Beispiel #1
0
void main(){

	OUTPUT_LOW(LCD_RW); //Che do ghi 
	LCD_Init();        //Khoi tao LCD

	LCD_PutCmd(0x01);  //Xoa man hinh

	ENABLE_INTERRUPTS(INT_TIMER0); //Kich hoat ngat ngoai
	SETUP_TIMER_0(RTCC_INTERNAL|RTCC_DIV_32); //Xung kich noi va chia truoc 32
	ENABLE_INTERRUPTS(GLOBAL); //Cho phep ngat toan cuc
	SET_TIMER0(100); //Bat dau dem tu 100, khi tran Timer0 duoc 1ms

	while (True){ //Duy tri hoat dong cua vi dieu khien

		if (dem > N_max){
			dem = 0;
			LCD_PutCmd(0x01);
		}

		LCD_SetPosition(0x00); //Cot 1 dong 1
		LCD_PutChar("Dem so:");
		LCD_SetPosition(0x07); //Cot 8 dong 1
		printf(LCD_PutChar,"%lu",dem);

	}
}
/*************************************************************
*	函数名称:LCD_DrawRec
*	功    能:在指定位置画矩形
*	参    数:
*				x:  窗体中X坐标中始点
*	 		 	y:  窗体中Y坐标中始点
*				Length:条形的长
*				High:	矩形的高
*				Colour:矩形的颜色 
*	返 回 值:无
*************************************************************/
void LCD_DrawRec(u16 x,u16 y,u16 Length,u16 High,u16 Colour)
{
	u16 i;	
	if(horizontal_or_vertical)			 //横屏显示时
	{	
		if(x+Length>320)
			Length=320-Length;
		if(High+y>240)
			High=240-High;
		LCD_SetPosition(x,y);
		LCD_WR_CMD(0X0044,((High+y-1)<<8)+y);
		LCD_WR_CMD(0X0046,x+Length);
	}
	else								//竖屏显示时
	{
		if(x+Length>240)
			Length=240-Length;
		if(High+y>320)
			High=320-High;
		LCD_SetPosition(x,y);
		LCD_WR_CMD(0X0044,((Length+x-1)<<8)+x);
		LCD_WR_CMD(0X0046,y+High);
	}
	LCD_WR_ADD(0x0022);
	for(i=0;i<Length*High;i++)
	{
		LCD_WR_DATA(Colour);
	}	
}
Beispiel #3
0
void main(){
    float distance = 0;
    
    OUTPUT_LOW(LCD_RW);
    LCD_Init();
    LCD_PutCmd(0x01);
    
    SETUP_TIMER_1(T1_INTERNAL|T1_DIV_BY_4);
    SETUP_CCP1(CCP_CAPTURE_RE);
    
    ENABLE_INTERRUPTS(INT_CCP1);
    ENABLE_INTERRUPTS(GLOBAL);
    
    
    while (True){
        Trigger();
        
        while (echo == 0){
            ;
        }
        
        distance = value*0.8/58;
        LCD_PutCmd(0x01);
        LCD_SetPosition(0x00);
        LCD_PutChar("Distance:");
        LCD_SetPosition(0x40);
        printf(LCD_PutChar,"%.2fcm",distance);
        delay_ms(1000);
    }
}
signed char DisplayMenu(const char *Menu[], char ItemCount, char Initial) {
    char SecondLine = 0;
    signed char SelectedItem = 0;
    signed char ret = 0;

    SelectedItem = Initial;

    while (1) {
        LCD_ClearDisplay();
        if (SecondLine) {
            LCD_SetPosition(0, 1);
            if (SelectedItem == 0) LCD_PrintString(Menu[ItemCount]);
            else LCD_PrintString(Menu[SelectedItem - 1]);
            LCD_SetPosition(1, 0);
            LCD_PrintChar('*');
            LCD_PrintString(Menu[SelectedItem]);
            LCD_SetPosition(1, 0);
        } else {
            LCD_PrintChar('*');
            LCD_PrintString(Menu[SelectedItem]);
            LCD_SetPosition(1, 1);
            if (SelectedItem == ItemCount) LCD_PrintString(Menu[0]);
            else LCD_PrintString(Menu[SelectedItem + 1]);
            LCD_SetPosition(0, 0);
        }

        ret = GetInput();
        if (ret < 0) {
            SelectedItem = ret;
            goto exit;
        }

        switch (ret) {
            case USER_INPUT_CLICK:
                goto exit;
            case USER_INPUT_BACK:
                SelectedItem = -1;
                goto exit;
            case USER_INPUT_CANCEL:
                SelectedItem = -2;
                goto exit;
            case USER_INPUT_INC:
                SecondLine = 1;
                if (SelectedItem == ItemCount) SelectedItem = ItemCount;
                else SelectedItem++;
                break;
            case USER_INPUT_DEC:
                SecondLine = 0;
                if (SelectedItem == 0) SelectedItem = 0;
                else SelectedItem--;
                break;
        }
    }
exit:
    return (SelectedItem);
}
signed char GetFloat(const char *prompt, const char *unit, double* Value, double Min, double Max, double Precision) {
    double Output;
    char WholePlaces;
    char FractionalPlaces;
    signed char ret = 0;


    if ((Max >= 10000) || (Min <= -10000)) WholePlaces = 5;
    else if (Max >= 1000 | Min <= -1000) WholePlaces = 4;
    else if (Max >= 100 | Min <= -100) WholePlaces = 3;
    else if (Max >= 10 | Min <= -10) WholePlaces = 2;
    else WholePlaces = 2;

    if (Precision >= 1.0) FractionalPlaces = 0;
    else if (Precision >= 0.1) FractionalPlaces = 1;
    else if (Precision >= 0.01) FractionalPlaces = 2;
    else if (Precision >= 0.001) FractionalPlaces = 3;
    else if (Precision >= 0.0001) FractionalPlaces = 4;


