG)
-//	{
-//		count_mem_init = ADDR_SIZE_ERR_LOW;
-//	}
-}
-
-
-#pragma CODE_SECTION(getFastLogs, ".fast_run2");
-void getFastLogs(int cicleLog)
-{
-    int i_log;
-
-	if (log_params.size_fast_done)
-		test_mem_limit(FAST_LOG, cicleLog);
-
-    for (i_log=0;i_log<logsdata.block_size_fast;i_log++)
-        write_to_mem(FAST_LOG, (int) logsdata.logs[i_log]);
-
-    log_params.size_fast_done = 1;
-}
-
-#pragma CODE_SECTION(getSlowLogs, ".fast_run2");
-void getSlowLogs(int cicleLog)
-{
-
-    int i_log;
-
-    if (log_params.size_slow_done)
-        test_mem_limit(SLOW_LOG, cicleLog);
-
-
-    for (i_log=0;i_log<logsdata.block_size_slow;i_log++)
-        write_to_mem(SLOW_LOG, (int) logsdata.logs[i_log]);
-
-    if (log_params.cur_volume_of_slow_log>0)
-        log_params.cur_volume_of_slow_log--;
-    else
-        log_params.cur_volume_of_slow_log = log_params.volume_of_slow_log;
-
-    log_params.size_slow_done = 1;
-}
-
-
-//void copyLogsToSaveArea()
-//{
-//    unsigned long from = START_ADDRESS_LOG;
-//    unsigned long to = START_ADDRESS_SAVE_ON_ALARM;
-//
-//    for (;from <= log_params.end_address_log && to < END_ADDRESS_LOGS ;++from, ++to) {
-//        WriteMemory(to, ReadMemory(from));
-//    }
-//}
-
-//void copyLogsToSaveAreaUnrolled()
-//{
-//    unsigned long from = log_params.log_cycle_done ? log_params.addres_mem : log_params.start_address_log;
-//    unsigned long to = START_ADDRESS_SAVE_ON_ALARM;
-//    unsigned long count = log_params.end_address_log - log_params.start_address_log;
-//
-//    for (;count-- > 0 && to < END_ADDRESS_LOGS ;++from, ++to) {
-//        if (from >= log_params.end_address_log) {
-//            from = log_params.start_address_log;
-//        }
-//        WriteMemory(to, ReadMemory(from));
-//    }
-//}
-

Inu/Src/N12_Libs/log_to_memory.h

@@ -1,96 +0,0 @@
-/****************************************************************/
-/*			    	  		TMS320C32							*/
-/* 	======             BIOS, ÊËÀÈÍ, ÊËÂÑÏ              ====== 	*/
-/* 	 		   		ÖÍÈÈ ÑÝÒ	  (ñ) 1998-2001ã.				*/
-/****************************************************************/
-/*   log_to_mem.h
- ****************************************************************
- *					Çàïèñü ëîãîâ â ïàìyòü						*
- ****************************************************************/
-
-#ifndef _LOG_TO_MEM
-#define _LOG_TO_MEM     
-
-
-
-
-#ifdef __cplusplus
-  extern "C" {  
-#endif
-
-#define SIZE_LOGS_ARRAY   92
-
-#define INIT_LOG  3
-//#define ERR_LOG   2
-//#define ALARM_SAVE_MEMORY  1
-#define FAST_LOG  0 
-#define SLOW_LOG  4
-#define ALL_LOG  5
-
-
-typedef struct
-{      
-//	int copy_log_to_const_memory;
-//
-////	int start_write_fast_log;       //Íà÷àëî çàïèñè ëîãà, äëÿ îïðåäåëåíèÿ count_log_params_fast_log
-////	int count_log_params_fast_log;  //Êîëè÷åñòâî çàïèñûâàåìûõ â ëîã ïàðàìåòðîâ
-//
-//	int block_size_counter_fast;
-//	int block_size_counter_slow;
-//
-	int block_size_fast;
-	int block_size_slow;
-
-	int logs[SIZE_LOGS_ARRAY];
-
-} LOGSDATA;
-
-//extern int LOAG[];
-
-#define LOGSDATA_DEFAULT {0,0, {0} }
-
-
-/* íå ïðîâîäèòü ðîòàöèþ ëîãîâ */
-#define NO_ROTATE_LOG	0
-          
-//extern int no_write; // Ôëàã, ÷òîáû íå ïèñàòü (åñëè ÷òî)
-//extern int stop_log; // Ëîãè îñòàíîâèëèñü
-//extern int Fast_log_written; //FAST LOG çàïèñàí
-//extern int block_size_counter_slow;
-//extern int block_size_counter_fast;
-
-//extern int block_size_counter;// ðàçìåð áëîêà
-//extern int size_fast_done;
-//extern int size_slow_done;
-
-
-/* Çàïèñü äâóõ ìëàäøèõ áàéòîâ àðãóìåíòà â ïàìyòü, ãäå ëîãè ëåæàò */
-void write_to_mem(int tlog,int DataM);
-void write_to_mem_a(int DataM);
-
-
-/* Ïðîâåðêà ãðàíèöû ïàìyòè äëy ëîãîâ */
-void test_mem_limit(int tlog,int ciclelog);
-void set_start_mem(int tlog);
-
-/* Î÷èñòêà ïàìyòè (îáíóëåíèå) */
-void clear_mem(int tlog);
-void clear_mem_all(void);
-
-void getFastLogs(int cicleLog);
-void getSlowLogs(int cicleLog);
-
-//Ñîõðàíåíèå ëîãîâ â íåçàòèðàåìóþ ïðè ðàáîòå ÷àñòü ïàìÿòè
-void copyLogsToSaveArea(void);
-//Ñîõðàíåíèå ñ ðàçâîðà÷èâàíèåì êîëüöà.
-//Çàïèñü ïî âðåìåíè íà÷èíàåòñÿ â íà÷àëå ó÷àñòêà ïàìÿòè è çàêàí÷èâàåòñÿ â êîíöå.
-void copyLogsToSaveAreaUnrolled(void);
-void clear_logpar(void);
-
-extern LOGSDATA logsdata;
-
-#ifdef __cplusplus
-  }
-#endif
-
-#endif  /* _LOG_TO_MEM */

Inu/Src/N12_Libs/math_pi.h

@@ -12,23 +12,8 @@
 #define CONST_SQRT3     29058990  //1.7320508075688772935274463415059  = sqrt(3)
 #define CONST_SQRT3_2   14529495  //1.7320508075688772935274463415059/2=0.8660254 = sqrt(3)/2
 #define CONST_IQ_1      16777216 //1
-
-
-#define CONST_IQ_2      33554432 //2
-
-
-
-#define CONST_IQ_01     1677721 //0.1
-#define CONST_IQ_02     3355442 //0.2
-#define CONST_IQ_03     5033163 //0.3
-#define CONST_IQ_04     6710884 //0.4
 #define CONST_IQ_05     8388608 //0.5
-
-#define CONST_IQ_06     10066329 //0.6
-#define CONST_IQ_07     11744051 //0.7
-#define CONST_IQ_08     13421772 //0.8
-#define CONST_IQ_09     15099494 //0.9
-
+#define CONST_IQ_2      33554432 //2
 
 #define CONST_IQ_PI6  8784530   //30
 #define CONST_IQ_PI3  17569060  // 60

Inu/Src/N12_Libs/mathlib.c

@@ -19,13 +19,13 @@
 #include "DSP281x_Device.h"     // DSP281x Headerfile Include File
 #include "DSP281x_Examples.h"   // DSP281x Examples Include File
 #include <math.h>
+
+
 #include "mathlib.h"
 
-#include "params_norma.h"
-#include "math_pi.h"
-#include "params_pwm24.h"
-#include <math.h>
-#include "params_norma.h"
+#include <params_norma.h>
+
+
 
 _iq SQRT_32 = _IQ(0.8660254037844);
 _iq CONST_23 = _IQ(2.0/3.0);
@@ -36,38 +36,28 @@ _iq CONST_15 = _IQ(1.5);
 
 #define real float
 
-float my_satur_float(float Input, float Positive, float Negative, float DeadZone)
+float my_satur_float(float Input, float Positive, float Negative)
 {
-    if (fabs(DeadZone)>0.000001 && Input>-DeadZone && Input<DeadZone)
-        Input = 0;
-    else
-        if (Input>=Positive) Input=Positive;
-    else
-        if (Input<=Negative) Input=Negative;
 
-    return Input;
-}
-
-int my_satur_int(int Input, int Positive, int Negative, int DeadZone)
-{
-    if (DeadZone!=0 && Input>-DeadZone && Input<DeadZone)
-        Input = 0;
-    else
     if (Input>=Positive) Input=Positive;
-    else
     if (Input<=Negative) Input=Negative;
 
     return Input;
 }
 
-long my_satur_long(long Input, long Positive, long Negative, long DeadZone)
+int my_satur_int(int Input, int Positive, int Negative)
+{
+
+    if (Input>=Positive) Input=Positive;
+    if (Input<=Negative) Input=Negative;
+
+    return Input;
+}
+
+long my_satur_long(long Input, long Positive, long Negative)
 {
 
-    if (DeadZone!=0 && Input>-DeadZone && Input<DeadZone)
-        Input = 0;
-    else
     if (Input>=Positive) Input=Positive;
-    else
     if (Input<=Negative) Input=Negative;
 
     return Input;
@@ -152,12 +142,9 @@ real exp_regul(real Tperiod_regul, real Texp_regul, real InpVarCurr, real InpVar
 
                                    
                                    
-
-*/
-
-float zad_intensiv(float StepP, float StepN, float InpVarCurr, float InpVarInstant)
+real zad_intensiv(real StepP, real StepN, real InpVarCurr, real InpVarInstant)
 {
-    float deltaVar, VarOut;
+    real deltaVar, VarOut;
     
     deltaVar = InpVarInstant-InpVarCurr;
     
@@ -173,7 +160,7 @@ float zad_intensiv(float StepP, float StepN, float InpVarCurr, float InpVarInsta
     VarOut = InpVarCurr;
     return VarOut;
 }
-
+*/
 #pragma CODE_SECTION(zad_intensiv_q,".fast_run");
 _iq zad_intensiv_q(_iq StepP, _iq StepN, _iq InpVarCurr, _iq InpVarInstant)
 {	
@@ -350,88 +337,3 @@ float fast_round(float x)
 
 }
 
-float fast_round_with_delta(float prev, float x, float delta)
-{
-    float d;
-    long i;
-
-
-    i = (long)x;
-
-    if (x<0)
-    {
-      d = i - x;
-      if (d>=0.5)
-          i = i - 1;
-    }
-    else
-    {
-       d = x - i;
-       if (d>=0.5)
-           i = i + 1;
-    }
-
-    if (fabs(prev-x)>=delta)
-        return (float)i;
-    else
-        return (float)prev;
-
-}
-
-
-float fast_round_with_limiter(float x, float lim)
-{
-    float d;
-    long i;
-
-
-    if (fabs(x)<=lim)
-        return 0;
-
-    i = (long)x;
-
-    if (x<0)
-    {
-      d = i - x;
-      if (d>=0.5)
-          i = i - 1;
-    }
-    else
-    {
-       d = x - i;
-       if (d>=0.5)
-           i = i + 1;
-    }
-    return (float)i;
-
-}
-
-
-#pragma CODE_SECTION(calc_rms,".fast_run");
-_iq calc_rms(_iq input, _iq input_prev, _iq freq_signal)
-{
-    static _iq pi_pwm = _IQ(PI*NORMA_FROTOR/(FREQ_PWM/5.0));
-
-    _iq cosw, sinw, wdt, y2, z1, z2, z3, y;
-
-    wdt = _IQmpy(pi_pwm,freq_signal);
-    sinw = _IQsinPU(wdt);
-    cosw = _IQcosPU(wdt);
-
-    if (cosw==0)
-        return 0;
-
-    z1 = input_prev - _IQmpy(input,cosw);
-//    z2 = sinw;
-    z3 = _IQdiv(z1,sinw);
-
-    y2 = _IQmpy(input,input)+_IQmpy(z3,z3);
-
-//    cosw = _IQsin();
-
-    y  = _IQsqrt(y2);
-    return y;
-}
-
-
-

Inu/Src/N12_Libs/mathlib.h

@@ -4,7 +4,6 @@
 
 #include "IQmathLib.h"
 
-
 /*
 
 real pi_regul(real Kp_regul, real Tintegral_regul, real Tperiod_regul,
@@ -12,7 +11,7 @@ real pi_regul(real Kp_regul, real Tintegral_regul, real Tperiod_regul,
 
 real exp_regul(real Tperiod_regul, real Texp_regul, real InpVarCurr, real InpVarInstant);
 
-
+real zad_intensiv(real StepP, real StepN, real InpVarCurr, real InpVarInstant);
 
 real pid_regul2(real Kp_regul, real Tperiod_regul, real Minimum, real Maximum,
                real yk, real *uk1, real *yk1, real *yk2, real *yzad, 
@@ -28,9 +27,7 @@ real pi_regul3(real Kp_regul, real ki_regul, real Tperiod_regul, real Minimum, r
 real pi_regul4(real Kp_regul, real ki_regul, real Tperiod_regul, real Minimum, real Maximum,
                real InpVar, real *InpVarPrev,  real *OutVarPrev);
 
-*/
-float zad_intensiv(float StepP, float StepN, float InpVarCurr, float InpVarInstant);
-
+*/                 
 _iq zad_intensiv_q(_iq StepP, _iq StepN, _iq InpVarCurr, _iq InpVarInstant);
 _iq im_calc( _iq ia, _iq ib, _iq ic);
 
@@ -38,10 +35,9 @@ float exp_regul(float Tperiod_regul, float Texp_regul, float InpVarCurr, float I
                  
 
 
-float my_satur_float(float Input, float Positive, float Negative, float DeadZone);
-
-int my_satur_int(int Input, int Positive, int Negative, int DeadZone);
-long my_satur_long(long Input, long Positive, long Negative, long DeadZone);
+float my_satur_float(float Input, float Positive, float Negative);
+int my_satur_int(int Input, int Positive, int Negative);
+long my_satur_long(long Input, long Positive, long Negative);
 
 
 
@@ -72,10 +68,7 @@ typedef struct {
 _iq calc_rms_array_var_period(RMS_CALC_ARRAY_THINNING *v);
 _iq calc_rms_array_var_period_IQ15(RMS_CALC_ARRAY_THINNING *v);
 float fast_round(float x);
-float fast_round_with_limiter(float x, float lim);
-float fast_round_with_delta(float prev, float x, float delta);
 
-_iq calc_rms(_iq input, _iq input_prev, _iq freq_signal);
 
 #endif
 

Inu/Src/N12_Libs/modbus_table_v2.c

@@ -31,8 +31,6 @@ MODBUS_REG_STRUCT modbus_table_can_in[SIZE_MODBUS_TABLE];
 #pragma DATA_SECTION(modbus_table_can_out,".logs");
 MODBUS_REG_STRUCT modbus_table_can_out[SIZE_MODBUS_TABLE];
 
-#pragma DATA_SECTION(modbus_table_can_out_temp,".logs");
-MODBUS_REG_STRUCT modbus_table_can_out_temp[SIZE_MODBUS_TABLE];
 
 
 
@@ -42,8 +40,8 @@ int i;
 
   for (i=0;i<SIZE_MODBUS_TABLE;i++)
   { 
-    modbus_table_rs_in[i].all  = 0;
-    modbus_table_can_in[i].all = 0;
+    modbus_table_rs_in[i].all=0;
+    modbus_table_can_in[i].all=0;
   }
 
 
@@ -55,9 +53,8 @@ void clear_modbus_table_out()
 
   for (i=0;i<SIZE_MODBUS_TABLE;i++)
   { 
-    modbus_table_rs_out[i].all       = 0;
-    modbus_table_can_out[i].all      = 0;
-    modbus_table_can_out_temp[i].all = 0;
+    modbus_table_rs_out[i].all= 0;
+    modbus_table_can_out[i].all= 0;
   }
 }
 

Inu/Src/N12_Libs/modbus_table_v2.h

@@ -24,7 +24,6 @@ extern MODBUS_REG_STRUCT modbus_table_rs_out[SIZE_MODBUS_TABLE];
 extern MODBUS_REG_STRUCT modbus_table_rs_in[SIZE_MODBUS_TABLE];
 
 extern MODBUS_REG_STRUCT modbus_table_can_out[SIZE_MODBUS_TABLE];
-extern MODBUS_REG_STRUCT modbus_table_can_out_temp[SIZE_MODBUS_TABLE];
 extern MODBUS_REG_STRUCT modbus_table_can_in[SIZE_MODBUS_TABLE];
 
 

Inu/Src/N12_Libs/not_use/adaptive_filters.c

@@ -1,626 +0,0 @@
-/*
- * adaptive_filters.c
- *
- *  Created on: 24 ñåíò. 2023 ã.
- *      Author: user
- */
-
-/*
-Determining the appropriate values for the adaptive coefficients Ka and Kb in an adaptive PI
-regulator requires a thorough understanding of your specific control system and motor dynamics.
-The values of Ka and Kb are typically determined through a tuning process, which involves
-experimentation and iteration to achieve the desired control performance.
-
-Here's a general approach to tuning the adaptive coefficients Ka and Kb:
-
-Start with small initial values: Begin with small values for Ka and Kb, such as 0.01 or 0.001.
-
-Observe the system behavior: Run the control system with these initial values and observe the
-response of the motor. Pay attention to the speed control performance, such as overshoot, settling
-time, and steady-state error.
-
-Adjust Ka and Kb based on the response: Increase or decrease the values of Ka and Kb based on
-the observed system behavior. If the system response is slow or exhibits large overshoot,
-consider increasing the values. If the system response is too aggressive or unstable,
-consider decreasing the values.
-
-Iterate the tuning process: Repeat steps 2 and 3, adjusting Ka and Kb iteratively until you
-achieve the desired control performance. It may require several iterations to find suitable
-values.
-
-It's important to note that the tuning process is highly dependent on the specific motor
-characteristics, the requirements of the control system, and the desired performance.
-Therefore, it's recommended to consult motor control experts, refer to motor datasheets, or consider model-based control techniques for a more accurate tuning process.
-
-Additionally, advanced control techniques such as adaptive control algorithms
-(e.g., Model Reference Adaptive Control or Self-Tuning Regulators) can be explored for more
-advanced and precise adaptation of control parameters.
-
-Remember to thoroughly test and validate the tuned parameters under various operating
-conditions to ensure stability and robust performance of the motor control system.
- */
-
-// Constants for the PI regulator
-#define Kp 0.5
-#define Ki 0.2
-
-// Constants for the adaptive part
-#define Ka 0.05
-#define Kb 0.02
-
-// Function to calculate the adaptive PI control output
-float adaptivePI(float setpoint, float measured_speed, float integral_error)
-{
-    static float prev_error = 0.0;
-    static float prev_output = 0.0;
-
-    // Calculate the error
-    float error = setpoint - measured_speed;
-
-    // Calculate the integral error
-    integral_error += error;
-
-    // Calculate the adaptive part
-    float adaptive = Ka * error + Kb * (error - prev_error);
-
-    // Calculate the PI control output
-    float output = Kp * error + Ki * integral_error + adaptive;
-
-    // Store the current error and output for the next iteration
-    prev_error = error;
-    prev_output = output;
-
-    return output;
-}
-
-int main1()
-{
-    float setpoint = 100.0; // Desired speed setpoint
-    float measured_speed = 85.0; // Measured speed of the motor
-    float integral_error = 0.0; // Integral error for the PI regulator
-
-    // Calculate the control output using the adaptive PI regulator
-    float control_output = adaptivePI(setpoint, measured_speed, integral_error);
-
-    printf("Control Output: %f\n", control_output);
-
-    return 0;
-}
-
-
-
-////////////////////////////
-/*
-In this simplified example, the mracControl function implements the MRAC algorithm for motor speed control.
-The function takes the desired speed reference (reference_speed), the measured speed of the motor (measured_speed),
-and the adaptation parameter (adaptation_param) as inputs. It returns the control output.
-
-The MRAC algorithm calculates the error between the reference speed and the measured speed. It then multiplies
-the error by the adaptation parameter, controller gain (Kc), and applies it as the control output.
-The adaptation parameter is updated based on the derivative of the error and the adaptation rate (Lambda).
-
-The main function demonstrates how to use the mracControl function by providing sample values for the reference
- speed, measured speed, and adaptation parameter. It calculates the control output and prints it to the console.
-
-Please note that this is a simplified example, and in a real-world scenario, you would need to consider
-the specific motor dynamics, tuning of parameters, and implementation details based on the control
-requirements of your motor system.
- */
-
-
-// Constants for the MRAC algorithm
-#define Kc 0.5  // Controller gain
-#define Lambda 0.1  // Adaptation rate
-
-// Reference model parameters
-#define Km 0.5  // Model gain
-#define Tm 1.0  // Model time constant
-
-// Function to calculate the MRAC control output
-float mracControl(float reference_speed, float measured_speed, float adaptation_param)
-{
-    static float control_output = 0.0;
-    static float prev_error = 0.0;
-
-    // Calculate the error
-    float error = reference_speed - measured_speed;
-
-    // Calculate the control output
-    control_output = Kc * adaptation_param * error;
-
-    // Update the adaptation parameter
-    float derivative_error = (error - prev_error) / Tm;
-    adaptation_param += Lambda * derivative_error;
-
-    // Store the current error for the next iteration
-    prev_error = error;
-
-    return control_output;
-}
-
-int main2()
-{
-    float reference_speed = 100.0; // Desired speed reference
-    float measured_speed = 85.0; // Measured speed of the motor
-    float adaptation_param = 1.0; // Initial value for the adaptation parameter
-
-    // Calculate the MRAC control output
-    float control_output = mracControl(reference_speed, measured_speed, adaptation_param);
-
-    printf("Control Output: %f\n", control_output);
-
-    return 0;
-}
-
-
-//////////////////////////////////////
-
-/*
- In this simplified example, the strControl function implements the STR algorithm for motor speed control.
- It takes the desired speed reference (reference_speed), the measured speed of the motor (measured_speed),
- and the adaptation parameter (adaptation_param) as inputs. It returns the control output.
-
-The STR algorithm calculates the error between the reference speed and the measured speed.
-It then multiplies the error by the adaptation parameter, controller gain (Kc), and applies it as the control output.
-
-The updateAdaptationParam function updates the adaptation parameter based on the derivative of the error and the control output.
-It calculates the derivative error by comparing the current control output and the previous control output, divided by
-the difference in measured speed. The adaptation parameter is updated by adding the product of the derivative error and the adaptation rate (Lambda).
-
-The main function demonstrates how to use the strControl function and the updateAdaptationParam function
-by providing sample values for the reference speed, measured speed, and adaptation parameter.
-It calculates the control output, updates the adaptation parameter, and prints the control output to the console.
-
-Please note that this is a simplified example, and in a real-world scenario, you would need to consider the specific motor dynamics,
-tuning of parameters, and implementation details based on the control requirements of your motor system.
-
- */
-
-
-#include <stdio.h>
-
-// Constants for the STR algorithm
-#define Kc 0.5  // Initial controller gain
-#define Lambda 0.1  // Adaptation rate
-
-// Function to calculate the STR control output
-float strControl(float reference_speed, float measured_speed, float adaptation_param)
-{
-    static float control_output = 0.0;
-
-    // Calculate the error
-    float error = reference_speed - measured_speed;
-
-    // Calculate the control output
-    control_output = Kc * adaptation_param * error;
-
-    return control_output;
-}
-
-// Function to update the adaptation parameter
-float updateAdaptationParam(float adaptation_param, float measured_speed, float control_output)
-{
-    static float prev_error = 0.0;
-    static float prev_control_output = 0.0;
-
-    // Calculate the error derivative
-    float derivative_error = (control_output - prev_control_output) / (measured_speed - prev_error);
-
-    // Update the adaptation parameter
-    adaptation_param += Lambda * derivative_error;
-
-    // Store the current error and control output for the next iteration
-    prev_error = measured_speed;
-    prev_control_output = control_output;
-
-    return adaptation_param;
-}
-
-int main3()
-{
-    float reference_speed = 100.0; // Desired speed reference
-    float measured_speed = 85.0; // Measured speed of the motor
-    float adaptation_param = 1.0; // Initial value for the adaptation parameter
-
-    // Calculate the STR control output
-    float control_output = strControl(reference_speed, measured_speed, adaptation_param);
-
-    // Update the adaptation parameter
-    adaptation_param = updateAdaptationParam(adaptation_param, measured_speed, control_output);
-
-    printf("Control Output: %f\n", control_output);
-
-    return 0;
-}
-///////////////////////
-/*
-In this example, the adaptivePIControl function calculates the adaptive PI control
-output based on the reference speed, measured speed, and the current values of the
- proportional gain (Kp) and integral gain (Ki). The function also updates the integral term.
-
-The gradientDescentAdaptation function performs the gradient descent adaptation to
- adjust the gains (Kp and Ki) based on the error between the reference speed and the
- measured speed. It iteratively updates the gains using the gradients of the error
-  with respect to the gains.
-
-The main function demonstrates the usage of the adaptive PI control and the gradient
-descent adaptation. It initializes the gains, performs the adaptation, and calculates
- the control output. The control output is then printed to the console.
-
-Please note that this is a simplified example, and in a real-world scenario, you would
- need to consider the specific motor dynamics, tuning of parameters, and implementation
- details based on the control requirements of your motor system. Additionally, gradient
-  descent may not always be the most suitable adaptation algorithm for every situation,
-  and other algorithms may be more appropriate depending on the system characteristics
-  and control objectives.
- */
-
-
-// Constants for the adaptive PI control
-#define Kp_initial 1.0  // Initial proportional gain
-#define Ki_initial 0.5  // Initial integral gain
-#define Learning_rate 0.01  // Learning rate for adaptation
-#define Max_iterations 1000  // Maximum number of iterations for adaptation
-
-// Function to calculate the adaptive PI control output
-float adaptivePIControl(float reference_speed, float measured_speed, float *Kp, float *Ki)
-{
-    static float integral_term = 0.0;
-    float error = reference_speed - measured_speed;
-
-    // Update the integral term
-    integral_term += error;
-
-    // Calculate the control output
-    float control_output = (*Kp) * error + (*Ki) * integral_term;
-
-    return control_output;
-}
-
-// Function to perform gradient descent adaptation
-void gradientDescentAdaptation(float reference_speed, float measured_speed, float *Kp, float *Ki)
-{
-    int iteration;
-    float error;
-    float Kp_gradient, Ki_gradient;
-
-    for (iteration = 0; iteration < Max_iterations; iteration++)
-    {
-        // Calculate the error
-        error = reference_speed - measured_speed;
-
-        // Calculate the gradients
-        Kp_gradient = error;
-        Ki_gradient = error;
-
-        // Update the gains using gradient descent
-        *Kp += Learning_rate * Kp_gradient;
-        *Ki += Learning_rate * Ki_gradient;
-    }
-}
-
-int main4()
-{
-    float reference_speed = 100.0;  // Desired speed reference
-    float measured_speed = 85.0;  // Measured speed of the motor
-
-    // Initialize the gains
-    float Kp = Kp_initial;
-    float Ki = Ki_initial;
-
-    // Perform gradient descent adaptation
-    gradientDescentAdaptation(reference_speed, measured_speed, &Kp, &Ki);
-
-    // Calculate the adaptive PI control output
-    float control_output = adaptivePIControl(reference_speed, measured_speed, &Kp, &Ki);
-
-    printf("Control Output: %f\n", control_output);
-
-    return 0;
-}
-
-
-
-/////////////////////////////////////////////////////
-/*
-In this example, the adaptivePIControl function calculates the adaptive PI control
- output based on the reference speed, measured speed, and the current values of the
- proportional gain (Kp) and integral gain (Ki). The function also updates the integral term.
-
-The rlsAdaptation function performs the Recursive Least Squares (RLS) adaptation to
- adjust the gains (Kp and Ki) based on the error between the reference speed and the
-  measured speed. It iteratively updates the estimates of the gains and the covariance
-  matrix using the RLS algorithm.
-
-The main function demonstrates the usage of the adaptive PI control and the RLS adaptation.
- It initializes the gains and covariance matrix, performs the adaptation, and calculates
- the control output. The control output is then printed to the console.
-
-Please note that this is a simplified example, and in a real-world scenario, you would
-need to consider the specific motor dynamics, tuning of parameters, and implementation
-details based on the control requirements of your motor system. Additionally, the RLS
-algorithm may require additional considerations such as regularization techniques to
- handle numerical stability and noise in the measurements.
- */
-
-#include <stdio.h>
-#include <math.h>
-
-// Constants for the adaptive PI control and RLS algorithm
-#define Lambda 0.9  // Forgetting factor
-#define Initial_estimate 1.0  // Initial estimate for covariance matrix
-#define Max_iterations 1000  // Maximum number of iterations for adaptation
-
-// Function to calculate the adaptive PI control output
-float adaptivePIControl(float reference_speed, float measured_speed, float Kp, float Ki)
-{
-    static float integral_term = 0.0;
-    float error = reference_speed - measured_speed;
-
-    // Update the integral term
-    integral_term += error;
-
-    // Calculate the control output
-    float control_output = Kp * error + Ki * integral_term;
-
-    return control_output;
-}
-
-// Function to perform Recursive Least Squares (RLS) adaptation
-void rlsAdaptation(float reference_speed, float measured_speed, float *Kp, float *Ki, float *P)
-{
-    int iteration;
-    float error;
-    float integral_term = 0.0;
-    float Kp_estimate = *Kp;
-    float Ki_estimate = *Ki;
-    float P_estimate = *P;
-
-    for (iteration = 0; iteration < Max_iterations; iteration++)
-    {
-        // Calculate the error
-        error = reference_speed - measured_speed;
-
-        // Update the integral term
-        integral_term += error;
-
-        // Calculate the gain vector
-        float K_vector = P_estimate * integral_term / (Lambda + integral_term * P_estimate * integral_term);
-
-        // Update the estimates
-        Kp_estimate += K_vector * error;
-        Ki_estimate += K_vector * integral_term;
-        P_estimate = P_estimate / (Lambda + integral_term * P_estimate * integral_term);
-
-        // Update the gains
-        *Kp = Kp_estimate;
-        *Ki = Ki_estimate;
-        *P = P_estimate;
-    }
-}
-
-int main()
-{
-    float reference_speed = 100.0;  // Desired speed reference
-    float measured_speed = 85.0;  // Measured speed of the motor
-
-    // Initialize the gains and covariance matrix
-    float Kp = 1.0;
-    float Ki = 0.5;
-    float P = Initial_estimate;
-
-    // Perform RLS adaptation
-    rlsAdaptation(reference_speed, measured_speed, &Kp, &Ki, &P);
-
-    // Calculate the adaptive PI control output
-    float control_output = adaptivePIControl(reference_speed, measured_speed, Kp, Ki);
-
-    printf("Control Output: %f\n", control_output);
-
-    return 0;
-}
-/////////////////////////////////////////////////////
-/*
-In this example, the adaptivePIControl function calculates the adaptive PI
-control output based on the reference speed, measured speed, and the current
-values of the proportional gain (Kp) and integral gain (Ki). The function also
- updates the integral term.
-
-The lmsAdaptation function performs the Least Mean Squares (LMS) adaptation to
-adjust the gains (Kp and Ki) based on the error between the reference speed and
-the measured speed. It iteratively updates the estimates of the gains using the
-LMS algorithm.
-
-The main function demonstrates the usage of the adaptive PI control and the
- LMS adaptation. It initializes the gains, performs the adaptation, and calculates
- the control output. The control output is then printed to the console.
-
-Please note that this is a simplified example, and in a real-world scenario, you
- would need to consider the specific motor dynamics, tuning of parameters, and
- implementation details based on the control requirements of your motor system.
-  Additionally, the LMS algorithm may require additional considerations such as
-  step-size adaptation techniques or regularization to improve convergence and handle
-   noise in the measurements.
- */
-
-// Constants for the adaptive PI control and LMS algorithm
-#define Step_size 0.01  // Step size for adaptation
-#define Max_iterations 1000  // Maximum number of iterations for adaptation
-
-// Function to calculate the adaptive PI control output
-float adaptivePIControl(float reference_speed, float measured_speed, float Kp, float Ki)
-{
-    static float integral_term = 0.0;
-    float error = reference_speed - measured_speed;
-
-    // Update the integral term
-    integral_term += error;
-
-    // Calculate the control output
-    float control_output = Kp * error + Ki * integral_term;
-
-    return control_output;
-}
-
-// Function to perform Least Mean Squares (LMS) adaptation
-void lmsAdaptation(float reference_speed, float measured_speed, float *Kp, float *Ki)
-{
-    int iteration;
-    float error;
-    float integral_term = 0.0;
-    float Kp_estimate = *Kp;
-    float Ki_estimate = *Ki;
-
-    for (iteration = 0; iteration < Max_iterations; iteration++)
-    {
-        // Calculate the error
-        error = reference_speed - measured_speed;
-
-        // Update the integral term
-        integral_term += error;
-
-        // Update the estimates
-        Kp_estimate += Step_size * error;
-        Ki_estimate += Step_size * integral_term;
-
-        // Update the gains
-        *Kp = Kp_estimate;
-        *Ki = Ki_estimate;
-    }
-}
-
-int main()
-{
-    float reference_speed = 100.0;  // Desired speed reference
-    float measured_speed = 85.0;  // Measured speed of the motor
-
-    // Initialize the gains
-    float Kp = 1.0;
-    float Ki = 0.5;
-
-    // Perform LMS adaptation
-    lmsAdaptation(reference_speed, measured_speed, &Kp, &Ki);
-
-    // Calculate the adaptive PI control output
-    float control_output = adaptivePIControl(reference_speed, measured_speed, Kp, Ki);
-
-    printf("Control Output: %f\n", control_output);
-
-    return 0;
-}
-
-//////////////////////////////////////////////
-
-
-/*
-In this example, the adaptiveControl function calculates the adaptive control
- output based on the reference input and the measured output of the plant.
- It also updates the state variable and adapts the plant parameters using the
- MRAC algorithm.
-
-The state variable represents the internal state of the plant model and is
- updated using the plant gain and the difference between the reference input
- and the current state variable multiplied by the adaptation rate.
-
-The control output is calculated using the updated state variable.
-
-The plant parameters, including the gain and time constant, are adapted using
-the error between the measured output and the reference input, the state
-variable, and the adaptation rate.
-
-The main function demonstrates the usage of the adaptive control and the MRAC
-algorithm. It initializes the plant parameters, performs the adaptation, and
-calculates the control output. The control output is then printed to the console.
-
-Please note that this is a simplified example, and in a real-world scenario,
-you would need to consider the specific plant dynamics, tuning of parameters,
-and implementation details based on the control requirements of your system.
-Additionally, the MRAC algorithm may require additional considerations such as
-stability analysis, anti-windup techniques, and robustness enhancements to handle
- modeling uncertainties and external disturbances.
- */
-
-// Constants for the model reference adaptive control (MRAC)
-#define Adaptation_rate 0.01  // Adaptation rate for parameter updates
-#define Reference_model_gain 1.0  // Gain of the reference model
-#define Reference_model_time_constant 1.0  // Time constant of the reference model
-
-// Function to calculate the adaptive control output
-float adaptiveControl(float reference_input, float measured_output, float *plant_gain, float *plant_time_constant)
-{
-    static float state_variable = 0.0;
-    float control_output;
-
-    // Update the state variable using the plant model
-    state_variable += (*plant_gain) * (reference_input - state_variable) * Adaptation_rate;
-
-    // Calculate the control output using the updated state variable
-    control_output = state_variable;
-
-    // Adapt the plant parameters using the error between the measured output and the reference input
-    float error = reference_input - measured_output;
-    *plant_gain += error * state_variable * Adaptation_rate;
-    *plant_time_constant += error * state_variable * state_variable * Adaptation_rate;
-
-    return control_output;
-}
-
-int main()
-{
-    float reference_input = 1.0;  // Desired reference input
-    float measured_output = 0.0;  // Measured output of the plant
-
-    // Initialize the plant parameters
-    float plant_gain = 0.5;
-    float plant_time_constant = 0.75;
-
-    // Calculate the adaptive control output
-    float control_output = adaptiveControl(reference_input, measured_output, &plant_gain, &plant_time_constant);
-
-    printf("Control Output: %f\n", control_output);
-
-    return 0;
-}
-////////////////////////////////////////////
-
-#include <stdio.h>
-
-// Constants for the PID control
-#define Kp 1.0  // Proportional gain
-#define Ki 0.5  // Integral gain
-#define Kd 0.2  // Derivative gain
-
-// Function to calculate the PID control output
-float PIDControl(float reference_value, float measured_value, float *previous_error, float *integral)
-{
-    float error = reference_value - measured_value;
-    float derivative = error - (*previous_error);
-
-    // Update the integral term
-    *integral += error;
-
-    // Calculate the control output
-    float control_output = Kp * error + Ki * (*integral) + Kd * derivative;
-
-    // Update the previous error
-    *previous_error = error;
-
-    return control_output;
-}
-
-int main()
-{
-    float reference_value = 10.0;  // Desired reference value
-    float measured_value = 8.0;  // Measured value
-
-    // Initialize variables for PID control
-    float previous_error = 0.0;
-    float integral = 0.0;
-
-    // Calculate the PID control output
-    float control_output = PIDControl(reference_value, measured_value, &previous_error, &integral);
-
-    printf("Control Output: %f\n", control_output);
-
-    return 0;
-}

Inu/Src/N12_Libs/not_use/pi_adaptive.c

@@ -1,40 +0,0 @@
-#include <stdio.h>
-
-// Ïàðàìåòðû ðåãóëÿòîðà
-double kp = 0.5;  // Êîýôôèöèåíò ïðîïîðöèîíàëüíîé ñîñòàâëÿþùåé
-double ki = 0.2;  // Êîýôôèöèåíò èíòåãðàëüíîé ñîñòàâëÿþùåé
-double e_prev = 0; // Ïðåäûäóùåå çíà÷åíèå îøèáêè
-double i_term = 0; // Èíòåãðàëüíàÿ ñîñòàâëÿþùàÿ
-
-// Ôóíêöèÿ, ðàññ÷èòûâàþùàÿ óïðàâëÿþùåå âîçäåéñòâèå
-double calculate_control_action(double setpoint, double process_variable)
-{
-    double error = setpoint - process_variable; // Âû÷èñëÿåì îøèáêó
-
-    // Âû÷èñëÿåì èíòåãðàëüíóþ ñîñòàâëÿþùóþ
-    i_term += ki * error;
-
-    // Àäàïòèâíûé êîýôôèöèåíò ïðîïîðöèîíàëüíîé ñîñòàâëÿþùåé
-    double adaptive_kp = kp / (1 + (i_term * i_term));
-
-    // Âû÷èñëÿåì óïðàâëÿþùåå âîçäåéñòâèå
-    double control_action = adaptive_kp * error + i_term;
-
-    // Ñîõðàíÿåì ïðåäûäóùåå çíà÷åíèå îøèáêè
-    e_prev = error;
-
-    return control_action;
-}
-
-int main()
-{
-    double setpoint = 25.0; // Çàäàííîå çíà÷åíèå
-    double process_variable = 20.0; // Èçìåðåííîå çíà÷åíèå
-
-    // Ïå÷àòàåì óïðàâëÿþùåå âîçäåéñòâèå
-    printf("Control action: %f\n", calculate_control_action(setpoint, process_variable));
-
-    return 0;
-}
-
-

Inu/Src/N12_Libs/rmp_cntl_v2.c

@@ -1,193 +0,0 @@
-/*=====================================================================================
- File name:        RMP3CNTL.C  (IQ version)                  
-                    
- Originator:	Digital Control Systems Group
-			Texas Instruments
-
- Description:  The ramp3 down control                   
-
-=====================================================================================
- History:
--------------------------------------------------------------------------------------
- 04-15-2005	Version 3.20
--------------------------------------------------------------------------------------*/
-#include "dmctype.h"
-#include "IQmathLib.h"         // Include header for IQmath library
-
-#include "rmp_cntl_v2.h"
-
-/*
- * PosRampPlus
- * PosRampMinus
- * NegRampPlus
- * NegRampMinus
- */
-
-#pragma CODE_SECTION(rmp_cntl_v2_calc,".fast_run");
-void rmp_cntl_v2_calc(RMP_V2 *v)
-{
-	_iq tmp;
-	
-	tmp = v->DesiredInput - v->Out;
-
-	if (v->Out>=0)
-	{
-	// äë˙ ďîëîćčňĺëüíîé ÷ŕńňč
-
-
-	    if (v->Out >= v->RampHighLimit1)
-	    {
-	        // ěű íŕ âňîđîě óđîâíĺ
-	        if (tmp > (_iq)v->PosRampPlus2)
-	        {
-	            v->Out += v->PosRampPlus2;
-	            if (v->Out > v->RampHighLimit)
-	                v->Out = v->RampHighLimit;
-	        }
-	        else
-	        {
-	            if (tmp < (_iq)v->PosRampMinus2)
-	            {
-	                v->Out += (_iq)v->PosRampMinus2;
-	                if (v->Out < v->RampLowLimit)
-	                    v->Out = v->RampLowLimit;
-	            }
-	            else
-	            {
-	                v->Out  = v->DesiredInput;
-	            }
-	        }
-
-
-	    }
-	    else
-	    {
-	        // ěű íŕ ďĺđâîě óđîâíĺ
-            if (tmp > (_iq)v->PosRampPlus1)
-            {
-                v->Out += v->PosRampPlus1;
-                if (v->Out > v->RampHighLimit)
-                    v->Out = v->RampHighLimit;
-            }
-            else
-            {
-                if (tmp < (_iq)v->PosRampMinus1)
-                {
-                    v->Out += (_iq)v->PosRampMinus1;
-                    if (v->Out < v->RampLowLimit)
-                        v->Out = v->RampLowLimit;
-                }
-                else
-                {
-                    v->Out  = v->DesiredInput;
-                }
-            }
-
-	    }
-
-//        if (tmp > (_iq)v->PosRampPlus)
-//        {
-//            //v->RampDoneFlag = 0;
-//            v->Out += v->PosRampPlus;
-//            if (v->Out > v->RampHighLimit)
-//                v->Out = v->RampHighLimit;
-//        }
-//        else
-//        {
-//            if (tmp < (_iq)v->PosRampMinus)
-//            {
-//                //v->RampDoneFlag = 0;
-//                v->Out += (_iq)v->PosRampMinus;
-//                if (v->Out < v->RampLowLimit)
-//                    v->Out = v->RampLowLimit;
-//            }
-//            else
-//            {
-//                v->Out  = v->DesiredInput;
-//                //v->RampDoneFlag = 0x7FFFFFFF;
-//            }
-//        }
-
-	}
-	else
-	{
-	    // äë˙ îňđčö. ÷ŕńňč
-
-
-	    if (v->Out <= v->RampLowLimit1)
-	    {
-	        // ěű íŕ âňîđîě óđîâíĺ
-            if (tmp > (_iq)v->NegRampPlus2)
-            {
-                v->Out += v->NegRampPlus2;
-                if (v->Out > v->RampHighLimit)
-                    v->Out = v->RampHighLimit;
-            }
-            else
-            {
-                if (tmp < (_iq)v->NegRampMinus2)
-                {
-                    v->Out += (_iq)v->NegRampMinus2;
-                    if (v->Out < v->RampLowLimit)
-                        v->Out = v->RampLowLimit;
-                }
-                else
-                {
-                    v->Out  = v->DesiredInput;
-                }
-            }
-
-	    }
-	    else
-	    {
-	        // ěű íŕ ďĺđâîě óđîâíĺ
-            if (tmp > (_iq)v->NegRampPlus1)
-            {
-                v->Out += v->NegRampPlus1;
-                if (v->Out > v->RampHighLimit)
-                    v->Out = v->RampHighLimit;
-            }
-            else
-            {
-                if (tmp < (_iq)v->NegRampMinus1)
-                {
-                    v->Out += (_iq)v->NegRampMinus1;
-                    if (v->Out < v->RampLowLimit)
-                        v->Out = v->RampLowLimit;
-                }
-                else
-                {
-                    v->Out  = v->DesiredInput;
-                }
-            }
-
-	    }
-
-//	        if (tmp > (_iq)v->NegRampPlus)
-//	        {
-//	            //v->RampDoneFlag = 0;
-//	            v->Out += v->NegRampPlus;
-//	            if (v->Out > v->RampHighLimit)
-//	                v->Out = v->RampHighLimit;
-//	        }
-//	        else
-//	        {
-//	            if (tmp < (_iq)v->NegRampMinus)
-//	            {
-//	                //v->RampDoneFlag = 0;
-//	                v->Out += (_iq)v->NegRampMinus;
-//	                if (v->Out < v->RampLowLimit)
-//	                    v->Out = v->RampLowLimit;
-//	            }
-//	            else
-//	            {
-//	                v->Out  = v->DesiredInput;
-//	                //v->RampDoneFlag = 0x7FFFFFFF;
-//	            }
-//	        }
-
-	}
-
-}
-
-

Inu/Src/N12_Libs/rmp_cntl_v2.h

@@ -1,69 +0,0 @@
-/* =================================================================================
-File name:        RMP3CNTL.H  (IQ version)                  
-                    
-Originator:	Digital Control Systems Group
-			Texas Instruments
-
-Description: 
-Header file containing constants, data type definitions, and 
-function prototypes for the RMP3 module.
-=====================================================================================
- History:
--------------------------------------------------------------------------------------
- 04-15-2005	Version 3.20                                                  
-------------------------------------------------------------------------------*/
-#ifndef __RMP_CNTL_V2_H__
-#define __RMP_CNTL_V2_H__
-
-typedef struct { _iq DesiredInput; 		// Input: Desired ramp input (Q0) - independently with global Q
-
-				 _iq PosRampPlus1;			// Parameter: Ramp3 delay expressed in no of sampling period (Q0) - independently with global Q
-		 	 	 _iq PosRampMinus1;	        // Variable: Counter for rmp3 delay (Q0) - independently with global Q
-                 _iq PosRampPlus2;           // Parameter: Ramp3 delay expressed in no of sampling period (Q0) - independently with global Q
-                 _iq PosRampMinus2;          // Variable: Counter for rmp3 delay (Q0) - independently with global Q
-
-                 _iq NegRampPlus1;          // Parameter: Ramp3 delay expressed in no of sampling period (Q0) - independently with global Q
-                 _iq NegRampMinus1;         // Variable: Counter for rmp3 delay (Q0) - independently with global Q
-                 _iq NegRampPlus2;          // Parameter: Ramp3 delay expressed in no of sampling period (Q0) - independently with global Q
-                 _iq NegRampMinus2;         // Variable: Counter for rmp3 delay (Q0) - independently with global Q
-
-				 _iq Out;					// Output: Ramp3 output (Q0) - independently with global Q
-
-                 _iq RampLowLimit1;          // Parameter: Minimum ramp output (Q0) - independently with global Q
-                 _iq RampHighLimit1;         // Parameter: Minimum ramp output (Q0) - independently with global Q
-
-				 _iq RampLowLimit;	    	// Parameter: Minimum ramp output (Q0) - independently with global Q
-				 _iq RampHighLimit;	    	// Parameter: Minimum ramp output (Q0) - independently with global Q
-				 //Uint32 RampDoneFlag;		// Output: Flag output (Q0) - independently with global Q
-		  	  	 void (*calc)();	  		// Pointer to calculation function 
-				 } RMP_V2;
-
-typedef RMP_V2 *RMP_V2_handle;
-/*-----------------------------------------------------------------------------
-Default initalizer for the RMP3 object.
------------------------------------------------------------------------------*/                     
-#define RMP_V2_DEFAULTS { 0, \
-                        0, \
-                        0, \
-                        0, \
-                        0, \
-                        0, \
-                        0, \
-                        0, \
-                        0, \
-                        0, \
-                        0, \
-                        0, \
-                        0, \
-                        0x00000050, \
-             			(void (*)())rmp_cntl_v2_calc }
-
-/*------------------------------------------------------------------------------
-Prototypes for the functions in RMP3CNTL.C
-------------------------------------------------------------------------------*/
-void rmp_cntl_v2_calc(RMP_V2_handle);
-
-
-
-#endif // __RMP3_CNTL_H__
-

Inu/Src/N12_Libs/uf_alg_ing.c

@@ -26,7 +26,6 @@
 #include "svgen_dq.h"
 #include "svgen_mf.h"
 #include "dq_to_alphabeta_cos.h"
-#include "params_norma.h"
 
 
 
@@ -176,7 +175,6 @@ void uf_disbalance_uzpt(_iq Uzad_uf1, unsigned int disable_alg_u_disbalance, _iq
     _iq pwm_t,delta_U,Uplus,Uminus;
     volatile _iq Kplus;
     static _iq u1=0,u2=0;
-    static _iq delta_U_minimal = _IQ (25.0/NORMA_ACP);
 
     volatile _iq KplusMax;
 
@@ -189,9 +187,6 @@ void uf_disbalance_uzpt(_iq Uzad_uf1, unsigned int disable_alg_u_disbalance, _iq
 
     delta_U = Uplus - Uminus;
 
-    if (_IQabs(delta_U) < delta_U_minimal)
-        delta_U = 0;
-
     if (disable_alg_u_disbalance==0)
     {
         if (kplus_u_disbalance!=0) // åñëè ìû çàäàëè èçâíå, òî åãî è èñïîëüçóåì, ýòî äëÿ òåñòà.
@@ -355,15 +350,10 @@ void uf_const_f_24_Ing(_iq Fzad_uf1,_iq Fzad_uf2,_iq Uzad_uf1, _iq Uzad_uf2,
 
 
 ////////////////////////////////////////////////////////////
-#pragma CODE_SECTION(test_calc_simple_dq_pwm24_Ing,".v_24pwm_run");
-void test_calc_simple_dq_pwm24_Ing(_iq Fzad_uf1,
-                                   _iq Uzad_uf1,
-                                   unsigned int disable_alg_u_disbalance,
-                                   _iq kplus_u_disbalance,
-                                   _iq k_u_disbalance,
-                                   _iq U_1,
-                                   _iq U_2,
-                                   unsigned int flag_km_0,
+//#pragma CODE_SECTION(test_calc_simple_dq_pwm24_Ing,".v_24pwm_run");
+void test_calc_simple_dq_pwm24_Ing(_iq Fzad_uf1,_iq Uzad_uf1,
+                                   unsigned int disable_alg_u_disbalance, _iq kplus_u_disbalance, _iq k_u_disbalance,
+                                   _iq U_1, _iq U_2, unsigned int flag_km_0,
                                    _iq Uzad_max,
                                    _iq master_tetta,
                                    _iq master_Uzad_uf1,
@@ -611,14 +601,11 @@ void test_calc_vect_dq_pwm24_Ing(_iq Theta_zad,_iq Ud_zad, _iq Uq_zad,
     ////////////////////////////////////////
     Umod = _IQsqrt(_IQmpy(Ud_zad, Ud_zad) + _IQmpy(Uq_zad, Uq_zad));
     if (Umod > max_Km) {
-        Uq_zad = _IQsqrt(max_Km_square - _IQmpy(Ud_zad, Ud_zad));
+        Uq = _IQsqrt(max_Km_square - _IQmpy(Ud_zad, Ud_zad));
     }
-    Umod = _IQsqrt(_IQmpy(Ud_zad, Ud_zad) + _IQmpy(Uq_zad, Uq_zad));
-
     uf_disbalance_uzpt(Umod, disable_alg_u_disbalance, kplus_u_disbalance,
                        k_u_disbalance, U_1, U_2, Uzad_max, &Kplus);
     *Kplus_out = Kplus;
-
     *Uzad_out = Umod;
     ////////////////////////////////////////
     ////////////////////////////////////////

Inu/Src/N12_VectorControl/alg_pll.c

@@ -2,9 +2,9 @@
 #include "alg_pll.h"
 #include "params_pll.h"
 
-#include "params_norma.h"
 
-//#define NORMA_ACP 3000
+
+#define NORMA_ACP 3000
 //#define FREQ_PWM_VIPR 1975
 
 //#define SIZE_PLL_AVG	50
@@ -12,9 +12,8 @@
 //_iq w_in_avg[SIZE_PLL_AVG];
 //_iq w_out_avg[SIZE_PLL_AVG];
 
-#define DETECT_PLL_D (2000.0/NORMA_ACP) // ampl
-#define DETECT_PLL_Q (500.0/NORMA_ACP)  // zero
-
+#define DETECT_PLL_D (100.0/NORMA_ACP) // ampl
+#define DETECT_PLL_Q (100.0/NORMA_ACP)  // zero
 _iq iqDetect_PLL_d=_IQ(DETECT_PLL_D);
 _iq iqDetect_PLL_q=_IQ(DETECT_PLL_Q);
 
@@ -105,7 +104,7 @@ void AB_BC_CA_To_ABC(_iq U_AB, _iq U_BC, _iq U_CA, _iq *Ua, _iq *Ub, _iq *Uc)
 
 
 /////////////////////////////////////////////////
-#pragma CODE_SECTION(PLLController,".fast_run");
+//#pragma CODE_SECTION(PLLController,".fast_run");
 /////////////////////////////////////////////////
 void PLLController(PLL_REC *v)
 {
@@ -319,9 +318,9 @@ void PLLController(PLL_REC *v)
 //////////////////////////////////////////////////
 //////////////////////////////////////////////////
 /////////////////////////////////////////////////
-//#pragma CODE_SECTION(pll_get_freq,".fast_run");
+#pragma CODE_SECTION(pll_get_freq,".fast_run");
 /////////////////////////////////////////////////
-void pll_get_freq_float(PLL_REC *v)
+void pll_get_freq(PLL_REC *v)
 {
 
 	if (v->output.flag_find_pll)
@@ -337,22 +336,9 @@ void pll_get_freq_float(PLL_REC *v)
 
 //////////////////////////////////////////////////
 //////////////////////////////////////////////////
-void pll_get_freq_iq(PLL_REC *v)
-{
-
-    if (v->output.flag_find_pll)
-    {
-        v->output.iq_freq_net = v->vars.w_shtrih;//_IQtoF( v->vars.w_shtrih) * v->setup.freq_run_pll / PI * 50.00; // freq*100
-    }
-    else
-    {
-      v->output.iq_freq_net = 0;
-    }
-
-}
 
 //////////////////////////////////////////////////
-//#pragma CODE_SECTION(detect_phase_count,".fast_run");
+
 void detect_phase_count(PLL_REC *v)
 {
 	static _iq prev_Ua = 0;

Inu/Src/N12_VectorControl/alg_pll.h

@@ -59,11 +59,10 @@ typedef struct { _iq Input_U_AB;  //
 
 typedef struct { int flag_find_pll; 
 				 int int_freq_net;
-				 _iq iq_freq_net;
 				 int status;
 				 } PLL_OUTPUT;
 
-#define PLL_OUTPUT_DEFAULT	{0, 0, 0, STATUS_PLL_NOT_INITED}
+#define PLL_OUTPUT_DEFAULT	{0, 0, STATUS_PLL_NOT_INITED}
 
 ////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////
@@ -140,8 +139,7 @@ typedef struct {  PLL_INPUT input;
 				  PLL_VARS vars;
 				  void (*init)(); // Pointer to calculation function
 				  void (*calc_pll)(); // Pointer to calculation function
-				  void (*get_freq_float)(); // Pointer to calculation function
-				  void (*get_freq_iq)();
+				  void (*get_freq)(); // Pointer to calculation function
 				 }PLL_REC;
 
 typedef PLL_REC *PLL_REC_handle;
@@ -153,14 +151,12 @@ typedef PLL_REC *PLL_REC_handle;
 								PLL_VARS_DEFAULT,\
 								(void (*)(unsigned long))pll_init,\
 								(void (*)(unsigned long))pll_calc,\
-								(void (*)(unsigned long))pll_get_freq_float,\
-								(void (*)(unsigned long))pll_get_freq_iq \
-                                }
+								(void (*)(unsigned long))pll_get_freq\
+								}
 
 void pll_init(PLL_REC_handle);
 void pll_calc(PLL_REC_handle);
-void pll_get_freq_float(PLL_REC_handle);
-void pll_get_freq_iq(PLL_REC_handle);
+void pll_get_freq(PLL_REC_handle);
 
 void Find_zero_Uabc(PLL_REC_handle);
 void PLLController(PLL_REC *v);

