int main(){
first_time_boot(); //first time boot parameters
read_config(); //nuskaitom config is eeprom
//------------- I/O nustatymai ------------------
//LED
PORTDDR(LED_PORT) |= _BV(LED1_BIT);
LED_PORT &= ~_BV(LED1_BIT);
PORTDDR(LED_PORT) |= _BV(LED2_BIT);
LED_PORT &= ~_BV(LED2_BIT);
PORTDDR(LED_PORT) |= _BV(LED3_BIT);
LED_PORT &= ~_BV(LED3_BIT);
PORTDDR(LCD_LED_PORT) |= _BV(LCD_LED_BIT); //LCD pasvietimas
LCD_LED_PORT |= _BV(LCD_LED_BIT); //ijungiam LCD pasvietimas
//USART
DDRD|=_BV(PD1); //TX
PORTD|=_BV(PD1);
DDRD&=~_BV(PD0); //RX
//ROT ENCODER
DDRD&=~_BV(PD3); //INT1
PORTD|=_BV(PD3);
DDRD&=~_BV(PD4);
PORTD|=_BV(PD4);
//ROT ENCODER BUTTON
DDRB&=~_BV(PB6);
PORTB|=_BV(PB6);
//PIR
DDRD&=~_BV(PD2); //INT0
// PORTD|=_BV(PD2);
//PWM OUT
DDRB|=_BV(PB3);
//----------------- initai -----------------------------
init_uart(UBRR_VAL);
lcd_init(LCD_DISP_ON);
INT_init();
ADC_init();
timer_init_0();
timer_init_1();
start_timer1();
// TIMSK |=(_BV(OCIE1A)); //iddle timmer on
apie();
//puslapiai();
//Nustatom PWM mode
// TCCR2=0x6B; //6E;
// OCR2=EEPROM_read(24); // OCR2 is EEPROM
work_mode=EEPROM_read(25);
wmode(work_mode);
show_work_mode();
#if debug_mode
send_string("OCR2 eeprome: ");
send_string(itoa(OCR2, buff, 10));
send_string("\n\r");
#endif
//naudojam ADC nuskaitymui
// start_timer0();
_delay_ms(200);
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
sei();
//fade_in();
//fade_out();
while(5){
PORTDDR(LED_PORT)^= (1<<LED3_BIT);
// _delay_ms(50);
//-------------------- to go into main menu 00--------------------
// if (bit_is_clear(PINB, PB6)){
// lcd_light=1;
// }
if(meniu==0 && config==0 && read_keypad()==1){
#if debug_mode
PORTDDR(LED_PORT)^= (1<<LED2_BIT);
send_string("nuspausta knopke\n\r");
#endif
if(lcd_light==0) {
clock_second=0;
clock_millisecond=0;
lcd_light=1;
LCD_LED_PORT |= _BV(LCD_LED_BIT); //ijungiam LCD pasvietima
}
else{
LCD_LED_PORT |= _BV(LCD_LED_BIT); //ijungiam LCD pasvietima
meniu=1;
menu_page=0;
sub_menu_page=0;
lcd_light=0;
puslapiai();
}
#if debug_mode
debug_meniu();
#endif
}
//-------------------- main and sub menu routine --------------
while(meniu!=0 && config==0){
if(read_keypad()==1){
if(meniu==1 && config==0){
if(menu_page<4){ //2inis configas (on/off tipo)
meniu=2;
sub_menu_page=0;
puslapiai_2();
#if debug_mode
debug_meniu();
#endif
}
else if (menu_page==4){ //isejimas i configa
meniu=3;
config=1;
read_config(); //nuskaitom config parametrus is eeprom
puslapiai_config();
#if debug_mode
debug_meniu();
#endif
}
//exit meniu punktas
else if (menu_page==5){ //iseijimas i work_mode();
meniu=0;
config=0;
show_work_mode();
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
#if debug_mode
debug_meniu();
#endif
}
else meniu=meniu;
}
//-------------------- end of main menu routine --------------
//-------------------- start of sub menu routine --------------
else if (meniu==2 && config==0){ //2inis configas
if(sub_menu_page==1) { //OFF vektorius visiems meniu
if(menu_page!=4){
meniu=1;
work_mode=0; //OFF - wmode
EEPROM_write(25, work_mode);
wmode(work_mode);
puslapiai();
#if debug_mode
debug_meniu();
#endif
}
}
else if (sub_menu_page==0){ //ON vektorius
if(menu_page==0){ //ON/OFF meniu punkte
work_mode=1; //ON - wmode
EEPROM_write(25, work_mode);
meniu=0;
wmode(work_mode);
show_work_mode();
_delay_ms(200);
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
#if debug_mode
debug_meniu();
#endif
}
