int main(void)
{
DrvUART_Close(UART_PORT0);
//------------------
Init();
Initial_pannel();
clr_all_pannal();
while(1)
{
seg_display(hitung);
/*UNLOCKREG();
SYSCLK->PWRCON.XTL12M_EN = 1;//Enable 12MHz Crystal
SYSCLK->CLKSEL0.HCLK_S = 0;
LOCKREG();*/
servo_tutup();
//DrvSYS_Delay(10);
Initial_pannel();
DrvGPIO_ClrBit(E_GPD, 14);
print_lcd(0,"Selamat Datang");
print_lcd(1,"1. Kumpul Borang");
print_lcd(2,"2. Absen Doang");
print_lcd(3," > Silakan Tekan:");
//DrvSYS_Delay(10000);
key=Scankey();
while(key==4){
bacarfid();
}
while(key==1){
kumpul();
}
while (key==2){
absen();
print_lcd(2,"3. ADC=");
DrvADC_StartConvert();
adc=DrvADC_GetConversionData(7);
Show_Word(3,5,adc/1000+'0');
Show_Word(3,6,adc%1000/100+'0');
Show_Word(3,7,adc%100/10+'0');
Show_Word(3,8,adc%10+'0');
}
DrvGPIO_SetBit(E_GPC,12);
DrvSYS_Delay(1000);
}
}
void absen(){
uint8_t hasiluart[8];
clr_all_pannal();
while(key==2){
DrvGPIO_ClrBit(E_GPC,12);
DrvSYS_Delay(10000);
print_lcd(0,"Tap Kartu Anda");
print_lcd(1,"Pada Reader");
bacarfid();
DrvUART_Read(UART_PORT0,hasiluart,1);
if(hasiluart[0]=='B'){
clr_all_pannal();
print_lcd(0,"Terima Kasih :)");
print_lcd(1,"Tito Alvi");
hitungabsen++;
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
print_lcd(0,"Terima Kasih :)");
DrvSYS_Delay(5000000);
main();
}
if(hasiluart[0]!='B'){
clr_all_pannal();
print_lcd(0,"Maaf :(");
print_lcd(1,"Nama kamu gak");
print_lcd(2,"Ada di Basis Data");
print_lcd(3,"COBA LAGI !!!");
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(500000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(500000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
delay(5000000);
DrvSYS_Delay(2000000);
absen();
}
}
}
void display_info_timer(void*)
{
char lcd_text_buf[33];
if(try_to_connect == 1)
{
Fl::repeat_timeout(0.1, &display_info_timer);
return;
}
if(display_info == SENT_DATA)
{
sprintf(lcd_text_buf, "stream sent\n%0.2lfMB",
kbytes_sent / 1024);
print_lcd(lcd_text_buf, strlen(lcd_text_buf), 0, 1);
}
if(display_info == STREAM_TIME && timer_is_elapsed(&stream_timer))
{
sprintf(lcd_text_buf, "stream time\n%s",
timer_get_time_str(&stream_timer));
print_lcd(lcd_text_buf, strlen(lcd_text_buf), 0, 1);
}
if(display_info == REC_TIME && timer_is_elapsed(&rec_timer))
{
sprintf(lcd_text_buf, "record time\n%s",
timer_get_time_str(&rec_timer));
print_lcd(lcd_text_buf, strlen(lcd_text_buf), 0, 1);
}
if(display_info == REC_DATA)
{
sprintf(lcd_text_buf, "record size\n%0.2lfMB",
kbytes_written / 1024);
print_lcd(lcd_text_buf, strlen(lcd_text_buf), 0, 1);
}
Fl::repeat_timeout(0.1, &display_info_timer);
}
void print_long_message(char * message)
{
uint8_t head;
uint8_t tail;
uint8_t lcd_display[16];
uint16_t k;
for (tail = 0; tail < strlen(message) - 15; tail++)
{
for(head = 0; head < 16; head++)
{
lcd_display[head] = message[head + tail];
}
print_lcd(lcd_display);
for (k = 0; k < 100; k++)
{
delay(10000);
}
}
}
void __attribute__((__interrupt__)) _U2RXInterrupt( void )
{
if (U2STAbits.OERR) {
U2STAbits.OERR = 0;
}
RXmsg[RXct] = U2RXREG;
//print_lcd("hello");