Inu/Src/N12_VectorControl/teta_calc.c

@@ -32,7 +32,7 @@ void init_teta_calc_struct()
     tetta_calc.hz_to_angle = _IQ(2.0 * PI * NORMA_FROTOR / FREQ_PWM);
 }
 
-//#pragma CODE_SECTION(calc_teta_Id,".fast_run");
+#pragma CODE_SECTION(calc_teta_Id,".fast_run");
 void calc_teta_Id(_iq Frot, _iq Id, _iq Iq, _iq *theta_out, _iq *theta_to_slave, _iq *Fsl_out, _iq *Fstator_out,
 					unsigned int master, int reset) {
 
@@ -56,10 +56,9 @@ void calc_teta_Id(_iq Frot, _iq Id, _iq Iq, _iq *theta_out, _iq *theta_to_slave,
     } else {
         Fsl = 0;
     }
-
     if (Fsl > MAX_Ud_Pid_Out_Id) { Fsl = MAX_Ud_Pid_Out_Id;}
-    if (Fsl < -MAX_Ud_Pid_Out_Id) { Fsl = -MAX_Ud_Pid_Out_Id;}
-//    if (Fsl < 0) { Fsl = 0;}
+//    if (Fsl < -MAX_Ud_Pid_Out_Id) { Fsl = -MAX_Ud_Pid_Out_Id;}
+    if (Fsl < 0) { Fsl = 0;}
 
     Fst = Frot * POLUS + Fsl;
     add_to_tic = _IQmpy(Fst, tetta_calc.hz_to_angle);

Inu/Src/N12_VectorControl/vector_control.c

@@ -85,7 +85,7 @@ void vectorControlConstId (_iq Pzad, _iq Fzad, int direction, _iq Frot,
     _iq P_measured = 0;
     static _iq Ud_zad1 = 0, Uq_zad1 = 0, Ud_zad2 = 0, Uq_zad2 = 0;
 
-//    if(direction < 0) { Frot = -Frot; }
+    if(direction < 0) { Frot = -Frot; }
 
     if (reset) {
         Ud_zad1 = 0;
@@ -134,13 +134,8 @@ void vectorControlConstId (_iq Pzad, _iq Fzad, int direction, _iq Frot,
         vect_control.iqUqKm = Uq_zad1 + vect_control.iqUqCompensation;
     }
 
-    vect_control.sqrtIdq1 = _IQsqrt(_IQmpy(vect_control.iqId1, vect_control.iqId1) + _IQmpy(vect_control.iqIq1, vect_control.iqIq1));
     analog_Udq_calc(Ud_zad1, Uq_zad1, Ud_zad2, Uq_zad2);
     *Iq_to_slave = Iq_zad;
-
-    vect_control.Iq_zad1 = Iq_zad;
-    vect_control.Id_zad1 = Id_zad;
-
 }
 
 

Inu/Src/N12_VectorControl/vector_control.h

@@ -49,22 +49,12 @@ typedef struct {
     _iq koef_Ud_comp;
     _iq koef_Uq_comp;
     _iq koef_zero_Uzad;
-    _iq add_tetta;
-
-    _iq sqrtIdq1;
-    _iq sqrtIdq2;
-
-    _iq Iq_zad1;
-    _iq Id_zad1;
-
-    _iq add_bpsi;
-
 } VECTOR_CONTROL;
 
 #define VECTOR_CONTROL_DEFAULTS  {PIDREG3_DEFAULTS, PIDREG3_DEFAULTS, \
                                 PIDREG3_DEFAULTS, PIDREG3_DEFAULTS, \
                                 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0, \
-                                0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
+                                0,0,0,0,0,0,0,0,0,0,0}
 
 void vectorControlConstId (_iq Pzad, _iq Fzad, int direction, _iq Frot,
 						   int n_alg, unsigned int master, _iq mzz_zad,

Inu/Src/N12_Xilinx/RS_Function_terminal.h

@@ -73,9 +73,6 @@ typedef struct
     CMD_DIGIT_BYTE_STRUCT Byte03;
     CMD_DIGIT_BYTE_STRUCT Byte04;
 
-    CMD_DIGIT_BYTE_STRUCT Byte05;
-    CMD_DIGIT_BYTE_STRUCT Byte06;
-
 } CMD_DIGIT_DATA_STRUCT;
 
 typedef struct
@@ -115,13 +112,6 @@ typedef struct
     CHAR analog1_hi;    // ñòàðøèé áàéò çàäàííîé ñêîðîñòè
     CHAR analog2_lo;    // ìëàäøèé áàéò çàäàííîé ñêîðîñòè
     CHAR analog2_hi;    // ñòàðøèé áàéò çàäàííîé ñêîðîñòè
-    CHAR analog3_lo;    // ìëàäøèé áàéò çàäàííîé ñêîðîñòè
-    CHAR analog3_hi;    // ñòàðøèé áàéò çàäàííîé ñêîðîñòè
-    CHAR analog4_lo;    // ìëàäøèé áàéò çàäàííîé ñêîðîñòè
-    CHAR analog4_hi;    // ñòàðøèé áàéò çàäàííîé ñêîðîñòè
-    CHAR analog5_lo;    // ìëàäøèé áàéò çàäàííîé ñêîðîñòè
-    CHAR analog5_hi;    // ñòàðøèé áàéò çàäàííîé ñêîðîñòè
-
 } CMD_ANALOG_DATA_TEST_ALL_STRUCT;
 
 typedef struct
@@ -221,19 +211,6 @@ typedef struct
     CMD_DIGIT_BYTE_STRUCT byte49;
     CMD_DIGIT_BYTE_STRUCT byte50;
 
-    CMD_DIGIT_BYTE_STRUCT byte51;
-    CMD_DIGIT_BYTE_STRUCT byte52;
-
-    CMD_DIGIT_BYTE_STRUCT byte53;
-    CMD_DIGIT_BYTE_STRUCT byte54;
-
-    CMD_DIGIT_BYTE_STRUCT byte55;
-    CMD_DIGIT_BYTE_STRUCT byte56;
-
-    CMD_DIGIT_BYTE_STRUCT byte57;
-    CMD_DIGIT_BYTE_STRUCT byte58;
-    CMD_DIGIT_BYTE_STRUCT byte59;
-    CMD_DIGIT_BYTE_STRUCT byte60;
 
 } ANS_DIGIT_DATA_TO_TERMINAL_STRUCT;            // Äèñêðåòíûå âåëè÷èíû ïîñûëêè îò ÑÓ
 
@@ -384,67 +361,6 @@ typedef struct
     CHAR analog68_lo;
     CHAR analog68_hi;
 
-    CHAR analog69_lo;
-    CHAR analog69_hi;
-    CHAR analog70_lo;
-    CHAR analog70_hi;
-    CHAR analog71_lo;
-    CHAR analog71_hi;
-    CHAR analog72_lo;
-    CHAR analog72_hi;
-    CHAR analog73_lo;
-    CHAR analog73_hi;
-    CHAR analog74_lo;
-    CHAR analog74_hi;
-    CHAR analog75_lo;
-    CHAR analog75_hi;
-    CHAR analog76_lo;
-    CHAR analog76_hi;
-    CHAR analog77_lo;
-    CHAR analog77_hi;
-    CHAR analog78_lo;
-    CHAR analog78_hi;
-    CHAR analog79_lo;
-    CHAR analog79_hi;
-    CHAR analog80_lo;
-    CHAR analog80_hi;
-
-    CHAR analog81_lo;
-    CHAR analog81_hi;
-    CHAR analog82_lo;
-    CHAR analog82_hi;
-    CHAR analog83_lo;
-    CHAR analog83_hi;
-    CHAR analog84_lo;
-    CHAR analog84_hi;
-
-    CHAR analog85_lo;
-    CHAR analog85_hi;
-    CHAR analog86_lo;
-    CHAR analog86_hi;
-    CHAR analog87_lo;
-    CHAR analog87_hi;
-    CHAR analog88_lo;
-    CHAR analog88_hi;
-    CHAR analog89_lo;
-    CHAR analog89_hi;
-
-    CHAR analog90_lo;
-    CHAR analog90_hi;
-    CHAR analog91_lo;
-    CHAR analog91_hi;
-    CHAR analog92_lo;
-    CHAR analog92_hi;
-    CHAR analog93_lo;
-    CHAR analog93_hi;
-    CHAR analog94_lo;
-    CHAR analog94_hi;
-
-    CHAR analog95_lo;
-    CHAR analog95_hi;
-    CHAR analog96_lo;
-    CHAR analog96_hi;
-
 
 } TMS_ANALOG_DATA_STRUCT;
 
@@ -498,17 +414,6 @@ typedef struct
     CMD_DIGIT_BYTE_STRUCT byte23;
     CMD_DIGIT_BYTE_STRUCT byte24;
 
-    CMD_DIGIT_BYTE_STRUCT byte25;
-    CMD_DIGIT_BYTE_STRUCT byte26;
-    CMD_DIGIT_BYTE_STRUCT byte27;
-    CMD_DIGIT_BYTE_STRUCT byte28;
-    CMD_DIGIT_BYTE_STRUCT byte29;
-    CMD_DIGIT_BYTE_STRUCT byte30;
-    CMD_DIGIT_BYTE_STRUCT byte31;
-    CMD_DIGIT_BYTE_STRUCT byte32;
-    CMD_DIGIT_BYTE_STRUCT byte33;
-    CMD_DIGIT_BYTE_STRUCT byte34;
-
 } ANS_DIGIT_DATA_TO_TERMINAL_TEST_ALL_STRUCT;
 
 typedef struct

Inu/Src/N12_Xilinx/RS_Functions.c

@@ -1,5 +1,3 @@
-#include "params.h"
-#include "global_time.h"
 #include "RS_Functions.h"
 
 #include <project.h>
@@ -18,9 +16,6 @@
 #include "CRC_Functions.h"
 #include "TuneUpPlane.h" //ñâåòîäèîäèê
 
-#include "pwm_test_lines.h"
-#include "profile_interrupt.h"
-
 
 #define _ENABLE_INTERRUPT_RS232_LED2    0//1
 
@@ -29,8 +24,8 @@
 
 #define RS232_SPEED					    57600//115200
 
-#define COM_1 							0 //1
-#define COM_2							1 //2
+#define COM_1 							1
+#define COM_2							2
 //#define SIZE_MODBUS_TABLE				334
 //#define ADR_MODBUS_TABLE				0x0001
 
@@ -82,7 +77,8 @@
 //#define SCIb_Wait4OK()					while(!SCIb_OK())
 #define SCIb_Send(a) 					ScibRegs.SCITXBUF = (unsigned char)a
 
-
+#define EnableReceiveRS485()			GpioDataRegs.GPBDAT.bit.GPIOB14 = 1
+#define EnableSendRS485()    			GpioDataRegs.GPBDAT.bit.GPIOB14 = 0
 
 #define SCIa_Get() 						SciaRegs.SCIRXBUF.bit.RXDT
 
@@ -111,10 +107,10 @@ unsigned int RS_Len[RS_LEN_CMD] = {0};
 char size_cmd15 = 1; 
 char size_cmd16 = 1;
 
-//unsigned int  enable_profile_led1_rsa = 1;
-//unsigned int  enable_profile_led1_rsb = 1;
-//unsigned int  enable_profile_led2_rsa = 0;
-//unsigned int  enable_profile_led2_rsb = 0;
+unsigned int  enable_profile_led1_rsa = 1;
+unsigned int  enable_profile_led1_rsb = 1;
+unsigned int  enable_profile_led2_rsa = 0;
+unsigned int  enable_profile_led2_rsb = 0;
 
 
 
@@ -125,8 +121,6 @@ int ADDR_FOR_ALL = ADDR_FOR_ALL_DEF;
 float KmodTerm = 0.0, freqTerm = 0.0; 
 
 int flag_special_mode_rs = 0;
-int disable_flag_special_mode_rs = 0;
-
 
 
 void  RS_Wait4OK_TXRDY(char commnumber);
@@ -147,27 +141,6 @@ void RS_LineToSend(char commnumber);
 void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr);
 //int RS232_BSend(RS_DATA_STRUCT *RS232_Arr,unsigned int *pBuf, unsigned long len);
 
-
-void EnableReceiveRS485(void)
-{
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_19_ON;
-#endif
-
-     GpioDataRegs.GPBDAT.bit.GPIOB14 = 1;
-}
-
-void EnableSendRS485(void)
-{
-
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_19_OFF;
-#endif
-
-    GpioDataRegs.GPBDAT.bit.GPIOB14 = 0;
-}
-
-
 void T_Flash(RS_DATA_STRUCT *RS232_Arr) 
 {
 	volatile unsigned long Address1,Address2;
@@ -338,12 +311,9 @@ void SCI_SwReset(char commnumber)
 //////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////
 
-//static int buf_fifo_rsa[17]={0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0};
-//static int buf_fifo_rsb[17]={0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0};
+static int buf_fifo_rsa[17]={0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0};
+static int buf_fifo_rsb[17]={0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0};
 
-static int buf_fifo_rs_ab[2][17]={ {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0}, {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0} };
-
-#pragma CODE_SECTION(my_test_rs,".fast_run2");
 int my_test_rs(int comn)
 {
     int cc=0;
@@ -353,7 +323,7 @@ int my_test_rs(int comn)
     {
         while ((SciaRegs.SCIFFRX.bit.RXFIFST != 0) )
         {
-            buf_fifo_rs_ab[comn][cc++] = SciaRegs.SCIRXBUF.bit.RXDT;
+            buf_fifo_rsa[cc++] = SciaRegs.SCIRXBUF.bit.RXDT;
             if (cc>=17) cc = 0;
         }
         return cc;
@@ -362,7 +332,7 @@ int my_test_rs(int comn)
     {
         while ((ScibRegs.SCIFFRX.bit.RXFIFST != 0) )
         {
-            buf_fifo_rs_ab[comn][cc++] = ScibRegs.SCIRXBUF.bit.RXDT;
+            buf_fifo_rsb[cc++] = ScibRegs.SCIRXBUF.bit.RXDT;
             if (cc>=17) cc = 0;
         }
         return cc;
@@ -371,7 +341,6 @@ int my_test_rs(int comn)
 }
 
 ///////////////
-//#pragma CODE_SECTION(RS_RXA_Handler_fast,".fast_run2");
 void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
 {
     char Rc;
@@ -380,7 +349,6 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
 
 //i_led2_on_off(1);
 
-
     ClearTimerRS_Live(RS232_Arr);
 
     cn = RS232_Arr->commnumber;
@@ -393,7 +361,7 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
             if (SciaRegs.SCIRXST.bit.RXERROR)
             {
 //                Rc = SciaRegs.SCIRXBUF.all;
-                (RS232_Arr->count_recive_rxerror)++;
+                RS232_Arr->count_recive_rxerror++;
                 RS232_Arr->do_resetup_rs = 1;
             }
             if (SciaRegs.SCIRXST.bit.RXWAKE)
@@ -407,7 +375,7 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
             if (ScibRegs.SCIRXST.bit.RXERROR)
             {
 //                Rc = SciaRegs.SCIRXBUF.all;
-                (RS232_Arr->count_recive_rxerror)++;
+                RS232_Arr->count_recive_rxerror++;
                 RS232_Arr->do_resetup_rs = 1;
             }
             if (ScibRegs.SCIRXST.bit.RXWAKE)
@@ -435,14 +403,12 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
 //            continue;
 //        }
         cc1--;
+        if (cn==COM_1)
+            Rc = buf_fifo_rsa[cc2++];//SciaRegs.SCIRXBUF.all;// SciaRegs.SCIRXBUF.bit.RXDT;//RS_Get(RS232_Arr->commnumber);         // ×èòàåì ñèìâîë â ëþáîì ñëó÷àå
+        else
+            Rc = buf_fifo_rsb[cc2++];
 
-//        if (cn==COM_1)
-          Rc = buf_fifo_rs_ab[cn][cc2];//SciaRegs.SCIRXBUF.all;// SciaRegs.SCIRXBUF.bit.RXDT;//RS_Get(RS232_Arr->commnumber);         // ×èòàåì ñèìâîë â ëþáîì ñëó÷àå
-//        else
-//            Rc = buf_fifo_rsb[cc2];
-        cc2++;
-
-        (RS232_Arr->count_recive_bytes_all)++;
+        RS232_Arr->count_recive_bytes_all++;
 //i_led2_on_off(0);
 
         if(RS232_Arr->RS_DataReady)
@@ -462,7 +428,7 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
 //i_led2_on_off(1);
         if(RS232_Arr->RS_FlagSkiping)
         {
-            (RS232_Arr->count_recive_bytes_skipped)++;
+            RS232_Arr->count_recive_bytes_skipped++;
             continue; // Íå íàì
         }
 
@@ -482,10 +448,10 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
                 }
                 else
                 {
-//i_led1_toggle();
+i_led1_toggle();
                     RS232_Arr->RS_FlagSkiping = true; // Íå íàøåìó êîíòðîëëåðó
                     RS232_Arr->RS_FlagBegin = false;  // îñòàëèñü â 9-áèò ðåæèìå
-                    (RS232_Arr->count_recive_cmd_skipped)++;
+                    RS232_Arr->count_recive_cmd_skipped++;
 //i_led1_on_off(0);
                 }
 //i_led2_on_off(1);
@@ -524,7 +490,7 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
                         RS232_Arr->RS_FlagBegin = true;
                         RS232_Arr->RS_FlagSkiping = false;
                         RS232_Arr->RS_Cmd=0;
-                        (RS232_Arr->count_recive_bad)++;
+                        RS232_Arr->count_recive_bad++;
                         continue;
                     }
                     if(RS232_Arr->RS_Cmd == 4) {
@@ -544,7 +510,7 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
                     RS232_Arr->RS_FlagSkiping = true;
                     RS232_Arr->RS_DataReady = true;
                     RS232_Arr->RS_Cmd=0;
-                    (RS232_Arr->count_recive_dirty)++;
+                    RS232_Arr->count_recive_dirty++;
                 }
 //i_led2_on_off(1);
             }
@@ -559,14 +525,14 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
 
             if(RS232_Arr->RS_PrevCmd != CMD_RS232_INITLOAD)
             {
-                (RS232_Arr->count_recive_bad)++;
+                RS232_Arr->count_recive_bad++;
                 continue;   // Ìû çäåñü îêàçàëèñü ïî êàêîé-òî ÷óäîâèùíîé îøèáêå
             }
 
             if(RS232_Arr->RS_DataReady)         // Åñëè äàííûå â îñíîâíîì öèêëå íå çàáðàíû,
             {                           // òî ïðîïóñêàåì ñëåäóþùóþ ïîñûëêó
                 RS232_Arr->RS_FlagSkiping = true;   // Èãíîðèðóåì äî ñëåäóþùåãî çàãîëîâêà
-                (RS232_Arr->count_recive_cmd_skipped)++;
+                RS232_Arr->count_recive_cmd_skipped++;
                 continue;
             }
 
@@ -580,7 +546,7 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
                 RS_SetBitMode(RS232_Arr,9);     // Ïîëó÷èëè âñå äàííûå ïåðåñòðîèëèñü â 9-áèò äëß RS485?
                 RS232_Arr->RS_FlagSkiping = true;   // Èãíîðèðóåì äî ñëåäóþùåãî çàãîëîâêà
                 RS232_Arr->RS_DataReady = true; // Ôëàã â îñíîâíîé öèêë - äàííûå ïîëó÷åíû
-                (RS232_Arr->count_recive_dirty)++;
+                RS232_Arr->count_recive_dirty++;
             }
         }
     }
@@ -603,20 +569,15 @@ int get_free_rs_fifo_tx(char commnumber)
 void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr)
 {
   char RS232_BytePtr;
-  unsigned int final_flag=0, free_fifo;
-  unsigned int i;
+  int final_flag=0, free_fifo;
+  int i;
 
-  static unsigned int max_s_b = 1; // ïîñûëàåì ïî max_s_b øòóê
-  unsigned int final_free_fifo=0;
 
 //  if(RS232_Arr->RS_SendBlockMode == BM_CHAR32)
 //  {
         free_fifo = get_free_rs_fifo_tx(RS232_Arr->commnumber);
         ClearTimerRS_Live(RS232_Arr);
 
-        if (free_fifo>=max_s_b)
-            free_fifo=max_s_b; // ïîñûëàåì ïî max_s_b øòóê
-
         for (i=0;i<free_fifo;i++)
         {
 
@@ -640,7 +601,7 @@ void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr)
                             else
                                 SCI_Send(RS232_Arr->commnumber,*(RS232_Arr->pRS_SendPtr_stage1++));
 
-                            (RS232_Arr->RS_SendLen)++;
+                            RS232_Arr->RS_SendLen++;
                             break;
                         }
                         break;
@@ -663,7 +624,7 @@ void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr)
                             else
                                 SCI_Send(RS232_Arr->commnumber,*(RS232_Arr->pRS_SendPtr_stage2++));
 
-                            (RS232_Arr->RS_SendLen)++;
+                            RS232_Arr->RS_SendLen++;
                             break;
                         }
                         break;
@@ -687,7 +648,7 @@ void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr)
                             else
                                 SCI_Send(RS232_Arr->commnumber,*(RS232_Arr->pRS_SendPtr++));
 
-                            (RS232_Arr->RS_SendLen)++;
+                            RS232_Arr->RS_SendLen++;
                         }
                         break;
                 default :
@@ -700,14 +661,10 @@ void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr)
         if (final_flag)
         {
 
-            final_free_fifo = get_free_rs_fifo_tx(RS232_Arr->commnumber);
-
-            if (final_free_fifo>=15) // âñå óåõàëè? áóôåð ÷èñò?
-            {
             if(RS232_Arr->RS_SendBlockMode == BM_CHAR32)
             {
-//                    if (max_s_b>1)
-//                        RS_Wait4OK(RS232_Arr->commnumber);
+    //            RS_Wait4OK_TXRDY(RS232_Arr->commnumber);
+                RS_Wait4OK(RS232_Arr->commnumber);
 
                 RS_SetBitMode(RS232_Arr,9);     /* Ïåðåäàëè âñå ïåðåñòðîèëèñü â 9-áèò äëß RS485?*/
                 RS_LineToReceive(RS232_Arr->commnumber);            /* ðåæèì ïðèåìà RS485 */
@@ -721,7 +678,6 @@ void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr)
 
             EnableUART_Int_RX(RS232_Arr->commnumber);    /* Çàïðåùàåì ïðåðûâàíèß ïî ïåðåäà÷å */
         }
-        }
 
 }
 //
@@ -731,7 +687,6 @@ void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr)
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
-//#pragma CODE_SECTION(RSA_TX_Handler,".fast_run2");
 interrupt void RSA_TX_Handler(void)
 {
     // Set interrupt priority:
@@ -746,16 +701,14 @@ i_led2_on_off(1);
 #endif
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.rsa)
+    if (enable_profile_led1_rsa)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.rsa)
+    if (enable_profile_led2_rsa)
     i_led2_on_off_special(1);
 #endif
 
-
-
     EINT;
 
 
@@ -778,11 +731,11 @@ i_led2_on_off(1);
     PieCtrlRegs.PIEIER9.all = TempPIEIER;
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.rsa)
+    if (enable_profile_led1_rsa)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.rsa)
+    if (enable_profile_led2_rsa)
     i_led2_on_off_special(0);
 #endif
 
@@ -791,13 +744,13 @@ i_led2_on_off(1);
 i_led2_on_off(0);
 #endif
 
+
 }
 
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
-//#pragma CODE_SECTION(RSB_TX_Handler,".fast_run2");
 interrupt void RSB_TX_Handler(void)
 {
     // Set interrupt priority:
@@ -807,20 +760,17 @@ interrupt void RSB_TX_Handler(void)
     PieCtrlRegs.PIEIER9.all &= MG94;   // Set "group"  priority
     PieCtrlRegs.PIEACK.all = 0xFFFF;   // Enable PIE interrupts
 
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_16_ON;
-#endif
 
 #if (_ENABLE_INTERRUPT_RS232_LED2)
 i_led2_on_off(1);
 #endif
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.rsb)
+    if (enable_profile_led1_rsb)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.rsb)
+    if (enable_profile_led2_rsb)
     i_led2_on_off_special(1);
 #endif
 
@@ -846,11 +796,11 @@ i_led2_on_off(1);
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.rsb)
+    if (enable_profile_led1_rsb)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.rsb)
+    if (enable_profile_led2_rsb)
     i_led2_on_off_special(0);
 #endif
 
@@ -858,17 +808,11 @@ i_led2_on_off(1);
 i_led2_on_off(0);
 #endif
 
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_16_OFF;
-#endif
-
-
 }
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
-//#pragma CODE_SECTION(RSA_RX_Handler,".fast_run2");
 interrupt void RSA_RX_Handler(void)
 {
     // Set interrupt priority:
@@ -884,11 +828,11 @@ i_led2_on_off(1);
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.rsa)
+    if (enable_profile_led1_rsa)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.rsa)
+    if (enable_profile_led2_rsa)
     i_led2_on_off_special(1);
 #endif
 
@@ -920,11 +864,11 @@ i_led2_on_off(1);
     PieCtrlRegs.PIEIER9.all = TempPIEIER;
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.rsa)
+    if (enable_profile_led1_rsa)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.rsa)
+    if (enable_profile_led2_rsa)
     i_led2_on_off_special(0);
 #endif
 
@@ -938,7 +882,7 @@ i_led2_on_off(0);
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
-//#pragma CODE_SECTION(RSB_RX_Handler,".fast_run2");
+
 interrupt void RSB_RX_Handler(void)
 {
     // Set interrupt priority:
@@ -948,23 +892,17 @@ interrupt void RSB_RX_Handler(void)
     PieCtrlRegs.PIEIER9.all &= MG93;   // Set "group"  priority
     PieCtrlRegs.PIEACK.all = 0xFFFF;   // Enable PIE interrupts
 
-
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_17_ON;
-#endif
-
-
 #if (_ENABLE_INTERRUPT_RS232_LED2)
 i_led2_on_off(1);
 #endif
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.rsb)
+    if (enable_profile_led1_rsb)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.rsb)
+    if (enable_profile_led2_rsb)
     i_led2_on_off_special(1);
 #endif
 
@@ -987,11 +925,11 @@ i_led2_on_off(1);
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.rsb)
+    if (enable_profile_led1_rsb)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.rsb)
+    if (enable_profile_led2_rsb)
     i_led2_on_off_special(0);
 #endif
 
@@ -999,9 +937,6 @@ i_led2_on_off(1);
 i_led2_on_off(0);
 #endif
 
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_17_OFF;
-#endif
 
 }
 
@@ -1120,10 +1055,6 @@ float SciBaud;
 //////////////////////////////////////////////////////
 void EnableUART_Int_RX(char commnumber)
 {
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_18_ON;
-#endif
-
   switch (commnumber)
   {
    case COM_1: //SciaRegs.SCICTL2.bit.RXBKINTENA = 0;//1; //enableUARTInt_A();
@@ -1154,10 +1085,6 @@ void EnableUART_Int_RX(char commnumber)
 void EnableUART_Int_TX(char commnumber)
 {
 
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_18_OFF;
-#endif
-
   switch (commnumber)
   {
    case COM_1: rs_a.RS_OnTransmitedData = 1;
@@ -1372,31 +1299,22 @@ int test_rs_live(RS_DATA_STRUCT *rs_arr)
 void inc_RS_timeout_cicle(void)
 {
 
-    unsigned int i, t_refresh;
-    static unsigned int old_time_rs = 0;
-
-    t_refresh = get_delta_milisec(&old_time_rs, 1);
-    if (t_refresh>1000)
-        t_refresh = 1000;
-    if (t_refresh<1)
-        t_refresh = 1;
-
     if (rs_a.time_wait_rs_out<RS_TIME_OUT_MAX)
-        rs_a.time_wait_rs_out += t_refresh;
+        rs_a.time_wait_rs_out++;
 
     if (rs_b.time_wait_rs_out<RS_TIME_OUT_MAX)
-        rs_b.time_wait_rs_out += t_refresh;
+        rs_b.time_wait_rs_out++;
 
     if (rs_a.time_wait_rs_out_mpu<RS_TIME_OUT_MAX)
-        rs_a.time_wait_rs_out_mpu += t_refresh;
+        rs_a.time_wait_rs_out_mpu++;
 
     if (rs_b.time_wait_rs_out_mpu<RS_TIME_OUT_MAX)
-        rs_b.time_wait_rs_out_mpu += t_refresh;
+        rs_b.time_wait_rs_out_mpu++;
 
     if ((rs_a.RS_Flag9bit==0) || rs_a.do_resetup_rs || SCIa_RX_Error())
     {
         if (rs_a.time_wait_rs_lost<RS_TIME_OUT_LOST)
-            rs_a.time_wait_rs_lost += t_refresh;
+            rs_a.time_wait_rs_lost++;
 //        else
 //            resetup_mpu_rs(&rs_a);
     }
@@ -1404,7 +1322,7 @@ void inc_RS_timeout_cicle(void)
     if ((rs_b.RS_Flag9bit==0) || rs_b.do_resetup_rs || SCIb_RX_Error())
     {
         if (rs_b.time_wait_rs_lost<RS_TIME_OUT_LOST)
-            rs_b.time_wait_rs_lost += t_refresh;
+            rs_b.time_wait_rs_lost++;
 //        else
 //            resetup_mpu_rs(&rs_b);
     }
@@ -1432,21 +1350,8 @@ void resetup_rs_on_timeout_lost(int rsp)
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
 
-void clear_buffers_rs(RS_DATA_STRUCT *rs_arr)
-{
-    unsigned int i;
 
 
-    for (i=0;i<MAX_RECEIVE_LENGTH;i++)
-        rs_arr->RS_Header[i] = 0;
-
-    for (i=0;i<MAX_SEND_LENGTH;i++)
-        rs_arr->buffer[i] = 0;
-
-}
-
-///////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////
 
 #ifdef _USE_RS_FIFO
 void SetupUART(char commnumber, unsigned long speed_baud)
@@ -1535,7 +1440,6 @@ void SetupUART(char commnumber, unsigned long speed_baud)
         EDIS;
 
         SetupArrCmdLength();
-        clear_buffers_rs(&rs_a);
 
         RS_SetControllerLeading(&rs_a,false);
 
@@ -1549,7 +1453,66 @@ void SetupUART(char commnumber, unsigned long speed_baud)
 
         resetup_mpu_rs(&rs_a);
 
+///////
 
+//
+////      enable TX, RX, internal SCICLK,
+////      Disable RX ERR, SLEEP, TXWAKE
+//        SciaRegs.SCIFFCT.bit.ABDCLR=1;
+//        SciaRegs.SCIFFCT.bit.CDC=0;
+//
+//        SciaRegs.SCICTL1.bit.RXERRINTENA=0;
+//        SciaRegs.SCICTL1.bit.SWRESET=0;
+//        SciaRegs.SCICTL1.bit.TXWAKE=0;
+//        SciaRegs.SCICTL1.bit.SLEEP=0;
+//        SciaRegs.SCICTL1.bit.TXENA=1;
+//        SciaRegs.SCICTL1.bit.RXENA=1;
+//
+////
+////        SciaRegs.SCIFFTX.all=0xC028;
+//        SciaRegs.SCIFFRX.all=0x0000;
+//
+//        SciaRegs.SCIFFRX.bit.RXFFIL=2; //Äëèíà íàèìåíüøåé êîìàíäû
+//        SciaRegs.SCIFFRX.bit.RXFFIENA = 1;//Receive FIFO interrupt enable
+//        SciaRegs.SCIFFRX.bit.RXFFINTCLR = 1;//Write 1 to clear RXFFINT flag in bit 7
+//
+//        SciaRegs.SCIFFCT.all=0x00;
+//
+//
+//
+////        SciaRegs.SCICTL1.all =0x0023;     // Relinquish SCI from Reset
+////        SciaRegs.SCIFFTX.bit.TXFIFOXRESET=1;
+//
+////
+//
+//        SciaRegs.SCIFFTX.bit.SCIFFENA=0; // TX fifo off
+//
+//        EALLOW;
+//        PieVectTable.RXAINT = &RSA_RX_Handler;
+//        PieVectTable.TXAINT = &RSA_TX_Handler;
+//        PieCtrlRegs.PIEIER9.bit.INTx1=1;     // PIE Group 9, INT1
+//        PieCtrlRegs.PIEIER9.bit.INTx2=1;     // PIE Group 9, INT2
+//        IER |= M_INT9;  // Enable CPU INT
+//        EDIS;
+//
+//        SetupArrCmdLength();
+//        RS_SetLineSpeed(commnumber,speed_baud);     /* ñêîðîñòü ëèíèè */
+//        RS_SetControllerLeading(&rs_a,false);
+//
+//        RS_LineToReceive(commnumber);       // ðåæèì ïðèåìà RS485
+//        EnableUART_Int(commnumber);         // ðàçðåøåíèå ïðåðûâàíèé UART
+//
+//        RS_SetBitMode(&rs_a,9);
+//        rs_a.RS_PrevCmd = 0;                // íå áûëî íèêàêèõ êîìàíä
+//        SCI_RX_IntClear(commnumber);
+//
+//        SciaRegs.SCICTL1.bit.SWRESET=1;     // Relinquish SCI from Reset
+////      SciaRegs.SCIFFTX.bit.TXFIFOXRESET=1;
+////      SciaRegs.SCIFFRX.bit.RXFIFORESET=1;
+//
+//        SciaRegs.SCIFFRX.bit.RXFIFORESET=1; // Re-enable receive FIFO operation
+//
+//
 
     }
 
@@ -1635,8 +1598,6 @@ void SetupUART(char commnumber, unsigned long speed_baud)
         EDIS;
 
         SetupArrCmdLength();
-        clear_buffers_rs(&rs_b);
-
 
         RS_SetControllerLeading(&rs_b,false);
 
@@ -1653,7 +1614,64 @@ void SetupUART(char commnumber, unsigned long speed_baud)
     }
 
 
+/*
+    if(commnumber==COM_2)
+    {
+//      Initialize SCI-B:
+//      Note: Clocks were turned on to the SCIA peripheral
+//      in the InitSysCtrl() function
 
+        EALLOW;
+        GpioMuxRegs.GPGMUX.bit.SCIRXDB_GPIOG5=1;
+        GpioMuxRegs.GPGMUX.bit.SCITXDB_GPIOG4=1;
+        GpioMuxRegs.GPBMUX.bit.C5TRIP_GPIOB14=0;
+
+        GpioMuxRegs.GPBDIR.bit.GPIOB14=1;
+
+        EDIS;
+        RS_SetLineMode(commnumber,8,'N',1);
+
+//      enable TX, RX, internal SCICLK,
+//      Disable RX ERR, SLEEP, TXWAKE
+        ScibRegs.SCIFFCT.bit.CDC=0;
+        ScibRegs.SCIFFCT.bit.ABDCLR=1;
+        ScibRegs.SCICTL1.bit.RXERRINTENA=0;
+        ScibRegs.SCICTL1.bit.SWRESET=0;
+        ScibRegs.SCICTL1.bit.TXWAKE=0;
+        ScibRegs.SCICTL1.bit.SLEEP=0;
+        ScibRegs.SCICTL1.bit.TXENA=1;
+        ScibRegs.SCICTL1.bit.RXENA=1;
+
+        ScibRegs.SCIFFTX.bit.SCIFFENA=0; // fifo off
+        ScibRegs.SCIFFRX.bit.RXFFIL=1; //Äëèíà íàèìåíüøåé êîìàíäû
+
+        EALLOW;
+        PieVectTable.RXBINT = &RSB_RX_Handler;
+        PieVectTable.TXBINT = &RSB_TX_Handler;
+
+        PieCtrlRegs.PIEIER9.bit.INTx3=1;     // PIE Group 9, INT3
+        PieCtrlRegs.PIEIER9.bit.INTx4=1;     // PIE Group 9, INT4
+        IER |= M_INT9;  // Enable CPU INT
+        EDIS;
+
+        SetupArrCmdLength();
+        RS_SetLineSpeed(commnumber,speed_baud);     // ñêîðîñòü ëèíèè
+        RS_SetControllerLeading(&rs_b,false);
+
+        RS_LineToReceive(commnumber);       // ðåæèì ïðèåìà RS485
+        EnableUART_Int(commnumber);         // ðàçðåøåíèå ïðåðûâàíèé UART
+
+        RS_SetBitMode(&rs_b,9);
+        rs_b.RS_PrevCmd = 0;                // íå áûëî íèêàêèõ êîìàíä
+        SCI_RX_IntClear(commnumber);
+
+        ScibRegs.SCICTL1.bit.SWRESET=1;     // Relinquish SCI from Reset
+
+//      SciaRegs.SCIFFTX.bit.TXFIFOXRESET=1;
+//      SciaRegs.SCIFFRX.bit.RXFIFORESET=1;
+
+    }
+*/
 
 }
 #else
@@ -2000,7 +2018,7 @@ int GetCommand(RS_DATA_STRUCT *RS232_Arr)
 		// Ïðîâåðßåì äëèíó êîìàíäû äëß ñ÷èòûâàíèß CRC
 		if((RS_Len[cmd]<3) || (RS_Len[cmd]>MAX_RECEIVE_LENGTH))
 		{
-		    (RS232_Arr->count_recive_bad)++;
+		    RS232_Arr->count_recive_bad++;
 		    RS_LineToReceive(RS232_Arr->commnumber);	// ðåæèì ïðèåìà RS485
 			RS_SetBitMode(RS232_Arr,9);
 
@@ -2029,7 +2047,7 @@ int GetCommand(RS_DATA_STRUCT *RS232_Arr)
 
 		if(crc == rcrc)				// Ïðîâåðßåì crc
 		{
-		    (RS232_Arr->count_recive_ok)++;
+		    RS232_Arr->count_recive_ok++;
 
 			RS232_Arr->RS_PrevCmd = cmd;
             if (RS232_Arr->RS_DataSended)
@@ -2041,7 +2059,7 @@ int GetCommand(RS_DATA_STRUCT *RS232_Arr)
 		}
 		else
 		{
-		    (RS232_Arr->count_recive_error_crc)++;
+		    RS232_Arr->count_recive_error_crc++;
 
             RS_SetAdrAnswerController(RS232_Arr,0);
             RS_SetControllerLeading(RS232_Arr, false);
@@ -2065,8 +2083,7 @@ void ExtendBios(RS_DATA_STRUCT *RS232_Arr)
 
   	unsigned long AdrOut1,AdrOut2,LengthOut;
     unsigned int cerr, repl, count_ok, return_code, old_started;
-    volatile unsigned int go_to_reset = 0, go_to_set_baud = 0;
-    unsigned long set_baud;
+    volatile unsigned int go_to_reset = 0;
 
 	//int code_eeprom;
     old_started = x_parallel_bus_project.flags.bit.started;
@@ -2210,18 +2227,6 @@ void ExtendBios(RS_DATA_STRUCT *RS232_Arr)
 
              break;
 
-            case 100:
-                   go_to_set_baud = 1;
-                set_baud = Address1;
-//                 SetLoad28_FromResetInternalFlash();
-//                 SelectReset28();
-                   //speed_baud = Address1;
-
-
-                   break;
-
-
-
 	    	default:   break;
 		}
 
@@ -2276,23 +2281,6 @@ void ExtendBios(RS_DATA_STRUCT *RS232_Arr)
 
     }
 
-
-    if (go_to_set_baud)
-        {
-           // for (i=0;i<2;i++)
-               DELAY_US(1000000);
-
-//            DRTM;
-//            DINT;
-
-//            for (i=0;i<2;i++)
-//               DELAY_US(1000000);
-
-            RS_SetLineSpeed(RS232_Arr->commnumber, set_baud);     /* ñêîðîñòü ëèíèè */
-
-            go_to_set_baud = 0;
-
-        }
    return;
 
 }
@@ -2321,7 +2309,7 @@ int RS_Send(RS_DATA_STRUCT *RS232_Arr,unsigned int *pBuf,unsigned long len)
 
 	if (RS232_Arr->RS_DataWillSend)
 	{
-//	    RS232_Arr->RS_DataReadyAnswer = 0;
+	    RS232_Arr->RS_DataReadyAnswer = 0;
 	    RS232_Arr->RS_DataReadyAnswer = 0;
 	    RS232_Arr->RS_DataSended = 0;
 	}
@@ -2384,31 +2372,10 @@ void RS232_WorkingWith(unsigned int enable_rs_a, unsigned int enable_rs_b, unsig
 	switch (GetCommand(&rs_a))
 	{
 		case CMD_RS232_INIT:		break;
-
-		case CMD_RS232_INITLOAD:
-		                            if (disable_flag_special_mode_rs)
-		                                break;
-
-		                            flag_special_mode_rs = 1;
-		                            InitLoad(&rs_a);
-		                            break;
-
-		case CMD_RS232_LOAD:
-                                    if (disable_flag_special_mode_rs)
-                                        break;
-
-		                            flag_special_mode_rs = 1;
-		                            Load(&rs_a);
-		                            break;
-
+		case CMD_RS232_INITLOAD:	flag_special_mode_rs = 1; InitLoad(&rs_a); break;
+		case CMD_RS232_LOAD:		flag_special_mode_rs = 1; Load(&rs_a); break;
 		case CMD_RS232_RUN:		break;
-
-		case CMD_RS232_PEEK:
-                                    if (disable_flag_special_mode_rs)
-                                        break;
-
-		                            flag_special_mode_rs = 1;
-		                            Peek(&rs_a);
+		case CMD_RS232_PEEK:		flag_special_mode_rs = 1; Peek(&rs_a);
 		                            //Led1_Toggle();
 		                            break;
 
@@ -2429,47 +2396,16 @@ void RS232_WorkingWith(unsigned int enable_rs_a, unsigned int enable_rs_b, unsig
 
 #if (USE_TEST_TERMINAL)
 		case CMD_RS232_STD:
-                                      rs_a.RS_DataReadyRequest = 1;
-                                      flag_special_mode_rs = 0;
-                                      ReceiveCommand(&rs_a);
-                                      break;
-
-		case CMD_RS232_TEST_ALL:
-                                    if (disable_flag_special_mode_rs)
-                                        break;
-
-		                            flag_special_mode_rs = 1;
-		                            ReceiveCommandTestAll(&rs_a);
-		                            break;
+		                      rs_a.RS_DataReadyRequest = 1;
+		                      flag_special_mode_rs = 0;
+		                      ReceiveCommand(&rs_a);
+		                    break;
+		case CMD_RS232_TEST_ALL:	flag_special_mode_rs = 1; ReceiveCommandTestAll(&rs_a); break;
 #endif
-		case CMD_RS232_POKE:
-                                if (disable_flag_special_mode_rs)
-                                    break;
-
-
-		                        flag_special_mode_rs = 1;
-		                        Poke(&rs_a);
-		                        Led2_Toggle();
-		                        break;
-		case CMD_RS232_UPLOAD:
-//		                        flag_special_mode_rs = 1;
-		                        Upload(&rs_a);
-		                        break;
-		case CMD_RS232_TFLASH:
-                                if (disable_flag_special_mode_rs)
-                                    break;
-
-
-		                        flag_special_mode_rs = 1;
-		                        T_Flash(&rs_a);
-		                        break;
-		case CMD_RS232_EXTEND:
-                                if (disable_flag_special_mode_rs)
-                                    break;
-
-		                        flag_special_mode_rs = 1;
-		                        ExtendBios(&rs_a);
-		                        break;
+		case CMD_RS232_POKE:	flag_special_mode_rs = 1; 	Poke(&rs_a); Led2_Toggle(); break;
+		case CMD_RS232_UPLOAD:	flag_special_mode_rs = 1; Upload(&rs_a); break;
+		case CMD_RS232_TFLASH:	flag_special_mode_rs = 1; T_Flash(&rs_a); break;
+		case CMD_RS232_EXTEND:	flag_special_mode_rs = 1; ExtendBios(&rs_a); break;
 		
 		default:   break;
 	} // end switch
@@ -2482,31 +2418,10 @@ void RS232_WorkingWith(unsigned int enable_rs_a, unsigned int enable_rs_b, unsig
 	switch (GetCommand(&rs_b))
 	{
 		case CMD_RS232_INIT:		break;
-
-		case CMD_RS232_INITLOAD:
-                                    if (disable_flag_special_mode_rs)
-                                        break;
-
-		                            flag_special_mode_rs = 1;
-		                            InitLoad(&rs_b);
-		                            break;
-
-		case CMD_RS232_LOAD:
-                                    if (disable_flag_special_mode_rs)
-                                        break;
-
-		                            flag_special_mode_rs = 1;
-		                            Load(&rs_b);
-		                            break;
-
+		case CMD_RS232_INITLOAD:	flag_special_mode_rs = 1; InitLoad(&rs_b); break;
+		case CMD_RS232_LOAD:		flag_special_mode_rs = 1; Load(&rs_b); break;
 		case CMD_RS232_RUN:		break;
-		case CMD_RS232_PEEK:
-                                if (disable_flag_special_mode_rs)
-                                    break;
-
-		                        flag_special_mode_rs = 1;
-		                        Peek(&rs_b);
-		                        break;
+		case CMD_RS232_PEEK:	flag_special_mode_rs = 1; 	Peek(&rs_b); break;
 
 #if USE_MODBUS_TABLE_SVU
 
@@ -2593,43 +2508,13 @@ void RS232_WorkingWith(unsigned int enable_rs_a, unsigned int enable_rs_b, unsig
 #endif
 
 #if (USE_TEST_TERMINAL)
-		case CMD_RS232_STD:	        flag_special_mode_rs = 0;
-		                            ReceiveCommand(&rs_b);
-		                            break;
-		case CMD_RS232_TEST_ALL:
-                                    if (disable_flag_special_mode_rs)
-                                        break;
-
-		                            flag_special_mode_rs = 1;
-		                            ReceiveCommandTestAll(&rs_b);
-		                            break;
+		case CMD_RS232_STD:	flag_special_mode_rs = 0; 	ReceiveCommand(&rs_b); break;
+		case CMD_RS232_TEST_ALL:  flag_special_mode_rs = 1; 	ReceiveCommandTestAll(&rs_b); break;
 #endif
-		case CMD_RS232_POKE:
-                                    if (disable_flag_special_mode_rs)
-                                        break;
-
-		                            flag_special_mode_rs = 1;
-		                            Poke(&rs_b);
-		                            break;
-		case CMD_RS232_UPLOAD:
-//		                        flag_special_mode_rs = 1;
-
-		                        Upload(&rs_b);
-		                        break;
-		case CMD_RS232_TFLASH:
-                                    if (disable_flag_special_mode_rs)
-                                        break;
-
-		                            flag_special_mode_rs = 1;
-		                            T_Flash(&rs_b);
-		                            break;
-		case CMD_RS232_EXTEND:
-                                    if (disable_flag_special_mode_rs)
-                                        break;
-
-		                            flag_special_mode_rs = 1;
-		                            ExtendBios(&rs_b);
-		                            break;
+		case CMD_RS232_POKE:	flag_special_mode_rs = 1; 	Poke(&rs_b); break;
+		case CMD_RS232_UPLOAD: flag_special_mode_rs = 1; 	Upload(&rs_b); break;
+		case CMD_RS232_TFLASH: flag_special_mode_rs = 1; 	T_Flash(&rs_b); break;
+		case CMD_RS232_EXTEND: flag_special_mode_rs = 1; 	ExtendBios(&rs_b); break;
 		
 		default:   break;
 	} // end switch

Inu/Src/N12_Xilinx/RS_Functions.h

@@ -94,14 +94,13 @@ typedef struct {
 
     unsigned int do_resetup_rs; // âûïîëíèòü ïåðåñáðîñ ïîðòà ïðè îøèáêàõ.
 