else if (menu_page==1){ //PIR meniu punktas
work_mode=2; //PIR - wmode
EEPROM_write(25, work_mode);
meniu=0;
show_work_mode();
wmode(work_mode);
_delay_ms(200);
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
}
else if (menu_page==2){ //PIR/LDR meniu punktas
work_mode=3; //PIR/LDR - wmode
EEPROM_write(25, work_mode);
meniu=0;
show_work_mode();
wmode(work_mode);
_delay_ms(200);
clock_second=0;
clock_millisecond=0;
lcd_light=1;
//LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
#if debug_mode
debug_meniu();
#endif
}
else if (menu_page==3){ //LDR meniu punktas
work_mode=4; //LDR - wmode
EEPROM_write(25, work_mode);
meniu=0;
show_work_mode();
wmode(work_mode);
_delay_ms(200);
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
#if debug_mode
debug_meniu();
#endif
}
}
else meniu=meniu;
}
}
}
//-------------------- end of sub menu routine --------------
//-------------------------- config ---------------------
while(meniu!=0 && config==1){
if(read_keypad()==1){
#if debug_mode
PORTDDR(LED_PORT)^= (1<<LED1_BIT);
send_string("nuspausta knopke confige\n\r");
#endif
//config meniu vaiksciojimas: arba iseinam i main meniu arba nueinam i sub config meniu
if(meniu==3 && config==1){
//exit meniu punktas
if (config_menu_page==config_menu_page_max){ //iseijimas i work_mode();
meniu=1;
config=0;
config_menu_page=0;
puslapiai();
#if debug_mode
debug_meniu();
#endif
}
//nuejimas i sub config meniu (minPWM, maxPWM, timeOUT ir LDRth nustatymai)
else if (config_menu_page!=config_menu_page_max){
meniu=3;
config=2;
//nuostato nustatymas (pasiziurim, kelintas fadein[] elementas atinka minPWM/maxPWM reiksme EEProme
if (config_menu_page==0) nuostatas=nuostato_radimas(minPWM);
else if (config_menu_page==1) nuostatas=nuostato_radimas(maxPWM);
else nuostatas=nuostatas;
puslapiai_config_2();
#if debug_mode
debug_meniu();
#endif
// break;
}
}
else config=config;
}
}
//---------------------- end of config -----------------------
//---------------------- sub config routine -------------------------
while(meniu!=0 && config==2){
if(read_keypad()==1){
#if debug_mode
PORTDDR(LED_PORT)^= (1<<LED1_BIT);
send_string("nuspausta knopke sub confige\n\r");
#endif
//isejimas is sub configo
meniu=3;
config=1;
nuostatas=0;
puslapiai_config();
write_config();
//OCR2=EEPROM_read(24);
timer2_set(EEPROM_read(24));
wmode(work_mode); //kad liktu tikrasis work_mode
}
else config=config;
}
//---------------------- end of sub config routine ------------------
}
}
int main (void)
{
char x, y, temp, q;
ioinit(); //Setup IO pins and defaults
//USART_Init( MYUBRR);
set_baud(6);//115200
rprintf_devopen(put_char); /* init rrprintf */
//check for existing preset values==============================================================
temp = EEPROM_read((unsigned int)BPS);
if ((temp < 1) | (temp > 6))//BPS will only be 1-6
{
cli();//Disable Interrupts
EEPROM_write((unsigned int) BPS, 6);
EEPROM_write((unsigned int) BACKLIGHT, 100);
EEPROM_write((unsigned int) SPLASH, 1);
EEPROM_write((unsigned int) REV, 0);
sei();//Enable Interrupts
BL_dutycycle = 100;
baud_rate = 6;
splash_screen = 1;
reverse = 0;
}
else
{
baud_rate = temp;
BL_dutycycle = EEPROM_read((unsigned int)BACKLIGHT);
splash_screen = EEPROM_read((unsigned int)SPLASH);
reverse = EEPROM_read((unsigned int)REV);
}
//Reset the display
PORTC &= ~(1 << RESET);
delay_ms(50);
PORTC |= (1 << RESET);
//delay_ms(500);
clear_screen();
set_page(0);
