void main(){
OUTPUT_LOW(LCD_RW); //Che do ghi
LCD_Init(); //Khoi tao LCD
LCD_PutCmd(0x01); //Xoa man hinh
ENABLE_INTERRUPTS(INT_TIMER0); //Kich hoat ngat ngoai
SETUP_TIMER_0(RTCC_INTERNAL|RTCC_DIV_32); //Xung kich noi va chia truoc 32
ENABLE_INTERRUPTS(GLOBAL); //Cho phep ngat toan cuc
SET_TIMER0(100); //Bat dau dem tu 100, khi tran Timer0 duoc 1ms
while (True){ //Duy tri hoat dong cua vi dieu khien
if (dem > N_max){
dem = 0;
LCD_PutCmd(0x01);
}
LCD_SetPosition(0x00); //Cot 1 dong 1
LCD_PutChar("Dem so:");
LCD_SetPosition(0x07); //Cot 8 dong 1
printf(LCD_PutChar,"%lu",dem);
}
}
/*************************************************************
* 函数名称:LCD_DrawRec
* 功 能:在指定位置画矩形
* 参 数:
* x: 窗体中X坐标中始点
* y: 窗体中Y坐标中始点
* Length：条形的长
* High: 矩形的高
* Colour:矩形的颜色
* 返 回 值:无
*************************************************************/
void LCD_DrawRec(u16 x,u16 y,u16 Length,u16 High,u16 Colour)
{
u16 i;
if(horizontal_or_vertical) //横屏显示时
{
if(x+Length>320)
Length=320-Length;
if(High+y>240)
High=240-High;
LCD_SetPosition(x,y);
LCD_WR_CMD(0X0044,((High+y-1)<<8)+y);
LCD_WR_CMD(0X0046,x+Length);
}
else //竖屏显示时
{
if(x+Length>240)
Length=240-Length;
if(High+y>320)
High=320-High;
LCD_SetPosition(x,y);
LCD_WR_CMD(0X0044,((Length+x-1)<<8)+x);
LCD_WR_CMD(0X0046,y+High);
}
LCD_WR_ADD(0x0022);
for(i=0;i<Length*High;i++)
{
LCD_WR_DATA(Colour);
}
}
void main(){
float distance = 0;
OUTPUT_LOW(LCD_RW);
LCD_Init();
LCD_PutCmd(0x01);
SETUP_TIMER_1(T1_INTERNAL|T1_DIV_BY_4);
SETUP_CCP1(CCP_CAPTURE_RE);
ENABLE_INTERRUPTS(INT_CCP1);
ENABLE_INTERRUPTS(GLOBAL);
while (True){
Trigger();
while (echo == 0){
;
}
distance = value*0.8/58;
LCD_PutCmd(0x01);
LCD_SetPosition(0x00);
LCD_PutChar("Distance:");
LCD_SetPosition(0x40);
printf(LCD_PutChar,"%.2fcm",distance);
delay_ms(1000);
}
}
signed char DisplayMenu(const char *Menu[], char ItemCount, char Initial) {
char SecondLine = 0;
signed char SelectedItem = 0;
signed char ret = 0;
SelectedItem = Initial;
while (1) {
LCD_ClearDisplay();
if (SecondLine) {
LCD_SetPosition(0, 1);
if (SelectedItem == 0) LCD_PrintString(Menu[ItemCount]);
else LCD_PrintString(Menu[SelectedItem - 1]);
LCD_SetPosition(1, 0);
LCD_PrintChar('*');
LCD_PrintString(Menu[SelectedItem]);
LCD_SetPosition(1, 0);
} else {
LCD_PrintChar('*');
LCD_PrintString(Menu[SelectedItem]);
LCD_SetPosition(1, 1);
if (SelectedItem == ItemCount) LCD_PrintString(Menu[0]);
else LCD_PrintString(Menu[SelectedItem + 1]);
LCD_SetPosition(0, 0);
}
ret = GetInput();
if (ret < 0) {
SelectedItem = ret;
goto exit;
}
switch (ret) {
case USER_INPUT_CLICK:
goto exit;
case USER_INPUT_BACK:
SelectedItem = -1;
goto exit;
case USER_INPUT_CANCEL:
SelectedItem = -2;
goto exit;
case USER_INPUT_INC:
SecondLine = 1;
if (SelectedItem == ItemCount) SelectedItem = ItemCount;
else SelectedItem++;
break;
case USER_INPUT_DEC:
SecondLine = 0;
if (SelectedItem == 0) SelectedItem = 0;
else SelectedItem--;
break;
}
}
exit:
return (SelectedItem);
}
signed char GetFloat(const char *prompt, const char *unit, double* Value, double Min, double Max, double Precision) {
double Output;
char WholePlaces;
char FractionalPlaces;
signed char ret = 0;
if ((Max >= 10000) || (Min <= -10000)) WholePlaces = 5;
else if (Max >= 1000 | Min <= -1000) WholePlaces = 4;
else if (Max >= 100 | Min <= -100) WholePlaces = 3;
else if (Max >= 10 | Min <= -10) WholePlaces = 2;
else WholePlaces = 2;
if (Precision >= 1.0) FractionalPlaces = 0;
else if (Precision >= 0.1) FractionalPlaces = 1;
else if (Precision >= 0.01) FractionalPlaces = 2;