    Output = *Value;
    LCD_ClearDisplay();
    LCD_PrintString(prompt);

    LCD_SetPosition(1, 0);
    LCD_PrintFloat(Output, WholePlaces, FractionalPlaces, 1);
    LCD_PrintString(unit);

    while (1) {
        LCD_SetPosition(1, 0);
        LCD_PrintFloat(Output, WholePlaces, FractionalPlaces, 1);
        ret = GetInput();
        if (ret < 0) return ret;
        switch (ret) {
            case USER_INPUT_CLICK: //user has pressed the switch to accept.                     
                *Value = Output;
                return (0);
            case USER_INPUT_CANCEL:
                return -2;
                
            case USER_INPUT_BACK:
                return -1;
                
            case USER_INPUT_INC: //Rot+
                Output += GetRotaryMultiplier() * Precision;
                if (Output > Max) Output = Max;
                break;
            case USER_INPUT_DEC:
                Output -= GetRotaryMultiplier() * Precision;
                if (Output < Min) Output = Min;
                break;
        }
    }
    return (0);
}
signed char GetPresetNumber() {
    signed char inp;
    char pnum;
    signed char ptype;
    LCD_ClearDisplay();
    LCD_PrintString("PRESET SLOT:\0");
    LCD_SetPosition(1, 0);
    LCD_PrintString("PRESET 01\0");
    pnum = 1;

    while (1) {
        LCD_SetPosition(1, 7);
        LCD_PrintLong((int) pnum, 2, 0);

        ptype = GetPresetType(pnum);

        switch (ptype) {
            case 0:
                LCD_PrintString("-EMPTY    \0");
                break;
            case 1:
                LCD_PrintString("-WAYPOINT \0");
                break;
            case 2:
                LCD_PrintString("-ORBIT    \0");
                break;
        }

        inp = GetInput();
        if (inp<0) return inp;
        
        switch (inp) {
            case USER_INPUT_DEC:
                if (pnum > 1) pnum--;
                break;
            case USER_INPUT_INC:
                if (pnum < 5) pnum++;
                break;
            case USER_INPUT_CLICK:
                return (pnum);
            case USER_INPUT_BACK:
                return (-1);
            case USER_INPUT_CANCEL:
                return (-2);
        }
    }
    return (-2);
}
signed char DisplayChoices(const char *Menu[], char ItemCount, const char *Prompt, char Initial) {
    char SelectedItem = 0;
    signed char ret = 0;
    SelectedItem = Initial;
    while (1) {
        LCD_ClearDisplay();
        LCD_PrintString(Prompt);
        LCD_SetPosition(1, 0);
        LCD_PrintChar('*');
        LCD_PrintString(Menu[SelectedItem]);

        ret = GetInput();
        if (ret < 0) return ret;

        switch (ret) {
            case USER_INPUT_CLICK:
                return (SelectedItem);
            case USER_INPUT_BACK:
                return (-1);
            case USER_INPUT_CANCEL:
                return (-2);
            case USER_INPUT_INC:
                if (SelectedItem == ItemCount) SelectedItem = ItemCount;
                else SelectedItem++;
                break;
            case USER_INPUT_DEC:
                if (SelectedItem == 0) SelectedItem = 0;
                else SelectedItem--;
                break;
        }
    }
    return (0);
}
Beispiel #8
0
void main(){
	Output_low(LCD_RW); //Che do ghi 
	LCD_init(); //Khoi tao LCD

	lcd_putcmd(0x01);
	delay_ms(100);
	printf(lcd_putchar,"Nhiet do: ");
	while (true){
		i2c_start();   //Tao dieu kien start de giao tiep
		//Dia chi thiet bi I2C(tra trang 9 cua Datasheet) sau khi da them bit 0 vao
		//0x48 (1001000 them bit 0 vao 10010000 = 0x90
		i2c_write(0x90); 
		i2c_write(0x00); //Gui lenh yeu cau doc nhiet do
		i2c_start();   //Tao lai dieu kien start
		//Dia chi thiet bi I2C(tra trang 9 cua Datasheet) sau khi da them bit 1 vao
		//0x48 (1001000 them bit 1 vao 10010001 = 0x91
		i2c_write(0x91); //Thiet bi chu yeu cau duoc doc du lieu cua thiet bi to
		temp = i2c_read(0); //Gui lenh doc gia tri nhiet do
		i2c_stop();      //Tao dieu kien Stop, ket thuc giao tiep
		LCD_SetPosition(0x09);
		printf(lcd_putchar,"%u",temp); //Hien thi nhiet do doc duoc len LCD 
		lcd_putchar(223);
		printf(lcd_putchar,"C");
		delay_ms(1000);
	}
}
signed char GetYesNo(const char *prompt, signed char Initial) {
    signed char answer;
    signed char inp;
    LCD_ClearDisplay();
    LCD_PrintString(prompt);