-    int     RS_DataWillSend2; // флаг2, что мы подготовили свой запрос и сейчас начнем его передавать и мы мастер
 
 
 
 
 	} RS_DATA_STRUCT;
 
-#define RS_DATA_STRUCT_DEFAULT  {0,0,0,0,0,0,0,0,0,{0}, 0,0,0,{0},{0}, 0,0,0,0,0,0, 0,0, 0,0, 0,0,0,0, 0,0, 0,0,0, 0, 0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0, 0,0}
+#define RS_DATA_STRUCT_DEFAULT  {0,0,0,0,0,0,0,0,0,{0}, 0,0,0,{0},{0}, 0,0,0,0,0,0, 0,0, 0,0, 0,0,0,0, 0,0, 0,0,0, 0, 0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0, 0}
 //////////////////////////////////////////////////////////
 
 #define TMS_TO_TERMINAL_TEST_ALL_STRUCT_DEFAULT {{0}, {0}, {0}, 0, 0, 0}
@@ -137,6 +136,6 @@ void SetCntrlAddr (int cntrl_addr,int cntrl_addr_for_all);
 
 extern float KmodTerm, freqTerm;
 extern unsigned int RS_Len[RS_LEN_CMD];
-extern int flag_special_mode_rs, disable_flag_special_mode_rs;
+extern int flag_special_mode_rs;
 
 #endif

Inu/Src/N12_Xilinx/Spartan2E_Functions.c

@@ -638,32 +638,6 @@ void xseeprom_delay(void)
 	pause_1000(10000);
 }
 
-void ResetNPeriphPlane(unsigned int np)
-{
-
-    Controll.bit.line_P7_4_Is = np;
-
-    Controll.bit.OE_BUF_Is_ON   = 1;
-    Controll.bit.line_Z_ER0_OUT_Is = 0;
-    Controll.bit.line_SET_MODE_Is = 1;
-    xControll_wr();
-    pause_1000(10000);
-
-
-
-    Controll.bit.line_P7_4_Is = 0x0;
-    Controll.bit.line_Z_ER0_OUT_Is = 1;
-    xControll_wr();
-
-
-
-//  Controll.bit.RemotePlane_Is_Reset = 1;
-    xControll_wr();
-    pause_1000(10000);
-//  Controll.bit.RemotePlane_Is_Reset = 0;
-    Controll.bit.line_P7_4_Is = 0x0;
-}
-
 void ResetPeriphPlane()
 {
 	Controll.bit.line_P7_4_Is = 0xf;

Inu/Src/N12_Xilinx/Spartan2E_Functions.h

@@ -257,8 +257,5 @@ int test_xilinx_live(void);
 
 int enable_er0_control(void);
 
-void ResetNPeriphPlane(unsigned int np);
-
-
 
 #endif

Inu/Src/N12_Xilinx/TuneUpPlane.c

@@ -134,7 +134,7 @@ void pause_1000(unsigned long t)
 		DSP28x_usDelay(40L);
 	}
 }
-//Xilinx Zone
+
 void XintfZone0_Timing(void)
 {
     // Zone 0------------------------------------
@@ -256,12 +256,12 @@ void XintfZone2_Timing(void)
     // Lead must always be 1 or greater
     // Zone write timing
     XintfRegs.XTIMING2.bit.XWRLEAD   = 3;//2;
-    XintfRegs.XTIMING2.bit.XWRACTIVE = 4;//2;
-    XintfRegs.XTIMING2.bit.XWRTRAIL  = 2;//2;
+    XintfRegs.XTIMING2.bit.XWRACTIVE = 7;//2;
+    XintfRegs.XTIMING2.bit.XWRTRAIL  = 3;//2;
     // Zone read timing
-    XintfRegs.XTIMING2.bit.XRDLEAD   = 2;
-    XintfRegs.XTIMING2.bit.XRDACTIVE = 3; //1;
-    XintfRegs.XTIMING2.bit.XRDTRAIL  = 1;//2;//0;
+    XintfRegs.XTIMING2.bit.XRDLEAD   = 3;
+    XintfRegs.XTIMING2.bit.XRDACTIVE = 7; //1;
+    XintfRegs.XTIMING2.bit.XRDTRAIL  = 3;//2;//0;
     
     // do not double all Zone read/write lead/active/trail timing 
     XintfRegs.XTIMING2.bit.X2TIMING = 0;

Inu/Src/N12_Xilinx/profile_interrupt.c

@@ -1,36 +0,0 @@
-/*
- * profile_interrupt.c
- *
- *  Created on: 6 àâã. 2024 ã.
- *      Author: yura
- */
-
-#include "profile_interrupt.h"
-
-t_profile_interrupt profile_interrupt = T_PROFILE_INTERRUPT_DEFAULT;
-
-
-void init_profile_interrupt(void)
-{
-    profile_interrupt.for_led1.bits.timer1 = 1;
-    profile_interrupt.for_led1.bits.timer2 = 1;
-    profile_interrupt.for_led1.bits.timer3 = 1;
-    profile_interrupt.for_led1.bits.timer4 = 1;
-    profile_interrupt.for_led1.bits.can = 1;
-    profile_interrupt.for_led1.bits.pwm = 1;
-    profile_interrupt.for_led1.bits.rsa = 1;
-    profile_interrupt.for_led1.bits.rsb = 1;
-    profile_interrupt.for_led1.bits.sync = 1;
-
-
-    profile_interrupt.for_led2.bits.timer1 = 1;
-    profile_interrupt.for_led2.bits.timer2 = 1;
-    profile_interrupt.for_led2.bits.timer3 = 1;
-    profile_interrupt.for_led2.bits.timer4 = 1;
-    profile_interrupt.for_led2.bits.can = 1;
-    profile_interrupt.for_led2.bits.pwm = 1;
-    profile_interrupt.for_led2.bits.rsa = 1;
-    profile_interrupt.for_led2.bits.rsb = 1;
-    profile_interrupt.for_led2.bits.sync = 1;
-
-}

Inu/Src/N12_Xilinx/profile_interrupt.h

@@ -1,48 +0,0 @@
-/*
- * profile_interrupt.h
- *
- *  Created on: 6 àâã. 2024 ã.
- *      Author: yura
- */
-
-#ifndef SRC_N12_XILINX_PROFILE_INTERRUPT_H_
-#define SRC_N12_XILINX_PROFILE_INTERRUPT_H_
-
-
-typedef union {
- unsigned int all;
- struct {
-     unsigned int timer1: 1;
-     unsigned int timer2: 1;
-     unsigned int timer3: 1;
-     unsigned int timer4: 1;
-
-     unsigned int sync: 1;
-     unsigned int can: 1;
-     unsigned int rsa: 1;
-     unsigned int rsb: 1;
-
-     unsigned int pwm: 1;
-     unsigned int reserv: 7;
- } bits;
-} t_enable_profile;
-
-
-
-
-typedef struct
-{
-    t_enable_profile for_led1;
-    t_enable_profile for_led2;
-
-} t_profile_interrupt;
-
-#define T_PROFILE_INTERRUPT_DEFAULT      {0,0}
-
-
-
-extern t_profile_interrupt profile_interrupt;
-void init_profile_interrupt(void);
-
-
-#endif /* SRC_N12_XILINX_PROFILE_INTERRUPT_H_ */

Inu/Src/N12_Xilinx/x_int13.c

@@ -9,11 +9,7 @@
 #include "MemoryFunctions.h"
 #include "Spartan2E_Adr.h"
 #include "TuneUpPlane.h"
-#include "xp_write_xpwm_time.h"
-#include "params.h"
-#include "pwm_test_lines.h"
-#include "sync_tools.h"
-#include "profile_interrupt.h"
+
 
 //Pointers to handler functions
 void (*int13_handler)() = NULL;
@@ -24,8 +20,8 @@ void (*int13_handler)() = NULL;
 //////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////
 
-//unsigned int  enable_profile_led1_pwm = 1;
-//unsigned int  enable_profile_led2_pwm = 1;
+unsigned int  enable_profile_led1_pwm = 1;
+unsigned int  enable_profile_led2_pwm = 1;
 
 
 
@@ -55,59 +51,21 @@ int InitXilinxSpartan2E(void (*int_handler)())
   return err;
 }
 
-#pragma CODE_SECTION(XIntc_INT13_Handler,".fast_run2");
 interrupt void XIntc_INT13_Handler(void)
 {
-    static int l2;
 
     IER &= MINT13;                 // Set "global" priority
 
-    if (xpwm_time.disable_sync_out==0)
-    {
-    if (xpwm_time.do_sync_out)
-    {
-        i_sync_pin_on();
-
- #if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
-     PWM_LINES_TK_17_ON;
- #endif
-
-
-    }
-    else
-    {
-        i_sync_pin_off();
-
- #if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
-     PWM_LINES_TK_17_OFF;
- #endif
-
-    }
-    }
-
-    if (xpwm_time.what_next_interrupt==PWM_LOW_LEVEL_INTERRUPT)
-    {
-        l2 = 1;
-    }
-    else
-        l2 = 0;
-
-
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.pwm && l2)
+    if (enable_profile_led1_pwm)
     i_led1_on_off_special(1);
 #endif
-
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.pwm && l2)
-            i_led2_on_off_special(1);
-
+    if (enable_profile_led2_pwm)
+    i_led2_on_off_special(1);
 #endif
 
-
-
-
     EINT;
 
     // Insert ISR Code here.......
@@ -157,13 +115,12 @@ interrupt void XIntc_INT13_Handler(void)
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.pwm)
+    if (enable_profile_led1_pwm)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.pwm)
-        if (l2)
-            i_led2_on_off_special(0);
+    if (enable_profile_led2_pwm)
+    i_led2_on_off_special(0);
 #endif
 
 

Inu/Src/N12_Xilinx/x_parallel_bus.h

@@ -116,7 +116,6 @@ extern X_PARALLEL_BUS x_parallel_bus_project;
 // ver 2
 #define read_pbus_value_v2(bit,adr,res)         {if (bit) { res = i_ReadMemory(adr); i_WriteMemory(adr++,0x0); } else res = 0; }
 #define read_pbus_value_full_v2(bit,adr,res)    {res = i_ReadMemory(adr); i_WriteMemory(adr++,0x0); }
-#define read_pbus_value_full_v3(bit,adr,res)    {res = i_ReadMemory(adr++); }
 
 #define read_pbus_adc_value_v2(bit,adr,res)         {if (bit) { res = i_ReadMemory(adr) & 0xfff; i_WriteMemory(adr++,0x0);} else res = 0; }
 #define read_pbus_adc_value_full_v2(bit,adr,res)    {res = i_ReadMemory(adr) & 0xfff; i_WriteMemory(adr++,0x0); }

Inu/Src/N12_Xilinx/xp_cds_in.c

@@ -327,33 +327,123 @@ int cds_in_read_pbus(T_cds_in *v)
 
     if (v->status & (component_Started | component_Ready | component_Error | component_ErrorSBus ))
     {
-        adr_pbus = v->adr_pbus.adr_table[0] + ADR_FIRST_FREE;
+	adr_pbus = v->adr_pbus.adr_table[0] + ADR_FIRST_FREE;
 
-        if ((v->type_cds_xilinx == TYPE_CDS_XILINX_SP6) && (v->type_plate == cds_in_type_in_1))
-        {
-            read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg0,adr_pbus, t);
-            v->read.pbus.data_in.all = (t & 0xff00) | ((~t) & 0x00ff);
-        }
-        else
-            read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg0,adr_pbus,v->read.pbus.data_in.all);
+	if ((v->type_cds_xilinx == TYPE_CDS_XILINX_SP6) && (v->type_plate == cds_in_type_in_1))
+	{
+	    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg0,adr_pbus, t);
+	    v->read.pbus.data_in.all = (t & 0xff00) | ((~t) & 0x00ff);
+	}
+	else
+	    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg0,adr_pbus,v->read.pbus.data_in.all);
 
-        read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg1,adr_pbus,v->read.pbus.ready_in.all);
-        read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg2,adr_pbus,v->read.pbus.direction_in.all);
-        read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg3,adr_pbus,v->read.pbus.SpeedS1_cnt);
-        read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg4,adr_pbus,v->read.pbus.SpeedS1_cnt90);
-        read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg5,adr_pbus,v->read.pbus.SpeedS2_cnt);
-        read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg6,adr_pbus,v->read.pbus.SpeedS2_cnt90);
-        if ((v->type_cds_xilinx == TYPE_CDS_XILINX_SP6))
-        {
-            read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg7,adr_pbus,v->read.pbus.Time_since_zero_point_S1);
-            read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg8,adr_pbus,v->read.pbus.Impulses_since_zero_point_Rising_S1);
-            read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg9,adr_pbus,v->read.pbus.Impulses_since_zero_point_Falling_S1);
-            read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg10,adr_pbus,v->read.pbus.Time_since_zero_point_S2);
-            read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg11,adr_pbus,v->read.pbus.Impulses_since_zero_point_Rising_S2);
-            read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg12,adr_pbus,v->read.pbus.Impulses_since_zero_point_Falling_S2);
-            read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg13,adr_pbus,v->read.pbus.channel_alive.all);
-        }
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg1,adr_pbus,v->read.pbus.ready_in.all);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg2,adr_pbus,v->read.pbus.direction_in.all);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg3,adr_pbus,v->read.pbus.SpeedS1_cnt);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg4,adr_pbus,v->read.pbus.SpeedS1_cnt90);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg5,adr_pbus,v->read.pbus.SpeedS2_cnt);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg6,adr_pbus,v->read.pbus.SpeedS2_cnt90);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg7,adr_pbus,v->read.pbus.Time_since_zero_point_S1);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg8,adr_pbus,v->read.pbus.Impulses_since_zero_point_Rising_S1);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg9,adr_pbus,v->read.pbus.Impulses_since_zero_point_Falling_S1);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg10,adr_pbus,v->read.pbus.Time_since_zero_point_S2);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg11,adr_pbus,v->read.pbus.Impulses_since_zero_point_Rising_S2);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg12,adr_pbus,v->read.pbus.Impulses_since_zero_point_Falling_S2);
+    read_pbus_value(v->setup_pbus.use_reg_in_pbus.bit.reg13,adr_pbus,v->read.pbus.channel_alive.all);
+/*
+//0
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg0)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[0];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.data_in.all = x_parallel_bus_project.data_table_read;
+	}
+//1
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg1)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[1];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.ready_in.all = x_parallel_bus_project.data_table_read;
+	}
+//2
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg2)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[2];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.direction_in.all = x_parallel_bus_project.data_table_read;
+	}
+//3
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg3)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[3];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.SpeedS1_cnt = x_parallel_bus_project.data_table_read;
+	}
+//4
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg4)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[4];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.SpeedS1_cnt90 = x_parallel_bus_project.data_table_read;
+	}
+//5
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg5)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[5];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.SpeedS2_cnt = x_parallel_bus_project.data_table_read;
+	}
+//6
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg6)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[6];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.SpeedS2_cnt90 = x_parallel_bus_project.data_table_read;
+	}
+//7
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg7)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[7];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.Time_since_zero_point_S1 = x_parallel_bus_project.data_table_read;
+	}
+//8
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg8)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[8];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.Time_since_zero_point_Rising_S1 = x_parallel_bus_project.data_table_read;
+	}
+//9
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg9)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[9];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.Time_since_zero_point_Falling_S1 = x_parallel_bus_project.data_table_read;
+	}
+//10
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg10)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[10];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.Time_since_zero_point_S2 = x_parallel_bus_project.data_table_read;
+	}
+//11
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg11)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[11];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.Time_since_zero_point_Rising_S2 = x_parallel_bus_project.data_table_read;
+	}
+//12
+    if (v->setup_pbus.use_reg_in_pbus.bit.reg12)
+	{
+	x_parallel_bus_project.adr_table_read = v->adr_pbus.adr_table[12];
+	x_parallel_bus_project.read_one_data(&x_parallel_bus_project);
+	v->read.pbus.Time_since_zero_point_Falling_S2 = x_parallel_bus_project.data_table_read;
+	}
 
+*/
     }
     else
     {

Inu/Src/N12_Xilinx/xp_cds_tk_23550.c

@@ -64,12 +64,6 @@ int cds_tk_write_sbus_23550(T_cds_tk_23550 *v)
 		v->status_serial_bus.count_write_error++;
 
 
-//10 time_after_err
-    x_serial_bus_project.reg_addr   = 10;                            // adr memory in plate
-    x_serial_bus_project.write_data = v->write.sbus.time_after_err;   // write data
-
-    if  (x_serial_bus_project.write(&x_serial_bus_project))              // make write
-        v->status_serial_bus.count_write_error++;
 
 
 
@@ -199,25 +193,6 @@ int cds_tk_read_sbus_23550(T_cds_tk_23550 *v)
 	else
 	 	v->status_serial_bus.count_read_error++;
 
-//9 id_plate
-    x_serial_bus_project.reg_addr   = 9;                            // adr memory in plate
-    x_serial_bus_project.read(&x_serial_bus_project);               // read
-
-    if (x_serial_bus_project.flags.bit.read_error == 0) // check error
-        v->read.sbus.id_plate.all = x_serial_bus_project.read_data;
-    else
-        v->status_serial_bus.count_read_error++;
-
-//10 time_after_err
-    x_serial_bus_project.reg_addr   = 10;                            // adr memory in plate
-    x_serial_bus_project.read(&x_serial_bus_project);               // read
-
-    if (x_serial_bus_project.flags.bit.read_error == 0) // check error
-        v->read.sbus.time_after_err = x_serial_bus_project.read_data;
-    else
-        v->status_serial_bus.count_read_error++;
-
-
 //11 time_err_tk_all
     x_serial_bus_project.reg_addr 	= 11;   				 			// adr memory in plate
 	x_serial_bus_project.read(&x_serial_bus_project); 				// read
@@ -266,7 +241,7 @@ int cds_tk_read_pbus_23550(T_cds_tk_23550 *v)
 {
    unsigned long adr_pbus;
 
-   if (v->useit == 0 || v->setup_pbus.use_reg_in_pbus.all==0)
+   if (v->useit == 0) 
 	  return 0;
 	   
    if (v->status & (component_Started | component_Ready | component_Error | component_ErrorSBus))
@@ -275,12 +250,12 @@ int cds_tk_read_pbus_23550(T_cds_tk_23550 *v)
    if (v->type_cds_xilinx == TYPE_CDS_XILINX_SP6)
    {
        adr_pbus = v->adr_pbus.adr_table[0] + ADR_FIRST_FREE;
-       read_pbus_value_full_v3(v->setup_pbus.use_reg_in_pbus.bit.reg0,adr_pbus,v->read.pbus.status1.all);
-       read_pbus_value_full_v3(v->setup_pbus.use_reg_in_pbus.bit.reg1,adr_pbus,v->read.pbus.DataReg0.all);
-       read_pbus_value_full_v3(v->setup_pbus.use_reg_in_pbus.bit.reg2,adr_pbus,v->read.pbus.DataReg1.all);
-       read_pbus_value_full_v3(v->setup_pbus.use_reg_in_pbus.bit.reg3,adr_pbus,v->read.pbus.DataReg2.all);
-       read_pbus_value_full_v3(v->setup_pbus.use_reg_in_pbus.bit.reg4,adr_pbus,v->read.pbus.DataReg3.all);
-       read_pbus_value_full_v3(v->setup_pbus.use_reg_in_pbus.bit.reg5,adr_pbus,v->read.pbus.status2.all);
+       read_pbus_value_full_v2(v->setup_pbus.use_reg_in_pbus.bit.reg0,adr_pbus,v->read.pbus.status1.all);
+       read_pbus_value_full_v2(v->setup_pbus.use_reg_in_pbus.bit.reg1,adr_pbus,v->read.pbus.DataReg0.all);
+       read_pbus_value_full_v2(v->setup_pbus.use_reg_in_pbus.bit.reg2,adr_pbus,v->read.pbus.DataReg1.all);
+       read_pbus_value_full_v2(v->setup_pbus.use_reg_in_pbus.bit.reg3,adr_pbus,v->read.pbus.DataReg2.all);
+       read_pbus_value_full_v2(v->setup_pbus.use_reg_in_pbus.bit.reg4,adr_pbus,v->read.pbus.DataReg3.all);
+       read_pbus_value_full_v2(v->setup_pbus.use_reg_in_pbus.bit.reg5,adr_pbus,v->read.pbus.status2.all);
    }
    }
    else
@@ -338,9 +313,8 @@ void cds_tk_optical_bus_check_error_read(T_cds_tk_23550 *v)
 
    if ( v->optical_data_in.status_1.bit.id_sbus == v->optical_data_in.status_2.bit.id_sbus
         && v->optical_data_in.status_1.bit.id == v->optical_data_in.status_2.bit.id
-//        && (v->read.pbus.status1.bit.receiver_error==0)
-//           && (v->read.pbus.status2.bit.receiver_error==0)
-           )
+        && (v->read.pbus.status1.bit.receiver_error==0)
+           && (v->read.pbus.status2.bit.receiver_error==0) )
    {
        // åñëè âûñòàâèëñÿ ýòîò áèò, òî çíâ÷èò ïðèåìíèê â ïðèåìå äàííûõ, íî ò.ê. ýòè äàííûå ìû ïîëó÷àåì ïî PBUS ñ íåêîòîðûì ëàãîì
        // ñìûñë ýòîãî áèòà òåðÿåò ñâîé ñìûñë, ïðîñòî êàê èíôîðìàöèÿ, äàííûå ìû ïîëó÷èì âñåãäà ïîñëåäíèå óäà÷íûå.
@@ -352,17 +326,10 @@ void cds_tk_optical_bus_check_error_read(T_cds_tk_23550 *v)
        // data old
            v->optical_data_in.status_read.bit.old_data = 1;
            v->optical_data_in.same_id_count += 1;
-
-           if (v->optical_data_in.same_id_count_between < v->optical_data_in.setup_count_error_between)
-               v->optical_data_in.same_id_count_between += 1;
-           else
-               // ÷èòàëè âñå âðåìÿ ñòàðûå äàííûå, ïåðåäàò÷èê óìåð íà òîé ñòîðîíå?
-               v->optical_data_in.ready = 0;
        }
        else
        {
            // î÷èñòêà îøèáîê
-           v->optical_data_in.same_id_count_between = 0;
            v->optical_data_in.local_count_error = 0;
            v->optical_data_in.raw_local_error = 0;
            v->optical_data_in.ready = 1;

Inu/Src/N12_Xilinx/xp_cds_tk_23550.h

@@ -99,9 +99,7 @@ typedef struct {
 		UInt16 all;
 		struct 
 		{
-		   UInt16 reserv :8;
-           UInt16 detect_soft_disconnect :1;
-		   UInt16 enable_soft_disconnect :1;
+		   UInt16 reserv :10;
 		   UInt16 enable_line_err :1;
 		   UInt16 disable_err_mintime :1;
 		   UInt16 disable_err_hwp :1;
@@ -113,8 +111,7 @@ typedef struct {
 //7
 	UInt16 cmd_reset_error;
 
-//10
-	UInt16  time_after_err; //time_after_err = 4000<-DEC * 0.02 = 80mc
+//
 
 } T_cds_tk_write_sbus_23550;
 
@@ -198,9 +195,7 @@ typedef struct {
 		UInt16 all;
 		struct 
 		{
-		   UInt16 reserv :8;
-           UInt16 detect_soft_disconnect :1;
-           UInt16 enable_soft_disconnect :1;
+		   UInt16 reserv :10;
 		   UInt16 enable_line_err :1;
 		   UInt16 disable_err_mintime :1;
 		   UInt16 disable_err_hwp :1;
@@ -266,9 +261,7 @@ typedef struct {
 		UInt16 all;
 		struct 
 		{
-		   UInt16 reserv     :5;
-		   UInt16 ErrorSoftShutdownForbidComb     :1;
-		   UInt16 ErrorSoftShutdownFromErr0    :1;
+		   UInt16 reserv     :7;
 		   UInt16 line_err_keys_3210 :1;
 		   UInt16 line_err_keys_7654 :1;
 		   UInt16 mintime_err_keys_3210 :1;
@@ -306,22 +299,6 @@ typedef struct {
 		} bit;	
 	} status_protect_current_ack;
 
-//9
-    union
-    {
-        UInt16 all;
-        struct
-        {
-           UInt16 revision   :5;
-           UInt16 version    :6;
-           T_plate_type plate_type :5;
-        } bit;
-    } id_plate;
-
-//10
-
-    UInt16 time_after_err;
-
 
 //11
 	union
@@ -503,14 +480,12 @@ typedef union {
 //////////////////////////////////////////////////////////////
 typedef struct {
         UInt16 setup_count_error;           // ñêîëüêî æäåì äî ïàäåíèÿ øèíû
-        UInt16 setup_count_error_between;    // ñêîëüêî æäåì äî ïàäåíèÿ øèíû ïðè ÷òåíèè ñòàðûõ çíà÷åíèé
         UInt16 full_count_error;            // âñåãî îøèáîê
         UInt16 local_count_error;           // òåêóùèé ñ÷åò÷èê îøèáîê, èäåò äî setup_count_error è ñíèìàåòñÿ ready, ïðè óäà÷íîì ÷òåíèè îáíóëÿåòñÿ
         UInt16 count_ok;                    // ñêîëüêî óäà÷íûõ ÷òåíèé
         UInt16 count_lost;                  // ñêîëüêî ïîòåðü äàííûõ (ïî id_sbus)
         UInt16 ready;                       // øèíà ðàáîòàåò, îøèáêè íå ïðåâûñèëè setup_count_error
-        UInt16 same_id_count;               // ñêîëüêî âñåãî ïîâòîðíûõ ÷òåíèé òåõæå äàííûõ, ò.å. ïåðåäàò÷èê â äð.Ï× íå ïðèñëàë íè÷åãî íîâîãî
-        UInt16 same_id_count_between;       // ìåæäó óäà÷íûìè ÷òåíèÿìè, ñêîëüêî ïîâòîðíûõ ÷òåíèé òåõæå äàííûõ, ò.å. ïåðåäàò÷èê â äð.Ï× íå ïðèñëàë íè÷åãî íîâîãî
+        UInt16 same_id_count;               // сколько повторных чтений техже данных, т.е. передатчик в др.ПЧ не прислал ничего нового
         UInt16 error_not_ready_count;       // ñêîëüêî îøèáîê íå ãîòîâíîñòè øèíû ready
         UInt16 raw_local_error;             // åñòü îøèáêà ïðè ÷òåíèè, íî øèíà íå óïàëà åùå
         UInt16 buf[4];                      // äàííûå
@@ -521,7 +496,7 @@ typedef struct {
         STATUS_DATA_READ_OPT_BUS prev_status_read;// ñòàòóñ ïîñëå ÷òåíèÿ è àíàëèçà äàííûõ
 } T_cds_optical_bus_data_in;
 
-#define T_CDS_OPTICAL_BUS_DATA_IN_DEFAULTS         {15,50,0,0,0,0,0,0,0,0,0,{0,0,0,0},0,0,0,0,0}
+#define T_CDS_OPTICAL_BUS_DATA_IN_DEFAULTS         {15,0,0,0,0,0,0,0,0,{0,0,0,0},0,0,0,0,0}
 
 /////////////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////////////

Inu/Src/N12_Xilinx/xp_hwp.c

@@ -183,18 +183,15 @@ void hwp_init(T_hwp *v)
 
 
 #if (HWP_SPEED_VERSION_DEFINE==MODE_HWP_SPEED_NORMAL)
-//	v->low_setup.dac_config.bit.HWP_Speed = MODE_HWP_SPEED_NORMAL;//HWP_SPEED_VERSION_DEFINE; // new version hwp with low speed serial hwp
-	v->write.HWP_Speed = MODE_HWP_SPEED_NORMAL;
+	v->low_setup.dac_config.bit.HWP_Speed = MODE_HWP_SPEED_NORMAL;//HWP_SPEED_VERSION_DEFINE; // new version hwp with low speed serial hwp
 #endif
 
 #if (HWP_SPEED_VERSION_DEFINE==MODE_HWP_SPEED_SLOW)
-//    v->low_setup.dac_config.bit.HWP_Speed = MODE_HWP_SPEED_SLOW;//HWP_SPEED_VERSION_DEFINE; // new version hwp with low speed serial hwp
-    v->write.HWP_Speed = MODE_HWP_SPEED_SLOW;
+    v->low_setup.dac_config.bit.HWP_Speed = MODE_HWP_SPEED_SLOW;//HWP_SPEED_VERSION_DEFINE; // new version hwp with low speed serial hwp
 #endif
 
 #if (HWP_SPEED_VERSION_DEFINE==MODE_HWP_SPEED_AUTO)
-//    v->low_setup.dac_config.bit.HWP_Speed = MODE_HWP_SPEED_AUTO;//HWP_SPEED_VERSION_DEFINE; // new version hwp with low speed serial hwp
-    v->write.HWP_Speed = MODE_HWP_SPEED_AUTO;
+    v->low_setup.dac_config.bit.HWP_Speed = MODE_HWP_SPEED_AUTO;//HWP_SPEED_VERSION_DEFINE; // new version hwp with low speed serial hwp
 #endif
 
 }
@@ -1270,7 +1267,7 @@ int hwp_write_all_dacs(T_hwp *v)
 int hwp_write_all(T_hwp *v)
 {
 
-  int err = 0, err_ready = 0;
+  int err = 0;
 
     if (v->useit == 0)
 	  return 0;
@@ -1315,8 +1312,6 @@ int hwp_write_all(T_hwp *v)
 	else
 	  v->status = component_Ready;
 
-    err_ready = check_cds_ready_hwpbus( err, ITS_WRITE_BUS, &v->status_hwp_bus);
-
 
   return 0;
 

Inu/Src/N12_Xilinx/xp_inc_sensor.c

@@ -23,7 +23,6 @@ static void write_command_reg(T_inc_sensor *inc_s);
 static void tune_sampling_time(T_inc_sensor *inc_s);
 static void wait_for_registers_updated(T_inc_sensor *inc_s);
 static void read_direction_in_plane(T_inc_sensor *inc_s);
-static void detect_break_sensor_1_2(T_inc_sensor *inc_s);
 
 void sensor_set(T_inc_sensor *inc_s)
 {
@@ -81,8 +80,6 @@ void inc_sensor_read(T_inc_sensor *inc_s)
         inc_s->read_sensor2(inc_s);
     }
 
-    detect_break_sensor_1_2(inc_s);
-
 #ifdef AUTO_CHANGE_SAMPLING_TIME
     tune_sampling_time(inc_s);
 #endif
@@ -90,8 +87,7 @@ void inc_sensor_read(T_inc_sensor *inc_s)
 
 ////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////
-#define MAX_COUNT_OVERFULL_DISCRET_3    150
-#pragma CODE_SECTION(inc_sensor_read1,".fast_run");
+
 void inc_sensor_read1(T_inc_sensor *inc_s)
 {
     read_in_sensor_line1(inc_s);
@@ -111,47 +107,8 @@ void inc_sensor_read1(T_inc_sensor *inc_s)
 
 
 //#endif
-	//inc_s->data.CountZero1      = inc_s->pm67regs.zero_time_line1;
-
-    if (inc_s->pm67regs.zero_time_line1==0)
-    {
-        if (inc_s->data.countCountZero1==MAX_COUNT_OVERFULL_DISCRET_3)
-        {
-            inc_s->data.prev_CountZero1 =  inc_s->data.CountZero1 = 0;
-        }
-        else
-        {
-            inc_s->data.CountZero1 = inc_s->data.prev_CountZero1;
-            inc_s->data.countCountZero1++;
-        }
-    }
-    else
-    {
-       inc_s->data.countCountZero1 = 0;
-       inc_s->data.CountZero1 = inc_s->pm67regs.zero_time_line1;
-       inc_s->data.prev_CountZero1 = inc_s->pm67regs.zero_time_line1;
-    }
-
-//	inc_s->data.CountOne1 		= inc_s->pm67regs.one_time_line1;
-    if (inc_s->pm67regs.one_time_line1==0)
-    {
-        if (inc_s->data.countCountOne1==MAX_COUNT_OVERFULL_DISCRET_3)
-        {
-            inc_s->data.prev_CountOne1 =  inc_s->data.CountOne1 = 0;
-        }
-        else
-        {
-            inc_s->data.CountOne1 = inc_s->data.prev_CountOne1;
-            inc_s->data.countCountOne1++;
-        }
-    }
-    else
-    {
-       inc_s->data.countCountOne1 = 0;
-       inc_s->data.CountOne1 = inc_s->pm67regs.one_time_line1;
-       inc_s->data.prev_CountOne1 = inc_s->pm67regs.one_time_line1;
-    }
-
+    inc_s->data.CountZero1 		= inc_s->pm67regs.zero_time_line1;
+	inc_s->data.CountOne1 		= inc_s->pm67regs.one_time_line1;
 
 	inc_s->data.counter_freq1 	= inc_s->pm67regs.read_comand_reg.bit.sampling_time1;
 
@@ -160,7 +117,7 @@ void inc_sensor_read1(T_inc_sensor *inc_s)
 
 ////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////
-#pragma CODE_SECTION(inc_sensor_read2,".fast_run");
+
 void inc_sensor_read2(T_inc_sensor *inc_s)
 {
     read_in_sensor_line2(inc_s);
@@ -179,46 +136,8 @@ void inc_sensor_read2(T_inc_sensor *inc_s)
      inc_s->data.TimeCalcFromImpulses2 = 0;
 
 //#endif
-    //inc_s->data.CountZero1      = inc_s->pm67regs.zero_time_line1;
-
-    if (inc_s->pm67regs.zero_time_line2==0)
-    {
-        if (inc_s->data.countCountZero2==MAX_COUNT_OVERFULL_DISCRET_3)
-        {
-            inc_s->data.prev_CountZero2 =  inc_s->data.CountZero2 = 0;
-        }
-        else
-        {
-            inc_s->data.CountZero2 = inc_s->data.prev_CountZero2;
-            inc_s->data.countCountZero2++;
-        }
-    }
-    else
-    {
-       inc_s->data.countCountZero2 = 0;
-       inc_s->data.CountZero2 = inc_s->pm67regs.zero_time_line2;
-       inc_s->data.prev_CountZero2 = inc_s->pm67regs.zero_time_line2;
-    }
-
-//  inc_s->data.CountOne1       = inc_s->pm67regs.one_time_line1;
-    if (inc_s->pm67regs.one_time_line2==0)
-    {
-        if (inc_s->data.countCountOne2==MAX_COUNT_OVERFULL_DISCRET_3)
-        {
-            inc_s->data.prev_CountOne2 =  inc_s->data.CountOne2 = 0;
-        }
-        else
-        {
-            inc_s->data.CountOne2 = inc_s->data.prev_CountOne2;
-            inc_s->data.countCountOne2++;
-        }
-    }
-    else
-    {
-       inc_s->data.countCountOne2 = 0;
-       inc_s->data.CountOne2 = inc_s->pm67regs.one_time_line2;
-       inc_s->data.prev_CountOne2 = inc_s->pm67regs.one_time_line2;
-    }
+    inc_s->data.CountZero2 		= inc_s->pm67regs.zero_time_line2;
+	inc_s->data.CountOne2 		= inc_s->pm67regs.one_time_line2;
 
 	inc_s->data.counter_freq2 	= inc_s->pm67regs.read_comand_reg.bit.sampling_time2;
 
@@ -332,32 +251,6 @@ void wait_for_registers_updated(T_inc_sensor *inc_s)
 }
 
 ////////////////////////////////////////////////////////
-void detect_break_sensor_1_2(T_inc_sensor *inc_s)
-{
-    unsigned int f1 = (inc_s->data.CountOne1 || inc_s->data.CountZero1);
-    unsigned int f2 = (inc_s->data.CountOne2 || inc_s->data.CountZero2);
-
-
-    if (f1 && f2==0)
-    {
-        inc_s->break_sensor1 = 0;
-        inc_s->break_sensor2 = 1;
-    }
-
-    if (f1==0 && f2)
-    {
-        inc_s->break_sensor1 = 1;
-        inc_s->break_sensor2 = 0;
-    }
-
-    if ((f1==0 && f2==0) || (f1 && f2))
-    {
-        inc_s->break_sensor1 = 0;
-        inc_s->break_sensor2 = 0;
-    }
-
-
-}
 ////////////////////////////////////////////////////////
 
 
@@ -366,20 +259,16 @@ void tune_sampling_time(T_inc_sensor *inc_s)
 
 // ñíà÷àëà ïðîâåðßåì íà ìàêñèìóì, ò.ê. åñëè äàò÷èê îòâàëèëñß, òî îí ïîêàæåò = 0.
 
-    if(
-            (inc_s->use_sensor1 && inc_s->break_sensor1==0 && (inc_s->data.CountOne1 > LEVEL_SWITCH_MICROSEC) && (inc_s->data.CountZero1 > LEVEL_SWITCH_MICROSEC) )
-        ||  (inc_s->use_sensor2 && inc_s->break_sensor2==0 && (inc_s->data.CountOne2 > LEVEL_SWITCH_MICROSEC) && (inc_s->data.CountZero2 > LEVEL_SWITCH_MICROSEC) )
-        )
+    if((inc_s->use_sensor1 && (inc_s->pm67regs.zero_time_line1 > LEVEL_SWITCH_MICROSEC))
+        ||  (inc_s->use_sensor2 && (inc_s->pm67regs.zero_time_line2 > LEVEL_SWITCH_MICROSEC)))
     {
         inc_s->pm67regs.write_comand_reg.bit.set_sampling_time = SAMPLING_TIME_MS;
 		return;
     }
 
 // ïðîâåðêà íà ìèíèìóì
-	if(
-	      (inc_s->use_sensor1 && inc_s->break_sensor1==0 && (inc_s->data.CountOne1 < LEVEL_SWITCH_NANOSEC) && (inc_s->data.CountZero1 < LEVEL_SWITCH_NANOSEC) )
-       || (inc_s->use_sensor2 && inc_s->break_sensor2==0 && (inc_s->data.CountOne2 < LEVEL_SWITCH_NANOSEC) && (inc_s->data.CountZero2 < LEVEL_SWITCH_NANOSEC) )
-       )
+	if((inc_s->use_sensor1 && (inc_s->pm67regs.zero_time_line1 < LEVEL_SWITCH_NANOSEC))
+       || (inc_s->use_sensor2 && (inc_s->pm67regs.zero_time_line2 < LEVEL_SWITCH_NANOSEC)))
     {
         inc_s->pm67regs.write_comand_reg.bit.set_sampling_time = SAMPLING_TIME_NS;
     }

Inu/Src/N12_Xilinx/xp_inc_sensor.h

@@ -67,10 +67,6 @@ typedef struct {
 	unsigned int error_update;
 	unsigned int use_sensor1;
 	unsigned int use_sensor2;
-    unsigned int break_sensor1;
-    unsigned int break_sensor2;
-    unsigned int break_direction;
-
 
 	struct {
 
@@ -78,10 +74,6 @@ typedef struct {
 		unsigned int Impulses1;		// Quantity of full impulses during survey time
 		unsigned int CountZero1; 	// Value of the zero-half-period counter 
 		unsigned int CountOne1;		// Value of the one-half-period counter
-        unsigned int prev_CountZero1;    // Value of the prev zero-half-period counter
-        unsigned int prev_CountOne1;     // Value of the prev one-half-period counter
-        unsigned int countCountZero1;    // Value of the zero-half-period counter
-        unsigned int countCountOne1;     // Value of the one-half-period counter
 		unsigned int counter_freq1;	// 1 - 60MHz; 0 - 600KHz
 		unsigned long TimeCalcFromImpulses1; // Ïåðåñ÷åò âðåìåíè èìïóëüñà èç êîëè÷åñòâà Impulses1 è âðåìåíè Time1
 		int direction1;	// 1 - direct; 0 - reverse
@@ -90,10 +82,6 @@ typedef struct {
 		unsigned int Impulses2;		// Quantity of full impulses during survey time
 		unsigned int CountZero2;		// Value of the zero-half-period counter 
 		unsigned int CountOne2;		// Value of the one-half-period counter
-        unsigned int prev_CountZero2;    // Value of the prev zero-half-period counter
-        unsigned int prev_CountOne2;     // Value of the prev one-half-period counter
-        unsigned int countCountZero2;    // Value of the zero-half-period counter
-        unsigned int countCountOne2;     // Value of the one-half-period counter
 		unsigned int counter_freq2;	// 1 - 60MHz; 0 - 600KHz
 		unsigned long TimeCalcFromImpulses2; // Ïåðåñ÷åò âðåìåíè èìïóëüñà èç êîëè÷åñòâà Impulses1 è âðåìåíè Time1
 		int direction2;	// 1 - direct; 0 - reverse
@@ -110,14 +98,7 @@ typedef struct {
 
 } T_inc_sensor;
 
-#define T_INC_SENSOR_DEFAULT {0, 0, 0, 0, 0, 0, 0, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,0,0,0, 0,0,0,0}, \
-    T_INC_SENSOR_REGS_DEFAULTS, \
-    inc_sensor_set,\
-    update_sensors_data_s, \
-    inc_sensor_read, \
-    inc_sensor_read1, \
-    inc_sensor_read2 \
-    }
+#define T_INC_SENSOR_DEFAULT {0, 0, 0, 0, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, T_INC_SENSOR_REGS_DEFAULTS, inc_sensor_set, update_sensors_data_s, inc_sensor_read, inc_sensor_read1, inc_sensor_read2}
 
 //////////////////////////////////////////////////////////////////////////////////
 ////

Inu/Src/N12_Xilinx/xp_project.c

@@ -1229,8 +1229,6 @@ void project_autospeed_all_hwp(void)
 
 #define PAUSE_WAIT_SBUS			10000
 #define MAX_COUNT_ERR_READ_SBUS	1100 //2000 çàïàñ ïî âðåìåíè 2õ îòíîñèòåëüíî íîðìàëüíîãî ïåðèîäà çàãðóçêè âñåé êîðçèíû
-#define MAX_COUNT_ERR_READ_SBUS_2   600 //2000 çàïàñ ïî âðåìåíè 2õ îòíîñèòåëüíî íîðìàëüíîãî ïåðèîäà çàãðóçêè âñåé êîðçèíû
-
 #define MAX_COUNT_OR_READ_SBUS	20//200
 
 
@@ -1245,8 +1243,6 @@ unsigned int project_wait_load_all_cds(int flag_reset)
  unsigned int counterOk = 0, err;
  unsigned int i,count_find_plat;
  unsigned int old_status_max_read_error = 0;
- unsigned int prev_count_one_find_plat = 0, count_one_find_plat = 0;
- unsigned int max_count_err_read_sbus = MAX_COUNT_ERR_READ_SBUS;
 // unsigned int erReg, rd;
 /*
 	for (i=0;i<C_adc_number;i++)
@@ -1281,7 +1277,6 @@ unsigned int project_wait_load_all_cds(int flag_reset)
 			{
 				counterOk++;
 				project.adc[i].status = component_Started;
-				count_one_find_plat++;
 			}
 
 			project.adc[i].status_serial_bus.max_read_error = old_status_max_read_error;
@@ -1312,7 +1307,6 @@ unsigned int project_wait_load_all_cds(int flag_reset)
 			{
 				counterOk++;
 				project.cds_tk[i].status = component_Started;
-				count_one_find_plat++;
 			}
 
 			project.cds_tk[i].status_serial_bus.max_read_error = old_status_max_read_error;
@@ -1343,7 +1337,6 @@ unsigned int project_wait_load_all_cds(int flag_reset)
 			{
 				counterOk++;
 				project.cds_in[i].status = component_Started;
-				count_one_find_plat++;
 			}
 
 			project.cds_in[i].status_serial_bus.max_read_error = old_status_max_read_error;
@@ -1374,8 +1367,6 @@ unsigned int project_wait_load_all_cds(int flag_reset)
 			{
 				counterOk++;
 				project.cds_out[i].status = component_Started;
-                count_one_find_plat++;
-
 			}
 
 			project.cds_out[i].status_serial_bus.max_read_error = old_status_max_read_error;
@@ -1406,8 +1397,6 @@ unsigned int project_wait_load_all_cds(int flag_reset)
             {
                 counterOk++;
                 project.cds_rs[i].status = component_Started;
-                count_one_find_plat++;
-
             }
 
 			project.cds_rs[i].status_serial_bus.max_read_error = old_status_max_read_error;
@@ -1438,8 +1427,6 @@ unsigned int project_wait_load_all_cds(int flag_reset)
             {
                 counterOk++;
                 project.hwp[i].status = component_Started;
-                count_one_find_plat++;
-
             }
 
             project.hwp[i].status_hwp_bus.max_read_error = old_status_max_read_error;
@@ -1448,16 +1435,8 @@ unsigned int project_wait_load_all_cds(int flag_reset)
         }
 #endif
 ///////////////////////////////////////
-        if (count_one_find_plat && prev_count_one_find_plat==0)
-        {
-            // ÷åòî íàøëè â ïåðâûé ðàç?
-            counterErr = 0;// ñáðîñèëè ñ÷åò÷èê, æäåì ïî íîâîé îñòàâøèåñÿ
-            max_count_err_read_sbus = MAX_COUNT_ERR_READ_SBUS_2;
-        }
-        prev_count_one_find_plat = count_one_find_plat;
-
 		// test error - timeout?
-		if (counterErr >= max_count_err_read_sbus)
+		if (counterErr >= MAX_COUNT_ERR_READ_SBUS)
 		{
 			if (flag_reset == 0)
 			  xerror(xserial_bus_er_ID(2), (void *)0);

Inu/Src/N12_Xilinx/xp_rotation_sensor.c

@@ -188,11 +188,11 @@ void wait_for_registers_updated(T_cds_in_rotation_sensor *rs)
     while(rs->read.regs.comand_reg.bit.update_registers)
     {
         read_command_reg(rs);
-        (rs->count_wait_for_update_registers)++;
+        rs->count_wait_for_update_registers++;
 		counter_in_while++;
 		if(counter_in_while > 1000)
 		{
-			(rs->error_update)++;
+			rs->error_update++;
 			break;
 		}
     }

Inu/Src/N12_Xilinx/xp_rotation_sensor.h

@@ -341,6 +341,6 @@ void in_sensor_read1(T_cds_in_rotation_sensor *rs);
 void in_sensor_read2(T_cds_in_rotation_sensor *rs);
 
 
-//extern T_rotation_sensor rotation_sensor;
+extern T_rotation_sensor rotation_sensor;
 
 #endif //XP_ROT_SENS_H

Inu/Src/N12_Xilinx/xp_write_xpwm_time.h

@@ -123,7 +123,6 @@ typedef struct
     unsigned int Tclosed_high;
 //    unsigned int Tclosed_1;
     unsigned int pwm_tics;
-    unsigned int half_pwm_tics;
     unsigned int inited;
     unsigned int freq_pwm;
     unsigned int Tclosed_saw_direct_0;
@@ -132,16 +131,13 @@ typedef struct
     unsigned int where_interrupt;
     unsigned int mode_reload;
     unsigned int one_or_two_interrupts_run;
-    unsigned int what_next_interrupt;
-    unsigned int do_sync_out;
-    unsigned int disable_sync_out;
     WORD_UINT2BITS_STRUCT saw_direct;
     void (*write_1_2_winding_break_times)();
     void (*write_zero_winding_break_times)();
     void (*init)();
 } XPWM_TIME;
 
-#define DEFAULT_XPWM_TIME {0,0,0,0,0,0, 0,0,0,0,0,0,0, 0,0,0,0,0, 0,0,0, 0, 0, 0, 0, 0,0,0, 0,0, {0}, \
+#define DEFAULT_XPWM_TIME {0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0, 0,0,0, 0, 0, 0, 0, 0,0,0, {0}, \
                             xpwm_write_1_2_winding_break_times_16_lines, \
                             xpwm_write_zero_winding_break_times_16_lines, \
                             initXpwmTimeStructure  \

Inu/Src/main/281xEvTimersInit.c

@@ -43,7 +43,6 @@
 #include <f281xbmsk.h>
 
 #include "TuneUpPlane.h"
-#include "profile_interrupt.h"
 
 // Prototype statements for functions found within this file.
 interrupt void eva_timer1_isr(void);
@@ -58,15 +57,15 @@ Uint32  EvaTimer2InterruptCount = 0;
 Uint32  EvbTimer3InterruptCount = 0;
 Uint32  EvbTimer4InterruptCount = 0;
 
-//unsigned int  enable_profile_led1_Timer1 = 1;
-//unsigned int  enable_profile_led1_Timer2 = 1;
-//unsigned int  enable_profile_led1_Timer3 = 1;
-//unsigned int  enable_profile_led1_Timer4 = 1;
-//
-//unsigned int  enable_profile_led2_Timer1 = 0;
-//unsigned int  enable_profile_led2_Timer2 = 0;
-//unsigned int  enable_profile_led2_Timer3 = 0;
-//unsigned int  enable_profile_led2_Timer4 = 0;
+unsigned int  enable_profile_led1_Timer1 = 1;
+unsigned int  enable_profile_led1_Timer2 = 1;
+unsigned int  enable_profile_led1_Timer3 = 1;
+unsigned int  enable_profile_led1_Timer4 = 1;
+
+unsigned int  enable_profile_led2_Timer1 = 0;
+unsigned int  enable_profile_led2_Timer2 = 0;
+unsigned int  enable_profile_led2_Timer3 = 0;
+unsigned int  enable_profile_led2_Timer4 = 0;
 
 //Pointers to handler functions
 void (*timer1_handler)() = NULL;
@@ -333,11 +332,11 @@ interrupt void eva_timer1_isr(void)
     PieCtrlRegs.PIEACK.all = 0xFFFF;   // Enable PIE interrupts
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.timer1)
+    if (enable_profile_led1_Timer1)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.timer1)
+    if (enable_profile_led2_Timer1)
     i_led2_on_off_special(1);
 #endif
     EINT;
@@ -355,11 +354,11 @@ interrupt void eva_timer1_isr(void)
     DINT;
     PieCtrlRegs.PIEIER2.all = TempPIEIER;
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.timer1)
+    if (enable_profile_led1_Timer1)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.timer1)
+    if (enable_profile_led2_Timer1)
     i_led2_on_off_special(0);
 #endif
 
@@ -405,11 +404,11 @@ interrupt void eva_timer2_isr(void)
     PieCtrlRegs.PIEACK.all = 0xFFFF;   // Enable PIE interrupts
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.timer2)
+    if (enable_profile_led1_Timer2)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.timer2)
+    if (enable_profile_led2_Timer2)
     i_led2_on_off_special(1);
 #endif
 
@@ -429,11 +428,11 @@ interrupt void eva_timer2_isr(void)
     PieCtrlRegs.PIEIER3.all = TempPIEIER;
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.timer2)
+    if (enable_profile_led1_Timer2)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.timer2)
+    if (enable_profile_led2_Timer2)
     i_led2_on_off_special(0);
 #endif
 
@@ -485,11 +484,11 @@ interrupt void evb_timer3_isr(void)
     PieCtrlRegs.PIEACK.all = 0xFFFF;   // Enable PIE interrupts
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.timer3)
+    if (enable_profile_led1_Timer3)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.timer3)
+    if (enable_profile_led2_Timer3)
     i_led2_on_off_special(1);
 #endif
 
@@ -512,11 +511,11 @@ interrupt void evb_timer3_isr(void)
     PieCtrlRegs.PIEIER4.all = TempPIEIER;
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.timer3)
+    if (enable_profile_led1_Timer3)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.timer3)
+    if (enable_profile_led2_Timer3)
     i_led2_on_off_special(0);
 #endif
 
@@ -567,11 +566,11 @@ interrupt void evb_timer4_isr(void)
     PieCtrlRegs.PIEACK.all = 0xFFFF;   // Enable PIE interrupts
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.timer4)
+    if (enable_profile_led1_Timer4)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.timer4)
+    if (enable_profile_led2_Timer4)
     i_led2_on_off_special(1);
 #endif
 
@@ -591,11 +590,11 @@ interrupt void evb_timer4_isr(void)
     PieCtrlRegs.PIEIER5.all = TempPIEIER;
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (profile_interrupt.for_led1.bits.timer4)
+    if (enable_profile_led1_Timer4)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (profile_interrupt.for_led2.bits.timer4)
+    if (enable_profile_led2_Timer4)
     i_led2_on_off_special(0);
 #endif
 

Inu/Src/main/CAN_project.h

@@ -8,9 +8,6 @@
 #ifndef SRC_MAIN_CAN_PROJECT_H_
 #define SRC_MAIN_CAN_PROJECT_H_
 
-
-#include "can_protocol_ukss.h"
-
 //////////////////////////////////////////////////////////////////
 // íàñòðîéêà áàçîâûõ àäðåñîâ CAN
 // PCH_1 èëè PCH_2 âûáèðàåòñÿ äæàìïåðîâ íà ÏÌ67
@@ -31,21 +28,23 @@
 //#define CAN_PROTOCOL_VERSION   1
 #define CAN_PROTOCOL_VERSION   2
 
-#define CAN_SPEED_BITS   125000
-//#define CAN_SPEED_BITS   250000
+
+#define CAN_SPEED_BITS   250000
 //#define CAN_SPEED_BITS   500000
 
 
 
 #define ENABLE_CAN_SEND_TO_UKSS_FROM_MAIN           1
 #define ENABLE_CAN_SEND_TO_MPU_FROM_MAIN            1
-#define ENABLE_CAN_SEND_TO_TERMINAL_FROM_MAIN       0//1
+#define ENABLE_CAN_SEND_TO_TERMINAL_FROM_MAIN       1
 #define ENABLE_CAN_SEND_TO_TERMINAL_OSCIL           0//1
 #define ENABLE_CAN_SEND_TO_ANOTHER_BSU_FROM_MAIN    1
 
 
 //////////////////////////////////////////////////////
 
+
+
 #ifndef ENABLE_CAN_SEND_TO_UKSS_FROM_MAIN
 #define ENABLE_CAN_SEND_TO_UKSS_FROM_MAIN   0
 #endif

Inu/Src/main/Main.c

@@ -14,9 +14,9 @@ void main()
 	// This example function is found in the DSP281x_SysCtrl.c file.
     InitSysCtrl();
 
-	XintfZone0_Timing();//Xilinx Zone
-	XintfZone6_And7_Timing();//Flash Zone
-	XintfZone2_Timing();//External RAM Zone
+	XintfZone0_Timing();
+	XintfZone6_And7_Timing();
+	XintfZone2_Timing();
 
 	// Step 2. Initalize GPIO:
 	// This example function is found in the DSP281x_Gpio.c file and

Inu/Src/main/PWMTools.h

@@ -11,8 +11,7 @@
 
 void InitPWM(void);
 void PWM_interrupt(void);
-void PWM_interrupt_main(void);
-
+void InitPWM_Variables(void);
 
 
 void stop_wdog(void);
@@ -22,20 +21,11 @@ void start_wdog(void);
 void global_time_interrupt(void);
 void optical_bus_read_write_interrupt(void);
 void pwm_analog_ext_interrupt(void);
-void pwm_inc_interrupt(void);
 
 void fix_pwm_freq_synchro_ain(void);
-void async_pwm_ext_interrupt(void);
 
 
 
-void calc_rotors(int flag);
-
-void detect_work_revers(int direction, _iq fzad, _iq frot);
-
-void calc_power_full(void);
-
-
 
 //////////////////////////////////////////////////
 //////////////////////////////////////////////////

Inu/Src/main/adc_tools.c

@@ -132,8 +132,6 @@ ERR_ADC_PROTECT err_adc_protect[COUNT_ARR_ADC_BUF],mask_err_adc_protect[COUNT_AR
 
 
 _iq koef_Im_filter=0;
-_iq koef_Power_filter=0;
-_iq koef_Power_filter2=0;
 
 #pragma DATA_SECTION(k_norm_ADC,".slow_vars")
 _iq19 k_norm_ADC[COUNT_ARR_ADC_BUF][16];
@@ -167,8 +165,8 @@ _iq koef_Uin_filter=0;
 
 
 void fast_detect_protect_ACP();
-//void fast_read_all_adc_one(int cc);
-//void fast_read_all_adc_more(void);
+void fast_read_all_adc_one(int cc);
+void fast_read_all_adc_more(void);
 
 
 #if (USE_INTERNAL_ADC==1)
@@ -576,7 +574,7 @@ void Init_Adc_Variables(void)
 	}
 
 
-    for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+    for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
     {
       if (project.adc[i].status >= component_Ready)
 		detect_zero_analog(i);
@@ -592,7 +590,7 @@ void Init_Adc_Variables(void)
 
 
 
-#if (COUNT_ARR_ADC_BUF>1)
+
     zero_ADC[1][1]=zero_ADC[1][15];
 	zero_ADC[1][2]=zero_ADC[1][15];
 	zero_ADC[1][3]=zero_ADC[1][15];
@@ -607,12 +605,12 @@ void Init_Adc_Variables(void)
 	zero_ADC[1][12]=zero_ADC[1][15];
     zero_ADC[1][13]=zero_ADC[1][15];
     zero_ADC[1][14]=zero_ADC[1][15];
-#endif
+
 
 
     for (k=0;k<16;k++)
 	{ 
-        for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+        for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
         {
 		  if ((zero_ADC[i][k]>2200) || (zero_ADC[i][k]<1900))
 		     zero_ADC[i][k] = DEFAULT_ZERO_ADC;
@@ -623,7 +621,7 @@ void Init_Adc_Variables(void)
 
     for (k=0;k<16;k++)
 	{ 
-        for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+        for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
         {
           iq19_zero_ADC[i][k]=_IQ19(zero_ADC[i][k]);//_IQ19(1770);
         }
@@ -638,8 +636,6 @@ void Init_Adc_Variables(void)
 
 //	koef_Im_filter = _IQ(0.001/0.006);
 	koef_Im_filter = _IQ(0.001/0.065);
-	koef_Power_filter = _IQ(0.001/0.065);
-    koef_Power_filter2 = _IQ(0.001/0.2);
 
 //	koef_Iabc_filter = _IQ(0.001/0.006);
 
@@ -672,7 +668,7 @@ void Init_Adc_Variables(void)
 //	filter.iqUin_m2 = 0;
 
 
-    for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+    for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
     {
         mask_err_adc_protect[i].plus.all=0;
         mask_err_adc_protect[i].minus.all=0x0;
@@ -759,7 +755,7 @@ void read_error_ACP()
 
 // pr = project.controller.fpga.cds_fpga_parallel_bus.pread;
 
- for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+ for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
  {
    if (project.adc[i].status == component_Ready)
    for (k=0;k<16;k++)
@@ -851,181 +847,181 @@ _iq norma_adc_internal_sf(int l)
 /////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////
-//
-//#pragma CODE_SECTION(fast_read_all_adc_one,".fast_run");
-//void fast_read_all_adc_one(int cc)
-//{
-//    int i,k;
-//    int t;
-//
-//    i_led1_on_off(1);
-//
-//        project.adc[0].read_pbus(&project.adc[0]);
-//
-//          for (k=0;k<16;k++)
-//          {
-//             t = project.adc[0].read.pbus.adc_value[k];
-//             ADC_fast[0][k][cc] = t;
-//
-//                 // save max values
-//                 if (t>ADC_fast[0][k][1] || cc==3)
-//                     ADC_fast[0][k][1] = t;
-//                 // save min values
-//                 if (t<ADC_fast[0][k][2] || cc==3)
-//                     ADC_fast[0][k][2] = t;
-//          }
-//
-//
-//
-//
-//
-////i_led2_off();
-//    i_led1_on_off(0);
-//
-//}
 
-//#pragma CODE_SECTION(fast_read_all_adc_two,".fast_run");
-//void fast_read_all_adc_two(void)
-//{
-//    int i,k;
-//    int t;
-//
-////    i_led2_on_off(1);
-//
-//          project.adc[1].read_pbus(&project.adc[1]);
-//
-//          for (k=0;k<16;k++)
-//          {
-//             t = project.adc[1].read.pbus.adc_value[k];
-//             ADC_fast[1][k][0] = t;
-//          }
-//
-////    i_led2_on_off(0);
-//
-//}
+#pragma CODE_SECTION(fast_read_all_adc_one,".fast_run");
+void fast_read_all_adc_one(int cc)
+{
+    int i,k;
+    int t;
+
+    i_led1_on_off(1);
+
+        project.adc[0].read_pbus(&project.adc[0]);
+
+          for (k=0;k<16;k++)
+          {
+             t = project.adc[0].read.pbus.adc_value[k];
+             ADC_fast[0][k][cc] = t;
+
+                 // save max values
+                 if (t>ADC_fast[0][k][1] || cc==3)
+                     ADC_fast[0][k][1] = t;
+                 // save min values
+                 if (t<ADC_fast[0][k][2] || cc==3)
+                     ADC_fast[0][k][2] = t;
+          }
+
+
+
+
+
+//i_led2_off();
+    i_led1_on_off(0);
+
+}
+
+#pragma CODE_SECTION(fast_read_all_adc_two,".fast_run");
+void fast_read_all_adc_two(void)
+{
+    int i,k;
+    int t;
+
+//    i_led2_on_off(1);
+
+          project.adc[1].read_pbus(&project.adc[1]);
+
+          for (k=0;k<16;k++)
+          {
+             t = project.adc[1].read.pbus.adc_value[k];
+             ADC_fast[1][k][0] = t;
+          }
+
+//    i_led2_on_off(0);
+
+}
 
 /////////////////////////////////////////////////////////
 
-//#define PAUSE_BETWEEN_ADC_FAST      5
-//#pragma CODE_SECTION(fast_read_all_adc_more,".fast_run");
-//void fast_read_all_adc_more(void)
-//{
-//    int i,k;
-//    static int p = PAUSE_BETWEEN_ADC_FAST;
-//
-//    project.read_errors_controller();
-//
-//    if (project.adc[0].status == component_Ready
-//            && project.controller.read.errors.bit.error_pbus == 0
-//            && project.controller.read.errors_buses.bit.slave_addr_error==0
-//            && project.x_parallel_bus->flags.bit.error==0 )
-//    {
-//
-//
-//
-//        fast_read_all_adc_one(3);
-//        pause_1000(p);
-//        fast_read_all_adc_one(4);
-//        pause_1000(p);
-//        fast_read_all_adc_one(5);
-//        pause_1000(p);
-//        fast_read_all_adc_one(6);
-//        pause_1000(p);
-//        fast_read_all_adc_one(7);
-//        pause_1000(p);
-//        fast_read_all_adc_one(8);
-//
-//
-//
-//        for (k=0;k<16;k++)
-//        {
-//             ADC_fast[0][k][0] = (-ADC_fast[0][k][1] - ADC_fast[0][k][2] + ADC_fast[0][k][3] + ADC_fast[0][k][4]
-//                                 +ADC_fast[0][k][5] + ADC_fast[0][k][6] + ADC_fast[0][k][7] + ADC_fast[0][k][8]) >> 2; // ñóììó äåëèì íà 4
-//        }
-//
-//    }
-//    else
-//    {
-//        for (k=0;k<16;k++)
-//        {
-//           ADC_fast[0][k][0] = 5000; // error
-//        }
-//    }
-//
-//
-//    if (project.adc[1].status == component_Ready
-//            && project.controller.read.errors.bit.error_pbus == 0
-//            && project.controller.read.errors_buses.bit.slave_addr_error==0
-//            && project.x_parallel_bus->flags.bit.error==0 )
-//    {
-//
-//        fast_read_all_adc_two();
-//    }
-//    else
-//    {
-//        for (k=0;k<16;k++)
-//        {
-//           ADC_fast[1][k][0] = 5000; // error
-//        }
-//    }
-//
-//}
+#define PAUSE_BETWEEN_ADC_FAST      5
+#pragma CODE_SECTION(fast_read_all_adc_more,".fast_run");
+void fast_read_all_adc_more(void)
+{
+    int i,k;
+    static int p = PAUSE_BETWEEN_ADC_FAST;
 
