bool check_touch_key_pressed(void)
{
uint16_t status_flag;
uint16_t burst_flag;
#ifdef _DEBUG_INTERFACE_
/* Process commands from PC */
QDebug_ProcessCommands();
#endif
if (time_to_measure_touch) {
time_to_measure_touch = false;
do {
status_flag = qt_measure_sensors(current_time_ms_touch);
burst_flag = status_flag & QTLIB_BURST_AGAIN;
#ifdef _DEBUG_INTERFACE_
QDebug_SendData(status_flag);
#endif
/* Time-critical host application code should be placed
* here since
* a full burst cycle may delay critical task in the
*main application
*/
} while (burst_flag);
#ifdef _DEBUG_INTERFACE_
/* Process commands from PC */
QDebug_ProcessCommands();
#endif
}
if (GET_SENSOR_STATE(0)) {
return 0;
} else {
return 1;
}
}
int main(void)
{
/*Status flags to indicate the re-burst for library */
uint16_t status_flag = 0u;
uint16_t burst_flag = 0u;
uint8_t lft_pressed = 0;
uint8_t rgt_pressed = 0;
static uint8_t old_position = 0;
uint8_t uc_char;
uint8_t uc_flag;
sysclk_init();
board_init();
configure_buttons();
configure_hall();
wdt_disable(WDT);
pmc_enable_periph_clk(ID_PIOC);
qt_reset_sensing();
config_sensors();
qt_init_sensing();
/* Set the parameters like recalibration threshold, Max_On_Duration etc in this function by the user */
qt_set_parameters();
init_timer_isr();
qt_filter_callback = 0;
configure_console();
printf(STRING_HEADER);
configure_lcd();
g_pwm_channel = configure_pwm();
/* Cabeçalho do lcd */
pos_lcd_x = 20;
pos_lcd_y = 40;
start_lcd(pos_lcd_x, pos_lcd_y, ul_duty, hall_1, hall_2, hall_3, phase);
/* Infinite loop */
while (1) {
static uint8_t phase_aux;
static uint32_t hall_1_aux, hall_2_aux, hall_3_aux, ul_duty_aux;
/* Atualiza o display somente quando houver alteração nas variáveis que serão apresentadas */
if(ul_duty_aux != ul_duty)
{
escreve_int_lcd("dc = ", ul_duty*100/PERIOD_VALUE, pos_lcd_x, 40);
ul_duty_aux = ul_duty;
}
if(phase_aux != phase || hall_1_aux != hall_1 || hall_2_aux != hall_2 || hall_3_aux != hall_3)
{
escreve_int_lcd("hall1 = ", hall_1, pos_lcd_x, 60);
escreve_int_lcd("hall2 = ", hall_2, pos_lcd_x, 80);
escreve_int_lcd("hall3 = ", hall_3, pos_lcd_x, 100);
escreve_int_lcd("phase = ", phase, pos_lcd_x, 120);
phase_aux = phase;
hall_1_aux = hall_1;
hall_2_aux = hall_2;
hall_3_aux = hall_3;
}
if(motor_run == 0 && ul_duty != 0)
Hall_Phase();
uc_char = 0;
uc_flag = uart_read(CONSOLE_UART, &uc_char);
if (!uc_flag) {
if (uc_char == 't') {
printf(" duty cicle = %lu \r\n",ul_duty*100/PERIOD_VALUE);
printf(" hall1 = %lu \r\n", hall_1);
printf(" hall2 = %lu \r\n", hall_2);
printf(" hall3 = %lu \r\n", hall_3);
printf(" phase = %u \r\n\n", phase);
}
if (uc_char == 'a'){
if(ul_duty < PERIOD_VALUE) ul_duty++;
printf(" duty cicle = %lu \r\n",ul_duty*100/PERIOD_VALUE);
}
if (uc_char == 's'){
if(ul_duty > INIT_DUTY_VALUE) ul_duty--;
printf(" duty cicle = %lu \r\n",ul_duty*100/PERIOD_VALUE);
}
if (uc_char == 'd')
{
ensaio = 1;
printf(" Ensaio de rampa\r\n");