    answer = Initial;
    while (1) {
        LCD_SetPosition(1, 0);
        if (answer) LCD_PrintString("<YES>\0");
        else LCD_PrintString("<NO> \0");
        inp = GetInput();
        if (inp < 0) return inp;

        switch (inp) {
            case USER_INPUT_CLICK: //The User Pressed the button to select something...
                return (answer);
                
            case USER_INPUT_CANCEL:
                return -2;
                
            case USER_INPUT_BACK:
                return -1;
                
            case USER_INPUT_INC: //Rot +
            case USER_INPUT_DEC: //Rot -
                answer = !answer;
                break;
            default:
                break;
        }
    }
    return (0);
}
signed char ShowVoltage() {    
    double Batt;
    LCD_ClearDisplay();
    bLock_BatteryVoltage = 1;
    Batt = BatteryVoltage;
    bLock_BatteryVoltage = 0;
    Batt *= Config.Volts_per_Count;
    LCD_PrintString("BATTERY VOLTAGE:\0");
    LCD_SetPosition(1, 0);
    LCD_PrintFloat(Batt, 2, 2, 0);
    LCD_PrintString(" VOLTS\0");
    return GetClick();
}
Beispiel #11
0
/**
 * Configures the SPI module, and writes some test text to the LCD.
 * Effectively tests the basic functionality of the display.
 * @return
 */
int LCD_TEST(void)
{
    LCD_ConfigSPI();
    LCD_InitiaizeLCD();
    LCD_WriteData('L');
    LCD_WriteData('i');
    LCD_WriteData('n');
    LCD_WriteData('e');
    LCD_WriteData(' ');
    LCD_WriteData('1');
    LCD_WriteCommand(LCD_CMD_RETURN_LINE2);
    LCD_WriteData('L');
    LCD_WriteData('i');
    LCD_WriteData('n');
    LCD_WriteData('e');
    LCD_WriteData(' ');
    LCD_WriteData('2');

    LCD_SetPosition(0,0xA);
    LCD_WriteData('T');
    LCD_WriteData('e');
    LCD_WriteData('x');
    LCD_WriteData('t');
    LCD_WriteData(' ');
    LCD_WriteData('1');

    LCD_SetPosition(1,0xA);
    LCD_WriteData('T');
    LCD_WriteData('e');
    LCD_WriteData('x');
    LCD_WriteData('t');
    LCD_WriteData(' ');
    LCD_WriteData('2');


    return 0;
}
/*************************************************************
*	函数名称:LCD_DrawLine
*	功    能:在指定位置画条长度为Length的线
*	参    数:
*				x:  窗体中X坐标中始点
*	 		 	y:  窗体中Y坐标中始点
*				Length:线的长度,长度大于屏幕时,截去
*				Colour:线的颜色 
*	返 回 值:无
*************************************************************/
void LCD_DrawLine(u16 x,u16 y,u16 Length,u16 Colour) 
{
	u16 i;
	if(horizontal_or_vertical)			 //横屏显示时
	{	
		if(x+Length>320)
			Length=320-Length;
	}
	else
	{
		if(x+Length>240)
			Length=240-Length;
	}
	LCD_SetPosition(x,y);
	for(i=0;i<Length;i++)
		LCD_WR_DATA(Colour);
}
Beispiel #13
0
void main(void) {
    signed char ret = 0;
    signed char lastMenu = 0;
    char pnum = 0;

    SetupIO();
    MOTOR_FORWARD = 0;
    MOTOR_REVERSE = 0;

    Move_shifted_position.ul = 0;
    Move_position[0].ul = 0;
    Move_position[1].ul = 0;
    //PID_SetPoint = 0;
    char idx;
    for (idx = 0; idx < 16; idx++) RotaryDetentIntervals[idx] = 0xFF;

    LoadSettings();
    //FactoryDefault();

    SetupHardware();

    LCD_PowerUp();
    LCD_ClearDisplay();

    LCD_PrintString("CINEFLUX ORBIT\0");
    LCD_SetPosition(1, 0);
    LCD_PrintString(VER);
    Wait_ms(2000);

    const char *COMMAND_0 = "ORBIT MODE\0";
    const char *COMMAND_1 = "WAYPOINT MODE\0";
    const char *COMMAND_3 = "RUN PRESET\0";
    const char *COMMAND_2 = "REALTIME MODE\0";
    const char *COMMAND_4 = "BATTERY VOLTAGE\0";
    const char *COMMAND_5 = "GO TO SLEEP\0";
    const char *COMMAND_6 = "EXTERNAL CTRL MODE\0";
    const char*CommandMenu[7];
    CommandMenu[0] = COMMAND_0;
    CommandMenu[1] = COMMAND_1;
    CommandMenu[2] = COMMAND_2;
    CommandMenu[3] = COMMAND_3;
    CommandMenu[4] = COMMAND_4;
    CommandMenu[5] = COMMAND_5;
    CommandMenu[6] = COMMAND_6;

