void Prd_kn(void) //По SPI перед. сост. ПП и прин сообщения от STM
{
// set_timer1(63036); //65536-(0,01/(4/1000000))=65536-10000=63036 -- (10ms)
while (!(sspstat&0x01)) {}
buf_prm=SSPBUF; //чтение буфера SPI
kod=buf_prm&0x7f;
if (( kod > 0)&&( kod <4)) //Kan1,Kan2,Sinchr,
{
//зажигаем или гасим светодиод:
if (buf_prm & (1 << 7))
portc=portc ^ (1 << (kod -1)); //bit=0
else
portc=portc | (1 << (kod -1)); //bit=1
}
if ( kod ==4)
if (buf_prm & (1 << 7))
pit_bkl();
else
pit_bykl();
sspcon1=sspcon1&0x7f; //сброс бита конфликта
//Буфер готов к передаче:
SSPBUF=buf_per;
buf_per=0;
set_timer1(45536); //65536-(0,01/(4/8000000))=20000 -- (10ms)
}//@
void timer1_handler()
{
/* Set interrupt rate */
set_timer1(65535 - 62500); // 0.1 sec
/* Increment interrupt counter */
teller++;
/* Check if there was a motion */
adns2051[MOTION] = read_ADNS2051(MOTION);
if( (adns2051[MOTION] & MOTION_OCCURED) ){
/* Read ADNS2051 delta X and Y registers */
DeltaX = read_ADNS2051(DELTA_X);
DeltaY = read_ADNS2051(DELTA_Y);
/* Log delta's */
lastX[teller1] = DeltaX;
lastY[teller1] = DeltaY;
teller1++;
if(teller1 == DELTA_LOG_SIZE){
teller1=0;
}
/* Calculate new position */
posX = posX + DeltaX;
posY = posY + DeltaY;
}
}
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 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");
}
}
main() {
setup_ccp1(CCP_COMPARE_CLR_ON_MATCH); // Configure CCP1 in COMPARE mode
setup_timer_1(T1_INTERNAL); // Set up timer to instruction clk
while(TRUE) {
while(input(PIN_B0)) ; // Wait for keypress
setup_ccp1(CCP_COMPARE_SET_ON_MATCH); // Configure CCP1 to set
CCP_1=0; // C2 high now
set_timer1(0);
CCP_1 = 500; // Set high time limit
// to 100 us
// limit is time/(clock/4)
// 500 = .0001*(20000000/4)
setup_ccp1(CCP_COMPARE_CLR_ON_MATCH); // Configure CCP1 in COMPARE
// mode and to pull pin C2
// low on a match with timer1
delay_ms(1000); // Debounce - Permit only one pulse/sec
}
}
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()
{
enable_interrupts(INT_TIMER1);
enable_interrupts(GLOBAL);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_4);
set_timer1(5);
while(True);
}
//enable timer1 int, clear t1 int, pre-set timer
void setup_led_pulse()
{
set_timer1(0);
output_high(BOARD_LED); // LED is turned OFF by timer1_isr()
if(nv_product==AWS)output_high(PANEL_LED);
clear_interrupt(INT_TIMER1);
enable_interrupts(INT_TIMER1);
}
void IDLE_MODE(void)
{
disable_interrupts(INT_TIMER1);
// disable_timer1();
set_timer1(0);
setup_timer_1 ( T1_DISABLED );
pulse_count =0;
// pulse_buff =0;
}
void CCP1_isr(void)
{
//calculate the duration between two consecutive Hall signals
sigHall_timer = ((int32)timer1_overflow * 0xFFFF + CCP_1);
timer1_overflow = 0;
set_timer1(0);
//set trigger for start revolution
circle_trigger = 1;
}
void TIMER1_isr(void)
