void Mirobot::loop(){
marcel.loop();
ledHandler();
servoHandler();
autoHandler();
calibrateHandler();
sensorNotifier();
#ifdef ESP8266
if(wifiEnabled){
sendDiscovery();
updateHandler();
}
#endif
checkReady();
}
void main()
{
u8 cur_detect_pos=1;
u16 tempVoltClose,tempVoltOpen;
InitConfig();
RCEN=1;
GIE=1;
//t8n_start();
t8p1_start();
WDTC = 0x0F;
led_blink();
while(1)
{
if(gBatStateBuf[cur_detect_pos] & HAS_BATTERY)
{
//getVbatAdc(cur_detect_pos);
}
else
{
if((gBatStateBuf[cur_detect_pos] & BAT_DETECT_BIT) == 0)
{
gBatVoltArray[cur_detect_pos-1][0]= getVbatAdc(cur_detect_pos); //gBatVoltArray[cur_detect_pos-1][0]= getVbatAdc(cur_detect_pos);
if(gBatVoltArray[cur_detect_pos-1][0] >= BAT_MIN_VOLT_OPEN)
{
if(gBatVoltArray[cur_detect_pos-1][0] >= BAT_MAX_VOLT_OPEN)
{
gBatStateBuf[cur_detect_pos] |= BAT_TYPE_ERROR;
}
else
{
gBatStateBuf[cur_detect_pos] |= (CHARGE_STATE_FAST|BAT_DETECT_BIT);
}
gBatNumNow++;
gBatNowBuf[gBatNumNow] = cur_detect_pos;
}
}
}
chargeHandler();
ledHandler();
cur_detect_pos++;
if(cur_detect_pos > 4)
cur_detect_pos=1;
__Asm CWDT;
}
}