    bFollowMode = 1;
    LCD_ClearDisplay();
    LCD_PrintString("MOVE TO ZERO DEGREES\0");
    LCD_SetPosition(1, 0);
    LCD_PrintString("THEN CLICK...\0");
    GetClick();
    bClear_MotorPosition = 1;
    while (bClear_MotorPosition) Idle();
    Wait_ms(10);
    bFollowMode = 0;
    LCD_ClearDisplay();

    while (1) {
        UI_Location = UI_LOC_MAINMENU;
        ret = DisplayMenu(CommandMenu, 6, lastMenu);
labelProcessCommand:
        switch (ret) {
            case 0:
            case USER_INPUT_MACRO_ORBITMODE:
                lastMenu = 0;
                ret = CreateOrbitProgram();
                if (ret == -2) RealtimeMode();
                if (ret == -1) RealtimeMode();
                if (ret<-2) goto labelProcessCommand;
                break;
            case 1:
            case USER_INPUT_MACRO_WAYMODE:
                lastMenu = 1;
                ret = CreateWaypointProgram();
                if (ret<-2) goto labelProcessCommand;
                if (ret < 0) {
                    ret = RealtimeMode();
                    if (ret<-2) goto labelProcessCommand;
                }
                break;
            case 3:
                lastMenu = 3;
                ret = GetPresetNumber();
                if (ret == -1) break;
                if (ret == -2) break;
                if (ret<-2) goto labelProcessCommand;
                pnum = ret;
                ret = RunPreset(pnum);
                if (ret<-2) goto labelProcessCommand;
                break;
            case 2:
            case USER_INPUT_MACRO_REALMODE:
                lastMenu = 0;
                ret = RealtimeMode();
                if (ret<-2) goto labelProcessCommand;
                break;
            case 4:
                lastMenu = 0;
                ret = ShowVoltage();
                if (ret<-2) goto labelProcessCommand;
                break;
            case 5:
            case USER_INPUT_MACRO_SLEEP:
                lastMenu = 0;
                GoToSleep();
                break;
            case 6:
            case USER_INPUT_MACRO_EXTMODE:
                lastMenu = 0;
                ret = ExtMode();
                if (ret<-2) goto labelProcessCommand;
                break;
            case USER_INPUT_MACRO_RUNPRESET0:
                ret = RunPreset(1);
                if (ret<-2) goto labelProcessCommand;
                break;
            case USER_INPUT_MACRO_RUNPRESET1:
                ret = RunPreset(2);
                if (ret<-2) goto labelProcessCommand;
                break;
            case USER_INPUT_MACRO_RUNPRESET2:
                ret = RunPreset(3);
                if (ret<-2) goto labelProcessCommand;
                break;
            case USER_INPUT_MACRO_RUNPRESET3:
                ret = RunPreset(4);
                if (ret<-2) goto labelProcessCommand;
                break;
            case USER_INPUT_MACRO_RUNPRESET4:
                ret = RunPreset(5);
                if (ret<-2) goto labelProcessCommand;
                break;

        }
    }
}
signed char CreateOrbitProgram() {
    UI_Location = UI_LOC_ORBITSETUP;
    signed char ret;

    const char *DIRECTION_1 = "CLOCKWISE\0";
    const char *DIRECTION_0 = "COUNTER CLOCKWISE\0";
    const char*DirectionMenu[2];
    DirectionMenu[0] = DIRECTION_0;
    DirectionMenu[1] = DIRECTION_1;

    const char *SpeedMODE_0 = "MANUAL\0";
    const char *SpeedMODE_1 = "PER ORBIT\0";
    const char *SpeedMODE_2 = "FOR ALL ORBITS\0";
    const char*SpeedModeMenu[3];
    SpeedModeMenu[0] = SpeedMODE_0;
    SpeedModeMenu[1] = SpeedMODE_1;
    SpeedModeMenu[2] = SpeedMODE_2;

    const char *ENDMODE_0 = "BY ORBIT COUNT\0";
    const char *ENDMODE_1 = "BY TOTAL TIME\0";
    const char *ENDMODE_2 = "NEVER ENDING\0";
    const char*EndModeMenu[3];
    EndModeMenu[0] = ENDMODE_0;
    EndModeMenu[1] = ENDMODE_1;
    EndModeMenu[2] = ENDMODE_2;

    const char *COMMAND_0 = "RUN PROGRAM\0";
    const char *COMMAND_1 = "SAVE PRESET\0";
    const char*CommandMenu[2];
    CommandMenu[0] = COMMAND_0;
    CommandMenu[1] = COMMAND_1;

labelOrigin:
    LCD_ClearDisplay();
    LCD_PrintString("MOVE TO START...\0");
    LCD_SetPosition(1, 0);
    LCD_PrintString("THEN CLICK.\0");
    bFollowMode = 1;
    ret = GetClick();
    bFollowMode = 0;
    if (ret < 0) return ret;    
    CurrentOrbitProgram.Origin_deg = (unsigned int) GetCurrentAngle();

labelDirection:
    ret = DisplayChoices(DirectionMenu, 1, "ROTATION DIRECTION:\0", CurrentOrbitProgram.IsClockWise);
    if (ret == -1) goto labelOrigin;
    if (ret == -2) return (-2);
    if (ret < 0) return ret;
    CurrentOrbitProgram.IsClockWise = ret;