else if (Precision >= 0.001) FractionalPlaces = 3;
else if (Precision >= 0.0001) FractionalPlaces = 4;
Output = *Value;
LCD_ClearDisplay();
LCD_PrintString(prompt);
LCD_SetPosition(1, 0);
LCD_PrintFloat(Output, WholePlaces, FractionalPlaces, 1);
LCD_PrintString(unit);
while (1) {
LCD_SetPosition(1, 0);
LCD_PrintFloat(Output, WholePlaces, FractionalPlaces, 1);
ret = GetInput();
if (ret < 0) return ret;
switch (ret) {
case USER_INPUT_CLICK: //user has pressed the switch to accept.
*Value = Output;
return (0);
case USER_INPUT_CANCEL:
return -2;
case USER_INPUT_BACK:
return -1;
case USER_INPUT_INC: //Rot+
Output += GetRotaryMultiplier() * Precision;
if (Output > Max) Output = Max;
break;
case USER_INPUT_DEC:
Output -= GetRotaryMultiplier() * Precision;
if (Output < Min) Output = Min;
break;
}
}
return (0);
}
signed char GetPresetNumber() {
signed char inp;
char pnum;
signed char ptype;
LCD_ClearDisplay();
LCD_PrintString("PRESET SLOT:\0");
LCD_SetPosition(1, 0);
LCD_PrintString("PRESET 01\0");
pnum = 1;
while (1) {
LCD_SetPosition(1, 7);
LCD_PrintLong((int) pnum, 2, 0);
ptype = GetPresetType(pnum);
switch (ptype) {
case 0:
LCD_PrintString("-EMPTY \0");
break;
case 1:
LCD_PrintString("-WAYPOINT \0");
break;
case 2:
LCD_PrintString("-ORBIT \0");
break;
}
inp = GetInput();
if (inp<0) return inp;
switch (inp) {
case USER_INPUT_DEC:
if (pnum > 1) pnum--;
break;
case USER_INPUT_INC:
if (pnum < 5) pnum++;
break;
case USER_INPUT_CLICK:
return (pnum);
case USER_INPUT_BACK:
return (-1);
case USER_INPUT_CANCEL:
return (-2);
}
}
return (-2);
}
signed char DisplayChoices(const char *Menu[], char ItemCount, const char *Prompt, char Initial) {
char SelectedItem = 0;
signed char ret = 0;
SelectedItem = Initial;
while (1) {
LCD_ClearDisplay();
LCD_PrintString(Prompt);
LCD_SetPosition(1, 0);
LCD_PrintChar('*');
LCD_PrintString(Menu[SelectedItem]);
ret = GetInput();
if (ret < 0) return ret;
switch (ret) {
case USER_INPUT_CLICK:
return (SelectedItem);
case USER_INPUT_BACK:
return (-1);
case USER_INPUT_CANCEL:
return (-2);
case USER_INPUT_INC:
if (SelectedItem == ItemCount) SelectedItem = ItemCount;
else SelectedItem++;
break;
case USER_INPUT_DEC:
if (SelectedItem == 0) SelectedItem = 0;
else SelectedItem--;
break;
}
}
return (0);
}
void main(){
Output_low(LCD_RW); //Che do ghi
LCD_init(); //Khoi tao LCD
lcd_putcmd(0x01);
delay_ms(100);
printf(lcd_putchar,"Nhiet do: ");
while (true){
i2c_start(); //Tao dieu kien start de giao tiep
//Dia chi thiet bi I2C(tra trang 9 cua Datasheet) sau khi da them bit 0 vao
//0x48 (1001000 them bit 0 vao 10010000 = 0x90
i2c_write(0x90);
i2c_write(0x00); //Gui lenh yeu cau doc nhiet do
i2c_start(); //Tao lai dieu kien start
//Dia chi thiet bi I2C(tra trang 9 cua Datasheet) sau khi da them bit 1 vao
//0x48 (1001000 them bit 1 vao 10010001 = 0x91
i2c_write(0x91); //Thiet bi chu yeu cau duoc doc du lieu cua thiet bi to
temp = i2c_read(0); //Gui lenh doc gia tri nhiet do
i2c_stop(); //Tao dieu kien Stop, ket thuc giao tiep
LCD_SetPosition(0x09);
printf(lcd_putchar,"%u",temp); //Hien thi nhiet do doc duoc len LCD
lcd_putchar(223);
printf(lcd_putchar,"C");
delay_ms(1000);
}
}
signed char GetYesNo(const char *prompt, signed char Initial) {
signed char answer;
signed char inp;
LCD_ClearDisplay();
LCD_PrintString(prompt);
answer = Initial;
while (1) {
LCD_SetPosition(1, 0);
if (answer) LCD_PrintString("<YES>\0");
else LCD_PrintString("<NO> \0");
inp = GetInput();
if (inp < 0) return inp;
switch (inp) {
case USER_INPUT_CLICK: //The User Pressed the button to select something...
