void mars_power_led_off(struct mars_brick *brick, bool val)
{
bool oldval = brick->power.led_off;
if (val != oldval) {
//MARS_DBG("brick '%s' type '%s' led_off %d -> %d\n", brick->brick_path, brick->type->type_name, oldval, val);
set_led_off(&brick->power, val);
mars_trigger();
}
}
/* decrease the number of active LEDs */
void decrement_leds(void) {
if (n_of_leds == 1) set_led_off(LED0);
else if (n_of_leds == 2) set_led_off(LED1);
else if (n_of_leds == 3) set_led_off(LED2);
else if (n_of_leds == 4) set_led_off(LED3);
else if (n_of_leds == 5) set_led_off(LED4);
else if (n_of_leds == 6) set_led_off(LED5);
else if (n_of_leds == 7) set_led_off(LED6);
else if (n_of_leds == 8) set_led_off(LED7);
if (n_of_leds > 0) n_of_leds--;
}
void set_led_color_on( int r, int g, int b, bool on)
{
usb_control_msg(handle, USB_TYPE_VENDOR | USB_RECIP_DEVICE | USB_ENDPOINT_OUT,RGB_R, r, 0, buffer, sizeof(buffer), 5000);
usb_control_msg(handle, USB_TYPE_VENDOR | USB_RECIP_DEVICE | USB_ENDPOINT_OUT,RGB_G, g, 0, buffer, sizeof(buffer), 5000);
usb_control_msg(handle, USB_TYPE_VENDOR | USB_RECIP_DEVICE | USB_ENDPOINT_OUT,RGB_B, b, 0, buffer, sizeof(buffer), 5000);
usb_control_msg(handle, USB_TYPE_VENDOR | USB_RECIP_DEVICE | USB_ENDPOINT_OUT,SET, 0, 0, buffer, sizeof(buffer), 5000);
if( on)
set_led_on();
else
set_led_off();
}
/******************************************************************************
* Local Functions *
******************************************************************************/
etos_isr_ret_e module_timer_isr_idic(u32 current_tick, void *arg)
{
etos_isr_ret_e ret = ETOS_ISR_RESCHEDULE_DISABLE;
u32 timer_no = (u32)arg;
u32 *sp_addr = g_os_boot_sp;
current_tick = current_tick;
_timer_intr_cnt++;
switch (timer_no) {
case 0:
break;
case 1:
break;
case 2:
break;
case 3:
break;
case 4:
#if 0
if ((_timer_intr_cnt % 256) == 0) {
xlogt(LOG_MODULE_DRV, "INTR: timer tick: (256 tick ~= 4s) 0x%x curr=%d\r\n", os_get_cpu_intr_enabled(),
etos_sched_get_tick());
}
#else
if ((_timer_intr_cnt % 10) == 0) {
//xlogt(LOG_MODULE_DRV, "INTR: timer tick: intr:0x%x curr=%d\r\n", os_get_cpu_intr_enabled(), etos_sched_get_tick());
_timer_intr_flag ^= 1;
if (_timer_intr_flag) {
set_led_on(2);
} else {
set_led_off(2);
}
}
#endif
ret = ETOS_ISR_RESCHEDULE_UPDATE_TICK | ETOS_ISR_RESCHEDULE_ENABLE;
break;
default:
break;
}
return ret;
}
void loop(void)
{
//if throttle is lower than throttle_low - or is over 100 beyond throttle_high - bot stays powered down
sei(); //enable interrupts
while ( throttle < throttle_low || throttle > (throttle_high + 100))
{
motors_off();
//interrupt blinking if stick isn't centered (helps to verify TX is working)
if ( leftright > heading_leftthresh ) _delay_ms(200);
if ( leftright < heading_rightthresh ) _delay_ms(200);
//sit there and flash LED
toggle_led();
_delay_ms(50);
}
cli(); //disable interrupts - bad things seem to happen if the RC interrupts get triggered while doing math...
//Are we going forward or backwards?
if ( forwardback > forwardback_forwardthresh) forward = 1; else forward = 0;
if ( forwardback < forwardback_backthresh) backward = 1; else backward = 0;
flashy_led = 0;
accel_raw_data = read_adc(); //get accel data
accel_read = accel_raw_data; //move it over to single in case we want to do floating point
accel_read = accel_read - base_accel; //compensate for base (2.5v) level
g = accel_read * g_per_adc_increment; //convert to g's
rpm = g * 89445; //calculate RPM from g's - derived from "G = 0.00001118 * r * RPM^2"
rpm = rpm / radius;
rpm = pow(rpm, .5);
periodms = rpm / 60; //convert RPM to duration of each spin in milliseconds
if (periodms == 0) periodms = 1; //must prevent any possible division by zero!!!
