main()
{
double Pot,LastSpeed_X=0.0,LastSpeed_Y=0.0,LastSpeed_Z=0.0;
printf("%f\n",KANALOG_CONVERT_ADC_TO_VOLTS(ADC(0)));
for (;;)
{
T1=WaitNextTimeSlice();
if (T1-T0 > 0.05) // only change speed every so often
{
// convert 0-10V input to -1.0 to 1.0 range
// Pot mid range of 5V will be zero
Pot=KANALOG_CONVERT_ADC_TO_VOLTS(ADC(0)) * (1.0/5.0) - 1.0;
// force small values to exactly zero (stopped)
if (Pot < MIN_THRESHOLD && Pot > -MIN_THRESHOLD) Pot=0;
DoSpeedAxis(XAXIS, XSELECT, &LastSpeed_X, Pot*MAX_SPEED_X);
DoSpeedAxis(YAXIS, YSELECT, &LastSpeed_Y, Pot*MAX_SPEED_Y);
DoSpeedAxis(ZAXIS, ZSELECT, &LastSpeed_Z, Pot*MAX_SPEED_Z);
}
}
}
void sleep_task(void) {
static uint8_t sleep_flag = 0;
if (ADC(POWER_SW) < 2048) {
sleep_flag = 1;
INTCONbits.GIE = 0;
for (uint8_t i = 0; i < NUM_PORT; i++) {
OUT(i, 0);
LED_output(i, 0);
}
I2C_LCD_Clear();
I2C_LCD_SetCursor(0, 0);
I2C_LCD_Puts("Charge Station 6");
I2C_LCD_SetCursor(0, 1);
I2C_LCD_Puts("SLEEPING NOW");
}
while (sleep_flag) {
if (ADC(POWER_SW) > 2048) {
sleep_flag = 0;
display(LOGO, "Charge Station", "Welcome back!");
break;
}
SLEEP();
NOP();
}
}
mp_limb_t divexact_submul(mp_ptr qp,mp_ptr xp,mp_size_t n)
{int j;mp_limb_t c,m,t1,t2,t3,acc,ax,dx,t;
ASSERT(n>0);ASSERT_MPN(xp,n);ASSERT(MPN_SAME_OR_SEPARATE_P(qp,xp,n));
m=0;m=~m;m=m/3;// m=(B-1)/3
c=0;t1=t2=t3=acc=0;
umul_ppmm(dx,ax,xp[0],m);
SUB(c,acc,0,t1);
ADC(c,t2,0,ax,c);
ADC(c,t3,0,dx,c);
ASSERT(c==0);
t1=t2;t2=t3;
for(j=1;j<=n-1;j++)
{
t3=0;
umul_ppmm(dx,ax,xp[j],m);
SUB(c,acc,acc,t1);
qp[j-1]=acc;
ADC(c,t2,t2,ax,c);
ADC(c,t3,t3,dx,c);
ASSERT(c==0);
t1=t2;t2=t3;
}
SUB(c,acc,acc,t1);
qp[n-1]=acc;
ADC(c,t2,t2,0,c);
t=(t2-acc)*3;
// return next quotient*-3
return t;} // so (xp,n) = (qp,n)*3 -ret*B^n and 0 <= ret < 3
/*ADC A,#*/
static void op_0xce(Z80EX_CONTEXT *cpu)
{
temp_byte=READ_OP();
ADC(A,temp_byte);
T_WAIT_UNTIL(7);
return;
}
void Apu88()
{
// ADC A,#00
uint8 Work8 = OP1;
ADC(IAPU.YA.B.A, Work8);
IAPU.PC += 2;
}
void Apu94()
{
// ADC A,dp+X
uint8 Work8 = S9xAPUGetByteZ(OP1 + IAPU.X);
ADC(IAPU.YA.B.A, Work8);
IAPU.PC += 2;
}
void Apu84()
{
// ADC A,dp
uint8 Work8 = S9xAPUGetByteZ(OP1);
ADC(IAPU.YA.B.A, Work8);
IAPU.PC += 2;
}
/*ADC A,(HL)*/
static void op_0x8e(Z80EX_CONTEXT *cpu)
{
READ_MEM(temp_byte,(HL),4);
ADC(A,temp_byte);
T_WAIT_UNTIL(7);
return;
}
void Apu86()
{
// ADC A,(X)
uint8 Work8 = S9xAPUGetByteZ(IAPU.X);
ADC(IAPU.YA.B.A, Work8);
IAPU.PC++;
}
void Apu88()