return (answer);
case USER_INPUT_CANCEL:
return -2;
case USER_INPUT_BACK:
return -1;
case USER_INPUT_INC: //Rot +
case USER_INPUT_DEC: //Rot -
answer = !answer;
break;
default:
break;
}
}
return (0);
}
signed char ShowVoltage() {
double Batt;
LCD_ClearDisplay();
bLock_BatteryVoltage = 1;
Batt = BatteryVoltage;
bLock_BatteryVoltage = 0;
Batt *= Config.Volts_per_Count;
LCD_PrintString("BATTERY VOLTAGE:\0");
LCD_SetPosition(1, 0);
LCD_PrintFloat(Batt, 2, 2, 0);
LCD_PrintString(" VOLTS\0");
return GetClick();
}
/**
* Configures the SPI module, and writes some test text to the LCD.
* Effectively tests the basic functionality of the display.
* @return
*/
int LCD_TEST(void)
{
LCD_ConfigSPI();
LCD_InitiaizeLCD();
LCD_WriteData('L');
LCD_WriteData('i');
LCD_WriteData('n');
LCD_WriteData('e');
LCD_WriteData(' ');
LCD_WriteData('1');
LCD_WriteCommand(LCD_CMD_RETURN_LINE2);
LCD_WriteData('L');
LCD_WriteData('i');
LCD_WriteData('n');
LCD_WriteData('e');
LCD_WriteData(' ');
LCD_WriteData('2');
LCD_SetPosition(0,0xA);
LCD_WriteData('T');
LCD_WriteData('e');
LCD_WriteData('x');
LCD_WriteData('t');
LCD_WriteData(' ');
LCD_WriteData('1');
LCD_SetPosition(1,0xA);
LCD_WriteData('T');
LCD_WriteData('e');
LCD_WriteData('x');
LCD_WriteData('t');
LCD_WriteData(' ');
LCD_WriteData('2');
return 0;
}
/*************************************************************
* 函数名称:LCD_DrawLine
* 功 能:在指定位置画条长度为Length的线
* 参 数:
* x: 窗体中X坐标中始点
* y: 窗体中Y坐标中始点
* Length：线的长度,长度大于屏幕时，截去
* Colour:线的颜色
* 返 回 值:无
*************************************************************/
void LCD_DrawLine(u16 x,u16 y,u16 Length,u16 Colour)
{
u16 i;
if(horizontal_or_vertical) //横屏显示时
{
if(x+Length>320)
Length=320-Length;
}
else
{
if(x+Length>240)
Length=240-Length;
}
LCD_SetPosition(x,y);
for(i=0;i<Length;i++)
LCD_WR_DATA(Colour);
}
void main(void) {
signed char ret = 0;
signed char lastMenu = 0;
char pnum = 0;
SetupIO();
MOTOR_FORWARD = 0;
MOTOR_REVERSE = 0;
Move_shifted_position.ul = 0;
Move_position[0].ul = 0;
Move_position[1].ul = 0;
//PID_SetPoint = 0;
char idx;
for (idx = 0; idx < 16; idx++) RotaryDetentIntervals[idx] = 0xFF;
LoadSettings();
//FactoryDefault();
SetupHardware();
LCD_PowerUp();
LCD_ClearDisplay();
LCD_PrintString("CINEFLUX ORBIT\0");
LCD_SetPosition(1, 0);
LCD_PrintString(VER);
Wait_ms(2000);
const char *COMMAND_0 = "ORBIT MODE\0";
const char *COMMAND_1 = "WAYPOINT MODE\0";
const char *COMMAND_3 = "RUN PRESET\0";
const char *COMMAND_2 = "REALTIME MODE\0";
const char *COMMAND_4 = "BATTERY VOLTAGE\0";
const char *COMMAND_5 = "GO TO SLEEP\0";
const char *COMMAND_6 = "EXTERNAL CTRL MODE\0";
const char*CommandMenu[7];
CommandMenu[0] = COMMAND_0;
CommandMenu[1] = COMMAND_1;
CommandMenu[2] = COMMAND_2;
CommandMenu[3] = COMMAND_3;
CommandMenu[4] = COMMAND_4;
CommandMenu[5] = COMMAND_5;
CommandMenu[6] = COMMAND_6;
bFollowMode = 1;
LCD_ClearDisplay();
LCD_PrintString("MOVE TO ZERO DEGREES\0");
LCD_SetPosition(1, 0);
LCD_PrintString("THEN CLICK...\0");
GetClick();
bClear_MotorPosition = 1;
while (bClear_MotorPosition) Idle();
Wait_ms(10);
bFollowMode = 0;
LCD_ClearDisplay();
while (1) {
UI_Location = UI_LOC_MAINMENU;
ret = DisplayMenu(CommandMenu, 6, lastMenu);