periodms = 1 / periodms;
periodms = periodms * 1000;
periodms = periodms * tracking_comp; //compensate with user-set tracking adjustment
alternate_motor_cycle = !alternate_motor_cycle; //alternates alternate_motor_cycle - used to balance spin
if ( forward == 1 ) periodms = periodms * forward_comp; //extra compensation if going forward
if ( backward == 1 ) periodms = periodms * backward_comp; //extra compensation if going backward
total_fudge_factor = fudge_factor + (fudge_factor_per_ms * periodms);
periodms = periodms - total_fudge_factor; //compensate for time spent doing reads / calculations
delaytime_single = periodms / 2; //sets period in MS for each half of spin
//converts throttle reading from remote into percentage (400 = low, 560 = high)
throttle_percent = (throttle - throttle_low) + 40; //this gives a range from about 20% to 100%
throttle_percent = throttle_percent / 2;
if ( throttle_percent > 100 ) throttle_percent = 100; //don't got over 100%
//calculates + modifies changes to heading based on input from transmitter
steering_multiplier = heading_center - leftright;
steering_multiplier = steering_multiplier * turn_speed;
steering_multiplier = 1 - steering_multiplier; //starts with 1 as a base value (ie - if it was 0.0 it becomes 1.0 - so there's no change in heading)
delaytime_single = delaytime_single * steering_multiplier;
delaytime_long = delaytime_single;
digitdif = delaytime_single - delaytime_long;
//code that waits X microseconds to compensate for integer math
digitdif = digitdif * 10; //converts digit dif to 50's of microseconds
//caps on timing if going too slow or fast
if ( delaytime_long > 500) delaytime_long = 500;
if ( delaytime_long < 5) delaytime_long = 5;
periodms = delaytime_long * 2; //we re-use periodms (full cycle length) for LED calculations - so it needs to be updated with any timing adjustments
periodms_long = periodms;
//set heading beacon size and location
led_on = periodms * led_adjust;
led_on = led_on / 100;
led_off = periodms / 3; //led signal is 33% of circle
led_off = led_off + led_on;
if (led_off >= periodms_long ) //if led_off is "later" or at end of cycle - shift led_off behind by one cycle
{
led_off = led_off - periodms_long;
}
if ( led_off < 1 ) led_off = led_off + periodms_long;
if ( g > max_g && throttle_percent > 20 ) throttle_percent = 20; //if we're over max RPM for translation - reduce throttle
//throttling
full_power_spin = 0;
if ( rpm < min_rpm ) full_power_spin = 1; //if we're under the minimum RPM for translation - do the full power spin!
if ( rpm > max_allowed_rpm ) throttle_percent = 6; //if we're over max RPM for translation - reduce power
//if throttle is at or over 50% throttle - adjust time spent in braking
if ( throttle_percent > 50 )
{
flashy_led = 1; //flash the LED to indicate we're in fast mode
braking_length = delaytime_long * 25;
braking_length = braking_length / throttle_percent;
begin_brake = delaytime_long / 2;
begin_brake = begin_brake - braking_length;
end_brake = delaytime_long / 2;
end_brake = end_brake + braking_length;
if ( begin_brake < 1 ) begin_brake = 1; //make sure begin_brake isn't getting set to 0
power_kill_part1 = 0; //power_kill not used if throttle over 50%
power_kill_part2 = delaytime_long;
}
if ( throttle_percent <= 50 ) //if throttle under 50% - kill the motors for a portion of each spin
{
begin_brake = 1;
end_brake = delaytime_long;
