120 lines
3.3 KiB
C
120 lines
3.3 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.h
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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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#ifndef V_DIO_H
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#define V_DIO_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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// Ìàêðîñ óñòàíîâêè â '1' çàäàííîãî áèòà
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// var - öåëåâàß ïåðåìåííàß
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// index - èíäåêñ (ñìåùåíèå) óñòàíàâëèâàåìîãî áèòà
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#define SET_BIT(var, index) var |= (1 << index);
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// Ìàêðîñ ñáðîñà â '0' çàäàííîãî áèòà
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// var - öåëåâàß ïåðåìåííàß
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// index - èíäåêñ (ñìåùåíèå) î÷èùàåìîãî áèòà
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#define CLEAR_BIT(var, index) var &= (~(1 << index));
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// Ìàêðîñ ïðîâåðêè íåíóëåâîãî ñîñòîßíèÿ çàäàííîãî áèòà
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// var - öåëåâàß ïåðåìåííàß
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// index - èíäåêñ (ñìåùåíèå) ïðîâåðßåìîãî áèòà
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#define BIT_IS_SET(var, index) ((var & (1 << index)) != 0)
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// Ìàêðîñ ïðîâåðêè íóëåâîãî ñîñòîßíèÿ çàäàííîãî áèòà
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// var - öåëåâàß ïåðåìåííàß
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// index - èíäåêñ (ñìåùåíèå) ïðîâåðßåìîãî áèòà
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#define BIT_IS_CLEAR(var, index) ((var & (1 << index)) == 0)
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// Äåôàéíèì äèñêðåòíûå âõîäû
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#ifdef HW_MCB3
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//TODO ïåðåäåëàòü
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#define D_IN1 ((GPIOM->DATA & (1 << 13)) == 0) //M13 Ñòàðò
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#define D_IN2 ((GPIOM->DATA & (1 << 11)) == 0) //M11 Ñòîï
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#define D_IN3 ((GPIOM->DATA & (1 << 10)) == 0) //M10 Ñáðîñ àâàðèé
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#else
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#define D_IN1 0
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#define D_IN2 0
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#define D_IN3 0
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#endif
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// Äåôàéíèì äèñêðåòíûå âûõîäû
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#ifdef HW_MCB3
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#define D_OUT1_ON GPIOD->DATAOUTSET = GPIO_PIN_1
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#define D_OUT1_OFF GPIOD->DATAOUTCLR = GPIO_PIN_1
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#define D_OUT2_ON GPIOD->DATAOUTSET = GPIO_PIN_2
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#define D_OUT2_OFF GPIOD->DATAOUTCLR = GPIO_PIN_2
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#define D_OUT3_ON GPIOM->DATAOUTSET = GPIO_PIN_14
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#define D_OUT3_OFF GPIOM->DATAOUTCLR = GPIO_PIN_14
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#else
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#define D_OUT1_ON
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#define D_OUT1_OFF
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#define D_OUT2_ON
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#define D_OUT2_OFF
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#define D_OUT3_ON
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#define D_OUT3_OFF
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#endif
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// Âåêòîð ñîñòîßíèß äèñêðåòíûõ âûõîäîâ
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extern volatile Uint16 output_vect;
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// Ìàñêà èíâåðòèðîâàíèß âåêòîðà ñîñòîßíèß äèñêðåòíûõ âûõîäîâ
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extern volatile Uint16 output_mask;
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// Âåêòîð ñîñòîßíèß äèñêðåòíûõ âõîäîâ
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extern volatile Uint16 input_vect;
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// Ìàñêà èíâåðòèðîâàíèß âåêòîðà ñîñòîßíèß äèñêðåòíûõ âõîäîâ
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extern volatile Uint16 input_mask;
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// Êîýôôèöèåíò ôèëüòðàöèè äèñêðåòíûõ âõîäîâ Kf = 0.0001/Tô
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// (Tô - ïîñòîßííàß âðåìåíè ôèëüòðà, ñåê)
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extern volatile _iq inputKf;
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#define in_Kf inputKf // ïñåâäîíèì äëß óæå èìåþùåéñÿ ïåðåìåííîé â ñëîâàðå CANopen
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// Ïîðîã ïåðåõîäà äèñêðåòíîãî âõîäà â ñîñòîßíèå OFF (0)
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extern volatile _iq inputOff;
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// Ïîðîã ïåðåõîäà äèñêðåòíîãî âõîäà â ñîñòîßíèå ON (1)
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extern volatile _iq inputOn;
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void DIO_Init();
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void DIO_slow_calc(); // âûçûâàòü â ôîíîâîé ïðîãðàììå
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void DIO_fast_calc(); // âûçûâàòü ñ ÷àñòîòîé 1êÃö èëè 10 êÃö
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#ifdef __cplusplus
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}
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#endif
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#endif
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/*@}*/
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