{
// ADC A,#00
uint8_t Work8 = OP1;
ADC(IAPU.Registers.YA.B.A, Work8);
IAPU.PC += 2;
}
void Apu86()
{
// ADC A,(X)
uint8_t Work8 = S9xAPUGetByteZ(IAPU.Registers.X);
ADC(IAPU.Registers.YA.B.A, Work8);
IAPU.PC++;
}
void Apu94()
{
// ADC A,dp+X
uint8_t Work8 = S9xAPUGetByteZ(OP1 + IAPU.Registers.X);
ADC(IAPU.Registers.YA.B.A, Work8);
IAPU.PC += 2;
}
void AnalogTest(void)
{
int32 v;
TxString("\r\nAnalog ch. test\r\n");
// Battery
v = ((int24)ADC(ADCBattVoltsChan, ADCVREF5V) * 46 + 9)/17; // resolution is 0,01 Volt
TxVal32(ADCBattVoltsChan, 0, ' ');
TxString("Batt:\t");
TxVal32(v, 2, 'V');
if ( v < 900 )
TxString(" ** LIPO ALARM < 9V ** ");
else
if ( v < 950 )
TxString(" ** LOW < 9.5V ** ");
TxNextLine();
// Pitch
v = ((int24)ADC(ADCPitchChan, ADCVREF5V) * 49 + 5)/10; // resolution is 0,001 Volt
TxVal32(ADCPitchChan, 0, ' ');
TxString("Pitch:\t");
TxVal32(v, 3, 'V');
TxNextLine();
// Roll
v = ((int24)ADC(ADCRollChan, ADCVREF5V) * 49 + 5)/10; // resolution is 0,001 Volt
TxVal32(ADCRollChan, 0, ' ');
TxString("Roll: \t");
TxVal32(v, 3, 'V');
TxNextLine();
// VRef
v = ((int24)ADC(ADCVRefChan, ADCVREF5V) * 49 + 5)/10; // resolution is 0,001 Volt
TxVal32(ADCVRefChan, 0, ' ');
TxString("Ref: \t");
TxVal32(v, 3, 'V');
TxNextLine();
// Yaw
v = ((int24)ADC(ADCYawChan, ADCVREF5V) * 49 + 5)/10; // resolution is 0,001 Volt
TxVal32(ADCYawChan, 0, ' ');
TxString("Yaw: \t");
TxVal32(v, 3, 'V');
TxNextLine();
} // AnalogTest
void Apu97()
{
// ADC A, (dp)+Y
IndirectIndexedY();
uint8 Work8 = S9xAPUGetByte(((IAPU.Address)));
ADC(IAPU.YA.B.A, Work8);
IAPU.PC += 2;
}
void Apu96()
{
// ADC A, abs+Y
AbsoluteY();
uint8 Work8 = S9xAPUGetByte(((IAPU.Address)));
ADC(IAPU.YA.B.A, Work8);
IAPU.PC += 3;
}
void Apu87()
{
// ADC A,(dp+X)
IndexedXIndirect();
uint8 Work8 = S9xAPUGetByte(((IAPU.Address)));
ADC(IAPU.YA.B.A, Work8);
IAPU.PC += 2;
}
void Apu97()
{
// ADC A, (dp)+Y
IndirectIndexedY();
uint8_t Work8 = S9xAPUGetByte(IAPU.Address);
ADC(IAPU.Registers.YA.B.A, Work8);
IAPU.PC += 2;
}
void Apu87()
{
// ADC A,(dp+X)
IndexedXIndirect();
uint8_t Work8 = S9xAPUGetByte(IAPU.Address);
ADC(IAPU.Registers.YA.B.A, Work8);
IAPU.PC += 2;
}
void Apu96()
{
// ADC A, abs+Y
AbsoluteY();
uint8_t Work8 = S9xAPUGetByte(IAPU.Address);
ADC(IAPU.Registers.YA.B.A, Work8);
IAPU.PC += 3;
}
void Apu99()
{
// ADC (X),(Y)
uint8_t W1 = S9xAPUGetByteZ(IAPU.Registers.X);
uint8_t Work8 = S9xAPUGetByteZ(IAPU.Registers.YA.B.Y);