{
set_timer1(timer1StartValue);
//output_toggle(PIN_B7);
if(stateControl < 3){
stateControl++;
}else{
stateControl = 0;
}
switch (modeControl){
case 0:
cubeLevelC0 = Mode1_CubeLevelC0[stateControl];
cubeLevelC1 = Mode1_CubeLevelC1[stateControl];
cubeLevelC2 = Mode1_CubeLevelC2[stateControl];
cubeLevelC3 = Mode1_CubeLevelC3[stateControl];
cubeLevelD0 = Mode1_CubeLevelD0[stateControl];
cubeLevelD1 = Mode1_CubeLevelD1[stateControl];
cubeLevelD2 = Mode1_CubeLevelD2[stateControl];
cubeLevelD3 = Mode1_CubeLevelD3[stateControl];
break;
case 1:
cubeLevelC0 = Mode2_CubeLevelC0[stateControl];
cubeLevelC1 = Mode2_CubeLevelC1[stateControl];
cubeLevelC2 = Mode2_CubeLevelC2[stateControl];
cubeLevelC3 = Mode2_CubeLevelC3[stateControl];
cubeLevelD0 = Mode2_CubeLevelD0[stateControl];
cubeLevelD1 = Mode2_CubeLevelD1[stateControl];
cubeLevelD2 = Mode2_CubeLevelD2[stateControl];
cubeLevelD3 = Mode2_CubeLevelD3[stateControl];
break;
case 2:
cubeLevelC0 = rand ();
cubeLevelC1 = rand ();
cubeLevelC2 = rand ();
cubeLevelC3 = rand ();
cubeLevelD0 = rand ();
cubeLevelD1 = rand ();
cubeLevelD2 = rand ();
cubeLevelD3 = rand ();
break;
}
output_toggle(PIN_B7);
}
void isr_tmr1() {
clear_interrupt(INT_TIMER1);
set_timer1(0x7FFF);
output_toggle(pos_slv);
if (!ctrlFusoE)
if (slv_sobe)
fuso_slv++;
else
fuso_slv--;
ctrlFusoE = !ctrlFusoE;
}
void OFF_MODE(void)
{
disable_timer1 ();
disable_interrupts(INT_TIMER1);
disable_interrupts(INT_EXT);
set_timer1(0);
pulse_count =0;
RC3 =0 ;
}
void main()
{
enable_interrupts(INT_CCP1);
enable_interrupts(global);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);
setup_ccp1(CCP_COMPARE_SET_ON_MATCH);
set_timer1(500);
ccp_1=40000;
while(1);
}
void timeproc()
{
set_timer1(get_timer1() + 15536); // 10msec at 20MHz
dcfpulsetime++;
dcfdeltatimer++;
timeout10msec = 1;
if (!(--timer400msec)) {
timer400msec = 40;
timeout400msec = 1;
}
}
void TIM1_isr(void)
{
tim1 += 1;
uh++;
if(tim1>25)
{
output_low(PIN_LED);
tim1 = 0;
set_timer1(0);
}
}
void TIMER1_isr(void)
{
// This will run the System Status every 2 sec to make sure nothing has changed
statCounter += 1;
//printf("\r\nStatCounter = %x\n", statCounter);
if (statCounter == 10) {
//printf("\r\nSystem Status Update\n");
SystemStatus();
set_timer1(0);
clear_interrupt(INT_TIMER1);
statCounter = 0;
}
}
void ACTIVE_MODE(void)
{
disable_interrupts(INT_TIMER0);
RC3 =1 ;
wait(0x100);// so luyen: 01686269854
// wait(0xffff);
set_timer0(0);
enable_interrupts(INT_TIMER0);
set_timer1(0);
enable_interrupts(INT_EXT);
ext_int_edge( H_TO_L ); // higt to low
pulse_count =0;
}
/**
*
*
*
* @return
*/
unsigned char get_byte(void)
{
bit rbit,parity,ph;
unsigned char n,m,fbb;
EX1=0; // Interrupt 1 sperren
ET1=0; // Interrupt von Timer 1 sperren
set_timer1(380); // Timer setzen um 1. Bit zu treffen (320-440)