power_kill_length = 50 - throttle_percent; //set time in each cycle to cut power (throttling)
power_kill_length = power_kill_length * delaytime_long;
power_kill_length = power_kill_length / 150;
power_kill_part1 = power_kill_length;
power_kill_part2 = delaytime_long - power_kill_length;
}
if ( full_power_spin == 1 ) //if we're actually doing full power this spin (no translation) - ignore any calculations / reset variables
{
end_brake = 1;
begin_brake = 0;
power_kill_part1 = 0;
power_kill_part2 = delaytime_long;
}
sei(); //enable interrupts - out of all the critical stuff
led_ref = 0;
//Do translational drift driving
//Cycle 1 ("front" 180 degrees of spin)
for (x = 1; x <= delaytime_long; x++)
{
motors_left(); //start off under full power
led_ref = led_ref + 1;
if ( x >= begin_brake && x < end_brake ) //switch to single motor as soon as entering braking cycle
{
//if sitting still
if ( forward == 0 && backward == 0 )
{
if ( alternate_motor_cycle == 0 ) motor1_on(); //alternates which motor is used each cycle if ( sitting still
if ( alternate_motor_cycle == 1 ) motor2_on(); //this prevents unwanted "translation" due to any imbalances
}
//if ( going forward / back set motors appropriately (this is "where it happens")
if ( forward == 1 ) motor1_on();
if ( backward == 1 ) motor2_on();
}
if ( x >= end_brake ) motors_left(); //if we hit end of brake cycle - go to full power
if ( x < power_kill_part1 ) motors_off(); //if th rottle is less that 100% - kill power at appropriate time
if ( x > power_kill_part2 ) motors_off(); //if throttle is less that 100% - kill power at appropriate time
if ( led_ref == led_on ) led_is_on_now = 1; //turn on heading led
if ( led_ref == led_off ) led_is_on_now = 0; //turn off heading led
if ( led_is_on_now == 1 )
{
//flash the LED if we're in flashy mode - otherwise it's just on
if ( flashy_led == 1 ) toggle_led(); else set_led_on();
}
if ( led_is_on_now == 0 ) set_led_off();
_delay_ms(1);
}
for (delay_loop = 1; delay_loop < digitdif; delay_loop++)
{
//in theory we should wait 25 microseconds - but I'm assuming the overhead takes up 1us
wait24us();
}
//Cycle 2 (back 180 degrees of spin) - same as above except motors are reversed (there are some moderately-good reasons this isn't a subroutine)
for (x = 1; x <= delaytime_long; x++)
{
motors_left(); //start off under full power
led_ref = led_ref + 1;
if ( x >= begin_brake && x < end_brake ) //switch to single motor as soon as entering braking cycle
{
//if sitting still
if ( forward == 0 && backward == 0 )
{
if ( alternate_motor_cycle == 0 ) motor2_on(); //alternates which motor is used each cycle if ( sitting still
if ( alternate_motor_cycle == 1 ) motor1_on(); //this prevents unwanted "translation" due to any imbalances
}
//if ( going forward / back set motors appropriately (this is "where it happens")
if ( forward == 1 ) motor2_on();
if ( backward == 1 ) motor1_on();
}
if ( x >= end_brake ) motors_left(); //if we hit end of brake cycle - go to full power
if ( x < power_kill_part1 ) motors_off(); //if throttle is less that 100% - kill power at appropriate time
if ( x > power_kill_part2 ) motors_off(); //if throttle is less that 100% - kill power at appropriate time
if ( led_ref == led_on ) led_is_on_now = 1; //turn on heading led
if ( led_ref == led_off ) led_is_on_now = 0; //turn off heading led
if ( led_is_on_now == 1 )
{
//flash the LED if we're in flashy mode - otherwise it's just on