if (!ipcommand && RXct> 4 && !strncmp(RXmsg,"+IPD", strlen("+IPD"))){
ipcommand = 1;
}
if (RXct>0 && ((!ipcommand && (RXmsg[RXct] == '\n' && RXmsg[RXct-1] == '\r')) || (ipcommand &&(RXmsg[RXct] == '}')))) {//(RXmsg[RXct] = 'K') & (RXmsg[RXct-1] = 'O')) {
RXmsg[RXct-1] = '\0';
int m;
ipcommand=0;
char rxBuf[40];
int rxBuffIndex=0;
int gpsIndex=0;
if (RXct> 4 && !strncmp(RXmsg,"+IPD", strlen("+IPD"))){
//print_lcd("HERE");
//lcd_clear();
//print_lcd(RXmsg);
for (m = 0; m < RXct; m++){
if (RXmsg[m] == '@'){ //update rover location
//print_lcd("aaa");
m++;
while(RXmsg[m] !='{' && RXmsg[m] !='\0'){
//numGPSpoints = numGPSpoints*10+(RXmsg[m]-'0');
m++;
}
int k = 0;
for(k = 0;k<1;k++){
rxBuffIndex = 0;
m++;
for(;RXmsg[m] !='}';m++){
rxBuf[rxBuffIndex++]=RXmsg[m];
}
rxBuf[rxBuffIndex]='\0';
//
double roverTemp1, roverTemp2;
sscanf(rxBuf,"%lf,%lf", &roverTemp1,&roverTemp2);
roverlat[roverlatIndex] = roverLat;
roverlog[roverlogIndex] = roverLog;
roverlatIndex = (roverlatIndex+1)%ROVER_LEN;
roverlogIndex = (roverlogIndex+1)%ROVER_LEN;
gpsIndex++;
m++;
m++;
}
/*sprintf(outputBuf, "%lf", roverLog);
lcd_clear();
print_lcd(outputBuf);
lcd_line2();
sprintf(outputBuf, "%lf", roverLat);
print_lcd(outputBuf);*/
gpsLock=1;
break;
}
if (RXmsg[m] == '$'){
//print_lcd("aaa");
m++;
while(RXmsg[m] !='{' && RXmsg[m] !='\0'){
numGPSpoints = numGPSpoints*10+(RXmsg[m]-'0');
m++;
}
int k = 0;
for(k = 0;k<numGPSpoints;k++){
rxBuffIndex = 0;
m++;
for(;RXmsg[m] !='}';m++){
rxBuf[rxBuffIndex++]=RXmsg[m];
}
rxBuf[rxBuffIndex]='\0';
//
sscanf(rxBuf,"%lf,%lf", &gpsLonge[gpsIndex],&gpsLat[gpsIndex]);
gpsIndex++;
m++;
m++;
}
sprintf(outputBuf, "%lf", gpsLat[numGPSpoints-1]);
print_lcd(outputBuf);
lcd_line2();
sprintf(outputBuf, "%lf", gpsLonge[numGPSpoints-1]);
print_lcd(outputBuf);
//waypointsReady = 1;
waypointsReady = 1;
break;
}
}
}
if (RXct> 14 && !strncmp(RXmsg,"+CGPSINFO:", strlen("+CGPSINFO:"))){
RXmsg[RXct-1] = '\0';
int q;
int commaCount = 0;
int cgpsOffset = 10; //offset to gps data in string
for (cgpsOffset = 0; cgpsOffset <RXct;cgpsOffset++ ){
if (RXmsg[cgpsOffset] == ':'){
break;
}
}
cgpsOffset++;
int latIndex = 0;
int logIndex = 0;
char latBuf[60]; //buffer for lat
char logBuf[60]; //buffer for long
//print_lcd("gps not locked");
if (RXmsg[cgpsOffset] == ','){ //remove 0 && if not test
}else{
//strcpy(RXmsg,"+CGPSINFO:4567.87,N,8546.12,date,utc,alt"); //copy over test string
for (q = cgpsOffset; RXmsg[q] !='\0' && q <RXct ; q++){
if (commaCount == 0 && RXmsg[q]!=','){
latBuf[latIndex++]=RXmsg[q];
}
if (commaCount == 0 && RXmsg[q]==','){
latBuf[latIndex++]='\0';
sscanf(latBuf, "%lf", &roverLat);
}
if (commaCount == 2 && RXmsg[q]!=','){
logBuf[logIndex++]=RXmsg[q];
}
if (commaCount == 2 && RXmsg[q]==','){
logBuf[logIndex++]='\0';
sscanf(logBuf, "%lf", &roverLog);
//break;
}
if (RXmsg[q]==','){
commaCount++;
}
}
//test
/*sprintf(outputBuf, "%lf", roverLat);
lcd_clear();
print_lcd(outputBuf);
print_lcd(" ");
sprintf(outputBuf, "%lf",roverLog);
print_lcd(outputBuf);*/
gpsLock=1;
