Inu/Src/N12_Libs/CAN_Setup.c

@@ -5,21 +5,27 @@
 #include "DSP281x_Device.h"
 #include "global_time.h"
 #include "TuneUpPlane.h"
+#include "profile_interrupt.h"
 
 
 
 
-int CanTimeOutErrorTR = 0;
+unsigned int CanTimeOutErrorTR = 0;
+unsigned int CanBusOffError = 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_led1_can = 1;
-unsigned int  enable_profile_led2_can = 0;
+//unsigned int  enable_profile_led2_can = 0;
 
 #pragma DATA_SECTION(cycle,".slow_vars")
 CYCLE cycle[UNIT_QUA];
@@ -77,7 +83,7 @@ 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
-int CAN_timeout_cicle[UNIT_QUA];
+unsigned int CAN_timeout_cicle[UNIT_QUA];
 
 
 
@@ -205,7 +211,7 @@ int init_alarm_log_can_boxs(ALARM_LOG_CAN_SETUP *p )
   int c,e;
 
   e = 0;
-  for (c=0;c<MAX_COUNT_UNITES_TERMINAL;c++)
+  for (c=0;c<MAX_COUNT_UNITES_ALARM_LOG;c++)
   {
     if (p->active_box[c])
     {
@@ -404,17 +410,24 @@ void reset_CAN_timeout_cicle(int box)
 #pragma CODE_SECTION(inc_CAN_timeout_cicle, ".fast_run2");
 void inc_CAN_timeout_cicle()
 {
-	int i;
+	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;
+	
 
 	for(i = 0; i < UNIT_QUA; i++)
 	{
 		if (CAN_timeout_cicle[i] < MAX_CAN_WAIT_TIMEOUT)
 		{
-			CAN_timeout_cicle[i]++;
+		        CAN_timeout_cicle[i] += t_refresh;
 		}
 		else
 		{
 			CAN_timeout[i] = 1;
+			CAN_refresh_cicle[i] = -1;
 		}
 	}
 }
@@ -543,22 +556,44 @@ 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.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.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.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
-	ECanaShadow.CANBTC.bit.SJWREG=1;
+#endif
+
     ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;
 
     ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
@@ -598,18 +633,18 @@ 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;
+	ECanaShadow.CANGIM.bit.AAIM=1; //Abort Acknowledge Interrupt Mask.
-	ECanaShadow.CANGIM.bit.BOIM=1;
+	ECanaShadow.CANGIM.bit.BOIM=1; // Bus-off interrupt mask
-	ECanaShadow.CANGIM.bit.EPIM=1;
+	ECanaShadow.CANGIM.bit.EPIM=1; // Error-passive interrupt mask
-	ECanaShadow.CANGIM.bit.RMLIM=1;
+	ECanaShadow.CANGIM.bit.RMLIM=1; // Received-message-lost interrupt mask
-	ECanaShadow.CANGIM.bit.WUIM=1;
+	ECanaShadow.CANGIM.bit.WUIM=1; // Wake-up interrupt mask
-	ECanaShadow.CANGIM.bit.WLIM=1;
+	ECanaShadow.CANGIM.bit.WLIM=1; // Warning level interrupt mask
-	ECanaShadow.CANGIM.bit.WDIM=1;
+	ECanaShadow.CANGIM.bit.WDIM=1; // Write denied interrupt mask
-	ECanaShadow.CANGIM.bit.TCOM=1;
+	ECanaShadow.CANGIM.bit.TCOM=1; // Time stamp counter overflow mask
 
-	ECanaShadow.CANGIM.bit.MTOM = 1;
+	ECanaShadow.CANGIM.bit.MTOM = 1; //Mailbox time-out interrupt mask
-	ECanaShadow.CANGIM.bit.I1EN = 1;
+	ECanaShadow.CANGIM.bit.I1EN = 1; //Interrupt 1 enable
-	ECanaShadow.CANGIM.bit.GIL = 1;
+	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;
@@ -638,8 +673,8 @@ 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]=0;
+	     CAN_timeout_cicle[i] = MAX_CAN_WAIT_TIMEOUT;
-		 CAN_refresh_cicle[i]=0;
+		 CAN_refresh_cicle[i] = -1;
     }
 
 
@@ -1286,7 +1321,7 @@ void CAN_cycle_send(int type_box, int box, unsigned long Addr, int * Data, unsig
 
 
 ////////////////////////////////////////////////////////////////
-//  èíêðåìåí ñ÷åò÷èêà ïîëíûõ ïîñûëîê
+//  èíêðåìåí ñ÷åò÷èêà ïîëíûõ ïîñûëîê äëÿ ÓÊÑÑ
 ////////////////////////////////////////////////////////////////
 void detect_time_refresh_units(int box, int adr)
 {
@@ -1294,9 +1329,29 @@ 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]++;
+	{
-
+	    //CAN_count_cycle_input_units[box]++;
+	    if (box<MAX_COUNT_UNITES_UKSS)
+	        unites_can_setup.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]++;
+    }
+}
+
 
 ////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////
@@ -1399,9 +1454,11 @@ 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) && flag_enable_can_from_mpu)
+					if (adr>0)
 					{
+					    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);
 					}
 			        adr++;
 				}
@@ -1415,9 +1472,11 @@ 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) && flag_enable_can_from_mpu)
+		    		if (adr>0)
 			        {	
+		    		    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);
 					}
 			        adr++;
 				}
@@ -1432,9 +1491,11 @@ 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) && flag_enable_can_from_mpu)
+					if (adr>0)
 					{
+					    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);
 					}
 					adr++;
 				}
@@ -1564,11 +1625,11 @@ interrupt void CAN_handler(void)
 	PieCtrlRegs.PIEACK.all = 0xFFFF;   // Enable PIE interrupts	
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_can)
+    if (profile_interrupt.for_led1.bits.can)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_can)
+    if (profile_interrupt.for_led2.bits.can)
     i_led2_on_off_special(1);
 #endif
 
@@ -1694,11 +1755,11 @@ interrupt void CAN_handler(void)
 	PieCtrlRegs.PIEIER9.all = TempPIEIER;
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_can)
+    if (profile_interrupt.for_led1.bits.can)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_can)
+    if (profile_interrupt.for_led2.bits.can)
     i_led2_on_off_special(0);
 #endif
 
@@ -1719,25 +1780,47 @@ interrupt void CAN_reset_err(void)
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_can)
+    if (profile_interrupt.for_led1.bits.can)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_can)
+    if (profile_interrupt.for_led2.bits.can)
     i_led2_on_off_special(1);
 #endif
 
 	EINT;
 
-	if (ECanaRegs.CANGIF1.bit.AAIF1)
+
+//    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
 	{
 		ECanaRegs.CANAA.all = ECanaRegs.CANAA.all;
 	}
 
-	if (ECanaRegs.CANGIF1.bit.WDIF1)
+	if (ECanaRegs.CANGIF1.bit.WDIF1)  //Write-denied interrupt flag
 	{
 		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++;
 
@@ -1750,11 +1833,11 @@ interrupt void CAN_reset_err(void)
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_can)
+    if (profile_interrupt.for_led1.bits.can)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_can)
+    if (profile_interrupt.for_led2.bits.can)
     i_led2_on_off_special(0);
 #endif
 
@@ -1805,6 +1888,311 @@ 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

@@ -473,6 +473,8 @@ 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;
@@ -490,6 +492,11 @@ 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;
@@ -507,6 +514,8 @@ 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;
@@ -525,52 +534,69 @@ 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, {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},  \
+#define UNITES_CAN_SETUP_DEFAULT  { START_CAN_ADR_UNITS_DEFAULT, _UNITS_DEFAULT_ZERO,  \
-								{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},  \
+                                _UNITS_DEFAULT_ZERO,  \
-								{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}, \
+                                _UNITS_DEFAULT_MINUS_ONE, \
-								{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}, \
+                                _UNITS_DEFAULT_MINUS_ONE, \
-								{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}, \
+                                _UNITS_DEFAULT_MINUS_ONE, \
 								{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},  \
-								    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, \
+								_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}, \
+								{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,  \
 								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, {0,0,0,0},  \
+#define  MPU_CAN_SETUP_DEFAULT  { CAN_ADR_MPU_DEFAULT, _MPU_DEFAULT_ZERO,  \
-								{0,0,0,0},  \
+                                _MPU_DEFAULT_ZERO,  \
-								{-1,-1,-1,-1}, \
+                                _MPU_DEFAULT_MINUS_ONE, \
-								{-1,-1,-1,-1}, \
+                                _MPU_DEFAULT_MINUS_ONE, \
-								{-1,-1,-1,-1}, \
+                                _MPU_DEFAULT_MINUS_ONE, \
 								{USE_MPU_0,USE_MPU_1,USE_MPU_2,USE_MPU_3},  \
+								_MPU_DEFAULT_ZERO,  \
+								_MPU_DEFAULT_ZERO,  \
 								0}
 
 //-------------------------------------------------------------------------------//
 
-#define  TERMINAL_CAN_SETUP_DEFAULT  {CAN_ADR_TERMINAL_DEFAULT, {0,0,0,0},  \
+#define _TERMINAL_DEFAULT_ZERO             {0,0,0,0}
-                                {0,0,0,0},  \
+#define _TERMINAL_DEFAULT_MINUS_ONE        {-1,-1,-1,-1}
-                                {-1,-1,-1,-1}, \
+
-                                {-1,-1,-1,-1}, \
+#define  TERMINAL_CAN_SETUP_DEFAULT  {CAN_ADR_TERMINAL_DEFAULT, _TERMINAL_DEFAULT_ZERO,  \
-                                {-1,-1,-1,-1}, \
+                                _TERMINAL_DEFAULT_ZERO,  \
+                                _TERMINAL_DEFAULT_MINUS_ONE, \
+                                _TERMINAL_DEFAULT_MINUS_ONE, \
+                                _TERMINAL_DEFAULT_MINUS_ONE, \
                                 {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, {0,0},  \
+#define  ALARM_LOG_CAN_SETUP_DEFAULT  {CAN_ADR_ALARM_LOG_DEFAULT, _ALARM_LOG_DEFAULT_ZERO,  \
-                                {0,0},  \
+                                _ALARM_LOG_DEFAULT_ZERO,  \
-                                {-1,-1}, \
+                                _ALARM_LOG_DEFAULT_MINUS_ONE, \
-                                {-1,-1}, \
+                                _ALARM_LOG_DEFAULT_MINUS_ONE, \
-                                {-1,-1}, \
+                                _ALARM_LOG_DEFAULT_MINUS_ONE, \
                                 {USE_ALARM_LOG_0,USE_ALARM_LOG_1},  \
+                                _ALARM_LOG_DEFAULT_ZERO,  \
                                 0}
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -605,7 +631,7 @@ extern FIFO fifo;
 
 extern int CAN_timeout[];
 extern int CAN_request_sent[];
-extern int CAN_timeout_cicle[];
+extern unsigned int CAN_timeout_cicle[];
 
 
 //////////////////////////////////////////////////
@@ -663,12 +689,14 @@ 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);
 
 
 
@@ -713,6 +741,11 @@ 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;
@@ -73,6 +73,7 @@ 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);
 
@@ -260,6 +261,7 @@ 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);
 
@@ -351,6 +353,7 @@ 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);
 
@@ -512,6 +515,7 @@ 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     */
@@ -586,6 +590,7 @@ 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;
@@ -717,6 +722,7 @@ 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));
@@ -879,6 +885,7 @@ 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;
@@ -886,6 +893,7 @@ 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

@@ -15,3 +15,10 @@ 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

@@ -23,4 +23,8 @@ 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;
+    int i,k,j;
 
     for (i=0;i<COUNT_CONTROL_STATION;i++)
     {
@@ -49,10 +49,21 @@ 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

@@ -31,6 +31,7 @@
 #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
 
 //////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////
@@ -58,6 +59,7 @@ 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
@@ -76,6 +78,8 @@ 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
@@ -105,6 +109,9 @@ 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

@@ -278,6 +278,9 @@ _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

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

Inu/Src/N12_Libs/global_time.c

@@ -7,9 +7,13 @@ 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;
@@ -20,14 +24,40 @@ 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->miliseconds = gt->microseconds / 1000;
+	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;
+
 	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)
 		{
@@ -41,6 +71,9 @@ void global_time_calc(GLOBAL_TIME_handle gt)
 			}
 		}
 	}
+
+	//gt->total_seconds10 += 10;
+	gt->total_seconds10full = gt->total_seconds10 + miliseconds_temp10/100;
 }
 
 
@@ -57,9 +90,17 @@ 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 (delta>wait_pause) 
+    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)
 	{
 	   *old_time = (unsigned int)global_time.total_seconds;
 	   return 1;
@@ -80,7 +121,7 @@ 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;
@@ -88,3 +129,21 @@ 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

@@ -3,8 +3,13 @@
 
 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;
@@ -29,6 +34,10 @@ Default initalizer for the GLOBAL_TIME object.
 								0, \
                                 0, \
                                 0, \
+                                0, \
+								0, \
+								0, \
+								0, \
 								0, \
 								0, \
 								global_time_calc \
@@ -44,5 +53,6 @@ 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/math_pi.h

@@ -12,9 +12,24 @@
 #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_05     8388608 //0.5
+
+
 #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_PI6  8784530   //30
 #define CONST_IQ_PI3  17569060  // 60
 #define CONST_IQ_PI05   26353589  // 90

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 "params_norma.h"
-
+#include "math_pi.h"
-
+#include "params_pwm24.h"
+#include <math.h>
+#include "params_norma.h"
 
 _iq SQRT_32 = _IQ(0.8660254037844);
 _iq CONST_23 = _IQ(2.0/3.0);
@@ -36,28 +36,38 @@ _iq CONST_15 = _IQ(1.5);
 
 #define real float
 
-float my_satur_float(float Input, float Positive, float Negative)
+float my_satur_float(float Input, float Positive, float Negative, float DeadZone)
 {
-
+    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 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 my_satur_long(long Input, long Positive, long Negative, long DeadZone)
 {
 
+    if (DeadZone!=0 && Input>-DeadZone && Input<DeadZone)
+        Input = 0;
+    else
     if (Input>=Positive) Input=Positive;
+    else
     if (Input<=Negative) Input=Negative;
 
     return Input;
@@ -142,9 +152,12 @@ real exp_regul(real Tperiod_regul, real Texp_regul, real InpVarCurr, real InpVar
 
                                    
                                    
-real zad_intensiv(real StepP, real StepN, real InpVarCurr, real InpVarInstant)
+
+*/
+
+float zad_intensiv(float StepP, float StepN, float InpVarCurr, float InpVarInstant)
 {
-    real deltaVar, VarOut;
+    float deltaVar, VarOut;
     
     deltaVar = InpVarInstant-InpVarCurr;
     
@@ -160,7 +173,7 @@ real zad_intensiv(real StepP, real StepN, real InpVarCurr, real InpVarInstant)
     VarOut = InpVarCurr;
     return VarOut;
 }
-*/
+
 #pragma CODE_SECTION(zad_intensiv_q,".fast_run");
 _iq zad_intensiv_q(_iq StepP, _iq StepN, _iq InpVarCurr, _iq InpVarInstant)
 {	
@@ -337,3 +350,88 @@ 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

@@ -4,6 +4,7 @@
 
 #include "IQmathLib.h"
 
+
 /*
 
 real pi_regul(real Kp_regul, real Tintegral_regul, real Tperiod_regul,
@@ -11,7 +12,7 @@ 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, 
@@ -28,6 +29,8 @@ real pi_regul4(real Kp_regul, real ki_regul, real Tperiod_regul, real Minimum, r
                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);
 
@@ -35,9 +38,10 @@ float exp_regul(float Tperiod_regul, float Texp_regul, float InpVarCurr, float I
                  
 
 