-/////////////////////////////////////////////////////////
-//
-//#pragma CODE_SECTION(norma_fast_adc,".fast_run");
-//void norma_fast_adc(void)
-//{
-//    int i,k;
-////  int bb;
-//
-//#ifdef LOG_ACP_TO_BUF
-//    static int c_log=0;
-//    static int n_log_acp_p=0;
-//    static int n_log_acp_c=2;
-//    static int n_log_acp_p_2=0;
-//    static int n_log_acp_c_2=2;
-//
-//#endif
-//
-//    for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
-//    {
-//
-//        if ( project.adc[i].status == component_Ready
-//                && project.controller.read.errors.bit.error_pbus == 0
-//                && project.controller.read.errors_buses.bit.slave_addr_error==0
-//                && project.x_parallel_bus->flags.bit.error==0 )
-//        {
-//          for (k=0;k<16;k++)
-//          {
-//            iq_norm_ADC[i][k] = _IQ19toIQ(_IQ19mpy((-iq19_zero_ADC[i][k] + ((long)ADC_fast[i][k][0]<<19) ),iq19_k_norm_ADC[i][k]));
-//          }
-//        }
-//        else
-//        {
-//            for (k=0;k<16;k++)
-//            {
-//              iq_norm_ADC[i][k] = 0;
-//            }
-//
-//        }
-//
-//    }
-//
-//#ifdef LOG_ACP_TO_BUF
-//            if (c_log>=SIZE_BUF_LOG_ACP)
-//              c_log=0;
-//            BUF_ADC[c_log]=ADC_fast[n_log_acp_p][n_log_acp_c][0];
-//            BUF_ADC_2[c_log]=ADC_fast[n_log_acp_p_2][n_log_acp_c_2][3];
-//            c_log++;
-//#endif
-//
-////i_led2_off();
-//}
+    project.read_errors_controller();
+
+    if (project.adc[0].status == component_Ready
+            && project.controller.read.errors.bit.error_pbus == 0
+            && project.controller.read.errors_buses.bit.slave_addr_error==0
+            && project.x_parallel_bus->flags.bit.error==0 )
+    {
+
+
+
+        fast_read_all_adc_one(3);
+        pause_1000(p);
+        fast_read_all_adc_one(4);
+        pause_1000(p);
+        fast_read_all_adc_one(5);
+        pause_1000(p);
+        fast_read_all_adc_one(6);
+        pause_1000(p);
+        fast_read_all_adc_one(7);
+        pause_1000(p);
+        fast_read_all_adc_one(8);
+
+
+
+        for (k=0;k<16;k++)
+        {
+             ADC_fast[0][k][0] = (-ADC_fast[0][k][1] - ADC_fast[0][k][2] + ADC_fast[0][k][3] + ADC_fast[0][k][4]
+                                 +ADC_fast[0][k][5] + ADC_fast[0][k][6] + ADC_fast[0][k][7] + ADC_fast[0][k][8]) >> 2; // ñóììó äåëèì íà 4
+        }
+
+    }
+    else
+    {
+        for (k=0;k<16;k++)
+        {
+           ADC_fast[0][k][0] = 5000; // error
+        }
+    }
+
+
+    if (project.adc[1].status == component_Ready
+            && project.controller.read.errors.bit.error_pbus == 0
+            && project.controller.read.errors_buses.bit.slave_addr_error==0
+            && project.x_parallel_bus->flags.bit.error==0 )
+    {
+
+        fast_read_all_adc_two();
+    }
+    else
+    {
+        for (k=0;k<16;k++)
+        {
+           ADC_fast[1][k][0] = 5000; // error
+        }
+    }
+
+}
 
 /////////////////////////////////////////////////////////
 
-/*
+#pragma CODE_SECTION(norma_fast_adc,".fast_run");
+void norma_fast_adc(void)
+{
+    int i,k;
+//  int bb;
+
+#ifdef LOG_ACP_TO_BUF
+    static int c_log=0;
+    static int n_log_acp_p=0;
+    static int n_log_acp_c=2;
+    static int n_log_acp_p_2=0;
+    static int n_log_acp_c_2=2;
+
+#endif
+
+    for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
+    {
+
+        if ( project.adc[i].status == component_Ready
+                && project.controller.read.errors.bit.error_pbus == 0
+                && project.controller.read.errors_buses.bit.slave_addr_error==0
+                && project.x_parallel_bus->flags.bit.error==0 )
+        {
+          for (k=0;k<16;k++)
+          {
+            iq_norm_ADC[i][k] = _IQ19toIQ(_IQ19mpy((-iq19_zero_ADC[i][k] + ((long)ADC_fast[i][k][0]<<19) ),iq19_k_norm_ADC[i][k]));
+          }
+        }
+        else
+        {
+            for (k=0;k<16;k++)
+            {
+              iq_norm_ADC[i][k] = 0;
+            }
+
+        }
+
+    }
+
+#ifdef LOG_ACP_TO_BUF
+            if (c_log>=SIZE_BUF_LOG_ACP)
+              c_log=0;
+            BUF_ADC[c_log]=ADC_fast[n_log_acp_p][n_log_acp_c][0];
+            BUF_ADC_2[c_log]=ADC_fast[n_log_acp_p_2][n_log_acp_c_2][3];
+            c_log++;
+#endif
+
+//i_led2_off();
+}
+
+/////////////////////////////////////////////////////////
+
+
 #pragma CODE_SECTION(norma_all_adc,".fast_run");
 void norma_all_adc(void)
 {
@@ -1040,7 +1036,76 @@ void norma_all_adc(void)
 
 #endif
 
-	for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+//i_led2_on();
+
+
+//	T_cds_paralle_bus_read_all* pr;
+
+//	pr = project.controller.fpga.cds_fpga_parallel_bus.pread;
+
+//	(int)pr->data.adc[nadc].acc_short[ncan];
+
+
+///
+/*
+
+  	iq_norm_ADC[0][0] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][0] - ((long)ADC_f[0][0]<<19) ),iq19_k_norm_ADC[0][0]));
+  	iq_norm_ADC[0][1] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][1] - ((long)ADC_f[0][1]<<19) ),iq19_k_norm_ADC[0][1]));
+
+  	iq_norm_ADC[0][2] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][2] - ((long)ADC_f[0][2]<<19) ),iq19_k_norm_ADC[0][2]));
+  	iq_norm_ADC[0][3] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][3] - ((long)ADC_f[0][3]<<19) ),iq19_k_norm_ADC[0][3]));
+  	iq_norm_ADC[0][4] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][4] - ((long)ADC_f[0][4]<<19) ),iq19_k_norm_ADC[0][4]));
+  	iq_norm_ADC[0][5] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][5] - ((long)ADC_f[0][5]<<19) ),iq19_k_norm_ADC[0][5]));
+  	iq_norm_ADC[0][6] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][6] - ((long)ADC_f[0][6]<<19) ),iq19_k_norm_ADC[0][6]));
+  	iq_norm_ADC[0][7] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][7] - ((long)ADC_f[0][7]<<19) ),iq19_k_norm_ADC[0][7]));
+
+
+//i1 second mes
+//	ADC_f[0][8] = (int)pr->data.adc[0].acc_short[2];
+//	ADC_f[0][9] = (int)pr->data.adc[0].acc_short[3];
+//	ADC_f[0][10] = (int)pr->data.adc[0].acc_short[4];
+//	ADC_f[0][11] = (int)pr->data.adc[0].acc_short[5];
+//	ADC_f[0][12] = (int)pr->data.adc[0].acc_short[6];
+//	ADC_f[0][13] = (int)pr->data.adc[0].acc_short[7];
+
+
+
+  	iq_norm_ADC[0][8] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][8] - ((long)ADC_f[0][8]<<19) ),iq19_k_norm_ADC[0][8]));
+  	iq_norm_ADC[0][9] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][9] - ((long)ADC_f[0][9]<<19) ),iq19_k_norm_ADC[0][9]));
+  	iq_norm_ADC[0][10] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][10] - ((long)ADC_f[0][10]<<19) ),iq19_k_norm_ADC[0][10]));
+  	iq_norm_ADC[0][11] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][11] - ((long)ADC_f[0][11]<<19) ),iq19_k_norm_ADC[0][11]));
+  	iq_norm_ADC[0][12] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][12] - ((long)ADC_f[0][12]<<19) ),iq19_k_norm_ADC[0][12]));
+  	iq_norm_ADC[0][13] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][13] - ((long)ADC_f[0][13]<<19) ),iq19_k_norm_ADC[0][13]));
+
+//  	iq_norm_ADC[0][14] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][14] - ((long)ADC_f[0][14]<<19) ),iq19_k_norm_ADC[0][14]));
+//  	iq_norm_ADC[0][15] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[0][15] - ((long)ADC_f[0][15]<<19) ),iq19_k_norm_ADC[0][15]));
+
+///
+//  	iq_norm_ADC[1][0] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][0] - ((long)ADC_f[1][0]<<19) ),iq19_k_norm_ADC[1][0]));
+//  	iq_norm_ADC[1][1] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][1] - ((long)ADC_f[1][1]<<19) ),iq19_k_norm_ADC[1][1]));
+
+  	iq_norm_ADC[1][2] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][2] - ((long)ADC_f[1][2]<<19) ),iq19_k_norm_ADC[1][2]));
+  	iq_norm_ADC[1][3] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][3] - ((long)ADC_f[1][3]<<19) ),iq19_k_norm_ADC[1][3]));
+  	iq_norm_ADC[1][4] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][4] - ((long)ADC_f[1][4]<<19) ),iq19_k_norm_ADC[1][4]));
+
+//  	iq_norm_ADC[1][5] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][5] - ((long)ADC_f[1][5]<<19) ),iq19_k_norm_ADC[1][5]));
+//  	iq_norm_ADC[1][6] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][6] - ((long)ADC_f[1][6]<<19) ),iq19_k_norm_ADC[1][6]));
+//  	iq_norm_ADC[1][7] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][7] - ((long)ADC_f[1][7]<<19) ),iq19_k_norm_ADC[1][7]));
+
+  	iq_norm_ADC[1][8] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][8] - ((long)ADC_f[1][8]<<19) ),iq19_k_norm_ADC[1][8]));
+  	iq_norm_ADC[1][9] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][9] - ((long)ADC_f[1][9]<<19) ),iq19_k_norm_ADC[1][9]));
+  	iq_norm_ADC[1][10] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][10] - ((long)ADC_f[1][10]<<19) ),iq19_k_norm_ADC[1][10]));
+  	iq_norm_ADC[1][11] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][11] - ((long)ADC_f[1][11]<<19) ),iq19_k_norm_ADC[1][11]));
+  	iq_norm_ADC[1][12] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][12] - ((long)ADC_f[1][12]<<19) ),iq19_k_norm_ADC[1][12]));
+  	iq_norm_ADC[1][13] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][13] - ((long)ADC_f[1][13]<<19) ),iq19_k_norm_ADC[1][13]));
+  	iq_norm_ADC[1][14] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][14] - ((long)ADC_f[1][14]<<19) ),iq19_k_norm_ADC[1][14]));
+  	iq_norm_ADC[1][15] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[1][15] - ((long)ADC_f[1][15]<<19) ),iq19_k_norm_ADC[1][15]));
+
+
+
+*/
+
+	for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
 	{
 	    project.read_errors_controller();
         project.adc[i].read_pbus(&project.adc[i]);
@@ -1096,56 +1161,72 @@ void norma_all_adc(void)
 #endif
 //i_led2_off();
 }
-*/
-////////////////////////////////////////////////////////////////////
-
-#pragma CODE_SECTION(norma_adc_nc,".fast_run");
-void norma_adc_nc(int nc)
-{
-    int k;
-//  int bb;
-
-        project.read_errors_controller();
-        project.adc[nc].read_pbus(&project.adc[nc]);
-
-        if ( project.adc[nc].status == component_Ready
-                && project.controller.read.errors.bit.error_pbus == 0
-                && project.controller.read.errors_buses.bit.slave_addr_error==0
-                && project.x_parallel_bus->flags.bit.error==0 )
-        {
-          for (k=0;k<16;k++)
-          {
-
-            ADC_f[nc][k] = project.adc[nc].read.pbus.adc_value[k];
-            ADC_sf[nc][k] += (((int)(ADC_f[nc][k] - ADC_sf[nc][k]))>>SDVIG_K_FILTER_S);
-            iq_norm_ADC[nc][k] = _IQ19toIQ(_IQ19mpy((-iq19_zero_ADC[nc][k] + ((long)ADC_f[nc][k]<<19) ),iq19_k_norm_ADC[nc][k]));
-          }
-        }
-        else
-        {
-            for (k=0;k<16;k++)
-            {
-              ADC_f[nc][k] = 5000;//DEFAULT_ZERO_ADC;
-              ADC_sf[nc][k] = 5000;//DEFAULT_ZERO_ADC;
-              iq_norm_ADC[nc][k] = 0;
-            }
-
-        }
-}
 
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////
 
-
-#pragma CODE_SECTION(calc_norm_ADC_1,".fast_run");
-void calc_norm_ADC_1(int run_norma)
+#pragma CODE_SECTION(calc_norm_ADC,".fast_run");
+void calc_norm_ADC(int fast)
 {
     _iq a1,a2,a3;
+//  _iq19 t1;
+//  int k;
 
-#if (USE_ADC_1)
+//i_led1_on_off(0); 
 
-    if (run_norma)
-        norma_adc_nc(1);
 
+//i_led1_on_off(1);
+//	return;
+    //if (fast)
+    //{
+    //    fast_read_all_adc_more();
+    //    norma_fast_adc();
+    //}
+    //else
+    //    norma_all_adc();
+
+
+
+
+	analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1;
+	analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2;
+
+	analog.iqIu_1 = iq_norm_ADC[0][2];
+	analog.iqIv_1 = iq_norm_ADC[0][3];
+	analog.iqIw_1 = iq_norm_ADC[0][4];
+
+	analog.iqIu_2 = iq_norm_ADC[0][5];
+	analog.iqIv_2 = iq_norm_ADC[0][6];
+	analog.iqIw_2 = iq_norm_ADC[0][7];
+
+	analog.iqIin_1 = -iq_norm_ADC[0][9]; // äàò÷èê ïåðåâåðíóò
+	analog.iqIin_2 = -iq_norm_ADC[0][9]; // äàò÷èê ïåðåâåðíóò
+
+	analog.iqUin_A1B1 = iq_norm_ADC[0][10];
+
+// äâà âàðèàíòà ïîäêëþ÷åíèÿ äàò÷èêîâ 23550.1 áîëåå ïðàâèëüíûé - ïî ñõåìå
+// 23550.1
+
+	analog.iqUin_B1C1 = iq_norm_ADC[0][11]; // 23550.1
+    analog.iqUin_A2B2 = iq_norm_ADC[0][12]; // 23550.1
+
+// 23550.3 bs1 bs2
+
+//    analog.iqUin_B1C1 = iq_norm_ADC[0][12]; // 23550.3
+//    analog.iqUin_A2B2 = iq_norm_ADC[0][11]; // 23550.3
+//
+
+
+    analog.iqUin_C1A1 = -(analog.iqUin_A1B1 + analog.iqUin_B1C1);
+
+
+	analog.iqUin_B2C2 = iq_norm_ADC[0][13];
+	analog.iqUin_C2A2 = -(analog.iqUin_A2B2 + analog.iqUin_B2C2);
+
+
+	analog.iqIbreak_1 = iq_norm_ADC[0][14];
+	analog.iqIbreak_2 = iq_norm_ADC[0][15];
 
 #if (_FLOOR6==1)
 
@@ -1186,86 +1267,9 @@ void calc_norm_ADC_1(int run_norma)
 
 
 #endif
-#else
+//	analog.iqI_vozbud = iq_norm_ADC[1][13];
 
-    analog.T_U01 =
-    analog.T_U02 =
-    analog.T_U03 =
-    analog.T_U04 =
-    analog.T_U05 =
-    analog.T_U06 =
-    analog.T_U07 =
-    analog.T_Water_external =
-    analog.T_Water_internal =
-
-    analog.P_Water_internal =
-
-    analog.T_Air_01         =
-    analog.T_Air_02         =
-    analog.T_Air_03         =
-    analog.T_Air_04         = 0;
-
-#endif
-//  analog.iqI_vozbud = iq_norm_ADC[1][13];
-
-}
-
-////////////////////////////////////////////////////////////////////
-#pragma CODE_SECTION(calc_norm_ADC_0,".fast_run");
-void calc_norm_ADC_0(int run_norma)
-{
-    _iq a1,a2,a3;
-
-#if (USE_ADC_0)
-
-    if (run_norma)
-        norma_adc_nc(0);
-
-#if (_FLOOR6)
-    analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1 + analog.iqU_1_imit;
-    analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2 + analog.iqU_1_imit;
-#else
-    analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1;
-    analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2;
-#endif
-    analog.iqIu_1 = iq_norm_ADC[0][2];
-    analog.iqIv_1 = iq_norm_ADC[0][3];
-    analog.iqIw_1 = iq_norm_ADC[0][4];
-
-    analog.iqIu_2 = iq_norm_ADC[0][5];
-    analog.iqIv_2 = iq_norm_ADC[0][6];
-    analog.iqIw_2 = iq_norm_ADC[0][7];
-
-    analog.iqIin_1 = -iq_norm_ADC[0][9]; // äàò÷èê ïåðåâåðíóò
-    analog.iqIin_2 = -iq_norm_ADC[0][9]; // äàò÷èê ïåðåâåðíóò
-
-    analog.iqUin_A1B1 = iq_norm_ADC[0][10];
-
-// äâà âàðèàíòà ïîäêëþ÷åíèÿ äàò÷èêîâ 23550.1 áîëåå ïðàâèëüíûé - ïî ñõåìå
-// 23550.1
-
-    analog.iqUin_B1C1 = iq_norm_ADC[0][11]; // 23550.1
-    analog.iqUin_A2B2 = iq_norm_ADC[0][12]; // 23550.1
-
-// 23550.3 bs1 bs2
-
-//    analog.iqUin_B1C1 = iq_norm_ADC[0][12]; // 23550.3
-//    analog.iqUin_A2B2 = iq_norm_ADC[0][11]; // 23550.3
-//
-    analog.iqUin_B2C2 = iq_norm_ADC[0][13];
-
-    analog.iqIbreak_1 = iq_norm_ADC[0][14];
-    analog.iqIbreak_2 = iq_norm_ADC[0][15];
-
-#else
-    analog.iqU_1 = analog.iqIu_1 = analog.iqIu_2 = analog.iqIv_1 = analog.iqIv_2 =
-            analog.iqIw_1 = analog.iqIw_2 = analog.iqIin_1 = analog.iqIin_2 = analog.iqUin_A1B1 =
-                    analog.iqUin_B1C1 = analog.iqUin_A2B2 = analog.iqUin_B2C2 = analog.iqIbreak_1 = analog.iqIbreak_2
-                    = 0;
-#endif
-
-    analog.iqUin_C1A1 = -(analog.iqUin_A1B1 + analog.iqUin_B1C1);
-    analog.iqUin_C2A2 = -(analog.iqUin_A2B2 + analog.iqUin_B2C2);
+	
 
 
 
@@ -1335,8 +1339,11 @@ void calc_norm_ADC_0(int run_norma)
    a3 = _IQmpy(a1,a2);
    analog.PowerScalar = a3;
 //   filter.Power = analog.iqU_1+analog.iqU_2;
-   filter.PowerScalar = exp_regul_iq(koef_Power_filter, filter.PowerScalar, analog.PowerScalar);
-   filter.PowerScalarFilter2 = exp_regul_iq(koef_Power_filter2, filter.PowerScalarFilter2, filter.PowerScalar);
+   filter.PowerScalar = exp_regul_iq(koef_Im_filter, filter.PowerScalar, analog.PowerScalar);
+
+//i_led1_on_off(0);
+
+//i_led1_on_off(1); 
 
 }
 
@@ -1367,10 +1374,7 @@ void detect_zero_analog(int nc)
    
   for (i=0; i<COUNT_DETECT_ZERO; i++)
   { 
-//      norma_all_adc();
-      norma_adc_nc(nc);
- //     norma_adc_nc(1);
-
+      norma_all_adc();
 
       for (k=0;k<16;k++)
 	  { 

Inu/Src/main/adc_tools.h

@@ -5,17 +5,39 @@
 
 #include "IQmathLib.h"
 #include "xp_project.h"
-#include "params_norma.h"
-
 
 #define COUNT_DETECT_ZERO 3000
 
 #define COUNT_ARR_ADC_BUF_FAST_POINT    10
 
+#define NORMA_ACP 3000.0
+#define NORMA_ACP_TEMPER_MILL_AMP 100.0 //
 
+#ifndef PROJECT_SHIP
+#error Íå óñòàíîâëåí  PROJECT_SHIP â predifine Name
+#else
+
+
+#if (PROJECT_SHIP == 1)
+#define NORMA_ACP_TEMPER 100.0 // äëÿ 23550.1
+#endif
+
+
+#if (PROJECT_SHIP == 2)
+#define NORMA_ACP_TEMPER 200.0 // äëÿ 23550.3
+#endif
+
+#if (PROJECT_SHIP== 3)
+#define NORMA_ACP_TEMPER 200.0 // äëÿ 23550.3
+
+#endif
+
+
+#endif
 
 #define DELTA_ACP_TEMPER 0.0  // äàò÷èêè áëîêè pt100 äàåþò ïîñòîÿííîå ñìåùåíèå 0.0 ãðàäóñîâ, òàê íàñòðîåí áëîê SG3013
 
+#define NORMA_ACP_P	100.0
 #define ADC_READ_FROM_PARALLEL_BUS 1
 
 #define DEFAULT_ZERO_ADC	2048
@@ -235,7 +257,7 @@ typedef struct
 	_iq iqUin_m2;
 
     _iq iqIbreak_1;
-	_iq iqIbreak_2; //39
+	_iq iqIbreak_2;
 
 	_iq T_U01;
 	_iq T_U02;
@@ -253,7 +275,7 @@ typedef struct
     _iq T_Air_03;
     _iq T_Air_04;
 
-	_iq P_Water_internal; //53
+	_iq P_Water_internal;
 
 
 	_iq iqI_vozbud;
@@ -269,11 +291,8 @@ typedef struct
 	_iq iqM;
 	
 	_iq PowerScalar;
-	_iq PowerScalarFilter2;
 	_iq PowerFOC;
 
-	_iq iqU_1_imit; //63
-
 
 	/*
 	_iq iqUzpt_1_2; //uzpt1 bs2
@@ -341,7 +360,7 @@ typedef struct
 
 
 #define ANALOG_VALUE_DEFAULT {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,  0,0,0,0,0,0,0,0,0,0,\
-                              0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0, 0}
+                              0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0}
 /* Ãëîáàëüíày ñòðóêòóðà çíà÷åíèé òîêîâ è íàïðyæåíèé ÀÈÍ */
 
 
@@ -369,12 +388,8 @@ extern ANALOG_VALUE	analog;
 extern ANALOG_VALUE	filter;
 extern ANALOG_VALUE analog_zero;
 
-//void calc_norm_ADC(int fast);
-void calc_norm_ADC_0(int run_norma);
-void calc_norm_ADC_1(int run_norma);
+void calc_norm_ADC(int fast);
 void Init_Adc_Variables(void);
-void norma_adc_nc(int nc);
-
 
 
 extern int ADC_f[COUNT_ARR_ADC_BUF][16];
@@ -386,8 +401,8 @@ extern unsigned int R_ADC[COUNT_ARR_ADC_BUF][16];
 extern unsigned int K_LEM_ADC[COUNT_ARR_ADC_BUF][16];
 extern float K_NORMA_ADC[COUNT_ARR_ADC_BUF][16];
 
-//void norma_all_adc(void);
-extern _iq koef_Uzpt_long_filter, koef_Uzpt_fast_filter, koef_Uin_filter, koef_Im_filter, koef_Power_filter, koef_Power_filter2;
+void norma_all_adc(void);
+
 
 void detect_zero_analog(int nc);
 

Inu/Src/main/alarm_log.c

@@ -1,196 +0,0 @@
-/*
- * alarm_log.c
- *
- *  Created on: 11 ñåíò. 2024 ã.
- *      Author: yura
- */
-
-#include "edrk_main.h"
-#include "alarm_log_can.h"
-#include "alarm_log.h"
-#include "log_params.h"
-#include "logs_hmi.h"
-#include "global_time.h"
-
-
-#define PAUSE_AUTO_SAVE_ALARM_LOG_SECONDS    20 // 20 sec
-#define PAUSE_AUTO_STOP_ALARM_LOG_SECONDS    5 // 5 sec
-
-void send_alarm_log_pult(void)
-{
-    static int prev_imit_send_alarm_log_pult = 0;
-    int to_store = 0;
-
-    static int flag_wait_alarm = 0, prev_Ready2 = 0, flag_store_log = 0, flag_store_log_prepare = 0, flag_auto_logs = 0, flag_stop_alarm = 0;
-
-    static unsigned int pause_store_logs = 0, pause_stop_logs = 0;
-
-
-
-    // èìèòàöèÿ ñ òåðìèíàëêè
-    if (edrk.imit_send_alarm_log_pult && prev_imit_send_alarm_log_pult == 0)
-        flag_store_log = 1;
-    prev_imit_send_alarm_log_pult = edrk.imit_send_alarm_log_pult;
-
-
-    // àâòî ëîããèðîâàíèå àâàðèéíûõ ëîãîâ íà ïóëüò
-
-
-    // ñõåìà ñîáðàëàñü? çíà÷èò ëîâèì àâàðèþ
-    if (prev_Ready2==0 && edrk.Status_Ready.bits.ready_final)
-    {
-        flag_wait_alarm = 1;
-        flag_stop_alarm = 0;
-    }
-
-    if (prev_Ready2==1 && edrk.Status_Ready.bits.ready_final==0)
-    {
-        // äàåì ïàóçó, æäåì îøèáêè
-        init_timer_sec(&pause_stop_logs);
-
-        flag_stop_alarm = 1;
-    }
-    prev_Ready2 = edrk.Status_Ready.bits.ready_final;
-
-
-    //ñõåìà áûëà ñîáðàíà è ïîÿâèëàñü àâàðèÿ
-    if (flag_wait_alarm && edrk.summ_errors)
-    {
-        // ìîæíî ñîõðàíèòüñÿ
-        flag_store_log_prepare = 1;
-        flag_wait_alarm = 0;
-        flag_stop_alarm = 0;
-        init_timer_sec(&pause_store_logs);
-    }
-
-//    //ñõåìà áûëà ðàçîáðàíà, íî îøèáîê ìîæåò è íå áûòü
-//    if (flag_stop_alarm)
-//    {
-//
-//
-//    }
-
-    // îøèáîê íå ïîÿâèëîñü, ïðåêðàùàåì æäàòü
-    if (flag_stop_alarm && detect_pause_sec(PAUSE_AUTO_STOP_ALARM_LOG_SECONDS, &pause_stop_logs))
-    {
-        flag_stop_alarm = 0;
-        flag_wait_alarm = 0;
-    }
-
-
-    if (flag_store_log_prepare)
-    {
-        flag_auto_logs = detect_pause_sec(PAUSE_AUTO_SAVE_ALARM_LOG_SECONDS, &pause_store_logs);
-    }
-
-    if (flag_auto_logs)
-    {
-        flag_store_log_prepare = 0;
-        flag_auto_logs = 0;
-        // ñîõðàíÿåì
-        flag_store_log = 1;
-
-        flag_wait_alarm = 0;
-        flag_stop_alarm = 0;
-    }
-
-
-
-
-
-
-
-    // ïðîèçâîäèì ñáðîñ ëîãîâ íà ïóëüò
-    if (flag_store_log)
-    {
-
-        if (edrk.pult_cmd.log_what_memory >= 2)
-            to_store = 2;
-        else
-            if (edrk.pult_cmd.log_what_memory >= 1)
-                to_store = 1;
-            else
-                to_store = 0;
-
-        log_to_HMI.sdusb = to_store;
-
-
-        // åñëè åñòü íîñèòåëè òî ñîõðàíÿåì
-        if (log_to_HMI.sdusb)
-        {
-            log_to_HMI.send_log = 3;
-        }
-
-        flag_store_log = 0;
-
-    }
-
-
-
-
-}
-
-
-void test_send_alarm_log(int alarm_cmd)
-{
-    static unsigned int points_alarm_log = 1000;
- //   static unsigned int nchannel_alarm_log = 30;
-    static int prev_alarm_cmd = 0;
-    static int local_alarm_cmd = 0;
-
-
-
-    if (alarm_cmd && prev_alarm_cmd==0 && alarm_log_can.stage==0)
-    {
-//        i_led2_on();
-
-        alarm_log_can.post_points =    COUNT_SAVE_LOG_OFF;//100;                   // êîëè÷åñòâî ïîñòàâàðèéíûéõ çàïèñåé
-        alarm_log_can.oscills = log_params.BlockSizeErr;//nchannel_alarm_log;         // êîëè÷åñòâî êîëîíîê
-
-        alarm_log_can.global_enable = 1;
-
-        alarm_log_can.start_adr_temp = (int *)0xc0000;      // àäðåñ äëÿ âðåìåííîãî ðàçìåùåíèÿ êîïèè ëîãà, ëîã ñêîïèðóåòñÿ èç öèêëè÷åñêîãî áóôåðà â ýòîò ðàçâåðíóâøèñü.
-
-    //    alarm_log_can.finish_adr_temp = (int *)0xa0000;      // àäðåñ äëÿ âðåìåííîãî ðàçìåùåíèÿ êîïèè ëîãà, ëîã ñêîïèðóåòñÿ èç öèêëè÷åñêîãî áóôåðà â ýòîò ðàçâåðíóâøèñü.
-
-        alarm_log_can.start_adr_real_logs = (int *)log_params.start_address_log;//(int *)START_ADDRESS_LOG; // àäðåñ íà÷àëà ðåàëüíûõ ëîãîâ â öèêëè÷åñêîì áóôåðå
-        alarm_log_can.finish_adr_real_log = (int *)log_params.end_address_log;//(int *)logpar.; // êîíåö ëîãîâ â öèêëè÷åñêîì áóôåðå
-
-        alarm_log_can.current_adr_real_log = (int *)log_params.addres_mem;
-
-
-        alarm_log_can.temp_points = points_alarm_log;   // ðåàëüíûé ðàçìåð öèêëè÷åñêãî áóôåðà â òî÷êàõ.
-    //    alarm_log_can.real_points = 1000;               // íóæíûé êóñîê äëÿ êîïèè, äàííîå êîëè÷åñòâî ñêîïèðóåòñÿ èç öèêëè÷åñêîãî áóôåðà âî âðåìåííûé ëîã.
-
-        alarm_log_can.step = 450; // mks
-        local_alarm_cmd = alarm_cmd;
-//        alarm_log_can.status_alarm = alarm_cmd;//cmd_alarm_log; //  êîä àâàðèè
-        alarm_log_can.start = 0x1;
-        alarm_log_can.stop = 0x1;
-        alarm_log_can.copy2temp = 0x1;
-
-
-        alarm_log_can.clear(&alarm_log_can);
-//        alarm_log_can.send(&alarm_log_can);
-
-//        i_led2_off();
-    }
-    else
-        local_alarm_cmd = 0;
-
-    alarm_log_can.status_alarm = local_alarm_cmd;//cmd_alarm_log; //  êîä àâàðèè
-    alarm_log_can.send(&alarm_log_can);
-
-    if (alarm_log_can.stage)
-    {
-//        i_led2_on_off(1);
-    }
-    else
-    {
-//        i_led2_on_off(0);
-    }
-
-    prev_alarm_cmd = alarm_cmd;
-
-}
-////////////////////////////////////////////////////////////

Inu/Src/main/alarm_log.h

@@ -1,16 +0,0 @@
-/*
- * alarm_log.h
- *
- *  Created on: 11 ñåíò. 2024 ã.
- *      Author: yura
- */
-
-#ifndef SRC_MAIN_ALARM_LOG_H_
-#define SRC_MAIN_ALARM_LOG_H_
-
-void test_send_alarm_log(int alarm_cmd);
-void send_alarm_log_pult(void);
-
-
-
-#endif /* SRC_MAIN_ALARM_LOG_H_ */

Inu/Src/main/alg_simple_scalar.c

@@ -8,39 +8,36 @@
 
 #include <alg_simple_scalar.h>
 #include <edrk_main.h>
-//#include <log_to_mem.h>
+#include <log_to_mem.h>
 #include <master_slave.h>
 #include <math.h>
 #include <params_alg.h>
 #include <params_norma.h>
 #include <project.h>
-//#include "log_to_mem.h"
+#include "log_to_mem.h"
 #include "IQmathLib.h"
 #include "math_pi.h"
 #include "mathlib.h"
 #include "params_pwm24.h"
-#include "filter_v1.h"
-#include "log_to_memory.h"
+
 
 
 #pragma DATA_SECTION(simple_scalar1,".slow_vars");
 ALG_SIMPLE_SCALAR simple_scalar1 = ALG_SIMPLE_SCALAR_DEFAULT;
 
-_iq koefBpsi = _IQ(0.05);  //0.05
+
 
 void init_simple_scalar(void)
 {
     simple_scalar1.mzz_add_1 = _IQ(MZZ_ADD_1/NORMA_MZZ);
     simple_scalar1.mzz_add_2 = _IQ(MZZ_ADD_2/NORMA_MZZ);
-    simple_scalar1.mzz_add_3 = _IQ(MZZ_ADD_3/NORMA_MZZ);
-
     simple_scalar1.poluses  =  _IQ(POLUS);
     simple_scalar1.iq_mzz_max_for_fzad = _IQ(1000.0/NORMA_MZZ);
 
     simple_scalar1.powerzad_add = _IQ(POWERZAD_ADD_MAX);
     simple_scalar1.powerzad_dec = _IQ(POWERZAD_DEC);
 
-//    simple_scalar1.k_freq_for_pid = _IQ(1.0);
+    simple_scalar1.k_freq_for_pid = _IQ(1.0);
     simple_scalar1.k_freq_for_pid = _IQ(450.0/FREQ_PWM);
 
     simple_scalar1.iq_add_kp_df = _IQ(ADD_KP_DF);
@@ -63,7 +60,7 @@ void init_simple_scalar(void)
 
 
     simple_scalar1.pidIm1.OutMax=_IQ(K_STATOR_MAX);
-    simple_scalar1.pidIm1.OutMin=_IQ(K_STATOR_MIN);
+    simple_scalar1.pidIm1.OutMin=_IQ(0);
 
 //////////////
 
@@ -100,8 +97,7 @@ void init_simple_scalar(void)
 
 
     // ìèí. ñêîëüæåíèå
-    simple_scalar1.min_bpsi = _IQ(BPSI_MINIMAL/NORMA_FROTOR);
-    simple_scalar1.max_bpsi = _IQ(BPSI_MAXIMAL/NORMA_FROTOR);
+    simple_scalar1.min_bpsi = _IQ(0.05/NORMA_FROTOR);
 
 }
 
@@ -122,32 +118,14 @@ void init_simple_scalar(void)
    Èäåò ğàñ÷åò íàïğyæåíèy ÷åğåç ìîäóëü òîêà ïî îäíîé èç 3-õ ôàçíîé ñòîåê.
    Çàìûêàåòñy îáğàòíày ñâyçü ïî îáîğîòàì          */
 /****************************************************************/
-
-
 //#pragma CODE_SECTION(simple_scalar,".fast_run");
-void simple_scalar(int n_alg,
-                   int n_wind_pump,
-                   int direction,
-                   _iq Frot_pid,
-                   _iq Frot,
-                   _iq fzad,
+void simple_scalar(int n_alg, int n_wind_pump,
+                   _iq Frot_pid,_iq Frot, _iq fzad,
                    _iq iqKoefOgran,
-                   _iq mzz_zad,
-                   _iq bpsi_const,
-                    _iq iqIm,
-                    _iq iqUin,
-                    _iq Iin,
-                    _iq powerzad,
-                    _iq power_pid,
-                    _iq power_limit,
-                    int mode_oborots_power,
-                    _iq Izad_from_master,
-                    int master,
-                    int count_bs_work,
-                     _iq *Fz,
-                     _iq *Uz1,
-                     _iq *Uz2,
-                     _iq *Izad_out)
+                   _iq mzz_zad, _iq bpsi_const,
+                    _iq iqIm, _iq iqUin, _iq Iin, _iq powerzad, _iq power_pid,
+                    _iq Izad_from_master, int master,
+                     _iq *Fz, _iq *Uz1, _iq *Uz2, _iq *Izad_out)
 {
 
    _iq mzz,  dF, dI1, Izad, Uz_t1, Kpred_Ip, pred_Ip;//, znak_moment;
@@ -157,7 +135,6 @@ void simple_scalar(int n_alg,
    _iq Im_regul=0;
 
 
-
    static _iq bpsi=0;
  //  static _iq IQ_POLUS=0;
 
@@ -191,7 +168,7 @@ void simple_scalar(int n_alg,
    static _iq fzad_add=0; //fzad_dec
    _iq  halfIm1, halfIm2;
 
-   static _iq powerzad_int=0,  powerzad_add_max=0, pidFOutMax = 0, pidFOutMin = 0 ;
+   static _iq powerzad_int=0,  powerzad_add_max=0 ;
 //powerzad_dec powerzad_add
 //   static _iq koef_bpsi=0;
  //  static _iq min_bpsi=0;
@@ -206,217 +183,15 @@ void simple_scalar(int n_alg,
 
  //  static _iq iq_spad_k=1;
    static _iq myq_temp=0;
-   static _iq bpsi_filter=0;
-   static _iq _iq_koef_im_on_tormog = _IQ(KOEF_IM_ON_TORMOG);
-   static _iq _iq_koef_im_on_tormog_max_temper_break = _IQ(KOEF_IM_ON_TORMOG_WITH_MAX_TEMPER_BREAK);
-   static _iq n_iq_koef_im_on_tormog = CONST_IQ_1, t_iq_koef_im_on_tormog = CONST_IQ_1;
-
-   static _iq _iq_koef_im_on_tormog_add =_IQ(0.0005), _iq_koef_im_on_tormog_dec = _IQ(0.01);
-
-//   static _iq F_revers_level00= _IQ(70.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level0 = _IQ(90.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level1 = _IQ(100.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level2 = _IQ(110.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level3 = _IQ(120.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level4 = _IQ(130.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level5 = _IQ(140.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level6 = _IQ(150.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level7 = _IQ(160.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level8 = _IQ(170.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level9 = _IQ(180.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level10 = _IQ(190.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level11 = _IQ(200.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level12 = _IQ(210.0/60.0/NORMA_FROTOR);
-   static _iq F_revers_level13 = _IQ(220.0/60.0/NORMA_FROTOR);
-
-   static _iq kF_revers_level00 = _IQ(0.65);
-   static _iq kF_revers_level0 = _IQ(0.70);
-   static _iq kF_revers_level1 = _IQ(0.75);
-   static _iq kF_revers_level2 = _IQ(0.78);
-   static _iq kF_revers_level3 = _IQ(0.80);
-   static _iq kF_revers_level4 = _IQ(0.82);
-   static _iq kF_revers_level5 = _IQ(0.84);
-   static _iq kF_revers_level6 = _IQ(0.86);
-   static _iq kF_revers_level7 = _IQ(0.88);
-   static _iq kF_revers_level8 = _IQ(0.90);
-   static _iq kF_revers_level9 = _IQ(0.91);
-   static _iq kF_revers_level10 = _IQ(0.92);
-   static _iq kF_revers_level11 = _IQ(0.93);
-   static _iq kF_revers_level12 = _IQ(0.94);
-   static _iq kF_revers_level13 = _IQ(0.96);
-
-
-   static _iq P_level0 = _IQ(70.0/60.0/NORMA_FROTOR);
-   static _iq P_level1 = _IQ(150.0/60.0/NORMA_FROTOR);
-   static _iq P_level2 = _IQ(160.0/60.0/NORMA_FROTOR);
-   static _iq P_level3 = _IQ(170.0/60.0/NORMA_FROTOR);
-   static _iq P_level4 = _IQ(180.0/60.0/NORMA_FROTOR);
-   static _iq P_level5 = _IQ(190.0/60.0/NORMA_FROTOR);
-   static _iq P_level6 = _IQ(200.0/60.0/NORMA_FROTOR);
-   static _iq P_level7 = _IQ(210.0/60.0/NORMA_FROTOR);
-   static _iq P_level8 = _IQ(220.0/60.0/NORMA_FROTOR);
-   static _iq P_level9 = _IQ(230.0/60.0/NORMA_FROTOR);
-//   static _iq P_level9 = _IQ(300.0/60.0/NORMA_FROTOR);
-
-   static _iq kP_level0 = _IQ(0.9);
-   static _iq kP_level1 = _IQ(0.9);
-   static _iq kP_level2 = _IQ(0.9);
-   static _iq kP_level3 = _IQ(0.85);
-   static _iq kP_level4 = _IQ(0.8);
-   static _iq kP_level5 = _IQ(0.75);
-   static _iq kP_level6 = _IQ(0.7);
-   static _iq kP_level7 = _IQ(0.65);
-   static _iq kP_level8 = _IQ(0.6);
-   static _iq kP_level9 = _IQ(0.55);
-
-   static _iq pid_kp_power = _IQ(PID_KP_POWER);
-   static _iq add_mzz_outmax_pidp   = _IQ(100.0/NORMA_MZZ);
-   _iq new_pidP_OutMax = 0;
-
-   _iq k_ogr_p_koef_1 = 0;
-   _iq k_ogr_p_koef_2 = 0;
-
-   _iq k_ogr_n = 0;
-
-
-   _iq Frot_pid_abs;
-
-   _iq d_m=0;
-
-   _iq iq_decr_mzz_power;
-
-   _iq level1_power_ain_decr_mzz, level2_power_ain_decr_mzz;
-   _iq new_power_limit = 0;
-
-   static _iq koef_Power_filter2 = _IQ(1.0/(FREQ_PWM*EXP_FILTER_KOEF_OGRAN_POWER_LIMIT));//2.2 ñåê  //30000;// 0,0012//16777;//0,001//13981;
-
-
-
-
-
-   Frot_pid_abs = _IQabs(Frot_pid);
-
-// ïîïûòêà ïåðåñ÷èòàòü pidPower.Kp íà ëåòó
-//
-//   if (Frot_pid_abs>=P_level0)
-//   {
-//       k_ogr_p_koef_1 = CONST_IQ_1 - _IQdiv( (Frot_pid_abs-P_level0)  , (P_level9-P_level0)  );
-//       if (k_ogr_p_koef_1<0) k_ogr_p_koef_1 = 0;
-//   }
-//   else
-//       k_ogr_p_koef_1 =  CONST_IQ_1;
-//
-//   //k_ogr_p_koef_1 ìåíÿåòñÿ îò 1 äî 0 ñ
-//
-//   k_ogr_p_koef_2 = CONST_IQ_01 + _IQmpy(CONST_IQ_09, k_ogr_p_koef_1);
-
-//   simple_scalar1.pidPower.Kp = _IQmpy (pid_kp_power, k_ogr_p_koef_2);// _IQ(PID_KP_POWER)
-
-   simple_scalar1.pidPower.Kp = pid_kp_power;//_IQmpy (pid_kp_power, k_ogr_p_koef_2);// _IQ(PID_KP_POWER)
-
-   if (mode_oborots_power == ALG_MODE_SCALAR_OBOROTS)
-   {
-       if (simple_scalar1.cmd_new_calc_p_limit)
-       {
-                  simple_scalar1.flag_decr_mzz_power = 0;
-                  simple_scalar1.iq_decr_mzz_power_filter = CONST_IQ_1;
-                  simple_scalar1.iq_decr_mzz_power = CONST_IQ_1;
-                  new_power_limit = power_limit;
-       }
-       else
-       {
-           // ðàñ÷åò êîýô îãðàíè÷åíèÿ ìîùíîñòè ïî ïðåâûøåíèþ çàïàñà, âûøå ëèìèòà
-           // åñëè òåê ìîùíîñòü ïðèáëèæàåòñÿ ê ëèìèòó òî íà÷èíàåì ïðîïîðóöèîíàëüíî óìåíüøàòü òîê ÷åðåç êîýô.
-           // simple_scalar1.iq_decr_mzz_power_filter êîòîðûé èäåò îò 1.0 - íåò îãðàíè÷åíèÿ,
-           // äî 1-MAX_KOEF_OGRAN_POWER_LIMIT - ïîëíîå îãðàíè÷åíèå
-           new_power_limit = power_limit - simple_scalar1.sdvig_power_limit;
-           if (new_power_limit<MIN_DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF)
-               new_power_limit = MIN_DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF;
-
-           // ïåðâûé óðîâåíü
-           level1_power_ain_decr_mzz = new_power_limit - DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF - simple_scalar1.add_power_limit;
-
-           if (level1_power_ain_decr_mzz<0)
-               level1_power_ain_decr_mzz = 0;
-
-           // âòîðîé óðîâåíü
-           level2_power_ain_decr_mzz = level1_power_ain_decr_mzz + DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF + simple_scalar1.add_power_limit;
-
-           // ñìåñòèëè óðîâíè íà SMEWENIE_LEVEL_POWER_AIN_DECR_MZZ_DEF ââåðõ
-           level1_power_ain_decr_mzz = level1_power_ain_decr_mzz + SMEWENIE_LEVEL_POWER_AIN_DECR_MZZ_DEF;
-           level2_power_ain_decr_mzz = level2_power_ain_decr_mzz + SMEWENIE_LEVEL_POWER_AIN_DECR_MZZ_DEF;
-
-           d_m = power_pid - level1_power_ain_decr_mzz;
-
-           if  (d_m<0)
-               d_m=0;  // âñå â íîðìå
-           else
-           {
-              // ïîðà îãðàíè÷èâàòü ìîìåíò
-              if  (d_m>=(level2_power_ain_decr_mzz-level1_power_ain_decr_mzz))
-                   d_m = CONST_IQ_1;
-              else
-                   d_m = _IQdiv(d_m,(level2_power_ain_decr_mzz - level1_power_ain_decr_mzz));
-           }
-
-           if  (d_m<0)
-               d_m=0;  // âñå â íîðìå
-
-           if  (d_m>CONST_IQ_1)
-               d_m=CONST_IQ_1;  // ïîëíîå îãðàíè÷åíèå
-
-           // ïåðåâåëè óðîâåíü îò 1.0 äî 0.0 â óðîâåíü îò MAX_KOEF_OGRAN_POWER_LIMIT äî 0.0
-           d_m = _IQmpy(d_m, MAX_KOEF_OGRAN_POWER_LIMIT); //
-
-           simple_scalar1.iq_decr_mzz_power = CONST_IQ_1 - d_m;// òåïåðü êîýô ìåíÿåòñÿ îò 1.0 - íåò îãðàí. äî MAX_KOEF_OGRAN_POWER_LIMIT ìàêñ. îãðàíè÷.
-
-             if (simple_scalar1.iq_decr_mzz_power<0)
-                 simple_scalar1.iq_decr_mzz_power=0;
-
-
-             simple_scalar1.iq_decr_mzz_power_filter = exp_regul_iq(koef_Power_filter2,
-                                                                    simple_scalar1.iq_decr_mzz_power_filter,
-                                                                    simple_scalar1.iq_decr_mzz_power);
-
-             if (simple_scalar1.iq_decr_mzz_power_filter<0)
-                 simple_scalar1.iq_decr_mzz_power_filter = 0;
-
-
-             if (d_m>0)
-                 simple_scalar1.flag_decr_mzz_power = 1;
-             else
-                 simple_scalar1.flag_decr_mzz_power=0;
-
-       }
-   }
-   else
-   {
-       simple_scalar1.flag_decr_mzz_power = 0;
-       simple_scalar1.iq_decr_mzz_power_filter = CONST_IQ_1;
-       simple_scalar1.iq_decr_mzz_power = CONST_IQ_1;
-       new_power_limit = power_limit;
-   }
-
-#if (ENABLE_DECR_MZZ_POWER_IZAD)
-   if (simple_scalar1.disable_KoefOgranIzad==0)
-       simple_scalar1.iqKoefOgranIzad = _IQmpy(iqKoefOgran,simple_scalar1.iq_decr_mzz_power_filter);
-   else
-       simple_scalar1.iqKoefOgranIzad = iqKoefOgran;
-#else
-   simple_scalar1.iqKoefOgranIzad = iqKoefOgran;
-#endif
-   //static _iq _iq_1 = _IQ(1.0);
-
   // static _iq mzz_int_level1_on_F=0;
 
 
 //     mzz = _IQsat(mzz,mzz_zad_int,0);
 
 
-   simple_scalar1.mzz_zad_in1 = mzz_zad;
+   simple_scalar1.mzz_zad = mzz_zad;
    simple_scalar1.Izad_from_master = Izad_from_master;
 
-   iqKoefOgran = _IQsat(iqKoefOgran,CONST_IQ_1,0);
 
    /* óñòàíàâëèâàåì íà÷àëüíûå óñëîâèy âñåõ ğåãóëyòîğîâ */
    if ( (Frot==0) && (fzad==0) )
@@ -424,16 +199,11 @@ void simple_scalar(int n_alg,
       mzzi = 0;
       fzad_int = 0;
       powerzad_int = 0;
-      bpsi_filter = 0;
-      pidFOutMax = pidFOutMin = 0;
-      n_iq_koef_im_on_tormog = CONST_IQ_1;//_IQ(1.0);
-      simple_scalar1.iq_decr_mzz_power_filter = CONST_IQ_1;
 
    }
 
    if (mzz_zad==0)
    {
-       bpsi_filter = 0;
       mzz=0;
       I1_i=0;
       mzzi=0;
@@ -505,88 +275,6 @@ void simple_scalar(int n_alg,
    }
 
 
-   // îãðàíè÷åíèå ïðè ðåêóïåðàöèè
-       if (direction==0)
-       {
-           // ñòîèì
-           n_iq_koef_im_on_tormog = CONST_IQ_1;//_IQ(1.0);
-       }
-       else
-      if (direction==-1 && fzad <= 0)
-      {
-// åäåì íàçàä, çàäàíèå ñîâïàäàåò ñ íàïðàâëåíèåì âðàùåíèÿ
-          if (Frot_pid<-F_revers_level13)
-              n_iq_koef_im_on_tormog = kF_revers_level13;
-          else
-          if (Frot_pid<-F_revers_level12)
-              n_iq_koef_im_on_tormog = kF_revers_level12;
-          else
-          if (Frot_pid<-F_revers_level11)
-              n_iq_koef_im_on_tormog = kF_revers_level11;
-          else
-          if (Frot_pid<-F_revers_level10)
-              n_iq_koef_im_on_tormog = kF_revers_level10;
-          else
-          if (Frot_pid<-F_revers_level9)
-              n_iq_koef_im_on_tormog = kF_revers_level9;
-          else
-          if (Frot_pid<-F_revers_level8)
-              n_iq_koef_im_on_tormog = kF_revers_level8;
-          else
-          if (Frot_pid<-F_revers_level7)
-              n_iq_koef_im_on_tormog = kF_revers_level7;
-          else
-          if (Frot_pid<-F_revers_level6)
-              n_iq_koef_im_on_tormog = kF_revers_level6;
-          else
-          if (Frot_pid<-F_revers_level5)
-              n_iq_koef_im_on_tormog = kF_revers_level5;
-          else
-          if (Frot_pid<-F_revers_level4)
-              n_iq_koef_im_on_tormog = kF_revers_level4;
-          else
-          if (Frot_pid<-F_revers_level3)
-              n_iq_koef_im_on_tormog = kF_revers_level3;
-          else
-          if (Frot_pid<-F_revers_level2)
-              n_iq_koef_im_on_tormog = kF_revers_level2;
-          else
-          if (Frot_pid<-F_revers_level1)
-              n_iq_koef_im_on_tormog = kF_revers_level1;
-          if (Frot_pid<-F_revers_level0)
-              n_iq_koef_im_on_tormog = kF_revers_level0;
-          else
-              n_iq_koef_im_on_tormog = kF_revers_level00;
-
-      }
-      else
-      if (direction==1 && fzad>=0)
-      {
-          // åäåì âïåðåä, çàäàíèå ñîâïàäàåò ñ íàïðàâëåíèåì âðàùåíèÿ
-          n_iq_koef_im_on_tormog = CONST_IQ_1;//_IQ(1.0);
-      }
-      else
-      {
-          // åñëè ðåêóïåðàöèÿ òî óìåíüøèì òîê â _iq_koef_im_on_tormog ðàç ìåíüøå îò çàäàííîãî
-//          mzz_zad = _IQmpy(mzz_zad, _iq_koef_im_on_tormog);
-
-          if (edrk.warnings.e9.bits.BREAK_TEMPER_ALARM == 1)
-              // åñòü ïåðåãðåâ àâàðèéíûé, ñíèæàåì ìîùíîñòü
-              n_iq_koef_im_on_tormog = _iq_koef_im_on_tormog_max_temper_break;
-          else
-              n_iq_koef_im_on_tormog = _iq_koef_im_on_tormog;
-      }
-
-      t_iq_koef_im_on_tormog = zad_intensiv_q(_iq_koef_im_on_tormog_add,
-                                              _iq_koef_im_on_tormog_dec,
-                                              t_iq_koef_im_on_tormog,
-                                              n_iq_koef_im_on_tormog);
-
-
-      mzz_zad = _IQmpy(mzz_zad, t_iq_koef_im_on_tormog);
-
-      simple_scalar1.mzz_zad_in2 = mzz_zad;
-
    /* çàäàò÷èê èíòåíñèâíîñòè ìîìåíòà */
    if (n_alg==1)
    {
@@ -604,14 +292,14 @@ void simple_scalar(int n_alg,
    if (n_alg==2)
      mzz_zad_int = zad_intensiv_q(simple_scalar1.mzz_add_2, simple_scalar1.mzz_add_2, mzz_zad_int, mzz_zad);
 
-//   myq_temp = _IQdiv(mzz_zad, simple_scalar1.iq_mzz_max_for_fzad);
-//   myq_temp = _IQmpy( myq_temp, fzad_add_max);
-//  fzad_add = myq_temp;
-
-   fzad_int = zad_intensiv_q(fzad_add, fzad_add, fzad_int, fzad );
+   myq_temp = _IQdiv(mzz_zad, simple_scalar1.iq_mzz_max_for_fzad);
 
+   myq_temp = _IQsat( myq_temp, simple_scalar1.fzad_add_max, 0);
+
+   fzad_add = myq_temp;
 
 
+   fzad_int = zad_intensiv_q(fzad_add, fzad_add, fzad_int, fzad);
 
    powerzad_int = zad_intensiv_q(simple_scalar1.powerzad_add, simple_scalar1.powerzad_add, powerzad_int, powerzad);
 
@@ -620,31 +308,11 @@ void simple_scalar(int n_alg,
     /* ğåãóëyòîğ ñêîğîñòè */
     if (mzz_zad_int>=0)
     {
-      dF = fzad_int - Frot_pid;//*direction;
+      dF = fzad_int - Frot_pid;
 
 //////////  Power PI //////////////
 
-
-      //if (_IQabs(simple_scalar1.pidF.Out))
-
-      k_ogr_n = (_IQabs(power_pid) - _IQabs(powerzad_int));
- //     if (k_ogr_n<0) k_ogr_n = 0;
-
-      k_ogr_n = CONST_IQ_1 - _IQdiv(k_ogr_n, _IQabs(powerzad_int));
-
-      simple_scalar1.k_ogr_n = _IQsat(k_ogr_n,CONST_IQ_1,-CONST_IQ_1);
-
-
-      // íîâîå îãðàíè÷åíèÿ äëÿ pidP OutMax
-      new_pidP_OutMax = _IQabs(simple_scalar1.pidF.Out)+add_mzz_outmax_pidp;
-      new_pidP_OutMax = _IQsat(new_pidP_OutMax, mzz_zad_int, add_mzz_outmax_pidp ); // îò 100 äî ðåçóëüòàòà âûõîäà ðåãóëÿòîðà simple_scalar1.pidF.Out
-
-      // ñòàðûé âàðèàíò îãðàíè÷åíèÿ
-//      new_pidP_OutMax = mzz_zad_int;
-
-      simple_scalar1.pidPower.OutMax = new_pidP_OutMax;
-      simple_scalar1.pidPower.OutMin = 0;
-
+      simple_scalar1.pidPower.OutMax=mzz_zad;
 
