void Writeeeprom(void)
{ //switch write ZCurVal,SCurVal,CCurVal,MCurVal,PCurVal,ICurVal,DCurVal;
int8u retval;
switch(Command)
{
case 'Z': retval = WriteEEP(ZCurVal,ZADDR); break;
case 'S': retval = WriteEEP(SCurVal,SADDR); break;
case 'T': retval = WriteEEP(NoTeeth,TADDR); break;
//case 'M': retval = WriteEEP(MCurVal,MADDR); break;
case 'P': retval = WriteEEP(PCurVal,PADDR); break;
case 'I': retval = WriteEEP(ICurVal,IADDR); break;
case 'D': retval = WriteEEP(DCurVal,DADDR); break;
case 'Q': break;
case 'B': retval = WriteEEP(BCurVal,BADDR); break;
case 'R': retval = WriteEEP(CLKVIZ,DIADDR); break;
case 'F': retval = WriteEEP(BoardFreq,FADDR); break;
case 'A': retval = WriteEEP(ACurVal,AADDR); break;
}
if(retval)
{
USARTWriteChar('G');USARTWriteString(strnw);
//USARTWriteString("Success");USARTWriteString(strnw);
}
else
{
USARTWriteChar('H');USARTWriteString(strnw);
//USARTWriteString("Fail");USARTWriteString(strnw);
}
}
int main(void)
{
//Initial Serial, ADC & LCD Display:
USARTInit(52);
lcd_init();
ADCinit();
pwm_init();
char adc_output[6][4];
int adc_value[6]; // Variable to hold ADC result
while(1)
{
for(int i=0;i<6;i++){
adc_value[i] = ADCread(i);
itoa(adc_value[i],adc_output[i],10);
USARTWriteString(adc_output[i]);
if(i!=5){USARTWriteChar(';');}
}
//Sending a new line:
USARTWriteChar('\r');
USARTWriteChar('\n');
//Set PWM:
pwm(adc_value[5]);
//Show data on the lcd display
show(adc_output);
//Delay:
_delay_ms(500);
}
}
int main( void )
{
sei();
Timer1_Init();
I2C_init(0x52);
USARTInit(9600);
// SERVO_Init();
// SERVO_UpdateServo(0,1500);
// SERVO_UpdateServo(1,1800);
// SERVO_UpdateServo(2,2600);
// SERVO_UpdateServo(3,2800);
//Timer1_print_time(Timer1_get_time());
USARTWriteString("\r\nReset\r\n");
SERVO_Run();
while(1)
{
//handleI2C();
//I2C_isdataready();
}
return 0;
}
void msg(uint8_t err, const char* fmt, ...)
{
va_list vl;
va_start(vl,fmt);
#if DEBUG_OS_ENABLED
vfprintf((err? stderr:stdout),fmt,vl);
#elif EMBED_AVR
char str[DEBUG_MAXMSGLEN];
vsnprintf(str,sizeof(str),fmt,vl);
if (err) USARTWriteString("ERR: ");
USARTWriteString(str);
#endif
va_end(vl);
}
void main(void)
{
OSCCON = 0b01100001; //4 MHz
OSCTUNE= 0;
//INTCON = 0;
//Count1micros = 0;
Count4ms = 0;
//Delay(2);
initports();
USARTinit();
//USARTWriteString("Serial init\n\rchecking for config enable...\n\r");
while(SERIALDETECT == 1)
{
//USARTWriteString("\n\rEnter Config\n\r");USARTWriteString(strnw);
//USARTWriteString("\n\rEnter ");
getData();
}
ENB = 0;
nSLEEP = 1;
DECAY = 1;
initall();
int i;
for( i = 0 ; i < 4 ; i++)
{
CurTotNoStep = 270; CurStepDir = ANTICLKVIZ; CurStepMode = MIC32STEP ;
Make_Table( CurTotNoStep );
while(!MotionComplete);
}
while(Crankflg == 0)
{
get_Actrpm();
Calc_SetPoint();
USARTWriteChar('N');USARTWriteString(strnw);
}
for( i = 0 ; i < 4 ; i++)
{
CurTotNoStep = 225; CurStepDir = CLKVIZ; //CurStepMode = MIC32STEP ;
Make_Table( CurTotNoStep );
while(!MotionComplete);
}
//MoveMotor();
while(1)
{
if(MS100Flag)
{
MS100Flag = 0;
Calc_Err(PIDCycleNo);
if((PIDCycleNo >= 2) /*&& Crankflg*/ )
{
Calc_PID_op();
}//USARTWriteString("100 ms done \n\r");
/*else
{
USARTWriteChar('N');USARTWriteString(strnw);
//USARTWriteString("no crank\n\r");
}*/
}
}
}
void CheckState()
{
/*
// main track
if (MAIN_IS_SHORT && !shortMain)
{
shortMain = true;
MAIN_TRACK_OFF;
LED_SHORT_MAIN_ON;
USARTWriteString("MTS1*");
}
// program track
if (PROG_IS_SHORT && !shortProg)
{
shortProg = true;
PROG_TRACK_OFF;
LED_SHORT_PROG_ON;
USARTWriteString("PTS1*");
}
// ack detect
if (ACK_IS_DETECTED && !ackDetect)
{
ackDetect = true;
USARTWriteString("ACK1*");
}
if (!MAIN_IS_SHORT && shortMain)
{
_delay_ms(6000);
shortMain = false;