-float my_satur_float(float Input, float Positive, float Negative);
+float my_satur_float(float Input, float Positive, float Negative, float DeadZone);
-int my_satur_int(int Input, int Positive, int Negative);
+
-long my_satur_long(long Input, long Positive, long Negative);
+int my_satur_int(int Input, int Positive, int Negative, int DeadZone);
+long my_satur_long(long Input, long Positive, long Negative, long DeadZone);
 
 
 
@@ -68,7 +72,10 @@ 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

@@ -31,6 +31,8 @@ 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];
 
 
 
@@ -55,6 +57,7 @@ void clear_modbus_table_out()
   { 
     modbus_table_rs_out[i].all       = 0;
     modbus_table_can_out[i].all      = 0;
+    modbus_table_can_out_temp[i].all = 0;
   }
 }
 

Inu/Src/N12_Libs/modbus_table_v2.h

@@ -24,6 +24,7 @@ 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/uf_alg_ing.c

@@ -26,6 +26,7 @@
 #include "svgen_dq.h"
 #include "svgen_mf.h"
 #include "dq_to_alphabeta_cos.h"
+#include "params_norma.h"
 
 
 
@@ -175,6 +176,7 @@ 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;
 
@@ -187,6 +189,9 @@ 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.
@@ -350,10 +355,15 @@ 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");
+#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,
+void test_calc_simple_dq_pwm24_Ing(_iq Fzad_uf1,
-                                   unsigned int disable_alg_u_disbalance, _iq kplus_u_disbalance, _iq k_u_disbalance,
+                                   _iq Uzad_uf1,
-                                   _iq U_1, _iq U_2, unsigned int flag_km_0,
+                                   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,
@@ -601,11 +611,14 @@ 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 = _IQsqrt(max_Km_square - _IQmpy(Ud_zad, Ud_zad));
+        Uq_zad = _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
@@ -12,8 +12,9 @@
 //_iq w_in_avg[SIZE_PLL_AVG];
 //_iq w_out_avg[SIZE_PLL_AVG];
 
-#define DETECT_PLL_D (100.0/NORMA_ACP) // ampl
+#define DETECT_PLL_D (2000.0/NORMA_ACP) // ampl
-#define DETECT_PLL_Q (100.0/NORMA_ACP)  // zero
+#define DETECT_PLL_Q (500.0/NORMA_ACP)  // zero
+
 _iq iqDetect_PLL_d=_IQ(DETECT_PLL_D);
 _iq iqDetect_PLL_q=_IQ(DETECT_PLL_Q);
 
@@ -104,7 +105,7 @@ 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)
 {
@@ -318,9 +319,9 @@ 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(PLL_REC *v)
+void pll_get_freq_float(PLL_REC *v)
 {
 
 	if (v->output.flag_find_pll)
@@ -336,9 +337,22 @@ void pll_get_freq(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

@@ -59,10 +59,11 @@ 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, STATUS_PLL_NOT_INITED}
+#define PLL_OUTPUT_DEFAULT	{0, 0, 0, STATUS_PLL_NOT_INITED}
 
 ////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////
@@ -139,7 +140,8 @@ typedef struct {  PLL_INPUT input;
 				  PLL_VARS vars;
 				  void (*init)(); // Pointer to calculation function
 				  void (*calc_pll)(); // Pointer to calculation function
-				  void (*get_freq)(); // Pointer to calculation function
+				  void (*get_freq_float)(); // Pointer to calculation function
+				  void (*get_freq_iq)();
 				 }PLL_REC;
 
 typedef PLL_REC *PLL_REC_handle;
@@ -151,12 +153,14 @@ 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\
+								(void (*)(unsigned long))pll_get_freq_float,\
+								(void (*)(unsigned long))pll_get_freq_iq \
                                 }
 
 void pll_init(PLL_REC_handle);
 void pll_calc(PLL_REC_handle);
-void pll_get_freq(PLL_REC_handle);
+void pll_get_freq_float(PLL_REC_handle);
+void pll_get_freq_iq(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) {
 
@@ -56,9 +56,10 @@ 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 < -MAX_Ud_Pid_Out_Id) { Fsl = -MAX_Ud_Pid_Out_Id;}
-    if (Fsl < 0) { Fsl = 0;}
+//    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;
@@ -134,8 +134,13 @@ 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

@@ -49,12 +49,22 @@ 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

@@ -73,6 +73,9 @@ 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
@@ -112,6 +115,13 @@ 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
@@ -211,6 +221,19 @@ 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
 
@@ -361,6 +384,67 @@ 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;
 
@@ -414,6 +498,17 @@ 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

@@ -1,3 +1,5 @@
+#include "params.h"
+#include "global_time.h"
 #include "RS_Functions.h"
 
 #include <project.h>
@@ -16,6 +18,9 @@
 #include "CRC_Functions.h"
 #include "TuneUpPlane.h" //ñâåòîäèîäèê
 
+#include "pwm_test_lines.h"
+#include "profile_interrupt.h"
+
 
 #define _ENABLE_INTERRUPT_RS232_LED2    0//1
 
@@ -24,8 +29,8 @@
 
 #define RS232_SPEED					    57600//115200
 
-#define COM_1 							1
+#define COM_1 							0 //1
-#define COM_2							2
+#define COM_2							1 //2
 //#define SIZE_MODBUS_TABLE				334
 //#define ADR_MODBUS_TABLE				0x0001
 
@@ -77,8 +82,7 @@
 //#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
 
@@ -107,10 +111,10 @@ 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_rsa = 1;
-unsigned int  enable_profile_led1_rsb = 1;
+//unsigned int  enable_profile_led1_rsb = 1;
-unsigned int  enable_profile_led2_rsa = 0;
+//unsigned int  enable_profile_led2_rsa = 0;
-unsigned int  enable_profile_led2_rsb = 0;
+//unsigned int  enable_profile_led2_rsb = 0;
 
 
 
@@ -121,6 +125,8 @@ 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);
@@ -141,6 +147,27 @@ 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;
@@ -311,9 +338,12 @@ 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_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_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;
@@ -323,7 +353,7 @@ int my_test_rs(int comn)
     {
         while ((SciaRegs.SCIFFRX.bit.RXFIFST != 0) )
         {
-            buf_fifo_rsa[cc++] = SciaRegs.SCIRXBUF.bit.RXDT;
+            buf_fifo_rs_ab[comn][cc++] = SciaRegs.SCIRXBUF.bit.RXDT;
             if (cc>=17) cc = 0;
         }
         return cc;
@@ -332,7 +362,7 @@ int my_test_rs(int comn)
     {
         while ((ScibRegs.SCIFFRX.bit.RXFIFST != 0) )
         {
-            buf_fifo_rsb[cc++] = ScibRegs.SCIRXBUF.bit.RXDT;
+            buf_fifo_rs_ab[comn][cc++] = ScibRegs.SCIRXBUF.bit.RXDT;
             if (cc>=17) cc = 0;
         }
         return cc;
@@ -341,6 +371,7 @@ 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;
@@ -349,6 +380,7 @@ void RS_RXA_Handler_fast(RS_DATA_STRUCT *RS232_Arr)
 
 //i_led2_on_off(1);
 
+
     ClearTimerRS_Live(RS232_Arr);
 
     cn = RS232_Arr->commnumber;
@@ -361,7 +393,7 @@ 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)
@@ -375,7 +407,7 @@ 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)
@@ -403,12 +435,14 @@ 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++];
 
-        RS232_Arr->count_recive_bytes_all++;
+//        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)++;
 //i_led2_on_off(0);
 
         if(RS232_Arr->RS_DataReady)
@@ -428,7 +462,7 @@ 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
         }
 
@@ -448,10 +482,10 @@ 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);
@@ -490,7 +524,7 @@ i_led1_toggle();
                         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) {
@@ -510,7 +544,7 @@ i_led1_toggle();
                     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);
             }
@@ -525,14 +559,14 @@ i_led1_toggle();
 
             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;
             }
 
@@ -546,7 +580,7 @@ i_led1_toggle();
                 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)++;
             }
         }
     }
@@ -569,15 +603,20 @@ int get_free_rs_fifo_tx(char commnumber)
 void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr)
 {
   char RS232_BytePtr;
-  int final_flag=0, free_fifo;
+  unsigned int final_flag=0, free_fifo;
-  int i;
+  unsigned 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++)
         {
 
@@ -601,7 +640,7 @@ 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;
@@ -624,7 +663,7 @@ 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;
@@ -648,7 +687,7 @@ 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 :
@@ -661,10 +700,14 @@ 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)
             {
-    //            RS_Wait4OK_TXRDY(RS232_Arr->commnumber);
+//                    if (max_s_b>1)
-                RS_Wait4OK(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 */
@@ -678,6 +721,7 @@ void RS_TX_Handler(RS_DATA_STRUCT *RS232_Arr)
 
             EnableUART_Int_RX(RS232_Arr->commnumber);    /* Çàïðåùàåì ïðåðûâàíèß ïî ïåðåäà÷å */
         }
+        }
 
 }
 //
@@ -687,6 +731,7 @@ 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:
@@ -701,14 +746,16 @@ i_led2_on_off(1);
 #endif
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_rsa)
+    if (profile_interrupt.for_led1.bits.rsa)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_rsa)
+    if (profile_interrupt.for_led2.bits.rsa)
     i_led2_on_off_special(1);
 #endif
 
+
+
     EINT;
 
 
@@ -731,11 +778,11 @@ i_led2_on_off(1);
     PieCtrlRegs.PIEIER9.all = TempPIEIER;
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_rsa)
+    if (profile_interrupt.for_led1.bits.rsa)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_rsa)
+    if (profile_interrupt.for_led2.bits.rsa)
     i_led2_on_off_special(0);
 #endif
 
@@ -744,13 +791,13 @@ 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:
@@ -760,17 +807,20 @@ 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 (enable_profile_led1_rsb)
+    if (profile_interrupt.for_led1.bits.rsb)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_rsb)
+    if (profile_interrupt.for_led2.bits.rsb)
     i_led2_on_off_special(1);
 #endif
 
@@ -796,11 +846,11 @@ i_led2_on_off(1);
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_rsb)
+    if (profile_interrupt.for_led1.bits.rsb)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_rsb)
+    if (profile_interrupt.for_led2.bits.rsb)
     i_led2_on_off_special(0);
 #endif
 
@@ -808,11 +858,17 @@ 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:
@@ -828,11 +884,11 @@ i_led2_on_off(1);
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_rsa)
+    if (profile_interrupt.for_led1.bits.rsa)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_rsa)
+    if (profile_interrupt.for_led2.bits.rsa)
     i_led2_on_off_special(1);
 #endif
 
@@ -864,11 +920,11 @@ i_led2_on_off(1);
     PieCtrlRegs.PIEIER9.all = TempPIEIER;
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_rsa)
+    if (profile_interrupt.for_led1.bits.rsa)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_rsa)
+    if (profile_interrupt.for_led2.bits.rsa)
     i_led2_on_off_special(0);
 #endif
 
@@ -882,7 +938,7 @@ i_led2_on_off(0);
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////
-
+//#pragma CODE_SECTION(RSB_RX_Handler,".fast_run2");
 interrupt void RSB_RX_Handler(void)
 {
     // Set interrupt priority:
@@ -892,17 +948,23 @@ 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 (enable_profile_led1_rsb)
+    if (profile_interrupt.for_led1.bits.rsb)
     i_led1_on_off_special(1);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_rsb)
+    if (profile_interrupt.for_led2.bits.rsb)
     i_led2_on_off_special(1);
 #endif
 
@@ -925,11 +987,11 @@ i_led2_on_off(1);
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_rsb)
+    if (profile_interrupt.for_led1.bits.rsb)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_rsb)
+    if (profile_interrupt.for_led2.bits.rsb)
     i_led2_on_off_special(0);
 #endif
 
@@ -937,6 +999,9 @@ i_led2_on_off(1);
 i_led2_on_off(0);
 #endif
 
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+    PWM_LINES_TK_17_OFF;
+#endif
 
 }
 
@@ -1055,6 +1120,10 @@ 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();
@@ -1085,6 +1154,10 @@ 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;
@@ -1299,22 +1372,31 @@ 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++;
+        rs_a.time_wait_rs_out += t_refresh;
 
     if (rs_b.time_wait_rs_out<RS_TIME_OUT_MAX)
-        rs_b.time_wait_rs_out++;
+        rs_b.time_wait_rs_out += t_refresh;
 
     if (rs_a.time_wait_rs_out_mpu<RS_TIME_OUT_MAX)
-        rs_a.time_wait_rs_out_mpu++;
+        rs_a.time_wait_rs_out_mpu += t_refresh;
 
     if (rs_b.time_wait_rs_out_mpu<RS_TIME_OUT_MAX)
-        rs_b.time_wait_rs_out_mpu++;
+        rs_b.time_wait_rs_out_mpu += t_refresh;
 
     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++;
+            rs_a.time_wait_rs_lost += t_refresh;
 //        else
 //            resetup_mpu_rs(&rs_a);
     }
@@ -1322,7 +1404,7 @@ 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++;
+            rs_b.time_wait_rs_lost += t_refresh;
 //        else
 //            resetup_mpu_rs(&rs_b);
     }
@@ -1350,8 +1432,21 @@ 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)
@@ -1440,6 +1535,7 @@ void SetupUART(char commnumber, unsigned long speed_baud)
         EDIS;
 
         SetupArrCmdLength();
+        clear_buffers_rs(&rs_a);
 
         RS_SetControllerLeading(&rs_a,false);
 
@@ -1453,66 +1549,7 @@ 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
-//
-//
 
     }
 
@@ -1598,6 +1635,8 @@ void SetupUART(char commnumber, unsigned long speed_baud)
         EDIS;
 
         SetupArrCmdLength();
+        clear_buffers_rs(&rs_b);
+
 
         RS_SetControllerLeading(&rs_b,false);
 
@@ -1614,64 +1653,7 @@ 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
@@ -2018,7 +2000,7 @@ 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);
 
@@ -2047,7 +2029,7 @@ 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)
@@ -2059,7 +2041,7 @@ 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);
@@ -2083,7 +2065,8 @@ 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;
+    volatile unsigned int go_to_reset = 0, go_to_set_baud = 0;
+    unsigned long set_baud;
 
 	//int code_eeprom;
     old_started = x_parallel_bus_project.flags.bit.started;
@@ -2227,6 +2210,18 @@ 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;
 		}
 
@@ -2281,6 +2276,23 @@ 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;
 
 }
@@ -2309,7 +2321,7 @@ 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;
 	}
@@ -2372,10 +2384,31 @@ 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:	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_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_RUN:		break;
-		case CMD_RS232_PEEK:		flag_special_mode_rs = 1; Peek(&rs_a);
+
+		case CMD_RS232_PEEK:
+                                    if (disable_flag_special_mode_rs)
+                                        break;
+
+		                            flag_special_mode_rs = 1;
+		                            Peek(&rs_a);
 		                            //Led1_Toggle();
 		                            break;
 
@@ -2400,12 +2433,43 @@ void RS232_WorkingWith(unsigned int enable_rs_a, unsigned int enable_rs_b, unsig
                                       flag_special_mode_rs = 0;
                                       ReceiveCommand(&rs_a);
                                       break;
-		case CMD_RS232_TEST_ALL:	flag_special_mode_rs = 1; ReceiveCommandTestAll(&rs_a); break;
+
+		case CMD_RS232_TEST_ALL:
+                                    if (disable_flag_special_mode_rs)
+                                        break;
+
+		                            flag_special_mode_rs = 1;
+		                            ReceiveCommandTestAll(&rs_a);
+		                            break;
 #endif
-		case CMD_RS232_POKE:	flag_special_mode_rs = 1; 	Poke(&rs_a); Led2_Toggle(); break;
+		case CMD_RS232_POKE:
-		case CMD_RS232_UPLOAD:	flag_special_mode_rs = 1; Upload(&rs_a); break;
+                                if (disable_flag_special_mode_rs)
-		case CMD_RS232_TFLASH:	flag_special_mode_rs = 1; T_Flash(&rs_a); break;
+                                    break;
-		case CMD_RS232_EXTEND:	flag_special_mode_rs = 1; ExtendBios(&rs_a); 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;
 		
 		default:   break;
 	} // end switch
@@ -2418,10 +2482,31 @@ 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:	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_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_RUN:		break;
-		case CMD_RS232_PEEK:	flag_special_mode_rs = 1; 	Peek(&rs_b); break;
+		case CMD_RS232_PEEK:
+                                if (disable_flag_special_mode_rs)
+                                    break;
+
+		                        flag_special_mode_rs = 1;
+		                        Peek(&rs_b);
+		                        break;
 