ADC(W1, Work8);
S9xAPUSetByteZ(W1, IAPU.Registers.X);
IAPU.PC++;
}
void Apu89()
{
// ADC dp(dest),dp(src)
uint8_t Work8 = S9xAPUGetByteZ(OP1);
uint8_t W1 = S9xAPUGetByteZ(OP2);
ADC(W1, Work8);
S9xAPUSetByteZ(W1, OP2);
IAPU.PC += 3;
}
void Apu98()
{
// ADC dp,#00
uint8_t Work8 = OP1;
uint8_t W1 = S9xAPUGetByteZ(OP2);
ADC(W1, Work8);
S9xAPUSetByteZ(W1, OP2);
IAPU.PC += 3;
}
/*ADC A,(IX+$)*/
static void op_DD_0x8e(Z80EX_CONTEXT *cpu)
{
temp_byte=READ_OP();
temp_byte_s=(temp_byte & 0x80)? -(((~temp_byte) & 0x7f)+1): temp_byte;
MEMPTR=(IX+temp_byte_s);
READ_MEM(temp_byte,(IX+temp_byte_s),12);
ADC(A,temp_byte);
T_WAIT_UNTIL(15);
return;
}
/*
* add with carry immediate mode
*/
void _adcImm(void)
{
byte value;
value = fetch_byte((word)(cpu.pc + 1));
ADC(value);
cpu.pc += 2;
}
/*
* add with carry zero page mode
*/
void _adcZp(void)
{
byte zaddr, value;
zaddr = fetch_byte((word)(cpu.pc + 1));
value = fetch_byte(zaddr);
ADC(value);
cpu.pc += 2;
}
/*
* add with carry, absolute mode
*/
void _adcAbsl(void)
{
word addr;
byte value;
addr = fetch_word((word)(cpu.pc + 1));
value = fetch_byte(addr);
ADC(value);
cpu.pc += 3;
}
/*
* add with carry absolute, y mode
*/
void _adcAby(void)
{
word addr;
byte value;
addr = fetch_word((word)(cpu.pc + 1));
addr += cpu.y;
value = fetch_byte(addr);
ADC(addr);
cpu.pc += 3;
}
main ()
{
P1DIR = 3;
CLKCON = 0;
while (!(SLEEP & SLEEP_XOSC_STB))
;
adc_init();
P1_0 = 1;
usart_init();
for (;;) {
adc_run();
usart_out_string("accel: ");
usart_out_number(ADC(0));
usart_out_string(" pres: ");
usart_out_number(ADC(1));
usart_out_string(" temp: ");
usart_out_number(ADC(2));
usart_out_string(" batt: ");
usart_out_number(ADC(3));
usart_out_string(" drogue: ");
usart_out_number(ADC(4));
usart_out_string(" main: ");
usart_out_number(ADC(5));
usart_out_string("\r\n");
delay(10);
}
}
/*
* add with carry indirect, y mode
*/
void _adcIdy(void)
{
byte zaddr, value;
word addr;
zaddr = fetch_byte((word)(cpu.pc + 1));
addr = fetch_word(zaddr) + cpu.y;
value = fetch_byte(addr);
ADC(value);
cpu.pc += 2;
}
void Auto_cut(void) {
for (uint8_t i = 0; i < NUM_PORT; i++) {
// ADC sampling
port[i].current = 13 * ADC(ANALOG_IN(i)) / 16; // *13/16
if (port[i].flag.auto_cut_ON) {
if (port[i].current < CUT_CURRENT) { //もし一定電流を下回ったらカウントアップスタート
port[i].cut_cnt++;
if (port[i].cut_cnt > CUT_TIME) { //一定時間たったら、出力シャットアウト
OUT(i, 0);
}
} else { //経過時間カウントリセット
port[i].cut_cnt = 0;
}
}
}
}
