void iiC_broken()//I2C配置失败
{
//处理方式太SB，要改
while(1)//设置输出为0
{
setPwm(1,0);
setPwm(2,0);
setPwm(3,0);
setPwm(4,0);
setPwm(5,0);
}
}
void changeChargeMode(volatile uint8_t *array8){
if(array8[numDischargeCharge]!=0){
//Если кол-во итераций разрядки - зарядки не достигло 0
if(array8[charge]) {
//Если режим зарядки
safeTimeCharge[indDisCharge][indChargeTime]=chargeTime;
chargeTime=0;
array8[numDischargeCharge]--;
USART_SendChar('N');
sendDigitalUsart(indDisCharge+1);
USART_SendChar('C');
sendDigitalUsart(safeTimeCharge[indDisCharge][indChargeTime]);
USART_SendChar('D');
sendDigitalUsart(safeTimeCharge[indDisCharge][indDischargeTime]);
indDisCharge++;
if(array8[numDischargeCharge]==0){
setPwm(0);
}
} else {
safeTimeCharge[indDisCharge][indDischargeTime]=dischargeTime;
dischargeTime=0;
}
array8[charge]^=1;
initCharge(array8);
}
}
void MotorController::speed(int motorNumber, int speed)
{
if(speed > 0)
{
forward(motorNumber);
setPwm(motorNumber, speed);
}
else if(speed < 0)
{
reverse(motorNumber);
speed *= -1;
setPwm(motorNumber, speed);
}
else
{
setPwm(motorNumber, 0);
}
}
// Once calibrated this is the function used
bool setSteps(int _iSteps) {
if ( m_fPwmMin <= _iSteps && _iSteps <= m_fPwmMax ) {
setPwm( _iSteps );
}
else {
return true;
}
return false;
}
// value 0..255
void analogWrite(uint8_t analogOutPin, uint16_t value)
{
static uint8_t initFlags=0;
if((initFlags&(1<<analogOutPin))==0)
{
init_sct(analogOutPin);
initFlags|=1<<analogOutPin;
}
setPwm(analogOutPin,value*4); // scale value to 1023 for Arduino Uno compatibility
}
uint16_t changePWM(uint16_t adc,uint16_t normalValue){
uint16_t pwm=0;
GET_16BIT_RG(pwm,OCR1A);
if(adc>normalValue){
if(adc>0){
pwm--;
}
} else if(adc<normalValue && adc>10){
if(pwm<1023){
pwm++;
}
}
setPwm(pwm);
return pwm;
}
void updateServo(void) {
static int servoDirection = 1;
if (servoDirection) {
servoPulse += servoSpeed;
if (servoPulse >= servoMax) {
servoDirection = 0;
servoPulse = servoMax;
}
} else {
servoPulse -= servoSpeed;
if (servoPulse <= servoMin) {
servoDirection = 1;
servoPulse = servoMin;
}
}
setPwm(1,servoPulse);
// setPwm(2,(servoPulse - servoMin) << 4);
}
void showAndSetValue(uint8_t display ,volatile uint16_t *array,volatile uint8_t *array8){
switch(display){
case DISPLAY_START:
{
volatile uint16_t time=(array8[charge])? chargeTime:dischargeTime;
volatile uint8_t index=(array8[charge])? oldChargeTime:oldDischargeTime;
if(array[index]!=time){
array[index]=time;
showTime(8,1,time);
}
}
if(array[oldCurrentVoltage]!=array[currentVoltage]){
array[oldCurrentVoltage]=array[currentVoltage];
showADC(2,0,array[currentVoltage]);
}
if(array[oldCurrentAmperage]!=array[currentAmperage]){
array[oldCurrentAmperage]=array[currentAmperage];
LCD_Goto(2,1);
volatile uint8_t ch=(array8[charge])? '+':'-';
LCD_WriteData(ch);
showADC(3,1,array[currentAmperage]);
}
if(array[oldCurrentPWM]!=array[currentPWM]){
array[oldCurrentPWM]=array[currentPWM];
showPWM(10,0,array[currentPWM]);
setPwm(array[currentPWM]);
}
if(array8[oldNumDischargeCharge]!=array8[numDischargeCharge]){