labelEndMode:
    ret = DisplayChoices(EndModeMenu, 2, "PROGRAM END MODE:\0", CurrentOrbitProgram.EndMode);
    if (ret == -1) goto labelDirection;
    if (ret == -2) return (-2);
    if (ret < 0) return ret;
    CurrentOrbitProgram.EndMode = ret;
    switch (CurrentOrbitProgram.EndMode) {
        case 0: //End based on Cycle Count.
            labelCycleCount :
            if (CurrentOrbitProgram.CycleCount_rev < 1) CurrentOrbitProgram.CycleCount_rev = 1;
            if (CurrentOrbitProgram.CycleCount_rev > 999) CurrentOrbitProgram.CycleCount_rev = 999;

            ret = GetFloat("ORBIT LIMIT:\0", "", &CurrentOrbitProgram.CycleCount_rev, 1, 999, 1.0);
            if (ret == -1) goto labelEndMode;
            if (ret == -2) return (-2);
            if (ret < 0) return ret;

labelSpeedMode:
            if (CurrentOrbitProgram.CycleCount_rev > 1) ret = DisplayChoices(SpeedModeMenu, 2, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
            else ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
            if (ret == -1) goto labelCycleCount;
            if (ret == -2) return (-2);
            if (ret < 0) return ret;
            switch (ret) {
                case 0:

                    if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
                    ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
                    if (ret == -1) goto labelSpeedMode;
                    if (ret == -2) return (-2);
                    break;
                case 1:
                    if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
                    ret = GetTime("TIME PER ORBIT\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
                    if (ret == -1) goto labelSpeedMode;
                    if (ret == -2) return (-2);
                    CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
                    break;
                case 2:
                    if (CurrentOrbitProgram.CycleTime_sec < (4 * CurrentOrbitProgram.CycleCount_rev)) CurrentOrbitProgram.CycleTime_sec = 4 * CurrentOrbitProgram.CycleCount_rev;
                    ret = GetTime("TIME FOR ALL ORBITS\0", &CurrentOrbitProgram.CycleTime_sec, 4 * CurrentOrbitProgram.CycleCount_rev, 86400, 0b1110);
                    if (ret == -1) goto labelSpeedMode;
                    if (ret == -2) return (-2);
                    CurrentOrbitProgram.Speed_deg_sec = (360 * CurrentOrbitProgram.CycleCount_rev) / CurrentOrbitProgram.CycleTime_sec;
                    break;
            }
            break;
        case 1://End based on runtime.
            labelProgramRuntime :

                    ret = GetTime("TOTAL RUNTIME:\0", &CurrentOrbitProgram.ProgramRunTime_sec, 1, 86400, 0b1110);
            if (ret == -1) goto labelEndMode;
            if (ret == -2) return (-2);
            if (ret < 0) return ret;
labelSpeedMode2:

            ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
            if (ret == -1) goto labelProgramRuntime;
            if (ret == -2) return (-2);
            if (ret < 0) return ret;
            switch (ret) {
                case 0:
                    if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
                    ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
                    if (ret == -1) goto labelSpeedMode2;
                    if (ret == -2) return (-2);
                    break;
                case 1:
                    if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
                    ret = GetTime("TIME PER ORBIT:\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
                    if (ret == -1) goto labelSpeedMode2;
                    if (ret == -2) return (-2);
                    CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
                    break;
            }
            CurrentOrbitProgram.CycleCount_rev = (CurrentOrbitProgram.Speed_deg_sec * CurrentOrbitProgram.ProgramRunTime_sec) / 360;
            break;
        case 2: //NO END AT ALL
            labelSpeedMode3 :
                    ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
            if (ret == -1) goto labelEndMode;
            if (ret == -2) return (-2);
            if (ret < 0) return ret;
            switch (ret) {
                case 0:
                    if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
                    ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
                    if (ret == -1) goto labelSpeedMode3;
                    if (ret == -2) return (-2);
                    if (ret < 0) return ret;
                    break;
                case 1:
                    if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
                    ret = GetTime("TIME PER ORBIT:\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
                    if (ret == -1) goto labelSpeedMode3;
                    if (ret == -2) return (-2);
                    if (ret < 0) return ret;
                    CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
                    break;
            }
            break;

    }

labelActions:
    ret = DisplayChoices(CommandMenu, 1, "ACTION:\0", 0);
    if (ret == -1) goto labelCycleCount;
    if (ret == -2) return (-2);
    if (ret < 0) return ret;
    if (ret == 0) {
        return RunOrbitProgram();
    }

    ret = GetPresetNumber();
    if (ret == -1) goto labelActions;
    if (ret == -2) return (-2);
    if (ret < 0) return ret;

    CurrentOrbitProgram.Type = 2;
    SavePreset(ret, (unsigned char *) &CurrentOrbitProgram);
    goto labelActions;
}
signed char RunOrbitProgram() {
    signed char retCode = 0;
    UI_Location = UI_LOC_ORBITRUN;
    signed char ret;
    double EndPos;
    double OriginPos;
    double TimeRemaining;
    double DistanceRemaining;
    double MPos;
   
