void RelayTimeout(void) //2s
{
IO_CW_GREEN_SetLow();
IO_CCW_RED_SetLow();
TMR2_StopTimer();
}
/*
Main application
*/
void main(void)
{
uint16_t u16VoltVar;
uint8_t u8CtrlHighCnt;
uint8_t u8CtrlLowCnt;
uint8_t u8SignalCnt;
uint8_t u8VoltCnt;
bool bPowerIssue;
bool bCheckPower;
// initialize the device
SYSTEM_Initialize();
InitVariable();
u16VoltVar = 0;
u8CtrlHighCnt = 0;
u8CtrlLowCnt = 0;
u8SignalCnt = 0;
u8VoltCnt = 0;
bPowerIssue = false;
bCheckPower = false;
// When using interrupts, you need to set the Global and Peripheral Interrupt Enable bits
// Use the following macros to:
// Enable the Global Interrupts
INTERRUPT_GlobalInterruptEnable();
// Enable the Peripheral Interrupts
INTERRUPT_PeripheralInterruptEnable();
// Disable the Global Interrupts
//INTERRUPT_GlobalInterruptDisable();
// Disable the Peripheral Interrupts
//INTERRUPT_PeripheralInterruptDisable();
__delay_ms(100);
while (1)
{
if( gu8Mode != MODE_CHECK_VOLT && bPowerIssue == false )
{
if( bCheckPower == false )
{
if( gu8TMR0State & TMR0_FLAG_1S )
{
gu8TMR0State &= ~TMR0_FLAG_1S;
u16VoltVar = 0;
u16VoltVar = ADC_GetVolt();
// 8.5V = 2250, 12V = 2850, 14V = 3200 1V ~= 170
if( u16VoltVar > DEF_OVP || u16VoltVar < DEF_UVP )
{
// Issue
u8VoltCnt = 0;
bCheckPower = true;
}
else
{
bPowerIssue = false;
}
}
}
else
{
if( gu8TMR0State & TMR0_FLAG_10MS )
{
gu8TMR0State &= ~TMR0_FLAG_10MS;
u16VoltVar = 0;
u16VoltVar = ADC_GetVolt();
// To-Do:
// 8.5V = 2250, 12V = 2850, 16V = 3530 1V ~= 170
if( u16VoltVar > DEF_OVP || u16VoltVar < DEF_UVP )
{
u8VoltCnt++;
if( u8VoltCnt > 5 )
{
bPowerIssue = true;
bCheckPower = false;
}
}
else
{
u8VoltCnt = 0;
bCheckPower = false;
}
}
}
}
// Add your application code
switch( gu8Mode )
{
case MODE_CHECK_VOLT:
if( gu8TMR0State & TMR0_FLAG_10MS )
{
gu8TMR0State &= ~TMR0_FLAG_10MS;
u16VoltVar = 0;
u16VoltVar = ADC_GetVolt();
// To-Do:
// 8.5V = 2250, 12V = 2850, 16V = 3530 1V ~= 170
if( u16VoltVar > DEF_OVP || u16VoltVar < DEF_UVP )
{
u8VoltCnt++;
if( u8VoltCnt > 5 )
{
bPowerIssue = true;
}
}
else
{
u8VoltCnt = 0;
InitMotorPosition();
}
}
break;
case MODE_IN_VOLT:
break;
case MODE_CHECK_CONTROL:
if( gu8TMR0State & TMR0_FLAG_10MS )
{
gu8TMR0State &= ~TMR0_FLAG_10MS;
u16VoltVar = 0;
u16VoltVar = ADC_GetVolt();
// To-Do:
// 8.5V = 2250, 12V = 2850, 16V = 3530 1V ~= 170
if( u16VoltVar > DEF_OVP || u16VoltVar < DEF_UVP )
{
u8VoltCnt++;
if( u8VoltCnt > 5 )
{
gu8Mode = MODE_CHECK_VOLT;
}
}
else
{
if( IO_CONTROL_GetValue() == HIGH )
{
u8CtrlHighCnt++;
u8CtrlLowCnt = 0;
if( u8CtrlHighCnt > 5 )
{
u8CtrlHighCnt = 0;
u8CtrlLowCnt = 0;
u8SignalCnt = 0;