//while (1);
}
/* lcd_clear();
print_lcd(RXmsg);*/
}
RXct = 0;
//lcd_clear();
//:wq
//delay_ms(100);
//print_lcd(RXmsg);
} else {
RXct++;
}
IFS1bits.U2RXIF = 0;
}
int main ( void )
{
//TRISA = 0b0010000000000000;
TRISA = 0b00001111;
TRISAbits.TRISA12 = 0;
TRISCbits.TRISC1 = 0;
TRISCbits.TRISC2 = 0;
TRISCbits.TRISC3 = 0;
TRISCbits.TRISC4 = 0;
//TRISD = 0;
TRISD = 0b0000000000010000; // RD11: DIR2; RD8: PWM2
//TRISE = 0b00001000;
TRISE = 0b00001000; // RE6: DIR1; RE0: PWM1
TRISEbits.TRISE7 = 0;
//LCD an
_PCFG16 = 1; // AN16 is digital
_PCFG17 = 1; // AN17 is digital
_PCFG18 = 1; // AN18 is digital
_PCFG19 = 1; // AN19 is digital
_PCFG20 =1;
_PCFG31=1;
//pwm analog select
_PCFG24=1;
_PCFG30=1;
//RE4 for lcd r/s
_PCFG28=1;
TRISEbits.TRISE4 = 0;
AD1PCFGHbits.PCFG28 = 1;
AD1PCFGHbits.PCFG27 = 1;
AD1PCFGHbits.PCFG30 = 1;
AD1PCFGHbits.PCFG24 = 1;
AD1PCFGH = 0x0020;
TRISAbits.TRISA13 = 1;
//set pwm low
PWM1=0;
PWM2=0;
SYS_Initialize ( ) ;
CLKDIVbits.FRCDIV = 0;
CLKDIVbits.PLLPOST = 0; // N2 = 2
CLKDIVbits.PLLPRE = 0; // N1 = 2
PLLFBD = (Fosc*N1_default*N2_default/Ffrc) - M_default; // M = 8 -> Fosc = 7.3728 MHz * 8 / 2 / 2 = 16 MHz
while(!OSCCONbits.LOCK); // Wait for PLL to lock
RCONbits.SWDTEN = 0; // Disable Watch Dog Timer
//TRISF = 0;
gpsLock = 0;
lcd_init();
print_lcd("Initializing");
//delay_ms(500);
//lcd_clear();
/*lcd test
char line1[] = " On Route ";
char line2[] = " Arrived ";
//send_command_byte(0xFF);
//while(1){send_command_byte(0xFF);send_data_byte(0);}
// delay_ms(2);
//send_command_byte(0x02); // Go to start of line 1
//send_command_byte(0b00001111); // Display: display on, cursor on, blink on
//send_command_byte(0b00000110); // Set entry mode: ID=1, S=0
//send_command_byte(0b00000001); // Clear display
print_lcd(line1);
delay_ms(5000);
lcd_clear();
print_lcd(line2);
//send_command_byte(0xC0); // Go to start of line 1
//while(1){send_command_byte(0b00000001);}
while(1);*/
/*int a;
long long int ct;
int i;
int j=0;*/
//i2c init
//uart init
UART_Initialize();
delayMs(100);
/* while(1){//test for delay ms configuration
//PORTDbits.RD1 = 1;
//delayUs(10);
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//ultrasonic test
/* while(1){
long double x;
delayMs(500);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
x = ultraSonicCount/TICKS_PER_METER;
sprintf(outputBuf,"%lf",x);
print_lcd(outputBuf);
}*/
//TX_str(endGPS);
//delayMs(3000);
//TX_str(startGPS);
/*TX_str(startGPShot);
delayMs(2000);
while ( !gpsLock ) {
TX_str(getGPS);
delayMs(500);
}*/
//TCP code
TX_str(openNet);
delayMs(5000);
TX_str(openConnection);
delayMs(5000);
// while(!BUTTON_IsPressed ( BUTTON_S3 ));
//TX_str(sprintf("%s%d\r",sendTCP, strlen("10")));
sprintf(outputBuf2,"2\n%lf,%lf\n\r",roverLog,roverLat );
sprintf(cmdBuf,"%s%d\r", sendTCP,strlen(outputBuf2));
TX_str(cmdBuf);
delayMs(3000);
TX_str(outputBuf2);
while(!waypointsReady || !gpsLock);
//while(1);
delayMs(7000);
lcd_clear();
print_lcd("waypoints locked");
i2c_init();
//i2c_write3(0x3c, 0x00, 0x70);
i2c_write3(0x3c, 0x00, 0b00011000);