    LCD_ClearDisplay();
    LCD_PrintString("MOVING TO START\0");
    OriginPos=(double)CurrentOrbitProgram.Origin_deg;
    MoveToAngle(OriginPos, 90);
    while (bMove_InProgress) {
        Idle();
        ret = GetInput_nonblocking();
        if (ret == USER_INPUT_CANCEL) {
            retCode = -2;
            goto labelFinished;
        }
        if (ret < 0) {
            retCode = ret;
            goto labelFinished;
        }
    }


    double Distance = CurrentOrbitProgram.CycleCount_rev * 360;
    if (CurrentOrbitProgram.EndMode == 2) Distance = 7776000;
    if (!CurrentOrbitProgram.IsClockWise) Distance = -Distance;

    bLock_Motor_Position = 1;
    OriginPos = Motor_Position;
    bLock_Motor_Position = 0;
    OriginPos *= Config.Degrees_Per_Count;

    EndPos = OriginPos + Distance;


    LCD_ClearDisplay();
    LCD_PrintString("RUNNING: T-HH:MM:SS\0");

    if (CurrentOrbitProgram.EndMode == 2) {
        LCD_ClearDisplay();
        LCD_PrintString("ORBIT RUNNING\0");
        LCD_SetPosition(1, 0);
        LCD_PrintString("INFINITE RUNTIME\0");
    }

    double SpdConvert = 1 / CurrentOrbitProgram.Speed_deg_sec;
    ret = GetInput_nonblocking();

    Move(Distance, CurrentOrbitProgram.Speed_deg_sec);
    while (bMove_InProgress) {

        bLock_Motor_Position = 1;
        MPos = Motor_Position;
        bLock_Motor_Position = 0;
        MPos *= Config.Degrees_Per_Count;

        DistanceRemaining = EndPos - MPos;
        if (DistanceRemaining < 0) DistanceRemaining = -DistanceRemaining;
        TimeRemaining = DistanceRemaining*SpdConvert;
        DistanceRemaining *= 0.002778;

        if (!(CurrentOrbitProgram.EndMode == 2)) {
            LCD_SetPosition(0, 11);
            PrintTime(TimeRemaining, 0b1110, 0);
            LCD_SetPosition(1, 0);
            LCD_PrintFloat(DistanceRemaining, 5, 2, 0);
            LCD_PrintString(" REV REMAIN\0");
        }

        ret = GetInput_nonblocking();
        if (ret == USER_INPUT_CANCEL) {
            retCode = -2;
            goto labelFinished;
        }
        if (ret < 0) {
            retCode = ret;
            goto labelFinished;
        }

        Idle();
    }

labelFinished:
    bMove_InProgress = 0;
    bFollowMode = 0;
    bSpeedMode = 1;
    Speed_SetToThis = 0;
    Speed_SetPending = 1;
    LCD_ClearDisplay();
    LCD_PrintString("STOPPING...\0");
    while (Speed_SetPending);
    while (Speed_IsAccelerating){
        Idle();
    }
    bMove_InProgress = 0;
    bFollowMode = 0;
    bSpeedMode=0;
    return retCode;
}
Beispiel #16
0
void main(void) {
    signed char ret = 0;
    signed char lastMenu = 0;
    char pnum = 0;

    SetupIO();
    MOTOR_FORWARD = 0;
    MOTOR_REVERSE = 0;

    Move_shifted_position.ul = 0;
    Move_position[0].ul = 0;
    Move_position[1].ul = 0;
    //PID_SetPoint = 0;
    char idx;
    for (idx = 0; idx < 16; idx++) RotaryDetentIntervals[idx] = 0xFF;

    //LoadSettings();
    FactoryDefault();

    SetupHardware();

    LCD_PowerUp();
    LCD_ClearDisplay();

    LCD_PrintString("CINEFLUX ORBIT\0");
    LCD_SetPosition(1,0);    
    LCD_PrintString(VER);
    Wait_ms(2000);

    const char *COMMAND_0 = "ORBIT MODE\0";
    const char *COMMAND_1 = "WAYPOINT MODE\0";
    const char *COMMAND_3 = "RUN PRESET\0";
    const char *COMMAND_2 = "REALTIME MODE\0";
    const char *COMMAND_4 = "BATTERY VOLTAGE\0";
    const char *COMMAND_5 = "GO TO SLEEP\0";
    const char *COMMAND_6 = "EXTERNAL CTRL MODE\0";
    const char*CommandMenu[7];
    CommandMenu[0] = COMMAND_0;
    CommandMenu[1] = COMMAND_1;
    CommandMenu[2] = COMMAND_2;
    CommandMenu[3] = COMMAND_3;
    CommandMenu[4] = COMMAND_4;
    CommandMenu[5] = COMMAND_5;
    CommandMenu[6] = COMMAND_6;

    bFollowMode = 1;
    LCD_ClearDisplay();
    LCD_PrintString("MOVE TO ZERO DEGREES\0");
    LCD_SetPosition(1, 0);
    LCD_PrintString("THEN CLICK...\0");
    GetClick();
    bClear_MotorPosition = 1;
    while (bClear_MotorPosition) Idle();
    Wait_ms(10);
    bFollowMode = 0;
    LCD_ClearDisplay();