if ( flashy_led == 1 ) toggle_led(); else set_led_on();
}
if ( led_is_on_now == 0 ) set_led_off();
_delay_ms(1);
}
for (delay_loop = 1; delay_loop < digitdif; delay_loop++)
{
//in theory we should wait 25 microseconds - but I'm assuming the overhead takes up 1us
wait24us();
}
}
void main(void)
{
// Declare your local variables here
bit flag_start_pause1,flag_start_pause2,f_m1,key_enter_press_switch1;
char min_r,min_n;
float time_pause1,time_pause2,adc_value1,adc_value3;
float data_register,k_f,adc_filter,adc_value2;
if (MCUCSR & 0x01){/* Power-on Reset */MCUCSR&=0xE0;}
else if (MCUCSR & 0x02){/* External Reset */MCUCSR&=0xE0;}
else if (MCUCSR & 0x04){/* Brown-Out Reset*/MCUCSR&=0xE0;}
else if (MCUCSR & 0x08){/* Watchdog Reset */MCUCSR&=0xE0;}
else if (MCUCSR & 0x10){/* JTAG Reset */MCUCSR&=0xE0;};
PORTA=0b11111111;DDRA=0b11111111;
PORTB=0b00000000;DDRB=0b10110011;
PORTC=0b11111000;DDRC=0b11111011;
PORTD=0b11110000;DDRD=0b00001000;
TCCR0=0x02;TCNT0=TCNT0_reload;OCR0=0x00;
TCCR1A=0x00;TCCR1B=0x05;TCNT1H=0x00;TCNT1L=0x01;
ICR1H=0x00;ICR1L=0x04;OCR1AH=0x00;OCR1AL=0x02;
OCR1BH=0x00;OCR1BL=0x03;
ASSR=0x00;TCCR2=0x03;TCNT2=TCNT2_reload;OCR2=0x00;
MCUCR=0x00;MCUCSR=0x00;TIMSK=0xFF;
UCSRA=0x00;UCSRB=0xD8;UCSRC=0x86;UBRRH=0x00;UBRRL=0x33;
ACSR=0x80;SFIOR=0x00;SPCR=0x52;SPSR=0x00;WDTCR=0x1F;WDTCR=0x0F;
// test:
// for (i=1;i<30;i++)
// {
// ee_float=&(reg[i]);
// *ee_float=FAKTORY[i];//проверка граничных значений
// }
//
goto a1;
//Ожидание включения питания
ee_float=&(reg[18]);
k_f=*ee_float;
if ((k_f>MAX_MIN[18,1])||(k_f<MAX_MIN[18,0])) k_f=FAKTORY[18];//проверка граничных значений
k_f=*ee_float;
k=k_f;i=0;
while (i<k)
{
if ((key_1==0)&&(key_4==0)&&(key_2==1)&&(key_3==1)) i++;
else i=0;
delay_ms(1000);
}
power=1;
#asm("sei")
//Показать основные настройки
for (i=7;i<MAX_REGISTER;i++)
{
hex2dec(i-6);
set_digit_on('a','_',des,ed);
set_digit_off('a','_',des,ed);
set_led_on(0,0,0,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
delay_ms(700);
ee_float=&(reg[i]);
k_f=*ee_float;
if ((k_f>MAX_MIN[i,1])||(k_f<MAX_MIN[i,0])) *ee_float=FAKTORY[i];//проверка граничных значений
k_f=*ee_float;
if ((i==14)||(i==13)||(i==14)||(i==21)||(i==22))
{
k_f=k_f*100;
set_led_on(0,0,0,1,0,1,0,0);
set_led_off(0,0,0,1,0,1,0,0);
}
else
{
set_led_on(0,0,0,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
}
hex2dec(k_f);
set_digit_on(tis,sot,des,ed);
set_digit_off(tis,sot,des,ed);
delay_ms(700);
}
a1:
key_mode_press=0;
key_plus_press=0;
key_mines_press=0;
key_enter_press=0;
key_mode_press_switch=0;
key_plus_press_switch=0;
key_minus_press_switch=0;
#asm("sei")
mode=0;
x=0;
start_time=sys_time;
while (1)
{
if (read_reg(6)==0)buzer_buzer_en=0;
else buzer_buzer_en=1;
#asm("wdr");
//измерение
if (++buf_end>8) buf_end=0;buf[buf_end]=read_adc();min_r=9;
//модальный фильтр
for (j=0;j<9;j++)
{
rang[j]=0;
for (i=0;i<9;i++)
{
if (i!=j)
{
if (buf[j]<buf[i]) rang[j]--;
if (buf[j]>buf[i]) rang[j]++;
}
}
if (cabs(rang[j])<min_r) {min_r=cabs(rang[j]);min_n=j;}
}
//ФНЧ
ee_float=&(reg[17]);
k_f=*ee_float;
if (k_f==0)
{adc_filter=buf[min_n];}
else
{
k_f=0.002/k_f;
adc_filter=k_f*buf[min_n]+(1-k_f)*adc_filter;
}
//первичное преобразование
// ee_float=&kal[0];
// adc_value1=adc_filter+*ee_float;
// ee_float=&kal[1];
// adc_value1=adc_value1*(*ee_float);
adc_value1=adc_filter*1.006/100;
//вторичное преобразование//???????????????????????????????
