void main()
{
//Iniitalize pulsewidth
FanPWM_WritePulseWidth(255);
//Start Fan PWM
FanPWM_Start();
//Enable FanPWM interrupt
FanPWM_EnableInt();
//Enable global interrupts
M8C_EnableGInt;
//Start tach timer
TachTimer_Start();
//Enable Tach Timer interrupts
TachTimer_EnableInt();
//Start LCD
LCD_Start();
//Enable GPIO interrupts
INT_MSK0 |= 0b00100000;
//Initialize display
LCD_Init();
LCD_Position(0,0);
LCD_PrCString("Pulse Width: ");
LCD_Position(0,13);
LCD_PrHexByte(FanPWM_bReadPulseWidth());
while(1)//control loop
{
if(bDataAvailable == 1)//if data is available
{
//Clear it
bDataAvailable = 0;
//Calculate fan speed and write RPM and num cycles to lCD
wSpeedRPM = ( ( (60/4) * 3000000 * cNumCycles )+ ((wFirstValue - wLastValue)/2) )/(wFirstValue - wLastValue);
//Write to LCD
LCD_Init();
LCD_Position(0,0);
LCD_PrCString("RPM: ");//Begin writing at 0,5
LCD_Position(0,5);
LCD_PrHexInt(wSpeedRPM);
LCD_Position(1,0);
LCD_PrCString("#Cycles: ");//Begin writing at 1,9
LCD_Position(1,9);
LCD_PrHexByte(cNumCycles);
}
}//end control loop
}
void main(void)
{
int result;
float voltage;
int status;
M8C_EnableGInt ; // Uncomment this line to enable Global Interrupts
// Insert your main routine code here.
//Start PGA in high power mode
PGA_Start(PGA_HIGHPOWER);
//Start ADCINC in high power mode
ADCINC_Start(ADCINC_HIGHPOWER);
//Start LCD
LCD_Start();
//Run the ADC continuously
ADCINC_GetSamples(0);
SleepTimer_Start();
SleepTimer_SetInterval(SleepTimer_1_HZ);
SleepTimer_EnableInt();
while (1)
{
SleepTimer_SyncWait(1, SleepTimer_WAIT_RELOAD);
// Wait for data to be ready
while (ADCINC_fIsDataAvailable() == 0);
// Get Data and clear flag
result=ADCINC_iClearFlagGetData();
voltage = result * SCALE_FACTOR;
LCD_Position(0, 0);
LCD_PrCString(" ");
LCD_Position(0, 0);
LCD_PrHexInt(result);
LCD_Position(1, 0);
LCD_PrCString(" ");
LCD_Position(1, 0);
LCD_PrString(ftoa(voltage, &status));
}
}
void main(void)
{
M8C_EnableGInt;
LCD_Start(); // Start LCD
LCD_Position(0,0);
LCD_PrCString("PSoC I2C Slave");
EzI2Cs_SetRamBuffer(1, 1, (char *)&Wert); // Start I²C Buffer, Size of 1 Byte, Allowing to Read/Write 1 Byte
I2C_Init();
while(1)
{
LCD_Position(1,0);
LCD_PrCString("Wert:");
LCD_Position(2,0);
LCD_PrHexInt(Wert);
}
}
float EvaluateUltrasoonSensor(void)//(Timer3)
{
if (FlagUltrasoon & DATA_AVAILABLE_ULTRASOON)// do if databit is set
{
WORD pulseWidthUltrasoon = PulseWidthUltrasoon;
#if (DEBUG_LCD)
LCD_Position(1,12);
LCD_PrHexInt(pulseWidthUltrasoon);
#endif
FlagUltrasoon &= ~DATA_AVAILABLE_ULTRASOON;
// als meting gebeurt is trigger sensor opnieuw en we disablen timer1
TriggerUltrasoon();
return pulseWidthUltrasoon;
}
return MIN_SAFE_DISTANCE + 1;
}
// normalization function for Elevator(Timer2)
float EvaluateElevator(DWORD value)
{
// Check if pulsewidth data is available
if(FlagsElevator & DATA_AVAILABLE_ELEVATOR)
{
#if (DEBUG_LCD)
LCD_Position(1,0);
LCD_PrHexInt(value);
#endif
// stick in center
if (Within(value, CENTER_ELEVATOR, MARGIN_ELEVATOR))
{
#if (DEBUG_LCD)
LCD_Position(1,5);
LCD_PrCString("C");
#endif
return 0;
}
else if (value > CENTER_ELEVATOR) // stick up
{
#if (DEBUG_LCD)
LCD_Position(1,5);
LCD_PrCString("U");
#endif
return ((float)value - CENTER_ELEVATOR) / (float)(MAX_ELEVATOR - CENTER_ELEVATOR);
}
else if (value < CENTER_ELEVATOR) // stick down
{
#if (DEBUG_LCD)
LCD_Position(1,5);
LCD_PrCString("D");
#endif
return -(CENTER_ELEVATOR - (float)value) / (float)(CENTER_ELEVATOR - MIN_ELEVATOR);
}
// action finished, clear flag to avoid doing it again
FlagsElevator &= ~DATA_AVAILABLE_ELEVATOR;
