129 lines
3.8 KiB
C
129 lines
3.8 KiB
C
/*!
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Copyright 2017 ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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\file V_DIO.c
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\brief Ìîäóëü äèñêðåòíûõ âõîäîâ/âûõîäîâ
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\author ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
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\version v 1.0 25/08/2017
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\addtogroup
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@{*/
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#include "main.h"
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#include "filter.h"
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// Âåêòîð ñîñòîßíèß äèñêðåòíûõ âûõîäîâ
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volatile Uint16 output_vect = 0;
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// Ìàñêà èíâåðòèðîâàíèß âåêòîðà ñîñòîßíèß äèñêðåòíûõ âûõîäîâ
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volatile Uint16 output_mask = 0;
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// Âåêòîð ñîñòîßíèß äèñêðåòíûõ âõîäîâ
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volatile Uint16 input_vect = 0;
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// Ìàñêà èíâåðòèðîâàíèß âåêòîðà ñîñòîßíèß äèñêðåòíûõ âõîäîâ
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volatile Uint16 input_mask = 0;
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// Êîýôôèöèåíò ôèëüòðàöèè äèñêðåòíûõ âõîäîâ Kf = 0.001/Tô
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// (Tô - ïîñòîßííàß âðåìåíè ôèëüòðà, ñåê)
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volatile _iq inputKf = _IQ(0.03); //Âðåìÿ ñðàáàòûâàíèÿ ñîñòàâëÿåòñÿ 60ìñ ïðè inputKf=_IQ(0.03) è inputOn = _IQ(0.8) â 1êÃö ïðåðûâàíèè;
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// Ïîðîã ïåðåõîäà äèñêðåòíîãî âõîäà â ñîñòîßíèå OFF (0)
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volatile _iq inputOff = _IQ(0.3);
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// Ïîðîã ïåðåõîäà äèñêðåòíîãî âõîäà â ñîñòîßíèå ON (1)
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volatile _iq inputOn = _IQ(0.8);
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// Ïðîìåæóòî÷íûé âåêòîð ñîñòîßíèß äèñêðåòíûõ âõîäîâ (áåç ó÷¸òà ìàñêè èíâåðòèðîâàíèß)
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Uint16 input = 0;
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// Ôèëüòðû äèñêðåòíûõ âõîäîâ
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TFilter fIn1 = FILTER_DEFAULTS;
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TFilter fIn2 = FILTER_DEFAULTS;
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TFilter fIn3 = FILTER_DEFAULTS;
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void DIO_Init()
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{
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#if defined (HW_MOTORCONTROLBOARD)
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//Ïðîèíèòèì äèñêðåòíûå âõîäû
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// NT_GPIOB->ALTFUNCCLR = (1 << 5); //âûêëþ÷èòü àëüò. ôóíêöèþ
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// NT_GPIOA->ALTFUNCCLR = (1 << 14) | (1 << 15); //âûêëþ÷èòü àëüò. ôóíêöèþ
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// NT_GPIOB->OUTENCLR = (1 << 5); //íà âõîä
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// NT_GPIOA->OUTENCLR = (1 << 14) | (1 << 15); //íà âõîä
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//
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// //Ïðîèíèòèì äèñêðåòíûå âûõîäû
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// NT_GPIOB->ALTFUNCCLR = (1 << 6) | (1 << 15) | (1 << 4); //âûêëþ÷èòü àëüò. ôóíêöèþ
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// NT_GPIOB->OUTENSET = (1 << 6) | (1 << 15) | (1 << 4); //íà âûõîä
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#endif
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}
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void DIO_slow_calc()
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{
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// Ïîëó÷àåì âåêòîð ñîñòîßíèß äèñêðåòíûõ âûõîäîâ ñ ó÷¸òîì ìàñêè èíâåðòèðîâàíèß
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Uint16 output = output_vect ^ output_mask;
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// Âûâîäèì óïðàâëßþùåå âîçäåéñòâèå ïî Âûõîäó 1
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if (BIT_IS_SET(output, 0))
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D_OUT1_OFF;
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else
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D_OUT1_ON;
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// Âûâîäèì óïðàâëßþùåå âîçäåéñòâèå ïî Âûõîäó 2
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if (BIT_IS_SET(output, 1))
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D_OUT2_OFF;
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else
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D_OUT2_ON;
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// Âûâîäèì óïðàâëßþùåå âîçäåéñòâèå ïî Âûõîäó 3
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if (BIT_IS_SET(output, 2))
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D_OUT3_OFF;
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else
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D_OUT3_ON;
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// Îáíîâëßåì êîýôôèöèåíòû ôèëüòðàöèè äèñêðåòíûõ âõîäîâ
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fIn1.T = inputKf;
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fIn2.T = inputKf;
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fIn3.T = inputKf;
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// Ïîëó÷àåì ñîñòîßíèå Âõîäà 1 ñ ó÷¸òîì ôèëüòðàöèè
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if (fIn1.output > inputOn) SET_BIT(input, 0);
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if (fIn1.output < inputOff) CLEAR_BIT(input, 0);
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// Ïîëó÷àåì ñîñòîßíèå Âõîäà 2 ñ ó÷¸òîì ôèëüòðàöèè
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if (fIn2.output > inputOn) SET_BIT(input, 1);
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if (fIn2.output < inputOff) CLEAR_BIT(input, 1);
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// Ïîëó÷àåì ñîñòîßíèå Âõîäà 3 ñ ó÷¸òîì ôèëüòðàöèè
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if (fIn3.output > inputOn) SET_BIT(input, 2);
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if (fIn3.output < inputOff) CLEAR_BIT(input, 2);
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input_vect = input ^ input_mask;
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}
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void DIO_fast_calc()
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{
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// Èíåðöèîííûé ôèëüòð äèñêðåòíîãî Âõîäà 1
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fIn1.input = (D_IN1 == 1) ? _IQ(1.0) : 0;
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fIn1.calc(&fIn1);
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// Èíåðöèîííûé ôèëüòð äèñêðåòíîãî Âõîäà 2
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fIn2.input = (D_IN2 == 1) ? _IQ(1.0) : 0;
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fIn2.calc(&fIn2);
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// Èíåðöèîííûé ôèëüòð äèñêðåòíîãî Âõîäà 3
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fIn3.input = (D_IN3 == 1) ? _IQ(1.0) : 0;
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fIn3.calc(&fIn3);
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}
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/*@}*/
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