array8[oldNumDischargeCharge]=array8[numDischargeCharge];
LCD_Goto(14,0);
LCD_SendNumber(array8[numDischargeCharge],' ');
}
break;
case DISPLAY_FAST_CHANGE:
if(array8[oldCharge]!=array8[charge]){
array8[oldCharge]=array8[charge];
LCD_ClearField(0,1,9);
LCD_Goto(0,1);
if(array8[charge]){
LCD_SendStr("Charge");
BM_ClearBit(TCCR1A,COM1A0);
SET_CHARGE;
}else{
LCD_SendStr("Discharge");
BM_SetBit(TCCR1A,COM1A0);
SET_DISCHARGE;
}
}
break;
case DISPLAY_PROGR:
if(array[oldWindowsSettings]!=array[windowsSettings]){
array[oldWindowsSettings]=array[windowsSettings];
showWinSettings(0,1,DISPLAY_PROGR+array[windowsSettings]);
}
break;
case DISPLAY_P0:
if(array[oldNormalVoltage]!=array[normalVoltage]){
array[oldNormalVoltage]=array[normalVoltage];
showADC(0,0,array[normalVoltage]);
}
break;
case DISPLAY_P1:
if(array[oldDischargeVoltage]!=array[dischargeVoltage]){
array[oldDischargeVoltage]=array[dischargeVoltage];
showADC(0,0,array[dischargeVoltage]);
}
break;
case DISPLAY_P2:
if(array[oldDischargeAmperage]!=array[dischargeAmperage]){
array[oldDischargeAmperage]=array[dischargeAmperage];
showADC(0,1,array[dischargeAmperage]);
}
break;
case DISPLAY_P3:
if(array[oldNormalAmperage]!=array[normalAmperage]){
array[oldNormalAmperage]=array[normalAmperage];
showADC(7,1,array[normalAmperage]);
}
break;
case DISPLAY_P4:
if(array8[oldAutomatic]!=array8[automatic]){
array8[oldAutomatic]=array8[automatic];
LCD_ClearField(0,1,9);
LCD_Goto(0,1);
if(array8[automatic]){
LCD_SendStr("Automatic");
} else {
LCD_SendStr("Manual");
}
}
break;
case DISPLAY_P5:
if(array8[oldNumDischargeCharge]!=array8[numDischargeCharge]){
array8[oldNumDischargeCharge]=array8[numDischargeCharge];
LCD_ClearField(0,1,3);
LCD_Goto(0,1);
LCD_SendNumber(array8[numDischargeCharge],' ');
}
break;
}
}
int main( void )
{
/*
DDRB=1;
while(1){
BM_SetBit(PORTB,0);
_delay_ms(10);
BM_ClearBit(PORTB,0);
_delay_ms(10);
}
*/
volatile uint8_t stateButtons=STATE_NO_BUTTONS;
volatile uint8_t switchMeasuring = MEASURING_VOLTAGE;
volatile uint8_t arrVal8[oldAutomatic+1];
pCharge=& arrVal8[charge];
arrVal8[charge]=0;
arrVal8[automatic]=1;
arrVal8[numDischargeCharge]=2;
volatile uint16_t arrVal[oldWindowsSettings+1];
arrVal[normalAmperage]=120;
arrVal[normalVoltage]=15;
arrVal[dischargeVoltage]=10;
arrVal[dischargeAmperage]=100;
arrVal[currentPWM]=250;
arrVal[currentVoltage]=0;
arrVal[currentAmperage]=0;
arrVal[windowsSettings]=1;
volatile uint8_t currentDisplay=DISPLAY_START;
volatile uint8_t oldCurrentDisplay=1;
volatile uint16_t timeResetDisplay=100;
USART_Init();
//инициализируем дисплей
DDRD|=(1<<PD6);
initCharge(arrVal8);
LCD_Init();
ADC_Init();
TIMER0_Init();
initButtons();
initPWM();
setPwm(arrVal[currentPWM]);
setZeroOldValue(arrVal,arrVal8);
StartConvAdc();
sei();
while(1){
volatile uint8_t codeButton=PINX_BUTTON & MASK_BUTTONS;
if(stateButtons!=STATE_ENTER_5SEC && codeButton!=NO_BUTTONS ){
stateButtons=getStateButton(codeButton);
timeResetDisplay=currentTime+5;
_delay_ms(250);
switch(stateButtons){