    while (1) {
        ret = DisplayMenu(CommandMenu, 6, lastMenu);
        switch (ret) {
            case 0:
                lastMenu = 0;
                if (!CreateOrbitProgram() == 0)
                    RealtimeMode();
                break;
            case 1:
                lastMenu = 1;
                if (!CreateWaypointProgram() == 0)
                    RealtimeMode();
                break;
            case 3:
                lastMenu = 2;
                ret = GetPresetNumber();
                if (ret == -1) break;
                if (ret == -2) break;
                pnum = ret;
                switch (GetPresetType(pnum)) {
                    case 1:
                        LoadPreset(pnum, (unsigned char *) &CurrentPath);
                        if (!RunWaypointProgram() == 0)
                            RealtimeMode();
                        break;
                    case 2:
                        LoadPreset(pnum, (unsigned char *) &CurrentOrbitProgram);
                        if (!RunOrbitProgram() == 0)
                            RealtimeMode();
                        break;
                }
                break;
            case 2:
                lastMenu = 2;
                RealtimeMode();
                break;
            case 4:
                lastMenu = 0;
                ShowVoltage();
                break;
            case 5:
                lastMenu = 0;
                GoToSleep();
                break;
            case 6:
                lastMenu = 0;
                ExtMode();
                break;
        }
    }
}
Beispiel #17
0
void main(){
   int temp1, temp2,temp3; // Bien duoc do ra tu EEPROM
   int keypad[10],i, position;
   int B_ENTER, B_EXIT, E0;
   
   temp1 = read_eeprom(add_setup_temp_1);
   temp2 = read_eeprom(add_setup_temp_2);
   temp3 = read_eeprom(add_setup_temp_3);
   nhietdo_setup = temp1*10 + temp2 + temp3*0.1; //Gia tri nhiet do setup
   
   Output_low(LCD_RW);
   LCD_Init();
   
   TRISB = 0xFF;
   TRISE = 0xFF;
   LCD_PutCmd(0x01);
   LCD_SetPosition(0x00); //Chuyen vi tri con tro sang dong 1
      
   printf(lcd_putchar,"Setup: %.1f",nhietdo_setup);
   lcd_putchar(223);
   printf(lcd_putchar,"C");   
 
   while (true){
      //Doc gia tri nhiet do tu cam bien DS18B20
      temp_float = ds18b20_read(); 
      LCD_SetPosition(0x40); //Chuyen vi tri con tro sang dong 2
      printf(lcd_putchar,"Measure: %.1f",temp_float);
      lcd_putchar(223);
      printf(lcd_putchar,"C");
      OF_RELAY(temp_float, nhietdo_setup);
      E0 = input(SETUP_EXIT);
      if (E0 == 0){
         //while (input(SETUP_EXIT)==0) ;
         
         LCD_PutCmd(0x01);
         LCD_SetPosition(0x00);
         printf(lcd_putchar,"SETUP TEMP: ");
        
         delay_ms(1000);
         i = 0;
         position = 64;
         //Khi chua nhan nut EXIT hay ENTER 
         B_EXIT = input(SETUP_EXIT);
         B_ENTER = input(ENTER);
         while ((B_ENTER==1) | (B_EXIT == 1)){
            int value;
            B_EXIT = input(SETUP_EXIT);
            B_ENTER = input(ENTER);
            value = READ_BUTTON();
            //Chi cho nhap va hien thi 3 so
            if ((value >= 0) && (value < 10) && (i<=2)){
              LCD_SetPosition(position);
              printf(lcd_putchar,"%d",value);
              delay_ms(1000);
              keypad[i] = value; 
              i++;
              position++;
            }
            else 
               //Khi da nhap du 3 so va nhan nut ENTER
               if ((value == 100) && (i>=3)){
                  write_eeprom(add_setup_temp_1,keypad[0]);
                  write_eeprom(add_setup_temp_2,keypad[1]);
                  write_eeprom(add_setup_temp_3,keypad[2]);
                  
                  temp1 = read_eeprom(add_setup_temp_1);
                  temp2 = read_eeprom(add_setup_temp_2);
                  temp3 = read_eeprom(add_setup_temp_3);
                  nhietdo_setup = temp1*10 + temp2 + temp3*0.1; //Gia tri nhiet do setup
                  
                  LCD_PutCmd(0x01);
                  LCD_SetPosition(0x00); //Chuyen vi tri con tro sang dong 1
      
                  printf(lcd_putchar,"Setup: %.1f",nhietdo_setup);
                  lcd_putchar(223);
                  printf(lcd_putchar,"C");
                  
                  temp_float = ds18b20_read(); 
      
                  LCD_SetPosition(0x40); //Chuyen vi tri con tro sang dong 2
                  printf(lcd_putchar,"Measure: %.1f",temp_float);
                  lcd_putchar(223);
                  printf(lcd_putchar,"C");
                  break;                  
               }
               else 
                  if (value == 50){ //Khi da nhan nut EXIT thi thoat khoi vong lap
                     LCD_PutCmd(0x01);
                     LCD_SetPosition(0x00); //Chuyen vi tri con tro sang dong 1
      
                     printf(lcd_putchar,"Setup: %.1f",nhietdo_setup);
                     lcd_putchar(223);
                     printf(lcd_putchar,"C");
                     
                     temp_float = ds18b20_read(); 
      