 #if USE_MODBUS_TABLE_SVU
 
@@ -2508,13 +2593,43 @@ 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_STD:	        flag_special_mode_rs = 0;
-		case CMD_RS232_TEST_ALL:  flag_special_mode_rs = 1; 	ReceiveCommandTestAll(&rs_b); break;
+		                            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;
 #endif
-		case CMD_RS232_POKE:	flag_special_mode_rs = 1; 	Poke(&rs_b); break;
+		case CMD_RS232_POKE:
-		case CMD_RS232_UPLOAD: flag_special_mode_rs = 1; 	Upload(&rs_b); break;
+                                    if (disable_flag_special_mode_rs)
-		case CMD_RS232_TFLASH: flag_special_mode_rs = 1; 	T_Flash(&rs_b); break;
+                                        break;
-		case CMD_RS232_EXTEND: flag_special_mode_rs = 1; 	ExtendBios(&rs_b); 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;
 		
 		default:   break;
 	} // end switch

Inu/Src/N12_Xilinx/RS_Functions.h

@@ -94,13 +94,14 @@ 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}
+#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 TMS_TO_TERMINAL_TEST_ALL_STRUCT_DEFAULT {{0}, {0}, {0}, 0, 0, 0}
@@ -136,6 +137,6 @@ 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;
+extern int flag_special_mode_rs, disable_flag_special_mode_rs;
 
 #endif

Inu/Src/N12_Xilinx/Spartan2E_Functions.c

@@ -638,6 +638,32 @@ 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

@@ -257,5 +257,8 @@ 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 = 7;//2;
+    XintfRegs.XTIMING2.bit.XWRACTIVE = 4;//2;
-    XintfRegs.XTIMING2.bit.XWRTRAIL  = 3;//2;
+    XintfRegs.XTIMING2.bit.XWRTRAIL  = 2;//2;
     // Zone read timing
-    XintfRegs.XTIMING2.bit.XRDLEAD   = 3;
+    XintfRegs.XTIMING2.bit.XRDLEAD   = 2;
-    XintfRegs.XTIMING2.bit.XRDACTIVE = 7; //1;
+    XintfRegs.XTIMING2.bit.XRDACTIVE = 3; //1;
-    XintfRegs.XTIMING2.bit.XRDTRAIL  = 3;//2;//0;
+    XintfRegs.XTIMING2.bit.XRDTRAIL  = 1;//2;//0;
     
     // do not double all Zone read/write lead/active/trail timing 
     XintfRegs.XTIMING2.bit.X2TIMING = 0;

Inu/Src/N12_Xilinx/x_int13.c

@@ -9,7 +9,11 @@
 #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;
@@ -20,8 +24,8 @@ void (*int13_handler)() = NULL;
 //////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////
 
-unsigned int  enable_profile_led1_pwm = 1;
+//unsigned int  enable_profile_led1_pwm = 1;
-unsigned int  enable_profile_led2_pwm = 1;
+//unsigned int  enable_profile_led2_pwm = 1;
 
 
 
@@ -51,21 +55,59 @@ 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 (enable_profile_led1_pwm)
+    if (profile_interrupt.for_led1.bits.pwm && l2)
     i_led1_on_off_special(1);
 #endif
+
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_pwm)
+    if (profile_interrupt.for_led2.bits.pwm && l2)
             i_led2_on_off_special(1);
+
 #endif
 
+
+
+
     EINT;
 
     // Insert ISR Code here.......
@@ -115,11 +157,12 @@ interrupt void XIntc_INT13_Handler(void)
 
 
 #if (_ENABLE_INTERRUPT_PROFILE_LED1)
-    if (enable_profile_led1_pwm)
+    if (profile_interrupt.for_led1.bits.pwm)
     i_led1_on_off_special(0);
 #endif
 #if (_ENABLE_INTERRUPT_PROFILE_LED2)
-    if (enable_profile_led2_pwm)
+    if (profile_interrupt.for_led2.bits.pwm)
+        if (l2)
             i_led2_on_off_special(0);
 #endif
 

Inu/Src/N12_Xilinx/x_parallel_bus.h

@@ -116,6 +116,7 @@ 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

@@ -343,6 +343,8 @@ int cds_in_read_pbus(T_cds_in *v)
         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);
@@ -350,100 +352,8 @@ int cds_in_read_pbus(T_cds_in *v)
             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

@@ -64,6 +64,12 @@ 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++;
 
 
 
@@ -193,6 +199,25 @@ 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
@@ -241,7 +266,7 @@ int cds_tk_read_pbus_23550(T_cds_tk_23550 *v)
 {
    unsigned long adr_pbus;
 
-   if (v->useit == 0) 
+   if (v->useit == 0 || v->setup_pbus.use_reg_in_pbus.all==0)
 	  return 0;
 	   
    if (v->status & (component_Started | component_Ready | component_Error | component_ErrorSBus))
@@ -250,12 +275,12 @@ 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_v2(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.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_v3(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_v3(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_v3(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_v3(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);
+       read_pbus_value_full_v3(v->setup_pbus.use_reg_in_pbus.bit.reg5,adr_pbus,v->read.pbus.status2.all);
    }
    }
    else
@@ -313,8 +338,9 @@ 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.status1.bit.receiver_error==0)
-           && (v->read.pbus.status2.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.
@@ -326,10 +352,17 @@ 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

@@ -99,7 +99,9 @@ typedef struct {
 		UInt16 all;
 		struct 
 		{
-		   UInt16 reserv :10;
+		   UInt16 reserv :8;
+           UInt16 detect_soft_disconnect :1;
+		   UInt16 enable_soft_disconnect :1;
 		   UInt16 enable_line_err :1;
 		   UInt16 disable_err_mintime :1;
 		   UInt16 disable_err_hwp :1;
@@ -111,7 +113,8 @@ 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;
 
@@ -195,7 +198,9 @@ typedef struct {
 		UInt16 all;
 		struct 
 		{
-		   UInt16 reserv :10;
+		   UInt16 reserv :8;
+           UInt16 detect_soft_disconnect :1;
+           UInt16 enable_soft_disconnect :1;
 		   UInt16 enable_line_err :1;
 		   UInt16 disable_err_mintime :1;
 		   UInt16 disable_err_hwp :1;
@@ -261,7 +266,9 @@ typedef struct {
 		UInt16 all;
 		struct 
 		{
-		   UInt16 reserv     :7;
+		   UInt16 reserv     :5;
+		   UInt16 ErrorSoftShutdownForbidComb     :1;
+		   UInt16 ErrorSoftShutdownFromErr0    :1;
 		   UInt16 line_err_keys_3210 :1;
 		   UInt16 line_err_keys_7654 :1;
 		   UInt16 mintime_err_keys_3210 :1;
@@ -299,6 +306,22 @@ 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
@@ -480,12 +503,14 @@ 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;               // сколько повторных чтений техже данных, т.е. передатчик в др.ПЧ не прислал ничего нового
+        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 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
@@ -496,7 +521,7 @@ 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         {15,0,0,0,0,0,0,0,0,{0,0,0,0},0,0,0,0,0}
+#define T_CDS_OPTICAL_BUS_DATA_IN_DEFAULTS         {15,50,0,0,0,0,0,0,0,0,0,{0,0,0,0},0,0,0,0,0}
 
 /////////////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////////////

Inu/Src/N12_Xilinx/xp_hwp.c

@@ -183,15 +183,18 @@ 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->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;
 #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->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;
 #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->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;
 #endif
 
 }
@@ -1267,7 +1270,7 @@ int hwp_write_all_dacs(T_hwp *v)
 int hwp_write_all(T_hwp *v)
 {
 
-  int err = 0;
+  int err = 0, err_ready = 0;
 
     if (v->useit == 0)
 	  return 0;
@@ -1312,6 +1315,8 @@ 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

@@ -23,6 +23,7 @@ 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)
 {
@@ -80,6 +81,8 @@ 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
@@ -87,7 +90,8 @@ 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);
@@ -107,8 +111,47 @@ 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.counter_freq1 	= inc_s->pm67regs.read_comand_reg.bit.sampling_time1;
 
@@ -117,7 +160,7 @@ 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);
@@ -136,8 +179,46 @@ 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.counter_freq2 	= inc_s->pm67regs.read_comand_reg.bit.sampling_time2;
 
@@ -251,6 +332,32 @@ 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;
+    }
+
+
+}
 ////////////////////////////////////////////////////////
 
 
@@ -259,16 +366,20 @@ 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->pm67regs.zero_time_line1 > LEVEL_SWITCH_MICROSEC))
+    if(
-        ||  (inc_s->use_sensor2 && (inc_s->pm67regs.zero_time_line2 > LEVEL_SWITCH_MICROSEC)))
+            (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) )
+        )
     {
         inc_s->pm67regs.write_comand_reg.bit.set_sampling_time = SAMPLING_TIME_MS;
 		return;
     }
 
 // ïðîâåðêà íà ìèíèìóì
-	if((inc_s->use_sensor1 && (inc_s->pm67regs.zero_time_line1 < LEVEL_SWITCH_NANOSEC))
+	if(
-       || (inc_s->use_sensor2 && (inc_s->pm67regs.zero_time_line2 < LEVEL_SWITCH_NANOSEC)))
+	      (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) )
+       )
     {
         inc_s->pm67regs.write_comand_reg.bit.set_sampling_time = SAMPLING_TIME_NS;
     }

Inu/Src/N12_Xilinx/xp_inc_sensor.h

@@ -67,6 +67,10 @@ 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 {
 
@@ -74,6 +78,10 @@ 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
@@ -82,6 +90,10 @@ 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
@@ -98,7 +110,14 @@ 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}, 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, 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

@@ -1229,6 +1229,8 @@ 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
 
 
@@ -1243,6 +1245,8 @@ 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++)
@@ -1277,6 +1281,7 @@ 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;
@@ -1307,6 +1312,7 @@ 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;
@@ -1337,6 +1343,7 @@ 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;
@@ -1367,6 +1374,8 @@ 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;
@@ -1397,6 +1406,8 @@ 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;
@@ -1427,6 +1438,8 @@ 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;
@@ -1435,8 +1448,16 @@ 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

