/*********************************************************************
* Function: void TouchStoreCalibration(void)
*
* PreCondition: EEPROMInit() must be called before
*
* Input: none
*
* Output: none
*
* Side Effects: none
*
* Overview: stores calibration parameters into EEPROM
*
* Note: none
*
********************************************************************/
void TouchStoreCalibration(void){
#if ((GRAPHICS_PICTAIL_VERSION == 2) || (GRAPHICS_PICTAIL_VERSION == 250))
EEPROMWriteWord(_calXMin, ADDRESS_XMIN);
EEPROMWriteWord(_calXMax, ADDRESS_XMAX);
EEPROMWriteWord(_calYMin, ADDRESS_YMIN);
EEPROMWriteWord(_calYMax, ADDRESS_YMAX);
EEPROMWriteWord(GRAPHICS_LIBRARY_VERSION,ADDRESS_VERSION);
#else
SST25SectorErase(ADDRESS_XMIN); // erase 4K sector
SST25WriteWord(_calXMin, ADDRESS_XMIN);
SST25WriteWord(_calXMax, ADDRESS_XMAX);
SST25WriteWord(_calYMin, ADDRESS_YMIN);
SST25WriteWord(_calYMax, ADDRESS_YMAX);
SST25WriteWord(GRAPHICS_LIBRARY_VERSION,ADDRESS_VERSION);
#endif
}
//---------------------------------------------------------------------------------------------------------------
// Public functions
//---------------------------------------------------------------------------------------------------------------
void MotorInit(void)
{
// Configure PWM pins as outputs
trisc.MOTOR_LEFT_PIN = 0;
trisc.MOTOR_RIGHT_PIN = 0;
// Stop motors
portc.MOTOR_LEFT_PIN = 0;
portc.MOTOR_RIGHT_PIN = 0;
// Check if the EEPROM contains the duty cycle values
Motor_Left_Duty_Cycle_Forward = EEPROMReadWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD);
// Is the EEPROM memory empty ?
if (Motor_Left_Duty_Cycle_Forward == 0xFFFF)
{
// Write default duty cycles to EEPROM
EEPROMWriteWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD, MOTOR_LEFT_DEFAULT_DUTY_CYCLE_FORWARD);
EEPROMWriteWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD, MOTOR_LEFT_DEFAULT_DUTY_CYCLE_BACKWARD);
EEPROMWriteWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD, MOTOR_RIGHT_DEFAULT_DUTY_CYCLE_FORWARD);
EEPROMWriteWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD, MOTOR_RIGHT_DEFAULT_DUTY_CYCLE_BACKWARD);
// Use default values
Motor_Left_Duty_Cycle_Forward = MOTOR_LEFT_DEFAULT_DUTY_CYCLE_FORWARD;
Motor_Left_Duty_Cycle_Backward = MOTOR_LEFT_DEFAULT_DUTY_CYCLE_BACKWARD;
Motor_Right_Duty_Cycle_Forward = MOTOR_RIGHT_DEFAULT_DUTY_CYCLE_FORWARD;
Motor_Right_Duty_Cycle_Backward = MOTOR_RIGHT_DEFAULT_DUTY_CYCLE_BACKWARD;
}
else
{
// Load values from EEPROM
Motor_Left_Duty_Cycle_Backward = EEPROMReadWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD);
Motor_Right_Duty_Cycle_Forward = EEPROMReadWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD);
Motor_Right_Duty_Cycle_Backward = EEPROMReadWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD);
}
// Set the PWM period to 4.44 ms (it is the longuest we can achieve with a 3.6864 MHz clock)
pr2 = 255;
t2con = 0x06; // Enable timer 2 and set a 16x prescaler
}
void MotorChangeSpeed(TMotor Motor, TMotorDirection Direction, unsigned char Is_Speed_Increased)
{
// The left motor is mounted in the opposite direction than the right motor
if (Motor == MOTOR_LEFT)
{
if (Direction == MOTOR_DIRECTION_FORWARD)
{
if (Is_Speed_Increased)
{
if (Motor_Left_Duty_Cycle_Forward > MOTOR_MINIMUM_DUTY_CYCLE_VALUE) Motor_Left_Duty_Cycle_Forward--;
}
else
{
if (Motor_Left_Duty_Cycle_Forward < MOTOR_MAXIMUM_DUTY_CYCLE_VALUE) Motor_Left_Duty_Cycle_Forward++;
}
EEPROMWriteWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD, Motor_Left_Duty_Cycle_Forward);
}
else
{
if (Is_Speed_Increased)
{
if (Motor_Left_Duty_Cycle_Backward < MOTOR_MAXIMUM_DUTY_CYCLE_VALUE) Motor_Left_Duty_Cycle_Backward++; // Motor is mounted in the opposite direction
}
else
{
if (Motor_Left_Duty_Cycle_Backward > MOTOR_MINIMUM_DUTY_CYCLE_VALUE) Motor_Left_Duty_Cycle_Backward--;
}
EEPROMWriteWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD, Motor_Left_Duty_Cycle_Backward);
}
// Set new speed
MotorSetState(MOTOR_LEFT, Motor_Left_State);
}
else
{
if (Direction == MOTOR_DIRECTION_FORWARD)
{
if (Is_Speed_Increased)
{
if (Motor_Right_Duty_Cycle_Forward < MOTOR_MAXIMUM_DUTY_CYCLE_VALUE) Motor_Right_Duty_Cycle_Forward++;
}
else
{
if (Motor_Right_Duty_Cycle_Forward > MOTOR_MINIMUM_DUTY_CYCLE_VALUE) Motor_Right_Duty_Cycle_Forward--;
}
EEPROMWriteWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD, Motor_Right_Duty_Cycle_Forward);
}
else
{
if (Is_Speed_Increased)
{
if (Motor_Right_Duty_Cycle_Backward > MOTOR_MINIMUM_DUTY_CYCLE_VALUE) Motor_Right_Duty_Cycle_Backward--;
}
else
{
if (Motor_Right_Duty_Cycle_Backward < MOTOR_MAXIMUM_DUTY_CYCLE_VALUE) Motor_Right_Duty_Cycle_Backward++;
}
EEPROMWriteWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD, Motor_Right_Duty_Cycle_Backward);
}
// Set new speed
MotorSetState(MOTOR_RIGHT, Motor_Right_State);
}
}
/*********************************************************************
* Function: void TouchStoreCalibration(void)
*
* PreCondition: EEPROMInit() must be called before
*
* Input: none
*
* Output: none
*
* Side Effects: none
*
* Overview: stores calibration parameters into EEPROM
*
* Note: none
*
********************************************************************/
void TouchStoreCalibration(void){
EEPROMWriteWord(_calXMin, EEPROM_XMIN);
EEPROMWriteWord(_calXMax, EEPROM_XMAX);
EEPROMWriteWord(_calYMin, EEPROM_YMIN);
EEPROMWriteWord(_calYMax, EEPROM_YMAX);
}