#ifdef HAND
REFRESH //refresh
#endif
ph=0; // Paritybit wird aus empfangenem Byte berechnet
parity_ok=0;
while(!TF1); // warten auf Timer 1
set_timer1(360); // Timer 1 neu setzen fuer 2.Bit (300-420)
rbit=FBINC; // 1.Bit einlesen
for(m=0;m<5;m++) rbit&=FBINC; // zur Steigerung der Fehlertoleranz mehrfach lesen
fbb=rbit;
if(rbit) ph=!ph; // Paritybit berechnen
for (n=2;n!=0;n=n<<1) {
while(!TF1);
set_timer1(350); // Timer 1 setzen fuer Position 2.-9.Bit (342-359)
rbit=FBINC;
for(m=0;m<5;m++) rbit&=FBINC; // zur Steigerung der Fehlertoleranz mehrfach lesen
if (rbit) {
fbb+=n; // Bit in Byte schreiben
ph=!ph; // Paritybit berechnen
}
}
while(!TF1);
TR1=0;
parity=FBINC; // Paritybit lesen
for(m=0;m<5;m++) parity&=FBINC; // zur Steigerung der Fehlertoleranz mehrfach lesen
if(parity==ph) parity_ok=1;
return (fbb);
}
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 LockServo()
{
set_timer1(0);
set_timer5(0);
prev_t1count = 0;
prev_t5count = 0;
servo_cmd = 0;
cmd_pos = mposition;
STATUS.pid_lock = true;
STATUS.halt_index = false;
STATUS.error = false;
STATUS.move_in_prog = false;
ypwm = 0;
mode = e_hold_mode;
}
main(){
clock_int_4MHz();
enable_interrupts (global); // Possibilita todas interrupcoes
enable_interrupts (int_timer1); // Habilita interrupcao do timer 1
//enable_interrupts (int_ext); // Habilita interrupcao externa 0 no pino B0
setup_timer_1 ( T1_INTERNAL | T1_DIV_BY_8);// configura o timer 1 em 8 x 62500 = 0,5s
set_timer1(3036); // Conta 62.500us x 8 para estourar= 0,5s
while (TRUE)
{
output_high(pin_B0); // Pisca Led na função principal
delay_ms(500);
output_low(pin_B0);
delay_ms(500);
}}
int main( int argc, char *argv[] )
{
int fd = 0;
int i = 0;
int retval = -1;
int interval = 1;
if ((retval = arg_filter( argc, argv)) != 0) {
return -1;
}
if ((fd = open("/dev/mem", O_RDWR)) < 0) {
perror("open");
return -1;
}
iobaseaddr = mmap( 0,
0x100000,
PROT_READ|PROT_WRITE,
MAP_SHARED,
fd,
(unsigned int)0x1fd00000 );
gpioaddr = iobaseaddr + SB_GPIO_BASE;
time = atoi(argv[2]);
// Register function to SIGALRM
if ( !(strcmp(argv[1], "0")) ) {
light_on();
signal(SIGALRM, light_led_continuously);
set_timer0( time );
}
else if ( !(strcmp(argv[1], "1")) ) {
light_on();
interval = 200000;
signal(SIGALRM, light_led_blinking);
set_timer1( interval );
}
while (count < time) {
pause();
}
return 0;
}
void main( void )
{
setup_adc_ports( NO_ANALOGS );
set_tris_a(0b00000000 );
set_tris_b( 0b11110000 );
set_tris_c( 0x00 );
set_tris_d( 0x00 );
set_tris_e( 0x03 );
portc = 0;
//Habilito os displays
output_low( PIN_B2 );
//Faço o setup do timer1 para clock interno e com prescaler de 8. A base de tempo é de 1/( 20MHz/4/8 )= 1.6uS
setup_timer_1( T1_INTERNAL | T1_DIV_BY_8 );
//Carrego o timer com 34285 de forma que ele conte ( 65535 - 34285 ) = 31250*1.6uS = 50ms.