labelProcessCommand:
switch (ret) {
case 0:
case USER_INPUT_MACRO_ORBITMODE:
lastMenu = 0;
ret = CreateOrbitProgram();
if (ret == -2) RealtimeMode();
if (ret == -1) RealtimeMode();
if (ret<-2) goto labelProcessCommand;
break;
case 1:
case USER_INPUT_MACRO_WAYMODE:
lastMenu = 1;
ret = CreateWaypointProgram();
if (ret<-2) goto labelProcessCommand;
if (ret < 0) {
ret = RealtimeMode();
if (ret<-2) goto labelProcessCommand;
}
break;
case 3:
lastMenu = 3;
ret = GetPresetNumber();
if (ret == -1) break;
if (ret == -2) break;
if (ret<-2) goto labelProcessCommand;
pnum = ret;
ret = RunPreset(pnum);
if (ret<-2) goto labelProcessCommand;
break;
case 2:
case USER_INPUT_MACRO_REALMODE:
lastMenu = 0;
ret = RealtimeMode();
if (ret<-2) goto labelProcessCommand;
break;
case 4:
lastMenu = 0;
ret = ShowVoltage();
if (ret<-2) goto labelProcessCommand;
break;
case 5:
case USER_INPUT_MACRO_SLEEP:
lastMenu = 0;
GoToSleep();
break;
case 6:
case USER_INPUT_MACRO_EXTMODE:
lastMenu = 0;
ret = ExtMode();
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET0:
ret = RunPreset(1);
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET1:
ret = RunPreset(2);
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET2:
ret = RunPreset(3);
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET3:
ret = RunPreset(4);
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET4:
ret = RunPreset(5);
if (ret<-2) goto labelProcessCommand;
break;
}
}
}
signed char CreateOrbitProgram() {
UI_Location = UI_LOC_ORBITSETUP;
signed char ret;
const char *DIRECTION_1 = "CLOCKWISE\0";
const char *DIRECTION_0 = "COUNTER CLOCKWISE\0";
const char*DirectionMenu[2];
DirectionMenu[0] = DIRECTION_0;
DirectionMenu[1] = DIRECTION_1;
const char *SpeedMODE_0 = "MANUAL\0";
const char *SpeedMODE_1 = "PER ORBIT\0";
const char *SpeedMODE_2 = "FOR ALL ORBITS\0";
const char*SpeedModeMenu[3];
SpeedModeMenu[0] = SpeedMODE_0;
SpeedModeMenu[1] = SpeedMODE_1;
SpeedModeMenu[2] = SpeedMODE_2;
const char *ENDMODE_0 = "BY ORBIT COUNT\0";
const char *ENDMODE_1 = "BY TOTAL TIME\0";
const char *ENDMODE_2 = "NEVER ENDING\0";
const char*EndModeMenu[3];
EndModeMenu[0] = ENDMODE_0;
EndModeMenu[1] = ENDMODE_1;
EndModeMenu[2] = ENDMODE_2;
const char *COMMAND_0 = "RUN PROGRAM\0";
const char *COMMAND_1 = "SAVE PRESET\0";
const char*CommandMenu[2];
CommandMenu[0] = COMMAND_0;
CommandMenu[1] = COMMAND_1;
labelOrigin:
LCD_ClearDisplay();
LCD_PrintString("MOVE TO START...\0");
LCD_SetPosition(1, 0);
LCD_PrintString("THEN CLICK.\0");
bFollowMode = 1;
ret = GetClick();
bFollowMode = 0;
if (ret < 0) return ret;
CurrentOrbitProgram.Origin_deg = (unsigned int) GetCurrentAngle();
labelDirection:
ret = DisplayChoices(DirectionMenu, 1, "ROTATION DIRECTION:\0", CurrentOrbitProgram.IsClockWise);
if (ret == -1) goto labelOrigin;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.IsClockWise = ret;
labelEndMode:
ret = DisplayChoices(EndModeMenu, 2, "PROGRAM END MODE:\0", CurrentOrbitProgram.EndMode);
if (ret == -1) goto labelDirection;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.EndMode = ret;
switch (CurrentOrbitProgram.EndMode) {
case 0: //End based on Cycle Count.