 //    pidPower.Kp = _IQmpy(  _IQdiv(iq_add_kp_dpower, _IQsat(mzz_zad,mzz_zad,MIN_MZZ_FOR_DPOWER)), pidPower_Kp);
 //    pidPower.Ki = _IQmpy(  _IQdiv(iq_add_ki_dpower, _IQsat(mzz_zad,mzz_zad,MIN_MZZ_FOR_DPOWER)), pidPower_Ki);
@@ -652,9 +320,9 @@ void simple_scalar(int n_alg,
 //      simple_scalar1.pidPower.Ki = _IQmpy(simple_scalar1.pidPower.Ki, simple_scalar1.k_freq_for_pid);
 
 
-      simple_scalar1.pidPower.Ref = _IQabs(powerzad_int); // òóò òîëüêî ïîëîæèòåëüíàÿ ìîùíîñòü
+      simple_scalar1.pidPower.Ref = powerzad_int;
 
-      simple_scalar1.pidPower.Fdb = _IQabs(power_pid);
+      simple_scalar1.pidPower.Fdb = power_pid;
       simple_scalar1.pidPower.calc(&simple_scalar1.pidPower);
 
 
@@ -674,56 +342,12 @@ void simple_scalar(int n_alg,
     //   pidF.OutMax=mzz_zad_int;
           // èëè òàê
 
-       pidFOutMax = zad_intensiv_q(simple_scalar1.mzz_add_3, simple_scalar1.mzz_add_1, pidFOutMax, simple_scalar1.pidPower.Out);
-       pidFOutMin = zad_intensiv_q(simple_scalar1.mzz_add_3, simple_scalar1.mzz_add_1, pidFOutMin, simple_scalar1.pidPower.Out);
-
-
-// fzad
-       if (direction==-1 && fzad <= 0)
-       {
-           pidFOutMax = 0;
-           simple_scalar1.pidF.OutMax = 0;//simple_scalar1.pidPower.Out;
-           simple_scalar1.pidF.OutMin = -pidFOutMin;//-simple_scalar1.pidPower.Out;
-
-       }
-       else
-       if (direction==1 && fzad>=0)
-       {
-           pidFOutMin = 0;
-           simple_scalar1.pidF.OutMax = pidFOutMax;//simple_scalar1.pidPower.Out;
-           simple_scalar1.pidF.OutMin = 0;//-simple_scalar1.pidPower.Out;
-       }
-       else
-       {
-           simple_scalar1.pidF.OutMax = pidFOutMax;//simple_scalar1.pidPower.Out;
-           simple_scalar1.pidF.OutMin = -pidFOutMin;//-simple_scalar1.pidPower.Out;
-       }
-
-/*
-// pzad
-       if (direction==-1 && powerzad <= 0)
-       {
-
-
-       }
-       else
-       if (direction==1 && powerzad>=0)
-       {
-
-       }
-       else
-       {
-
-       }
-*/
+       simple_scalar1.pidF.OutMax = simple_scalar1.pidPower.Out;
 
 //    pidF.OutMax = mzz_zad;
-       if (count_bs_work==2)
-           simple_scalar1.pidF.Kp = simple_scalar1.pidF_Kp;//_IQmpy(  _IQdiv(simple_scalar1.iq_add_kp_df, _IQsat(mzz_zad,mzz_zad,simple_scalar1.min_mzz_for_df)), simple_scalar1.pidF_Kp);
-       else
-           simple_scalar1.pidF.Kp = _IQmpy2(simple_scalar1.pidF_Kp);
 
-       simple_scalar1.pidF.Ki = simple_scalar1.pidF_Ki;//_IQmpy(  _IQdiv(simple_scalar1.iq_add_ki_df, _IQsat(mzz_zad,mzz_zad,simple_scalar1.min_mzz_for_df)), simple_scalar1.pidF_Ki);
+       simple_scalar1.pidF.Kp = _IQmpy(  _IQdiv(simple_scalar1.iq_add_kp_df, _IQsat(mzz_zad,mzz_zad,simple_scalar1.min_mzz_for_df)), simple_scalar1.pidF_Kp);
+       simple_scalar1.pidF.Ki = _IQmpy(  _IQdiv(simple_scalar1.iq_add_ki_df, _IQsat(mzz_zad,mzz_zad,simple_scalar1.min_mzz_for_df)), simple_scalar1.pidF_Ki);
 
        simple_scalar1.pidF.Ki = _IQmpy(simple_scalar1.pidF.Ki,simple_scalar1.k_freq_for_pid);
 
@@ -742,10 +366,9 @@ void simple_scalar(int n_alg,
 //////////////////////////////////
 
       // áåç êîğğåêöèé dF
-      //fzad_int =
-      simple_scalar1.pidF.Ref = _IQmpy(fzad_int, iqKoefOgran);
+      simple_scalar1.pidF.Ref = fzad_int;
 
-      simple_scalar1.pidF.Fdb = Frot_pid;//*direction;
+      simple_scalar1.pidF.Fdb = Frot_pid;
       simple_scalar1.pidF.calc(&simple_scalar1.pidF);
 
 
@@ -757,7 +380,7 @@ void simple_scalar(int n_alg,
            simple_scalar1.pidF.Ui =  simple_scalar1.pidF.OutMin;
 /////////////////////////////////////
 
-       mzz = _IQabs(simple_scalar1.pidF.Out); // òóò ìîäóëü!!!
+       mzz = simple_scalar1.pidF.Out;
 
 ///////////////////////////////////////
 
@@ -818,8 +441,8 @@ void simple_scalar(int n_alg,
   */
 
 
-
-   Izad = _IQmpy(mzz, simple_scalar1.iqKoefOgranIzad);
+   iqKoefOgran = _IQsat(iqKoefOgran,CONST_IQ_1,0);
+   Izad = _IQmpy(mzz, iqKoefOgran);
 
 //   if ((n_alg==1) || (n_alg==2))
 //   {
@@ -901,7 +524,7 @@ void simple_scalar(int n_alg,
           Uze_t1 = Uz_t1;
      }
 
-     Uze_t1 = _IQsat(Uze_t1,simple_scalar1.pidIm1.OutMax, simple_scalar1.pidIm1.OutMin);
+     Uze_t1 = _IQsat(Uze_t1,simple_scalar1.pidIm1.OutMax,0);
 
 //   }
 
@@ -911,13 +534,15 @@ void simple_scalar(int n_alg,
    *Uz2 =  Uze_t1;
 
 
-      bpsi = bpsi_const + simple_scalar1.add_bpsi;
+
+
+
+      bpsi = bpsi_const;
 
    // ñêîëüæ. ~ ìîìåíòó
 //    bpsi = _IQmpy(koef_bpsi,mzz);
 
-
-      bpsi = _IQsat(bpsi,simple_scalar1.max_bpsi, simple_scalar1.min_bpsi);
+      bpsi = _IQsat(bpsi,bpsi_const, simple_scalar1.min_bpsi);
 
 #ifdef BAN_ROTOR_REVERS_DIRECT
 // èñïîëüçóåì çàùèòó îò íåïğàâèëüíîãî âğàùåíèß
@@ -930,35 +555,12 @@ void simple_scalar(int n_alg,
 
 #else
 
-      if (simple_scalar1.pidF.Out < 0)
-      {
-          bpsi_filter = exp_regul_iq(koefBpsi, bpsi_filter, -bpsi);
-      }
-      else
-      if (simple_scalar1.pidF.Out > 0)
-      {
-          bpsi_filter = exp_regul_iq(koefBpsi, bpsi_filter, bpsi);
-      }
-      else
-          bpsi_filter = exp_regul_iq(koefBpsi, bpsi_filter, 0);
-
-
-//      *Fz = _IQmpy(Frot*direction,simple_scalar1.poluses) + bpsi_filter;
-      *Fz = _IQmpy(Frot, simple_scalar1.poluses) + bpsi_filter;
-
-
-      simple_scalar1.bpsi_curent = bpsi_filter;
+      *Fz = _IQmpy(Frot,simple_scalar1.poluses) + bpsi;      /* bpsi - ñêîëüæåíèå, áåðåì ïîêà
+                                     êîíñòàíòîé õîòy òîæå äîëæåí ðåãóëèðîâàòüñy  */
 
 #endif
 
 
-      simple_scalar1.mzz_zad_int = mzz_zad_int;
-      simple_scalar1.Uze_t1 = Uze_t1;
-      simple_scalar1.iqKoefOgran = iqKoefOgran;
-      simple_scalar1.Fz = *Fz;
-      simple_scalar1.direction = direction;
-      simple_scalar1.fzad_int = fzad_int;
-
 
 
 //   if (n_alg==2)
@@ -970,6 +572,20 @@ void simple_scalar(int n_alg,
 //   }
 
 
+//   logpar.log1 = (int16)(_IQtoIQ15(Izad));
+//   logpar.log2 = (int16)(_IQtoIQ15(mzz_zad));//(int16)(_IQtoIQ15(Uze_t1));
+//   logpar.log3 = (int16)(_IQtoIQ15(fzad_int));
+//   logpar.log4 = (int16)(_IQtoIQ15(simple_scalar1.pidF.Ui));
+//   logpar.log5 = (int16)(_IQtoIQ14(simple_scalar1.pidF.Up));
+//   logpar.log6 = (int16)(_IQtoIQ14(simple_scalar1.pidF.SatErr));
+//   logpar.log7 = (int16)(_IQtoIQ15(mzz_zad_int));
+//   logpar.log8 = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.Ref));
+//   logpar.log9 = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.Fdb));
+//   logpar.log10 = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.Ui));
+//   logpar.log11 = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.Up));
+
+
+
 }
 
 

Inu/Src/main/alg_simple_scalar.h

@@ -39,38 +39,11 @@ typedef struct  {   PIDREG3 pidIm1;
                     int UpravIm2;
                     _iq pidIm_Ki;
 
-                    _iq mzz_zad_in1;
-                    _iq mzz_zad_in2;
-
+                    _iq mzz_zad;
                     _iq mzz_zad_int;
                     _iq Im_regul;
                     _iq Izad;
                     _iq Izad_from_master;
-                    _iq bpsi_curent;
-                    _iq Uze_t1;
-
-                    _iq iqKoefOgran;
-                    _iq Fz;
-                    int direction;
-                    _iq fzad_int;
-
-                    _iq add_bpsi;
-                    _iq max_bpsi;
-
-                    _iq mzz_add_3;
-
-                    _iq k_ogr_n;
-                    _iq iq_decr_mzz_power;
-                    _iq iq_decr_mzz_power_filter;
-                    int flag_decr_mzz_power;
-
-                    _iq iqKoefOgranIzad;
-                    int disable_KoefOgranIzad;
-                    _iq add_power_limit;
-                    _iq sdvig_power_limit;
-
-                    int cmd_new_calc_p_limit;
-
 
 } ALG_SIMPLE_SCALAR;
 
@@ -79,8 +52,7 @@ typedef struct  {   PIDREG3 pidIm1;
                                       0,0,0,0,0,\
                                       0,0,0,0,0,\
                                       0,0,0,0,0,\
-                                      0,0,0,0,0,0,0, \
-                                      0,0, 0,0,0, 0,0, 0, 0, 0,0,0,0,0,0, 0,0  \
+                                      0,0,0,0,0 \
 }
 
 
@@ -88,12 +60,10 @@ extern ALG_SIMPLE_SCALAR simple_scalar1;
 
 
 
-void simple_scalar(int n_alg, int n_wind_pump, int direction,
-                   _iq Frot_pid, _iq Frot,_iq fzad,_iq mzz_zad, _iq bpsi_const,
+void simple_scalar(int n_alg, int n_wind_pump, _iq Frot_pid, _iq Frot,_iq fzad,_iq mzz_zad, _iq bpsi_const,
                    _iq iqKoefOgran,
                     _iq iqIm, _iq iqUin, _iq Iin, _iq powerzad, _iq power_pid,
-                    _iq power_limit, int mode_oborots_power,
-                    _iq Izad_from_master, int master, int count_bs_work,
+                    _iq Izad_from_master, int master,
                      _iq *Fz, _iq *Uz1, _iq *Uz2, _iq *Izad);
 
 void init_simple_scalar(void);

Inu/Src/main/another_bs.c

@@ -1,458 +0,0 @@
-/*
- * another_bs.c
- *
- *  Created on: 13 íîÿá. 2024 ã.
- *      Author: Evgeniy_Sokolov
- */
-
-#include <edrk_main.h>
-
-#include <params.h>
-#include <params_alg.h>
-#include <params_norma.h>
-#include <params_pwm24.h>
-#include <params_temper_p.h>
-#include <project.h>
-#include "IQmathLib.h"
-#include "mathlib.h"
-#include <optical_bus.h>
-#include "adc_tools.h"
-#include "CAN_project.h"
-#include "CAN_Setup.h"
-#include "global_time.h"
-#include "v_rotor.h"
-#include "ukss_tools.h"
-#include "another_bs.h"
-#include "control_station_project.h"
-#include "control_station.h"
-#include "can_bs2bs.h"
-#include "sync_tools.h"
-#include "vector_control.h"
-#include "master_slave.h"
-#include "digital_filters.h"
-
-
-//////////////////////////////////////////////////////////
-
-//////////////////////////////////////////////////////////
-void read_data_from_bs(void)
-{
-    int g;
-
-    if (control_station.alive_control_station[CONTROL_STATION_ANOTHER_BS])
-    {
-        g = Unites[ANOTHER_BSU1_CAN_DEVICE][5];
-        edrk.int_koef_ogran_power_another_bs = g;
-        edrk.iq_koef_ogran_power_another_bs = ((float)edrk.int_koef_ogran_power_another_bs);
-
-        g = Unites[ANOTHER_BSU1_CAN_DEVICE][6];
-        edrk.power_kw_another_bs = g;
-        edrk.iq_power_kw_another_bs = _IQ(((float)edrk.power_kw_another_bs * 1000.0)/NORMA_ACP/NORMA_ACP);
-
-        g = Unites[ANOTHER_BSU1_CAN_DEVICE][7];
-        edrk.active_post_upravl_another_bs = g;
-
-        g = Unites[ANOTHER_BSU1_CAN_DEVICE][9];
-        edrk.Ready1_another_bs = g;
-
-        g = Unites[ANOTHER_BSU1_CAN_DEVICE][10];
-        edrk.Ready2_another_bs = g;
-
-        g = Unites[ANOTHER_BSU1_CAN_DEVICE][11];
-        edrk.MasterSlave_another_bs = g;
-
-        g = Unites[ANOTHER_BSU1_CAN_DEVICE][3] & 0x1;
-        edrk.ump_cmd_another_bs = g;
-
-        g = (Unites[ANOTHER_BSU1_CAN_DEVICE][3] & 0x2) >> 1;
-        edrk.qtv_cmd_another_bs = g;
-
-        g = Unites[ANOTHER_BSU1_CAN_DEVICE][13];
-        edrk.errors_another_bs_from_can = g;
-    }
-    else
-    {
-        edrk.errors_another_bs_from_can = 0;
-    }
-
-
-}
-
-
-//////////////////////////////////////////////////////////
-unsigned int read_cmd_sbor_from_bs(void)
-{
-    unsigned int g;
-    g = Unites[ANOTHER_BSU1_CAN_DEVICE][4];
-    return g;
-
-
-}
-
-
-
-
-void UpdateTableSecondBS(void)
-{
-  int cmd;
-  int i,k;
-
-  static unsigned int counter_sum_errors = 0;
-
-  Unites2SecondBS[0]++;
-
-  Unites2SecondBS[1] = global_time.miliseconds;
-  Unites2SecondBS[2] = edrk.flag_second_PCH;
-  Unites2SecondBS[3] = (edrk.to_shema.bits.QTV_ON_OFF << 1) | (edrk.to_shema.bits.UMP_ON_OFF);
-  Unites2SecondBS[4] = edrk.SumSbor;
-  Unites2SecondBS[5] = edrk.int_koef_ogran_power;
-  Unites2SecondBS[6] = (int)edrk.power_kw;
-  Unites2SecondBS[7] = (int)edrk.active_post_upravl;
-  Unites2SecondBS[8] = (int)edrk.power_kw;
-  Unites2SecondBS[9] =  edrk.Status_Ready.bits.ready1;
-  Unites2SecondBS[10] = edrk.Status_Ready.bits.ready_final;
-  Unites2SecondBS[11] = edrk.MasterSlave;
-
-  Unites2SecondBS[12] = _IQtoF(vect_control.iqId_min) * NORMA_ACP;
-
-  Unites2SecondBS[13] = pause_detect_error(&counter_sum_errors, 10,  edrk.summ_errors);
-
-
-  for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
-  {
-      if ((POS_STATION_CMD_ANOTHER_BSU1+i)<SIZE_ARR_CAN_UNITES_BS2BS)
-          Unites2SecondBS[POS_STATION_CMD_ANOTHER_BSU1+i] =  control_station.active_array_cmd[i];
-  }
-
-
-//  Unites2SecondBS[3] = _IQtoIQ15(edrk.zadanie.iq_fzad);
-//  Unites2SecondBS[4] = _IQtoIQ15(edrk.zadanie.iq_kzad);
-//  Unites2SecondBS[5] = _IQtoIQ15(edrk.zadanie.iq_Izad);
-//  Unites2SecondBS[6] = (edrk.zadanie.oborots_zad);
-//  Unites2SecondBS[7] = _IQtoIQ15(edrk.zadanie.iq_power_zad);
-
-
-  if (edrk.flag_second_PCH==0)
-  {
-
-//      Unites2SecondBS[5] = Unites[ANOTHER_BSU1_CAN_DEVICE][8];
-//      Unites2SecondBS[8] = 0xaa;
-//
-//      max_count_send_to_can2second_bs = 10;
-  }
-  else
-  {
-
-//      Unites2SecondBS[5] = Unites[ANOTHER_BSU1_CAN_DEVICE][8];
-//      Unites2SecondBS[8] = 0x55;
-//
-//      max_count_send_to_can2second_bs = 10;
-  }
-
-
-
-}
-//////////////////////////////////////////////////////////
-
-
-//////////////////////////////////////////////////////////
-void detect_error_from_another_bs(void)
-{
-    if (edrk.errors_another_bs_from_can)
-        edrk.errors.e7.bits.ANOTHER_BS_ALARM |= 1;
-
-}
-//////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////
-#define MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS          30 //20
-#define MAX_WAIT_READY1_DETECT_ALIVE_ANOTHER_BS      100
-#define MAX_WAIT_READY2_DETECT_ALIVE_ANOTHER_BS      70 //30 // äîëæåí áûòü áîëüøå ÷åì MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS
-//////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////
-void detect_alive_another_bs(void)
-{
- //   static unsigned int count_wait_ready = 0;
-    static unsigned int prev_another_bs_maybe_on = 0;
-    static unsigned int prev_another_bs_maybe_on_after_ready1 = 0,
-            prev_alive_can_to_another_bs = 0;
-    int real_box;
-
-
-    real_box = get_real_in_mbox(UNITS_TYPE_BOX,ANOTHER_BSU1_CAN_DEVICE);
-    if (real_box != -1)
-    {
-        edrk.ms.err_signals.alive_can_to_another_bs = CAN_timeout[real_box];
-
-
-        if (edrk.ms.err_signals.alive_can_to_another_bs == 1
-                && prev_alive_can_to_another_bs == 0)
-        {
-            // reinit CAN
-            InitCanSoft();
-        }
-        prev_alive_can_to_another_bs = edrk.ms.err_signals.alive_can_to_another_bs;
-    }
-
-#if (USE_TK_3)
-    edrk.ms.err_signals.alive_opt_bus_read      = !project.cds_tk[3].optical_data_in.ready;
-    edrk.ms.err_signals.alive_opt_bus_write     = !project.cds_tk[3].optical_data_out.ready;
-#else
-    edrk.ms.err_signals.alive_opt_bus_read      = 1;
-    edrk.ms.err_signals.alive_opt_bus_write     = 1;
-#endif
-    edrk.ms.err_signals.alive_sync_line         = !sync_data.global_flag_sync_1_2;
-    edrk.ms.err_signals.alive_sync_line_local   = !sync_data.local_flag_sync_1_2;
-//    edrk.ms.err_signals.input_alarm_another_bs  = edrk.from_ing1.bits.
-    // òóò ïîêà îòêëþ÷åí êàíàë.
- //   edrk.ms.err_signals.fast_optical_alarm      = 0;//!project.cds_tk[3].read.sbus.status_tk_40pin.bit.tk5_ack;
-    edrk.ms.err_signals.another_rascepitel      = edrk.from_second_pch.bits.RASCEPITEL;
-
-    if (edrk.ms.err_signals.alive_can_to_another_bs
-            && (edrk.ms.err_signals.alive_opt_bus_read
-            || edrk.ms.err_signals.alive_opt_bus_write)
-            && edrk.ms.err_signals.alive_sync_line
-//            && edrk.ms.err_signals.fast_optical_alarm
-            )
-    {
-        edrk.ms.another_bs_maybe_off = 1;
-        edrk.ms.another_bs_maybe_on = 0;
-    }
-    else
-    {
-        edrk.ms.another_bs_maybe_off = 0;
-        edrk.ms.another_bs_maybe_on = 1;
-    }
-
-    // åñëè ñâÿçü âîññòàíîâèëàñü, òî îïÿòü æäåì íåêîòîðîå âðåìÿ ïîêà çàïóñòÿòñÿ âñå îñòàëüíûå êàíàëû ñâÿçè.
-    if (prev_another_bs_maybe_on!=edrk.ms.another_bs_maybe_on && edrk.ms.another_bs_maybe_on)
-    {
-//        edrk.ms.count_time_wait_ready1 = 0;
-        edrk.ms.count_time_wait_ready2 = 0;
-        prev_another_bs_maybe_on_after_ready1 = 0;
-        clear_errors_master_slave();
-    }
-
-
-    //
-    // âûñòàâëÿåì ôëàã òîëüêî ÷åðåç âðåìÿ MAX_WAIT_READY_DETECT_ALIVE_ANOTHER_BS
-    //
-    edrk.ms.ready1 = filter_err_count(&edrk.ms.count_time_wait_ready1,
-                               MAX_WAIT_READY1_DETECT_ALIVE_ANOTHER_BS,
-                               1,
-                               0);
-
-    if (edrk.Status_Ready.bits.ready5)
-    {
-        edrk.ms.ready2 = filter_err_count(&edrk.ms.count_time_wait_ready2,
-                                       MAX_WAIT_READY2_DETECT_ALIVE_ANOTHER_BS,
-                                       1,
-                                       0);
-    }
-    else
-    {
-        edrk.ms.count_time_wait_ready2 = 0;
-        edrk.ms.ready2 = 0;
-    }
-
-//    edrk.ms.ready2 = edrk.Status_Ready.bits.ready5 && filter_err_count(&edrk.ms.count_time_wait_ready2,
-//                               MAX_WAIT_READY2_DETECT_ALIVE_ANOTHER_BS,
-//                               1,
-//                               0);
-
-
-
-
-
-    prev_another_bs_maybe_on = edrk.ms.another_bs_maybe_on;
-
-
-    // æäåì ïîêà ïðîéäåò íåêîòîðîå âðåìÿ
-    if (edrk.ms.ready1==0)
-    {
-
-
-        edrk.ms.status = 1;
-        return;
-    }
-
-
-    // åñëè ñâÿçü áûëà ïîñëå edrk.ms.ready1==1, íî âñÿ ïðîïàëà, äàåì îøèáêó
-    if (prev_another_bs_maybe_on_after_ready1!=edrk.ms.another_bs_maybe_on && edrk.ms.another_bs_maybe_on==0)
-    {
-        edrk.errors.e4.bits.ANOTHER_BS_POWER_OFF |= 1;
-    }
-    prev_another_bs_maybe_on_after_ready1 = edrk.ms.another_bs_maybe_on;
-
-
-
-
-    edrk.ms.err_lock_signals.alive_can_to_another_bs |= filter_err_count(&edrk.ms.errors_count.alive_can_to_another_bs,
-                                                                        MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
-                                                                        edrk.ms.err_signals.alive_can_to_another_bs,
-                                                                        0);
-
-    edrk.ms.err_lock_signals.alive_opt_bus_read |= filter_err_count(&edrk.ms.errors_count.alive_opt_bus_read,
-                                                                        MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
-                                                                        edrk.ms.err_signals.alive_opt_bus_read,
-                                                                        0);
-    edrk.ms.err_lock_signals.alive_opt_bus_write |= filter_err_count(&edrk.ms.errors_count.alive_opt_bus_write,
-                                                                        MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
-                                                                        edrk.ms.err_signals.alive_opt_bus_write,
-                                                                        0);
-
-    edrk.ms.err_lock_signals.alive_sync_line = filter_err_count(&edrk.ms.errors_count.alive_sync_line,
-                                                                        MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
-                                                                        edrk.ms.err_signals.alive_sync_line,
-                                                                        0);
-
-    edrk.ms.err_lock_signals.alive_sync_line_local = filter_err_count(&edrk.ms.errors_count.alive_sync_line_local,
-                                                                        MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
-                                                                        edrk.ms.err_signals.alive_sync_line_local,
-                                                                        0);
-
-    edrk.ms.err_lock_signals.fast_optical_alarm |= filter_err_count(&edrk.ms.errors_count.fast_optical_alarm,
-                                                                        MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
-                                                                        edrk.ms.err_signals.fast_optical_alarm,
-                                                                        0);
-
-    edrk.ms.err_lock_signals.input_alarm_another_bs |= filter_err_count(&edrk.ms.errors_count.input_alarm_another_bs,
-                                                                        MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
-                                                                        edrk.ms.err_signals.input_alarm_another_bs,
-                                                                        0);
-
-    edrk.ms.err_lock_signals.another_rascepitel |= filter_err_count(&edrk.ms.errors_count.another_rascepitel,
-                                                                        MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
-                                                                        edrk.ms.err_signals.another_rascepitel,
-                                                                        0);
-
-    edrk.ms.err_lock_signals.input_master_slave |= filter_err_count(&edrk.ms.errors_count.input_master_slave,
-                                                                        MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
-                                                                        edrk.ms.err_signals.input_master_slave,
-                                                                        0);
-
-
-    if (edrk.ms.err_signals.alive_can_to_another_bs
-            && (edrk.ms.err_signals.alive_opt_bus_read
-            || edrk.ms.err_signals.alive_opt_bus_write)
-            && edrk.ms.err_signals.alive_sync_line
-  //          && edrk.ms.err_signals.fast_optical_alarm
- //         &&  edrk.ms.err_signals.input_alarm_another_bs &&
-//            && edrk.ms.err_signals.another_rascepitel == 0
-//            && edrk.ms.err_signals.input_master_slave
-            )
-    {
-
-        if (edrk.ms.err_signals.another_rascepitel)
-            edrk.errors.e7.bits.ANOTHER_RASCEPITEL_ON |= 1;
-
-//        edrk.ms.another_bs_maybe_off = 1;
-//        edrk.ms.another_bs_maybe_on = 0;
-
-        edrk.warnings.e4.bits.ANOTHER_BS_POWER_OFF = 1;
-  //      edrk.warnings.e4.bits.FAST_OPTICAL_ALARM = 1;
-        edrk.warnings.e7.bits.MASTER_SLAVE_SYNC = 1;
-        edrk.warnings.e7.bits.READ_OPTBUS = edrk.ms.err_signals.alive_opt_bus_read;
-        edrk.warnings.e7.bits.WRITE_OPTBUS = edrk.ms.err_signals.alive_opt_bus_write;
-        edrk.warnings.e7.bits.CAN2CAN_BS = 1;
-
-        edrk.ms.status = 2;
-
-    }
-    else
-    {
-
-        edrk.warnings.e4.bits.ANOTHER_BS_POWER_OFF = 0;
-
-//
-        if (edrk.ms.err_lock_signals.alive_can_to_another_bs)
-            edrk.errors.e7.bits.CAN2CAN_BS |= 1;
-        else
-            edrk.warnings.e7.bits.CAN2CAN_BS = 0;
-//
-        if (edrk.ms.err_lock_signals.alive_opt_bus_read)
-            edrk.errors.e7.bits.READ_OPTBUS |= 1;
-        else
-            edrk.warnings.e7.bits.READ_OPTBUS = 0;
-//
-        if (edrk.ms.err_lock_signals.alive_opt_bus_write)
-            edrk.errors.e7.bits.WRITE_OPTBUS |= 1;
-        else
-            edrk.warnings.e7.bits.WRITE_OPTBUS = 0;
-//
-        if (edrk.ms.err_lock_signals.alive_sync_line)
-            edrk.warnings.e7.bits.MASTER_SLAVE_SYNC = 1;
-        else
-            edrk.warnings.e7.bits.MASTER_SLAVE_SYNC = 0;
-//
-//        if (edrk.ms.err_lock_signals.fast_optical_alarm)
-//            edrk.errors.e4.bits.FAST_OPTICAL_ALARM |= 1;
-//        else
-//            edrk.warnings.e4.bits.FAST_OPTICAL_ALARM = 0;
-
-
- //       edrk.ms.another_bs_maybe_on = 1;
- //       edrk.ms.another_bs_maybe_off = 0;
-
-        if (edrk.ms.err_signals.alive_can_to_another_bs
-                    || edrk.ms.err_signals.alive_opt_bus_read
-                    || edrk.ms.err_signals.alive_opt_bus_write
-                    || edrk.ms.err_signals.alive_sync_line
-                    || edrk.ms.err_signals.fast_optical_alarm
-                    )
-            edrk.ms.status = 3;
-        else
-            edrk.ms.status = 4;
-
-    }
-
-
-
-
-
-}
-
-
-////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////
-//  îáíîâëßåì äðóãîé ÁÑÓ ïî CAN
-////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////
-
-void update_bsu_can(unsigned int pause)
-{
-    int real_mbox;
-    int t1;
-
-//    if (edrk.flag_second_PCH==0)
-//        t1 = 125;
-//    if (edrk.flag_second_PCH==1)
-//        t1 = 150;
-
-    SendAll2SecondBS(pause);
-
-}
-
-////////////////////////////////////////////////////////////////////
-
-////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////
-//  ñïåö íàñòðîéêè äëÿ ìåæáëî÷íîãî îáìåíà ÁÑ1 ÁÑ2 ïî CAN
-////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////
-
-void init_can_box_between_bs1_bs2(void)
-{
-    // âêëþ÷àåì ðåâåðñ àäðåñîâ òîëüêî äëÿ îäíîãî ÁÑ
-    // èìèòèðóåì ÿùèê Unites êàêáû
-    //
-    if (edrk.flag_second_PCH==0)
-    {
-       unites_can_setup.revers_box[ANOTHER_BSU1_CAN_DEVICE] = 1;
-    }
-
-    unites_can_setup.adr_detect_refresh[ZADATCHIK_CAN] = 16;
-
-}
-

Inu/Src/main/another_bs.h

@@ -1,21 +0,0 @@
-/*
- * another_bs.h
- *
- *  Created on: 13 íîÿá. 2024 ã.
- *      Author: Evgeniy_Sokolov
- */
-
-#ifndef SRC_MAIN_ANOTHER_BS_H_
-#define SRC_MAIN_ANOTHER_BS_H_
-
-void update_bsu_can(unsigned int pause);
-void init_can_box_between_bs1_bs2(void);
-void detect_alive_another_bs(void);
-void detect_error_from_another_bs(void);
-void UpdateTableSecondBS(void);
-unsigned int read_cmd_sbor_from_bs(void);
-void read_data_from_bs(void);
-
-
-
-#endif /* SRC_MAIN_ANOTHER_BS_H_ */

Inu/Src/main/break_regul.c

@@ -64,34 +64,25 @@ void break_resistor_managment_calc()
 {
 	static unsigned int break_counter = 0;//MAX_BREAK_IMPULSE + 1;
 
-	if(edrk.Discharge && edrk.from_shema_filter.bits.QTV_ON_OFF==0
-	        && edrk.from_shema_filter.bits.UMP_ON_OFF==0)// && edrk.to_shema.bits.QTV_ON == 0)
+	if(edrk.Discharge && edrk.from_shema.bits.QTV_ON_OFF==0 && edrk.from_shema.bits.UMP_ON_OFF==0)
 	{
 		if (break_counter < MAX_BREAK_IMPULSE)
 		{
 			break_counter++;
 
 
-			if ((filter.iqU_1_fast > BREAK_INSENSITIVE_LEVEL_MIN)
-			        || edrk.ManualDischarge || edrk.NoDetectUZeroDischarge)
+			if ((filter.iqU_1_fast > BREAK_INSENSITIVE_LEVEL_MIN) || edrk.ManualDischarge || edrk.NoDetectUZeroDischarge)
 			{
-			    if (edrk.Obmotka1 == 0)
-			        break_result_1 = 300;
-			    else
-			        break_result_1 = 0;
+				break_result_1 = 300;
 			}
 			else
 			{
 				break_result_1 = 0;
 			}
 
-			if ((filter.iqU_2_fast > BREAK_INSENSITIVE_LEVEL_MIN)
-			        || edrk.ManualDischarge || edrk.NoDetectUZeroDischarge )
+			if ((filter.iqU_2_fast > BREAK_INSENSITIVE_LEVEL_MIN) || edrk.ManualDischarge || edrk.NoDetectUZeroDischarge )
 			{
-                if (edrk.Obmotka2 == 0)
-                    break_result_2 = 300;
-                else
-                    break_result_2 = 0;
+				break_result_2 = 300;
 			}
 			else
 			{
@@ -158,8 +149,7 @@ void break_resistor_recup_calc(_iq Uzpt_nominal)
 {
 	_iq Uzpt_start_recup = Uzpt_nominal + IQ_DELTA_U_START_RECUP;
 	_iq Uzpt_max_open_break_keys = Uzpt_nominal + IQ_DELTA_U_MAX_OPEN_BREAK_KEYS;
-
-    if (/*edrk.Go &&*/ (edrk.SborFinishOk || edrk.Status_Ready.bits.ImitationReady2) )
+    if (edrk.Go && edrk.SborFinishOk)
 	{
 		break_result_1 = calc_recup(filter.iqU_1_fast, Uzpt_start_recup, Uzpt_max_open_break_keys);
 		break_result_2 = calc_recup(filter.iqU_2_fast, Uzpt_start_recup, Uzpt_max_open_break_keys);

Inu/Src/main/calc_tempers.c

@@ -19,8 +19,6 @@ int calc_max_temper_acdrive_winding(void);
 int calc_max_temper_edrk_u(void);
 int calc_max_temper_edrk_water(void);
 int calc_max_temper_edrk_air(void);
-int calc_min_temper_edrk_air(void);
-
 
 
 
@@ -96,19 +94,6 @@ int calc_max_temper_edrk_air(void)
 
   return max_t;
 
-}
-//////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////
-int calc_min_temper_edrk_air(void)
-{
-  int i, min_t=1000;
-
-  for (i=0;i<4;i++)
-    if (edrk.temper_edrk.real_int_temper_air[i]<min_t)
-      min_t = edrk.temper_edrk.real_int_temper_air[i];
-
-  return min_t;
-
 }
 //////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////
@@ -272,8 +257,6 @@ void calc_temper_edrk(void)
       edrk.temper_edrk.real_int_temper_air[i] = edrk.temper_edrk.real_temper_air[i]*K_TEMPER_TO_SVU;
 
     edrk.temper_edrk.max_real_int_temper_air = calc_max_temper_edrk_air();
-    edrk.temper_edrk.min_real_int_temper_air = calc_min_temper_edrk_air();
-
 
 
 }

Inu/Src/main/can_bs2bs.c

@@ -20,7 +20,6 @@
 #include "DSP281x_SWPrioritizedIsrLevels.h"   // DSP281x Examples Include File
 #include "DSP281x_Device.h"
 #include "xp_project.h"
-#include "another_bs.h"
 
 
 
@@ -28,11 +27,10 @@
 
 
 #pragma DATA_SECTION(Unites2SecondBS, ".slow_vars")
-int Unites2SecondBS[SIZE_ARR_CAN_UNITES_BS2BS]={0,0,0,0,0,0,0,0,0,0,\
-                                                0,0,0,0,0,0,0,0,0,0,\
-                                                0,0,0,0,0,0,0,0,0,0,\
-                                                0,0,0,0,0,0,0,0,0,0,\
-                                                0,0,0,0,0,0,0,0,0,0\
+int Unites2SecondBS[SIZE_ARR_CAN_UNITES_BS2BS]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,\
+                          0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,\
+                          0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,\
+                          0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0\
                            };
 
 

Inu/Src/main/can_bs2bs.h

@@ -8,7 +8,7 @@
 #ifndef SRC_MAIN_CAN_BS2BS_H_
 #define SRC_MAIN_CAN_BS2BS_H_
 
-#define SIZE_ARR_CAN_UNITES_BS2BS   50 //100
+#define SIZE_ARR_CAN_UNITES_BS2BS   100
 
 
 extern int Unites2SecondBS[SIZE_ARR_CAN_UNITES_BS2BS];

Inu/Src/main/can_protocol_ukss.h

@@ -1,63 +0,0 @@
-/*
- * can_protocol_ukss.h
- *
- *  Created on: 23 àâã. 2024 ã.
- *      Author: yura
- */
-
-#ifndef SRC_MAIN_CAN_PROTOCOL_UKSS_H_
-#define SRC_MAIN_CAN_PROTOCOL_UKSS_H_
-
-
-
-#define CAN_PROTOCOL_UKSS   2 // 2
-
-
-#ifndef CAN_PROTOCOL_UKSS
-#define CAN_PROTOCOL_UKSS   1
-#endif
-
-
-
-
-#if (CAN_PROTOCOL_UKSS == 2)
-
-
-#define ADR_CYCLES_TIMER_MAIN       96     //Ïåðèîä îñíîâí. ïîñûëîê CAN, * 10 mñåê
-#define ADR_CYCLES_TIMER_ADD        97     //Ïåðèîä äîïîëí. ïîñûëîê CAN, * 10 mñåê
-#define ADR_CYCLES_PAUSE_MAIN       98     //Ïàóçà îñíîâí. ïîñûëîê CAN, * 10 mñåê
-#define ADR_CYCLES_PAUSE_ADD        99     //Ïàóçà äîïîëí. ïîñûëîê CAN, * 10 mñåê
-#define ADR_CYCLES_REPEATE_MAIN     100     //Ïîâòîð îñíîâí. ïîñûëîê CAN, * 10 mñåê
-#define ADR_CYCLES_REPEATE_ADD      101     //Ïîâòîð äîïîëí. ïîñûëîê CAN, * 10 mñåê
-#define ADR_CYCLES_REPEATE_DIGIO       102     //Ïîâòîðÿòü ïîñûëêó äèñêð. âõîäîâ, ðàç
-
-#define ADR_LIGHT_LED_1       104     //ßðêîñòü ëàìïû 1
-#define ADR_LIGHT_LED_2       105     //ßðêîñòü ëàìïû 2
-#define ADR_LIGHT_LED_3       106     //ßðêîñòü ëàìïû 3
-#define ADR_LIGHT_LED_4       107     //ßðêîñòü ëàìïû 4
-#define ADR_LIGHT_LED_5       108     //ßðêîñòü ëàìïû 5
-#define ADR_LIGHT_LED_6       109     //ßðêîñòü ëàìïû 6
-#define ADR_LIGHT_LED_7       110     //ßðêîñòü ëàìïû 7
-
-
-
-#define ADR_COUNT_CYCLES_MAIN       120     //Êîëè÷åñòâî öèêëîâ îñíîâí. ïîñûëîê CAN
-#define ADR_COUNT_CYCLES_ADD        121     //Êîëè÷åñòâî öèêëîâ äîïîëí. ïîñûëîê CAN
-#define ADR_COUNT_FULL_CYCLES_MAIN  122     //Êîë-âî ïîëíûõ öèêëîâ îñíîâí. ïîñûëîê CAN
-#define ADR_COUNT_FULL_CYCLES_ADD   123     //Êîë-âî ïîëíûõ öèêëîâ äîïîëí. ïîñûëîê CAN
-
-#define ADR_PROTOCOL_VERSION        125         //Âåðñèÿ ïðîòîêîëà
-#define ADR_UKSS_NUMBER             126         //Àäðåñ óñòðîéñòâà
-
-#endif
-
-
-
-
-
-
-
-
-
-
-#endif /* SRC_MAIN_CAN_PROTOCOL_UKSS_H_ */

Inu/Src/main/control_station_project.h

@@ -76,14 +76,13 @@ enum
  CONTROL_STATION_CMD_DISABLE_ON_QTV,
  CONTROL_STATION_CMD_MANUAL_DISCHARGE,
  CONTROL_STATION_CMD_DISABLE_ON_UMP,
- CONTROL_STATION_CMD_WDOG_OFF,
+ CONTROL_STATION_CMD_CROSS_STEND_AUTOMATS,
  CONTROL_STATION_CMD_SET_LIMIT_POWER,// çàïàñ ìîùíîñòü îò ïîñòà
  CONTROL_STATION_CMD_BLOCK_BS,  // áëîêèðîâêà ñ âåðõíåãî óðîâíÿ
  CONTROL_STATION_CMD_DISABLE_INTERRUPT_SYNC,
  CONTROL_STATION_CMD_DISABLE_INTERRUPT_TIMER2,
  CONTROL_STATION_CMD_DISABLE_RASCEPITEL, // íå óïðàâëÿòü ðàñöåïèòåëåì, åñëè îí ñâåäåí è íå ðàáîòàåò ìîòîð ðàñöåïèòåëÿ
  CONTROL_STATION_CMD_PWM_TEST_LINES, // øèì ëèíèè íà 96ïèí øèíå êàê òåñòîâûå, òîëüêî äëÿ òåñòà!!!
- CONTROL_STATION_CMD_STOP_LOGS, // ñòîï ëîãîâ
  CONTROL_STATION_CMD_LAST     // ïîñëåäíèé êîä â ñïèñêå, âñåãäà äîëæåí áûòü, íå óäàëÿòü åãî, èñïîëüçóåì äëÿ ðàçìåðíîñòè ìàññèâà.
 };
 

Inu/Src/main/detect_error_3_phase.c

@@ -162,6 +162,6 @@ int detect_system_asymmetry_rms(DETECT_PROTECT_3_PHASE *v) {
     _iq d3 = _IQabs(v->iqVal_U - v->iqVal_W);
     return d1 > v->setup.levels.iqAsymmetry_delta ||
             d2 > v->setup.levels.iqAsymmetry_delta ||
-            d3 > v->setup.levels.iqAsymmetry_delta ? 1 : 0;
+            d2 > v->setup.levels.iqAsymmetry_delta ? 1 : 0;
 }
 

Inu/Src/main/detect_error_3_phase.h

@@ -118,7 +118,7 @@ typedef struct {
     //Setup
     SETUP_3_PHASE_PROTECT setup;
 
-    int (*calc_detect_error_3_phase)();
+    int (*calc)();
 
 } DETECT_PROTECT_3_PHASE;
 

Inu/Src/main/detect_errors.c

@@ -15,14 +15,9 @@
 #include <protect_levels.h>
 #include <sync_tools.h>
 #include <vector.h>
-#include "v_rotor.h"
-
 
 #include "control_station.h"
 #include "DSP281x_Device.h"
-#include "master_slave.h"
-#include "another_bs.h"
-#include "digital_filters.h"
 
 
 void detect_error_from_knopka_avaria(void);
@@ -64,17 +59,10 @@ void detect_error_acdrive_winding(void);
 
 int get_common_state_warning(void);
 int get_common_state_overheat(void);
-void detect_error_sensor_rotor(void);
-
-
-
 
 #pragma DATA_SECTION(protect_levels,".slow_vars");
 PROTECT_LEVELS protect_levels = PROTECT_LEVELS_DEFAULTS;
 
-
-
-
 ///////////////////////////////////////////////
 int get_status_temper_acdrive_winding(int nc)
 {
@@ -212,54 +200,6 @@ int get_status_p_water_min(int pump_on_off)
 }
 ///////////////////////////////////////////////
 ///////////////////////////////////////////////
-void detect_error_sensor_rotor(void)
-{
-  static unsigned int count_err1 = 0, count_err2 = 0, count_err3 = 0, count_err4 = 0;
-
-
-  if (edrk.Go)
-  {
-      // ñòîèì íà ìåñòå?
-      if (edrk.iq_f_rotor_hz==0)
-      {
-          // äîëãî ñòîèì!
-          if (pause_detect_error(&count_err3,TIME_WAIT_SENSOR_ROTOR_BREAK_ALL,1))
-          {
-              edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 1;
-              edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 1;
-              //edrk.errors.e9.bits.SENSOR_ROTOR_1_2_BREAK |= 1; // ïîêà óáåðåì!
-          }
-          else
-          {
-//              edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 0;
-//              edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 0;
-              edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = pause_detect_error(&count_err1,TIME_WAIT_SENSOR_ROTOR_BREAK_ONE_SENSOR,
-                                                                              inc_sensor.break_sensor1);
-              edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = pause_detect_error(&count_err2,TIME_WAIT_SENSOR_ROTOR_BREAK_ONE_SENSOR,
-                                                                              inc_sensor.break_sensor2);
-          }
-      }
-      else
-      {
-          count_err3 = 0;
-//          edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 0;
-//          edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 0;
-          edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK |= pause_detect_error(&count_err1,TIME_WAIT_ERROR,inc_sensor.break_sensor1);
-          edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK |= pause_detect_error(&count_err2,TIME_WAIT_ERROR,inc_sensor.break_sensor2);
-
-      }
-  }
-  else
-  {
-
-      count_err1 = count_err2 = 0;
-      count_err3 = 0;
-
-      edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 0;
-      edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 0;
-  }
-
-}
 ///////////////////////////////////////////////
 #define TIME_WAIT_T_WATER  30
 void detect_error_t_water(void)
@@ -513,7 +453,7 @@ void detect_error_acdrive_bear(void)
   static unsigned int count_run = 0, count_run_static = 0;
   int status,i;
 
-//    status = 0;
+    status = 0;
 
     status = get_status_temper_acdrive_bear_with_limits(0, protect_levels.alarm_temper_acdrive_bear_DNE,
                                                         protect_levels.abnormal_temper_acdrive_bear_DNE);
@@ -616,7 +556,7 @@ void detect_error_ground(void)
     }
 
     if ((edrk.from_ing1.bits.ZAZEML_OFF == 1) && (edrk.from_ing1.bits.ZAZEML_ON == 0))
-        count_err = 0;
+      pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
 
 }
 
@@ -632,7 +572,7 @@ void detect_error_nagrev(void)
          edrk.errors.e5.bits.ERROR_HEAT |= 1;
     }
     else
-        count_err = 0;
+       pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
 
 
 }
@@ -675,11 +615,10 @@ void detect_error_block_izol(void)
 
     if (edrk.from_ing1.bits.BLOCK_IZOL_AVARIA == 0  && edrk.from_ing1.bits.BLOCK_IZOL_NORMA == 1 )
     {
-        count_err = 0;
+       pause_detect_error(&count_err,TIME_WAIT_ERROR_IZOL,0);
+
     }
 
-    if (edrk.cmd_imit_low_isolation)
-        edrk.errors.e5.bits.ERROR_ISOLATE |= 1;
 
 }
 
@@ -700,7 +639,7 @@ void detect_error_pre_charge(void)
 
 
     if (edrk.from_ing1.bits.ZARYAD_ON == 0 && edrk.to_ing.bits.ZARYAD_ON == 0)
-        count_err = 0;
+      pause_detect_error(&count_err,TIME_WAIT_ERROR_CHARGE_ANSWER,0);
 
 
 //  edrk.errors.e6.bits.ERROR_PRE_CHARGE_ANSWER |= 1;
@@ -715,7 +654,7 @@ void detect_error_qtv(void)
 
 
   // íåò êîìàíäû íà âûêë, íî ñóõîé êîíòàêò ïðèøåë
-    if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1 && edrk.cmd_to_qtv == 0)
+    if (edrk.from_shema.bits.QTV_ON_OFF == 1 && edrk.cmd_to_qtv == 0)
     {
       if (pause_detect_error(&count_err_off,TIME_WAIT_ERROR_QTV,1))
        edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER |= 1;
@@ -726,7 +665,7 @@ void detect_error_qtv(void)
     }
 
 // áûëà êîìàíäà íà âêë, íî ñóõîé êîíòàêò íå ïðèøåë
-    if (edrk.from_shema_filter.bits.QTV_ON_OFF == 0 && edrk.cmd_to_qtv == 1)
+    if (edrk.from_shema.bits.QTV_ON_OFF == 0 && edrk.cmd_to_qtv == 1)
     {
       if (pause_detect_error(&count_err_on,TIME_WAIT_ERROR_QTV,1))
        edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER |= 1;
@@ -757,77 +696,20 @@ void detect_error_predohr_vipr(void)
        edrk.errors.e5.bits.ERROR_PRED_VIPR |= 1;
 
     if (edrk.from_ing1.bits.VIPR_PREDOHR_NORMA == 1)
-        count_err = 0;
+       pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
 }
 
 ///////////////////////////////////////////////
-#define TIME_WAIT_ERROR_UMP_READY   1200 //120 ñåê //750 // æäåì 75 ñåê ò.ê. âîçìîæíî óìð çàíÿò íà ñáîð âòîðîãî áñ
-#define TIME_WAIT_WARNING_UMP_READY 10
 void detect_error_ump(void)
 {
   static unsigned int count_err = 0;
-  static unsigned int count_err2 = 0;
 
-  static unsigned int prev_SumSbor = 0;
-  static unsigned int StageUMP = 0;
-  static unsigned int count_UMP_NOT_READY = 0;
-  int local_warning_ump = 0;
+    if (edrk.from_shema.bits.READY_UMP == 0)
+     if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+       edrk.errors.e7.bits.UMP_NOT_READY |= 1;
 
-  if (edrk.SumSbor==1)
-  {
-      switch (StageUMP) {
-          case 0: if (edrk.from_shema_filter.bits.UMP_ON_OFF == 1)
-                      StageUMP++;
-                  break;
-          case 1: if (edrk.from_shema_filter.bits.UMP_ON_OFF == 0)
-                      StageUMP++;
-                  break;
-          case 2:
-                  break;
-          case 3:
-                  break;
-
-
-          default: break;
-      }
-
-    if ((edrk.from_shema_filter.bits.READY_UMP == 0) && (StageUMP==0) && control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_UMP]==0)
-    {
-
-         if (pause_detect_error(&count_err,TIME_WAIT_ERROR_UMP_READY,1))
-           edrk.errors.e7.bits.UMP_NOT_READY |= 1;
-    }
-    if (edrk.from_shema_filter.bits.READY_UMP == 1)
-        count_err = 0;
-  }
-  else
-  {
-      count_err= 0;
-
-      // ÓÌÏ âêëþ÷åí, à íå äîëæåí!
-      if (edrk.from_shema_filter.bits.UMP_ON_OFF==1)
-          if (pause_detect_error(&count_err2,TIME_WAIT_ERROR,1))
-                 edrk.errors.e11.bits.ERROR_UMP_NOT_OFF |= 1;
-
-      if (edrk.from_shema_filter.bits.UMP_ON_OFF == 0)
-          count_err2 = 0;
-
-      // íåò ãîòîâíîñòè
-      if (edrk.ump_cmd_another_bs==0) // äðóãîé ÁÑ íå çàíÿë ÓÌÏ
-          local_warning_ump = !edrk.from_shema_filter.bits.READY_UMP;
-     //     edrk.warnings.e7.bits.UMP_NOT_READY = !edrk.from_shema_filter.bits.READY_UMP;
-
-
-
-      StageUMP = 0;
-  }
-
-  edrk.warnings.e7.bits.UMP_NOT_READY = filter_digital_input( edrk.warnings.e7.bits.UMP_NOT_READY,
-                                                               &count_UMP_NOT_READY,
-                                                               TIME_WAIT_WARNING_UMP_READY,
-                                                               local_warning_ump);
-
-  prev_SumSbor = edrk.SumSbor;
+    if (edrk.from_ing1.bits.VIPR_PREDOHR_NORMA == 1)
+       pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
 }
 
 
@@ -839,14 +721,8 @@ void detect_error_block_qtv_from_svu(void)
 
 
     if (edrk.from_shema.bits.SVU_BLOCK_QTV == 1 || control_station.active_array_cmd[CONTROL_STATION_CMD_BLOCK_BS])
-    {
      if (pause_detect_error(&count_err,TIME_WAIT_BLOCK_QTV_FROM_SVU,1))
        edrk.errors.e7.bits.SVU_BLOCK_ON_QTV |= 1;
-    }
-    else
-    {
-        count_err = 0;
-    }
 
 }
 
@@ -864,7 +740,7 @@ void detect_error_fan(void)
        edrk.errors.e5.bits.FAN |= 1;
 
     if (edrk.from_ing1.bits.VENTIL_ON == 0 && (edrk.to_ing.bits.NASOS_1_ON == 0 && edrk.to_ing.bits.NASOS_2_ON == 0))
-        count_err = 0;
+      pause_detect_error(&count_err,TIME_WAIT_ERROR_FAN,0);
 
 }
 
@@ -884,7 +760,7 @@ void detect_error_pre_ready_pump(void)
 
     if (edrk.from_ing1.bits.NASOS_NORMA == 1)
     {
-       count_err = 0;
+       pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
        edrk.warnings.e5.bits.PRE_READY_PUMP = 0;
     }
 }
@@ -913,13 +789,13 @@ void detect_error_pump_1(void)
     if (edrk.from_ing1.bits.NASOS_ON == 0 && edrk.to_ing.bits.NASOS_1_ON==0 && edrk.SelectPump1_2==1)
     {
       // òóò âñå îê
-        count_err = 0;
+      pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,0);
     }
 
     if (edrk.from_ing1.bits.NASOS_ON == 1 && edrk.to_ing.bits.NASOS_1_ON==1 && edrk.SelectPump1_2==1)
     {
       // òóò âñå îê
-      count_err = 0;
+      pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,0);
       edrk.warnings.e5.bits.PUMP_1 = 0;
     }
 
@@ -948,13 +824,13 @@ void detect_error_pump_2(void)
     if (edrk.from_ing1.bits.NASOS_ON == 0 && edrk.to_ing.bits.NASOS_2_ON==0 && edrk.SelectPump1_2==2)
     {
         // òóò âñå îê
-      count_err = 0;
+      pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,0);
     }
 
     if (edrk.from_ing1.bits.NASOS_ON == 1 && edrk.to_ing.bits.NASOS_2_ON==1 && edrk.SelectPump1_2==2)
     {
         // òóò âñå îê
-      count_err = 0;
+      pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,0);
       edrk.warnings.e5.bits.PUMP_2 = 0;
     }
 }
@@ -970,7 +846,7 @@ void detect_error_op_pit(void)
        edrk.errors.e5.bits.OP_PIT |= 1;
 
     if (edrk.from_ing1.bits.OP_PIT_NORMA ==     1 )
-        count_err = 0;
+      pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
 }
 ///////////////////////////////////////////////
 void detect_error_power_upc(void)
@@ -982,7 +858,7 @@ void detect_error_power_upc(void)
        edrk.errors.e5.bits.POWER_UPC |= 1;
 
     if (edrk.from_ing1.bits.UPC_24V_NORMA == 1 )
-        count_err = 0;
+      pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
 }
 ///////////////////////////////////////////////
 void detect_error_t_vipr(void)
@@ -1007,7 +883,7 @@ void detect_error_ute4ka_water(void)
 
 
     if (edrk.from_ing1.bits.OHLAD_UTE4KA_WATER == 0 )
-        count_err = 0;
+           pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
 }
 