set_timer1( TIMER_CONFIGURATIONS );
//Habilito as interrupções do timer1 e da porta b
enable_interrupts( global );
enable_interrupts( int_timer1 );
enable_interrupts( int_rb );
printf("Hello Asfalto\n\r");
//dois semaforos em vermelho
output_high( vermSem1 );
output_low( amarSem1 );
output_low( verdeSem1 );
output_high( vermSem2 );
output_low( amarSem2 );
output_low( verdeSem2 );
via1.sema.enable = 1;
via2.sema.enable = 0;
while( 1 )
{
handlerControleVel();
handlerSemaforo();
delay_ms(50);
}
}
void ResetServo()
{
set_timer1(0);
set_timer5(0);
prev_t1count = 0;
prev_t5count = 0;
servo_cmd = 0;
POSCNT = 0;
prev_count = 0;
velact.ul = 0;
mposition.ul = 0;
cmd_pos.ul = 0;
mode = e_hold_mode;
STATUS.halt_index = false;
STATUS.error = false;
STATUS.move_in_prog = false;
}
void ngat_timer1()
{
//Do toc do
vantoc = (float)xung*6;
ek = Vdat - vantoc;
uik = ampe2 - volts_ampe;
udk2 = udk2 + kp*ek + ki*ek2 + kpi*uik + kii* uik2;
ek2 = ek;
uik2 = uik;
ampe2 = volts_ampe;
temp_V = 255/kd;
if (udk2 >temp_V) udk2 = temp_V;
if (udk2 < 1) udk2 = 1;
udk3 = udk2 * kd;
udk = (int8)udk3;
DAC = ~udk;
xung = 0;
set_timer1(3036);
}
//======================================
//Chuong trinh chinh
//======================================
void main()
{
enable_interrupts(int_rda); //Cai datngattruyen thong
ext_int_edge( H_TO_L );
setup_timer_1(T1_INTERNAL | T1_DIV_BY_8); //Cai dat bo chia Timer 1
enable_interrupts(INT_TIMER1); //Timer1 65536
set_timer1(3036); //Cai dat Timer 1 ngat trong 0.1s
enable_interrupts(INT_EXT);
enable_interrupts(global);
//Datcac gia tri ban dau cho cacbien
xung = 0;
vantoc = 0;
Vdat = 0;
kp = 0;
ki = 0;
kpi = 0;
kii = 0;
kd = 0; //Bien TG khoi dong
//Cai dat vao ra
set_tris_a(0xFF);
set_tris_b(0xFF);
set_tris_c(0xc0);
set_tris_d(0x00);
delay_ms(50);
//Cai dat ADC
setup_adc(ADC_CLOCK_INTERNAL);
setup_adc_ports(RA0_ANALOG);
set_adc_channel(0);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
delay_ms(50);
while(1)
{
//Do dong dien
do_dong();
delay_ms(50);
do_dong();
delay_ms(50);
//Xuat len may tinh
printf("!%4.0f|%1.3f@",(float)vantoc,(float)ampe);
}
}
/************************************************************************
* *
* Purpose: Read the state of the buttons to turn on the GLCD led *
* *
* Proposito: Lee el estado de los botones para encender la luz GLCD *
* *
* Passed: None *
* Argumento: Nada *
* Returned: None *
* Retorno: Nada *
* Note: *
* *
* *
************************************************************************/
void lightbuttons(void)
{
up = input(PIN_UP);
down = input(PIN_DOWN);
left = input(PIN_LEFT);
right = input(PIN_RIGHT);
enter = input(PIN_ENTER);
if ((up==PRESSED)||(down==PRESSED)||(enter==PRESSED)||(left==PRESSED)||(right==PRESSED))
{
up=!PRESSED;
down=!PRESSED;
left=!PRESSED;
right=!PRESSED;
enter=!PRESSED;
tim1 = 0;
output_high(PIN_LED);
set_timer1(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);
}
/************************************************************************
* *
* Purpose: Read the state of the buttons *
* *
* Proposito: Lee el estado de los botones *
* *
* Passed: None *
* Argumento: Nada *
* Returned: None *
* Retorno: Nada *
* Note: *
* *
* *
************************************************************************/
void readbuttons(void)
{
while (button==!PRESSED)
{
lastup = up;
lastdown = down;
lastleft = left;
lastright = right;
lastenter = enter;
up = input(PIN_UP);
down = input(PIN_DOWN);
left = input(PIN_LEFT);
right = input(PIN_RIGHT);
enter = input(PIN_ENTER);
if ((up!=lastup)||(down!=lastdown)||(enter!=lastenter)||(lastleft!=left)||(lastright!=right))
{
button = PRESSED;
set_timer1(0);
tim1 = 0;
output_high(PIN_LED);
}
}
}