set_x(0);
display_on();
//set display start line to 0
//set control lines
PORTC &= ~((1 << EN) | (1 << R_W) | (1 << RS));//down
set_data(0xC0);
//set_data(0xFF);
delay();
PORTC |= (1 << EN);//up
delay();
PORTC &= ~(1 << EN);//down
delay();
PORTC |= ((1 << EN) | (1 << R_W) | (1 << RS));//all high
delay();
x_offset = 0;
set_page(0);
DDRB |= (1<<BL_EN);//set PB2 as output
set_backlight(BL_dutycycle);
//Logo==========================================================
if (splash_screen == 1)
{
y = 40;
for (q = 0; q < 30; q++)
{
temp = logo[q];
for (x = 56; x < 64; x++)
{
if (temp & 0x80) pixel(1,x,y);
temp <<= 1;
}
q++;
temp = logo[q];
for (x = 64; x < 72; x++)
{
if (temp & 0x80) pixel(1,x,y);
temp <<= 1;
}
y--;
}
}
pixel(0,0,0);//cheat
RX_in = 0;
delay_ms(1000);
clear_screen();
if (RX_in > 0)//revert to 115200
{
print_char(1,'1');
print_char(1,'1');
print_char(1,'5');
print_char(1,'2');
print_char(1,'0');
print_char(1,'0');
baud_rate = 6;
set_baud(6);//115200
cli();
EEPROM_write((unsigned int) BPS, 6);
sei();//Enable Interrupts
}
else (set_baud(baud_rate));
delay_ms(1000);
clear_screen();
//main loop===================================================
while(1)
{
if(RX_in != RX_read)
{
x = RX_array[RX_read];
RX_read++;
if(RX_read >= 416) RX_read = 0;
//Backspace===================================================
if(x == 8) del_char(0);
//Special commands
else if (x == 124)
{
//make sure the next byte is there
while(RX_in == RX_read);
//0, clear screen======================================================
if(RX_array[RX_read] == 0)//^@
{
clear_screen();
RX_read++;
if(RX_read >= 416) RX_read = 0;
}
//demo mode
else if(RX_array[RX_read] == 4)//^d
{
RX_in = 0, RX_read = 0;
demo();
clear_screen();
RX_in = 0;
}
//reverse mode
else if(RX_array[RX_read] == 18)//^r
{
reverse ^= 1;
clear_screen();
RX_read++;
if(RX_read >= 416) RX_read = 0;
cli();
EEPROM_write((unsigned int) REV, reverse);
sei();
}
//toggle spasl screen
else if(RX_array[RX_read] == 19)//^s
{
splash_screen ^= 1;
//clear_screen();
RX_read++;
if(RX_read >= 416) RX_read = 0;
cli();
EEPROM_write((unsigned int) SPLASH, splash_screen);
sei();
}
else
{
//set backlight (0 to 100)=========================================================
if(RX_array[RX_read] == 2)//^b
{
RX_read++;
if(RX_read >= 416) RX_read = 0;
while(RX_in == RX_read);//wait for byte
BL_dutycycle = RX_array[RX_read];
RX_read++;
if(RX_read >= 416) RX_read = 0;
set_backlight(BL_dutycycle);
cli();
EEPROM_write((unsigned int) BACKLIGHT, BL_dutycycle);
sei();
}
//change baud rate=========================================================
if(RX_array[RX_read] == 7)//^g
{
RX_read++;
if(RX_read >= 416) RX_read = 0;
while(RX_in == RX_read);//wait for byte
//if (RX_array[RX_read] == '1') USART_Init( 1000000/2400-1);//4800
//else if (RX_array[RX_read] == '2') USART_Init( 1000000/4800-1);//9600
//else if (RX_array[RX_read] == '3') USART_Init( 1000000/9600-1);//19200
//else if (RX_array[RX_read] == '4') USART_Init( 1000000/19200-1);//38400
//else if (RX_array[RX_read] == '5') USART_Init( 1000000/28800-1);//57600
//else if (RX_array[RX_read] == '6') USART_Init( 1000000/57600-1);//115200
if ((RX_array[RX_read] > '0') * (RX_array[RX_read] < '7')) baud_rate = (RX_array[RX_read]) - 48;
set_baud(baud_rate);
cli();
EEPROM_write((unsigned int) BPS, baud_rate);
sei();
RX_read++;
if(RX_read >= 416) RX_read = 0;
}