MAIN_TRACK_ON;
LED_SHORT_MAIN_OFF;
USARTWriteString("MTS0*");
}
if (!PROG_IS_SHORT && shortProg)
{
_delay_ms(6000);
shortProg = false;
PROG_TRACK_ON;
LED_SHORT_PROG_OFF;
USARTWriteString("PTS0*");
}
if (!ACK_IS_DETECTED && ackDetect)
{
ackDetect = false;
USARTWriteString("ACK0*");
}
*/
// main track
if (MAIN_IS_SHORT)
{
MAIN_TRACK_OFF;
LED_SHORT_MAIN_ON;
USARTWriteString("MTS1*");
_delay_ms(6000);
LED_SHORT_MAIN_OFF;
USARTWriteString("MTS0*");
}
// program track
if (PROG_IS_SHORT)
{
PROG_TRACK_OFF;
LED_SHORT_PROG_ON;
USARTWriteString("PTS1*");
_delay_ms(6000);
LED_SHORT_PROG_OFF;
USARTWriteString("PTS0*");
}
// ack detect
if (ACK_IS_DETECTED && !ackDetect)
{
ackDetect = true;
USARTWriteString("ACK1*");
}
if (!ACK_IS_DETECTED && ackDetect)
{
ackDetect = false;
USARTWriteString("ACK0*");
}
}
void main(void)
{
UINT8 i=0,j=0,k,t;//togflg = 1;
OSCCON = 0b01111000;
OSCTUNE = 0b00000000;
SWDTEN = 0b01;
UINT8 tholdcount;
ANSELA = 0;
ANSELB = 0;
TRISA = 0;
TRISB = 0;
TRISC = 0;
WDTCONbits.WDTPS = 0b01010;
for ( j = 0 ; j < 8 ; j++ )
{
debounc[j] = 0;
threshold[j] = 0;
cur_read[j] = 0;
average[j] = 0;
keystat[j]= 0;keycnt[j]= 0;
}
TRISCbits.TRISC5 = 0; // RC6 = TX out
KEYSTATPIN = 1;
capsensinit(); //Delay(5);
setscanchannel();
channelno = 0;avgflag = 0;
count = 0;
usartinit();
I2Cinit();
if(STATUSbits.nTO == 0){ USARTWriteString(" reset ");}
//else {tholdflg = 0;}
//tholdflg = 0;
tholdcount=0;
max = 500; pos = 9;
// TRISAbits.TRISA2 = 0;
// LATAbits.LATA2 = 1;
/* while(1)
{
USARTWriteChar('U');
}
*/
while(1)
{
CLRWDT();
/* if(togflg)
{
LATAbits.LATA2 = 0;//togflg;
togflg = 0;
}
else {
LATAbits.LATA2 = 1;//togflg;
togflg = 1;
}
*/
if(avgflag)
{
for( i = 0 ; i < 8 ; i++ )
{
average[i] /= capsense_avg_cnt;
/*USARTWriteInt(average[i],5);
USARTWriteChar('\t');
if(i == 7) { USARTWriteChar('\n');USARTWriteChar('\r');}*/
if(tholdflg == 0)
{
if(tholdcount == 8) threshold[i] = 0;
threshold[i] += average[i];
if ( i == 7 ) tholdcount++ ;
if( tholdcount == 16 )
{
for ( j = 0 ; j < 8 ; j++ )
threshold[ j ] >>= 3 ;
tholdflg = 1;
}
}
else
{
olddiff[i] = curdiff[i];
curdiff[i] = threshold[i] - average[i];
if ( curdiff[i] > olddiff[i] )
diff[i]= curdiff[i] - olddiff[i];
else
diff[i]= olddiff[i]- curdiff[i];
if( diff[i] > max ) { max = diff[i]; pos = i; }
//if( curdiff[i] > max ){ max = curdiff[i]; pos = i;}
//USARTWriteInt(diff[i],5);
//USARTWriteChar('\t');
if(i == 7)
{
//USARTWriteInt(pos,2);
//USARTWriteChar(' ');
//USARTWriteInt(diff[pos],5);
//USARTWriteChar('\n');USARTWriteChar('\r');
for(t = 0; t < 8 ; t++)
{
if(t != pos) {if(keycnt[t])keycnt[t]--;keystat[t] =0;}
else if( max > 600 )
{
keycnt[t]++;
if( keycnt[t] > 7 )
{
for(k = 0 ; k < 8 ; k++) keycnt[k] = 0;
keystat[t] = 1;
}
}
else{ if(keycnt[t])keycnt[t]-- ; keystat[t] = 0;}
USARTWriteInt(keycnt[t],1);
}
if( pos != 9 && debounc[pos] == 0 )
{
debounc[pos] = 400;
USARTWriteChar('\n');
USARTWriteString("Key Detected = ");
i2c_tx_buff[ 0 ] = pos;
KEYSTATPIN = 0;
}
USARTWriteInt(pos,2);
//i2c_tx_buff[ 0 ] = pos;
USARTWriteChar('\n');USARTWriteChar('\r');
max = 500; pos = 9;
}
//USARTWriteInt(keycnt[i],1);
//USARTWriteChar('\t');
//if(i == 7){USARTWriteChar('\n');USARTWriteChar('\r');}
//pos = i;
/*USARTWriteInt(curdiff[i],5);
USARTWriteChar('\t');
if(i == 7) { USARTWriteChar('\n');USARTWriteChar('\r');}
if(curdiff[i] > 800){keycnt[i]++;}
else if(curdiff[i] < 800){ keycnt[i]=0; keystat[i] = 0;}
if(keycnt[i] == 8) keystat[i] = 1;*/
/*USARTWriteInt(keystat[i],1);
USARTWriteChar('\t');
if(i == 7) { USARTWriteChar('\n');USARTWriteChar('\r');}*/
}
}
avgflag = 0 ;
}
}
void USARTWriteLine(const char *ln)
{
USARTWriteString(ln);
USARTWriteString("\r\n");
}