//i2c_write3(0x3c, 0x01, 0b11000000);
i2c_write3(0x3c, 0x01, 0xA0);
i2c_write3(0x3c, 0x02, 0x00);
//timer init, do this after other initializations
motorDuty=0;
tim1_init();
tim2_init();
/*
double angleTolerance = 8.0;
motorDuty=2;
while (1){ //adjust
double angleDiff = headingDiff(0,roverHeading );
if (angleDiff > 0 ||abs(angleDiff) > 175 ){ //turn left
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn right
PWM1_DIR = 1;
PWM2_DIR = 0;
}
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
//break;
}else{
//motorDuty =4;
motorDuty =2;
}
delayMs(13);
updateHeading();
}*/
//hardcoded gps for tcpip test
/*while(1){
// PORTDbits.RD5 = 1;
// for (a = 0; a < (100/33); a++) {}
// PORTDbits.RD5 = 0;
// for (a = 0; a < (100/33); a++) {}
ct = 0;
//TMR2 = 0;//Timer Starts
delayMs(60);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(15);
//10uS Delay
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4){ //Waiting for Echo
ct++;
}
//T2CONbits.TON = 1;
while(PORTDbits.RD4) {
ct++;
}// {
//T2CONbits.TON = 0;
sprintf(outputBuf,"%lld", ct);
//a = TMR2;
//a = a / 58.82;
//long int p;
//for(p = 0; p <100000; p++);
}*/
//tim1_init();
//while ( 1 );
//UART_Initialize();
/* Infinite Loop */
/*
long int i;
while ( 1 )
{//test for delay ms configuration
//PORTDbits.RD1 = 1;
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//IEC0bits.T1IE = 0;
//IEC0bits.T1IE = 1;
//motorDuty =2;
motorStopFlag = 0; //ready to go
char tempBuf1[50];
int wapointsVisited;
double desiredHeading = 0;
double dToWaypoint = 99999.9;
double angleTolerance = 6.0;
for (wapointsVisited =0; wapointsVisited<numGPSpoints;wapointsVisited++ )
{
dToWaypoint = 99999.9;
while (1)
{
int f;
roverLog = 0;
roverLat = 0;
for(f = 0; f < ROVER_LEN; f++){
roverLog+=roverlog[f]/ROVER_LEN_D;
roverLat+=roverlat[f]/ROVER_LEN_D;
}
dToWaypoint = dist(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
if(dToWaypoint <= 3.0){break;} //go to next waypoint
desiredHeading = 330.0;
desiredHeading = bearing(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
updateHeading();
if (!(abs(headingDiff(desiredHeading,roverHeading )) < angleTolerance))
{
motorDuty = 0; //stop
delayMs(300);
while (1) //ADJUSTMENT LOOP
{
double angleDiff = headingDiff(desiredHeading,roverHeading );
//double dist = ultraSonicPing();
/*sprintf(tempBuf1,"%f",dist);
lcd_clear();
print_lcd(tempBuf1);*/
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
/*sprintf(tempBuf1,"%f",roverHeading);
IEC0bits.T1IE = 0;
print_lcd(tempBuf1);
IEC0bits.T1IE = 1;*/
break;
}
if (angleDiff > 0 || abs(angleDiff) > 175 ){ //turn right
/*PORTDbits.RD4 = 1; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 1;
PORTDbits.RD8 = 0; //left*/
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn left
/*PORTDbits.RD4 = 0; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 0;
PORTDbits.RD8 = 1; //left*/
PWM1_DIR = 1;
PWM2_DIR = 0;
}
motorDuty =3;
delayMs(15);
updateHeading();
// sprintf(tempBuf1,"%f",roverHeading);
// IEC0bits.T1IE = 0;
// lcd_clear();
// print_lcd(tempBuf1);