//set x or y=========================================================
if((RX_array[RX_read] == 24) | (RX_array[RX_read] == 25))//^x or ^y
{
RX_read++;
if(RX_read >= 416) RX_read = 0;
while(RX_in == RX_read);//wait for byte
if (RX_array[RX_read-1] == 24) x_offset = RX_array[RX_read];
else if (RX_array[RX_read-1] == 25) y_offset = RX_array[RX_read];
RX_read++;
if(RX_read >= 416) RX_read = 0;
if (x_offset > 159) x_offset = 159;
if (y_offset > 127) y_offset = 127;
}
//set pixel=========================================================
if (RX_array[RX_read] == 16)//^p
{
//need 3 bytes
for (y = 0; y < 3; y++)
{
RX_read++;
if(RX_read >= 416) RX_read = 0;
while(RX_in == RX_read);//wait for byte
}
pixel(RX_array[RX_read], RX_array[RX_read-2], RX_array[RX_read-1]);
RX_read++;
if(RX_read >= 416) RX_read = 0;
}
//<ctrl>c, circle======================================================
if(RX_array[RX_read] == 3)//^c
{
//need 4 bytes
for (y = 0; y < 4; y++)
{
RX_read++;
if(RX_read >= 416) RX_read = 0;
while(RX_in == RX_read);//wait for byte
}
circle(RX_array[RX_read], RX_array[RX_read-3], RX_array[RX_read-2], RX_array[RX_read-1]);
RX_read++;
if(RX_read >= 416) RX_read = 0;
}
//<ctrl>e, erase block======================================================
if(RX_array[RX_read] == 5)//^e
{
//need 4 bytes
for (y = 0; y < 4; y++)
{
RX_read++;
if(RX_read >= 416) RX_read = 0;
while(RX_in == RX_read);//wait for byte
}
erase_block(RX_array[RX_read-3], RX_array[RX_read-2], RX_array[RX_read-1], RX_array[RX_read]);
RX_read++;
if(RX_read >= 416) RX_read = 0;
}
//box======================================================
if(RX_array[RX_read] == 15)//^o
{
//need 4 bytes
for (y = 0; y < 4; y++)
{
RX_read++;
if(RX_read >= 416) RX_read = 0;
while(RX_in == RX_read);//wait for byte
}
box(RX_array[RX_read-3], RX_array[RX_read-2], RX_array[RX_read-1], RX_array[RX_read]);
RX_read++;
if(RX_read >= 416) RX_read = 0;
}
//line========================================================
else if (RX_array[RX_read] == 12)//^l
{
//need 5 bytes
for (y = 0; y < 5; y++)
{
RX_read++;
if(RX_read >= 416) RX_read = 0;
while(RX_in == RX_read);//wait for byte
}
line(RX_array[RX_read], RX_array[RX_read-4], RX_array[RX_read-3], RX_array[RX_read-2], RX_array[RX_read+-1]);
RX_read++;
if(RX_read >= 416) RX_read = 0;
}
}
}
//print character to the screen===============================================
else
{
del_char(1);
print_char(1, x);
}
}
}
//demo();
}
void
EEPROM_read_block( uint8_t addr, uint8_t *data, uint8_t size )
{
while( size-- )
*data++ = EEPROM_read( addr++ );
}
void EEPROM_read_buf(uintptr_t address, void *buf, size_t len) {
for (uintptr_t i = 0; i < len; ++i) {
((uint8_t *)buf)[i] = EEPROM_read(address + i);
}
}
void main(void)
{
unsigned int position=0;
int error=0,perror=0;
long int iterm=0;
//Declaration related to PID control systems.
unsigned char com_data[7];
unsigned int servo_output=1500;
int correction;
unsigned char lap=0;
unsigned int totalsum;
int start_count=0; //variable to be removed...
// DC pid control variables
static int error_dc,perror_dc=0; //error can be +ve or -ve
int correction_dc=0; //+ve or -ve
unsigned char speed_dc = 40;
unsigned char count=0;
Leds_and_Switches_Init();
EEPROM_Init();
//EEPROM_reset();
EEPROM_read();
dc_motor_init(); // Current pwm duty is 85
ISR_init();
ATD_init();
pulse_counter_init();
servo_init();
//uart0_9600_init(); //To be removed in the final version of the software.
