/*
* Function: LCD_DisplayTemperature
* ----------------------------
* Display the temperature in LCD
* Calls LCD API
*
* @param_1: float temperature
* returns: void
*/
void LCD_DisplayTemperature(float temperature)
{
//init the array
int temp[4] = {0, 0, 0, 0};
int div = 10;
float ten=10.0;
int temp_cast = 0;
int buffer_size = 0, buffer_size_2 = 0;
// buffers for diaplaying the string "Temperature" and the float temperature
char buffer_temperature[LCD_DISPLAY_FIRST_LINE_SIZE];
char buffer_temperatureDigitsSize[LCD_ONLY_TEMPERATURE_SIZE_IN_DIGITS];
// reject less than zero temperature
if (temperature < 0)
{
printf("Tmeperature:%f is less then zero.\n", temperature);
return;
}
// breaks down the floating point temperature into 4 characters
if (temperature < 100)
{
temp[0] = (int)(temperature / div);
temp[1] = (int)(temperature - (temp[0])*div);
temp[2] = 10; // dot not required
temp_cast = (int)temperature;
temp[3] = (temperature - (float)temp_cast)*ten;
}
else
{
return;
}
// Displays the string "Temperature" once every mode change
if (GLB_Temperature_display_flag)
{
buffer_size = sprintf (buffer_temperature,"Temperature:");
LCD_Delay_Longer(LCD_WAIT_BETWEEN_DISPLAY);
LCD_Display_String(buffer_temperature, buffer_size);
GLB_Temperature_display_flag=0;
}
// Display the 4 character temperature in position 0x8C
buffer_size_2 = sprintf (buffer_temperatureDigitsSize,"%d%d.%d", temp[0], temp[1], temp[3]);
// wait between every display
LCD_Delay_Longer(LCD_WAIT_BETWEEN_DISPLAY);
LCD_DISPLAY_UPDATE_POS(0x8C, buffer_temperatureDigitsSize);
return;
}
void PIT1_IRQHandler(void)
{
//PIT_Flag_Clear(PIT1); //清中断标志位
PIT_BASE_PTR->CHANNEL[PIT1].TFLG |= PIT_TFLG_TIF_MASK;
static uint8 TimerCntccd = 0;
static uint8 TimerCntSpeed = 0;
static uint8 TimerCntservo = 0;
static uint16 stopcount = 0;
static uint16 display_count = 0;
static uint16 Miter_count = 0;
uint8 integration_piont;
TimerCntccd++;
TimerCntSpeed++;
TimerCntservo++;
/* 根据曝光时间计算20ms周期内的曝光点*/
integration_piont = CCDtime - IntegrationTime;
if(integration_piont >= 2) { /* 曝光时间小于2则不进行再曝光 */
/* */ if(integration_piont == TimerCntccd)
StartIntegration(); ///曝光开始
}
if(TimerCntccd >= CCDtime) {
TimerCntccd = 0;
CCDtime_flag = 1;
}
if(TimerCntSpeed >=Speedtime)
{
TimerCntSpeed = 0;
Speedtime_flag = 1;
}
if(TimerCntservo >= Servotime)
{
TimerCntservo = 0;
Servotime_flag = 1;
}
if(Startflag)
{
Starttime++;
if(Starttime>=1500)
{
Startflag = 0;
Miter_count = 1;
}
}
if(Miter_count>0 && Enable_Miter)
{
if(++Miter_count>Miter_time)
{
Miter_count = 0;
Miter_flag = 1;
}
}
if(Delayflag)
{
if(++Delaycount>70)
{
Delaycount = 0;
Delayflag = 0;
}
}
if(Stop_flag)
{
if(++stopcount>50)
{
Speed_Out = 0;
Speed_PWM = 0;
stopcount = 0;
LPLD_FTM0_PWM_ChangeDuty(2,Speed_PWM);
LPLD_FTM0_PWM_ChangeDuty(1,Speed_PWM);
LCD_clear();
LCD_Display_String(0,0,"Stop!");
LCD_Display_String(0,1,"offset=");
LCD_Display_Num(notch_offset);
LCD_Display_String(0,2,"whiteavg=");
//LCD_Display_Num(whiteavg);
LCD_Display_String(0,3,"Kp=");
LCD_Display_Num(Kp);
LCD_Display_String(0,4,"Kd=");
LCD_Display_Num(Kd);
LCD_Display_String(0,5,"Speed_temp");
LCD_Display_Num(Speed_temp);
}
}
if(Collide_flag)
{
Speed_Out = 0;
Speed_PWM = 0;
LPLD_FTM0_PWM_ChangeDuty(2,Speed_PWM);
LPLD_FTM0_PWM_ChangeDuty(1,Speed_PWM);
if(++display_count>40)
{
display_count = 0;
LPLD_FTM0_PWM_ChangeDuty(2,0);
LPLD_FTM0_PWM_ChangeDuty(1,0);
LCD_clear();
LCD_Display_String(0,0,"Boom!");
LCD_Display_String(0,1,"offset=");
LCD_Display_Num(notch_offset);
LCD_Display_String(0,2,"whiteavg=");
//LCD_Display_Num(whiteavg);
LCD_Display_String(0,3,"Kp=");
LCD_Display_Num(Kp);
LCD_Display_String(0,4,"Kd=");
LCD_Display_Num(Kd);
LCD_Display_String(0,5,"Speed_temp");
LCD_Display_Num(Speed_temp);
}
}
}