@@ -1,267 +0,0 @@
-#include "xp_project.h"
-#include "xp_rotation_sensor.h"
-
-#include "xp_project.h"
-
-
-T_rotation_sensor rotation_sensor = T_CDS_ROTATION_SENSOR_DEFAULTS;
-
-//Äèñêðåòèçàöèþ, ïðè êîòîðîé ðàñ÷èòûâàåòñþ äëèòåëüíîñòü èìïóëüñîâ
-#define SAMPLING_TIME_NS  1  // 16,666667ns
-#define SAMPLING_TIME_MS  0  // 1,666667us
-// Êîëè÷åñòâî èìïóëüñîâ, ïðè êîòîðûõ ïåðåêëþ÷àåòñó ïåðèîä äèñêðåòèçàöèè.
-// Âåëè÷èíû âûáðàíû ñ "íàõë¸ñòîì" ÷òî áû íå áûëî ïîñòîþííûõ ïåðåêëþ÷åíèé
-// â ðàéîíå ãðàíè÷íûõ âåëè÷èí
-#define LEVEL_SWITCH_NANOSEC 327
-#define LEVEL_SWITCH_MICROSEC 0xC000
-
-
-static void read_in_sensor_line1(T_cds_in_rotation_sensor *rs);
-static void read_in_sensor_line2(T_cds_in_rotation_sensor *rs);
-static void read_command_reg(T_cds_in_rotation_sensor *rs);
-static void write_command_reg(T_cds_in_rotation_sensor *rs);
-static void tune_sampling_time(T_rotation_sensor *rs);
-static void wait_for_registers_updated(T_cds_in_rotation_sensor *rs);
-static void read_direction_in_plane(T_cds_in_rotation_sensor *rs);
-
-void rot_sensor_set(T_rotation_sensor *rs)
-{
-
-    if(rs->use_sensor1 || rs->use_sensor2)
-    {
-        rs->in_plane.set(&rs->in_plane);
-    }
-    if(rs->use_angle_plane)
-    {
-        rs->rotation_plane.set(&rs->rotation_plane);
-    }
-}
-
-void in_plane_set(T_cds_in_rotation_sensor* rs)
-{
-    if(!rs->cds_in->useit)
-    {
-        return;
-    }
-
-    rs->cds_in->write.sbus.enabled_channels.all = rs->write.sbus.enabled_channels.all;
-    rs->cds_in->write.sbus.first_sensor.all = rs->write.sbus.first_sensor_inputs.all;
-    rs->cds_in->write.sbus.second_sensor.all = rs->write.sbus.second_sensor_inputs.all;
-    // rs->cds_in->write_sbus(rs->cds_in);
-    write_command_reg(rs);
-
-}
-
-
-void angle_plane_set(T_cds_angle_sensor *rs)
-{
-    if((rs->cds_rs == NULL) || (!rs->cds_rs->useit))
-    {
-        return;
-    }
-
-    rs->cds_rs->write.sbus.config.all = rs->write.sbus.config.all;
-    rs->cds_rs->write_sbus(rs->cds_rs);
-}
-
-void sensor_read(T_rotation_sensor *rs)
-{
-    if(rs->use_sensor1 || rs->use_sensor2 || rs->use_angle_plane)
-    {
-        wait_for_registers_updated(&rs->in_plane);
-        read_direction_in_plane(&rs->in_plane);
-    }
-    else
-    {
-        return;
-    }
-    if(rs->use_sensor1)
-    {
-        rs->in_plane.read_sensor1(&rs->in_plane);
-    }
-    if(rs->use_sensor2)
-    {
-        rs->in_plane.read_sensor2(&rs->in_plane);
-    }
-    if(rs->use_angle_plane)
-    {
-        rs->rotation_plane.read_sensor(&rs->rotation_plane);
-    }
-#ifdef AUTO_CHANGE_SAMPLING_TIME
-    tune_sampling_time(rs);
-#endif
-}
-
-void in_sensor_read1(T_cds_in_rotation_sensor *rs)
-{
-    read_in_sensor_line1(rs);
-#if C_PROJECT_TYPE != PROJECT_BALZAM
-    rs->out.Impulses1 = rs->read.regs.n_impulses_line1;
-    rs->out.Time1 = rs->read.regs.time_line1 / 60;
-    //Counter`s freq is 60ÌÃö => N/60 = time in mksec
-#endif
-    rs->out.CountZero1 = rs->read.regs.zero_time_line1;
-	rs->out.CountOne1 = rs->read.regs.one_time_line1;
-
-	rs->out.counter_freq1 = rs->read.regs.comand_reg.bit.sampling_time1;
-
-	rs->out.direction1 = rs->read.pbus.direction.bit.sensor1;
-}
-
-void in_sensor_read2(T_cds_in_rotation_sensor *rs)
-{
-    read_in_sensor_line2(rs);
-#if C_PROJECT_TYPE != PROJECT_BALZAM
-    rs->out.Impulses2 = rs->read.regs.n_impulses_line2;
-    rs->out.Time2 = rs->read.regs.time_line2 / 60;
-#endif
-    rs->out.CountZero2 = rs->read.regs.zero_time_line2;
-	rs->out.CountOne2 = rs->read.regs.one_time_line2;
-
-	rs->out.counter_freq2 = rs->read.regs.comand_reg.bit.sampling_time2;
-
-	rs->out.direction2 = rs->read.pbus.direction.bit.sensor2;
-}
-
-void read_in_sensor_line1(T_cds_in_rotation_sensor *rs)
-{
-    if(!rs->read.regs.comand_reg.bit.update_registers)
-    {
-#if C_PROJECT_TYPE != PROJECT_BALZAM
-        rs->read.regs.time_line1 = i_ReadMemory(ADR_SENSOR_S1_T_PERIOD);//TODO check time when turn off
-        rs->read.regs.n_impulses_line1 = i_ReadMemory(ADR_SENSOR_S1_COUNT_IMPULS);
-#endif
-        rs->read.regs.zero_time_line1 = i_ReadMemory(ADR_SENSOR_S1_T_PERIOD_LOW_ONE_IMPULS);
-        rs->read.regs.one_time_line1 = i_ReadMemory(ADR_SENSOR_S1_T_PERIOD_HIGH_ONE_IMPULS);
-    }
-}
-
-void read_in_sensor_line2(T_cds_in_rotation_sensor *rs)
-{
-    if(!rs->read.regs.comand_reg.bit.update_registers)
-    {
-#if C_PROJECT_TYPE != PROJECT_BALZAM
-        rs->read.regs.time_line2 = i_ReadMemory(ADR_SENSOR_S2_T_PERIOD);
-        rs->read.regs.n_impulses_line2 = i_ReadMemory(ADR_SENSOR_S2_COUNT_IMPULS);
-#endif
-        rs->read.regs.zero_time_line2 = i_ReadMemory(ADR_SENSOR_S2_T_PERIOD_LOW_ONE_IMPULS);
-        rs->read.regs.one_time_line2 = i_ReadMemory(ADR_SENSOR_S2_T_PERIOD_HIGH_ONE_IMPULS);
-    }
-}
-    
-void write_command_reg(T_cds_in_rotation_sensor *rs)
-{
-    WriteMemory(ADR_SENSOR_CMD, rs->write.regs.comand_reg.all);
-}
-
-void read_command_reg(T_cds_in_rotation_sensor *rs)
-{
-    rs->read.regs.comand_reg.all = i_ReadMemory(ADR_SENSOR_CMD);
-}
-
-void update_sensors_data_r(T_rotation_sensor *rs)
-{
-    rs->in_plane.write.regs.comand_reg.bit.update_registers = 1;
-    write_command_reg(&rs->in_plane);
-//    rs->in_plane.write.regs.comand_reg.bit.update_registers = 0;
-}
-
-void read_direction_in_plane(T_cds_in_rotation_sensor *rs)
-{
-/*
-	rs->read.pbus.direction.bit.sensor1 = rs->cds_in->read.pbus.direction_in.bit.dir0 == 2 ? 1 :
-										rs->cds_in->read.pbus.direction_in.bit.dir0 == 1 ? -1 :
-										0;
-	rs->read.pbus.direction.bit.sensor2 = rs->cds_in->read.pbus.direction_in.bit.dir1 == 2 ? 1 :
-										rs->cds_in->read.pbus.direction_in.bit.dir1 == 1 ? -1 :
-										0;
-	rs->read.pbus.direction.bit.sens_err1 = rs->cds_in->read.pbus.direction_in.bit.dir0 == 3;
-	rs->read.pbus.direction.bit.sens_err2 = rs->cds_in->read.pbus.direction_in.bit.dir1 == 3;
-*/
-	//Direction changes not often. May be, it`s enough to read it in main cycle.
-}
-
-void wait_for_registers_updated(T_cds_in_rotation_sensor *rs)
-{
-    int counter_in_while = 0;
-    read_command_reg(rs);
-    while(rs->read.regs.comand_reg.bit.update_registers)
-    {
-        read_command_reg(rs);
-        rs->count_wait_for_update_registers++;
-		counter_in_while++;
-		if(counter_in_while > 1000)
-		{
-			rs->error_update++;
-			break;
-		}
-    }
-}
-
-void tune_sampling_time(T_rotation_sensor *rs)
-{
-	if((rs->use_sensor1 && (rs->in_plane.read.regs.zero_time_line1 < LEVEL_SWITCH_NANOSEC))
-       || (rs->use_sensor2 && (rs->in_plane.read.regs.zero_time_line2 < LEVEL_SWITCH_NANOSEC)))
-    {
-        rs->in_plane.write.regs.comand_reg.bit.set_sampling_time = SAMPLING_TIME_NS;
-    }
-
-    if((rs->use_sensor1 && (rs->in_plane.read.regs.zero_time_line1 > LEVEL_SWITCH_MICROSEC))
-        ||  (rs->use_sensor2 && (rs->in_plane.read.regs.zero_time_line2 > LEVEL_SWITCH_MICROSEC)))
-    {
-        rs->in_plane.write.regs.comand_reg.bit.set_sampling_time = SAMPLING_TIME_MS;
-    }
-}
-
-void angle_sensor_read(T_cds_angle_sensor *as)
-{
-    as->cds_rs->read_pbus(as->cds_rs);
-    
-    if(as->cds_rs->read.sbus.config.bit.channel1_enable)
-    {
-//        logpar.log15 = as->cds_rs->read.pbus.sensor[0].turned_angle;
-//		logpar.log16 = as->cds_rs->read.pbus.sensor[0].angle;
-		
-        as->out.Delta_angle1 = as->cds_rs->read.pbus.sensor[0].turned_angle;
-        as->out.Current_angle1 = as->cds_rs->read.pbus.sensor[0].angle << 3;
-    }
-    else
-    {
-        as->out.Delta_angle1 = 0;
-		as->out.Current_angle1 = 0;
-    }
-    if(as->cds_rs->read.sbus.config.bit.channel2_enable)
-    {
-        as->out.Delta_angle2 = as->cds_rs->read.pbus.sensor[1].turned_angle; 
-        as->out.Current_angle2 = as->cds_rs->read.pbus.sensor[1].angle << 3;
-    }
-    else
-    {
-        as->out.Delta_angle2 = 0;
-		as->out.Current_angle2 = 0;
-    }
-    if(as->cds_rs->read.sbus.config.bit.channel3_enable)
-    {
-        as->out.Delta_angle3 = as->cds_rs->read.pbus.sensor[2].turned_angle;
-		as->out.Current_angle3 = as->cds_rs->read.pbus.sensor[2].angle << 3;
-    }
-    else
-    {
-        as->out.Delta_angle3 = 0;
-		as->out.Current_angle3 = 0;
-    }
-    if(as->cds_rs->read.sbus.config.bit.channel4_enable)
-    {
-        as->out.Delta_angle4 = as->cds_rs->read.pbus.sensor[3].turned_angle; 
-        as->out.Current_angle4 = as->cds_rs->read.pbus.sensor[3].angle << 3;
-    }
-    else
-    {
-        as->out.Delta_angle4 = 0;
-		as->out.Current_angle4 = 0;
-    }
-
-	as->out.survey_time_mks = (as->read.sbus.config.bit.survey_time + 1) * 10;
-
-}
-

Inu/Src/N12_Xilinx/xp_rotation_sensor.h

@@ -1,346 +0,0 @@
-#ifndef XP_ROT_SENS_H
-#define XP_ROT_SENS_H
-
-#include "x_basic_types.h"
-#include "xp_cds_in.h"
-#include "xp_cds_rs.h"
-
-
-//RS speed of angle sensor
-#define TS400   0
-#define TS350   1
-#define TS300   2
-#define TS250   3
-#define TS200   4
-
-//Äèñêðåòèçàöèþ, ïðè êîòîðîé ðàñ÷èòûâàåòñþ äëèòåëüíîñòü èìïóëüñîâ
-#define SAMPLING_TIME_NS  1  // 16,666667ns
-#define SAMPLING_TIME_MS  0  // 1,666667us
-
-//Àâòîìàòè÷åñêè ïåðåêëþ÷àåò ñ÷¸ò÷èê, êîãäà êîëè÷åñòâî îòñ÷¸òîâ
-// íà 1 èìïóëüñ ñòàíîâèòñß ñëèøêîì áîëüøèì èëè ìàëåíüêèì.
-//#define AUTO_CHANGE_SAMPLING_TIME
-/*
-	×òî áû ïðî÷èòàòü äàííûå èç äàò÷èêà, íóæíî âûçâàòü
-	rotation_sensor.read_sensors(&rotation_sensor);
-	Ðåçóëüòàò ïëàòû IN áóäåò â 
-	rotation_sensor.in_plane.out....
-	Ðåçóëüòàò ïëàòû RS áóäåò â 
-	rotation_sensor.rotation_plane.out....
-*/
-
-/////////////////////////////////////////////////////////////
-// IN plane
-/////////////////////////////////////////////////////////////
-
-// Registers with data for rotation sensor
-
-typedef union {
-	unsigned int all;
-	struct {
-		unsigned int filter_sensitivity:12;
-		unsigned int set_sampling_time:1;	//(1)-16,666667ns (0)-1,666667us
-		unsigned int sampling_time2:1;	//(1)-16,666667ns (0)-1,666667us
-		unsigned int sampling_time1:1;
-		unsigned int update_registers:1; //0 - updated
-	}bit;
-}T_cds_in_comand;
-
-#define R_CDS_IN_COMAND_DEFAULT 0
-
-typedef struct {
-	unsigned int time_line1;
-    unsigned int n_impulses_line1;
-    unsigned int time_line2;
-    unsigned int n_impulses_line2;
-
-    unsigned int zero_time_line1;
-    unsigned int one_time_line1;
-    unsigned int zero_time_line2;
-    unsigned int one_time_line2;
-
-	T_cds_in_comand comand_reg;
-
-} T_cds_in_rotation_sensor_read_regs;
-
-#define T_CDS_IN_ROTATION_SENSOR_READ_REGS_DEFAULTS {0,0,0,0, 0,0,0,0, R_CDS_IN_COMAND_DEFAULT}
-
-typedef struct {
-	T_cds_in_comand comand_reg;
-
-} T_cds_in_rotation_sensor_write_regs;
-
-#define T_CDS_IN_ROTATION_SENSOR_WRITE_REGS_DEFAULTS {R_CDS_IN_COMAND_DEFAULT}
-
-/////////////////////////////////////////////////////////////
-//read reg parallel bus
-/////////////////////////////////////////////////////////////
-typedef struct {
-    union {
-		unsigned int all;
-		struct {
-			int sensor1:4;
-			int sensor2:4;
-			unsigned int sens_err1:1;
-			unsigned int sens_err2:1;
-			unsigned int reserved:6;
-		} bit;
-	} direction;
-
-} T_cds_in_rotation_sensor_read_pbus;
-
-#define T_CDS_IN_ROTATION_SENSOR_READ_PBUS_DEFAULTS {0}
-
-/////////////////////////////////////////////////////////////
-//  write serial bus reg
-/////////////////////////////////////////////////////////////
-typedef struct {
-	//0
-	union
-	{
-		UInt16 all;
-		struct{
-			UInt16 discret : 8;
-			UInt16 reserv : 7;
-			UInt16 sens_2_inv_ch_90deg : 1;
-			UInt16 sens_2_direct_ch_90deg : 1;
-			UInt16 sens_2_inv_ch : 1;
-			UInt16 sens_2_direct_ch : 1;
-			UInt16 sens_1_inv_ch_90deg : 1;
-			UInt16 sens_1_direct_ch_90deg : 1;
-			UInt16 sens_1_inv_ch : 1;
-			UInt16 sens_1_direct_ch : 1;
-		}bit;
-	}enabled_channels;
-	
-	//1
-	union
-	{
-		UInt16 all;
-		struct{
-			UInt16 inv_ch_90deg : 4;
-			UInt16 direct_ch_90deg : 4;
-			UInt16 inv_ch : 4;
-			UInt16 direct_ch : 4;		
-		}bit;
-	}first_sensor_inputs;
-
-//2 
-	union
-	{
-		UInt16 all;
-		struct{	
-			UInt16 inv_ch_90deg : 4;
-			UInt16 direct_ch_90deg : 4;
-			UInt16 inv_ch : 4;
-			UInt16 direct_ch : 4;			
-		}bit;
-	}second_sensor_inputs;
-
-} T_cds_in_rotation_sensor_write_sbus;
-
-#define T_CDS_IN_ROTATION_SENSOR_WRITE_SBUS_DEFAULTS {0, 0, 0}
-
-////////////////////////////////////////////////////////
-typedef struct {
-	T_cds_in_rotation_sensor_read_pbus pbus;
-	T_cds_in_rotation_sensor_read_regs regs;
-}T_cds_in_rotation_sensor_read;
-
-#define T_CDS_IN_ROTATION_SENSOR_READ_DEFAULTS \
-		{T_CDS_IN_ROTATION_SENSOR_READ_PBUS_DEFAULTS, \
-		T_CDS_IN_ROTATION_SENSOR_READ_REGS_DEFAULTS}
-
-typedef struct {
-	T_cds_in_rotation_sensor_write_sbus sbus;
-	T_cds_in_rotation_sensor_read_regs regs;
-}T_cds_in_rotation_sensor_write;
-
-#define T_CDS_IN_ROTATION_SENSOR_WRITE_DEFAULTS \
-			{T_CDS_IN_ROTATION_SENSOR_WRITE_SBUS_DEFAULTS, \
-			T_CDS_IN_ROTATION_SENSOR_WRITE_REGS_DEFAULTS}
-
-
-////// Rotation sensor with IN plane
-typedef struct {
-	//UInt16 plane_address;
-	unsigned int count_wait_for_update_registers;
-	unsigned int error_update;
-
-	struct {
-
-		unsigned int Time1;			// Sensor's survey time in mksec
-		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 counter_freq1;	// 1 - 60MHz; 0 - 600KHz
-		int direction1;	// 1 - direct; 0 - reverse
-
-		unsigned int Time2;			// Sensor's survey time in mksec
-		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 counter_freq2;	// 1 - 60MHz; 0 - 600KHz
-		int direction2;	// 1 - direct; 0 - reverse
-	} out;
-
-	T_cds_in *cds_in;
-
-	T_cds_in_rotation_sensor_write write;
-	T_cds_in_rotation_sensor_read read;
-
-    void (*set)();	    	// Pointer to calculation function
-
-	void (*read_sensor1)();
-
-	void (*read_sensor2)();
-
-} T_cds_in_rotation_sensor;
-
-#define T_CDS_IN_ROTATION_SENSOR_DEFAULT 	\
-			{0, 0,	\
-			{0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, \
-			NULL, \
-			T_CDS_IN_ROTATION_SENSOR_WRITE_DEFAULTS, \
-			T_CDS_IN_ROTATION_SENSOR_READ_DEFAULTS, \
-			in_plane_set, \
-			in_sensor_read1, \
-			in_sensor_read2}
-
-
-///////////////////////////////////////////////////////////////////////////
-///// Rotation Plane
-///////////////////////////////////////////////////////////////////////////
-typedef union {
-	unsigned int all;
-	struct {
-		unsigned int survey_time:8;	//Ïåðèîä îïðîñà ïî 10ìêñ (0==10, 1==20,...)
-		unsigned int channel4_enable:1;
-		unsigned int channel3_enable:1;
-		unsigned int channel2_enable:1;
-		unsigned int channel1_enable:1;
-		unsigned int transmition_speed:3;
-		unsigned int plane_is_master:1;
-	}bit;
-} T_cds_rotation_plane_config;
-
-#define T_CDS_ROTATION_PLANE_CONFIG_DEFAULT 0xA031	//{49, 1, 0, 0, 0, 2, 1}
-
-typedef struct {
-	T_cds_rotation_plane_config config;
-} T_cds_rotation_plane_write_sbus;
-
-#define T_CDS_ROTATION_PLANE_WRITE_SBUS_DEFAULT \
-			{T_CDS_ROTATION_PLANE_CONFIG_DEFAULT}
-
-typedef struct {
-	int direction;
-	unsigned int turned_angle;
-	unsigned int angle;
-} RsSensor;
-
-#define SENSOR_DEFAULT {0, 0, 0}
-
-typedef struct {
-	RsSensor sensor[4];
-} T_cds_rotation_plane_read_pbus;
-
-#define T_CDS_ROTATION_PLANE_READ_PBUS_DEFAULT { \
-			{SENSOR_DEFAULT, SENSOR_DEFAULT, SENSOR_DEFAULT, SENSOR_DEFAULT}}
-
-typedef struct {
-	T_cds_rotation_plane_config config;
-} T_cds_rotation_plane_read_sbus;
-
-#define T_CDS_ROTATION_PLANE_READ_SBUS_DEFAULT {T_CDS_ROTATION_PLANE_CONFIG_DEFAULT}
-
-typedef struct {
-	T_cds_rotation_plane_write_sbus sbus;
-} T_cds_rotation_plane_write;
-
-#define T_CDS_ROTATION_PLANE_WRITE_DEFAULT \
-			{T_CDS_ROTATION_PLANE_WRITE_SBUS_DEFAULT}
-
-typedef struct {
-	T_cds_rotation_plane_read_pbus pbus;
-	T_cds_rotation_plane_read_sbus sbus;
-} T_cds_rotation_plane_read;
-
-#define T_CDS_ROTATION_PLANE_READ_DEFAULT \
-			{T_CDS_ROTATION_PLANE_READ_PBUS_DEFAULT, T_CDS_ROTATION_PLANE_READ_SBUS_DEFAULT}
-
-typedef struct {
-    
-	struct {
-		unsigned long Delta_angle1;
-		unsigned long Delta_angle2;
-		unsigned long Delta_angle3;
-		unsigned long Delta_angle4;
-		unsigned long Current_angle1;
-		unsigned long Current_angle2;
-		unsigned long Current_angle3;
-		unsigned long Current_angle4;
-		unsigned int survey_time_mks;	//Âðåìß îïðîñà äàò÷èêà â ìêñ
-		unsigned int direction;
-	} out;
-
-	unsigned int error;
-
-	T_cds_rs *cds_rs;
-
-	T_cds_rotation_plane_read read;
-	T_cds_rotation_plane_write write;
-
-	void (*set)();	    	// Pointer to calculation function
-
-	void (*read_sensor)();
-
-} T_cds_angle_sensor;
-
-#define T_CDS_ANGLE_SENSOR_DEFAULT {	\
-			{0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, \
-			0, NULL, \
-			T_CDS_ROTATION_PLANE_READ_DEFAULT, \
-			T_CDS_ROTATION_PLANE_WRITE_DEFAULT, \
-			angle_plane_set, angle_sensor_read}
-
-
-//////////////////////////////////////////////////////////////////////////////////
-////
-//////////////////////////////////////////////////////////////////////////////////
-
-typedef struct {
-	UInt16 use_sensor1;
-	UInt16 use_sensor2;
-	UInt16 use_angle_plane;
-
-	T_cds_in_rotation_sensor in_plane;
-	T_cds_angle_sensor rotation_plane;
-
-    void (*set)();	    	// Pointer to calculation function
-	void (*read_sensors)();
-	void (*update_registers)();
-
-} T_rotation_sensor;
-
-#define T_CDS_ROTATION_SENSOR_DEFAULTS {0, 0, 0,  \
-				T_CDS_IN_ROTATION_SENSOR_DEFAULT, \
-				T_CDS_ANGLE_SENSOR_DEFAULT, \
-				rot_sensor_set, \
-				sensor_read, \
-				update_sensors_data_r}
-
-//Public functions
-void rot_sensor_set(T_rotation_sensor *rs);
-void sensor_read(T_rotation_sensor *rs);
-void update_sensors_data_r(T_rotation_sensor *rs);
-void angle_plane_set(T_cds_angle_sensor *rs);
-void angle_sensor_read(T_cds_angle_sensor *as);
-void in_plane_set(T_cds_in_rotation_sensor* rs);
-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;
-
-#endif //XP_ROT_SENS_H