// IEC0bits.T1IE = 1;
//delayMs(1000);
//for(p = 0; p <100000; p++);
}
}
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 0;
motorDuty = 5;
ultraSonicDelayEnable = 1;
//frequency is around 20kHz
while (ultraSonicDelayCount < 60000){ //for 4 seconds poll ultrasonic and check for obsticles
long double x;
//PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
//PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
ultraSonicEn = 0;
x = ultraSonicCount/TICKS_PER_METER;
if (x <= 1.4){
motorDuty = 0;
}else{
motorDuty = 5;
}
delayMs(200);
}
ultraSonicDelayEnable = 0;
ultraSonicDelayCount = 0;
}
motorDuty = 0;
delayMs(1000);
//IEC0bits.T1IE = 0;
lcd_clear();
char buf3[40];
sprintf(buf3, "reached %d", wapointsVisited);
print_lcd(buf3);
delayMs(3000);
//IEC0bits.T1IE = 1;
}
//IEC0bits.T1IE = 0;
lcd_clear();
print_lcd("ARRIVED!!!");
//IEC0bits.T1IE = 1;
while (1);
}
void change_config_state(state *my_states, byte direction, DWORD *delay)
{
if ((millis() - *delay) > STATE_CHANGE_DELAY)
{
if (direction)
{
switch (my_states->config)
{
case OVERVIEW:
case CHOOSE_INTERVAL:
case CHOOSE_FOCUS:
my_states->config++;
break;
case SET_DELAY:
if (my_states->interval)
{
my_states->config++;
}
else
{
my_states->focus ? my_states->config = SET_FOCUS_STYLE
: my_states->config = OVERVIEW;
}
break;
case SET_INTERVAL:
my_states->config++;
break;
case SET_AMOUNT:
my_states->focus ? my_states->config = SET_FOCUS_STYLE
: my_states->config = OVERVIEW;
break;
case SET_FOCUS_STYLE:
case SET_FOCUS_TIME:
default:
my_states->config = 0;
break;
}
}
else //direction==0==down
{
switch (my_states->config)
{
case OVERVIEW:
if (my_states->focus)
{
my_states->config--;
}
else
{
my_states->interval ? my_states->config = SET_AMOUNT
: my_states->config = SET_DELAY;
}
break;
case CHOOSE_INTERVAL:
case CHOOSE_FOCUS:
case SET_DELAY:
case SET_INTERVAL:
case SET_AMOUNT:
my_states->config--;
break;
case SET_FOCUS_STYLE:
my_states->interval ? my_states->config = SET_AMOUNT
: my_states->config = SET_DELAY;
case SET_FOCUS_TIME:
my_states->config--;
break;
default:
my_states->config = 0;
break;
}
}
print_lcd();
}
}
//=============================================================================
//Het hoofdprogramma
int main(void)
{
//variabelen
uint8_t blok;
uint8_t arr[10];
poorten_init();
//init twi
twi_init();
//init lcd
lcd_init();
schrijftekst();
sei();
arr[0] = 0x00;
arr[1] = 0x57;
arr[0] = 0xFF;
twi_mt_zendboodschap(0x38, 0x03,arr);
//print resultaten interrupts
if (MT_B.klaar == 1)
{
print_lcd();
}
twi_mt_zendboodschap(0x39, 0x03,arr);
//print resultaten interrupts
if (MT_B.klaar == 1)
{
print_lcd();
}
twi_mt_zendboodschap(0x3A, 0x0,arr);
//print resultaten interrupts
if (MT_B.klaar == 1)
{
print_lcd();
}
twi_mt_zendboodschap(0x3B, 0x03,arr);
//print resultaten interrupts
if (MT_B.klaar == 1)
{
print_lcd();
}
while(1)
{
//print resultaten interrupts
if (MT_B.klaar == 1)
{
print_lcd();
}
//als knop is ingedrukt : zend boodschap
if ((bit_is_set(PINB,4)) ) //knop
{
//knop is los
// schakelen mogelijk