printf(" para parar pressione a letra 'P'\r\n");
}
if (uc_char == 'f')
{
ensaio = 2;
printf(" Ensaio de degrau\r\n");
printf(" para parar pressione a letra 'P'\r\n");
}
if (uc_char == 'p')
{
ensaio = 0;
ul_duty = 0;
}
if (uc_char == 'i')
{
sel_rot = !sel_rot;
printf(" Rotacao invertida\r\n");
printf(" para parar pressione a letra 'P'\r\n");
}
}
if (time_to_measure_touch) {
/* Clear flag: it's time to measure touch */
time_to_measure_touch = 0u;
do {
/* One time measure touch sensors */
status_flag = qt_measure_sensors(current_time_ms_touch);
burst_flag = status_flag & QTLIB_BURST_AGAIN;
/*Time critical host application code goes here */
} while (burst_flag);
}
/* Time Non-critical host application code goes here */
if ((GET_SENSOR_STATE(BOARD_LEFT_KEY_ID) != 0)
&& (lft_pressed == 0)) {
lft_pressed = 1;
if(ul_duty > INIT_DUTY_VALUE) ul_duty--;
printf(" duty cicle = %lu \r\n",ul_duty*100/PERIOD_VALUE);
} else {
if ((GET_SENSOR_STATE(BOARD_LEFT_KEY_ID) == 0)
&& (lft_pressed == 1)) {
lft_pressed = 0;
}
}
if ((GET_SENSOR_STATE(BOARD_RIGHT_KEY_ID) != 0)
&& (rgt_pressed == 0)) {
rgt_pressed = 1;
if(ul_duty < PERIOD_VALUE) ul_duty++;
printf(" duty cicle = %lu \r\n",ul_duty*100/PERIOD_VALUE);
} else {
if ((GET_SENSOR_STATE(BOARD_RIGHT_KEY_ID) == 0)
&& (rgt_pressed == 1)) {
rgt_pressed = 0;
}
}
if (GET_ROTOR_SLIDER_POSITION(0) != old_position) {
old_position = GET_ROTOR_SLIDER_POSITION(0);
if (motor_run==0) flag_hab_m = 1;
ul_duty = old_position*PERIOD_VALUE/255;
}
}
}
int main( void )
{
/* initialize host app, pins, watchdog, etc */
// init_system();
/* configure timer ISR to fire regularly */
// init_timer_isr();
// Configure CPU and peripherals clock
xmega_set_cpu_clock_to_32MHz();
// Enable interrupts
PMIC.CTRL = PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
// Power management - configure sleep mode to IDLE
set_sleep_mode(SLEEP_SMODE_IDLE_gc);
// Enable sleep mode
sleep_enable();
#ifdef MMSN_DEBUG
// Initialize serial communication terminal
// usartCommTerminalInit();
// Configure and initialize communication bus usart
xmega_usart_configure();
/* RS-485 PHYSICAL DEVICE CONFIGURATION */
// Initialize GPIO related to RS-485 interface
rs485_driver_gpio_initialize();
// Enable driver to be able to send data
rs485_driver_enable();
// Redirect stream to standard output
stdout = &mystdout;
/* Print out welcome message */
printf_P(PSTR("\nGeneric Board ver 1.00\n"));
#endif
// Heartbeat timer - 8MHz prescales by 8 => 1MHz
// Thus 1ms equals to 1000 ticks
xmega_timer_config(&TIMER_HEARTBEAT, TC_CLKSEL_DIV8_gc, (TICKS_PER_MS * qt_measurement_period_msec));
/* Initialize Touch sensors */
touch_init();
// Configure PIN6 as input
PORT_DIRCLR(POWER_SUPPLY_MEASUREMENT_IO);
// ADC conversion on pin 6
uint16_t u16ConvResult = xmega_generate_adc_random_value(&ADCA, ADC_REFSEL_INT1V_gc | 0x02, ADC_CH_MUXPOS_PIN6_gc);
printf("Power meter = %u\n", u16ConvResult);