gu8Mode = MODE_CONTROL_HIGH;
}
}
else
{
u8CtrlHighCnt = 0;
u8CtrlLowCnt++;
if( u8CtrlLowCnt > 5 )
{
u8CtrlHighCnt = 0;
u8CtrlLowCnt = 0;
u8SignalCnt = 0;
gu8Mode = MODE_CONTROL_LOW;
}
}
}
}
break;
case MODE_CONTROL_HIGH:
if( gu8TMR0State & TMR0_FLAG_10MS )
{
gu8TMR0State &= ~TMR0_FLAG_10MS;
IO_FEEDBACK_SetDigitalOutput();
if( IO_FEEDBACK_GetValue() == HIGH )
{
// C1F1
if( u8SignalCnt < 5 )
{
u8SignalCnt++;
}
else
{
gu8Mode = MODE_FORWARD; // CW
TMR2_StartTimer();
TMR2_WriteTimer(0);
IO_CW_GREEN_SetHigh();
}
}
else
{
// C1F0
u8SignalCnt = 0;
u8CtrlHighCnt = 0;
u8CtrlLowCnt = 0;
gu8Mode = MODE_CHECK_CONTROL;
}
}
break;
case MODE_CONTROL_LOW:
if( gu8TMR0State & TMR0_FLAG_10MS )
{
gu8TMR0State &= ~TMR0_FLAG_10MS;
IO_FEEDBACK_SetDigitalOutput();
if( IO_FEEDBACK_GetValue() == LOW )
{
// C0F0
if( u8SignalCnt < 5 )
{
u8SignalCnt++;
}
else
{
gu8Mode = MODE_BACKWARD; // CCW
TMR2_StartTimer();
TMR2_WriteTimer(0);
IO_CCW_RED_SetHigh();
}
}
else
{
// C0F1
u8CtrlHighCnt = 0;
u8CtrlLowCnt = 0;
u8SignalCnt = 0;
gu8Mode = MODE_CHECK_CONTROL;
}
}
break;
case MODE_FORWARD:
if( LOW == IO_CW_GREEN_GetValue() ||
true == bCheckInTheMiddle() )
{
TMR2_StopTimer();
IO_CW_GREEN_SetLow();
IO_B_CTRL_SetHigh(); // Set B signal to low
IO_Y_CTRL_SetLow(); // Set Y signal to high
IO_W_CTRL_SetHigh(); // Set W signal to low
IO_FEEDBACK_SetDigitalOutput();
IO_FEEDBACK_SetLow();
u8CtrlHighCnt = 0;
u8CtrlLowCnt = 0;
if( bPowerIssue == true )
{
bPowerIssue = false;
gu8Mode = MODE_CHECK_VOLT;
}
else
{
gu8Mode = MODE_CHECK_CONTROL;
}
}
break;
case MODE_BACKWARD:
if( LOW == IO_CCW_RED_GetValue() ||
true == bCheckBConnectW() )
{
TMR2_StopTimer();
IO_CCW_RED_SetLow();
IO_B_CTRL_SetHigh(); // Set B signal to low
IO_Y_CTRL_SetLow(); // Set Y signal to high
IO_W_CTRL_SetHigh(); // Set W signal to low
IO_FEEDBACK_SetDigitalOutput();
IO_FEEDBACK_SetHigh();
u8CtrlHighCnt = 0;
u8CtrlLowCnt = 0;
if( bPowerIssue == true )
{
bPowerIssue = false;
gu8Mode = MODE_CHECK_VOLT;
}
else
{
gu8Mode = MODE_CHECK_CONTROL;
}
}
break;
case MODE_FINISH:
IO_CW_GREEN_SetLow();
IO_CCW_RED_SetLow();
IO_B_CTRL_SetHigh(); // Set B signal to low
IO_Y_CTRL_SetLow(); // Set Y signal to high
IO_W_CTRL_SetHigh(); // Set W signal to low
TMR2_StopTimer();
IO_FEEDBACK_SetDigitalOutput();
if( IO_CONTROL_GetValue() == LOW )
{
IO_FEEDBACK_SetHigh();
}
else
{
IO_FEEDBACK_SetLow();
}
u8CtrlHighCnt = 0;
u8CtrlLowCnt = 0;
if( bPowerIssue == true )
{
bPowerIssue = false;
gu8Mode = MODE_CHECK_VOLT;
}
else
{
gu8Mode = MODE_CHECK_CONTROL;
}
break;
default:
break;
}
CLRWDT();
}
}
void HaltAudio(void) {
TMR2_StopTimer();
} // HaltAudio