 ///////////////////////////////////////////////
@@ -1055,55 +931,14 @@ void detect_error_sync_bus(void)
     // ó ýòîãî ÁÑ ñèíõðîñèãíàëà íåò, è ó âòîðîãî òîæå íåò, òîãäà àâàðèÿ
     if (sync_data.timeout_sync_signal && optical_read_data.data.cmd.bit.sync_line_detect==0
             && edrk.ms.another_bs_maybe_on && optical_read_data.status==1)
-    {
         if (pause_detect_error(&count_err,TIME_WAIT_SYNC_SIGNAL,1))
           edrk.errors.e1.bits.NO_INPUT_SYNC_SIGNAL |= 1;
-    }
-    else
-        count_err = 0;
+
 
 
 }
 ///////////////////////////////////////////////
-#pragma CODE_SECTION(detect_error_u_zpt_fast,".fast_run");
-int detect_error_u_zpt_fast(void)
-{
-  int err;
 
-    err = 0;
-
-
-     if (analog.iqU_1>=edrk.iqMAX_U_ZPT_Global)
-       edrk.errors.e0.bits.U_1_MAX |= 1;
-
-     if (analog.iqU_2>=edrk.iqMAX_U_ZPT_Global)
-       edrk.errors.e0.bits.U_2_MAX |= 1;
-
-
-     if (analog.iqU_1>=edrk.iqMAX_U_ZPT)
-       edrk.errors.e0.bits.U_1_MAX |= 1;
-
-
-     if (analog.iqU_2>=edrk.iqMAX_U_ZPT)
-       edrk.errors.e0.bits.U_2_MAX |= 1;
-
-
-    if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1
-    //        && edrk.to_shema.bits.QTV_ON
-            )
-    {
-        if (analog.iqU_1<=edrk.iqMIN_U_ZPT)
-          edrk.errors.e0.bits.U_1_MIN |= 1;
-
-        if (analog.iqU_2<=edrk.iqMIN_U_ZPT)
-          edrk.errors.e0.bits.U_2_MIN |= 1;
-    }
-
-    err = (edrk.errors.e0.bits.U_1_MAX || edrk.errors.e0.bits.U_2_MAX || edrk.errors.e0.bits.U_1_MIN || edrk.errors.e0.bits.U_2_MIN);
-    return err;
-
-}
-///////////////////////////////////////////////
 ///////////////////////////////////////////////
 int detect_error_u_zpt(void)
 {
@@ -1121,9 +956,7 @@ int detect_error_u_zpt(void)
     }
 
 
-    if (edrk.iqMAX_U_ZPT>MINIMAL_LEVEL_ZAD_U && edrk.from_shema_filter.bits.QTV_ON_OFF == 1
-       //     && edrk.to_shema.bits.QTV_ON
-            )
+    if (edrk.iqMAX_U_ZPT>MINIMAL_LEVEL_ZAD_U && edrk.from_shema.bits.QTV_ON_OFF == 1)
     {
      if (analog.iqU_1>=edrk.iqMAX_U_ZPT)
        edrk.errors.e0.bits.U_1_MAX |= 1;
@@ -1133,9 +966,7 @@ int detect_error_u_zpt(void)
        edrk.errors.e0.bits.U_2_MAX |= 1;
     }
 
-    if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1
-            //&& edrk.to_shema.bits.QTV_ON
-            )
+    if (edrk.from_shema.bits.QTV_ON_OFF == 1)
     {
         if (analog.iqU_1<=edrk.iqMIN_U_ZPT)
           edrk.errors.e0.bits.U_1_MIN |= 1;
@@ -1172,7 +1003,6 @@ int detect_error_u_zpt_on_predzaryad(void)
 }
 
 ///////////////////////////////////////////////
-#pragma CODE_SECTION(detect_error_u_in,".fast_run");
 int detect_error_u_in(void)
 {
   int err;
@@ -1190,9 +1020,7 @@ int detect_error_u_in(void)
        edrk.errors.e0.bits.U_IN_MAX |= 1;
     }
 
-    if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1 && edrk.SumSbor
-           // && edrk.to_shema.bits.QTV_ON
-            )
+    if (edrk.from_shema.bits.QTV_ON_OFF == 1 && edrk.SumSbor)
     {
         if (control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_QTV]==1)
         {
@@ -1233,7 +1061,7 @@ int detect_error_u_in(void)
 
 }
 ///////////////////////////////////////////////
-#define MAX_WAIT_AFTER_KVITIR   100//50
+#define MAX_WAIT_AFTER_KVITIR   50
 void detect_error_all(void)
 {
     unsigned int pause_after_kvitir=0;
@@ -1272,13 +1100,9 @@ void detect_error_all(void)
    detect_error_ground();
    detect_error_ump();
 
-
    // äëÿ àâàðèè â äðóãîé   Ï× èñêëþ÷àåì àâàðèþ èç ýòîãîæå Ï×, èíà÷å ïîëó÷àåì êîëüöî. Àâàðèè çàìûêàþòñÿ!
    if (pause_after_kvitir)
-   {
       detect_error_from_knopka_avaria();
-      detect_error_from_another_bs();
-   }
 
 #if (_FLOOR6==1)
 
@@ -1305,7 +1129,6 @@ void detect_error_all(void)
    edrk.warnings.e10.bits.WARNING_I_OUT_OVER_1_6_NOMINAL = out_I_over_1_6.overload_detected;
 
 //   edrk.errors.e7.bits.ANOTHER_BS_ALARM |= optical_read_data.data.cmd.bit.alarm;
-   detect_error_sensor_rotor();
 
 
 }
@@ -1366,7 +1189,7 @@ void read_plane_errors(void)
     if (project.controller.read.errors.bit.pwm_wdog)
        edrk.errors.e9.bits.ERR_PWM_WDOG |= 1;
 
-#if USE_TK_0
+#ifdef USE_TK_0
 //af1
     if (project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk0_ack ||
         project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk0_current ||
@@ -1393,7 +1216,7 @@ void read_plane_errors(void)
         edrk.errors.e6.bits.UO3_KEYS |= 1;
 #endif
 
-#if USE_TK_1
+#ifdef USE_TK_1
 //af3
     if (project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk0_ack ||
         project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk0_current ||
@@ -1420,7 +1243,7 @@ void read_plane_errors(void)
         edrk.errors.e6.bits.UO5_KEYS |= 1;
 #endif
 
-#if USE_TK_2
+#ifdef USE_TK_2
 //af5
     if (project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk0_ack ||
         project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk0_current ||
@@ -1449,7 +1272,7 @@ void read_plane_errors(void)
 
 #endif
 
-#if USE_TK_3
+#ifdef USE_TK_3
 
     if (project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk0_ack ||
             project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk0_current ||
@@ -1566,7 +1389,7 @@ void read_plane_errors(void)
     if (project.all_status_plates.in0 != component_Ready)
         edrk.errors.e3.bits.NOT_READY_IN_0 |= 1;
 #endif
-#if USE_IN_1
+#if USE_IN_0
     if (project.all_status_plates.in1 != component_Ready)
         edrk.errors.e3.bits.NOT_READY_IN_1 |= 1;
 #endif
@@ -1603,4 +1426,3 @@ int get_common_state_overheat() {
             edrk.errors.e2.bits.T_UO7_MAX | edrk.errors.e2.bits.T_WATER_EXT_MAX |
             edrk.errors.e2.bits.T_WATER_INT_MAX;
 }
-

Inu/Src/main/detect_errors.h

@@ -10,17 +10,12 @@
 
 
 
-#define TIME_WAIT_ERROR                     20 // 2 sec
-#define TIME_WAIT_ERROR_QTV                 100 // 10 sec
-#define TIME_WAIT_ERROR_CHARGE_ANSWER       60 // 6 sec
-#define TIME_WAIT_ERROR_IZOL                50 //5 sec //200 // 20 sec
-#define TIME_WAIT_ERROR_PUMP                100 // 10 sec
-#define TIME_WAIT_ERROR_FAN                 300 // 30 sec
-#define TIME_WAIT_SENSOR_ROTOR_BREAK_ALL    200 // 20 sec
-#define TIME_WAIT_SENSOR_ROTOR_BREAK_DIRECTION    10 // 1 sec
-#define TIME_WAIT_SENSOR_ROTOR_BREAK_ONE_SENSOR   20 // 2 sec
-
-
+#define TIME_WAIT_ERROR                 20 // 2 sec
+#define TIME_WAIT_ERROR_QTV             100 // 10 sec
+#define TIME_WAIT_ERROR_CHARGE_ANSWER   60 // 6 sec
+#define TIME_WAIT_ERROR_IZOL            200 // 20 sec
+#define TIME_WAIT_ERROR_PUMP            100 // 10 sec
+#define TIME_WAIT_ERROR_FAN             300 // 30 sec
 
 
 #define MINIMAL_LEVEL_ZAD_U 27962 // 10 V
@@ -31,50 +26,5 @@ void detect_error_all(void);
 void read_plane_errors(void);
 int detect_error_u_zpt_on_predzaryad(void);
 int detect_error_u_in(void);
-int detect_error_u_zpt_fast(void);
-
-
-void detect_error_from_knopka_avaria(void);
-void detect_error_ute4ka_water(void);
-void detect_error_t_vipr(void);
-void detect_error_power_upc(void);
-void detect_error_op_pit(void);
-void detect_error_p_water(void);
-void detect_error_pump_2(void);
-void detect_error_pump_1(void);
-void detect_error_pre_ready_pump(void);
-void detect_error_fan(void);
-void detect_error_block_qtv_from_svu(void);
-
-void detect_error_predohr_vipr(void);
-void detect_error_qtv(void);
-void detect_error_pre_charge(void);
-void detect_error_block_izol(void);
-void detect_error_nagrev(void);
-void detect_error_ground(void);
-void detect_error_block_door(void);
-void detect_error_optical_bus(void);
-void detect_error_sync_bus(void);
-int get_status_temper_acdrive_winding(int nc);
-int get_status_temper_acdrive_winding_with_limits(int nc, int alarm, int abnormal);
-int get_status_temper_acdrive_bear(int nc);
-int get_status_temper_acdrive_bear_with_limits(int nc, int alarm, int abnormal);
-int get_status_temper_air(int nc);
-int get_status_temper_air_with_limits(int nc, int alarm, int abnormal);
-int get_status_temper_u(int nc);
-int get_status_temper_u_with_limits(int nc, int alarm, int abnormal);
-int get_status_temper_water(int nc);
-int get_status_p_water_max(void);
-int get_status_p_water_min(int pump_on_off);
-void detect_error_t_water(void);
-void detect_error_t_air(void);
-void detect_error_t_u(void);
-void detect_error_acdrive_winding(void);
-
-int get_common_state_warning(void);
-int get_common_state_overheat(void);
-void detect_error_sensor_rotor(void);
-
-
 
 #endif /* SRC_MYLIBS_DETECT_ERRORS_H_ */

Inu/Src/main/detect_errors_adc.c

@@ -11,22 +11,18 @@
 #include <edrk_main.h>
 #include <params_protect_adc.h>
 #include <protect_levels.h>
-#include "digital_filters.h"
 
 #include "IQmathLib.h"
 
 //ANALOG_PROTECT_LEVELS analog_protect_levels = ANALOG_PROTECT_LEVELS_DEFAULTS;
 
-//#pragma DATA_SECTION(analog_protect,".fast_vars");
-#pragma DATA_SECTION(analog_protect,".slow_vars");
+#pragma DATA_SECTION(analog_protect,".fast_vars");
 ANALOG_ADC_PROTECT analog_protect = ANALOG_ADC_PROTECT_DEFAULTS;
 
-//#pragma DATA_SECTION(break_Iout_1_state,".fast_vars");
-#pragma DATA_SECTION(break_Iout_1_state,".slow_vars");
+#pragma DATA_SECTION(break_Iout_1_state,".fast_vars");
 BREAK_PHASE_I break_Iout_1_state = BREAK_PHASE_I_DEFAULTS;
 
-//#pragma DATA_SECTION(break_Iout_2_state,".fast_vars");
-#pragma DATA_SECTION(break_Iout_2_state,".slow_vars");
+#pragma DATA_SECTION(break_Iout_2_state,".fast_vars");
 BREAK_PHASE_I break_Iout_2_state = BREAK_PHASE_I_DEFAULTS;
 
 int detect_error_Izpt();
@@ -38,9 +34,7 @@ void init_analog_protect_levels(void) {
 }
 
 #define AMPL_TO_RMS 0.709
-
-//#define LEVEL_I_1_2_DIBALANCE 1118481  // 200 A
-#define LEVEL_I_1_2_DIBALANCE   1677721  // 300 A
+#define LEVEL_I_1_2_DIBALANCE 1118481
 
 void init_protect_3_phase(void) {
     analog_protect.in_voltage[0].setup.levels.iqVal_module_max = edrk.iqMAX_U_IN;
@@ -202,14 +196,13 @@ void detect_protect_adc(_iq teta_ch1, _iq teta_ch2) {
     edrk.errors.e0.bits.U_B2C2_MAX |= analog_protect.in_voltage[1].errors.bits.phase_V_max;
     edrk.errors.e0.bits.U_IN_MAX |= analog_protect.in_voltage[1].errors.bits.module_max;
 
-    edrk.warnings.e8.bits.U_IN_20_PROCENTS_HIGH = analog_protect.in_voltage[0].over_limit.bits.module_20_percent_hi || analog_protect.in_voltage[1].over_limit.bits.module_20_percent_hi;
+    edrk.warnings.e8.bits.U_IN_20_PROCENTS_HIGH = analog_protect.in_voltage[0].over_limit.bits.module_20_percent_hi;
     edrk.errors.e8.bits.U_IN_20_PROCENTS_HIGH |= analog_protect.in_voltage[0].errors.bits.module_20_percent_hi;
+
+    edrk.warnings.e8.bits.U_IN_20_PROCENTS_HIGH = analog_protect.in_voltage[1].over_limit.bits.module_20_percent_hi;
     edrk.errors.e8.bits.U_IN_20_PROCENTS_HIGH |= analog_protect.in_voltage[1].errors.bits.module_20_percent_hi;
 
-    if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1
-   //         && edrk.to_shema.bits.QTV_ON
-            )
-    {
+    if (edrk.from_shema.bits.QTV_ON_OFF == 1) {
 
         // êîíòðîëü íàïðÿæåíèé òîëüêî ïðè âêëþ÷åííîì ñèëîâîì àâòîìàòå
         edrk.errors.e8.bits.U_IN_10_PROCENTS_LOW |= analog_protect.in_voltage[0].errors.bits.module_10_percent_low;
@@ -218,21 +211,11 @@ void detect_protect_adc(_iq teta_ch1, _iq teta_ch2) {
         edrk.errors.e8.bits.U_IN_10_PROCENTS_LOW |= analog_protect.in_voltage[1].errors.bits.module_10_percent_low;
         edrk.errors.e8.bits.U_IN_20_PROCENTS_LOW |= analog_protect.in_voltage[1].errors.bits.module_20_percent_low;
 
-        edrk.warnings.e8.bits.U_IN_10_PROCENTS_LOW = pause_detect_error(&counter_in1_minus10,
-                                                                        TIME_DETECT_WARNING_U_PREDELS,
-                                                                        analog_protect.in_voltage[0].over_limit.bits.module_10_percent_low);
+        edrk.warnings.e8.bits.U_IN_10_PROCENTS_LOW = pause_detect_error(&counter_in1_minus10, TIME_DETECT_WARNING_U_PREDELS, analog_protect.in_voltage[0].over_limit.bits.module_10_percent_low);
+        edrk.warnings.e8.bits.U_IN_10_PROCENTS_LOW |= pause_detect_error(&counter_in2_minus10, TIME_DETECT_WARNING_U_PREDELS, analog_protect.in_voltage[1].over_limit.bits.module_10_percent_low);
 
-        edrk.warnings.e8.bits.U_IN_10_PROCENTS_LOW = pause_detect_error(&counter_in2_minus10,
-                                                                         TIME_DETECT_WARNING_U_PREDELS,
-                                                                         analog_protect.in_voltage[1].over_limit.bits.module_10_percent_low);
-
-        edrk.warnings.e8.bits.U_IN_20_PROCENTS_LOW = pause_detect_error(&counter_in1_minus20,
-                                                                        TIME_DETECT_WARNING_U_PREDELS,
-                                                                        analog_protect.in_voltage[0].over_limit.bits.module_20_percent_low);
-
-        edrk.warnings.e8.bits.U_IN_20_PROCENTS_LOW = pause_detect_error(&counter_in2_minus20,
-                                                                         TIME_DETECT_WARNING_U_PREDELS,
-                                                                         analog_protect.in_voltage[1].over_limit.bits.module_20_percent_low);
+        edrk.warnings.e8.bits.U_IN_20_PROCENTS_LOW = pause_detect_error(&counter_in1_minus20, TIME_DETECT_WARNING_U_PREDELS, analog_protect.in_voltage[0].over_limit.bits.module_20_percent_low);
+        edrk.warnings.e8.bits.U_IN_20_PROCENTS_LOW |= pause_detect_error(&counter_in2_minus20, TIME_DETECT_WARNING_U_PREDELS, analog_protect.in_voltage[1].over_limit.bits.module_20_percent_low);
 
         edrk.errors.e9.bits.DISBALANCE_Uin_1 |= analog_protect.in_voltage[0].errors.bits.system_asymmetry;
         edrk.errors.e9.bits.DISBALANCE_Uin_2 |= analog_protect.in_voltage[1].errors.bits.system_asymmetry;

Inu/Src/main/detect_errors_adc.h

@@ -33,8 +33,7 @@ typedef struct {
 
 #define ANALOG_ADC_PROTECT_DEFAULTS { \
     {DETECT_PROTECT_3_PHASE_DEFAULTS,DETECT_PROTECT_3_PHASE_DEFAULTS},\
-    {DETECT_PROTECT_3_PHASE_DEFAULTS,DETECT_PROTECT_3_PHASE_DEFAULTS},\
-    0,0  }
+    {DETECT_PROTECT_3_PHASE_DEFAULTS,DETECT_PROTECT_3_PHASE_DEFAULTS}}
 
 void init_analog_protect_levels(void);
 void detect_protect_adc (_iq teta_ch1, _iq teta_ch2);

Inu/Src/main/detect_overload.c

@@ -9,7 +9,6 @@
 #include <edrk_main.h>
 #include <params_motor.h>
 #include <params_pwm24.h>
-#include "alg_simple_scalar.h"
 
 #include "IQmathLib.h"
 
@@ -44,49 +43,32 @@ int calc_detect_overload(DETECT_OVERLOAD *v) {
     return v->overload_detected;
 }
 
-#define LIMIT_DETECT_LEVEL 16273899 // 0.97  //15938355 //95%
+#define LIMIT_DETECT_LEVEL 15938355 //95%
 
 void check_all_power_limits() {
     _iq level_I_nominal = 0;
 
-    //edrk.power_limit.bits.limit_by_temper = edrk.temper_limit_koeffs.code_status;
+    edrk.power_limit.bits.limit_by_temper = edrk.temper_limit_koeffs.code_status;
 
-    if (edrk.Go)
-    {
-
-        level_I_nominal = _IQmpy(LIMIT_DETECT_LEVEL, edrk.zadanie.iq_Izad_rmp);
-
-        if ((filter.iqIm > level_I_nominal)  ||
-                out_I_over_1_6.overload_detected)
-        {
-            edrk.power_limit.bits.limit_Iout = 1;
-        } else
-        {
-            edrk.power_limit.bits.limit_Iout = 0;
-        }
-    }
-    else
+    level_I_nominal = _IQmpy(LIMIT_DETECT_LEVEL, edrk.zadanie.iq_Izad_rmp);
+    if ((filter.iqIm_1 > level_I_nominal) || (filter.iqIm_1 > level_I_nominal) ||
+            out_I_over_1_6.overload_detected) {
+        edrk.power_limit.bits.limit_Iout = 1;
+    } else {
         edrk.power_limit.bits.limit_Iout = 0;
-
-//    if (edrk.from_uom.code>1)
-//        edrk.power_limit.bits.limit_UOM = 1;
-//    else
-//        edrk.power_limit.bits.limit_UOM = 0;
-
-//filter.PowerScalar + edrk.iq_power_kw_another_bs
-    if ( (edrk.iq_power_kw_full_filter_abs > _IQmpy(LIMIT_DETECT_LEVEL, edrk.zadanie.iq_limit_power_zad_rmp))
-            || simple_scalar1.flag_decr_mzz_power
-        // Äàííûé ñïîñîá äëÿ ñêàëÿðíîãî óïðàâëåíèÿ, äëÿ FOC, âîçìîæíî, íóæíà âåêòîðíàÿ ìîùíîñòü.
-        )
-    {
-        edrk.power_limit.bits.limit_from_SVU = 1;
     }
-    else
-    {
+
+//    edrk.power_limit.bits.limit_UOM =
+
+    if ((filter.PowerScalar + edrk.iq_power_kw_another_bs) >
+                _IQmpy(LIMIT_DETECT_LEVEL, edrk.zadanie.iq_limit_power_zad_rmp)
+        // Äàííûé ñïîñîá äëÿ ñêàëÿðíîãî óïðàâëåíèÿ, äëÿ FOC, âîçìîæíî, íóæíà âåêòîðíàÿ ìîùíîñòü.
+        ) {
+        edrk.power_limit.bits.limit_from_SVU = 1;
+    } else {
         edrk.power_limit.bits.limit_from_SVU = 0;
     }
 
-
 }
 
 

Inu/Src/main/digital_filters.c

@@ -1,103 +0,0 @@
-/*
- * digital_filters.c
- *
- *  Created on: 13 íîÿá. 2024 ã.
- *      Author: Evgeniy_Sokolov
- */
-
-
-
-////////////////////////////////////////////////////////////////////
-unsigned int filter_digital_input(unsigned int prev_valus, unsigned int *c_plus, unsigned int max_wait, unsigned int flag)
-{
-
-   if (flag)
-   {
-        if ((*c_plus)>=max_wait)
-        {
-          return 1;
-        }
-        else
-        {
-            (*c_plus)++;
-            return (prev_valus);
-        }
-   }
-   else
-   {
-       if ((*c_plus)==0)
-       {
-         return 0;
-       }
-       else
-       {
-           (*c_plus)--;
-           return (prev_valus);
-       }
-   }
-}
-///////////////////////////////////////////////////////////////////
-//TODO: may be move to detect_errors.c
-unsigned int pause_detect_error(unsigned int *c_err, unsigned int max_wait,unsigned int flag)
-{
-   if (flag)
-   {
-        if ((*c_err)>=max_wait)
-        {
-          return 1;
-        }
-        else
-        {
-            (*c_err)++;
-            return 0;
-        }
-   }
-   else
-   {
-      (*c_err) = 0;
-      return 0;
-
-   }
-
-
-
-}
-
-
-
-//////////////////////////////////////////////////////////
-
-
-
-unsigned int filter_err_count(unsigned int *counter, unsigned int max_errors, unsigned int err, unsigned int cmd)
-{
-    if (cmd==1)
-    {
-        (*counter) = 0;
-        return 0;
-    }
-
-    if (err)
-    {
-       if ((*counter)>=max_errors)
-          return 1;
-       else
-           (*counter)++;
-
-       return 0;
-    }
-
-    if (err==0)
-    {
-       if ((*counter)==0)
-          return 0;
-       else
-           (*counter)--;
-
-       return 0;
-    }
-    return 0;
-}
-
-
-

Inu/Src/main/digital_filters.h

@@ -1,19 +0,0 @@
-/*
- * digital_filters.h
- *
- *  Created on: 13 íîÿá. 2024 ã.
- *      Author: Evgeniy_Sokolov
- */
-
-#ifndef SRC_MAIN_DIGITAL_FILTERS_H_
-#define SRC_MAIN_DIGITAL_FILTERS_H_
-
-unsigned int filter_digital_input(unsigned int prev_valus, unsigned int *c_plus, unsigned int max_wait, unsigned int flag);
-
-unsigned int pause_detect_error(unsigned int *c_err, unsigned int max_wait,unsigned int flag);
-
-
-unsigned int filter_err_count(unsigned int *counter, unsigned int max_errors, unsigned int err, unsigned int cmd);
-
-
-#endif /* SRC_MAIN_DIGITAL_FILTERS_H_ */

Inu/Src/main/edrk_main.h

@@ -5,25 +5,16 @@
 
 #include "IQmathLib.h"
 #include "rmp_cntl_v1.h"
-#include "rmp_cntl_v2.h"
-
 #include "alg_pll.h"
 
 
-#define TIME_PAUSE_MODBUS_CAN_BS2BS             500 //900     //500
-#define TIME_PAUSE_MODBUS_CAN_ZADATCHIK_VPU     250     //100//100
-#define TIME_PAUSE_MODBUS_CAN_UKSS_SETUP        2500    //
-#define TIME_PAUSE_MODBUS_CAN_MPU               1100    //500
-#define TIME_PAUSE_MODBUS_CAN_TERMINALS         2000    //1000
+#define TIME_PAUSE_MODBUS_CAN_BS2BS             500
+#define TIME_PAUSE_MODBUS_CAN_ZADATCHIK_VPU     100
+#define TIME_PAUSE_MODBUS_CAN_UKSS_SETUP        5000
+#define TIME_PAUSE_MODBUS_CAN_MPU               500
+#define TIME_PAUSE_MODBUS_CAN_TERMINALS         1000
 #define TIME_PAUSE_MODBUS_CAN_OSCIL             5000
 
-//#define TIME_PAUSE_MODBUS_CAN_BS2BS             100//20//500
-//#define TIME_PAUSE_MODBUS_CAN_ZADATCHIK_VPU     250//20//100
-//#define TIME_PAUSE_MODBUS_CAN_UKSS_SETUP        5000
-//#define TIME_PAUSE_MODBUS_CAN_MPU               500//20//500
-//#define TIME_PAUSE_MODBUS_CAN_TERMINALS         1000
-//#define TIME_PAUSE_MODBUS_CAN_OSCIL             5000
-
 
 //#define TIME_PAUSE_MODBUS_CAN_TMS2TMS_VIPR  75 //500
 
@@ -143,22 +134,6 @@ enum
 };
 
 
-enum
-{
-    STAGE_SBOR_STATUS_NO_STATUS = 0,
-    STAGE_SBOR_STATUS_FIRST,
-    STAGE_SBOR_STATUS_PUMP,
-    STAGE_SBOR_STATUS_ZARYAD,
-    STAGE_SBOR_STATUS_UMP_ON,
-    STAGE_SBOR_STATUS_QTV,
-    STAGE_SBOR_STATUS_UMP_OFF,
-    STAGE_SBOR_STATUS_RASCEPITEL_1,
-    STAGE_SBOR_STATUS_RASCEPITEL_2,
-    STAGE_SBOR_STATUS_RASCEPITEL_3,
-    STAGE_SBOR_STATUS_RASCEPITEL_4,
-    STAGE_SBOR_STATUS_WAIT_READY_ANOTHER,
-    STAGE_SBOR_STATUS_FINISH
-};
 
 /*
 
@@ -213,7 +188,6 @@ typedef struct
     float real_temper_air[4];
     int real_int_temper_air[4];
     int max_real_int_temper_air;
-    int min_real_int_temper_air;
 
 
 
@@ -221,7 +195,7 @@ typedef struct
 } TEMPER_EDRK;
 #define TEMPER_EDRK_DEFAULT {{0,0,0,0,0,0,0},{0,0,0,0,0,0,0},{0,0,0,0,0,0,0},0,\
         {0,0},{0,0},{0,0},0,\
-        {0,0,0,0},{0,0,0,0},{0,0,0,0},0,0\
+        {0,0,0,0},{0,0,0,0},{0,0,0,0},0\
         }
 
 
@@ -540,15 +514,8 @@ typedef struct
             unsigned int ERR_PWM_WDOG :1;
 
             unsigned int ERR_INT_PWM_VERY_LONG : 1;
-            unsigned int SENSOR_ROTOR_1_BREAK : 1;
-            unsigned int SENSOR_ROTOR_2_BREAK : 1;
-            unsigned int SENSOR_ROTOR_1_2_BREAK : 1;
 
-            unsigned int SENSOR_ROTOR_BREAK_DIRECTION : 1;
-
-            unsigned int BREAK_TEMPER_WARNING : 1;
-            unsigned int BREAK_TEMPER_ALARM : 1;
-            unsigned int BREAKER_GED_ON : 1;
+            unsigned int res: 7;
 
         } bits;
     } e9;
@@ -718,8 +685,8 @@ typedef union {
 
 
          } bits;
-
      } AUTO_MASTER_SLAVE_DATA;
+
 ////////////////////////////////////////////////////////
      typedef union {
          unsigned int all;
@@ -737,10 +704,11 @@ typedef union {
 
              unsigned int Batt: 1;
              unsigned int ImitationReady2: 1;
-             unsigned int MasterSlaveActive: 1; // âûñòàâèì åñëè åñòü master èëè slave
-             unsigned int preImitationReady2: 1;
 
-             unsigned int res:4;
+             unsigned int MasterSlaveActive: 1; // âûñòàâèì åñëè åñòü master èëè slave
+
+
+//             unsigned int res:6;
          } bits;
      } STATUS_READY;
 ////////////////////////////////////////////////////////
@@ -865,14 +833,8 @@ typedef union {
                         unsigned int PLUS: 1;
                         unsigned int MINUS : 1;
                         unsigned int PROVOROT :1 ;
-
-                        unsigned int UOM_READY_ACTIVE : 1;
-                        unsigned int UOM_LIMIT_3 : 1;
-                        unsigned int UOM_LIMIT_2 : 1;
-                        unsigned int UOM_LIMIT_1 : 1;
-
-
-                        unsigned int res:8;
+                        unsigned int ACTIVE : 1;
+                        unsigned int res:11;
                     } bits;
                 } FROM_ZADAT4IK;
             ////////////////////////////////////////////////////////
@@ -913,14 +875,14 @@ typedef union {
                   union {
                      unsigned int all;
                      struct {
-                        unsigned int GOTOV1 : 1;
-                        unsigned int GOTOV2 : 1;
-                        unsigned int EMKOST : 1;  //For 23550.3 and AVARIA moved up
-                        unsigned int NEISPRAVNOST : 1;
+                        unsigned int GOTOV1: 1;
+                        unsigned int GOTOV2: 1;
+//                        unsigned int EMKOST : 1;  //For 23550.3 and AVARIA moved up
+                        unsigned int AVARIA:1;
+                        unsigned int NEISPRAVNOST :1 ;
                         unsigned int PEREGREV : 1;
                         unsigned int OGRAN_POWER : 1;
-                        unsigned int AVARIA : 1;
-                        unsigned int res:9;
+                        unsigned int res:10;
                      } bits;
                  } BIG_LAMS;
 
@@ -961,10 +923,6 @@ typedef union {
                 } APL_LAMS_PCH;
 
                 } TO_ZADAT4IK;
-
-#define TO_ZADAT4IK_DEFAULT {0,0,0,0,0}
-
-
             ////////////////////////////////////////////////////////
             typedef struct {
 
@@ -989,18 +947,12 @@ typedef union {
                  } BIG_LAMS;
 
                 } TO_VPU;
-
-#define TO_VPU_DEFAULT {0,0,0}
-
             ////////////////////////////////////////////////////////
             typedef struct {
 
                 unsigned int level_value;
                 unsigned int ready;
                 unsigned int error;
-                unsigned int code;
-                _iq iq_level_value;
-                _iq iq_level_value_kwt;
 
 
 
@@ -1068,17 +1020,12 @@ typedef struct  {
    RMP_V1 rmp_k_u_disbalance;
    RMP_V1 rmp_kplus_u_disbalance;
    RMP_V1 rmp_Izad;
-
-   RMP_V2 rmp_powers_zad;
-
-   RMP_V2 rmp_limit_powers_zad;
+   RMP_V1 rmp_powers_zad;
+   RMP_V1 rmp_limit_powers_zad;
    RMP_V1 rmp_kzad;
+   RMP_V1 rmp_oborots_zad_hz;
 
-   RMP_V2 rmp_oborots_zad_hz;
 
-   RMP_V1 rmp_oborots_imitation;
-
-   _iq rmp_oborots_imitation_rmp;
 
 
    float ZadanieU_Charge;
@@ -1086,7 +1033,6 @@ typedef struct  {
    _iq iq_ZadanieU_Charge_rmp;
 
    float oborots_zad;
-
    float oborots_zad_hz;
    _iq iq_oborots_zad_hz;
    _iq iq_oborots_zad_hz_rmp;
@@ -1119,154 +1065,37 @@ typedef struct  {
    _iq iq_limit_power_zad;
    _iq iq_limit_power_zad_rmp;
 
-   _iq iq_set_break_level;
-
-   float oborots_zad_no_dead_zone;
-
 } ZADANIE;
 
 #define  ZADANIE_DEFAULT { RMP_V1_DEFAULTS, RMP_V1_DEFAULTS,RMP_V1_DEFAULTS,\
-        RMP_V1_DEFAULTS,RMP_V1_DEFAULTS,\
-        RMP_V2_DEFAULTS,\
-        RMP_V2_DEFAULTS,RMP_V1_DEFAULTS,\
-        RMP_V2_DEFAULTS,\
-        RMP_V1_DEFAULTS,\
-        0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0 , 0,0,0, 0,0}
+        RMP_V1_DEFAULTS,RMP_V1_DEFAULTS,RMP_V1_DEFAULTS,RMP_V1_DEFAULTS,RMP_V1_DEFAULTS,RMP_V1_DEFAULTS,\
+        0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0 , 0,0,0}
 
 typedef union {
     struct {
-        unsigned int limit_by_temper:1;
-        unsigned int limit_Iout:1;
-        unsigned int limit_UOM:1;  //Óñòðîéñòâî îãðàíè÷åíèÿ ìîùíîñòè
-        unsigned int limit_from_SVU:1;
-        unsigned int limit_from_freq:1;
-        unsigned int limit_from_uom_fast:1;
-        unsigned int limit_moment:1;
-
-        unsigned int res:9;
+        unsigned int limit_by_temper;
+        unsigned int limit_Iout;
+        unsigned int limit_UOM;  //Óñòðîéñòâî îãðàíè÷åíèÿ ìîùíîñòè
+        unsigned int limit_from_SVU;
     } bits;
     unsigned int all;
 } POWER_LIMIT;
 
-#define POWER_LIMIT_DEFAULTS    {0}
+#define POWER_LIMIT_DEFAULTS {0,0,0,0}
 
 
-typedef struct {
-
-    _iq temper_limit;
-    _iq power_limit;
-    _iq moment_limit;
-    _iq uin_freq_limit;
-    _iq uom_limit;
-
-    _iq local_temper_limit;
-    _iq local_power_limit;
-    _iq local_moment_limit;
-    _iq local_uin_freq_limit;
-    _iq local_uom_limit;
-
-    _iq sum_limit;
-    _iq local_sum_limit;
-    int code_status;
-
-} ALL_LIMIT_KOEFFS;
-
-#define ALL_LIMIT_KOEFFS_DEFAULTS {0,0,0,0,0, 0,0,0,0,0, 0,0,0}
-
 typedef struct {
     _iq power_units;
     _iq area;
     _iq water_int;
     _iq water_ext;
     _iq acdrive_windings;
-
     _iq acdrive_bears;
     _iq sum_limit;
     int code_status;
 } TEMPERATURE_LIMIT_KOEFFS;
 
-#define TEMPERATURE_LIMIT_KOEFFS_DEFAULTS {0,0,0,0,0, 0,CONST_IQ_1,0}
-
-#define COUNT_MOTO_PULT 18
-
-typedef struct
-{
-
-    int nPCH;
-    int TimeToChangePump;
-
-    int count_revers; // êîë-âî ðåâåðñîâ
-    int count_build; // êîë-âî ñáîðîê ñõåì
-
-    int LastWorkPump; // êàêîé áûë ïîñëåäíèé çàïóùåííûé íàñîñ
-
-    int moto[COUNT_MOTO_PULT];
-
-} t_params_pult_ing_one;
-
-#define PARAMS_PULT_ING_ONE_DEFAULTS {-1,-1, -1,-1, 0, \
-        {-1,-1,-1,-1,-1, -1,-1,-1,-1,-1, -1,-1,-1,-1,-1, -1,-1,-1 } }
-
-#define PARAMS_PULT_ING_TWO_DEFAULTS {0,0, 0,0, 0, \
-        {0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0 } }
-
-typedef struct
-{
-    int flagSaveDataPCH;
-    int flagSaveDataMoto;
-    int flagSaveSlowLogs;
-    int flagSaveParamLogs;
-
-    int logger_params[28];
-
-    t_params_pult_ing_one data;
-    t_params_pult_ing_one data_from_pult;
-    t_params_pult_ing_one data_to_pult;
-
-//    int nPCH_from_pult;
-//    int nPCH_to_pult;
-//    int nPCH;
-//
-//    int TimeToChangePump_from_pult;
-//    int TimeToChangePump_to_pult;
-//    int TimeToChangePump;
-//
-//    int moto_from_pult[COUNT_MOTO_PULT];
-//    int mot_to_pult[COUNT_MOTO_PULT];
-//    int moto[COUNT_MOTO_PULT];
-//
-//    int count_revers_from_pult;
-//    int count_revers_to_pult;
-
-} t_params_pult_ing;
-
-#define PARAMS_PULT_ING_DEFAULTS {0,0,0,0, \
-    {0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0}, \
-                                    PARAMS_PULT_ING_TWO_DEFAULTS, \
-                                    PARAMS_PULT_ING_ONE_DEFAULTS, \
-                                    PARAMS_PULT_ING_ONE_DEFAULTS   \
-                                    }
-
-
-
-
-typedef struct
-{
-    int log_what_memory; // Çíà÷åíèå 0 - íåò íè ôëåøêè, íè êàðòû;
-                        //Çíà÷åíèå 1 - íåò ôëåøêè, åñòü êàðòà;
-                        //Çíà÷åíèå 2 - åñòü ôëåøêà, íåò êàðòû;
-                        //Çíà÷åíèå 3 - åñòü è ôëåøêà è êàðòà;
-    int kvitir; //
-    int sbor;
-    int send_log;
-    int pump_mode;
-    int sdusb;// 0 - sd, 1 usb
-
-} t_pult_cmd_ing;
-
-#define PULT_CMD_ING_DEFAULTS       0,0,0,0,0,0
-
-
+#define TEMPERATURE_LIMIT_KOEFFS_DEFAULTS {0,0,0,0,0,0,0}
 
 ////////////////////////////////////////////////////////
 typedef struct
@@ -1281,7 +1110,6 @@ typedef struct
 
 	POWER_LIMIT power_limit;
 	TEMPERATURE_LIMIT_KOEFFS temper_limit_koeffs;
-	ALL_LIMIT_KOEFFS all_limit_koeffs;
 
 	MASTER_SLAVE_COM    ms;
 
@@ -1314,7 +1142,6 @@ typedef struct
     TO_SHEMA to_shema;//1
 
     FROM_SHEMA from_shema;//1
-    FROM_SHEMA from_shema_filter;//1
 
     FROM_ZADAT4IK from_zadat4ik;//1
 
@@ -1336,7 +1163,7 @@ typedef struct
 
     TO_VPU to_vpu;//3
 
-    FROM_UOM from_uom;//7
+    FROM_UOM from_uom;//4
 ///////////////////////////////////////////////
 
     unsigned int Discharge;
@@ -1359,7 +1186,6 @@ typedef struct
 
     unsigned int prevGo;
     unsigned int Go;
-    unsigned int GoBreak;
 
     unsigned int GoWait;
 
@@ -1367,8 +1193,6 @@ typedef struct
     int flag_block_zadanie;
 	int StartGEDfromControl;
 	int StartGEDfromZadanie;
-    int prevStartGEDfromZadanie;
-
 	int StartGED;
 	int test_mode;
 	int cmd_to_qtv;//20
@@ -1443,8 +1267,7 @@ typedef struct
 	_iq iq_f_rotor_hz;
 	float f_rotor_hz;
 	int oborots;
-	int rotor_direction;
-	int power_kw;
+	float power_kw;
 //	_iq iq_oborots;
 
 	_iq Izad_out;
@@ -1476,7 +1299,7 @@ typedef struct
     int warning;
     int overheat;
 
-    unsigned int MasterSlave;
+    unsigned MasterSlave;
 
     _iq master_theta;
     _iq master_Uzad;
@@ -1508,14 +1331,10 @@ typedef struct
     int Ready1_another_bs;
     int Ready2_another_bs;
 
-    int ump_cmd_another_bs;
-    int qtv_cmd_another_bs;
-
     int active_post_upravl;
     int active_post_upravl_another_bs;
     int MasterSlave_another_bs;
-    int freq_50hz_1;
-    int freq_50hz_2;
+    int freq_50hz;
 
     _iq test_rms_Iu;
     _iq test_rms_Ua;
@@ -1537,168 +1356,62 @@ typedef struct
     int disable_rascepitel_work;
 
     int enable_pwm_test_lines;
-    int count_bs_work;
 
-    unsigned int run_to_pwm_async;
-
-    int power_kw_full;
-
-    int stop_logs_rs232;
-    int sbor_wait_ump1;
-    int sbor_wait_ump2;
-    int flag_enable_on_ump;
-
-    int local_ump_on_off;
-    int local_ump_on_off_count;
-    int local_ready_ump;
-    int local_ready_ump_count;
-
-    t_params_pult_ing pult_data;
-
-    int logs_rotor;
-
-    int stop_slow_log;
-    int t_slow_log;
-    int disable_limit_power_from_svu;
-    int disable_uom;
-    int disable_break_work;
-
-    int flag_another_bs_first_ready12;
-    int flag_this_bs_first_ready12;
-    int enter_to_pump_stage;
-
-    int buildYear;
-    int buildMonth;
-    int buildDay;
-
-    int errors_another_bs_from_can;
-
-    unsigned int count_sbor;
-    unsigned int count_revers;
-    unsigned int count_run;
-
-    int flag_slow_in_main;
-
-    t_pult_cmd_ing pult_cmd;
-
-    int get_new_data_from_hmi2;
-
-    _iq iq_freq_50hz;
-
-    int imit_limit_freq;
-    int imit_limit_uom;
-    int set_limit_uom_50;
-
-    _iq iq_power_kw_full_znak;
-    _iq iq_power_kw_one_znak;
-
-    _iq iq_power_kw_full_filter_znak;
-    _iq iq_power_kw_one_filter_znak;
-
-    _iq iq_power_kw_full_abs;
-    _iq iq_power_kw_one_abs;
-
-    _iq iq_power_kw_full_filter_abs;
-    _iq iq_power_kw_one_filter_abs;
-
-    unsigned int sum_count_err_read_opt_bus;
-
-    int imit_save_slow_logs;
-
-    int imit_send_alarm_log_pult;
-
-    int current_active_control;
-
- //   int data_to_message2[100];
 //101
-    unsigned long canes_reg;
-    unsigned long cantec_reg;         // Transmit Error Counter
-    unsigned long canrec_reg;         // Receive Error Counter
-
-    int cmd_clear_can_error;
-
-    int cmd_very_slow_start;
-
-    int cmd_imit_low_isolation;
-
-
-    int breaker_on;
-    int break_tempers[4];
-
-    int cmd_disable_calc_km_on_slave;
-
-
 } EDRK;
 
 
 
 #define EDRK_DEFAULT {  \
-          ZADANIE_DEFAULT,\
-          ZADANIE_FROM_ANOTHER_BS_DEFAULT,\
-          TEMPER_EDRK_DEFAULT, \
-          P_WATER_EDRK_DEFAULT, \
-          ERRORS_EDRK_DEFAULT,  \
-          ERRORS_EDRK_DEFAULT, \
-          TEMPER_ACDRIVE_DEFAULT, \
-          POWER_LIMIT_DEFAULTS, \
-          TEMPERATURE_LIMIT_KOEFFS_DEFAULTS, \
-          ALL_LIMIT_KOEFFS_DEFAULTS, \
-          MASTER_SLAVE_COM_DEFAULT, \
-          0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0, \
-          0,0,0,0, \
-          0,0,0, \
-          0,0,0,0,0,0,0, \
-          \
-          0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0,0,0,0,0,0,0, 0,0, \
-          0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, \
-          0,0,0,0, \
-          PARAMS_PULT_ING_DEFAULTS, \
-          0,0,0,0,0,0,0,0, \
+        ZADANIE_DEFAULT,\
+        ZADANIE_FROM_ANOTHER_BS_DEFAULT,\
+          TEMPER_EDRK_DEFAULT, P_WATER_EDRK_DEFAULT, \
+          ERRORS_EDRK_DEFAULT, ERRORS_EDRK_DEFAULT,\
+          TEMPER_ACDRIVE_DEFAULT,\
+          POWER_LIMIT_DEFAULTS,\
+          TEMPERATURE_LIMIT_KOEFFS_DEFAULTS,\
+          MASTER_SLAVE_COM_DEFAULT,\
+          0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,\
+          0,0,0,0,\
           0,0,0,\
-          0, 0,0,0, 0, \
-          PULT_CMD_ING_DEFAULTS, 0,0, 0,0,0, 0,0,0,0, 0,0,0,0, \
-          0, 0,0, 0, 0,  \
-          0,0,0, 0, 0, 0, \
-          0, {0,0,0,0}, \
-          0  \
-    }
-
+          0,0,0,0,\
+          \
+          0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0,0,0,\
+          0,0,0,0,0,0,0,0,0,0, 0,0,\
+          0,0,0,0,0,0,0,0,0,0,0,0 \
+          }
 
 extern EDRK edrk;
-extern PLL_REC pll1;
 
-//float get_sensor_ing(void);
-//float get_i_vozbud(void);
-//float get_zad_vozbud(void);
+float get_sensor_ing(void);
+float get_i_vozbud(void);
+float get_zad_vozbud(void);
 
-//unsigned int convert_w_to_mA(float inp);
+unsigned int convert_w_to_mA(float inp);
 
 void edrk_init(void);
 
-
 void update_input_edrk(void);
 void update_output_edrk(void);
 
+float get_amper_vozbud(void);
 
-//float get_amper_vozbud(void);
-
-//void set_amper_vozbud(float set_curr, float cur_curr);
+void set_amper_vozbud(float set_curr, float cur_curr);
 
 
 
-//void write_dac(int ndac, int Value);
+void write_dac(int ndac, int Value);
 
 void run_edrk(void);
 
@@ -1707,52 +1420,63 @@ void run_edrk(void);
 void set_oborots_from_zadat4ik(void);
 void get_where_oborots(void);
 
-//void update_errors(void);
+void update_errors(void);
 
 
+void calc_p_water_edrk(void);
 
 
+unsigned int pause_detect_error(unsigned int *c_err, unsigned int max_wait,unsigned int flag);
 
-
-//unsigned int zaryad_on_off(unsigned int flag);
+void nagrev_auto_on_off(void);
+unsigned int zaryad_on_off(unsigned int flag);
 
 
 void update_lamp_alarm(void);
+void auto_block_key_on_off(void);
+void nagrev_auto_on_off(void);
 
 
 
 
-
-
-//int get_status_temper_acdrive_winding(int nc);
-//int get_status_temper_acdrive_bear(int nc);
-//int get_status_temper_air(int nc);
-//int get_status_temper_u(int nc);
-//int get_status_temper_water(int nc);
-//int get_status_p_water_max(void);
-//int get_status_p_water_min(int pump_on_off);
+int get_status_temper_acdrive_winding(int nc);
+int get_status_temper_acdrive_bear(int nc);
+int get_status_temper_air(int nc);
+int get_status_temper_u(int nc);
+int get_status_temper_water(int nc);
+int get_status_p_water_max(void);
+int get_status_p_water_min(int pump_on_off);
 
 void detect_kvitir_from_all(void);
-//void set_status_pump_fan(void);
+void set_status_pump_fan(void);
 
 
 
 int qtv_on_off(unsigned int flag);
 
-///int detect_error_u_zpt(void);
-//int detect_error_u_zpt_on_predzaryad(void);
+int detect_error_u_zpt(void);
+int detect_error_u_zpt_on_predzaryad(void);
 
 void set_zadanie_u_charge(void);
 
+void update_ukss_can(unsigned int pause);
+void update_ukss_setup(unsigned int pause);
+void update_bsu_can(unsigned int pause);
+void init_can_box_between_bs1_bs2(void);
 
+unsigned int filter_err_count(unsigned int *counter, unsigned int max_errors, unsigned int err, unsigned int cmd);
 
+void detect_alive_another_bs(void);
 
+void auto_select_master_slave(void);
 
+void clear_errors_master_slave(void);
 
+void who_select_sync_signal(void);
 
+void clear_wait_synhro_optical_bus(void);
 
-
-
+unsigned int wait_synhro_optical_bus(void);
 
 void edrk_init_variables(void);
 
@@ -1762,53 +1486,41 @@ void edrk_go_main(void);
 
 int get_start_ged_from_zadanie(void);
 
+void ramp_all_zadanie(int flag_set_zero);
+void init_ramp_all_zadanie(void);
 
-//void UpdateTableSecondBS(void);
+void UpdateTableSecondBS(void);
 
 unsigned int get_ready_1(void);
 
-//int detect_zaryad_ump(void);
+int detect_zaryad_ump(void);
 
 void cross_stend_automats(void);
 
 
+void update_zadat4ik(void);
 
 void get_sumsbor_command(void);
 
 
-//unsigned int read_cmd_sbor_from_bs(void);
+unsigned int read_cmd_sbor_from_bs(void);
 
-//void read_data_from_bs(void);
+void read_data_from_bs(void);
 
 
 void check_change_post_upravl(void);
 int get_code_active_post_upravl(void);
 
 
-
+void get_freq_50hz(void);
+void calc_pll_50hz(void);
+void init_50hz_input_net50hz(void);
 void auto_detect_zero_u_zpt(void);
 
-void run_can_from_mpu(void);
-void set_new_level_i_protect(int n_af, int level);
-void update_maz_level_i_af(int n_af, unsigned int new_maz_level);
-void calc_count_build_revers(void);
-int calc_auto_moto_pump(void);
-void prepare_logger_pult(void);
-void read_can_error(void);
-void clear_can_error(void);
-void cmd_clear_can_error(void);
-void check_temper_break(void);
-void check_breaker_ged(void);
+_iq calc_rms(_iq input, _iq input_prev, _iq freq_signal);
 
 
 
-
-//extern  int ccc[40];
-
-void reinit_before_sbor(void);
-unsigned int toggle_status_lamp(unsigned int bb1, unsigned int flag);
-
-
 #endif
 
 

Inu/Src/main/limit_lib.c

@@ -1,50 +0,0 @@
-/*
- * limit_lib.c
- *
- *  Created on: 15 àâã. 2024 ã.
- *      Author: yura
- */
-
-
-#include "IQmathLib.h"
-#include "math_pi.h"
-
-
-
-_iq linear_decrease(float current,  int alarm_level, int warnig_level) {
-    float delta = current - warnig_level;
-    float max_delta = alarm_level - warnig_level;
-    if (delta <= 0 || max_delta <= 0) {
-        return CONST_IQ_1;
-    } else {
-        if (delta>max_delta)
-            return 0;
-        else
-            return CONST_IQ_1 - _IQ(delta / max_delta);
-    }
-}
-
-
-
-
-
-
-
-_iq linear_decrease_iq(_iq current, _iq alarm_level, _iq warnig_level)
-{
-    _iq delta = current - warnig_level;
-
-    _iq max_delta = alarm_level - warnig_level;
-
-    if (delta <= 0 || max_delta <= 0) {
-        return CONST_IQ_1;
-    } else {
-        if (delta>=max_delta)
-            return 0;
-        else
-            return CONST_IQ_1 - _IQdiv(delta, max_delta);
-    }
-}
-
-
-

Inu/Src/main/limit_lib.h

@@ -1,15 +0,0 @@
-/*
- * limit_lib.h
- *
- *  Created on: 15 àâã. 2024 ã.
- *      Author: yura
- */
-
-#ifndef SRC_MAIN_LIMIT_LIB_H_
-#define SRC_MAIN_LIMIT_LIB_H_
-
-_iq linear_decrease(float current,  int alarm_level, int warnig_level);
-
-_iq linear_decrease_iq(_iq current, _iq alarm_level, _iq warnig_level);
-
-#endif /* SRC_MAIN_LIMIT_LIB_H_ */