// Configure PIN5 as input
PORT_DIRCLR(OPTO_IO);
u16ConvResult = xmega_generate_adc_random_value(&ADCA, ADC_REFSEL_INT1V_gc | 0x02, ADC_CH_MUXPOS_PIN5_gc);
printf("Opto = %u\n", u16ConvResult);
/* loop forever */
for(;;)
{
touch_measure();
// Test every 2s
if(gCounter >= 40)
{
printf("\n");
printf("\nSensor[0]: %d - ", GET_SENSOR_STATE(0));
printf("Sensor[1]: %d - ", GET_SENSOR_STATE(1));
printf("Sensor[2]: %d - ", GET_SENSOR_STATE(2));
printf("Sensor[3]: %d\n", GET_SENSOR_STATE(3));
printf("Sensor[4]: %d - ", GET_SENSOR_STATE(4));
printf("Sensor[5]: %d - ", GET_SENSOR_STATE(5));
printf("Sensor[6]: %d - ", GET_SENSOR_STATE(6));
printf("Sensor[7]: %d\n", GET_SENSOR_STATE(7));
printf("Sensor[8]: %d - ", GET_SENSOR_STATE(8));
printf("Sensor[9]: %d - ", GET_SENSOR_STATE(9));
printf("Sensor[10]: %d - ", GET_SENSOR_STATE(10));
printf("Sensor[11]: %d\n", GET_SENSOR_STATE(11));
printf("Sensor[12]: %d - ", GET_SENSOR_STATE(12));
printf("Sensor[13]: %d - ", GET_SENSOR_STATE(13));
printf("Sensor[14]: %d - ", GET_SENSOR_STATE(14));
printf("Sensor[15]: %d\n", GET_SENSOR_STATE(15));
printf("Sensor[16]: %d - ", GET_SENSOR_STATE(16));
printf("Sensor[17]: %d - ", GET_SENSOR_STATE(17));
printf("Sensor[18]: %d - ", GET_SENSOR_STATE(18));
printf("Sensor[19]: %d\n", GET_SENSOR_STATE(19));
printf("Sensor[20]: %d - ", GET_SENSOR_STATE(20));
printf("Sensor[21]: %d - ", GET_SENSOR_STATE(21));
printf("Sensor[22]: %d - ", GET_SENSOR_STATE(22));
printf("Sensor[23]: %d\n", GET_SENSOR_STATE(23));
printf("Sensor[24]: %d - ", GET_SENSOR_STATE(24));
printf("Sensor[25]: %d - ", GET_SENSOR_STATE(25));
printf("Sensor[26]: %d - ", GET_SENSOR_STATE(26));
printf("Sensor[27]: %d\n", GET_SENSOR_STATE(27));
printf("Sensor[28]: %d - ", GET_SENSOR_STATE(28));
printf("Sensor[29]: %d - ", GET_SENSOR_STATE(29));
printf("Sensor[30]: %d - ", GET_SENSOR_STATE(30));
printf("Sensor[31]: %d\n", GET_SENSOR_STATE(31));
printf("\n");
u16ConvResult = xmega_generate_adc_random_value(&ADCA, ADC_REFSEL_INT1V_gc, ADC_CH_MUXPOS_PIN5_gc);
printf("Opto = %i\n", u16ConvResult);
/*
printf("\nCh_Sig[0]: %u ", qt_measure_data.channel_signals[0]);
printf("Ch_Sig[1]: %u ", qt_measure_data.channel_signals[1]);
printf("Ch_Sig[2]: %u ", qt_measure_data.channel_signals[2]);
printf("Ch_Sig[3]: %u", qt_measure_data.channel_signals[3]);
printf("\nCh_Sig[4]: %u ", qt_measure_data.channel_signals[4]);
printf("Ch_Sig[5]: %u ", qt_measure_data.channel_signals[5]);
printf("Ch_Sig[6]: %u ", qt_measure_data.channel_signals[6]);
printf("Ch_Sig[7]: %u", qt_measure_data.channel_signals[7]);
printf("\nCh_Sig[8]: %u ", qt_measure_data.channel_signals[8]);
printf("Ch_Sig[9]: %u ", qt_measure_data.channel_signals[9]);
printf("Ch_Sig[10]: %u ", qt_measure_data.channel_signals[10]);
printf("Ch_Sig[11]: %u", qt_measure_data.channel_signals[11]);
printf("\nCh_Sig[12]: %u ", qt_measure_data.channel_signals[12]);