k_f=(read_reg(22)-read_reg(21))/(read_reg(14)-read_reg(13));
adc_value2=read_reg(21)-k_f*read_reg(13)+adc_value1*k_f;
// adc_value2=adc_value1adc_filter/100;
//авария
if (adc_value2<(read_reg(13)*(1-read_reg(15)/100))) {avaria=1;}
else if (adc_value2>(read_reg(14)*(1+read_reg(16)/100))) {avaria=1;}
else avaria=0;
//уставка 1,2
ee_float=&(reg[7]);k_f=*ee_float;//гистерезис
ee_float=&(reg[1]);
if (adc_value2>((*ee_float)*(1+k_f/100))) {alarm1=1;}//set_led_alarm1_on(1);//}
else {alarm1=0;alarm_alarm1=0;flag_start_pause1=0;}//set_led_alarm1_on(0);//}
ee_float=&(reg[2]);
if (adc_value2>((*ee_float)*(1+k_f/100))) {alarm2=1;}//set_led_alarm2_on(1);//}
else {alarm2=0;flag_start_pause2=0;}//set_led_alarm2_on(0);//}
//пауза 1,2
if (alarm_alarm1==1){relay_alarm1=1;}
else relay_alarm1=0;
if (alarm_alarm2==1){relay_alarm2=1;}
else relay_alarm2=0;
if ((flag_start_pause1==1))//&&(alarm_alarm1==0))
{
if ((sys_time-time_pause1)>(read_reg(3)*2000)){alarm_alarm1=1;}
}
else if (alarm1==1)
{
time_pause1=sys_time;
flag_start_pause1=1;
}
if ((flag_start_pause2==1))//&&(alarm_alarm2==0))
{
if ((sys_time-time_pause2)>(read_reg(4)*2000))alarm_alarm2=1;
}
else if (alarm2==1)
{
time_pause2=sys_time;
flag_start_pause2=1;
}
//возврат из меню
if (((sys_time-start_time_mode)>read_reg(20)*2000)){mode=0;f_m1=0;}
if ((key_enter_press_switch==1)&&(mode==0)){key_enter_press_switch=0;key_enter_press_switch1=1;}
if ((key_enter_press_switch1==1)&&(key_enter==1))
{
if ((sys_time-whait_time)>3000)
{
mode=10;start_time_mode=sys_time;key_enter_press_switch1=0;
}
}
//МЕНЮ
if (mode==0)
{
if (alarm_alarm2==0)
{
if (read_reg(12)==0)adc_value3=adc_value1;
else adc_value3=adc_value2;
}
else
{
if (read_reg(12)==0)adc_value3=adc_value1;
else adc_value3=adc_value2;
}
hex2dec(adc_value3*100);
}
if (mode==1)//уставка №1
{
set_led_on(0,0,1,1,0,0,0,0);//светодиод предупр.,норма
set_led_off(0,0,0,1,0,0,0,0);//светодиод норма
if ((((sys_time-start_time_mode)<read_reg(19)*2000))&&(f_m1==0))//пока время индикации наименования
{
tis='У';sot='_';des=1;ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
set_led_on(0,0,1,1,0,1,0,0);//светодиод предупр.,норма, запятая 2
count_register=1;
hex2dec(data_register*100);
f_m1=1;
}
}
if (mode==2)//уставка №2
{
set_led_on(0,1,0,1,0,0,0,0);//светодиод аварийн.,норма
set_led_off(0,0,0,1,0,0,0,0);//светодиод норма
if ((((sys_time-start_time_mode)<read_reg(19)*2000))&&(f_m1==0))//пока время индикации наименования
{
tis='У';sot='_';des=2;ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
set_led_on(0,1,0,1,0,1,0,0);//светодиод аварийн.,норма, запятая 2
count_register=2;
hex2dec(data_register*100);
f_m1=1;
}
}
if (mode==3)//время до уставки 1
{
set_led_on(0,0,1,1,0,0,0,0);//светодиод предупр.,норма, запятая 2
set_led_off(0,0,0,1,0,0,0,0);//светодиод норма
if ((((sys_time-start_time_mode)<read_reg(19)*2000))&&(f_m1==0))//пока время индикации наименования
{
tis=3;sot='_';des=1;ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
count_register=3;
hex2dec(data_register);
f_m1=1;
}
}
if (mode==4)//время до уставки 2
{
set_led_on(0,1,0,1,0,0,0,0);//светодиод аварийн.,норма, запятая 2
set_led_off(0,0,0,1,0,0,0,0);//светодиод норма
if ((((sys_time-start_time_mode)<read_reg(19)*2000))&&(f_m1==0))//пока время индикации наименования
{
tis=3;sot='_';des=2;ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
count_register=4;
hex2dec(data_register);
f_m1=1;
}
}
if (mode==5)//режим маскирование
{
set_led_on(0,1,1,1,0,0,0,0);//светодиод аварийн.,предупр.,норма
set_led_off(0,0,0,1,0,0,0,0);//светодиод норма
if ((((sys_time-start_time_mode)<read_reg(19)*2000))&&(f_m1==0))//пока время индикации наименования