case STATE_ENTER:
switch(currentDisplay){
case DISPLAY_START:currentDisplay=DISPLAY_FAST_CHANGE;break;
case DISPLAY_FAST_CHANGE:currentDisplay=DISPLAY_START;break;
case DISPLAY_PROGR:currentDisplay=DISPLAY_PROGR+arrVal[windowsSettings];break;
default:currentDisplay=DISPLAY_PROGR;
}
break;
case STATE_ENTER_5SEC:
if(currentDisplay>DISPLAY_P0){
currentDisplay=DISPLAY_START;
}else{
currentDisplay=DISPLAY_PROGR;
}
break;
default:
switch(currentDisplay){
case DISPLAY_FAST_CHANGE:
arrVal8[charge]^=1;
setPwm(512);//Установка в 50 % при смене режима
break;
case DISPLAY_PROGR:
arrVal[windowsSettings]=changeVauleFromButtons(arrVal[windowsSettings],LAST_DISPLAY,stateButtons);
if(arrVal[windowsSettings]==(LAST_DISPLAY+1)){
arrVal[windowsSettings]=1;
}else if(arrVal[windowsSettings]==0){
arrVal[windowsSettings]=1;
}
break;
case DISPLAY_P0:
arrVal[normalVoltage]=changeVauleFromButtons(arrVal[normalVoltage],240,stateButtons);
break;
case DISPLAY_P1:
arrVal[dischargeVoltage]=changeVauleFromButtons(arrVal[dischargeVoltage],240,stateButtons);
break;
case DISPLAY_P2:
arrVal[dischargeAmperage]=changeVauleFromButtons(arrVal[dischargeAmperage],1000,stateButtons);
break;
case DISPLAY_P3:
arrVal[normalAmperage]=changeVauleFromButtons(arrVal[normalAmperage],1022,stateButtons);
break;
case DISPLAY_P4:
arrVal8[automatic]^=1;
break;
case DISPLAY_P5:
arrVal8[numDischargeCharge]=changeVauleFromButtons(arrVal8[numDischargeCharge],10,stateButtons);
if(arrVal8[numDischargeCharge]==11){
arrVal8[numDischargeCharge]=1;
}
break;
}
}
} else if(codeButton==NO_BUTTONS) {
if(currentDisplay!=DISPLAY_START){
if(currentTime>timeResetDisplay){
currentDisplay=DISPLAY_START;
}
}
if(stateButtons==STATE_ENTER_5SEC){
stateButtons=STATE_NO_BUTTONS;
}
}
if(numberMeasure>=NUMBER_OF_MEASURING){
adcResult=getNormalADC(adcResult);
switch (switchMeasuring)
{
case MEASURING_VOLTAGE:
switchMeasuring=MEASURING_CURRENT;
arrVal[currentVoltage]=adcResult;
//Отключаем если автомат режим
if(arrVal8[automatic] &&
(arrVal[currentVoltage]<=arrVal[dischargeVoltage] || arrVal[currentVoltage]>=arrVal[normalVoltage])){
changeChargeMode(arrVal8);
}
break;
case MEASURING_CURRENT:
arrVal[currentAmperage]=adcResult;
volatile uint8_t normal;
if(arrVal8[automatic]){
normal=(arrVal8[charge])?normalAmperage:dischargeAmperage;
//Изменяем наше текущее значение ШИМ если оно не в норме
if(arrVal[currentAmperage]!=arrVal[normal]){
arrVal[currentPWM]=changePWM(arrVal[currentAmperage],arrVal[normal]);
}
}
switchMeasuring=MEASURING_VOLTAGE;
break;
}
//Смена первым идет измерение напряжение ADC0 - напряжения
//Потом меняем на измерение ADC2 -ток
SWITCH_ADC_CHANNEL(ADMUX,CHANNEL_CURRENT);
_delay_us(250);
adcResult=0;
numberMeasure=0;
StartConvAdc();
}
if(oldCurrentDisplay!=currentDisplay){
oldCurrentDisplay=currentDisplay;
setZeroOldValue(arrVal,arrVal8);
showCurrentDisplay(currentDisplay);
}
showAndSetValue(currentDisplay,arrVal,arrVal8);
}
return 0;
}
// This function is used only for calibration purposes
void setCalibSteps(int _iSteps) {
setPwm( _iSteps );
}