}
return 0;
}
// normalization function for Aileron (Timer1)
float EvaluateAileron(DWORD value)
{
// Check if pulsewidth data is available
if(FlagsAileron & DATA_AVAILABLE_AILERON)
{
#if (DEBUG_LCD)
LCD_Position(0,0);
LCD_PrHexInt(value);
#endif
// stick in center
if (Within(value, CENTER_AILERON, MARGIN_AILERON))
{
#if (DEBUG_LCD)
LCD_Position(0,5);
LCD_PrCString("C");
#endif
return 0;
}
else if (value < CENTER_AILERON) // stick left
{
#if (DEBUG_LCD)
LCD_Position(0,5);
LCD_PrCString("L");
#endif
return ((float)value - CENTER_AILERON) / (float)(MAX_AILERON - CENTER_AILERON);
}
else if (value > CENTER_AILERON) // stick right
{
#if (DEBUG_LCD)
LCD_Position(0,5);
LCD_PrCString("R");
#endif
return -(CENTER_AILERON - (float)value) / (float)(CENTER_AILERON - MIN_AILERON);
}
// action finished, clear flag to avoid doing it again
FlagsAileron &= ~DATA_AVAILABLE_AILERON;
}
return 0;
}
void switchDown()
{
//Gather current count
currentCount = Timer_wReadTimerSaveCV();
//3 seconds clocked at .0001 sec per cycles is 30000 timer ticks
if(currentCount >= 30000)
{
//Reset timer
Timer_WriteCompareValue(0);
}
else
{
//Check for previous values
if(dataAvailable != 0)
{
//Data has been collected - collect second value
time2 = currentCount;
//Data is no longer available since the second value has been collected
dataAvailable = 0;
//Let user know
LCD_Position(1,0);
LCD_PrCString("2");
//Reset the timer for next presses
Timer_WriteCompareValue(0);
}
else
{
//Data has not been collected - collect first value
time1 = currentCount;
//Let user know
LCD_Position(1,0);
LCD_PrCString("1");
}
}
//Write the difference in times to the LCD
LCD_Position(0,0);
LCD_PrHexInt(time1 - time2); //Down count so 1-2
}
void main(void)
{
// Enable Global Interrupt
M8C_EnableGInt;
// Clear the flags
FlagsElevator = 0;
FlagsAileron = 0;// new for motorcontroll2
FlagUltrasoon = 0;
// Start timers and enable interrupt
Timer1_Start();
Timer1_EnableInt();
Timer2_Start();// new for motorcontroll2
Timer2_EnableInt();// new for motorcontroll2
Timer3_Start();
Timer3_EnableInt();
TriggerUltrasoon();
// Init motors
PWM1_Start();
PWM2_Start();
#if (DEBUG_LCD)
LCD_Start();
#endif
while (TRUE)
{
float aileronNormalized,
elevatorNormalized;
float distance;
float speed, direction;
float motorLeft, motorRight;
BOOL forward;
aileronNormalized = EvaluateAileron(PulseWidthAileron);
direction = fabs(aileronNormalized);
elevatorNormalized = EvaluateElevator(PulseWidthElevator);
speed = fabs(elevatorNormalized);
forward = (elevatorNormalized >= 0);
distance = EvaluateUltrasoonSensor();
if (distance < MIN_SAFE_DISTANCE)
{
if (forward)
speed = 0;
}
motorLeft = speed; // default is straight forward
motorRight = speed;
if (aileronNormalized < 0) // turning left
{
motorRight = speed;
motorLeft = speed * (1 - direction);
}
else if (aileronNormalized > 0) // turning right
{
motorLeft = speed;
motorRight = speed * (1 - direction);
}
if (forward)
{
// ccw
PRT1DR |= 0x08; // AIN1
PRT1DR &= ~0x02; // AIN2
PRT1DR |= 0x20; // BIN1
PRT1DR &= ~0x80; // BIN2
}
else
{
//cw
PRT1DR &= ~0x08; // AIN1
PRT1DR |= 0x02; // AIN2
PRT1DR &= ~0x20; // BIN1
PRT1DR |= 0x80; // BIN2
}
// Denormalize to Engine
motorLeft *= (MAX_POWER - MIN_POWER);
motorLeft += MIN_POWER;
motorRight *= (MAX_POWER - MIN_POWER);
motorRight += MIN_POWER;
PWM1_WritePulseWidth(motorLeft);
PWM2_WritePulseWidth(motorRight);
#if (DEBUG_LCD)
LCD_Position(0,7);
LCD_PrHexInt(motorLeft);
LCD_Position(1,7);
LCD_PrHexInt(motorRight);
LCD_Position(0,12);
LCD_PrCString(forward ? "F" : "B");
#endif
}
}