{
tis=6;sot='_';des='_';ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
count_register=5;
hex2dec(data_register);
f_m1=1;
}
}
if (mode==6)//режим маскирование
{
set_led_on(0,1,1,1,0,0,0,0);//светодиод аварийн.,предупр.,норма
set_led_off(0,0,0,1,0,0,0,0);//светодиод норма
if ((((sys_time-start_time_mode)<read_reg(19)*2000))&&(f_m1==0))//пока время индикации наименования
{
tis='c';sot='_';des='_';ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
count_register=6;
hex2dec(data_register);
f_m1=1;
}
}
//----------------------------------------------------------
if (mode==10)
{
if (count_register<7) count_register=7;
hex2dec(count_register-6);
if (des==0) des='_';
tis='a';sot='_';
set_digit_off(' ',' ',' ',' ');
set_led_on(0,0,1,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
}
if (mode==11)
{
if ((count_register==14)||(count_register==13)||(count_register==14)||(count_register==21)||(count_register==22))
{
hex2dec(data_register*100);
set_led_on(0,0,1,1,0,1,0,0);
set_led_off(0,0,0,1,0,1,0,0);
}
else
{
hex2dec(data_register);
set_led_on(0,0,1,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
}
}
if (key_plus_press==1)
{
start_time_mode=sys_time;
if (count_key==0){if (mode==10)if (++count_register>MAX_REGISTER)count_register=MAX_REGISTER;}
if ((count_key==0)||(count_key==21)||(count_key1==102))
{
if ((mode==11)||(mode==3)||(mode==4)||(mode==5)||(mode==6))
{
if ((count_register==13)||(count_register==14)||(count_register==21)||(count_register==22))data_register=data_register+0.01;
else data_register=data_register+1;
if (data_register>MAX_MIN[count_register,1])data_register=MAX_MIN[count_register,1];
}
if ((mode==1)||(mode==2))
{
data_register=data_register+0.01;
if (data_register>MAX_MIN[count_register,1])data_register=MAX_MIN[count_register,1];
}
if (count_key==0)count_key=60;if (count_key==21)count_key=20;
}
rekey();
}
else if ((mode!=100)&&(key_enter_press==0)&&(key_mines_press==0)){count_key=0;count_key1=0;count_key2=0;}
if (key_mines_press==1)
{
start_time_mode=sys_time;
if (count_key==0){if (mode==10)if (--count_register<7)count_register=7;}
if ((count_key==0)||(count_key==21)||(count_key1==102))
{
if ((mode==11)||(mode==3)||(mode==4)||(mode==5)||(mode==6))
{
if ((count_register==13)||(count_register==14)||(count_register==21)||(count_register==22))data_register=data_register-0.01;
else data_register=data_register-1;
if (data_register<MAX_MIN[count_register,0])data_register=MAX_MIN[count_register,0];
}
if ((mode==1)||(mode==2))
{
data_register=data_register-0.01;
if (data_register<MAX_MIN[count_register,0])data_register=MAX_MIN[count_register,0];
}
if (count_key==0)count_key=60;if (count_key==21)count_key=20;
}
rekey();
}
else if ((mode!=100)&&(key_enter_press==0)&&(key_plus_press==0)){count_key=0;count_key1=0;count_key2=0;}
if ((key_enter_press_switch==1)&&(key_plus_press==0)&&(key_mines_press==0)&&(key_mode_press==0)&&(mode!=0)&&(mode!=10))
{
ee_float=®[count_register];
*ee_float=data_register;
start_time_mode=sys_time;
if (count_register==21)
{
ee_float=&kal[0];
*ee_float=adc_filter;
}
if (count_register==22)
{
ee_float=&kal[0];
k_f=*ee_float;
ee_float=&kal[1];
*ee_float=20/(adc_filter-k_f);
}
if (count_register==30)
{
for (i=0;i<30;i++)
{
ee_float=®[i];
*ee_float=FAKTORY[i];
}
}
set_digit_on(' ',3,'a','п');
set_digit_off(' ',3,'a','п');
set_led_on(0,0,0,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
delay_ms(3000);key_enter_press_switch=0;
set_digit_off(' ',' ',' ',' ');
start_time_mode=sys_time;start_time=sys_time;
f_m1=0;
}
if ((key_mode_press_switch==1)&&(key_4==1))
{
key_mode_press_switch=0;f_m1=0;