Inu/Src/N12_Xilinx/xp_write_xpwm_time.h

@@ -123,6 +123,7 @@ 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;
@@ -131,13 +132,16 @@ 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}, \
+#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}, \
                             xpwm_write_1_2_winding_break_times_16_lines, \
                             xpwm_write_zero_winding_break_times_16_lines, \
                             initXpwmTimeStructure  \

Inu/Src/main/281xEvTimersInit.c

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

Inu/Src/main/CAN_project.h

@@ -8,6 +8,9 @@
 #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
@@ -28,23 +31,21 @@
 //#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       1
+#define ENABLE_CAN_SEND_TO_TERMINAL_FROM_MAIN       0//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();
+	XintfZone0_Timing();//Xilinx Zone
-	XintfZone6_And7_Timing();
+	XintfZone6_And7_Timing();//Flash Zone
-	XintfZone2_Timing();
+	XintfZone2_Timing();//External RAM Zone
 
 	// Step 2. Initalize GPIO:
 	// This example function is found in the DSP281x_Gpio.c file and

Inu/Src/main/PWMTools.h

@@ -11,7 +11,8 @@
 
 void InitPWM(void);
 void PWM_interrupt(void);
-void InitPWM_Variables(void);
+void PWM_interrupt_main(void);
+
 
 
 void stop_wdog(void);
@@ -21,11 +22,20 @@ 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

@@ -132,6 +132,8 @@ 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];
@@ -165,8 +167,8 @@ _iq koef_Uin_filter=0;
 
 
 void fast_detect_protect_ACP();
-void fast_read_all_adc_one(int cc);
+//void fast_read_all_adc_one(int cc);
-void fast_read_all_adc_more(void);
+//void fast_read_all_adc_more(void);
 
 
 #if (USE_INTERNAL_ADC==1)
@@ -574,7 +576,7 @@ void Init_Adc_Variables(void)
 	}
 
 
-    for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
+    for (i=0;i<COUNT_ARR_ADC_BUF;i++)
     {
       if (project.adc[i].status >= component_Ready)
 		detect_zero_analog(i);
@@ -590,7 +592,7 @@ 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];
@@ -605,12 +607,12 @@ 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_EXTERNAL;i++)
+        for (i=0;i<COUNT_ARR_ADC_BUF;i++)
         {
 		  if ((zero_ADC[i][k]>2200) || (zero_ADC[i][k]<1900))
 		     zero_ADC[i][k] = DEFAULT_ZERO_ADC;
@@ -621,7 +623,7 @@ void Init_Adc_Variables(void)
 
     for (k=0;k<16;k++)
 	{ 
-        for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
+        for (i=0;i<COUNT_ARR_ADC_BUF;i++)
         {
           iq19_zero_ADC[i][k]=_IQ19(zero_ADC[i][k]);//_IQ19(1770);
         }
@@ -636,6 +638,8 @@ 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);
 
@@ -668,7 +672,7 @@ void Init_Adc_Variables(void)
 //	filter.iqUin_m2 = 0;
 
 
-    for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
+    for (i=0;i<COUNT_ARR_ADC_BUF;i++)
     {
         mask_err_adc_protect[i].plus.all=0;
         mask_err_adc_protect[i].minus.all=0x0;
@@ -755,7 +759,7 @@ void read_error_ACP()
 
 // pr = project.controller.fpga.cds_fpga_parallel_bus.pread;
 
- for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
+ for (i=0;i<COUNT_ARR_ADC_BUF;i++)
  {
    if (project.adc[i].status == component_Ready)
    for (k=0;k<16;k++)
@@ -847,181 +851,181 @@ _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_one,".fast_run");
+//#pragma CODE_SECTION(fast_read_all_adc_two,".fast_run");
-void fast_read_all_adc_one(int cc)
+//void fast_read_all_adc_two(void)
-{
+//{
-    int i,k;
+//    int i,k;
-    int t;
+//    int t;
-
+//
-    i_led1_on_off(1);
+////    i_led2_on_off(1);
-
+//
-        project.adc[0].read_pbus(&project.adc[0]);
+//          project.adc[1].read_pbus(&project.adc[1]);
-
+//
-          for (k=0;k<16;k++)
+//          for (k=0;k<16;k++)
-          {
+//          {
-             t = project.adc[0].read.pbus.adc_value[k];
+//             t = project.adc[1].read.pbus.adc_value[k];
-             ADC_fast[0][k][cc] = t;
+//             ADC_fast[1][k][0] = t;
-
+//          }
-                 // save max values
+//
-                 if (t>ADC_fast[0][k][1] || cc==3)
+////    i_led2_on_off(0);
-                     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
+//#define PAUSE_BETWEEN_ADC_FAST      5
-#pragma CODE_SECTION(fast_read_all_adc_more,".fast_run");
+//#pragma CODE_SECTION(fast_read_all_adc_more,".fast_run");
-void fast_read_all_adc_more(void)
+//void fast_read_all_adc_more(void)
-{
+//{
-    int i,k;
+//    int i,k;
-    static int p = PAUSE_BETWEEN_ADC_FAST;
+//    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
+//        }
+//    }
+//
+//}
 
-    project.read_errors_controller();
+/////////////////////////////////////////////////////////
-
+//
-    if (project.adc[0].status == component_Ready
+//#pragma CODE_SECTION(norma_fast_adc,".fast_run");
-            && project.controller.read.errors.bit.error_pbus == 0
+//void norma_fast_adc(void)
-            && project.controller.read.errors_buses.bit.slave_addr_error==0
+//{
-            && project.x_parallel_bus->flags.bit.error==0 )
+//    int i,k;
-    {
+////  int bb;
-
+//
-
+//#ifdef LOG_ACP_TO_BUF
-
+//    static int c_log=0;
-        fast_read_all_adc_one(3);
+//    static int n_log_acp_p=0;
-        pause_1000(p);
+//    static int n_log_acp_c=2;
-        fast_read_all_adc_one(4);
+//    static int n_log_acp_p_2=0;
-        pause_1000(p);
+//    static int n_log_acp_c_2=2;
-        fast_read_all_adc_one(5);
+//
-        pause_1000(p);
+//#endif
-        fast_read_all_adc_one(6);
+//
-        pause_1000(p);
+//    for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
-        fast_read_all_adc_one(7);
+//    {
-        pause_1000(p);
+//
-        fast_read_all_adc_one(8);
+//        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++)
+//        {
-        {
+//          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
+//            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
-    else
+//        {
-    {
+//            for (k=0;k<16;k++)
-        for (k=0;k<16;k++)
+//            {
-        {
+//              iq_norm_ADC[i][k] = 0;
-           ADC_fast[0][k][0] = 5000; // error
+//            }
-        }
+//
-    }
+//        }
-
+//
-
+//    }
-    if (project.adc[1].status == component_Ready
+//
-            && project.controller.read.errors.bit.error_pbus == 0
+//#ifdef LOG_ACP_TO_BUF
-            && project.controller.read.errors_buses.bit.slave_addr_error==0
+//            if (c_log>=SIZE_BUF_LOG_ACP)
-            && project.x_parallel_bus->flags.bit.error==0 )
+//              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];
-        fast_read_all_adc_two();
+//            c_log++;
-    }
+//#endif
-    else
+//
-    {
+////i_led2_off();
-        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)
 {
@@ -1036,76 +1040,7 @@ void norma_all_adc(void)
 
 #endif
 
-//i_led2_on();
+	for (i=0;i<COUNT_ARR_ADC_BUF;i++)
-
-
-//	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]);
@@ -1161,72 +1096,56 @@ void norma_all_adc(void)
 #endif
 //i_led2_off();
 }
-
+*/
-////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////
 
-#pragma CODE_SECTION(calc_norm_ADC,".fast_run");
+#pragma CODE_SECTION(norma_adc_nc,".fast_run");
-void calc_norm_ADC(int fast)
+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)
 {
     _iq a1,a2,a3;
-//  _iq19 t1;
-//  int k;
 
-//i_led1_on_off(0); 
+#if (USE_ADC_1)
 
+    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)
 
@@ -1266,10 +1185,87 @@ void calc_norm_ADC(int fast)
     analog.T_Air_04         = iq_norm_ADC[1][13];
 
 
+#endif
+#else
+
+    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);
 
 
 
@@ -1339,11 +1335,8 @@ void calc_norm_ADC(int fast)
    a3 = _IQmpy(a1,a2);
    analog.PowerScalar = a3;
 //   filter.Power = analog.iqU_1+analog.iqU_2;
-   filter.PowerScalar = exp_regul_iq(koef_Im_filter, filter.PowerScalar, analog.PowerScalar);
+   filter.PowerScalar = exp_regul_iq(koef_Power_filter, filter.PowerScalar, analog.PowerScalar);
-
+   filter.PowerScalarFilter2 = exp_regul_iq(koef_Power_filter2, filter.PowerScalarFilter2, filter.PowerScalar);
-//i_led1_on_off(0);
-
-//i_led1_on_off(1); 
 
 }
 
@@ -1374,7 +1367,10 @@ void detect_zero_analog(int nc)
    
   for (i=0; i<COUNT_DETECT_ZERO; i++)
   { 
-      norma_all_adc();
+//      norma_all_adc();
+      norma_adc_nc(nc);
+ //     norma_adc_nc(1);
+
 
       for (k=0;k<16;k++)
 	  { 

Inu/Src/main/adc_tools.h

@@ -5,39 +5,17 @@
 
 #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
@@ -257,7 +235,7 @@ typedef struct
 	_iq iqUin_m2;
 
     _iq iqIbreak_1;
-	_iq iqIbreak_2;
+	_iq iqIbreak_2; //39
 
 	_iq T_U01;
 	_iq T_U02;
@@ -275,7 +253,7 @@ typedef struct
     _iq T_Air_03;
     _iq T_Air_04;
 
-	_iq P_Water_internal;
+	_iq P_Water_internal; //53
 
 
 	_iq iqI_vozbud;
@@ -291,8 +269,11 @@ typedef struct
 	_iq iqM;
 	
 	_iq PowerScalar;
+	_iq PowerScalarFilter2;
 	_iq PowerFOC;
 
+	_iq iqU_1_imit; //63
+
 
 	/*
 	_iq iqUzpt_1_2; //uzpt1 bs2
@@ -360,7 +341,7 @@ 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 */
 
 
@@ -388,8 +369,12 @@ extern ANALOG_VALUE	analog;
 extern ANALOG_VALUE	filter;
 extern ANALOG_VALUE analog_zero;
 
-void calc_norm_ADC(int fast);
+//void calc_norm_ADC(int fast);
+void calc_norm_ADC_0(int run_norma);
+void calc_norm_ADC_1(int run_norma);
 void Init_Adc_Variables(void);
+void norma_adc_nc(int nc);
+
 
 
 extern int ADC_f[COUNT_ARR_ADC_BUF][16];
@@ -401,8 +386,8 @@ 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);
+//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 detect_zero_analog(int nc);
 

Inu/Src/main/alg_simple_scalar.c

@@ -8,36 +8,39 @@
 
 #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);
@@ -60,7 +63,7 @@ void init_simple_scalar(void)
 
 
     simple_scalar1.pidIm1.OutMax=_IQ(K_STATOR_MAX);
-    simple_scalar1.pidIm1.OutMin=_IQ(0);
+    simple_scalar1.pidIm1.OutMin=_IQ(K_STATOR_MIN);
 
 //////////////
 
@@ -97,7 +100,8 @@ void init_simple_scalar(void)
 