                     LCD_SetPosition(0x40); //Chuyen vi tri con tro sang dong 2
                     printf(lcd_putchar,"Measure: %.1f",temp_float);
                     lcd_putchar(223);
                     printf(lcd_putchar,"C");
     
                     break;
                 }
            }
      }
   }
}
signed char GetTime(const char *prompt, double *Time, double Min, double Max, char Precision) {
    char Seconds, Minutes, Hours;
    int Milliseconds;
    double Tm = *Time;
    signed char ret = 0;

    ConvertTimeToDiscrete(Tm, &Hours, &Minutes, &Seconds, &Milliseconds);
    if (!(Precision & 0b1000)) Hours = 0;
    if (!(Precision & 0b0100)) Minutes = 0;
    if (!(Precision & 0b0010)) Seconds = 0;
    if (!(Precision & 0b0001)) Milliseconds = 0;
    Tm = ConvertTimeFromDiscrete(Hours, Minutes, Seconds, Milliseconds);
    if (Tm < Min) Tm = Min;
    if (Tm > Max) Tm = Max;

labelHours:
    if (!(Precision & 0b1000)) goto labelMinutes;
    LCD_ClearDisplay();
    LCD_PrintString(prompt);
    LCD_PrintString("<H>");
    LCD_SetPosition(1, 0);
    LCD_PrintString("                   \0");
    while (1) {
        LCD_SetPosition(1, 0);
        PrintTime(Tm, Precision, 0b1000);
        ret = GetInput();
        if (ret < 0) return ret;
        switch (ret) {
            case USER_INPUT_CLICK: //user has pressed the switch to accept.
                goto labelMinutes;
            case USER_INPUT_BACK: //user has pressed back
                return (-1);
            case USER_INPUT_CANCEL: //user has pressed Cancel
                return (-2);
            case USER_INPUT_INC: //Rot+
                Tm += 3600;
                if (Tm > Max) Tm = Max;
                break;
            case USER_INPUT_DEC:
                Tm -= 3600;
                if (Tm < Min) Tm = Min;
                break;
        }
    }
labelMinutes:
    if (!(Precision & 0b0100)) goto labelSeconds;
    LCD_ClearDisplay();
    LCD_PrintString(prompt);
    LCD_PrintString("<M>");
    LCD_SetPosition(1, 0);
    LCD_PrintString("                   \0");
    while (1) {
        LCD_SetPosition(1, 0);
        PrintTime(Tm, Precision, 0b0100);
        ret = GetInput();
        if (ret < 0) return ret;
        switch (ret) {
            case USER_INPUT_CLICK: //user has pressed the switch to accept.
                goto labelSeconds;
            case USER_INPUT_BACK: //user has pressed back
                goto labelHours;
            case USER_INPUT_CANCEL: //user has pressed Cancel
                return (-2);
            case USER_INPUT_INC: //Rot+
                Tm += 60;
                if (Tm > Max) Tm = Max;
                break;
            case USER_INPUT_DEC:
                Tm -= 60;
                if (Tm < Min) Tm = Min;
                break;
        }
    }
labelSeconds:
    if (!(Precision & 0b0010)) goto labelMilliseconds;
    LCD_ClearDisplay();
    LCD_PrintString(prompt);
    LCD_PrintString("<S>");
    LCD_SetPosition(1, 0);
    LCD_PrintString("                   \0");
    while (1) {
        LCD_SetPosition(1, 0);
        PrintTime(Tm, Precision, 0b0010);
        ret = GetInput();
        if (ret < 0) return ret;
        switch (ret) {
            case USER_INPUT_CLICK: //user has pressed the switch to accept.
                goto labelMilliseconds;
            case USER_INPUT_BACK: //user has pressed back
                goto labelMinutes;
            case USER_INPUT_CANCEL: //user has pressed Cancel
                return (-2);
            case USER_INPUT_INC: //Rot+
                Tm += 1;
                if (Tm > Max) Tm = Max;
                break;
            case USER_INPUT_DEC:
                Tm -= 1;
                if (Tm < Min) Tm = Min;
                break;
        }
    }
labelMilliseconds:
    if (!(Precision & 0b0001)) goto labelFinished;
    LCD_ClearDisplay();
    LCD_PrintString(prompt);
    LCD_PrintString("<ms>");
    LCD_SetPosition(1, 0);
    LCD_PrintString("                   \0");
    while (1) {
        LCD_SetPosition(1, 0);
        PrintTime(Tm, Precision, 0b0001);
        ret = GetInput();
        if (ret < 0) return ret;
        switch (ret) {
            case USER_INPUT_CLICK: //user has pressed the switch to accept.
                goto labelFinished;
            case USER_INPUT_BACK: //user has pressed back
                goto labelSeconds;
            case USER_INPUT_CANCEL: //user has pressed Cancel
                return (-2);
            case USER_INPUT_INC: //Rot+
                Tm += 0.1;
                if (Tm > Max) Tm = Max;
                break;
            case USER_INPUT_DEC:
                Tm -= 0.1;
                if (Tm < Min) Tm = Min;
                break;
        }
    }
labelFinished:
    *Time = Tm;
    return 0;
}