start_time_mode=sys_time;
switch (mode)
{
case 0: mode=1;data_register=read_reg(1);break;
case 1: mode=2;data_register=read_reg(2);break;
case 2: mode=3;data_register=read_reg(3);break;
case 3: mode=4;data_register=read_reg(4);break;
case 4: mode=5;data_register=read_reg(5);break;
case 5: mode=6;data_register=read_reg(6);break;
case 6: mode=0;break;
case 10:mode=11;data_register=read_reg(count_register);break;
case 11:mode=10;break;
case 100:mode=100;break;
}
}
if (((sys_time-start_time)>250))
{
set_digit_on(tis,sot,des,ed);
if (((mode>0)&&(mode<7))||(mode==11))
{
if((key_plus_press==1)||(key_mines_press==1)) set_digit_off(tis,sot,des,ed);
else set_digit_off(' ',' ',' ',' ');
}
if (mode==0)
{
set_digit_off(tis,sot,des,ed);
set_led_on(0,0,0,1,0,1,0,0);
set_led_off(0,0,0,1,0,1,0,0);
}
start_time=sys_time;
}
};
}
int main( int argc, char** argv )
{
int devfd;
int value, ret;
#if ( defined(DIRECT_IO_ACCESS) && !defined(DJGPP) )
#if (defined(LINUX_ENV))
iopl(3);
#endif
#if (defined(FreeBSD_ENV))
int iofl;
SET_IOPL();
#endif
#endif
fprintf(stdout, "=== Lanner platform miscellaneous utility ===\n");;
fprintf(stdout, PLATFORM_NAME" Status LED "CODE_VERSION"\n\n");;
#ifdef DIRECT_IO_ACCESS
sled_gpio_init();
printf("Set LED RED for 4 seconds...\n");
set_led_green();
sleep(4);
printf("Set LED GREEN for 4 seconds...\n");
set_led_amber();
sleep(4);
printf("Set LED DARK\n");
set_led_off();
printf("Test Finished.\n");
#if (defined(FreeBSD_ENV))
RESET_IOPL();
#endif
#else
devfd = open("/dev/sled_drv", O_RDONLY);
if(devfd == -1)
{
printf("Can't open /dev/sled_drv\n");
return -1;
}
printf("Set LED AMBER for 4 seconds...\n");
value = LED_SET_STATUS_AMBER;
ret = ioctl(devfd, IOCTL_LED_SET_STATUS, &value);
sleep(4);
printf("Set LED GREEN for 4 seconds...\n");
value = LED_SET_STATUS_GREEN;
ret = ioctl(devfd, IOCTL_LED_SET_STATUS, &value);
sleep(4);
printf("Set LED DARK\n");
value = LED_SET_STATUS_OFF;
ret = ioctl(devfd, IOCTL_LED_SET_STATUS, &value);
printf("Test Finished.\n");
close(devfd);
return 0;
#endif //DIRECT_IO_ACCESS
return 0;
}
void main(void)
{
// Declare your local variables here
//eeprom *int ee_int;
float time_filter;
// Reset Source checking
if (MCUCSR & 1)
{/* Power-on Reset*/MCUCSR&=0xE0;}
else if (MCUCSR & 2)
{/* External Reset*/MCUCSR&=0xE0;/* Place your code here*/}
else if (MCUCSR & 4)
{// Brown-Out Reset
MCUCSR&=0xE0;/* Place your code here*/}
else if (MCUCSR & 8){// Watchdog Reset
MCUCSR&=0xE0;/* Place your code here*/}
else if (MCUCSR & 0x10){// JTAG Reset
MCUCSR&=0xE0;/* Place your code here*/};
PORTA=0xFF;DDRA=0xFF;
PORTB=0x00;DDRB=0xB3;
PORTC=0b11111000;DDRC=0b11111011;
PORTD=0b11110000;DDRD=0x00;
TCCR0=0x02;TCNT0=TCNT0_reload;OCR0=0x00;
TCCR1A=0x00;TCCR1B=0x05;TCNT1H=0x00;TCNT1L=0x01;
ICR1H=0x00;ICR1L=0x04;OCR1AH=0x00;OCR1AL=0x02;
OCR1BH=0x00;OCR1BL=0x03;
ASSR=0x00;TCCR2=0x03;TCNT2=TCNT2_reload;OCR2=0x00;
MCUCR=0x00;MCUCSR=0x00;
TIMSK=0xFF;
UCSRA=0x00;UCSRB=0xD8;UCSRC=0x86;UBRRH=0x00;UBRRL=0x33;
ACSR=0x80;SFIOR=0x00;
SPCR=0x52;SPSR=0x00;
WDTCR=0x1F;WDTCR=0x0F;
count_register=1;
data_register=1234;
time_filter=2;
#asm("sei")
mode=0;
x=0;
start_time=sys_time;
while (1)
{
#asm("wdr");
for (i=0;i<9;i++)rang[i]=0;
if (++buf_end>8) buf_end=0;
buf[buf_end]=read_adc();
for (j=0;j<9;j++)
{
for (i=0;i<9;i++)
{
if (buf[j]<buf[i]) rang[j]--;
if (buf[j]>buf[i]) rang[j]++;
}
}
for(i=0;i<9;i++){if (rang[i]<0)rang[i]=0-rang[i];}
j=0;for(i=0;i<9;i++){if (rang[j]>rang[i])j=i;}
xx=(6-time_filter)*0.002;xx=xx*buf[j];
yy=1-((6-time_filter)*0.002);yy=yy*x;x=xx+yy;
adc_buf=x+0.5;
if (mode==0)
{
hex2dec(adc_buf);
}
if (((sys_time-start_time_mode)>15000)) mode=0;