 
     // ìèí. ñêîëüæåíèå
-    simple_scalar1.min_bpsi = _IQ(0.05/NORMA_FROTOR);
+    simple_scalar1.min_bpsi = _IQ(BPSI_MINIMAL/NORMA_FROTOR);
+    simple_scalar1.max_bpsi = _IQ(BPSI_MAXIMAL/NORMA_FROTOR);
 
 }
 
@@ -118,14 +122,32 @@ void init_simple_scalar(void)
    Èäåò ðàñ÷åò íàïðyæåíèy ÷åðåç ìîäóëü òîêà ïî îäíîé èç 3-õ ôàçíîé ñòîåê.
    Çàìûêàåòñy îáðàòíày ñâyçü ïî îáîðîòàì          */
 /****************************************************************/
+
+
 //#pragma CODE_SECTION(simple_scalar,".fast_run");
-void simple_scalar(int n_alg, int n_wind_pump,
+void simple_scalar(int n_alg,
-                   _iq Frot_pid,_iq Frot, _iq fzad,
+                   int n_wind_pump,
+                   int direction,
+                   _iq Frot_pid,
+                   _iq Frot,
+                   _iq fzad,
                    _iq iqKoefOgran,
-                   _iq mzz_zad, _iq bpsi_const,
+                   _iq mzz_zad,
-                    _iq iqIm, _iq iqUin, _iq Iin, _iq powerzad, _iq power_pid,
+                   _iq bpsi_const,
-                    _iq Izad_from_master, int master,
+                    _iq iqIm,
-                     _iq *Fz, _iq *Uz1, _iq *Uz2, _iq *Izad_out)
+                    _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,  dF, dI1, Izad, Uz_t1, Kpred_Ip, pred_Ip;//, znak_moment;
@@ -135,6 +157,7 @@ void simple_scalar(int n_alg, int n_wind_pump,
    _iq Im_regul=0;
 
 
+
    static _iq bpsi=0;
  //  static _iq IQ_POLUS=0;
 
@@ -168,7 +191,7 @@ void simple_scalar(int n_alg, int n_wind_pump,
    static _iq fzad_add=0; //fzad_dec
    _iq  halfIm1, halfIm2;
 
-   static _iq powerzad_int=0,  powerzad_add_max=0 ;
+   static _iq powerzad_int=0,  powerzad_add_max=0, pidFOutMax = 0, pidFOutMin = 0 ;
 //powerzad_dec powerzad_add
 //   static _iq koef_bpsi=0;
  //  static _iq min_bpsi=0;
@@ -183,15 +206,217 @@ void simple_scalar(int n_alg, int n_wind_pump,
 
  //  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 = mzz_zad;
+   simple_scalar1.mzz_zad_in1 = mzz_zad;
    simple_scalar1.Izad_from_master = Izad_from_master;
 
+   iqKoefOgran = _IQsat(iqKoefOgran,CONST_IQ_1,0);
 
    /* óñòàíàâëèâàåì íà÷àëüíûå óñëîâèy âñåõ ðåãóëyòîðîâ */
    if ( (Frot==0) && (fzad==0) )
@@ -199,11 +424,16 @@ void simple_scalar(int n_alg, int n_wind_pump,
       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;
@@ -275,6 +505,88 @@ void simple_scalar(int n_alg, int n_wind_pump,
    }
 
 
+   // 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)
    {
@@ -292,15 +604,15 @@ void simple_scalar(int n_alg, int n_wind_pump,
    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 = _IQdiv(mzz_zad, simple_scalar1.iq_mzz_max_for_fzad);
-
+//   myq_temp = _IQmpy( myq_temp, fzad_add_max);
-   myq_temp = _IQsat( myq_temp, simple_scalar1.fzad_add_max, 0);
+//  fzad_add = myq_temp;
-
-   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);
 
    if (n_alg==1)
@@ -308,11 +620,31 @@ void simple_scalar(int n_alg, int n_wind_pump,
     /* ðåãóëyòîð ñêîðîñòè */
     if (mzz_zad_int>=0)
     {
-      dF = fzad_int - Frot_pid;
+      dF = fzad_int - Frot_pid;//*direction;
 
 //////////  Power PI //////////////
 
-      simple_scalar1.pidPower.OutMax=mzz_zad;
+
+      //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;
+
 
 //    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);
@@ -320,9 +652,9 @@ void simple_scalar(int n_alg, int n_wind_pump,
 //      simple_scalar1.pidPower.Ki = _IQmpy(simple_scalar1.pidPower.Ki, simple_scalar1.k_freq_for_pid);
 
 
-      simple_scalar1.pidPower.Ref = powerzad_int;
+      simple_scalar1.pidPower.Ref = _IQabs(powerzad_int); // òóò òîëüêî ïîëîæèòåëüíàÿ ìîùíîñòü
 
-      simple_scalar1.pidPower.Fdb = power_pid;
+      simple_scalar1.pidPower.Fdb = _IQabs(power_pid);
       simple_scalar1.pidPower.calc(&simple_scalar1.pidPower);
 
 
@@ -342,12 +674,56 @@ void simple_scalar(int n_alg, int n_wind_pump,
     //   pidF.OutMax=mzz_zad_int;
           // èëè òàê
 
-       simple_scalar1.pidF.OutMax = simple_scalar1.pidPower.Out;
+       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
+       {
+
+       }
+*/
 
 //    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.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 = 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(  _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);
 
@@ -366,9 +742,10 @@ void simple_scalar(int n_alg, int n_wind_pump,
 //////////////////////////////////
 
       // áåç êîððåêöèé dF
-      simple_scalar1.pidF.Ref = fzad_int;
+      //fzad_int =
+      simple_scalar1.pidF.Ref = _IQmpy(fzad_int, iqKoefOgran);
 
-      simple_scalar1.pidF.Fdb = Frot_pid;
+      simple_scalar1.pidF.Fdb = Frot_pid;//*direction;
       simple_scalar1.pidF.calc(&simple_scalar1.pidF);
 
 
@@ -380,7 +757,7 @@ void simple_scalar(int n_alg, int n_wind_pump,
            simple_scalar1.pidF.Ui =  simple_scalar1.pidF.OutMin;
 /////////////////////////////////////
 
-       mzz = simple_scalar1.pidF.Out;
+       mzz = _IQabs(simple_scalar1.pidF.Out); // òóò ìîäóëü!!!
 
 ///////////////////////////////////////
 
@@ -441,8 +818,8 @@ void simple_scalar(int n_alg, int n_wind_pump,
   */
 
 
-   iqKoefOgran = _IQsat(iqKoefOgran,CONST_IQ_1,0);
+
-   Izad = _IQmpy(mzz, iqKoefOgran);
+   Izad = _IQmpy(mzz, simple_scalar1.iqKoefOgranIzad);
 
 //   if ((n_alg==1) || (n_alg==2))
 //   {
@@ -524,7 +901,7 @@ void simple_scalar(int n_alg, int n_wind_pump,
           Uze_t1 = Uz_t1;
      }
 
-     Uze_t1 = _IQsat(Uze_t1,simple_scalar1.pidIm1.OutMax,0);
+     Uze_t1 = _IQsat(Uze_t1,simple_scalar1.pidIm1.OutMax, simple_scalar1.pidIm1.OutMin);
 
 //   }
 
@@ -534,15 +911,13 @@ void simple_scalar(int n_alg, int n_wind_pump,
    *Uz2 =  Uze_t1;
 
 
-
+      bpsi = bpsi_const + simple_scalar1.add_bpsi;
-
-
-      bpsi = bpsi_const;
 
    // ñêîëüæ. ~ ìîìåíòó
 //    bpsi = _IQmpy(koef_bpsi,mzz);
 
-      bpsi = _IQsat(bpsi,bpsi_const, simple_scalar1.min_bpsi);
+
+      bpsi = _IQsat(bpsi,simple_scalar1.max_bpsi, simple_scalar1.min_bpsi);
 
 #ifdef BAN_ROTOR_REVERS_DIRECT
 // èñïîëüçóåì çàùèòó îò íåïðàâèëüíîãî âðàùåíèß
@@ -555,12 +930,35 @@ void simple_scalar(int n_alg, int n_wind_pump,
 
 #else
 
-      *Fz = _IQmpy(Frot,simple_scalar1.poluses) + bpsi;      /* bpsi - ñêîëüæåíèå, áåðåì ïîêà
+      if (simple_scalar1.pidF.Out < 0)
-                                     êîíñòàíòîé õîòy òîæå äîëæåí ðåãóëèðîâàòüñy  */
+      {
+          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;
 
 #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)
@@ -572,20 +970,6 @@ void simple_scalar(int n_alg, int n_wind_pump,
 //   }
 
 
-//   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

@@ -39,11 +39,38 @@ typedef struct  {   PIDREG3 pidIm1;
                     int UpravIm2;
                     _iq pidIm_Ki;
 
-                    _iq mzz_zad;
+                    _iq mzz_zad_in1;
+                    _iq mzz_zad_in2;
+
                     _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;
 
@@ -52,7 +79,8 @@ 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  \
 }
 
 
@@ -60,10 +88,12 @@ extern ALG_SIMPLE_SCALAR simple_scalar1;
 
 
 
-void simple_scalar(int n_alg, int n_wind_pump, _iq Frot_pid, _iq Frot,_iq fzad,_iq mzz_zad, _iq bpsi_const,
+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,
                    _iq iqKoefOgran,
                     _iq iqIm, _iq iqUin, _iq Iin, _iq powerzad, _iq power_pid,
-                    _iq Izad_from_master, int master,
+                    _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);
 
 void init_simple_scalar(void);

Inu/Src/main/break_regul.c

@@ -64,25 +64,34 @@ void break_resistor_managment_calc()
 {
 	static unsigned int break_counter = 0;//MAX_BREAK_IMPULSE + 1;
 
-	if(edrk.Discharge && edrk.from_shema.bits.QTV_ON_OFF==0 && edrk.from_shema.bits.UMP_ON_OFF==0)
+	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 (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;
 			}
 			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;
 			}
 			else
 			{
@@ -149,7 +158,8 @@ 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)
+
+    if (/*edrk.Go &&*/ (edrk.SborFinishOk || edrk.Status_Ready.bits.ImitationReady2) )
 	{
 		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

@@ -19,6 +19,8 @@ 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);
+
 
 
 
@@ -94,6 +96,19 @@ 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;
+
 }
 //////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////
@@ -257,6 +272,8 @@ 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

@@ -20,6 +20,7 @@
 #include "DSP281x_SWPrioritizedIsrLevels.h"   // DSP281x Examples Include File
 #include "DSP281x_Device.h"
 #include "xp_project.h"
+#include "another_bs.h"
 
 
 
@@ -27,10 +28,11 @@
 
 
 #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,\
+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,\
-                          0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0\
+                                                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   100
+#define SIZE_ARR_CAN_UNITES_BS2BS   50 //100
 
 
 extern int Unites2SecondBS[SIZE_ARR_CAN_UNITES_BS2BS];

Inu/Src/main/control_station_project.h

@@ -76,13 +76,14 @@ enum
  CONTROL_STATION_CMD_DISABLE_ON_QTV,
  CONTROL_STATION_CMD_MANUAL_DISCHARGE,
  CONTROL_STATION_CMD_DISABLE_ON_UMP,
- CONTROL_STATION_CMD_CROSS_STEND_AUTOMATS,
+ CONTROL_STATION_CMD_WDOG_OFF,
  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 ||
-            d2 > v->setup.levels.iqAsymmetry_delta ? 1 : 0;
+            d3 > 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)();
+    int (*calc_detect_error_3_phase)();
 
 } DETECT_PROTECT_3_PHASE;
 

Inu/Src/main/detect_errors.c

@@ -15,9 +15,14 @@
 #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);
@@ -59,10 +64,17 @@ 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)
 {
@@ -200,6 +212,54 @@ 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)
@@ -453,7 +513,7 @@ 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);
@@ -556,7 +616,7 @@ void detect_error_ground(void)
     }
 
     if ((edrk.from_ing1.bits.ZAZEML_OFF == 1) && (edrk.from_ing1.bits.ZAZEML_ON == 0))
-      pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
+        count_err = 0;
 
 }
 
@@ -572,7 +632,7 @@ void detect_error_nagrev(void)
          edrk.errors.e5.bits.ERROR_HEAT |= 1;
     }
     else
-       pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
+        count_err = 0;
 
 
 }
@@ -615,10 +675,11 @@ void detect_error_block_izol(void)
 
     if (edrk.from_ing1.bits.BLOCK_IZOL_AVARIA == 0  && edrk.from_ing1.bits.BLOCK_IZOL_NORMA == 1 )
     {
-       pause_detect_error(&count_err,TIME_WAIT_ERROR_IZOL,0);
+        count_err = 0;
-
     }
 
+    if (edrk.cmd_imit_low_isolation)
+        edrk.errors.e5.bits.ERROR_ISOLATE |= 1;
 
 }
 
@@ -639,7 +700,7 @@ void detect_error_pre_charge(void)
 
 
     if (edrk.from_ing1.bits.ZARYAD_ON == 0 && edrk.to_ing.bits.ZARYAD_ON == 0)
-      pause_detect_error(&count_err,TIME_WAIT_ERROR_CHARGE_ANSWER,0);
+        count_err = 0;
 
 
 //  edrk.errors.e6.bits.ERROR_PRE_CHARGE_ANSWER |= 1;
@@ -654,7 +715,7 @@ void detect_error_qtv(void)
 
 
   // íåò êîìàíäû íà âûêë, íî ñóõîé êîíòàêò ïðèøåë
-    if (edrk.from_shema.bits.QTV_ON_OFF == 1 && edrk.cmd_to_qtv == 0)
+    if (edrk.from_shema_filter.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;
@@ -665,7 +726,7 @@ void detect_error_qtv(void)
     }
 
 // áûëà êîìàíäà íà âêë, íî ñóõîé êîíòàêò íå ïðèøåë
-    if (edrk.from_shema.bits.QTV_ON_OFF == 0 && edrk.cmd_to_qtv == 1)
+    if (edrk.from_shema_filter.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;
@@ -696,20 +757,77 @@ void detect_error_predohr_vipr(void)
        edrk.errors.e5.bits.ERROR_PRED_VIPR |= 1;
 
     if (edrk.from_ing1.bits.VIPR_PREDOHR_NORMA == 1)
-       pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
+        count_err = 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;
 
-    if (edrk.from_shema.bits.READY_UMP == 0)
+  static unsigned int prev_SumSbor = 0;
-     if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+  static unsigned int StageUMP = 0;
+  static unsigned int count_UMP_NOT_READY = 0;
+  int local_warning_ump = 0;
+
+  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;
 
-    if (edrk.from_ing1.bits.VIPR_PREDOHR_NORMA == 1)
+      // ÓÌÏ âêëþ÷åí, à íå äîëæåí!
-       pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
+      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;
 }
 
 
@@ -721,8 +839,14 @@ 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;
+    }
 
 }
 
@@ -740,7 +864,7 @@ 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))
-      pause_detect_error(&count_err,TIME_WAIT_ERROR_FAN,0);
+        count_err = 0;
 
 }
 
@@ -760,7 +884,7 @@ void detect_error_pre_ready_pump(void)
 
     if (edrk.from_ing1.bits.NASOS_NORMA == 1)
     {
-       pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
+       count_err = 0;
        edrk.warnings.e5.bits.PRE_READY_PUMP = 0;
     }
 }
@@ -789,13 +913,13 @@ 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
-      pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,0);
+        count_err = 0;
     }
 
     if (edrk.from_ing1.bits.NASOS_ON == 1 && edrk.to_ing.bits.NASOS_1_ON==1 && edrk.SelectPump1_2==1)
     {
       // òóò âñå îê
-      pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,0);
+      count_err = 0;
       edrk.warnings.e5.bits.PUMP_1 = 0;
     }
 