Inu/Src/main/limit_power.c

@@ -1,237 +0,0 @@
-/*
- * limit_power.c
- *
- *  Created on: 15 àâã. 2024 ã.
- *      Author: yura
- */
-
-#include "IQmathLib.h"
-
-#include <adc_tools.h>
-#include <detect_overload.h>
-#include <edrk_main.h>
-#include <params_motor.h>
-#include <params_pwm24.h>
-#include "mathlib.h"
-#include "math_pi.h"
-
-
-#include "limit_power.h"
-#include "limit_lib.h"
-
-#include "pll_tools.h"
-
-#include "uom_tools.h"
-
-
-
-
-#define KOEF_50HZ       (FREQ_PWM*2.0*50.0/PI)
-#define LEVEL_01HZ_IQ      _IQ(10.0/KOEF_50HZ)  // 0.1 HZ
-
-_iq level_50hz       = _IQmpyI32(LEVEL_01HZ_IQ, 500);
-_iq level_minimal_level_work_hz       = _IQmpyI32(LEVEL_01HZ_IQ, 350);
-
-_iq delta_freq_test = 0;
-
-
-//_iq level_01hz = _IQ(LEVEL_01HZ);
-
-
-//#define LEVEL_50HZ      (5000.0/KOEF_50HZ)  // 50 HZ
-//#define LEVEL_05HZ      (50.0/KOEF_50HZ)    // 50 HZ
-//
-//#define LEVEL_3HZ       (300.0/KOEF_50HZ) // 50 HZ
-//#define LEVEL_2HZ       (200.0/KOEF_50HZ) // 50 HZ
-//#define LEVEL_1HZ       (100.0/KOEF_50HZ) // 50 HZ
-
-
-
-#define LEVEL1_FREQ_DECR    10 // 1.5 Hz  îò 49.0
-#define LEVEL2_FREQ_DECR    100 // 10 Hz  äî 40
-//#define LEVEL1_FREQ_DECR    15 // 1.5 Hz  îò 48.5
-//#define LEVEL2_FREQ_DECR    100 // 10 Hz  äî 40
-
-#define PLUS_LIMIT_KOEFFS   0.0001
-#define MINUS_LIMIT_KOEFFS   0.05
-
-#define MAX_COUNT_GO_UOM    (FREQ_PWM*5) // 5 sec
-#define SET_LIMIT_UOM       0.5
-
-void calc_all_limit_koeffs(void)
-{
-    _iq sum_limit, delta_freq;
-
-    static unsigned int prev_uom = 0;
-    static int flag_enable_go_uom = 0;
-
-
-    static _iq level1_freq_decr = _IQmpyI32(LEVEL_01HZ_IQ, LEVEL1_FREQ_DECR);
-    static _iq level2_freq_decr = _IQmpyI32(LEVEL_01HZ_IQ, LEVEL2_FREQ_DECR);
-
-    static _iq iq_set_limit_uom = _IQ(SET_LIMIT_UOM);
-    static unsigned int count_go_uom = 0;
-
-    static _iq iq_plus_limit_koeffs = _IQ(PLUS_LIMIT_KOEFFS);
-    static _iq iq_minus_limit_koeffs = _IQ(MINUS_LIMIT_KOEFFS);
-
-    static long freq_test = 30;
-    //*LEVEL_01HZ_IQ;
-    static _iq minus_delta_freq_test = _IQdiv32(LEVEL_01HZ_IQ); // 0.1/32
-
-
-    static int uom_test = 50;
-    static int prev_imit_limit_freq = 0, prev_imit_limit_uom = 0;
-
-    static _iq iq_new_uom_level_kwt = 0;
-
-
-    update_uom();
-
-    // temper
-    edrk.all_limit_koeffs.local_temper_limit = edrk.temper_limit_koeffs.sum_limit;
-
-
-    // uin_freq
-    if (edrk.Status_Ready.bits.ready_final)  //|| edrk.imit_limit_freq
-    {
-
-        get_freq_50hz_iq();
-
-    //    freq = LEVEL_50HZ - edrk.iq_freq_50hz;
-
-        if (edrk.imit_limit_freq && prev_imit_limit_freq == 0)
-            delta_freq_test = _IQmpyI32(LEVEL_01HZ_IQ, freq_test);
-
-        if (delta_freq_test>0)
-        {
-            if (delta_freq_test>0)
-                delta_freq_test -= minus_delta_freq_test;
-            if (delta_freq_test<0)
-                delta_freq_test = 0;
-        }
-
-        if (edrk.iq_freq_50hz>level_minimal_level_work_hz)
-        {
-            edrk.all_limit_koeffs.local_uin_freq_limit = linear_decrease_iq( (level_50hz - edrk.iq_freq_50hz),
-                                                                             level2_freq_decr, level1_freq_decr);
-        }
-        else
-            edrk.all_limit_koeffs.local_uin_freq_limit = CONST_IQ_1;
-    }
-    else
-    {
-        edrk.all_limit_koeffs.local_uin_freq_limit = CONST_IQ_1;
-    }
-    prev_imit_limit_freq = edrk.imit_limit_freq;
-
-    //
-    /// UOM
-    //
-    if (edrk.from_uom.ready || edrk.set_limit_uom_50)
-    {
-        if (edrk.set_limit_uom_50)
-        {
-            edrk.from_uom.level_value = uom_test;
-        }
-
-        if (edrk.imit_limit_uom && prev_imit_limit_uom == 0)
-            edrk.from_uom.level_value++;
-
-
-        if (prev_uom!=edrk.from_uom.level_value && edrk.from_uom.level_value > prev_uom)
-        {
-            if (edrk.iq_power_kw_full_filter_abs > edrk.from_uom.iq_level_value_kwt)
-                flag_enable_go_uom = 1;
-        }
-        else
-            flag_enable_go_uom = 0;
-
-        if (flag_enable_go_uom)
-        {
-            count_go_uom = MAX_COUNT_GO_UOM;
-            edrk.all_limit_koeffs.local_uom_limit = iq_set_limit_uom; // äàåì ñáðîñ
-        }
-
-        if (count_go_uom)
-        {
-            // äåðæèì ñáðîñ
-            count_go_uom--;
-        }
-        else
-            edrk.all_limit_koeffs.local_uom_limit = CONST_IQ_1; // âîçâðàùàåìñÿ
-
-        prev_uom = edrk.from_uom.level_value;
-
-    }
-    else
-    {
-
-        edrk.power_limit.bits.limit_from_uom_fast = 0;
-        edrk.all_limit_koeffs.uom_limit = CONST_IQ_1;
-        prev_uom = 0;
-    }
-    prev_imit_limit_uom = edrk.imit_limit_uom;
- //   if ()
-
-
-    //// temper
-    edrk.all_limit_koeffs.temper_limit = zad_intensiv_q(iq_plus_limit_koeffs, iq_minus_limit_koeffs,
-                                                        edrk.all_limit_koeffs.temper_limit,
-                                                        edrk.all_limit_koeffs.local_temper_limit);
-
-    edrk.power_limit.bits.limit_by_temper = (edrk.all_limit_koeffs.temper_limit<CONST_IQ_1) ? 1 : 0;
-
-    ////// freq
-    edrk.all_limit_koeffs.uin_freq_limit = zad_intensiv_q(iq_plus_limit_koeffs, iq_minus_limit_koeffs,
-                                                        edrk.all_limit_koeffs.uin_freq_limit,
-                                                        edrk.all_limit_koeffs.local_uin_freq_limit);
-
-    edrk.power_limit.bits.limit_from_freq = (edrk.all_limit_koeffs.uin_freq_limit<CONST_IQ_1) ? 1 : 0;
-
-
-    ///// uom
-    edrk.all_limit_koeffs.uom_limit = zad_intensiv_q(iq_plus_limit_koeffs, iq_minus_limit_koeffs,
-                                                        edrk.all_limit_koeffs.uom_limit,
-                                                        edrk.all_limit_koeffs.local_uom_limit);
-
-    edrk.power_limit.bits.limit_from_uom_fast = (edrk.all_limit_koeffs.uom_limit<CONST_IQ_1) ? 1 : 0;
-
-
-
-
-
-
-    // sum_limit
-    sum_limit = edrk.all_limit_koeffs.temper_limit;
-    sum_limit = _IQmpy(sum_limit, edrk.all_limit_koeffs.moment_limit );
-    sum_limit = _IQmpy(sum_limit, edrk.all_limit_koeffs.power_limit );
-    sum_limit = _IQmpy(sum_limit, edrk.all_limit_koeffs.uin_freq_limit );
-    sum_limit = _IQmpy(sum_limit, edrk.all_limit_koeffs.uom_limit );
-
-    edrk.all_limit_koeffs.sum_limit = sum_limit;
-
-}
-
-
-
-
-void init_all_limit_koeffs(void)
-{
-    edrk.all_limit_koeffs.moment_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.power_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.temper_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.uin_freq_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.uom_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.sum_limit = CONST_IQ_1;
-
-    edrk.all_limit_koeffs.local_moment_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.local_power_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.local_temper_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.local_uin_freq_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.local_uom_limit = CONST_IQ_1;
-    edrk.all_limit_koeffs.local_sum_limit = CONST_IQ_1;
-
-}
-
-

Inu/Src/main/limit_power.h

@@ -1,21 +0,0 @@
-/*
- * limit_power.h
- *
- *  Created on: 15 àâã. 2024 ã.
- *      Author: yura
- */
-
-#ifndef SRC_MAIN_LIMIT_POWER_H_
-#define SRC_MAIN_LIMIT_POWER_H_
-
-
-
-
-
-void calc_all_limit_koeffs(void);
-void init_all_limit_koeffs(void);
-
-
-extern _iq level_50hz, delta_freq_test;
-
-#endif /* SRC_MAIN_LIMIT_POWER_H_ */

Inu/Src/main/log_to_mem.c

@@ -40,11 +40,27 @@ int no_write = 0; //
 int no_write_slow = 0; // Флаг, чтобы не писать (если что)
 
 #pragma CODE_SECTION(clear_logpar,".fast_run");
-void clear_logpar()
-{
-    int i;
-    for(i=0;i<SIZE_LOGS_ARRAY;i++)
-        logpar.logs[i] = 0;
+void clear_logpar() {
+    logpar.log1 = 0;
+    logpar.log2 = 0;
+    logpar.log3 = 0;
+    logpar.log4 = 0;
+    logpar.log5 = 0;
+    logpar.log6 = 0;
+    logpar.log7 = 0;
+    logpar.log8 = 0;
+    logpar.log9 = 0;
+    logpar.log10 = 0;
+    logpar.log11 = 0;
+    logpar.log12 = 0;
+    logpar.log13 = 0;
+    logpar.log14 = 0;
+    logpar.log15 = 0;
+    logpar.log16 = 0;
+    logpar.log17 = 0;
+    logpar.log18 = 0;
+    logpar.log19 = 0;
+    logpar.log20 = 0;
 }
 
 // Запись двух младших байтов аргумента в памyть, где логи лежат

Inu/Src/main/log_to_mem.h

@@ -15,7 +15,6 @@
 #define SLOW_LOG  1
 #define FAST_LOG  0
 
-#define SIZE_LOGS_ARRAY   90
 
 #ifdef __cplusplus
   extern "C" {  
@@ -26,122 +25,41 @@ typedef struct
 	int stop_log_level_1;
 	int stop_log_level_2;
 	int stop_log_level_3;
-
 	int stop_log_slow_level_1;
 	int stop_log_slow_level_2;
 	int stop_log_slow_level_3;
+	int log1;
+	int log2;
+	int log3;
+	int log4;
+	int log5;
+	int log6;
+	int log7;
+	int log8;
+	int log9;
+	int log10;
+	int log11;
+	int log12;
+	int log13;
+	int log14;
+	int log15;
+	int log16;
+	int log17;
+	int log18;
+	int log19;
+	int log20;
 
-	int logs[SIZE_LOGS_ARRAY];
+	long addres_mem;     //Àäðåñ ïàìyòè äëy çàïèñè ëîãîâ
 
-//	int log1;
-//	int log2;
-//	int log3;
-//	int log4;
-//	int log5;
-//	int log6;
-//	int log7;
-//	int log8;
-//	int log9;
-//	int log10;
-//	int log11;
-//	int log12;
-//	int log13;
-//	int log14;
-//	int log15;
-//	int log16;
-//	int log17;
-//	int log18;
-//	int log19;
-//	int log20;
-//
-//    int log21;
-//    int log22;
-//    int log23;
-//    int log24;
-//    int log25;
-//    int log26;
-//    int log27;
-//    int log28;
-//    int log29;
-//    int log30;
-//
-//    int log31;
-//    int log32;
-//    int log33;
-//    int log34;
-//    int log35;
-//    int log36;
-//    int log37;
-//    int log38;
-//    int log39;
-//    int log40;
-//
-//    int log41;
-//    int log42;
-//    int log43;
-//    int log44;
-//    int log45;
-//    int log46;
-//    int log47;
-//    int log48;
-//    int log49;
-//    int log50;
-//
-//    int log51;
-//    int log52;
-//    int log53;
-//    int log54;
-//    int log55;
-//    int log56;
-//    int log57;
-//    int log58;
-//    int log59;
-//    int log60;
-//
-//    int log61;
-//    int log62;
-//    int log63;
-//    int log64;
-//    int log65;
-//    int log66;
-//    int log67;
-//    int log68;
-//    int log69;
-//    int log70;
-//
-//    int log71;
-//    int log72;
-//    int log73;
-//    int log74;
-//    int log75;
-//
-//    int log76;
-//    int log77;
-//    int log78;
-//    int log79;
-//    int log80;
-//    int log81;
-//    int log82;
-//    int log83;
-//    int log84;
-//    int log85;
-//
-//    int log86;
-//    int log87;
-//    int log88;
-//    int log89;
-//    int log90;
-
-//	long addres_mem;     //Àäðåñ ïàìyòè äëy çàïèñè ëîãîâ
-//
-//	int count_log_params_fast_log;  //Êîëè÷åñòâî çàïèñûâàåìûõ â ëîã ïàðàìåòðîâ
-//	int start_write_fast_log;       //Íà÷àëî çàïèñè ëîãà, äëÿ îïðåäåëåíèÿ count_log_params_fast_log
-//	long real_finish_addres_mem;     //Àäðåñ ïàìyòè äëy çàïèñè ëîãîâ
+	int count_log_params_fast_log;  //Êîëè÷åñòâî çàïèñûâàåìûõ â ëîã ïàðàìåòðîâ
+	int start_write_fast_log;       //Íà÷àëî çàïèñè ëîãà, äëÿ îïðåäåëåíèÿ count_log_params_fast_log
+	long real_finish_addres_mem;     //Àäðåñ ïàìyòè äëy çàïèñè ëîãîâ
 } LOGSPARAMS;
 
-#define LOGSPARAMS_DEFAULTS { 0,0,0, 0,0,0, \
-                              {0} \
-                               }
+#define LOGSPARAMS_DEFAULTS { 0,0,0,0,0,0,0,0,  \
+                              0,0,0,0,0,0,0,0,  \
+                              0,0,0,0,0,0,0,0,  \
+                              0,0,0,0,0,0 }
 
 
 

Inu/Src/main/logs_hmi.h

@@ -1,86 +0,0 @@
-/*
- * logs_hmi.h
- *
- *  Created on: 28 àâã. 2024 ã.
- *      Author: Evgeniy_Sokolov
- */
-
-#ifndef SRC_MAIN_LOGS_HMI_H_
-#define SRC_MAIN_LOGS_HMI_H_
-
-#define _LOG_HMI_SMALL_TEST 0//1
-
-#define PLACE_STORE_LOG_PULT_SD     1 //SD
-#define PLACE_STORE_LOG_PULT_USB    2 //USB Flash
-
-typedef struct {
-
-    int send_log;
-
-//  int new_send_log_checked;
-    unsigned long log_size_sent;
-//    int flag_data_received;
-
-
-
-//  unsigned int number_of_log;
-    unsigned long count_write_to_modbus;
-
-//  unsigned long current_address;
-    unsigned long start_log_address;
-//  int log_address_step;
-
-    int step;
-    int progress_bar;
-    int enable_progress_bar;
-
-    int cleanLogs;
-    int tick_step;
-//    int tick_finish;
-
-    int flag_log_array_sended;
-    int flag_start_log_array_sent;
-
-    int flag_log_array_sent_process;
-    int count_data_in_buf;
-    unsigned long count_sended_to_pult;
-
-    unsigned long   max_size_logs_hmi;
-
-    int tick_step2;
-    int tick_step3;
-    int tick_step4;
-    int tick_step5;
-    int n_log_array_sended;
-
-    unsigned long   max_size_logs_hmi_small;
-    unsigned long   max_size_logs_hmi_full;
-
-    int saveLogsToSDCard;
-    int ReportLogOut;
-    int sdusb;
-
-} t_Logs_with_modbus;
-
-#define LOGS_WITH_MODBUS_DEFAULTS   {0,0,0,0,0, 0,0,0,0, 0,0,0,0,0, 0, 0,0,0,0,0, 0,0, 0,0,0}
-extern t_Logs_with_modbus log_to_HMI;
-
-
-
-
-#define LOG_START_ADRES         0xA0000UL
-#define LOG_END_ADRES           0xF0000UL
-#define LOG_BUFFER_SIZE         0x50000UL   //0x100UL
-
-void fillLogArea(); //TODO for testing only
-
-int alarm_log_get_data(unsigned long pos, int type_log);
-
-int writeLogsArray(int flag_next);
-static void prepareWriteLogsArray(void);
-static int fillAnalogDataArrayForLogSend(void);
-int sendLogToHMI(int status_ok);
-void run_store_slow_logs(void);
-
-
-#endif /* SRC_MAIN_LOGS_HMI_H_ */

Inu/Src/main/master_slave.c

@@ -1,586 +0,0 @@
-/*
- * master_slave.c
- *
- *  Created on: 13 íîÿá. 2024 ã.
- *      Author: Evgeniy_Sokolov
- */
-
-#include <edrk_main.h>
-
-#include <params.h>
-#include <params_alg.h>
-#include <params_norma.h>
-#include <params_pwm24.h>
-#include <params_temper_p.h>
-#include <project.h>
-#include "IQmathLib.h"
-#include "mathlib.h"
-#include <optical_bus.h>
-#include "synhro_tools.h"
-#include "master_slave.h"
-
-//////////////////////////////////////////////////////////
-
-#pragma DATA_SECTION(buf_log_master_slave_status,".slow_vars");
-unsigned int buf_log_master_slave_status[SIZE_LOG_MASTER_SLAVE_STATUS] = {0};
-//AUTO_MASTER_SLAVE_DATA buf2[SIZE_BUF1] = {0};
-//AUTO_MASTER_SLAVE_DATA buf3[SIZE_BUF1] = {0};
-//OPTICAL_BUS_DATA_LOW_CMD buf4[SIZE_BUF1] = {0};
-//OPTICAL_BUS_DATA_LOW_CMD buf5[SIZE_BUF1] = {0};
-
-
-//////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////
-
-void auto_select_master_slave(void)
-{
-    static unsigned int count_try_master = 0;
-    static unsigned int count_wait_answer_confirm_mode = 0;
-    static unsigned int count_wait_slave_try_master = 0;
-    unsigned int err_confirm_mode = 0; // îøèáêà ïîäòâåðæäåíèÿ ðåæèìà äðóãèì Ï×
-    static unsigned int c_buf_log_master_slave_status = 0, prev_status = 0;
-
-
-
-// logs master_slave_status
-    if (edrk.auto_master_slave.status != prev_status)
-    {
-        c_buf_log_master_slave_status++;
-        if (c_buf_log_master_slave_status>=SIZE_LOG_MASTER_SLAVE_STATUS)
-            c_buf_log_master_slave_status = 0;
-        buf_log_master_slave_status[c_buf_log_master_slave_status] = edrk.auto_master_slave.status;
-    }
-    prev_status = edrk.auto_master_slave.status;
-//end logs master_slave_status
-
-    if (edrk.ms.ready2==0 && edrk.errors.e7.bits.AUTO_SET_MASTER==0)
-    {
-        edrk.auto_master_slave.remoute.all = 0;
-        edrk.auto_master_slave.local.all = 0;
-        edrk.auto_master_slave.prev_remoute.all = edrk.auto_master_slave.remoute.all;
-        edrk.auto_master_slave.prev_local.all = edrk.auto_master_slave.local.all;
-
-        edrk.auto_master_slave.status = 1;
-
-//        if (prev_ready!=edrk.ms.ready2)
-//            for (c_buf=0;c_buf<SIZE_BUF1;c_buf++)
-//            {
-//                buf2[c_buf].all = buf3[c_buf].all = buf1[c_buf] = buf4[c_buf].all = buf5[c_buf].all =0;
-//            }
-//
-//        c_buf = 0;
-//
-//        prev_ready = edrk.ms.ready2;
-        clear_wait_synhro_optical_bus();
-
-
-        return;
-    }
-//    else
-//        prev_ready = edrk.ms.ready2;
-
-
-    if (edrk.errors.e7.bits.AUTO_SET_MASTER)
-    {
-        edrk.to_second_pch.bits.MASTER = edrk.auto_master_slave.local.bits.master;
-
-        edrk.auto_master_slave.local.bits.master = 0;
-        edrk.auto_master_slave.local.bits.slave  = 0;
-        edrk.auto_master_slave.local.bits.try_master = 0;
-        edrk.auto_master_slave.local.bits.try_slave = 0;
-        edrk.auto_master_slave.local.bits.nothing = 1;
-
-
-//        edrk.auto_master_slave.prev_remoute.all = edrk.auto_master_slave.remoute.all;
-//        edrk.auto_master_slave.prev_local.all = edrk.auto_master_slave.local.all;
-
- //       edrk.auto_master_slave.status = 10;
-
-
-        return;
-    }
-
-    edrk.auto_master_slave.prev_status = edrk.auto_master_slave.status;
-
-//    c_buf++;
-//    if (c_buf>=SIZE_BUF1)
-//        c_buf = 0;
-//
-//    buf1[c_buf] = edrk.auto_master_slave.status;
-//    buf2[c_buf].all = edrk.auto_master_slave.local.all;
-//    buf3[c_buf].all = edrk.auto_master_slave.remoute.all;
-//    buf4[c_buf].all = optical_read_data.data.cmd.all;
-//    buf5[c_buf].all = optical_write_data.data.cmd.all;
-//
-
-    // ñáðîñèì ñ÷åò÷èê âðåìåíè ïåðåõîäà íà ìàñòåð
-    if (edrk.auto_master_slave.local.bits.try_master==0 ||
-         (edrk.auto_master_slave.prev_local.bits.try_master != edrk.auto_master_slave.local.bits.try_master && edrk.auto_master_slave.local.bits.try_master==1))
-        count_try_master = 0;
-
-    // åñëè øèíà OPTICAL_BUS ñäîõëà, âûõîäèì
-    if (edrk.errors.e7.bits.WRITE_OPTBUS==1 || edrk.errors.e7.bits.READ_OPTBUS==1 ||
-            edrk.warnings.e7.bits.WRITE_OPTBUS==1 || edrk.warnings.e7.bits.READ_OPTBUS==1)
-    {
-
-        if (edrk.errors.e7.bits.WRITE_OPTBUS==1 || edrk.errors.e7.bits.READ_OPTBUS==1)
-        {
-            // øèíà íå ðàáîòàåò, è òîò Ï× âêëþ÷åí
-            // çíà÷èò ÷òî-òî ñëó÷èëîñü - âûêëþ÷àåìñÿ
-
-            edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-
-            edrk.auto_master_slave.remoute.bits.nothing = 1;
-            edrk.auto_master_slave.remoute.bits.master  = 0;
-            edrk.auto_master_slave.remoute.bits.slave   = 0;
-            edrk.auto_master_slave.remoute.bits.try_master = 0;
-            edrk.auto_master_slave.remoute.bits.try_slave = 0;
-
-
-            edrk.auto_master_slave.local.bits.master = 0;
-            edrk.auto_master_slave.local.bits.slave  = 0;
-            edrk.auto_master_slave.local.bits.try_master = 0;
-            edrk.auto_master_slave.local.bits.try_slave = 0;
-            edrk.auto_master_slave.local.bits.nothing = 1;
-
-            edrk.auto_master_slave.status = 10;
-        }
-        else
-        {
-            // øèíà íå ðàáîòàåò, è òîò Ï× âûêëþ÷åí
-            // çíà÷èò ìû ñðàçó ìàñòåð
-            edrk.warnings.e7.bits.AUTO_SET_MASTER = 1;
-
-            edrk.auto_master_slave.remoute.bits.nothing = 1;
-            edrk.auto_master_slave.remoute.bits.master  = 0;
-            edrk.auto_master_slave.remoute.bits.slave   = 0;
-            edrk.auto_master_slave.remoute.bits.try_master = 0;
-            edrk.auto_master_slave.remoute.bits.try_slave = 0;
-
-
-
-            edrk.auto_master_slave.local.bits.master = 1;
-            edrk.auto_master_slave.local.bits.slave  = 0;
-            edrk.auto_master_slave.local.bits.try_master = 0;
-            edrk.auto_master_slave.local.bits.try_slave = 0;
-            edrk.auto_master_slave.local.bits.nothing = 1;
-
-            edrk.auto_master_slave.status = 2;
-        }
-
-        edrk.auto_master_slave.remoute.bits.sync_line_detect = 0;
-        edrk.auto_master_slave.remoute.bits.bus_off = 1;
-        edrk.auto_master_slave.remoute.bits.sync1_2 = 0;
-
-    }
-    else
-    {
-        edrk.warnings.e7.bits.AUTO_SET_MASTER = 0;
-
-        edrk.auto_master_slave.remoute.bits.bus_off = 0;
-
-        // ñèíõðîíèçèðóåì ñâîè ïðîãðàììû ÷åðåç OPTICAL_BUS
-
-        if (wait_synhro_optical_bus()==1)
-        {
-
-            edrk.auto_master_slave.status = 50; // wait synhro
-
-
-        }
-        else
-        {
-
-
-            edrk.auto_master_slave.remoute.bits.master = optical_read_data.data.cmd.bit.master;
-            edrk.auto_master_slave.remoute.bits.slave = optical_read_data.data.cmd.bit.slave;
-            edrk.auto_master_slave.remoute.bits.try_master = optical_read_data.data.cmd.bit.maybe_master;
-            edrk.auto_master_slave.remoute.bits.sync1_2 = optical_read_data.data.cmd.bit.sync_1_2;
-            edrk.auto_master_slave.remoute.bits.sync_line_detect = optical_read_data.data.cmd.bit.sync_line_detect;
-            edrk.auto_master_slave.remoute.bits.tick = optical_read_data.data.cmd.bit.wdog_tick;
-
-            if (optical_read_data.data.cmd.bit.master==0 && optical_read_data.data.cmd.bit.slave==0)
-               edrk.auto_master_slave.remoute.bits.nothing = 1;
-
-
-           //////////////////////////////////////////////////
-           //////////////////////////////////////////////////
-           // 1
-
-           // òîò Ï× óæå ìàñòåð
-           if (edrk.auto_master_slave.remoute.bits.master)
-           {
-
-               // è ýòîò Ï× ìàñòåð ïî÷åìó-òî?
-               if (edrk.auto_master_slave.local.bits.master)
-               {
-                   edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-                   edrk.auto_master_slave.status = 3;
-               }
-               else
-               {
-               // ýòîò Ï× åùå íå îïðåäåëèëñÿ, ïîýòîìó ïåðåõîä íà slave
-                if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0)
-                {
-        //           edrk.auto_master_slave.local.bits.try_slave = 1;
-                   // ñòàëè slave
-                   edrk.auto_master_slave.local.bits.slave = 1;
-                   // ñíÿëè ñâîé çàïðîñ íà ìàñòåðà åñëè îí áûë
-                   edrk.auto_master_slave.local.bits.try_master = 0;
-                   edrk.auto_master_slave.status = 4;
-                }
-                else
-                {
-                    edrk.auto_master_slave.status = 21;
-                }
-               }
-           }
-           else
-           //////////////////////////////////////////////////
-           //////////////////////////////////////////////////
-           // 2
-           // òîò Ï× óæå slave
-
-           if (edrk.auto_master_slave.remoute.bits.slave)
-           {
-
-               // è ýòîò Ï× slave ïî÷åìó-òî?
-               if (edrk.auto_master_slave.local.bits.slave)
-               {
-
-                   // áûë ïåðåõîä èç ìàñòåð â slave
-                   if (edrk.auto_master_slave.prev_remoute.bits.slave==0)
-                   {
-                      if (edrk.Go)
-                      {
-                          // çàïóùåí ØÈÌ
-                          edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-                          edrk.auto_master_slave.status = 5;
-                      }
-                      else
-                      {
-                          // ïðîáóåì ïåðåõâàòèòü master
-                          edrk.auto_master_slave.local.bits.try_master = 1;
-                          edrk.auto_master_slave.status = 6;
-                      }
-                   }
-                   else
-                   {
-                      edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-                      edrk.auto_master_slave.status = 7;
-                   }
-
-               }
-               else
-               {
-
-               // ýòîò Ï× åùå íå îïðåäåëèëñÿ, ïîýòîìó çàïðàøèâàåò íà master
-                if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.try_master==0)
-                {
-                    if (edrk.flag_second_PCH==0)
-                        edrk.auto_master_slave.local.bits.try_master = 1;
-                    if (edrk.flag_second_PCH==1)
-                        edrk.auto_master_slave.local.bits.try_master = 1;
-
-                    edrk.auto_master_slave.status = 8;
-    //               edrk.auto_master_slave.local.bits.slave = 1;
-                }
-                else
-                // ýòîò Ï× óæå â çàïðîñå íà ìàñòåð, à òîò Ï× ïîäòâåðäèë â slave ÷òî îí íå ïðîòèâ.
-                if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.try_master==1)
-                {
-                    // ñòàëè ìàñòåðîì
-                   edrk.auto_master_slave.local.bits.master = 1;
-                   edrk.auto_master_slave.local.bits.try_master = 0;
-                   edrk.auto_master_slave.status = 9;
-    //               edrk.auto_master_slave.local.bits.slave = 1;
-                }
-                else
-                {
-                    edrk.auto_master_slave.status = 22;
-                }
-
-               }
-           }
-           else
-           //////////////////////////////////////////////////
-           //////////////////////////////////////////////////
-           // 3
-           // òîò Ï× çàïðàøèâàåò ïåðåõîä íà ìàñòåð
-
-           if (edrk.auto_master_slave.remoute.bits.master==0
-               && edrk.auto_master_slave.remoute.bits.slave==0
-               && edrk.auto_master_slave.remoute.bits.try_master)
-           {
-               // à ýòîò Ï× slave
-               if (edrk.auto_master_slave.local.bits.slave)
-               {
-                   // âðîäå íå íîðì, îñòàåìñÿ slave
-                   // òóò íàäî ïîäîæäàòü íåêîòðîå âðåìÿ, ïîêà òîò Ï× íå ïîéìåò ÷òî ìû ñòàëè ñëåéâîì è ïåðåéäåò èç try_master â ìàñòåð
-                   if (count_wait_slave_try_master<MAX_COUNT_WAIT_SLAVE_TRY_MASTER)
-                       count_wait_slave_try_master++;
-                   else
-                   {
-                    edrk.auto_master_slave.status = 10;
-                    edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-                   }
-               }
-               else
-               // à ýòîò Ï× master
-               if (edrk.auto_master_slave.local.bits.master)
-               {
-                   // òóò ìû äîëæíû ïðèíÿòü ðåøåíèå îòäàâàòü ëè ñâîé ìàñòåð äðóãîìó Ï×?
-                   // ïîêà âûñòàâèì îøèáêó
-                   edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-                   edrk.auto_master_slave.status = 11;
-               }
-               else
-               // ýòîò Ï× íå ìàñòåð è íå ñëåéâ è íåò çàïðîñîâ îò íåãî íà ìàñòåð
-               if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.try_master==0)
-               {
-                   // ñòàíîâèìñÿ slave
-                   edrk.auto_master_slave.local.bits.slave = 1;
-                   edrk.auto_master_slave.status = 12;
-                   count_wait_slave_try_master = 0; // îáíóëèì ñ÷åò÷èê, ò.ê. íàñ íàäî ÷òîá òîò Ï× ïîíÿë ÷òî ìû ñòàëè slave
-               }
-               else
-               // ýòîò Ï× íå ìàñòåð è íå ñëåéâ è åñòü çàïðîñ îò íåãî íà ìàñòåð, ò.å. îáà Ï× õîòÿò áûòü ìàñòåðàìè
-               if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.try_master==1)
-               {
-
-                   // ñòàíîâèìñÿ master ÷åðåç íåêîòîðîå âðåìÿ (äëÿ êàæäîãî Ï× âðåìÿ ðàçíîå)
-                   if (edrk.flag_second_PCH==0)
-                   {
-                       //îáà õîòÿò, íî ïðèîòðèòåò äàåì âñåãäà ïåðâîìó
-                       edrk.auto_master_slave.local.bits.master = 1;
-                       edrk.auto_master_slave.local.bits.try_master = 0;
-
-    //                 if (count_try_master<MAX_COUNT_TRY_MASTER_BS1)
-    //                     count_try_master++;
-    //                 else
-    //                     edrk.auto_master_slave.local.bits.master = 1;
-                   }
-
-                   if (edrk.flag_second_PCH==1)
-                   {
-                       //îáà õîòÿò, íî ïðèîòðèòåò äàåì âñåãäà ïåðâîìó
-
-                       edrk.auto_master_slave.local.bits.slave = 1;
-                       edrk.auto_master_slave.local.bits.try_master = 0;
-
-    //                 if (count_try_master<MAX_COUNT_TRY_MASTER_BS2)
-    //                     count_try_master++;
-    //                 else
-    //                     edrk.auto_master_slave.local.bits.master = 1;
-                   }
-                   edrk.auto_master_slave.status = 13;
-               }
-               else
-               {
-                   edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-                   edrk.auto_master_slave.status = 100;
-               }
-
-
-           }
-           else
-           //////////////////////////////////////////////////
-           //////////////////////////////////////////////////
-           // 4
-           // ýòîò Ï× çàïðàøèâàåò ïåðåõîä íà ìàñòåð
-
-           if (edrk.auto_master_slave.local.bits.master==0
-                      && edrk.auto_master_slave.local.bits.slave==0
-                      && edrk.auto_master_slave.local.bits.try_master)
-           {
-               // ñòàíîâèìñÿ master ÷åðåç íåêîòîðîå âðåìÿ (äëÿ êàæäîãî Ï× âðåìÿ ðàçíîå)
-               if (edrk.flag_second_PCH==0)
-               {
-                 if (count_try_master<MAX_COUNT_TRY_MASTER_BS1)
-                 {
-                     count_try_master++;
-                     edrk.auto_master_slave.status = 14;
-                 }
-                 else
-                 {
-                     edrk.auto_master_slave.local.bits.master = 1;
-                     edrk.auto_master_slave.local.bits.try_master = 0;
-                     edrk.auto_master_slave.status = 15;
-
-                 }
-               }
-
-               if (edrk.flag_second_PCH==1)
-               {
-                 if (count_try_master<MAX_COUNT_TRY_MASTER_BS2)
-                 {
-                     count_try_master++;
-                     edrk.auto_master_slave.status = 14;
-                 }
-                 else
-                 {
-                     edrk.auto_master_slave.local.bits.master = 1;
-                     edrk.auto_master_slave.local.bits.try_master = 0;
-                     edrk.auto_master_slave.status = 15;
-                 }
-               }
-
-
-
-           }
-           else
-           //////////////////////////////////////////////////
-           //////////////////////////////////////////////////
-           // 5
-           // òîò Ï× íè÷åãî íå äåëàåò
-
-           if (edrk.auto_master_slave.remoute.bits.master==0 && edrk.auto_master_slave.remoute.bits.slave==0 && edrk.auto_master_slave.remoute.bits.try_master==0)
-           {
-               // à ýòîò Ï× slave
-               if (edrk.auto_master_slave.local.bits.slave)
-               {
-                   // áûëè â ñëåéâå, à òîò Ï× ïî÷åìó-òî ïîòåðÿë ðåæèì - îøèáêà èëè ïîïûòêà çàõâàòà ìàñòåðà!
-                   if (edrk.auto_master_slave.prev_remoute.bits.master)
-                   {
-                       if (edrk.Go) // ïðè ØÈÌå âûðóáàåìñÿ.
-                       {
-                           edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-                           edrk.auto_master_slave.status = 24;
-
-                       }
-                       else
-                       {
-                         // à òóò âñå îê.
-                         edrk.auto_master_slave.local.bits.slave = 0;
-                         edrk.auto_master_slave.local.bits.master = 1;
-
-                         edrk.auto_master_slave.status = 23;
-                       }
-                   }
-                   else
-                   {
-                        edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-                        edrk.auto_master_slave.status = 16;
-                   }
-               }
-               else
-               // à ýòîò Ï× master
-               if (edrk.auto_master_slave.local.bits.master)
-               {
-                   // òóò ìû îñòåìñÿ ìàñòåðîì âðîäå?
-                   // íî òîò Ï× íå ïîäòâåðäèë ïåðåõîä, îí äîëæåí ñòàòü ìàñòåðîì èëè ñëåéâîì
-                   err_confirm_mode = 0;
-//                   filter_err_count(&count_wait_answer_confirm_mode,
-//                                                       MAX_COUNT_WAIT_ANSWER_CONFIRM_MODE,
-//                                                       1,
-//                                                       0);
-
-
-                   if (err_confirm_mode)
-                   {
-                       // ìû ìàñòåð, íî òîò Ï× òàê è íå ïîíÿë ýòî
-                       edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-                       edrk.auto_master_slave.status = 20;
-                   }
-                   else
-                       edrk.auto_master_slave.status = 17;
-
-               }
-               else
-               {
-                   // òóò ïûòàåìñÿ çàõâàòèòü ìàñòåð
-                   if (edrk.flag_second_PCH==0)
-                       edrk.auto_master_slave.local.bits.try_master = 1;
-                   if (edrk.flag_second_PCH==1)
-                       edrk.auto_master_slave.local.bits.try_master = 1;
-                   edrk.auto_master_slave.status = 18;
-               }
-
-
-           }
-           else
-           //////////////////////////////////////////////////
-           //////////////////////////////////////////////////
-           // 5
-           //
-           {
-               // ÷òî-òî ïîøëî íå òàê
-               edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
-               edrk.auto_master_slave.status = 19;
-
-           }
-           //////////////////////////////////////////////////
-           //////////////////////////////////////////////////
-           // 6
-           //
-
-           //////////////////////////////////////////////////
-           //////////////////////////////////////////////////
-           // 7
-           //
-
-           //////////////////////////////////////////////////
-           //////////////////////////////////////////////////
-           // 8
-           //
-        }
-    }
-
-
-
-
-
-//    optical_write_data.cmd.bit. = edrk.auto_master_slave.local.bits.slave;
-
-
-
-    edrk.to_second_pch.bits.MASTER = edrk.auto_master_slave.local.bits.master;
-
-    edrk.auto_master_slave.prev_remoute.all = edrk.auto_master_slave.remoute.all;
-    edrk.auto_master_slave.prev_local.all = edrk.auto_master_slave.local.all;
-
-}
-//////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////
-
-void clear_errors_master_slave(void)
-{
-
-//    if (edrk.errors.e7.bits.AUTO_SET_MASTER)
-    {
-
-//    if (edrk.errors.e7.bits.MASTER_SLAVE_SYNC
-//            || edrk.errors.e1.bits.NO_INPUT_SYNC_SIGNAL)
-//      edrk.ms.count_time_wait_ready1 = 0;
-
-    edrk.ms.count_time_wait_ready2 = 0;
-
-    edrk.ms.errors_count.alive_can_to_another_bs = 0;
-    edrk.ms.errors_count.alive_opt_bus_read = 0;
-    edrk.ms.errors_count.alive_opt_bus_write = 0;
-    edrk.ms.errors_count.alive_sync_line = 0;
-    edrk.ms.errors_count.alive_sync_line_local = 0;
-    edrk.ms.errors_count.another_rascepitel = 0;
-    edrk.ms.errors_count.fast_optical_alarm = 0;
-    edrk.ms.errors_count.input_alarm_another_bs = 0;
-    edrk.ms.errors_count.input_master_slave = 0;
-
-    edrk.ms.err_lock_signals.alive_can_to_another_bs = 0;
-    edrk.ms.err_lock_signals.alive_opt_bus_read = 0;
-    edrk.ms.err_lock_signals.alive_opt_bus_write = 0;
-    edrk.ms.err_lock_signals.alive_sync_line = 0;
-    edrk.ms.err_lock_signals.alive_sync_line_local = 0;
-    edrk.ms.err_lock_signals.another_rascepitel = 0;
-    edrk.ms.err_lock_signals.fast_optical_alarm = 0;
-    edrk.ms.err_lock_signals.input_alarm_another_bs = 0;
-    edrk.ms.err_lock_signals.input_master_slave = 0;
-
-    }
-
-}
-
-//////////////////////////////////////////////////////////

Inu/Src/main/master_slave.h

@@ -17,18 +17,5 @@ MODE_SLAVE
 };
 
 
-//////////////////////////////////////////////////////////
-#define MAX_COUNT_TRY_MASTER_BS1    200//40 //15  //5
-#define MAX_COUNT_TRY_MASTER_BS2    100//40 //15 //40  //20
-#define MAX_COUNT_WAIT_ANSWER_CONFIRM_MODE    20
-
-#define MAX_COUNT_WAIT_SLAVE_TRY_MASTER 100
-
-
-#define SIZE_LOG_MASTER_SLAVE_STATUS   50
-
-void auto_select_master_slave(void);
-void clear_errors_master_slave(void);
-
 
 #endif /* SRC_MASTER_SLAVE_H_ */

Inu/Src/main/message2.c

@@ -22,13 +22,7 @@
 #include "xp_hwp.h"
 #include "xp_project.h"
 #include "modbus_table_v2.h"
-#include "filter_v1.h"
-#include "v_rotor_22220.h"
-#include "log_params.h"
-#include "break_regul.h"
-#include "logs_hmi.h"
-#include "CAN_Setup.h"
-#include "params_temper_p.h"
+
 
 
 void func_unpack_answer_from_TMS_RS232(CMD_TO_TMS_STRUCT *pcommand)
@@ -107,8 +101,8 @@ void func_pack_answer_to_TMS(TMS_TO_TERMINAL_STRUCT *reply_a)
 	/*	const óêàçàòåëü íà ñòðóêòóðó ñòàíäàðòíîé êîìàíäû
 	íàñòðîèëè íà áóôåð ïðèåìà */
 
-//	edrk.data_to_message2[1] = _IQtoF(filter.iqU_1_long)*NORMA_ACP;
-//	edrk.data_to_message2[2] = _IQtoF(filter.iqU_2_long)*NORMA_ACP;
+
+
 
 
 	//For instance
@@ -153,6 +147,7 @@ void func_pack_answer_to_TMS(TMS_TO_TERMINAL_STRUCT *reply_a)
 	reply_a->analog_data.analog7_hi = HIBYTE(Data);
 
 	Data = _IQtoF(filter.iqIm_2)*NORMA_ACP;//project.adc[0].read.pbus.adc_value[3];
+
 	reply_a->analog_data.analog8_lo = LOBYTE(Data);
 	reply_a->analog_data.analog8_hi = HIBYTE(Data);
 
@@ -168,31 +163,31 @@ void func_pack_answer_to_TMS(TMS_TO_TERMINAL_STRUCT *reply_a)
 	reply_a->analog_data.analog11_lo = LOBYTE(Data);
 	reply_a->analog_data.analog11_hi = HIBYTE(Data);
 
-	Data = (int) (edrk.temper_edrk.max_real_int_temper_air);//_IQtoF(edrk.f_stator)*F_STATOR_MAX;//
+Data = (int) (edrk.temper_edrk.max_real_int_temper_air);//_IQtoF(edrk.f_stator)*F_STATOR_MAX;//
 	reply_a->analog_data.analog12_lo = LOBYTE(Data);
 	reply_a->analog_data.analog12_hi = HIBYTE(Data);
 
-	Data =    fast_round(_IQtoF(edrk.zadanie.iq_ZadanieU_Charge_rmp)*NORMA_ACP);//edrk.I_zad_vozbud;//
+Data =    fast_round(_IQtoF(edrk.zadanie.iq_ZadanieU_Charge_rmp)*NORMA_ACP);//edrk.I_zad_vozbud;//
 	reply_a->analog_data.analog13_lo = LOBYTE(Data);
 	reply_a->analog_data.analog13_hi = HIBYTE(Data);
 
-	Data = edrk.zadanie.oborots_zad;//edrk.I_zad_vozbud_exp;//
+Data = edrk.zadanie.oborots_zad;//edrk.I_zad_vozbud_exp;//
 	reply_a->analog_data.analog14_lo = LOBYTE(Data);
 	reply_a->analog_data.analog14_hi = HIBYTE(Data);
 
-	Data = edrk.zadanie.power_zad;//edrk.I_cur_vozbud;//
+Data = edrk.zadanie.power_zad;//edrk.I_cur_vozbud;//
 	reply_a->analog_data.analog15_lo = LOBYTE(Data);
 	reply_a->analog_data.analog15_hi = HIBYTE(Data);
 
-	Data = edrk.zadanie.Izad;//edrk.I_cur_vozbud_exp;//
+Data = edrk.zadanie.Izad;//edrk.I_cur_vozbud_exp;//
 	reply_a->analog_data.analog16_lo = LOBYTE(Data);
 	reply_a->analog_data.analog16_hi = HIBYTE(Data);
 
-	Data = fast_round(_IQtoF(edrk.Kplus)*1000.0);//edrk.W_zad_mA;//
+Data = fast_round(_IQtoF(edrk.Kplus)*1000.0);//edrk.W_zad_mA;//
 	reply_a->analog_data.analog17_lo = LOBYTE(Data);
 	reply_a->analog_data.analog17_hi = HIBYTE(Data);
 
-Data = fast_round(edrk.freq_50hz_1/10.0);//edrk.Zadanie2VozbudING;//
+Data = fast_round(edrk.freq_50hz/10.0);//edrk.Zadanie2VozbudING;//
 	reply_a->analog_data.analog18_lo = LOBYTE(Data);
 	reply_a->analog_data.analog18_hi = HIBYTE(Data);
 
@@ -204,16 +199,15 @@ Data = fast_round(_IQtoF(edrk.k_stator1)*10000.0);// edrk.W_from_all;
 	reply_a->analog_data.analog20_lo = LOBYTE(Data);
 	reply_a->analog_data.analog20_hi = HIBYTE(Data);
 
-Data = _IQtoF(vect_control.iqId1)*NORMA_ACP;//0;//_IQtoF(edrk.test_rms_Iu)*NORMA_ACP; //fast_round(_IQtoF(WRotor.iqWRotorImpulses1)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
+Data =_IQtoF(edrk.test_rms_Iu)*NORMA_ACP; //fast_round(_IQtoF(WRotor.iqWRotorImpulses1)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
 	reply_a->analog_data.analog21_lo = LOBYTE(Data);
 	reply_a->analog_data.analog21_hi = HIBYTE(Data);
 
-Data = _IQtoF(vect_control.iqIq1)*NORMA_ACP;// 0;//_IQtoF(edrk.test_rms_Ua)*NORMA_ACP;// fast_round(_IQtoF(WRotor.iqWRotorImpulses2)*NORMA_FROTOR*1000.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses1;//edrk.W_from_SVU;
+Data =_IQtoF(edrk.test_rms_Ua)*NORMA_ACP;// fast_round(_IQtoF(WRotor.iqWRotorImpulses2)*NORMA_FROTOR*1000.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses1;//edrk.W_from_SVU;
 	reply_a->analog_data.analog22_lo = LOBYTE(Data);
 	reply_a->analog_data.analog22_hi = HIBYTE(Data);
 
-//Data = fast_round(_IQtoF(WRotor.iqWRotorSumFilter3)*NORMA_FROTOR*100.0*60.0);//edrk.oborots;//fast_round(_IQtoF(WRotorPBus.iqAngle1F)*360.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses2;//edrk.W_from_ZADAT4IK;
-Data =  _IQtoF(WRotor.iqWRotorSumFilter) * NORMA_FROTOR*600.0;//edrk.oborots;
+Data = edrk.oborots;//fast_round(_IQtoF(WRotorPBus.iqAngle1F)*360.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses2;//edrk.W_from_ZADAT4IK;
 	reply_a->analog_data.analog23_lo = LOBYTE(Data);
 	reply_a->analog_data.analog23_hi = HIBYTE(Data);
 
@@ -222,12 +216,11 @@ Data = fast_round(edrk.f_rotor_hz*100.0);//fast_round(_IQtoF(WRotorPBus.iqAngle2
 	reply_a->analog_data.analog24_hi = HIBYTE(Data);
 
 //Data = _IQtoF(edrk.k_stator1)*10000;//;
-Data =  edrk.period_calc_pwm_int2;//fast_round(_IQtoF(rotor_22220.iqFdirty)*NORMA_FROTOR*1000.0);
+Data =  fast_round(_IQtoF(WRotor.iqWRotorCalcBeforeRegul1)*NORMA_FROTOR*1000.0);
 	reply_a->analog_data.analog25_lo = LOBYTE(Data);
 	reply_a->analog_data.analog25_hi = HIBYTE(Data);
 
-Data = edrk.power_kw_full; //Ìîùíîñòü äâèãàòåëÿ òåêóùàÿ êÂò
-//fast_round(_IQtoF(WRotor.iqWRotorCalcBeforeRegul2)*NORMA_FROTOR*1000.0);
+Data = fast_round(_IQtoF(WRotor.iqWRotorCalcBeforeRegul2)*NORMA_FROTOR*1000.0);
 	reply_a->analog_data.analog26_lo = LOBYTE(Data);
 	reply_a->analog_data.analog26_hi = HIBYTE(Data);
 
@@ -247,59 +240,56 @@ Data = edrk.period_calc_pwm_int1;
 	reply_a->analog_data.analog30_lo = LOBYTE(Data);
 	reply_a->analog_data.analog30_hi = HIBYTE(Data);
 
-    Data = (int)edrk.temper_acdrive.winding.max_real_int_temper;
-    reply_a->analog_data.analog31_lo = LOBYTE(Data);
-    reply_a->analog_data.analog31_hi = HIBYTE(Data);
-    Data = (int)edrk.temper_acdrive.bear.max_real_int_temper;
-    reply_a->analog_data.analog32_lo = LOBYTE(Data);
-    reply_a->analog_data.analog32_hi = HIBYTE(Data);
-
-
 
 	Data = (int)(edrk.temper_edrk.real_int_temper_u[0]);
-	reply_a->analog_data.analog33_lo = LOBYTE(Data);
-	reply_a->analog_data.analog33_hi = HIBYTE(Data);
+	reply_a->analog_data.analog31_lo = LOBYTE(Data);
+	reply_a->analog_data.analog31_hi = HIBYTE(Data);
 
     Data = (int)(edrk.temper_edrk.real_int_temper_u[1]);
+    reply_a->analog_data.analog32_lo = LOBYTE(Data);
+    reply_a->analog_data.analog32_hi = HIBYTE(Data);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[2]);
+    reply_a->analog_data.analog33_lo = LOBYTE(Data);
+    reply_a->analog_data.analog33_hi = HIBYTE(Data);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[3]);
     reply_a->analog_data.analog34_lo = LOBYTE(Data);
     reply_a->analog_data.analog34_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_u[2]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[4]);
     reply_a->analog_data.analog35_lo = LOBYTE(Data);
     reply_a->analog_data.analog35_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_u[3]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[5]);
     reply_a->analog_data.analog36_lo = LOBYTE(Data);
     reply_a->analog_data.analog36_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_u[4]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[6]);
     reply_a->analog_data.analog37_lo = LOBYTE(Data);
     reply_a->analog_data.analog37_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_u[5]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_air[0]);
     reply_a->analog_data.analog38_lo = LOBYTE(Data);
     reply_a->analog_data.analog38_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_u[6]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_air[1]);
     reply_a->analog_data.analog39_lo = LOBYTE(Data);
     reply_a->analog_data.analog39_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_air[0]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_air[2]);
     reply_a->analog_data.analog40_lo = LOBYTE(Data);
     reply_a->analog_data.analog40_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_air[1]);
-    reply_a->analog_data.analog41_lo = LOBYTE(Data);
-    reply_a->analog_data.analog41_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_air[2]);
-    reply_a->analog_data.analog42_lo = LOBYTE(Data);
-    reply_a->analog_data.analog42_hi = HIBYTE(Data);
 
     Data = (int)(edrk.temper_edrk.real_int_temper_air[3]);
+    reply_a->analog_data.analog41_lo = LOBYTE(Data);
+    reply_a->analog_data.analog41_hi = HIBYTE(Data);
+    Data = (int)(edrk.temper_edrk.real_int_temper_water[0]); // external
+    reply_a->analog_data.analog42_lo = LOBYTE(Data);
+    reply_a->analog_data.analog42_hi = HIBYTE(Data);
+    Data = (int)(edrk.temper_edrk.real_int_temper_water[1]); // internal
     reply_a->analog_data.analog43_lo = LOBYTE(Data);
     reply_a->analog_data.analog43_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_water[0]); // external
+    Data = (int)edrk.temper_acdrive.winding.max_real_int_temper;
     reply_a->analog_data.analog44_lo = LOBYTE(Data);
     reply_a->analog_data.analog44_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_water[1]); // internal
+    Data = (int)edrk.temper_acdrive.bear.max_real_int_temper;
     reply_a->analog_data.analog45_lo = LOBYTE(Data);
     reply_a->analog_data.analog45_hi = HIBYTE(Data);
 
-
-    Data =  fast_round(_IQtoF(simple_scalar1.pidF.OutMax)*NORMA_ACP);//edrk.auto_master_slave.prev_status;//fast_round(_IQtoF(edrk.zadanie.iq_ZadanieU_Charge_rmp)*NORMA_ACP);
+    Data =  edrk.auto_master_slave.prev_status;//fast_round(_IQtoF(edrk.zadanie.iq_ZadanieU_Charge_rmp)*NORMA_ACP);
     reply_a->analog_data.analog46_lo = LOBYTE(Data);
     reply_a->analog_data.analog46_hi = HIBYTE(Data);
 
@@ -321,14 +311,15 @@ Data = edrk.period_calc_pwm_int1;
     reply_a->analog_data.analog51_lo = LOBYTE(Data);
     reply_a->analog_data.analog51_hi = HIBYTE(Data);
 
-    Data = _IQtoF(vect_control.iqId2)*NORMA_ACP;//0;//fast_round( _IQtoF(edrk.zadanie.iq_k_u_disbalance_rmp)*100.0);
+    Data = fast_round( _IQtoF(edrk.zadanie.iq_k_u_disbalance_rmp)*100.0);
     reply_a->analog_data.analog52_lo = LOBYTE(Data);
     reply_a->analog_data.analog52_hi = HIBYTE(Data);
 
-    Data = fast_round(_IQtoF(edrk.zadanie.iq_limit_power_zad_rmp)*NORMA_ACP*NORMA_ACP/1000.0);
+    Data = edrk.auto_master_slave.status;//fast_round(_IQtoF(edrk.zadanie.iq_kplus_u_disbalance_rmp)*1000.0);
     reply_a->analog_data.analog53_lo = LOBYTE(Data);
     reply_a->analog_data.analog53_hi = HIBYTE(Data);
 
+
     if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER) {
        Data = fast_round(_IQtoF(turns.pidFvect.Out)*NORMA_ACP);
        reply_a->analog_data.analog54_lo = LOBYTE(Data);
@@ -344,7 +335,7 @@ Data = edrk.period_calc_pwm_int1;
         Data = fast_round(_IQtoF(simple_scalar1.pidF.Out)*NORMA_ACP);
         reply_a->analog_data.analog54_lo = LOBYTE(Data);
         reply_a->analog_data.analog54_hi = HIBYTE(Data);
-        Data = fast_round(_IQtoF(simple_scalar1.pidF.OutMin)*NORMA_ACP);
+        Data = fast_round(_IQtoF(simple_scalar1.pidF.OutMax)*NORMA_ACP);
         reply_a->analog_data.analog55_lo = LOBYTE(Data);
         reply_a->analog_data.analog55_hi = HIBYTE(Data);
         Data =fast_round(_IQtoF(simple_scalar1.pidPower.Out)*NORMA_ACP);
@@ -355,18 +346,13 @@ Data = edrk.period_calc_pwm_int1;
 
     reply_a->analog_data.analog57_lo = LOBYTE(Data);
     reply_a->analog_data.analog57_hi = HIBYTE(Data);
-
-
-
     Data = fast_round(_IQtoF(simple_scalar1.Izad)*NORMA_ACP);
     reply_a->analog_data.analog58_lo = LOBYTE(Data);
     reply_a->analog_data.analog58_hi = HIBYTE(Data);
-
     Data =  fast_round(_IQtoF(edrk.master_Iq)*NORMA_ACP);
     reply_a->analog_data.analog59_lo = LOBYTE(Data);
     reply_a->analog_data.analog59_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(simple_scalar1.mzz_zad_in2)*NORMA_ACP);//count_transmited++;
+    Data = fast_round(_IQtoF(simple_scalar1.mzz_zad)*NORMA_ACP);//count_transmited++;
     reply_a->analog_data.analog60_lo = LOBYTE(Data);
     reply_a->analog_data.analog60_hi = HIBYTE(Data);
 //
@@ -386,153 +372,25 @@ Data = edrk.period_calc_pwm_int1;
     reply_a->analog_data.analog64_lo = LOBYTE(Data);
     reply_a->analog_data.analog64_hi = HIBYTE(Data);
 
-    Data = fast_round(_IQtoF(simple_scalar1.pidPower.SatErr)*NORMA_ACP);//project.cds_tk[3].optical_data_in.local_count_error;
+    Data = project.cds_tk[3].optical_data_in.local_count_error;
     reply_a->analog_data.analog65_lo = LOBYTE(Data);
     reply_a->analog_data.analog65_hi = HIBYTE(Data);
 
-    Data = fast_round(_IQtoF(simple_scalar1.pidPower.Fdb)*NORMA_ACP*NORMA_ACP/1000.0);//project.cds_tk[3].optical_data_out.local_count_error;
+    Data = project.cds_tk[3].optical_data_out.local_count_error;
     reply_a->analog_data.analog66_lo = LOBYTE(Data);
     reply_a->analog_data.analog66_hi = HIBYTE(Data);
 
-    Data = fast_round(_IQtoF(simple_scalar1.pidPower.Ref)*NORMA_ACP*NORMA_ACP/1000.0);//////optical_read_data.count_error_wdog;
+    Data = optical_read_data.count_error_wdog;
     reply_a->analog_data.analog67_lo = LOBYTE(Data);
     reply_a->analog_data.analog67_hi = HIBYTE(Data);
 
-
-    Data = fast_round(_IQtoF(simple_scalar1.pidPower.Up)*NORMA_ACP);//edrk.auto_master_slave.status;//fast_round(_IQtoF(edrk.zadanie.iq_kplus_u_disbalance_rmp)*1000.0);
+    Data = edrk.period_calc_pwm_int2;
     reply_a->analog_data.analog68_lo = LOBYTE(Data);
     reply_a->analog_data.analog68_hi = HIBYTE(Data);
 
-    Data =  fast_round(_IQtoF(pll1.vars.pll_Uq)*NORMA_ACP);
-    reply_a->analog_data.analog69_lo = LOBYTE(Data);
-    reply_a->analog_data.analog69_hi = HIBYTE(Data);
 
