/*******************************************************************************
**函 数: Get_ADC_Average()
**功 能: 获取通道ch的转换值，取times次,然后平均
**参 数: times:获取次数
ADC_Result:转换结果平均值
**返 回: 0：成功 1：失败
**说 明：
********************************************************************************/
u8 Get_ADC_Average(u8 times,u16 *Average_Voltage)
{
u32 temp_val=0;
u16 ADC_val = 0;
u8 t;
ADC1->CR2 |= 1<<0; //ADCON POWER ON
for(t=0;t<times;t++)
{
if(!Get_ADC(&ADC_val))
{
temp_val += ADC_val;
delay_ms(1);
}
else
{
ADC1->CR2 &= ~(1<<0); //ADCON POWER OFF
return 1;
}
}
*Average_Voltage = temp_val/times;
ADC1->CR2 &= ~(1<<0); //ADCON POWER OFF
return 0;
}
void main(){
char period = 0xAA;
Initialize_ADC();
OpenPWM1(period); //PWM on pin 17
SetDCPWM1(Get_ADC()); //ADC on pin 2
}
int rx_byte (float min)
{
int j, val;
int v;
//skip the start bit
val = 0;
Get_ADC(1);
wait_one_and_half_bit_time();
for (j=0; j<8; j++)
{
v = Get_ADC(1);
val|=(v>min)?(0x01<<j):0x00; //if voltage is greater than "min" then the returned val gets a bit at the right position
wait_bit_time();
}
//wait for stop bits
wait_one_and_half_bit_time();
return val;
}
void ADC_Task(void *parg)
{
u16 value[3];
u16 arg;
float v;
u16 G;
u16 n;
(void)parg;
for(;;)
{
value[0]=Get_ADC();//读到的AD值
value[1]=Get_ADC();
value[2]=Get_ADC();
arg=(value[0]+value[1]+value[2])/3;
v=(arg*5000)/65535;//转换成电压
G=(u16)(v/VPG);//计算重量，单位克，分辨率1g
if(G==0)
{
Motor_On(1);//开启强振电机
Motor_On(2);//开启弱振电机
}
else
{
if(G>=VALUE1)//前置重量
{
Motor_Off(1);//关闭强振电机
if(G==VALUE2*0.99)//即将达到设定值
{
Motor_Off(2);//关闭弱振电机
n++;
prog2.per=n/VALUE3;
LCD_DrawProg(prog2);
}
}
prog1.per=G/VALUE2;
LCD_DrawProg(prog1);
}
OSTimeDlyHMSM(0,0,0,250);
}
}
/*******************************************************************************
**函 数: Get_ADC_Average()
**功 能: 获取通道ch的转换值，取times次,然后平均
**参 数: times:获取次数
ADC_Result:转换结果平均值
**返 回: 0：成功 1：失败
**说 明：
********************************************************************************/
u8 Get_ADC_Average(u8 times,u16 *Average_Voltage)
{
u32 temp_val=0;
u16 ADC_val = 0;
u8 t;
for(t=0;t<times;t++)
{
if(!Get_ADC(&ADC_val))
{
temp_val += ADC_val;
delay_ms(1);
}
else return 1;
}
*Average_Voltage = temp_val/times;
return 0;
}
void main(void)
{
unsigned char n, m, delta;
signed int th, change = 0, eis5temp;
signed char korrektur;
unsigned int exponent, eis5lux, rest;
// start watchdog 2,6 sec
WDL = 0xFF;
EA = 0;
WDCON = 0xE5;
WFEED1 = 0xA5;
WFEED2 = 0x5A;
EA = 1;
restart_hw(); // Hardware zuruecksetzen
for (n = 0; n < 50; n++)
{ // Warten bis Bus stabil, nach Busspannungswiederkehr
TR0 = 0; // Timer 0 anhalten
TH0 = eeprom[ADDRTAB + 1];// Timer 0 setzen mit phys. Adr. damit Geräte unterschiedlich beginnen zu senden
TL0 = eeprom[ADDRTAB + 2];
TF0 = 0; // Überlauf-Flag zurücksetzen
TR0 = 1; // Timer 0 starten