@@ -824,13 +948,13 @@ 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
-      pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,0);
+      count_err = 0;
     }
 
     if (edrk.from_ing1.bits.NASOS_ON == 1 && edrk.to_ing.bits.NASOS_2_ON==1 && edrk.SelectPump1_2==2)
     {
         // òóò âñå îê
-      pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,0);
+      count_err = 0;
       edrk.warnings.e5.bits.PUMP_2 = 0;
     }
 }
@@ -846,7 +970,7 @@ void detect_error_op_pit(void)
        edrk.errors.e5.bits.OP_PIT |= 1;
 
     if (edrk.from_ing1.bits.OP_PIT_NORMA ==     1 )
-      pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
+        count_err = 0;
 }
 ///////////////////////////////////////////////
 void detect_error_power_upc(void)
@@ -858,7 +982,7 @@ void detect_error_power_upc(void)
        edrk.errors.e5.bits.POWER_UPC |= 1;
 
     if (edrk.from_ing1.bits.UPC_24V_NORMA == 1 )
-      pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
+        count_err = 0;
 }
 ///////////////////////////////////////////////
 void detect_error_t_vipr(void)
@@ -883,7 +1007,7 @@ void detect_error_ute4ka_water(void)
 
 
     if (edrk.from_ing1.bits.OHLAD_UTE4KA_WATER == 0 )
-           pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
+        count_err = 0;
 }
 
 ///////////////////////////////////////////////
@@ -931,14 +1055,55 @@ 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)
 {
@@ -956,7 +1121,9 @@ int detect_error_u_zpt(void)
     }
 
 
-    if (edrk.iqMAX_U_ZPT>MINIMAL_LEVEL_ZAD_U && edrk.from_shema.bits.QTV_ON_OFF == 1)
+    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 (analog.iqU_1>=edrk.iqMAX_U_ZPT)
        edrk.errors.e0.bits.U_1_MAX |= 1;
@@ -966,7 +1133,9 @@ int detect_error_u_zpt(void)
        edrk.errors.e0.bits.U_2_MAX |= 1;
     }
 
-    if (edrk.from_shema.bits.QTV_ON_OFF == 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;
@@ -1003,6 +1172,7 @@ 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;
@@ -1020,7 +1190,9 @@ int detect_error_u_in(void)
        edrk.errors.e0.bits.U_IN_MAX |= 1;
     }
 
-    if (edrk.from_shema.bits.QTV_ON_OFF == 1 && edrk.SumSbor)
+    if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1 && edrk.SumSbor
+           // && edrk.to_shema.bits.QTV_ON
+            )
     {
         if (control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_QTV]==1)
         {
@@ -1061,7 +1233,7 @@ int detect_error_u_in(void)
 
 }
 ///////////////////////////////////////////////
-#define MAX_WAIT_AFTER_KVITIR   50
+#define MAX_WAIT_AFTER_KVITIR   100//50
 void detect_error_all(void)
 {
     unsigned int pause_after_kvitir=0;
@@ -1100,9 +1272,13 @@ 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)
 
@@ -1129,6 +1305,7 @@ 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();
 
 
 }
@@ -1189,7 +1366,7 @@ void read_plane_errors(void)
     if (project.controller.read.errors.bit.pwm_wdog)
        edrk.errors.e9.bits.ERR_PWM_WDOG |= 1;
 
-#ifdef USE_TK_0
+#if 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 ||
@@ -1216,7 +1393,7 @@ void read_plane_errors(void)
         edrk.errors.e6.bits.UO3_KEYS |= 1;
 #endif
 
-#ifdef USE_TK_1
+#if 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 ||
@@ -1243,7 +1420,7 @@ void read_plane_errors(void)
         edrk.errors.e6.bits.UO5_KEYS |= 1;
 #endif
 
-#ifdef USE_TK_2
+#if 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 ||
@@ -1272,7 +1449,7 @@ void read_plane_errors(void)
 
 #endif
 
-#ifdef USE_TK_3
+#if 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 ||
@@ -1389,7 +1566,7 @@ 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_0
+#if USE_IN_1
     if (project.all_status_plates.in1 != component_Ready)
         edrk.errors.e3.bits.NOT_READY_IN_1 |= 1;
 #endif
@@ -1426,3 +1603,4 @@ 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

@@ -13,9 +13,14 @@
 #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_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 MINIMAL_LEVEL_ZAD_U 27962 // 10 V
@@ -26,5 +31,50 @@ 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

@@ -11,18 +11,22 @@
 #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,".fast_vars");
+#pragma DATA_SECTION(analog_protect,".slow_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,".fast_vars");
+#pragma DATA_SECTION(break_Iout_1_state,".slow_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,".fast_vars");
+#pragma DATA_SECTION(break_Iout_2_state,".slow_vars");
 BREAK_PHASE_I break_Iout_2_state = BREAK_PHASE_I_DEFAULTS;
 
 int detect_error_Izpt();
@@ -34,7 +38,9 @@ void init_analog_protect_levels(void) {
 }
 
 #define AMPL_TO_RMS 0.709
-#define LEVEL_I_1_2_DIBALANCE 1118481
+
+//#define LEVEL_I_1_2_DIBALANCE 1118481  // 200 A
+#define LEVEL_I_1_2_DIBALANCE   1677721  // 300 A
 
 void init_protect_3_phase(void) {
     analog_protect.in_voltage[0].setup.levels.iqVal_module_max = edrk.iqMAX_U_IN;
@@ -196,13 +202,14 @@ 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;
+    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.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.bits.QTV_ON_OFF == 1) {
+    if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1
+   //         && edrk.to_shema.bits.QTV_ON
+            )
+    {
 
         // 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;
@@ -211,11 +218,21 @@ 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,
-        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);
+                                                                        TIME_DETECT_WARNING_U_PREDELS,
+                                                                        analog_protect.in_voltage[0].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_10_PROCENTS_LOW = pause_detect_error(&counter_in2_minus10,
-        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);
+                                                                         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.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

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

Inu/Src/main/detect_overload.c

@@ -9,6 +9,7 @@
 #include <edrk_main.h>
 #include <params_motor.h>
 #include <params_pwm24.h>
+#include "alg_simple_scalar.h"
 
 #include "IQmathLib.h"
 
@@ -43,32 +44,49 @@ int calc_detect_overload(DETECT_OVERLOAD *v) {
     return v->overload_detected;
 }
 
-#define LIMIT_DETECT_LEVEL 15938355 //95%
+#define LIMIT_DETECT_LEVEL 16273899 // 0.97  //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_1 > level_I_nominal) || (filter.iqIm_1 > level_I_nominal) ||
+
-            out_I_over_1_6.overload_detected) {
+        if ((filter.iqIm > level_I_nominal)  ||
+                out_I_over_1_6.overload_detected)
+        {
             edrk.power_limit.bits.limit_Iout = 1;
-    } else {
+        } else
+        {
             edrk.power_limit.bits.limit_Iout = 0;
         }
+    }
+    else
+        edrk.power_limit.bits.limit_Iout = 0;
 
-//    edrk.power_limit.bits.limit_UOM =
+//    if (edrk.from_uom.code>1)
+//        edrk.power_limit.bits.limit_UOM = 1;
+//    else
+//        edrk.power_limit.bits.limit_UOM = 0;
 
-    if ((filter.PowerScalar + edrk.iq_power_kw_another_bs) >
+//filter.PowerScalar + edrk.iq_power_kw_another_bs
-                _IQmpy(LIMIT_DETECT_LEVEL, edrk.zadanie.iq_limit_power_zad_rmp)
+    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 {
+    }
+    else
+    {
         edrk.power_limit.bits.limit_from_SVU = 0;
     }
 
+
 }
 
 

Inu/Src/main/edrk_main.h

@@ -5,16 +5,25 @@
 
 #include "IQmathLib.h"
 #include "rmp_cntl_v1.h"
+#include "rmp_cntl_v2.h"
+
 #include "alg_pll.h"
 
 
-#define TIME_PAUSE_MODBUS_CAN_BS2BS             500
+#define TIME_PAUSE_MODBUS_CAN_BS2BS             500 //900     //500
-#define TIME_PAUSE_MODBUS_CAN_ZADATCHIK_VPU     100
+#define TIME_PAUSE_MODBUS_CAN_ZADATCHIK_VPU     250     //100//100
-#define TIME_PAUSE_MODBUS_CAN_UKSS_SETUP        5000
+#define TIME_PAUSE_MODBUS_CAN_UKSS_SETUP        2500    //
-#define TIME_PAUSE_MODBUS_CAN_MPU               500
+#define TIME_PAUSE_MODBUS_CAN_MPU               1100    //500
-#define TIME_PAUSE_MODBUS_CAN_TERMINALS         1000
+#define TIME_PAUSE_MODBUS_CAN_TERMINALS         2000    //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
 
@@ -134,6 +143,22 @@ 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
+};
 
 /*
 
@@ -188,6 +213,7 @@ 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;
 
 
 
@@ -195,7 +221,7 @@ 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\
         }
 
 
@@ -514,8 +540,15 @@ 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 res: 7;
+            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;
 
         } bits;
     } e9;
@@ -685,8 +718,8 @@ typedef union {
 
 
          } bits;
-     } AUTO_MASTER_SLAVE_DATA;
 
+     } AUTO_MASTER_SLAVE_DATA;
 ////////////////////////////////////////////////////////
      typedef union {
          unsigned int all;
@@ -704,11 +737,10 @@ 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 res:6;
          } bits;
      } STATUS_READY;
 ////////////////////////////////////////////////////////
@@ -833,8 +865,14 @@ typedef union {
                         unsigned int PLUS: 1;
                         unsigned int MINUS : 1;
                         unsigned int PROVOROT :1 ;
-                        unsigned int ACTIVE : 1;
+
-                        unsigned int res:11;
+                        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;
                     } bits;
                 } FROM_ZADAT4IK;
             ////////////////////////////////////////////////////////
@@ -877,12 +915,12 @@ typedef union {
                      struct {
                         unsigned int GOTOV1 : 1;
                         unsigned int GOTOV2 : 1;
-//                        unsigned int EMKOST : 1;  //For 23550.3 and AVARIA moved up
+                        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 res:10;
+                        unsigned int AVARIA : 1;
+                        unsigned int res:9;
                      } bits;
                  } BIG_LAMS;
 
@@ -923,6 +961,10 @@ typedef union {
                 } APL_LAMS_PCH;
 
                 } TO_ZADAT4IK;
+
+#define TO_ZADAT4IK_DEFAULT {0,0,0,0,0}
+
+
             ////////////////////////////////////////////////////////
             typedef struct {
 
@@ -947,12 +989,18 @@ 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;
 
 
 
@@ -1020,12 +1068,17 @@ typedef struct  {
    RMP_V1 rmp_k_u_disbalance;
    RMP_V1 rmp_kplus_u_disbalance;
    RMP_V1 rmp_Izad;
-   RMP_V1 rmp_powers_zad;
+
-   RMP_V1 rmp_limit_powers_zad;
+   RMP_V2 rmp_powers_zad;
+
+   RMP_V2 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;
@@ -1033,6 +1086,7 @@ 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;
@@ -1065,37 +1119,154 @@ 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_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}
+        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}
 
 typedef union {
     struct {
-        unsigned int limit_by_temper;
+        unsigned int limit_by_temper:1;
-        unsigned int limit_Iout;
+        unsigned int limit_Iout:1;
-        unsigned int limit_UOM;  //Óñòðîéñòâî îãðàíè÷åíèÿ ìîùíîñòè
+        unsigned int limit_UOM:1;  //Óñòðîéñòâî îãðàíè÷åíèÿ ìîùíîñòè
-        unsigned int limit_from_SVU;
+        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;
     } bits;
     unsigned int all;
 } POWER_LIMIT;
 
-#define POWER_LIMIT_DEFAULTS {0,0,0,0}
+#define POWER_LIMIT_DEFAULTS    {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 {0,0,0,0,0,0,0}
+#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
+
+
 
 ////////////////////////////////////////////////////////
 typedef struct
@@ -1110,6 +1281,7 @@ typedef struct
 
 	POWER_LIMIT power_limit;
 	TEMPERATURE_LIMIT_KOEFFS temper_limit_koeffs;
+	ALL_LIMIT_KOEFFS all_limit_koeffs;
 
 	MASTER_SLAVE_COM    ms;
 
@@ -1142,6 +1314,7 @@ typedef struct
     TO_SHEMA to_shema;//1
 
     FROM_SHEMA from_shema;//1
+    FROM_SHEMA from_shema_filter;//1
 
     FROM_ZADAT4IK from_zadat4ik;//1
 
@@ -1163,7 +1336,7 @@ typedef struct
 
     TO_VPU to_vpu;//3
 
-    FROM_UOM from_uom;//4
+    FROM_UOM from_uom;//7
 ///////////////////////////////////////////////
 
     unsigned int Discharge;
@@ -1186,6 +1359,7 @@ typedef struct
 
     unsigned int prevGo;
     unsigned int Go;
+    unsigned int GoBreak;
 
     unsigned int GoWait;
 
@@ -1193,6 +1367,8 @@ typedef struct
     int flag_block_zadanie;
 	int StartGEDfromControl;
 	int StartGEDfromZadanie;
+    int prevStartGEDfromZadanie;
+
 	int StartGED;
 	int test_mode;
 	int cmd_to_qtv;//20
@@ -1267,7 +1443,8 @@ typedef struct
 	_iq iq_f_rotor_hz;
 	float f_rotor_hz;
 	int oborots;
-	float power_kw;
+	int rotor_direction;
+	int power_kw;
 //	_iq iq_oborots;
 
 	_iq Izad_out;
@@ -1299,7 +1476,7 @@ typedef struct
     int warning;
     int overheat;
 
-    unsigned MasterSlave;
+    unsigned int MasterSlave;
 
     _iq master_theta;
     _iq master_Uzad;
@@ -1331,10 +1508,14 @@ 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;
+    int freq_50hz_1;
+    int freq_50hz_2;
 
     _iq test_rms_Iu;
     _iq test_rms_Ua;
@@ -1356,8 +1537,97 @@ 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;
 
 
@@ -1365,18 +1635,21 @@ typedef struct
 #define EDRK_DEFAULT {  \
           ZADANIE_DEFAULT,\
           ZADANIE_FROM_ANOTHER_BS_DEFAULT,\
-          TEMPER_EDRK_DEFAULT, P_WATER_EDRK_DEFAULT, \
+          TEMPER_EDRK_DEFAULT, \
-          ERRORS_EDRK_DEFAULT, ERRORS_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, \
@@ -1389,29 +1662,43 @@ typedef struct
           0,0,0,0,0,0,0,0,0,0, \
           0,0,0,0,0,0,0,0,0,0,0,0, \
           0,0,0,0,0,0,0,0,0,0, 0,0, \
-          0,0,0,0,0,0,0,0,0,0,0,0 \
+          0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, \
+          0,0,0,0, \
+          PARAMS_PULT_ING_DEFAULTS, \
+          0,0,0,0,0,0,0,0, \
+          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  \
     }
 
+
 extern EDRK edrk;
+extern PLL_REC pll1;
 
-float get_sensor_ing(void);
+//float get_sensor_ing(void);
-float get_i_vozbud(void);
+//float get_i_vozbud(void);
-float get_zad_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);
 
-void set_amper_vozbud(float set_curr, float cur_curr);
+//float get_amper_vozbud(void);
+
+//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);
 
@@ -1420,63 +1707,52 @@ 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);
 
-void nagrev_auto_on_off(void);
+
-unsigned int zaryad_on_off(unsigned int flag);
+//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_acdrive_winding(int nc);
-int get_status_temper_u(int nc);
+//int get_status_temper_acdrive_bear(int nc);
-int get_status_temper_water(int nc);
+//int get_status_temper_air(int nc);
-int get_status_p_water_max(void);
+//int get_status_temper_u(int nc);
-int get_status_p_water_min(int pump_on_off);
+//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(void);
-int detect_error_u_zpt_on_predzaryad(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);
 