-    Data = fast_round(_IQtoF(pll1.vars.pll_Ud)*NORMA_ACP);
-    reply_a->analog_data.analog70_lo = LOBYTE(Data);
-    reply_a->analog_data.analog70_hi = HIBYTE(Data);
-
-Data =  fast_round(_IQtoF(simple_scalar1.bpsi_curent)*NORMA_FROTOR*1000.0);
-    reply_a->analog_data.analog71_lo = LOBYTE(Data);
-    reply_a->analog_data.analog71_hi = HIBYTE(Data);
-
-Data = fast_round(_IQtoF(WRotor.iqWRotorSumFilter2)*NORMA_FROTOR*1000.0); //iqFlong
-    reply_a->analog_data.analog72_lo = LOBYTE(Data);
-    reply_a->analog_data.analog72_hi = HIBYTE(Data);
-
-//Data =  fast_round(_IQtoF(WRotor.iqWRotorCalc1)*NORMA_FROTOR*1000.0);
-Data = fast_round(_IQtoF(edrk.from_uom.iq_level_value_kwt)*NORMA_ACP*NORMA_ACP/1000.0);// ;//edrk.from_uom.level_value;//fast_round(_IQtoF(rotor_22220.iqFdirty)*NORMA_FROTOR*1000.0);
-    reply_a->analog_data.analog73_lo = LOBYTE(Data);
-    reply_a->analog_data.analog73_hi = HIBYTE(Data);
-
-//Data = fast_round(_IQtoF(WRotor.iqWRotorCalc2)*NORMA_FROTOR*1000.0);
-Data =  _IQtoF(vect_control.iqIq2)*NORMA_ACP;//0;//fast_round(_IQtoF(rotor_22220.iqF)*NORMA_FROTOR*1000.0);
-    reply_a->analog_data.analog74_lo = LOBYTE(Data);
-    reply_a->analog_data.analog74_hi = HIBYTE(Data);
-
-//Data = fast_round(_IQtoF(WRotor.iqWRotorImpulsesBeforeRegul1)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
-Data =  fast_round(_IQtoF(WRotor.iqWRotorSumFilter)*NORMA_FROTOR*1000.0);
-    reply_a->analog_data.analog75_lo = LOBYTE(Data);
-    reply_a->analog_data.analog75_hi = HIBYTE(Data);
-
-//Data = fast_round(_IQtoF(WRotor.iqWRotorImpulsesBeforeRegul2)*NORMA_FROTOR*1000.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses1;//edrk.W_from_SVU;
-Data =  fast_round(_IQtoF(simple_scalar1.mzz_zad_int)*NORMA_ACP);//;//0;//fast_round(_IQtoF(rotor_22220.iqFlong)*NORMA_FROTOR*1000.0);
-    reply_a->analog_data.analog76_lo = LOBYTE(Data);
-    reply_a->analog_data.analog76_hi = HIBYTE(Data);
-
-//Data = fast_round(_IQtoF(WRotor.iqWRotorImpulses1)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
-    Data = _IQtoF(simple_scalar1.Izad)*NORMA_ACP_RMS;// 0;//fast_round(_IQtoF(WRotor.iqWRotorSumRamp)*NORMA_FROTOR*1000.0);
-    reply_a->analog_data.analog77_lo = LOBYTE(Data);
-    reply_a->analog_data.analog77_hi = HIBYTE(Data);
-
-//Data = fast_round(_IQtoF(WRotor.iqWRotorImpulses2)*NORMA_FROTOR*1000.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses1;//edrk.W_from_SVU;
-    Data = WRotor.RotorDirectionSlow;
-    reply_a->analog_data.analog78_lo = LOBYTE(Data);
-    reply_a->analog_data.analog78_hi = HIBYTE(Data);
-
-Data = fast_round(_IQtoF(simple_scalar1.iqKoefOgran)*1000.0);//0;//fast_round(_IQtoF(WRotor.iqWRotorSum)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
-    reply_a->analog_data.analog79_lo = LOBYTE(Data);
-    reply_a->analog_data.analog79_hi = HIBYTE(Data);
-
-Data = fast_round(_IQtoF(simple_scalar1.iqKoefOgranIzad)*1000.0);//0;//fast_round(_IQtoF(WRotor.iqWRotorSumFilter)*NORMA_FROTOR*1000.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses1;//edrk.W_from_SVU;
-    reply_a->analog_data.analog80_lo = LOBYTE(Data);
-    reply_a->analog_data.analog80_hi = HIBYTE(Data);
-
-    Data = log_params.cur_volume_of_slow_log;//edrk.power_kw_full; //Ìîùíîñòü äâèãàòåëÿ òåêóùàÿ êÂò
-//  Data = (_IQtoF((analog.Power) * 9000.0)); //Ìîùíîñòü äâèãàòåëÿ òåêóùàÿ êÂò
-    //_IQtoF(analog.iqIin_1)*NORMA_ACP;//project.adc[0].read.pbus.adc_value[0];
-    reply_a->analog_data.analog81_lo = LOBYTE(Data);
-    reply_a->analog_data.analog81_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(edrk.zadanie.iq_limit_power_zad)*NORMA_ACP*NORMA_ACP/1000.0);
-    reply_a->analog_data.analog82_lo = LOBYTE(Data);
-    reply_a->analog_data.analog82_hi = HIBYTE(Data);
-
-    Data = break_result_1;//fast_round(_IQtoF(WRotor.iqWRotorSumFilter3)*NORMA_FROTOR*1000.0);
-    reply_a->analog_data.analog83_lo = LOBYTE(Data);
-    reply_a->analog_data.analog83_hi = HIBYTE(Data);
-
-    Data = break_result_2;//WRotorPBus.RotorDirectionInstant;
-    reply_a->analog_data.analog84_lo = LOBYTE(Data);
-    reply_a->analog_data.analog84_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(edrk.all_limit_koeffs.sum_limit)*1000.0);//WRotorPBus.RotorDirectionCount;
-    reply_a->analog_data.analog85_lo = LOBYTE(Data);
-    reply_a->analog_data.analog85_hi = HIBYTE(Data);
-
-
-    Data = fast_round(_IQtoF(edrk.all_limit_koeffs.uom_limit)*1000.0);//WRotorPBus.RotorDirectionSlow2;
-    reply_a->analog_data.analog86_lo = LOBYTE(Data);
-    reply_a->analog_data.analog86_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(edrk.all_limit_koeffs.uin_freq_limit)*1000.0);//fast_round(_IQtoF(WRotor.iqWRotorSumRamp)*NORMA_FROTOR*1000.0);
-    reply_a->analog_data.analog87_lo = LOBYTE(Data);
-    reply_a->analog_data.analog87_hi = HIBYTE(Data);
-
-    Data = _IQtoF(simple_scalar1.Im_regul)*NORMA_ACP_RMS;//(edrk.cantec_reg & 0xff);//edrk.pult_data.TimeToChangePump_from_pult;//0;//fast_round(_IQtoF(WRotor.iqWRotorCalc1Ramp)*NORMA_FROTOR*1000.0);;//WRotor.iqWRotorCalc1Ramp
-    reply_a->analog_data.analog88_lo = LOBYTE(Data);
-    reply_a->analog_data.analog88_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(simple_scalar1.pidPower.Ui)*NORMA_ACP);//(edrk.canrec_reg & 0xff);;//edrk.pult_data.nPCH_from_pult;//0;//fast_round(_IQtoF(WRotor.iqWRotorCalc2Ramp)*NORMA_FROTOR*1000.0);;
-    reply_a->analog_data.analog89_lo = LOBYTE(Data);
-    reply_a->analog_data.analog89_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(simple_scalar1.pidF.Fdb)*NORMA_FROTOR*1000.0);//(((unsigned long)edrk.canes_reg>>16) & 0x01ff);
-    reply_a->analog_data.analog90_lo = LOBYTE(Data);
-    reply_a->analog_data.analog90_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(simple_scalar1.pidF.Ref)*NORMA_FROTOR*1000.0);//(((unsigned long)edrk.canes_reg) & 0x3f);
-    reply_a->analog_data.analog91_lo = LOBYTE(Data);
-    reply_a->analog_data.analog91_hi = HIBYTE(Data);
-
-
-    Data = fast_round(_IQtoF(simple_scalar1.pidF.SatErr)*NORMA_ACP);//CanBusOffError;//0;
-    reply_a->analog_data.analog92_lo = LOBYTE(Data);
-    reply_a->analog_data.analog92_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(simple_scalar1.pidF.Ui)*NORMA_ACP);//CanTimeOutErrorTR;//0;
-    reply_a->analog_data.analog93_lo = LOBYTE(Data);
-    reply_a->analog_data.analog93_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(simple_scalar1.pidF.Up)*NORMA_ACP);//0;
-    reply_a->analog_data.analog94_lo = LOBYTE(Data);
-    reply_a->analog_data.analog94_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(simple_scalar1.iq_decr_mzz_power)*1000.0);//0;//simple_scalar1.k_ogr_n
-    reply_a->analog_data.analog95_lo = LOBYTE(Data);
-    reply_a->analog_data.analog95_hi = HIBYTE(Data);
-
-    Data = fast_round(_IQtoF(simple_scalar1.iq_decr_mzz_power_filter)*1000.0);//fast_round(_IQtoF(edrk.zadanie.rmp_oborots_zad_hz.PosRampPlus1)*NORMA_FROTOR*60.0*450.0*1000.0);
-    reply_a->analog_data.analog96_lo = LOBYTE(Data);
-    reply_a->analog_data.analog96_hi = HIBYTE(Data);
-
-//    Data = 0;
-//    reply_a->analog_data.analog97_lo = LOBYTE(Data);
-//    reply_a->analog_data.analog97_hi = HIBYTE(Data);
-
-
-
-    pByte = &reply_a->digit_data.byte01.byte_data;
-	for (i = 0; i < 59; i++) //zero all dig data
+	pByte = &reply_a->digit_data.byte01.byte_data;
+	for (i = 0; i < 44; i++) //zero all dig data
 	{
 		*(pByte + i) = 0;
 	}
@@ -573,11 +431,6 @@ Data = fast_round(_IQtoF(simple_scalar1.iqKoefOgranIzad)*1000.0);//0;//fast_roun
     reply_a->digit_data.byte13.bit_data.bit2 = edrk.from_second_pch.bits.MASTER;
     reply_a->digit_data.byte13.bit_data.bit3 = edrk.from_second_pch.bits.RASCEPITEL;
 
-    reply_a->digit_data.byte13.bit_data.bit4 = edrk.warning;
-    reply_a->digit_data.byte13.bit_data.bit5 = edrk.overheat;
-    reply_a->digit_data.byte13.bit_data.bit6 = edrk.summ_errors;
-    reply_a->digit_data.byte13.bit_data.bit7 = edrk.Status_Ready.bits.ready_final;
-
 
 //    reply_a->digit_data.byte13.byte_data = edrk.errors.e6.all  & 0xff;
 //    reply->digit_data.byte14.byte_data = (edrk.errors.e6.all >> 8)  & 0xff;
@@ -717,12 +570,8 @@ Data = fast_round(_IQtoF(simple_scalar1.iqKoefOgranIzad)*1000.0);//0;//fast_roun
     reply_a->digit_data.byte36.bit_data.bit1 = edrk.ms.ready1;
     reply_a->digit_data.byte36.bit_data.bit2 = edrk.ms.ready2;
     reply_a->digit_data.byte36.bit_data.bit3 = edrk.flag_wait_both_ready2;
-    reply_a->digit_data.byte36.bit_data.bit4 = edrk.Ready1_another_bs;
-    reply_a->digit_data.byte36.bit_data.bit5 = edrk.Ready2_another_bs;
-    reply_a->digit_data.byte36.bit_data.bit6 = edrk.flag_another_bs_first_ready12;
-    reply_a->digit_data.byte36.bit_data.bit7 = edrk.flag_this_bs_first_ready12;
-
-
+    reply_a->digit_data.byte36.bit_data.bit3 = edrk.flag_wait_both_ready2;
+    reply_a->digit_data.byte36.bit_data.bit3 = edrk.flag_wait_both_ready2;
 
 
     reply_a->digit_data.byte37.byte_data = edrk.errors.e8.all  & 0xff;
@@ -742,11 +591,6 @@ Data = fast_round(_IQtoF(simple_scalar1.iqKoefOgranIzad)*1000.0);//0;//fast_roun
     reply_a->digit_data.byte40.bit_data.bit2 = edrk.StartGED;
     reply_a->digit_data.byte40.bit_data.bit3 = edrk.GoWait;
 
-    reply_a->digit_data.byte40.bit_data.bit4 = edrk.stop_logs_rs232;
-    reply_a->digit_data.byte40.bit_data.bit5 = edrk.stop_slow_log;
-
-    reply_a->digit_data.byte40.bit_data.bit6 = edrk.disable_limit_power_from_svu;
-    reply_a->digit_data.byte40.bit_data.bit7 = edrk.disable_uom;
 
     reply_a->digit_data.byte41.byte_data = edrk.errors.e9.all  & 0xff;
     reply_a->digit_data.byte42.byte_data = (edrk.errors.e9.all >> 8)  & 0xff;
@@ -792,116 +636,32 @@ Data = fast_round(_IQtoF(simple_scalar1.iqKoefOgranIzad)*1000.0);//0;//fast_roun
     //    edrk.from_ing1.bits.RASCEPITEL_ON      = FROM_ING_RASCEPITEL_ON_OFF;
 
         reply_a->digit_data.byte49.bit_data.bit6 = edrk.from_ing2.bits.SOST_ZAMKA;
-        reply_a->digit_data.byte49.bit_data.bit7 = edrk.from_shema_filter.bits.RAZBOR_SHEMA;
+        reply_a->digit_data.byte49.bit_data.bit7 = edrk.from_shema.bits.RAZBOR_SHEMA;
         //
-        reply_a->digit_data.byte50.bit_data.bit0 = edrk.from_shema_filter.bits.SBOR_SHEMA;
+        reply_a->digit_data.byte50.bit_data.bit0 = edrk.from_shema.bits.SBOR_SHEMA;
 
-        reply_a->digit_data.byte50.bit_data.bit1 = edrk.from_shema_filter.bits.ZADA_DISPLAY;
-        reply_a->digit_data.byte50.bit_data.bit2 = edrk.from_shema_filter.bits.SVU;
+        reply_a->digit_data.byte50.bit_data.bit1 = edrk.from_shema.bits.ZADA_DISPLAY;
+        reply_a->digit_data.byte50.bit_data.bit2 = edrk.from_shema.bits.SVU;
     //  edrk.from_shema.bits.KNOPKA_AVARIA     = FROM_ALL_KNOPKA_AVARIA;
         reply_a->digit_data.byte50.bit_data.bit3 = edrk.from_shema.bits.QTV_ON_OFF;
-        reply_a->digit_data.byte50.bit_data.bit4 = edrk.from_shema_filter.bits.UMP_ON_OFF;
-        reply_a->digit_data.byte50.bit_data.bit5 = edrk.from_shema_filter.bits.READY_UMP;
+        reply_a->digit_data.byte50.bit_data.bit4 = edrk.from_shema.bits.UMP_ON_OFF;
+        reply_a->digit_data.byte50.bit_data.bit5 = edrk.from_shema.bits.READY_UMP;
         reply_a->digit_data.byte50.bit_data.bit6 = edrk.from_shema.bits.SVU_BLOCK_QTV;
-        reply_a->digit_data.byte50.bit_data.bit7 = edrk.errors_another_bs_from_can;
-
 
     //    reply_a->digit_data.byte44.byte_data = 0;
 
 
-        reply_a->digit_data.byte51.bit_data.bit0 = inc_sensor.break_sensor1;
-        reply_a->digit_data.byte51.bit_data.bit1 = inc_sensor.break_sensor2;
-        reply_a->digit_data.byte51.bit_data.bit2 = pll1.output.flag_find_pll;
-        reply_a->digit_data.byte51.bit_data.bit3 = log_params.stop_log_slow;
-        reply_a->digit_data.byte51.bit_data.bit4 = log_params.stop_log_level_1;
-        reply_a->digit_data.byte51.bit_data.bit5 = log_params.stop_log_level_2;
-        reply_a->digit_data.byte51.bit_data.bit6 = log_params.stop_log_slow_level_1;
-        reply_a->digit_data.byte51.bit_data.bit7 = log_params.stop_log_slow_level_2;
-
-
-
-        reply_a->digit_data.byte52.bit_data.bit0 = edrk.from_zadat4ik.bits.KVITIR;
-        reply_a->digit_data.byte52.bit_data.bit1 = edrk.from_zadat4ik.bits.PLUS;
-        reply_a->digit_data.byte52.bit_data.bit2 = edrk.from_zadat4ik.bits.MINUS;
-        reply_a->digit_data.byte52.bit_data.bit3 = edrk.from_zadat4ik.bits.PROVOROT;
-        reply_a->digit_data.byte52.bit_data.bit4 = edrk.from_zadat4ik.bits.UOM_READY_ACTIVE;
-        reply_a->digit_data.byte52.bit_data.bit5 = edrk.from_zadat4ik.bits.UOM_LIMIT_3;
-        reply_a->digit_data.byte52.bit_data.bit6 = edrk.from_zadat4ik.bits.UOM_LIMIT_2;
-        reply_a->digit_data.byte52.bit_data.bit7 = edrk.from_zadat4ik.bits.UOM_LIMIT_1;
-
-
-
-        reply_a->digit_data.byte53.bit_data.bit0 = edrk.Run_UMP;
-        reply_a->digit_data.byte53.bit_data.bit1 = edrk.Status_UMP_Ok;
-        reply_a->digit_data.byte53.bit_data.bit2 = edrk.Zaryad_UMP_Ok;
-        reply_a->digit_data.byte53.bit_data.bit3 = edrk.cmd_to_ump;
-        reply_a->digit_data.byte53.bit_data.bit4 = edrk.sbor_wait_ump1;
-        reply_a->digit_data.byte53.bit_data.bit5 = edrk.sbor_wait_ump2;
-        reply_a->digit_data.byte53.bit_data.bit6 = edrk.flag_enable_on_ump;
-
-        reply_a->digit_data.byte53.bit_data.bit7 = edrk.local_ump_on_off;
-        reply_a->digit_data.byte54.bit_data.bit0 = edrk.local_ready_ump;
-
-///
-        reply_a->digit_data.byte54.bit_data.bit1 = (modbus_table_can_in[128].all) ? 1 : 0; //cmd_local_charge PCH 0
-        reply_a->digit_data.byte54.bit_data.bit2 = (modbus_table_can_in[131].all) ? 1 : 0; //cmd_local_uncharge PCH 0
-
-        reply_a->digit_data.byte54.bit_data.bit3 = (modbus_table_can_in[129].all) ? 1 : 0; //cmd_local_charge PCH 1
-        reply_a->digit_data.byte54.bit_data.bit4 = (modbus_table_can_in[132].all) ? 1 : 0; //cmd_local_uncharge PCH 1
-
-        reply_a->digit_data.byte54.bit_data.bit5 = edrk.from_shema_filter.bits.UMP_ON_OFF;
-        reply_a->digit_data.byte54.bit_data.bit6 = edrk.SumSbor;
-
-        reply_a->digit_data.byte55.bit_data.bit0 = edrk.power_limit.bits.limit_Iout;
-        reply_a->digit_data.byte55.bit_data.bit1 = edrk.power_limit.bits.limit_UOM;
-        reply_a->digit_data.byte55.bit_data.bit2 = edrk.power_limit.bits.limit_by_temper;
-        reply_a->digit_data.byte55.bit_data.bit3 = edrk.power_limit.bits.limit_from_SVU;
-        reply_a->digit_data.byte55.bit_data.bit4 = edrk.power_limit.bits.limit_from_uom_fast;
-        reply_a->digit_data.byte55.bit_data.bit5 = edrk.power_limit.bits.limit_from_freq;
-        reply_a->digit_data.byte55.bit_data.bit6 = edrk.power_limit.bits.limit_moment;
-        reply_a->digit_data.byte55.bit_data.bit7 = simple_scalar1.flag_decr_mzz_power;
-
-
-        reply_a->digit_data.byte56.bit_data.bit0 = (edrk.pult_cmd.log_what_memory & 0x1) ? 1 : 0;
-        reply_a->digit_data.byte56.bit_data.bit1 = (edrk.pult_cmd.log_what_memory & 0x2) ? 1 : 0;
-
-        reply_a->digit_data.byte56.bit_data.bit2 = edrk.pult_data.flagSaveDataMoto ? 1 : 0;
-
-        reply_a->digit_data.byte56.bit_data.bit3 = (edrk.pult_data.flagSaveSlowLogs) ? 1 : 0;
-        reply_a->digit_data.byte56.bit_data.bit4 = edrk.pult_cmd.send_log ? 1 : 0;
-
-        reply_a->digit_data.byte56.bit_data.bit5 = (log_to_HMI.send_log==1) ? 1 : 0;
-        reply_a->digit_data.byte56.bit_data.bit6 = (log_to_HMI.send_log==2) ? 1 : 0;
-        reply_a->digit_data.byte56.bit_data.bit7 = (log_to_HMI.send_log==3) ? 1 : 0;
-
-//
-        reply_a->digit_data.byte57.bit_data.bit0 = (edrk.break_tempers[0] > ABNORMAL_TEMPER_BREAK_INT) ? 1 : 0;
-        reply_a->digit_data.byte57.bit_data.bit1 = (edrk.break_tempers[1] > ABNORMAL_TEMPER_BREAK_INT) ? 1 : 0;
-        reply_a->digit_data.byte57.bit_data.bit2 = (edrk.break_tempers[2] > ABNORMAL_TEMPER_BREAK_INT) ? 1 : 0;
-        reply_a->digit_data.byte57.bit_data.bit3 = (edrk.break_tempers[3] > ABNORMAL_TEMPER_BREAK_INT) ? 1 : 0;
-
-        reply_a->digit_data.byte57.bit_data.bit4 = (edrk.break_tempers[0] > ALARM_TEMPER_BREAK_INT) ? 1 : 0;
-        reply_a->digit_data.byte57.bit_data.bit5 = (edrk.break_tempers[1] > ALARM_TEMPER_BREAK_INT) ? 1 : 0;
-        reply_a->digit_data.byte57.bit_data.bit6 = (edrk.break_tempers[2] > ALARM_TEMPER_BREAK_INT) ? 1 : 0;
-        reply_a->digit_data.byte57.bit_data.bit7 = (edrk.break_tempers[3] > ALARM_TEMPER_BREAK_INT) ? 1 : 0;
-
-        reply_a->digit_data.byte58.bit_data.bit0 = (edrk.breaker_on==1) ? 1 : 0;
-
-        reply_a->digit_data.byte58.bit_data.bit1 = edrk.warnings.e9.bits.BREAK_TEMPER_WARNING;
-        reply_a->digit_data.byte58.bit_data.bit2 = edrk.warnings.e9.bits.BREAK_TEMPER_ALARM;
-        reply_a->digit_data.byte58.bit_data.bit3 = edrk.warnings.e9.bits.BREAKER_GED_ON;
-
-
-
-//        reply_a->digit_data.byte57.byte_data = 0;//(((unsigned long)edrk.canes_reg>>16) & 0x0ff);
-//        reply_a->digit_data.byte58.byte_data = 0;//(((unsigned long)edrk.canes_reg) & 0x3f);
-        reply_a->digit_data.byte59.byte_data = 0;//(((unsigned long)edrk.canes_reg>>24) & 0x1);
-        reply_a->digit_data.byte60.byte_data = 0;
 
 
 
 
-        return;
+
+
+
+
+
+
+	return;
 }
 
 

Inu/Src/main/message2test.c

@@ -13,8 +13,6 @@
 #include "xp_project.h"
 
 #include "x_wdog.h"
-#include "params_hwp.h"
-#include "detect_errors.h"
 
 
 //XilinxV2
@@ -24,7 +22,7 @@ void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CM
 {
 	// îíòðîëüíày ñóììà
 	unsigned int crc, DataOut, sinusImpulse, doubleImpulse,adc_plate;
-	int Data,Data1,Data2/*,bitt, DataAnalog1, DataAnalog2*/, tk0,tk1,tk2,tk3,period1,period2, period3;
+	int Data,Data1,Data2/*,bitt, DataAnalog1, DataAnalog2*/, tk0,tk1,tk2,tk3,period1,period2;
 	
 	//static int vs11,vs12,vs1;
 	static int prev_Go = 0;
@@ -33,12 +31,6 @@ void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CM
 	static int flag_prev_turn_on = 0;
 	static int flag_prev_turn_off = 0;
 	static int flag_prev_lamp_on_off = 0;
-	static int soft_off_enable = 0, soft_on_enable = 0;
-	static float tk_time_soft_off = 0;
-	static unsigned long tk_time_soft_off_d = 0;
-	static unsigned int i_af_protect_a = 0, i_af_protect_d = 0;
-	int enable_line_err = 0, disable_tk_soft_off, disable_protect_tk_soft_off;
-
 
 	stop_wdog();
 
@@ -54,16 +46,7 @@ void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CM
 //	f.RScount = SECOND*3;
 	
 	f.terminal_prepare	= pcommand->digit_data.byte05.bit_data.bit1;
-	soft_off_enable = pcommand->digit_data.byte06.bit_data.bit0;
-	soft_on_enable = pcommand->digit_data.byte06.bit_data.bit1;
-//	edrk.direct_write_out = pcommand->digit_data.byte06.bit_data.bit2;
-
-	disable_tk_soft_off = pcommand->digit_data.byte06.bit_data.bit3;
-    disable_protect_tk_soft_off = pcommand->digit_data.byte06.bit_data.bit4;
-
-    enable_line_err = pcommand->digit_data.byte06.bit_data.bit5;
-
-	// Çàïèñàëè âñå âûõîäû
+	// "àïèñàëè âñå âûõîäû
 
 #if (CHECK_IN_OUT_TERMINAL==1)
 
@@ -89,9 +72,7 @@ void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CM
 	
 //	write_dig_out();
 
-	//calc_norm_ADC(0);
-	calc_norm_ADC_0(1);
-	calc_norm_ADC_1(1);
+	calc_norm_ADC(0);
 	
 	// ïðîâåðêà êëþ÷åé
 	tk0 = (pcommand->digit_data.byte01.byte_data);
@@ -109,39 +90,6 @@ void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CM
 	Data = (Data2 + Data1*256);
 	period2 = Data;
 	
-    Data1 = pcommand->analog_data.analog3_hi;
-    Data2 = pcommand->analog_data.analog3_lo;
-    Data = (Data2 + Data1*256);
-    period3 = Data;
-
-    Data1 = pcommand->analog_data.analog4_hi;
-    Data2 = pcommand->analog_data.analog4_lo;
-    Data = (Data2 + Data1*256);
- //   Data = 200;
-    tk_time_soft_off = Data*100.0; // mks*10->ns
-    if (tk_time_soft_off>1300000.0)
-        tk_time_soft_off = 1300000.0;
-    tk_time_soft_off_d = (unsigned long)(tk_time_soft_off / DIV_TIME_TK_SOFT_OFF);
-
-    if (tk_time_soft_off_d>65535)
-        tk_time_soft_off_d = 65535;
-
-
-    Data1 = pcommand->analog_data.analog5_hi;
-    Data2 = pcommand->analog_data.analog5_lo;
-    Data = (Data2 + Data1*256);
-    i_af_protect_a = Data;
-
-    if (i_af_protect_a>LEVEL_HWP_I_AF) i_af_protect_a = LEVEL_HWP_I_AF;
-    if (i_af_protect_a<10) i_af_protect_a = 10;
-    i_af_protect_d = convert_real_to_mv_hwp(4,i_af_protect_a);
-    if (i_af_protect_d>1500) i_af_protect_d = 1500; // max 1500 mV
-
-    update_maz_level_i_af(0, i_af_protect_d);
-    project.read_all_hwp();
-
-
-
 	if(pcommand->digit_data.byte05.bit_data.bit3 == 1)
 		doubleImpulse = 1;
 	else
@@ -154,43 +102,8 @@ void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CM
 
 	if ((pcommand->digit_data.byte05.bit_data.bit0 == 1) && (prev_Go == 0))
 	{
-	    if (pcommand->digit_data.byte05.bit_data.bit2 == 1) // ïðè öèêë èìïóëüñå ïðåäâàðèòåëüíî äàåì êâèòèðîâàíèå
-	    {
-	        update_maz_level_i_af(0, 1500);
-	        project.write_all_hwp();
-	        clear_errors();
-	        project.clear_errors_all_plates();
-	        update_maz_level_i_af(0, i_af_protect_d);
-	        project.write_all_hwp();
-
-	    }
-
-
 //		test_tk_ak_one_impulse( tk0,  tk1,  tk2,  tk3,  period1, period2);
-#if (USE_TK_0)
-        project.cds_tk[0].write.sbus.protect_error.bit.enable_soft_disconnect = !disable_tk_soft_off;
-        project.cds_tk[0].write.sbus.protect_error.bit.detect_soft_disconnect = !disable_protect_tk_soft_off;
-        project.cds_tk[0].write.sbus.protect_error.bit.enable_line_err = enable_line_err;
-        project.cds_tk[0].write.sbus.time_after_err = tk_time_soft_off_d;//(int)(tk_time_soft_off / DIV_TIME_TK_SOFT_OFF);
-#endif
-#if (USE_TK_1)
-        project.cds_tk[1].write.sbus.protect_error.bit.enable_soft_disconnect = !disable_tk_soft_off;
-        project.cds_tk[1].write.sbus.protect_error.bit.detect_soft_disconnect = !disable_protect_tk_soft_off;
-        project.cds_tk[1].write.sbus.protect_error.bit.enable_line_err = enable_line_err;
-        project.cds_tk[1].write.sbus.time_after_err = tk_time_soft_off_d;//(int)(tk_time_soft_off / DIV_TIME_TK_SOFT_OFF);
-#endif
-#if (USE_TK_3)
-        project.cds_tk[3].write.sbus.protect_error.bit.enable_soft_disconnect = !disable_tk_soft_off;
-        project.cds_tk[3].write.sbus.protect_error.bit.detect_soft_disconnect = !disable_protect_tk_soft_off;
-        project.cds_tk[3].write.sbus.protect_error.bit.enable_line_err = enable_line_err;
-        project.cds_tk[3].write.sbus.time_after_err = tk_time_soft_off_d;//(int)(tk_time_soft_off / DIV_TIME_TK_SOFT_OFF);
-#endif
-
-
-        project.write_all_sbus();
-        project.write_all_hwp();
-
-		test_tk_ak_one_impulse( tk0,  tk1,  tk2,  tk3,  period1, period2, period3, doubleImpulse, sinusImpulse, soft_off_enable, soft_on_enable);
+		test_tk_ak_one_impulse( tk0,  tk1,  tk2,  tk3,  period1, period2, doubleImpulse, sinusImpulse);
 	}
 	
 	if ((pcommand->digit_data.byte05.bit_data.bit0 == 1) &&
@@ -206,19 +119,14 @@ void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CM
 	  if 	(pcommand->digit_data.byte05.bit_data.bit1==1)
 	  {  
 	    stop_wdog();
-	    update_maz_level_i_af(0, 1500);
-	    project.write_all_hwp();
-	    clear_errors();
 		project.clear_errors_all_plates();
-		update_maz_level_i_af(0, i_af_protect_d);
-		project.write_all_hwp();
+
 	  }
 	}
     prev_Prepare = pcommand->digit_data.byte05.bit_data.bit1;
 
     if (pcommand->digit_data.byte05.bit_data.bit2 == 1)
 	{
-
 		prev_Go = 0; // çàöèêëèëè Go
 	}
 
@@ -372,46 +280,17 @@ void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CM
 	reply_test_all.analog_data.analog16_lo=LOBYTE(Data);
 	reply_test_all.analog_data.analog16_hi=HIBYTE(Data);
 
-
-	Data = _IQtoF(analog.iqU_1) * NORMA_ACP;
-	reply_ans->analog_data.analog17_lo=LOBYTE(Data);
-	reply_ans->analog_data.analog17_hi=HIBYTE(Data);
-
-	Data = _IQtoF(analog.iqU_2) * NORMA_ACP;
-	reply_ans->analog_data.analog18_lo=LOBYTE(Data);
-	reply_ans->analog_data.analog18_hi=HIBYTE(Data);
-
-    Data = project.cds_tk[0].read.sbus.time_err_tk_all.bit.tk_3210;
+/*
+	Data = _IQtoF(analog.iqU_3) * NORMA_ACP;
 	reply_ans->analog_data.analog19_lo=LOBYTE(Data);
 	reply_ans->analog_data.analog19_hi=HIBYTE(Data);
 
-    Data = project.cds_tk[0].read.sbus.time_err_tk_all.bit.tk_7654;
+	Data = _IQtoF(analog.iqU_4) * NORMA_ACP;
 	reply_ans->analog_data.analog20_lo=LOBYTE(Data);
 	reply_ans->analog_data.analog20_hi=HIBYTE(Data);
 
-    Data = project.cds_tk[1].read.sbus.time_err_tk_all.bit.tk_3210;
-    reply_ans->analog_data.analog21_lo=LOBYTE(Data);
-    reply_ans->analog_data.analog21_hi=HIBYTE(Data);
+*/
 
-    Data = project.cds_tk[1].read.sbus.time_err_tk_all.bit.tk_7654;
-    reply_ans->analog_data.analog22_lo=LOBYTE(Data);
-    reply_ans->analog_data.analog22_hi=HIBYTE(Data);
-
-    Data = project.cds_tk[2].read.sbus.time_err_tk_all.bit.tk_3210;
-    reply_ans->analog_data.analog23_lo=LOBYTE(Data);
-    reply_ans->analog_data.analog23_hi=HIBYTE(Data);
-
-    Data = project.cds_tk[2].read.sbus.time_err_tk_all.bit.tk_7654;
-    reply_ans->analog_data.analog24_lo=LOBYTE(Data);
-    reply_ans->analog_data.analog24_hi=HIBYTE(Data);
-
-//    Data = project.cds_tk[3].read.sbus.time_err_tk_all.bit.tk_3210;
-//    reply_ans->analog_data.analog25_lo=LOBYTE(Data);
-//    reply_ans->analog_data.analog25_hi=HIBYTE(Data);
-//
-//    Data = project.cds_tk[3].read.sbus.time_err_tk_all.bit.tk_7654;
-//    reply_ans->analog_data.analog26_lo=LOBYTE(Data);
-//    reply_ans->analog_data.analog26_hi=HIBYTE(Data);
 
 reply_ans->digit_data.byte01.byte_data = 0;
 reply_ans->digit_data.byte02.byte_data = 0;
@@ -514,16 +393,8 @@ reply_ans->digit_data.byte24.byte_data = 0;
 	reply_ans->digit_data.byte19.bit_data.bit6 = CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,UMU_CAN_DEVICE)];
 	//reply.digit_data.byte21.bit_data.bit7 = CAN_timeout[VPU1_CAN_DEVICE];
 
-	reply_ans->digit_data.byte20.bit_data.bit0 = project.controller.read.errors.bit.er0_out;
-	reply_ans->digit_data.byte20.bit_data.bit1 = project.controller.read.errors.bit.er0_trig;
-	reply_ans->digit_data.byte20.bit_data.bit2 = project.controller.read.errors.bit.errHWP;
-	reply_ans->digit_data.byte20.bit_data.bit3 = project.controller.read.errors.bit.errHWP_trig;
-	reply_ans->digit_data.byte20.bit_data.bit4 = project.controller.read.errors.bit.error_pbus;
-	reply_ans->digit_data.byte20.bit_data.bit5 = project.controller.read.errors.bit.pwm_wdog;
-	reply_ans->digit_data.byte20.bit_data.bit6 = project.controller.read.errors.bit.status_er0;
-//	reply_ans->digit_data.byte20.bit_data.bit0 = project.controller.read.errors.bit.er0_out;
-//	reply_ans->digit_data.byte20.bit_data.bit0 = CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,VPU_CAN)];
-//	reply_ans->digit_data.byte20.bit_data.bit1 = CAN_timeout[get_real_in_mbox(MPU_TYPE_BOX,0)];
+	reply_ans->digit_data.byte20.bit_data.bit0 = CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,VPU_CAN)];
+	reply_ans->digit_data.byte20.bit_data.bit1 = CAN_timeout[get_real_in_mbox(MPU_TYPE_BOX,0)];
 	reply_ans->digit_data.byte20.bit_data.bit2 = 0;//READY_UKSS_6;
 	reply_ans->digit_data.byte20.bit_data.bit3 = 0;//READY_UKSS_7;
 	reply_ans->digit_data.byte20.bit_data.bit4 = 0;//READY_UKSS_8;
@@ -565,82 +436,8 @@ reply_ans->digit_data.byte24.byte_data = 0;
 	reply_ans->digit_data.byte23.byte_data=project.hwp[0].read.comp_s.minus.all  & 0x00ff;
 	reply_ans->digit_data.byte24.byte_data=((project.hwp[0].read.comp_s.minus.all >> 8) & 0x00ff);
 	
-	reply_ans->digit_data.byte23.byte_data|=project.hwp[0].read.comp_s.plus.all  & 0x00ff;
-	reply_ans->digit_data.byte24.byte_data|=((project.hwp[0].read.comp_s.plus.all >> 8) & 0x00ff);
-
-#if (USE_TK_0)
-	if (project.cds_tk[0].useit)
-	{
-//	reply_ans->digit_data.byte22.bit_data.bit0 = project.cds_tk[0].read.sbus.lock_status_error.bit.err0_in;
-        reply_ans->digit_data.byte25.bit_data.bit0 = project.cds_tk[0].read.sbus.lock_status_error.bit.err_hwp;
-        reply_ans->digit_data.byte25.bit_data.bit1 = project.cds_tk[0].read.sbus.lock_status_error.bit.err0_local;
-        reply_ans->digit_data.byte25.bit_data.bit2 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
-        reply_ans->digit_data.byte25.bit_data.bit3 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
-        reply_ans->digit_data.byte25.bit_data.bit4 = project.cds_tk[0].read.sbus.lock_status_error.bit.line_err_keys_7654;
-        reply_ans->digit_data.byte25.bit_data.bit5 = project.cds_tk[0].read.sbus.lock_status_error.bit.line_err_keys_3210;
-        reply_ans->digit_data.byte25.bit_data.bit6 = project.cds_tk[0].read.sbus.lock_status_error.bit.ErrorSoftShutdownFromErr0;
-        reply_ans->digit_data.byte25.bit_data.bit7 = project.cds_tk[0].read.sbus.lock_status_error.bit.ErrorSoftShutdownForbidComb;
-	}
-    else
-        reply_ans->digit_data.byte25.byte_data = 0;
-
-#else
-	    reply_ans->digit_data.byte25.byte_data = 0;
-#endif
-
-#if (USE_TK_1)
-	if (project.cds_tk[1].useit)
-	{
-        reply_ans->digit_data.byte26.bit_data.bit0 = project.cds_tk[1].read.sbus.lock_status_error.bit.err_hwp;
-        reply_ans->digit_data.byte26.bit_data.bit1 = project.cds_tk[1].read.sbus.lock_status_error.bit.err0_local;
-        reply_ans->digit_data.byte26.bit_data.bit2 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
-        reply_ans->digit_data.byte26.bit_data.bit3 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
-        reply_ans->digit_data.byte26.bit_data.bit4 = project.cds_tk[1].read.sbus.lock_status_error.bit.line_err_keys_7654;
-        reply_ans->digit_data.byte26.bit_data.bit5 = project.cds_tk[1].read.sbus.lock_status_error.bit.line_err_keys_3210;
-        reply_ans->digit_data.byte26.bit_data.bit6 = project.cds_tk[1].read.sbus.lock_status_error.bit.ErrorSoftShutdownFromErr0;
-        reply_ans->digit_data.byte26.bit_data.bit7 = project.cds_tk[1].read.sbus.lock_status_error.bit.ErrorSoftShutdownForbidComb;
-	}
-    else
-        reply_ans->digit_data.byte26.byte_data = 0;
-#else
-        reply_ans->digit_data.byte26.byte_data = 0;
-#endif
-
-#if (USE_TK_2)
-    if (project.cds_tk[2].useit)
-    {
-        reply_ans->digit_data.byte27.bit_data.bit0 = project.cds_tk[2].read.sbus.lock_status_error.bit.err_hwp;
-        reply_ans->digit_data.byte27.bit_data.bit1 = project.cds_tk[2].read.sbus.lock_status_error.bit.err0_local;
-        reply_ans->digit_data.byte27.bit_data.bit2 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
-        reply_ans->digit_data.byte27.bit_data.bit3 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
-        reply_ans->digit_data.byte27.bit_data.bit4 = project.cds_tk[2].read.sbus.lock_status_error.bit.line_err_keys_7654;
-        reply_ans->digit_data.byte27.bit_data.bit5 = project.cds_tk[2].read.sbus.lock_status_error.bit.line_err_keys_3210;
-        reply_ans->digit_data.byte27.bit_data.bit6 = project.cds_tk[2].read.sbus.lock_status_error.bit.ErrorSoftShutdownFromErr0;
-        reply_ans->digit_data.byte27.bit_data.bit7 = project.cds_tk[2].read.sbus.lock_status_error.bit.ErrorSoftShutdownForbidComb;
-    }
-    else
-        reply_ans->digit_data.byte27.byte_data = 0;
-#else
-        reply_ans->digit_data.byte27.byte_data = 0;
-#endif
-
-#if (USE_TK_3)
-    if (project.cds_tk[3].useit)
-    {
-        reply_ans->digit_data.byte28.bit_data.bit0 = project.cds_tk[3].read.sbus.lock_status_error.bit.err_hwp;
-        reply_ans->digit_data.byte28.bit_data.bit1 = project.cds_tk[3].read.sbus.lock_status_error.bit.err0_local;
-        reply_ans->digit_data.byte28.bit_data.bit2 = project.cds_tk[3].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
-        reply_ans->digit_data.byte28.bit_data.bit3 = project.cds_tk[3].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
-        reply_ans->digit_data.byte28.bit_data.bit4 = project.cds_tk[3].read.sbus.lock_status_error.bit.line_err_keys_7654;
-        reply_ans->digit_data.byte28.bit_data.bit5 = project.cds_tk[3].read.sbus.lock_status_error.bit.line_err_keys_3210;
-        reply_ans->digit_data.byte28.bit_data.bit6 = project.cds_tk[3].read.sbus.lock_status_error.bit.ErrorSoftShutdownFromErr0;
-        reply_ans->digit_data.byte28.bit_data.bit7 = project.cds_tk[3].read.sbus.lock_status_error.bit.ErrorSoftShutdownForbidComb;
-    }
-    else
-        reply_ans->digit_data.byte28.byte_data = 0;
-#else
-        reply_ans->digit_data.byte28.byte_data = 0;
-#endif
+	reply_ans->digit_data.byte23.byte_data|=project.hwp[0].read.comp_s.minus.all  & 0x00ff;
+	reply_ans->digit_data.byte24.byte_data|=((project.hwp[0].read.comp_s.minus.all >> 8) & 0x00ff);
 
 
 /*

Inu/Src/main/message_modbus.c

@@ -22,10 +22,6 @@
 #include <message2can.h>
 #include <edrk_main.h>
 
-#include "pwm_test_lines.h"
-#include "params.h"
-#include "logs_hmi.h"
-
 
 //#include "can_setup_21300.h"
 //#include "modbus_can.h"
@@ -168,7 +164,6 @@ void write_all_data_to_mpu_can(int run_force, unsigned int pause)
 
     static int cur_position_buf_modbus16_can = 0, prev_send_to_can = 0;
     int real_mbox;
-    unsigned int i;
 
     real_mbox = get_real_out_mbox(MPU_TYPE_BOX, edrk.flag_second_PCH);
 
@@ -240,13 +235,6 @@ void write_all_data_to_mpu_can(int run_force, unsigned int pause)
  //               modbus_table_can_out[ADR_CAN_TEST_PLUS_ONE].all++;
             }
 
-            // ñîõðàíÿåì âî âðåìåííîé ïàìÿòè ïåðåä íà÷àëîì ïåðåäà÷è âñåãî ìàññèâà ÷òîáû äàííûå íå ìåíÿëèñü âî âðåìÿ ïåðåäà÷è
-            if (cur_position_buf_modbus16_can == 0)
-            {
-                for (i=0;i<SIZE_MODBUS_TABLE;i++)
-                    modbus_table_can_out_temp[i] = modbus_table_can_out[i];
-            }
-
             if ((cur_position_buf_modbus16_can + SIZE_BUF_WRITE_TO_MODBUS16_CAN) >= SIZE_MODBUS_TABLE)
                 count_write_to_modbus_can = SIZE_MODBUS_TABLE - cur_position_buf_modbus16_can;
             else
@@ -261,8 +249,7 @@ void write_all_data_to_mpu_can(int run_force, unsigned int pause)
                     MPU_TYPE_BOX,
                     edrk.flag_second_PCH,
                     cur_position_buf_modbus16_can + 1,
-//                    &modbus_table_can_out[cur_position_buf_modbus16_can].all,
-                    &modbus_table_can_out_temp[cur_position_buf_modbus16_can].all,
+                    &modbus_table_can_out[cur_position_buf_modbus16_can].all,
                     count_write_to_modbus_can, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);
 
                 cur_position_buf_modbus16_can = cur_position_buf_modbus16_can + SIZE_BUF_WRITE_TO_MODBUS16_CAN;
@@ -412,9 +399,6 @@ void test_alive_pult_485(void)
 }
 
 
-#define MAX_COUNT_WORK_IN_LOG   150
-
-
 int modbusNetworkSharing(int flag_update_only_hmi)
 {
     static unsigned int old_time = 0 , old_time_refresh = 0, time_pause = TIME_PAUSE_MODBUS_REMOUTE;
@@ -426,13 +410,8 @@ int modbusNetworkSharing(int flag_update_only_hmi)
     static int run_pause = 1, flag_next = 0, prev_flag_next = 0;
     static int last_ok_cmd=0;
     static int flag_only_one_cmd=0;
-    static int status_ok = 1, status_err = 0, flag_work_rs_send_log = 0, count_free = 0, count_work_in_log = 0;
 
 
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_20_ON;
-#endif
-
     RS232_WorkingWith(0,1,0);
 
     // âêë òèï çàïðîñ-îòâåò äëÿ ñèñòåìû òàéìèíãà
@@ -456,123 +435,21 @@ int modbusNetworkSharing(int flag_update_only_hmi)
 
     final_code = 0;
 
-
-    switch(status)
-    {
-    case 0:
-
-        old_time = global_time.miliseconds;
-        status = 1;
-        if (time_pause==0)
-            status = 2;
-
-            break;
-    case 1:
-        //        if (numberInT==0)
-        //        {
-                    if (detect_pause_milisec(time_pause,&old_time))
-                        status = 2;
-        //        }
-        //        else
-        //            status = 2;
-
-            break;
-    case 2:
-        enable_send_cmd = 1;
-        control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
-        status = 3;
-        old_time_status_3 = global_time.miliseconds;
-
-            break;
-    case 3:
-        //        // åñëè ìû â ïåðåäà÷å ëîãîâ è òàì ïóñòàÿ êîìàíäà áåç îáìåíà ïî rs485
-        //        if (flag_work_rs_send_log)
-        //        {
-        //            status = 0;
-        //            status_ok++;
-        //            if (status_ok<0) status_ok=1;
-        //        }
-
-        // íå áûëî ïåðåäà÷ ïî rs485 çíà÷èò è ëîâèòü òóò íå÷åãî!
-        if (rs_b.RS_DataWillSend2 == 0 && enable_send_cmd == 0)
-        {
-            status = 0;
-            status_ok++;
-            count_free++;
-        }
-        else
-        if (rs_b.RS_DataReadyAnswerAnalyze)
-        {
-//            i_led2_on_off(0);
-
-            control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
-            control_station.count_ok_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
-            rs_b.RS_DataReadyAnswerAnalyze = 0;
-            rs_b.RS_DataWillSend2 = 0;
-            status = 0;
-
-            if (last_ok_cmd==4) // ïðîøëà readAnalogDataFromRemote() ñì íèæå
-            {
-                edrk.get_new_data_from_hmi = 1;// ìîæíî çàáðàòü äàííûå?
-                edrk.get_new_data_from_hmi2 = 1;// ìîæíî çàáðàòü äàííûå?
-            }
-            final_code = last_ok_cmd;//numberInT+1;
-
-            //status_err = 0;
-            status_ok++;
-        }
-        else
-        {
-            if ( (control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485]>control_station.setup_time_detect_active_resend_485[CONTROL_STATION_INGETEAM_PULT_RS485])
-                 || (detect_pause_milisec(time_pause_status_3,&old_time_status_3)) )
-            {
-                resetup_mpu_rs(&rs_b);
-                control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
-                rs_b.RS_DataWillSend2 = 0;
-                status = 0;
-                control_station.count_error_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
-                status_err++;// = 1;
-            }
-
-        }
-
-        if (status_ok<0) status_ok=1;
-
-            break;
-    case 4:
-
-            break;
-    case 5:
-
-            break;
-    case 6:
-
-            break;
-    default:
-            break;
-
-
-
-    }
-
-/*
     if (status==0)
     {
         old_time = global_time.miliseconds;
         status = 1;
-        if (time_pause==0)
-            status = 2;
     }
 
     if (status==1)
     {
-//        if (numberInT==0)
-//        {
+        if (numberInT==0)
+        {
             if (detect_pause_milisec(time_pause,&old_time))
                 status = 2;
-//        }
-//        else
-//            status = 2;
+        }
+        else
+            status = 2;
     }
 
     if (status==2)
@@ -585,21 +462,6 @@ int modbusNetworkSharing(int flag_update_only_hmi)
 
     if (status==3)
     {
-        if (rs_b.RS_DataWillSend2 == 0)
-        {
-
-            count_free++;
-
-        }
-
-        // åñëè ìû â ïåðåäà÷å ëîãîâ è òàì ïóñòàÿ êîìàíäà áåç îáìåíà ïî rs485
-        if (flag_work_rs_send_log)
-        {
-            status = 0;
-            status_ok++;
-            if (status_ok<0) status_ok=1;
-        }
-
         if (rs_b.RS_DataReadyAnswerAnalyze)
         {
 //            i_led2_on_off(0);
@@ -607,16 +469,11 @@ int modbusNetworkSharing(int flag_update_only_hmi)
             control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
             control_station.count_ok_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
             rs_b.RS_DataReadyAnswerAnalyze = 0;
-            rs_b.RS_DataWillSend2 = 0;
             status = 0;
 
             if (last_ok_cmd==4) // ïðîøëà readAnalogDataFromRemote() ñì íèæå
                 edrk.get_new_data_from_hmi = 1;// ìîæíî çàáðàòü äàííûå?
             final_code = last_ok_cmd;//numberInT+1;
-
-            //status_err = 0;
-            status_ok++;
-            if (status_ok<0) status_ok=1;
         }
         else
         {
@@ -625,16 +482,14 @@ int modbusNetworkSharing(int flag_update_only_hmi)
             {
                 resetup_mpu_rs(&rs_b);
                 control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
-                rs_b.RS_DataWillSend2 = 0;
                 status = 0;
                 control_station.count_error_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
-                status_err++;// = 1;
             }
 
         }
 
     }
-*/
+
 //    switch (status)
 //    {
 //    case 0 : status = 1;
@@ -731,9 +586,7 @@ int modbusNetworkSharing(int flag_update_only_hmi)
 //
 
 
-    if (enable_send_cmd
-//            && (log_to_HMI.send_log == 0)
-            )
+    if (enable_send_cmd && (log_to_HMI.send_log == 0))
     {
 //i_led2_on_off(1);
             last_ok_cmd = numberInT;
@@ -749,13 +602,11 @@ int modbusNetworkSharing(int flag_update_only_hmi)
                 edrk.test++;
 
                 numberInT++;
-                enable_send_cmd = 0;
                 break;
 
             case 1:
 
                 if ((flag_update_only_hmi==0) && (edrk.flag_enable_update_hmi))
-//                  if (edrk.flag_enable_update_hmi)
                     update_tables_HMI_analog();
 
                 writeAnalogDataToRemote(); // 1 ÷àñòü àíàëîãà
@@ -766,7 +617,6 @@ int modbusNetworkSharing(int flag_update_only_hmi)
 //                else
                     numberInT++;
 
-                enable_send_cmd = 0;
                 break;
 
             case 2:
@@ -782,79 +632,39 @@ int modbusNetworkSharing(int flag_update_only_hmi)
 //                else
                     numberInT++;
 
-                enable_send_cmd = 0;
                 break;
 
 
             case 3:
                 readAnalogDataFromRemote(); // 1 ÷àñòü
                 numberInT++;
-                enable_send_cmd = 0;
                 break;
 
             case 4:
                 readAnalogDataFromRemote(); // 2 ÷àñòü
 
-                if (log_to_HMI.send_log)
-                {
+                if (log_to_HMI.send_log == 1)
                      numberInT++;
-                }
                 else
                     // ïðîïóñêàåì ñëåä êîìàíäó
                         numberInT = 0;
-
-                enable_send_cmd = 0;
-                count_work_in_log = 0; // ïîäãîòîâêà äëÿ ëîãîâ
                 break;
 
             case 5:
-                if (log_to_HMI.send_log)
-                {
-                    time_pause = 2;
-        //            ccc[0] = 1;
-                    flag_work_rs_send_log = !sendLogToHMI(status_ok);
-                    edrk.flag_slow_in_main = 1;
-                    enable_send_cmd = 0;
-
-                    if (count_work_in_log>MAX_COUNT_WORK_IN_LOG)
-                    {
-                        count_work_in_log = 0;
-                        numberInT = 0; // çàïóñêàåì ïîëíûé öèêë
-
-                    }
-                    else
-                    {
-                        count_work_in_log++;
-                        // îñòàåìñÿ â ýòîì öèêëå ëîãîâ
-                    }
-
-                }
-                else
-                {
-                   time_pause = TIME_PAUSE_MODBUS_REMOUTE;
-     //               ccc[0] = 0;
-                    numberInT = 0;
-                    enable_send_cmd = 0;
-                    edrk.flag_slow_in_main = 0;
-                }
+                sendLogToHMI();
+                numberInT = 0;
                 break;
 
 
             default:
-                enable_send_cmd = 0;
                 break;
             }
 
-
+            enable_send_cmd = 0;
 //i_led2_on_off(0);
 
     }
-    //sendLogToHMI();
-
-
-#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
-    PWM_LINES_TK_20_OFF;
-#endif
+    sendLogToHMI();
 
     if (flag_update_only_hmi)
         return final_code;
@@ -870,19 +680,17 @@ int modbusNetworkSharingCAN(void)
 //    static unsigned int old_time1 = 0 , time_pause1 = TIME_PAUSE_NETWORK_CAN1;
 //    static unsigned int old_time2 = 0 , time_pause2 = TIME_PAUSE_NETWORK_CAN2;
 //    static unsigned int old_time3 = 0 , time_pause3 = TIME_PAUSE_NETWORK_CAN3;
-    static unsigned int time_pause_modbus_can_terminals = TIME_PAUSE_MODBUS_CAN_TERMINALS;
 
 
 
 #if (ENABLE_CAN_SEND_TO_MPU_FROM_MAIN)
 //    if (detect_pause_milisec(time_pause1,&old_time1))
-    static unsigned int time_pause_modbus_can_mpu = TIME_PAUSE_MODBUS_CAN_MPU;
-    write_all_data_to_mpu_can(1, time_pause_modbus_can_mpu);
+        write_all_data_to_mpu_can(1, TIME_PAUSE_MODBUS_CAN_MPU);
 #endif
 
 #if (ENABLE_CAN_SEND_TO_TERMINAL_FROM_MAIN)
 //    if (detect_pause_milisec(time_pause2,&old_time2))
-    write_all_data_to_terminals_can(1, time_pause_modbus_can_terminals);
+        write_all_data_to_terminals_can(1, TIME_PAUSE_MODBUS_CAN_TERMINALS);
 #endif