if (mode==1)//уставка №1
{
set_led_on(0,0,1,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
if (((sys_time-start_time_mode)<5000))
{
tis='У';sot='_';des=1;ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
tis=' ';sot=5;des=4;ed=3;
set_digit_off(' ',' ',' ',' ');
}
}
if (mode==2)//уставка №2
{
set_led_on(0,1,0,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
if (((sys_time-start_time_mode)<5000))
{
tis='У';sot='_';des=2;ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
tis=' ';sot=7;des=6;ed=5;
set_digit_off(' ',' ',' ',' ');
}
}
if (mode==3)//время до уставки 1
{
if (((sys_time-start_time_mode)<5000))
{
set_led_on(0,0,1,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
tis=3;sot='_';des=1;ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
tis=' ';sot=7;des=6;ed=5;
set_digit_off(' ',' ',' ',' ');
}
}
if (mode==4)//время до уставки 2
{
if (((sys_time-start_time_mode)<5000))
{
set_led_on(0,1,0,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
tis=3;sot='_';des=2;ed=' ';
set_digit_off(' ',' ',' ',' ');
}
else
{
tis=' ';sot=7;des=6;ed=5;
set_digit_off(' ',' ',' ',' ');
}
}
if (mode==5)
{
tis=' ';sot=5;des=5;ed=' ';
set_digit_off(' ',' ',' ',' ');
set_led_on(0,0,1,1,0,1,0,0);
set_led_off(0,0,0,1,0,1,0,0);
}
if (mode==10)
{
hex2dec(count_register);
if (des==0) des='_';
tis='a';sot='_';//des=count_register;ed=' ';
set_digit_off(' ',' ',' ',' ');
set_led_on(0,0,1,1,0,0,0,0);
set_led_off(0,0,0,1,0,0,0,0);
}
if (mode==11)
{
hex2dec(data_register);
// tis=' ';sot=1;des=2;ed=3;
set_led_on(0,0,1,1,0,1,0,0);
set_led_off(0,0,0,1,0,1,0,0);
}
if (key_plus_press==1)
{
start_time_mode=sys_time;
if (count_key==0){if (mode==10)if (++count_register>MAX_REGISTER)count_register=MAX_REGISTER;}
if ((count_key==0)||(count_key==21)||(count_key1==102))
{
if (mode==11){if (++data_register>MAX_MIN[count_register,1])data_register=MAX_MIN[count_register,1];}
if (count_key==0)count_key=60;if (count_key==21)count_key=20;
}
rekey();
}
else if ((mode!=100)&&(key_enter_press==0)&&(key_mines_press==0)){count_key=0;count_key1=0;}
if (key_mines_press==1)
{
start_time_mode=sys_time;
if (count_key==0){if (mode==10)if (--count_register>MAX_REGISTER)count_register=MAX_REGISTER;}
if ((count_key==0)||(count_key==21)||(count_key1==102))
{
if (mode==11){if (--data_register<MAX_MIN[count_register,0])data_register=MAX_MIN[count_register,0];}
if (count_key==0)count_key=60;if (count_key==21)count_key=20;
}
rekey();
}
else if ((mode!=100)&&(key_enter_press==0)&&(key_plus_press==0)){count_key=0;count_key1=0;}
if ((key_enter_press==1)&&(key_plus_press==0)&&(key_mines_press==0)&&(key_mode_press==0))
{
mode=100;
ee_int=count_register*2;
*ee_int=data_register;
start_time_mode=sys_time;
}
else if (mode==100)
{
if ((sys_time-start_time_mode)>3250)
{
start_time_mode=sys_time;start_time=sys_time;mode=10;
}
}
if (key_mode_press_switch==1)
{
key_mode_press_switch=0;
start_time_mode=sys_time;
switch (mode)
{
case 0: mode=1;break;
case 1: mode=2;break;
case 2: mode=3;break;
case 3: mode=4;break;
case 4: mode=5;break;
case 5: mode=10;break;
case 10:mode=11;break;
case 11:mode=10;break;
case 100:mode=100;break;
}
}
if (((sys_time-start_time)>250))
{
set_digit_on(tis,sot,des,ed);
if (mode==100)
{
set_digit_on(' ',3,'a','п');
set_digit_off(' ',3,'a','п');
set_led_on(0,0,0,0,0,0,0,0);
set_led_off(0,0,0,0,0,0,0,0);
}
if (mode==11)
{
if((key_plus_press==1)||(key_mines_press==1)) set_digit_off(tis,sot,des,ed);
else set_digit_off(' ',' ',' ',' ');
}
if (mode==0)
{
set_digit_off(tis,sot,des,ed);
set_led_on(0,0,0,1,0,1,0,0);
set_led_off(0,0,0,1,0,1,0,0);
}
start_time=sys_time;
}
};
}