while (!TF0)
;
}
restart_app(); // Anwendungsspezifische Einstellungen zuruecksetzen
// feed watchdog
EA = 0;
WFEED1 = 0xA5;
WFEED2 = 0x5A;
EA = 1;
do
{
if (eeprom[0x0D] == 0xFF && fb_state == 0 && !connected)
{ // Nur wenn im run-mode und statemachine idle
ET1 = 0; // statemachine stoppen
switch (sequence)
{
case 1:
if ((timer & 0x3F) == 0x30)
{ // nur alle 10 Sekunden wandeln
interrupted = 0;
start_tempconversion(); // Konvertierung starten
if (!interrupted)
sequence = 2;
}
ET1 = 1; // statemachine starten
break;
case 2:
if ((timer & 0x07) == 0x07)
{ // nur ein mal pro Sekunde pollen
interrupted = 0;
if (ow_read_bit() && !interrupted)
sequence = 3; // Konvertierung abgeschlossen
}
ET1 = 1; // statemachine starten
break;
case 3:
interrupted = 0;
#ifdef DEBUG
th = ti;
ti+=100;
if (ti>2800) ti=2000;
#else
th = read_temp(); // Temperatur einlesen
#endif
ET1 = 1; // statemachine starten
korrektur = (signed char) eeprom[TEMPCORR]; // Parameter Korrekturwert Temperatur
for (n = 0; n < 10; n++)
th += korrektur;
if (!interrupted)
{
temp = th;
if (temp != lasttemp)
{
eis5temp = (temp >> 3) & 0x07FF;// durch 8 teilen, da später Exponent 3 dazukommt
eis5temp = eis5temp + (0x18 << 8);
if (temp < 0)
eis5temp += 0x8000; // Vorzeichen
write_obj_value(1, eis5temp);
schwelle(6); // Temperaturschwellen prüfen und ggf. reagieren
schwelle(7);
}
sequence = 4;
}
break;
case 4: // Helligkeitswert konvertieren
interrupted = 0;
Get_ADC(3); // ADC-Wert holen
ET1 = 1; // statemachine starten
if (!interrupted)
{
n = 0;
if (HighByte >= 112)
{
lux = 65535;
}
else
{
/*
while (HighByte >= logtable[n]) n++;
if (n>1) {
lux=8;
lux=lux<<(n-1); // unterer Wert
}
else lux=0;
*/
lux = 2;
while (HighByte >= logtable[n])
{
n++;
lux = lux * 2;
}
if (n <= 1)
lux = 0;
rest = HighByte - logtable[n - 1];
delta = logtable[n] - logtable[n - 1];
/*
if (n<11) lux+=_divuint(rest<<(n+2),delta);
else lux+=_divuint(rest<<(n-2),delta)<<4;
*/
if (n < 11)
m = n + 2;
else
m = n - 2;
rest = rest << m;
rest = _divuint(rest, delta);
if (n < 11)
lux += rest;
else
lux += rest << 4;
if (n < 7)
lux += (_divuint(LowByte << (n + 2), delta) >> 8);
}
if (lux != lastlux)
{
exponent = 0x3800; // Exponent 7
eis5lux = lux >> 1;
eis5lux += lux >> 2;
eis5lux += lux >> 5;
while (eis5lux > 0x07FF)
{ // Exponent erhöhen falls Mantisse zu groß
eis5lux = eis5lux >> 1;
exponent += 0x0800;
}
eis5lux += exponent;
write_obj_value(0, eis5lux);// Lux Wert im userram speichern
schwelle(4); // Helligkeitsschwellen 2 und 3
schwelle(5);
}
void main (void)
{
int byte = 300;
float v0 = 0;
float v1 = 0;
float v2 = 0;
float v3 = 0;
float valign = 0;
double vright = 0;
double vleft = 0;
int temp = 0;
P2_0 = 1; //front LED
P2_1 = 0; //back LED
printf("\x1b[2J"); // Clear screen using ANSI escape sequence.