TI1_Enable();
while(1)
{
//This function compensates the sen_data array and puts the result into com_data array.
compensate_value(sen_data,com_data);
// Placing it here, will increase the lag between value read and action taken.. hence
// making the system unresponsive ...
ATD0CTL5_SCAN=0; //This will start a new conversion ....
// CODE FOR DC_PID CONTROL..
if(dc_newval_flag)
{
dc_newval_flag=0;
perror_dc=error_dc;
error_dc = setpoint - pulse_count;
correction_dc =(int) (((KP_DC*error_dc )/DIV10)+ (KD_DC*(error_dc-perror_dc)/DIV10));
if(speed_dc + correction_dc>=200)
{
speed_dc=200;
}
else if(speed_dc + correction_dc <=0)
{
speed_dc =0;
}
else
{
// A type of integrator
speed_dc +=correction_dc;
}
dc_motor_speed(speed_dc);
}
//START STOP DETEECTION
//119 15 116 221 134 52 189
totalsum = com_data[4]+com_data[5]+com_data[6]+com_data[0]+com_data[1]+com_data[2]+com_data[3];
if(totalsum>START_OR_CROSS && totalsum<SURE_START) //either CROSS or start ...
{
//SUM OF SENSORS IS LARGE OS EITHER A CROSS OR START..
//LED1=LED_ON ;
if(start_count>delay_dc)
{
if(lap>=2)
{
dc_motor_stop();
//TSCR1_TEN = 0; // Stop timer
//dc_newval_flag=0;
}
else
{
lap++;
}
}
}
// CAN BE COMMENTED IN FINAL VERSION OF CODE
else if(totalsum<ALL_WHITE)
{
//LED2=LED_ON ;
//do nothing..
}
else
{
//LED3=LED_ON ;
start_count=0; //for start/cross detection
sort_array(com_data);
/*To find the correction, we have three branches .... */
//GUARD 1
if(index ==0 && com_data[index]<GUARD_VAL)
{
//LEFT
//maore the 1500
correction =MAX_CORRECTION;
//LED4=LED_ON;
}
//GUARD 2
else if(index==6 && com_data[index]<GUARD_VAL)
{
//RIGHT
// less than 1500
correction =MIN_CORRECTION;
//LED4=LED_ON;
}
else
{
//LED3=LED_OFF;
position = (index << 9) + (com_data[index+1]-com_data[index-1]) ;
perror=error; //stores previous error
error = 1536 - position;
//PID
correction = (int)((int)((kp*error)/DIV100) + (int)((ki *iterm)/DIV1000) + (int)(kd*(error-perror)/DIV1000));
//anti wind up circutary
if (correction >= MAX_CORRECTION)
{
correction = MAX_CORRECTION;
}
else if (correction <= MIN_CORRECTION)
{
correction = MIN_CORRECTION;
}
else
{
// limits bound on iterm.
if (iterm>=ITERM_LIMIT)
{
//To buffer the fast responses of propotional control, we have the integral control.
iterm = ITERM_LIMIT;
//LED4=~LED4;
}
else if (iterm<=-ITERM_LIMIT)
{
//To buffer the fast responses of propotional control, we have the integral control.
iterm = -ITERM_LIMIT;
//LED4=~LED4;
}
else
{
iterm += error/20;
}
}
}
/* PID of dc motor should be applied based on the result of the pid of SERVO ie ""correction""
As the frequency of action of DC PID is slow,, 65 ms, so the lag is enough to drive the car out of track..
DIRECT ACCESS TO DC MOTOR SHOULD BE MADE .. while settiing thr """setpoint"""
*/
// correction will be handled from the guards also...
if(correction > SHARP_TURN || (-correction) > SHARP_TURN)
{
//dc_motor_speed(10);
setpoint=2;
}
else if ((correction>MIDDLE_TURN && correction <SHARP_TURN) || (correction < -MIDDLE_TURN && correction >-SHARP_TURN))
{
//dc_motor_speed(20);
setpoint=3;
}
else
{
//dc_motor_speed(50);
setpoint =4;
}
servo_output = (unsigned int)(SET_POINT-correction);
servo_set(servo_output);
}
}
}
