void EXT_isr(void)
{
unsigned int16 pulse_buff =0;
pulse_buff = get_timer1();
//printf("\r\n %lu \t\t %d \r\n",pulse_buff,pulse_count);
if(pulse_count == 0)
{
enable_timer1();
// enable_interrupts(INT_TIMER1);
pulse_count++;
}
else
{
if(pulse_buff < MIN_PULSE_WIDTH)
{
if(pulse_count>FILTER_VALUE)
{
printf("a");
}
// printf("\r\n %lu \t\t %d \r\n",pulse_buff,pulse_count);
IDLE_MODE();
}
else
{
pulse_count++ ;
}
}
}
void baseTime( void )
{
static unsigned long int cnt1s = 0;
set_timer1( 34285 + get_timer1() );
cnt1s++;
//Para testes, coloquei a base de tempo para contar somente 1 segundo. O valor correto da comparação abaixo deve ser
// 1200
if( cnt1s >= 20 )
{
cnt1s = 0;
Clock.time.minuto++;
if( Clock.time.minuto > 59 )
{
Clock.time.minuto = 0;
Clock.time.hora++;
if( Clock.time.hora > 23 )
{
Clock.time.hora = 0;
}
}
}
}
void main()
{
setup_comparator(NC_NC_NC_NC);// This device COMP currently not supported by the PICWizard
// enable_interrupts(INT_EXT);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); //32.7 ms overflow
enable_interrupts(INT_TIMER0);
enable_interrupts(INT_RDA);
//enable_interrupts(INT_TIMER1);
enable_interrupts(GLOBAL);
// setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);//128ms overflow
ext_int_edge( H_TO_L ); // Sets up EXT
setup_timer_1 (T1_DISABLED );
printf("NguyenHung \n \r DT5 - K53 - DHBKHN \n \r");
printf("Ready to use !! \n\r ");
TC3 = 0;
RC3 = 1;
while(true)
{
if(get_timer1() > MAX_PULSE_WIDTH)
{
if(pulse_count>FILTER_VALUE)
{
printf("W");
IDLE_MODE();
}
}
}
}
void baseTime( void )
{
static unsigned long int cnt1s = 0;
set_timer1( TIMER_CONFIGURATIONS + get_timer1() );
//Se o laço 1 da via 1 tiver sido acionado, começo a contar o tempo
if( via1.flgs.laco == 1 )
{
via1.flgs.tempo++;
}
//se o laço 2 da via 1 tiver sido acionado, paro de contar o tempo e indico a máquina principal que a velocidade deve ser mostrada
else if( via1.flgs.laco == 2 )
{
via1.flgs.laco = 3;
}
//Se o laço 1 da via 2 tiver sido acionado, começo a contar o tempo
if( via2.flgs.laco == 1 )
{
via2.flgs.tempo++;
}
//se o laço 2 da via 2tiver sido acionado, paro de contar o tempo e indico a máquina principal que a velocidade deve ser mostrada
else if( via2.flgs.laco == 2 )
{
via2.flgs.laco = 3;
printf("\n\rFINAL \n\r");
}
}
void baseTime( void )
{
static unsigned long int cnt1s = 0;
set_timer1( TIMER_CONFIGURATIONS + get_timer1() );
//Se o laço 1 tiver sido acionado, começo a contar o tempo
}
void timeproc()
{
set_timer1(get_timer1() + 15536); // 10msec at 20MHz
dcfpulsetime++;
dcfdeltatimer++;
timeout10msec = 1;
if (!(--timer400msec)) {
timer400msec = 40;
timeout400msec = 1;
}
}
// look at step and direction data inputs at timers 1&5 to generate new position
void CalculateExtCount()
{
int16 t1count;
int16 t5count;
if (!STATUS.pid_lock || STATUS.error) return;
t1count = prev_t1count;
t5count = prev_t5count;
prev_t1count = get_timer1();
prev_t5count = get_timer5();
servo_cmd+= (signed long)((prev_t1count-t1count)-(prev_t5count-t5count));
}
void int_trigger(void)
{
#if TRIGGER_TYPE == ULTRASONIC_SENSOR
if (usonic_state == USONIC_STATE_START)
{
// Tomo el tiempo en que comienza el pulso
pulseStart = get_timer1();
// Cambio el tipo de flanco
ext_int_edge(H_TO_L);
// Cambio el estado
usonic_state = USONIC_STATE_STOP;
} else {
// Tomo el tiempo y guardo el valor
values[5] = (get_timer1() - pulseStart)/2;
// Deshabilita la interupcion
disable_interrupts(INT_EXT);
}
#elif TRIGGER_TYPE == SWITCH_SENSOR
triggerAlarm = 1;
#endif
}
void Ultras(){
output_high(trig);
delay_us(20);
output_low(trig);
while(!input(echo))
{}
set_timer1(0);
while(input(echo))
{}
tiempo=get_timer1();
distancia=(tiempo*10)/(58.0);
output_high(trig2);
delay_us(20);
output_low(trig2);
while(!input(echo2))
{}
set_timer1(0);
while(input(echo2))
{}
tiempo2=get_timer1();
distancia2=(tiempo2*10)/(58.0);
}
void main(void)
{
long time;
float a, b, c;
a = 5;
b = 100;
setup_timer_1(T1_INTERNAL | T1_DIV_BY_1);
set_timer1(0);
c = a * b;
//printf("test");
time = get_timer1();
time -= 2;
printf("\r\n The program takes %lu clock cycles", time);
printf("\r\n Each clock cycle is %lu microseconds \r\n", (time+2)/5);
printf("\r\n Total time is %lu microseconds \r\n", time * (time+2)/5);
}
void trata_t1 ()
{
led = !led; // inverte o led - pisca a cada 0,5 seg.
output_bit (pin_b7,led);
set_timer1(3036 + get_timer1());
}