printf("Ch_Sig[13]: %u ", qt_measure_data.channel_signals[13]);
printf("Ch_Sig[14]: %u ", qt_measure_data.channel_signals[14]);
printf("Ch_Sig[15]: %u", qt_measure_data.channel_signals[15]);
printf("\nCh_Sig[16]: %u ", qt_measure_data.channel_signals[16]);
printf("Ch_Sig[17]: %u ", qt_measure_data.channel_signals[17]);
printf("Ch_Sig[18]: %u ", qt_measure_data.channel_signals[18]);
printf("Ch_Sig[19]: %u", qt_measure_data.channel_signals[19]);
printf("\nCh_Sig[20]: %u ", qt_measure_data.channel_signals[20]);
printf("Ch_Sig[21]: %u ", qt_measure_data.channel_signals[21]);
printf("Ch_Sig[22]: %u ", qt_measure_data.channel_signals[22]);
printf("Ch_Sig[23]: %u", qt_measure_data.channel_signals[23]);
printf("\nCh_Sig[24]: %u ", qt_measure_data.channel_signals[24]);
printf("Ch_Sig[25]: %u ", qt_measure_data.channel_signals[25]);
printf("Ch_Sig[26]: %u ", qt_measure_data.channel_signals[26]);
printf("Ch_Sig[27]: %u", qt_measure_data.channel_signals[27]);
printf("\nCh_Sig[28]: %u ", qt_measure_data.channel_signals[28]);
printf("Ch_Sig[29]: %u ", qt_measure_data.channel_signals[29]);
printf("Ch_Sig[30]: %u ", qt_measure_data.channel_signals[30]);
printf("Ch_Sig[31]: %u", qt_measure_data.channel_signals[31]); */
printf("\ndelta[0]: %i ", qt_get_sensor_delta(0));
printf("delta[1]: %i ", qt_get_sensor_delta(1));
printf("delta[2]: %i ", qt_get_sensor_delta(2));
printf("delta[3]: %i", qt_get_sensor_delta(3));
printf("\ndelta[4]: %i ", qt_get_sensor_delta(4));
printf("delta[5]: %i ", qt_get_sensor_delta(5));
printf("delta[6]: %i ", qt_get_sensor_delta(6));
printf("delta[7]: %i", qt_get_sensor_delta(7));
printf("\ndelta[8]: %i ", qt_get_sensor_delta(8));
printf("delta[9]: %i ", qt_get_sensor_delta(9));
printf("delta[10]: %i ", qt_get_sensor_delta(10));
printf("delta[11]: %i", qt_get_sensor_delta(11));
printf("\ndelta[12]: %i ", qt_get_sensor_delta(12));
printf("delta[13]: %i ", qt_get_sensor_delta(13));
printf("delta[14]: %i ", qt_get_sensor_delta(14));
printf("delta[15]: %i", qt_get_sensor_delta(15));
printf("\ndelta[16]: %i ", qt_get_sensor_delta(16));
printf("delta[17]: %i ", qt_get_sensor_delta(17));
printf("delta[18]: %i ", qt_get_sensor_delta(18));
printf("delta[19]: %i", qt_get_sensor_delta(19));
printf("\ndelta[20]: %i ", qt_get_sensor_delta(20));
printf("delta[21]: %i ", qt_get_sensor_delta(21));
printf("delta[22]: %i ", qt_get_sensor_delta(22));
printf("delta[23]: %i", qt_get_sensor_delta(23));
printf("\ndelta[24]: %i ", qt_get_sensor_delta(24));
printf("delta[25]: %i ", qt_get_sensor_delta(25));
printf("delta[26]: %i ", qt_get_sensor_delta(26));
printf("delta[27]: %i", qt_get_sensor_delta(27));
printf("\ndelta[28]: %i ", qt_get_sensor_delta(28));
printf("delta[29]: %i ", qt_get_sensor_delta(29));
printf("delta[30]: %i ", qt_get_sensor_delta(30));
printf("delta[31]: %i", qt_get_sensor_delta(31));
gCounter = 0;
}
/* Time Non-critical host application code goes here */
}
}