blok = 0;
//wacht op denderen
_delay_ms(D_TIJD);
//zet led uit
PORTD |= _BV(7);
}
if (!bit_is_set(PINB,4) )
{
//knop is ingedrukt
//blokkeer herhaling
blok = 1;
//wacht op denderen
_delay_ms(D_TIJD);
//zet led aan
PORTD &= ~_BV(7);
//maak vorige resultaten schoon
lcd_clear();
lcd_gotoxy(0,0);
schrijftekst();
//we zenden een Boodschap
MT_B.data[0] = 0x00;
MT_B.data[1] = 0x57;
MT_B.data[0] = 0x77;
MT_B.data[1] = 0x77;
MT_B.data[1] = 0x77;
MT_B.data[0] = 0x77;
// twi_mt_zendboodschap(0x38, 0x06);
//knop is ingedrukt
//blokkeer herhaling
blok = 1;
//wacht op denderen
_delay_ms(D_TIJD);
//zet led aan
PORTD &= ~_BV(7);
//maak vorige resultaten schoon
lcd_clear();
lcd_gotoxy(0,0);
schrijftekst();
//we zenden een Boodschap
MT_B.data[0] = 0x00;
MT_B.data[1] = 0x57;
MT_B.data[0] = 0x77;
MT_B.data[1] = 0x77;
MT_B.data[1] = 0x77;
MT_B.data[0] = 0x77;
// twi_mt_zendboodschap(0x39, 0x06);
//knop is ingedrukt
//blokkeer herhaling
blok = 1;
//wacht op denderen
_delay_ms(D_TIJD);
//zet led aan
PORTD &= ~_BV(7);
//maak vorige resultaten schoon
lcd_clear();
lcd_gotoxy(0,0);
schrijftekst();
//we zenden een Boodschap
MT_B.data[0] = 0x00;
MT_B.data[1] = 0x57;
MT_B.data[0] = 0x77;
MT_B.data[1] = 0x77;
MT_B.data[1] = 0x77;
MT_B.data[0] = 0x77;
// twi_mt_zendboodschap(0x3B, 0x06);
}
}
}
void kumpul(){
clr_all_pannal();
uint8_t hasiluart[8];
while(key==1){
DrvGPIO_ClrBit(E_GPC,12);
DrvSYS_Delay(10000);
DrvGPIO_ClrBit(E_GPB,0);
print_lcd(0,"Tap Kartu Anda");
print_lcd(1,"Pada Reader");
print_lcd(2,"Tekan Button");
print_lcd(3,"untuk Kembali");
if(DrvGPIO_GetBit(E_GPB,15)==0){
main();}
bacarfid();
DrvUART_Read(UART_PORT0,hasiluart,1);
if(hasiluart[0]=='B'){
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
clr_all_pannal();
goto benar;
}
if(hasiluart[0]!='B'){
SYSCLK->PWRCON.XTL12M_EN = 1;//Enable 12MHz Crystal
SYSCLK->CLKSEL0.HCLK_S = 0;
LOCKREG();
clr_all_pannal();
print_lcd(0,"Maaf :(");
print_lcd(1,"Nama kamu gak");
print_lcd(2,"Ada di Basis Data");
print_lcd(3,"COBA LAGI !!!");
DrvGPIO_ClrBit(E_GPB,11);
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(500000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(500000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_ClrBit(E_GPB,11);
delay(5000000);
kumpul();
}
//key2=Scankey();
/*if(key2==2){
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
clr_all_pannal();
}*/
//mennu harus diubah klo uart dah jadi
benar:
while(hasiluart[0]=='B'){
print_lcd(0,"Silakan Masukkan");
print_lcd(1,"Borang Kamu");
SYSCLK->PWRCON.XTL12M_EN = 1;//Enable 12MHz Crystal
SYSCLK->CLKSEL0.HCLK_S = 0;
LOCKREG();
servo_buka();
DrvSYS_Delay(10);
Scankey();
if(DrvGPIO_GetBit(E_GPA,0)==0){
clr_all_pannal();
print_lcd(0,"Terima Kasih :)");
print_lcd(1,"Tito Alvi");
hitung++;
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_ClrBit(E_GPB,11);
DrvSYS_Delay(100000);
DrvGPIO_SetBit(E_GPB,11);
DrvSYS_Delay(100000);
print_lcd(0,"Terima Kasih :)");
DrvSYS_Delay(2000000);
main();
}
while(DrvGPIO_GetBit(E_GPA,0)==0){ //sensor cahaya = GPA0 - SIG
main();}
}
}
}