@@ -1486,41 +1762,53 @@ 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);
 
-_iq calc_rms(_iq input, _iq input_prev, _iq freq_signal);
+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);
 
 
 
+
+//extern  int ccc[40];
+
+void reinit_before_sbor(void);
+unsigned int toggle_status_lamp(unsigned int bb1, unsigned int flag);
+
+
 #endif
 
 

Inu/Src/main/master_slave.h

@@ -17,5 +17,18 @@ 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

@@ -22,7 +22,13 @@
 #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)
@@ -101,8 +107,8 @@ 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
@@ -147,7 +153,6 @@ 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);
 
@@ -187,7 +192,7 @@ 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/10.0);//edrk.Zadanie2VozbudING;//
+Data = fast_round(edrk.freq_50hz_1/10.0);//edrk.Zadanie2VozbudING;//
 	reply_a->analog_data.analog18_lo = LOBYTE(Data);
 	reply_a->analog_data.analog18_hi = HIBYTE(Data);
 
@@ -199,15 +204,16 @@ 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(edrk.test_rms_Iu)*NORMA_ACP; //fast_round(_IQtoF(WRotor.iqWRotorImpulses1)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
+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;
 	reply_a->analog_data.analog21_lo = LOBYTE(Data);
 	reply_a->analog_data.analog21_hi = HIBYTE(Data);
 
-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;
+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;
 	reply_a->analog_data.analog22_lo = LOBYTE(Data);
 	reply_a->analog_data.analog22_hi = HIBYTE(Data);
 
-Data = edrk.oborots;//fast_round(_IQtoF(WRotorPBus.iqAngle1F)*360.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses2;//edrk.W_from_ZADAT4IK;
+//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;
 	reply_a->analog_data.analog23_lo = LOBYTE(Data);
 	reply_a->analog_data.analog23_hi = HIBYTE(Data);
 
@@ -216,11 +222,12 @@ 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 =  fast_round(_IQtoF(WRotor.iqWRotorCalcBeforeRegul1)*NORMA_FROTOR*1000.0);
+Data =  edrk.period_calc_pwm_int2;//fast_round(_IQtoF(rotor_22220.iqFdirty)*NORMA_FROTOR*1000.0);
 	reply_a->analog_data.analog25_lo = LOBYTE(Data);
 	reply_a->analog_data.analog25_hi = HIBYTE(Data);
 
-Data = fast_round(_IQtoF(WRotor.iqWRotorCalcBeforeRegul2)*NORMA_FROTOR*1000.0);
+Data = edrk.power_kw_full; //Ìîùíîñòü äâèãàòåëÿ òåêóùàÿ êÂò
+//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);
 
@@ -240,56 +247,59 @@ 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;
-	Data = (int)(edrk.temper_edrk.real_int_temper_u[0]);
     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;
-    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]);
+
+
+
+	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);
-    Data = (int)(edrk.temper_edrk.real_int_temper_u[3]);
+
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[1]);
     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[4]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[2]);
     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[5]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[3]);
     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[6]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[4]);
     reply_a->analog_data.analog37_lo = LOBYTE(Data);
     reply_a->analog_data.analog37_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_air[0]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[5]);
     reply_a->analog_data.analog38_lo = LOBYTE(Data);
     reply_a->analog_data.analog38_hi = HIBYTE(Data);
-    Data = (int)(edrk.temper_edrk.real_int_temper_air[1]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_u[6]);
     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[2]);
+    Data = (int)(edrk.temper_edrk.real_int_temper_air[0]);
     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]);
-    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
+    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_water[1]); // internal
+
+    Data = (int)(edrk.temper_edrk.real_int_temper_air[3]);
     reply_a->analog_data.analog43_lo = LOBYTE(Data);
     reply_a->analog_data.analog43_hi = HIBYTE(Data);
-    Data = (int)edrk.temper_acdrive.winding.max_real_int_temper;
+    Data = (int)(edrk.temper_edrk.real_int_temper_water[0]); // external
     reply_a->analog_data.analog44_lo = LOBYTE(Data);
     reply_a->analog_data.analog44_hi = HIBYTE(Data);
-    Data = (int)edrk.temper_acdrive.bear.max_real_int_temper;
+    Data = (int)(edrk.temper_edrk.real_int_temper_water[1]); // internal
     reply_a->analog_data.analog45_lo = LOBYTE(Data);
     reply_a->analog_data.analog45_hi = HIBYTE(Data);
 
-    Data =  edrk.auto_master_slave.prev_status;//fast_round(_IQtoF(edrk.zadanie.iq_ZadanieU_Charge_rmp)*NORMA_ACP);
+
+    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);
     reply_a->analog_data.analog46_lo = LOBYTE(Data);
     reply_a->analog_data.analog46_hi = HIBYTE(Data);
 
@@ -311,15 +321,14 @@ Data = edrk.period_calc_pwm_int1;
     reply_a->analog_data.analog51_lo = LOBYTE(Data);
     reply_a->analog_data.analog51_hi = HIBYTE(Data);
 
-    Data = fast_round( _IQtoF(edrk.zadanie.iq_k_u_disbalance_rmp)*100.0);
+    Data = _IQtoF(vect_control.iqId2)*NORMA_ACP;//0;//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 = edrk.auto_master_slave.status;//fast_round(_IQtoF(edrk.zadanie.iq_kplus_u_disbalance_rmp)*1000.0);
+    Data = fast_round(_IQtoF(edrk.zadanie.iq_limit_power_zad_rmp)*NORMA_ACP*NORMA_ACP/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);
@@ -335,7 +344,7 @@ 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.OutMax)*NORMA_ACP);
+        Data = fast_round(_IQtoF(simple_scalar1.pidF.OutMin)*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);
@@ -346,13 +355,18 @@ 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)*NORMA_ACP);//count_transmited++;
+
+    Data = fast_round(_IQtoF(simple_scalar1.mzz_zad_in2)*NORMA_ACP);//count_transmited++;
     reply_a->analog_data.analog60_lo = LOBYTE(Data);
     reply_a->analog_data.analog60_hi = HIBYTE(Data);
 //
@@ -372,25 +386,153 @@ Data = edrk.period_calc_pwm_int1;
     reply_a->analog_data.analog64_lo = LOBYTE(Data);
     reply_a->analog_data.analog64_hi = HIBYTE(Data);
 
-    Data = project.cds_tk[3].optical_data_in.local_count_error;
+    Data = fast_round(_IQtoF(simple_scalar1.pidPower.SatErr)*NORMA_ACP);//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 = project.cds_tk[3].optical_data_out.local_count_error;
+    Data = fast_round(_IQtoF(simple_scalar1.pidPower.Fdb)*NORMA_ACP*NORMA_ACP/1000.0);//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 = optical_read_data.count_error_wdog;
+    Data = fast_round(_IQtoF(simple_scalar1.pidPower.Ref)*NORMA_ACP*NORMA_ACP/1000.0);//////optical_read_data.count_error_wdog;
     reply_a->analog_data.analog67_lo = LOBYTE(Data);
     reply_a->analog_data.analog67_hi = HIBYTE(Data);
 
-    Data = edrk.period_calc_pwm_int2;
+
+    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);
     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 < 44; i++) //zero all dig data
+	for (i = 0; i < 59; i++) //zero all dig data
 	{
 		*(pByte + i) = 0;
 	}
@@ -431,6 +573,11 @@ Data = edrk.period_calc_pwm_int1;
     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;
@@ -570,8 +717,12 @@ Data = edrk.period_calc_pwm_int1;
     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.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.bit3 = edrk.flag_wait_both_ready2;
+    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.byte37.byte_data = edrk.errors.e8.all  & 0xff;
@@ -591,6 +742,11 @@ Data = edrk.period_calc_pwm_int1;
     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;
@@ -636,27 +792,111 @@ Data = edrk.period_calc_pwm_int1;
     //    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.bits.RAZBOR_SHEMA;
+        reply_a->digit_data.byte49.bit_data.bit7 = edrk.from_shema_filter.bits.RAZBOR_SHEMA;
         //
-        reply_a->digit_data.byte50.bit_data.bit0 = edrk.from_shema.bits.SBOR_SHEMA;
+        reply_a->digit_data.byte50.bit_data.bit0 = edrk.from_shema_filter.bits.SBOR_SHEMA;
 
-        reply_a->digit_data.byte50.bit_data.bit1 = edrk.from_shema.bits.ZADA_DISPLAY;
+        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.bits.SVU;
+        reply_a->digit_data.byte50.bit_data.bit2 = edrk.from_shema_filter.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.bits.UMP_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.bits.READY_UMP;
+        reply_a->digit_data.byte50.bit_data.bit5 = edrk.from_shema_filter.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;
 
 
 

Inu/Src/main/message2test.c

@@ -13,6 +13,8 @@
 #include "xp_project.h"
 
 #include "x_wdog.h"
+#include "params_hwp.h"
+#include "detect_errors.h"
 
 
 //XilinxV2
@@ -22,7 +24,7 @@ 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;
+	int Data,Data1,Data2/*,bitt, DataAnalog1, DataAnalog2*/, tk0,tk1,tk2,tk3,period1,period2, period3;
 	
 	//static int vs11,vs12,vs1;
 	static int prev_Go = 0;
@@ -31,6 +33,12 @@ 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();
 
@@ -46,7 +54,16 @@ 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;
-	// "àïèñàëè âñå âûõîäû
+	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
 
 #if (CHECK_IN_OUT_TERMINAL==1)
 
@@ -72,7 +89,9 @@ 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);
+	calc_norm_ADC_0(1);
+	calc_norm_ADC_1(1);
 	
 	// ïðîâåðêà êëþ÷åé
 	tk0 = (pcommand->digit_data.byte01.byte_data);
@@ -90,6 +109,39 @@ 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
@@ -102,8 +154,43 @@ 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);
-		test_tk_ak_one_impulse( tk0,  tk1,  tk2,  tk3,  period1, period2, doubleImpulse, sinusImpulse);
+#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);
 	}
 	
 	if ((pcommand->digit_data.byte05.bit_data.bit0 == 1) &&
@@ -119,14 +206,19 @@ 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
 	}
 
@@ -280,17 +372,46 @@ 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_3) * NORMA_ACP;
+	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;
 	reply_ans->analog_data.analog19_lo=LOBYTE(Data);
 	reply_ans->analog_data.analog19_hi=HIBYTE(Data);
 
-	Data = _IQtoF(analog.iqU_4) * NORMA_ACP;
+    Data = project.cds_tk[0].read.sbus.time_err_tk_all.bit.tk_7654;
 	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;
@@ -393,8 +514,16 @@ 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 = CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,VPU_CAN)];
+	reply_ans->digit_data.byte20.bit_data.bit0 = project.controller.read.errors.bit.er0_out;
-	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.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.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;
@@ -436,8 +565,82 @@ 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.minus.all  & 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.minus.all >> 8) & 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
 
 
 /*

Inu/Src/main/message_modbus.c

@@ -22,6 +22,10 @@
 #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"
@@ -164,6 +168,7 @@ 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);
 
@@ -235,6 +240,13 @@ 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
@@ -249,7 +261,8 @@ 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[cur_position_buf_modbus16_can].all,
+                    &modbus_table_can_out_temp[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;
@@ -399,6 +412,9 @@ 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;
@@ -410,8 +426,13 @@ 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
@@ -435,21 +456,123 @@ 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
+//        else
-            status = 2;
+//            status = 2;
     }
 
     if (status==2)
@@ -462,6 +585,21 @@ 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);
@@ -469,11 +607,16 @@ 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
         {
@@ -482,14 +625,16 @@ 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;
@@ -586,7 +731,9 @@ 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;
@@ -602,11 +749,13 @@ 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
@@ -617,6 +766,7 @@ int modbusNetworkSharing(int flag_update_only_hmi)
 //                else
                     numberInT++;
 
+                enable_send_cmd = 0;
                 break;
 
             case 2:
@@ -632,39 +782,79 @@ 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 == 1)
+                if (log_to_HMI.send_log)
+                {
                      numberInT++;
+                }
                 else
                     // ïðîïóñêàåì ñëåä êîìàíäó
                         numberInT = 0;
+
+                enable_send_cmd = 0;
+                count_work_in_log = 0; // ïîäãîòîâêà äëÿ ëîãîâ
                 break;
 
             case 5:
-                sendLogToHMI();
+                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;
+                }
                 break;
 
 
             default:
+                enable_send_cmd = 0;
                 break;
             }
 
-            enable_send_cmd = 0;
+
 //i_led2_on_off(0);
 
     }
-    sendLogToHMI();
+    //sendLogToHMI();
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+    PWM_LINES_TK_20_OFF;
+#endif
 
     if (flag_update_only_hmi)
         return final_code;
@@ -680,17 +870,19 @@ 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))
-        write_all_data_to_mpu_can(1, TIME_PAUSE_MODBUS_CAN_MPU);
+    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);
 #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
 
 

Inu/Src/main/message_modbus.h

@@ -15,7 +15,7 @@
 // void ReceiveAnswerCommandModbus3(RS_DATA *rs_arr);
 
 #define TIME_PAUSE_MODBUS_MPU 				250	//100//500
-#define TIME_PAUSE_MODBUS_REMOUTE           100 //500
+#define TIME_PAUSE_MODBUS_REMOUTE           20 //100 //500
 
 #define TIME_PAUSE_NETWORK_CAN1              444 //500
 #define TIME_PAUSE_NETWORK_CAN2              990 //500
@@ -30,11 +30,11 @@
 
 #define SIZE_BUF_WRITE_TO_MODBUS16_VPU 			    100     //
 
-#define SIZE_BUF_WRITE_TO_MODBUS16_REMOUTE          100 //100     // ïåðåäà÷à, ðàçìåð â îäíîé ïîñûëêå àíàëîã.÷àñòè ïóëüòà ÁÑÓ, íå áîëüøå SIZE_ANALOG_DATA_REMOUTE
+#define SIZE_BUF_WRITE_TO_MODBUS16_REMOUTE          120     //100     // ïåðåäà÷à, ðàçìåð â îäíîé ïîñûëêå àíàëîã.÷àñòè ïóëüòà ÁÑÓ, íå áîëüøå SIZE_ANALOG_DATA_REMOUTE
-#define SIZE_ANALOG_DATA_REMOUTE 					200     //165     // ïåðåäà÷à, ðàçìåð äàííûõ ïî àíàëîãîâîé ÷àñòè ïóëüòà ÁÑÓ
+#define SIZE_ANALOG_DATA_REMOUTE 					240     //165     // ïåðåäà÷à, ðàçìåð äàííûõ ïî àíàëîãîâîé ÷àñòè ïóëüòà ÁÑÓ
 
 
-#define SIZE_BUF_READ_FROM_MODBUS16_REMOUTE          100    //20//36     // ïðèåì, ðàçìåð â îäíîé ïîñûëêå àíàëîã.÷àñòè ïóëüòà ÁÑÓ, íå áîëüøå SIZE_ANALOG_DATA_FROM_MODBUS16_REMOUTE
+#define SIZE_BUF_READ_FROM_MODBUS16_REMOUTE          120    //20//36     // ïðèåì, ðàçìåð â îäíîé ïîñûëêå àíàëîã.÷àñòè ïóëüòà ÁÑÓ, íå áîëüøå SIZE_ANALOG_DATA_FROM_MODBUS16_REMOUTE
 #define SIZE_ANALOG_DATA_FROM_MODBUS16_REMOUTE       SIZE_ANALOG_DATA_REMOUTE   //20//36     // ïðèåì, ðàçìåð äàííûõ ïî àíàëîãîâîé ÷àñòè ïóëüòà ÁÑÓ