// Start the ADC in order to select the first channel.
// Since we don't know how the input multiplexer was set up,
// this initial conversion needs to be discarded.
AD0BUSY=1;
while (AD0BUSY); // Wait for conversion to complete
while(1)
{
v0 = Get_ADC(1);
v1 = Get_ADC(2);
v2 = Get_ADC(3);
v3 = Get_ADC(0);
if(dist == 2){
vright = v1;
vleft = v3;
distance = 2.8;
}
if(dist == 1){
buffer = 0.2;
vright = v0;
vleft = v2;
distance = 1.5;
}
if(dist == 3){
vright = v1;
vleft = v3;
distance = 2.0;
buffer = 0.3;
}
if(dist == 4){
vright = v1;
vleft = v3;
distance = 1.2;
buffer = 0.2;
}
if(dist == 5){
vright = v1;
vleft = v3;
distance = 0.5;
buffer = 0.3;
}
valign = abs(vleft-vright);
printf("Vright = %5.3f ", vright);
printf("Vleft = %5.3f", vleft);
printf("distance = %d\r", dist);
/* if(vleft<0.15){
P2_2 = 0;
P2_3 = 0;
P2_4 = 0;
P2_5 = 0;
byte = rx_byte(0.2);
printf("\n byte = %d\n", byte);
}*/
if(valign < 0.2){
//straight
if(vright+buffer>distance && vright - buffer < distance){//stay
P2_2 = 0;
P2_3 = 0;
P2_4 = 0;
P2_5 = 0;
}
else if (vright-buffer > distance){//back
P2_2 = 1;
P2_3 = 0;
P2_4 = 0;
P2_5 = 1;
}
else{//forward
P2_2 = 0;
P2_3 = 1;
P2_4 = 1;
P2_5 = 0;
}
}
else{
printf("\n\rTURNING\n\r");
if(vright > vleft){
P2_2 = 0;
P2_3 = 0;
P2_4 = 1;
P2_5 = 0;
}
else{
P2_2 = 0;
P2_3 = 1;
P2_4 = 0;
P2_5 = 0;
}
}
if(byte == 0 || byte == 1 || byte == 129 || byte == 128){ // move farther p0
if(dist != 5){
dist++;
}
byte = 300;
}
if(byte == 254 || byte == 255 || byte == 253 ){ //move closer p1
if(dist != 1){
dist--;
}
byte = 300;
printf("move closer \n");
}
if(byte == 14 || byte == 15 || byte == 7){ //rotate 180 p2
byte = 300;
P2_2 = 0;
P2_3 = 1;
P2_4 = 0;
P2_5 = 0;
waitms(2500);
P2_2 = 0;
P2_3 = 0;
P2_4 = 0;
P2_5 = 0;
if (dist != 5){
dist++;
}
printf("rotate 180 \n");
}
if(byte == 238 || byte == 239 || byte == 119){ //front leds p3
P2_0 = !P2_0;
byte = 300;
printf("ledfront \n");
}
if(byte == 56 || byte == 57 || byte == 25){ //back leds p4
P2_1 = !P2_1;
byte = 300;
printf("ledback \n");
}
if(byte == 246 || byte == 243 || byte ==251){ //buzzer p5
byte = 300;
printf("buzz on \n");
}
if(byte == 124 || byte == 125 || byte == 61){ //p park p6
byte = 300;
P2_2 = 0;
P2_3 = 1;
P2_4 = 0;
P2_5 = 0;
waitms(1000);
P2_2 = 1;
P2_3 = 0;
P2_4 = 0;
P2_5 = 1;
waitms(1500);
P2_2 = 0;
P2_3 = 0;
P2_4 = 1;
P2_5 = 0;
waitms(1000);
P2_2 = 0;
P2_3 = 1;
P2_4 = 1;
P2_5 = 0;
waitms(500);
P2_2 = 0;
P2_3 = 0;
P2_4 = 0;
P2_5 = 0;
waitms(2000);
printf("park \n");
}
}
}
