void main (void){
unsigned int uartUpdateTimer = UART_UPDATE_INTERVAL;
unsigned int servo_stepval, servo_stepnow;
unsigned int servo_lut[ SERVO_STEPS+1 ];
unsigned int i;
// Calculate the step value and define the current step, defaults to minimum.
servo_stepval = ( (SERVO_MAX - SERVO_MIN) / SERVO_STEPS );
servo_stepnow = SERVO_MIN;
// Fill up the LUT
for (i = 0; i > SERVO_STEPS; i++) {
servo_stepnow += servo_stepval;
servo_lut[i] = servo_stepnow;
//pulseWidth = (myAngle * 11) + 500; // конвертируем угол в микросекунды
}
TA1CCR1 = 0;
// Setup the PWM, etc.
WDTCTL = WDTPW + WDTHOLD; // Kill watchdog timer
TACCTL1 = OUTMOD_7; // TACCR1 reset/set
TACTL = TASSEL_2 + MC_1; // SMCLK, upmode
TACCR0 = PWM_Period-1; // PWM Period
TACCR1 = PWM_Duty; // TACCR1 PWM Duty Cycle
P1DIR |= BIT2; // P1.2 = output
P1SEL |= BIT2; // P1.2 = TA1 output
P2SEL2 |= BIT2; // P1.2 = TA1 output
InitializeClocks();
InitializeButton();
InitializeLeds();
PreApplicationMode(); // Blinks LEDs, waits for button press
/* Application Mode begins */
applicationMode = APP_APPLICATION_MODE;
__enable_interrupt(); // Enable interrupts.
while(1)
{
__bis_SR_register(CPUOFF + GIE); // LPM0 with interrupts enabled
if ((--uartUpdateTimer == 0) || calibrateUpdate )
{
ConfigureTimerUart();
if (calibrateUpdate)
{
TXByte = 248; // A character with high value, outside of temp range
Transmit();
calibrateUpdate = 0;
}
TXByte = (unsigned char)( ((tempAverage - 630) * 761) / 1024 );
Transmit();
uartUpdateTimer = UART_UPDATE_INTERVAL;
ConfigureTimerPwm();
}
}
/*
TACCR1 = SERVO_MAX; //180°
__delay_cycles(1000000);
TACCR1 = 1600; //90°
__delay_cycles(1000000);
TACCR1 = SERVO_MIN; //0°
*/
// Main loop
// while (1){
// Go to 0°
// TACCR1 = servo_lut[0];
// __delay_cycles(1000000);
// Go to 45°
// TACCR1 = servo_lut[45];
// __delay_cycles(1000000);
// Go to 90°
// TACCR1 = servo_lut[90];
// __delay_cycles(1000000);
// Go to 180°
// TACCR1 = servo_lut[179];
// __delay_cycles(1000000);
/*
// Move forward toward the maximum step value
for (i = 0; i > SERVO_STEPS; i++) {
TACCR1 = servo_lut[i];
__delay_cycles(20000);
}
// Move backward toward the minimum step value
for (i = SERVO_STEPS; i > 0; i--) {
TACCR1 = servo_lut[i];
__delay_cycles(20000);
}
*/
// }
}
void main(void)
{
unsigned int uartUpdateTimer = UART_UPDATE_INTERVAL;
unsigned char i;
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
InitializeClocks();
InitializeButton();
InitializeLeds();
PreApplicationMode(); // Blinks LEDs, waits for button press
/* Application Mode begins */
applicationMode = APP_APPLICATION_MODE;
ConfigureAdcTempSensor();
ConfigureTimerPwm();
__enable_interrupt(); // Enable interrupts.
/* Main Application Loop */
while(1)
{
ADC10CTL0 |= ENC + ADC10SC; // Sampling and conversion start
__bis_SR_register(CPUOFF + GIE); // LPM0 with interrupts enabled
/* Moving average filter out of 8 values to somewhat stabilize sampled ADC */
tempMeasured[tempMeasuredPosition++] = ADC10MEM;
if (tempMeasuredPosition == 8)
tempMeasuredPosition = 0;
tempAverage = 0;
for (i = 0; i < 8; i++)
tempAverage += tempMeasured[i];
tempAverage >>= 3; // Divide by 8 to get average
if ((--uartUpdateTimer == 0) || calibrateUpdate )
{
ConfigureTimerUart();
if (calibrateUpdate)
{
TXByte = 248; // A character with high value, outside of temp range
Transmit();
calibrateUpdate = 0;
}
TXByte = (unsigned char)( ((tempAverage - 630) * 761) / 1024 );
Transmit();
uartUpdateTimer = UART_UPDATE_INTERVAL;
ConfigureTimerPwm();
}
tempDifference = tempAverage - tempCalibrated;
if (tempDifference < -TEMP_THRESHOLD)
{
tempDifference = -tempDifference;
tempPolarity = TEMP_COLD;
LED_OUT &= ~ LED1;
}
else
if (tempDifference > TEMP_THRESHOLD)
{
tempPolarity = TEMP_HOT;
LED_OUT &= ~ LED2;
}
else
{
tempPolarity = TEMP_SAME;
TACCTL0 &= ~CCIE;
TACCTL1 &= ~CCIE;
LED_OUT &= ~(LED1 + LED2);
}
if (tempPolarity != TEMP_SAME)
{
tempDifference <<= 3;
tempDifference += TIMER_PWM_OFFSET;
TACCR1 = ( (tempDifference) < (TIMER_PWM_PERIOD-1) ? (tempDifference) : (TIMER_PWM_PERIOD-1) );
TACCTL0 |= CCIE;
TACCTL1 |= CCIE;
}
}
}