labelCycleCount :
if (CurrentOrbitProgram.CycleCount_rev < 1) CurrentOrbitProgram.CycleCount_rev = 1;
if (CurrentOrbitProgram.CycleCount_rev > 999) CurrentOrbitProgram.CycleCount_rev = 999;
ret = GetFloat("ORBIT LIMIT:\0", "", &CurrentOrbitProgram.CycleCount_rev, 1, 999, 1.0);
if (ret == -1) goto labelEndMode;
if (ret == -2) return (-2);
if (ret < 0) return ret;
labelSpeedMode:
if (CurrentOrbitProgram.CycleCount_rev > 1) ret = DisplayChoices(SpeedModeMenu, 2, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
else ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
if (ret == -1) goto labelCycleCount;
if (ret == -2) return (-2);
if (ret < 0) return ret;
switch (ret) {
case 0:
if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
if (ret == -1) goto labelSpeedMode;
if (ret == -2) return (-2);
break;
case 1:
if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
ret = GetTime("TIME PER ORBIT\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode;
if (ret == -2) return (-2);
CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
break;
case 2:
if (CurrentOrbitProgram.CycleTime_sec < (4 * CurrentOrbitProgram.CycleCount_rev)) CurrentOrbitProgram.CycleTime_sec = 4 * CurrentOrbitProgram.CycleCount_rev;
ret = GetTime("TIME FOR ALL ORBITS\0", &CurrentOrbitProgram.CycleTime_sec, 4 * CurrentOrbitProgram.CycleCount_rev, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode;
if (ret == -2) return (-2);
CurrentOrbitProgram.Speed_deg_sec = (360 * CurrentOrbitProgram.CycleCount_rev) / CurrentOrbitProgram.CycleTime_sec;
break;
}
break;
case 1://End based on runtime.
labelProgramRuntime :
ret = GetTime("TOTAL RUNTIME:\0", &CurrentOrbitProgram.ProgramRunTime_sec, 1, 86400, 0b1110);
if (ret == -1) goto labelEndMode;
if (ret == -2) return (-2);
if (ret < 0) return ret;
labelSpeedMode2:
ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
if (ret == -1) goto labelProgramRuntime;
if (ret == -2) return (-2);
if (ret < 0) return ret;
switch (ret) {
case 0:
if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
if (ret == -1) goto labelSpeedMode2;
if (ret == -2) return (-2);
break;
case 1:
if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
ret = GetTime("TIME PER ORBIT:\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode2;
if (ret == -2) return (-2);
CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
break;
}
CurrentOrbitProgram.CycleCount_rev = (CurrentOrbitProgram.Speed_deg_sec * CurrentOrbitProgram.ProgramRunTime_sec) / 360;
break;
case 2: //NO END AT ALL
labelSpeedMode3 :
ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
if (ret == -1) goto labelEndMode;
if (ret == -2) return (-2);
if (ret < 0) return ret;
switch (ret) {
case 0:
if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
if (ret == -1) goto labelSpeedMode3;
if (ret == -2) return (-2);
if (ret < 0) return ret;
break;
case 1:
if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
ret = GetTime("TIME PER ORBIT:\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode3;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
break;
}
break;
}
labelActions:
ret = DisplayChoices(CommandMenu, 1, "ACTION:\0", 0);
if (ret == -1) goto labelCycleCount;
if (ret == -2) return (-2);
if (ret < 0) return ret;
if (ret == 0) {
return RunOrbitProgram();
}
ret = GetPresetNumber();
if (ret == -1) goto labelActions;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.Type = 2;
SavePreset(ret, (unsigned char *) &CurrentOrbitProgram);
goto labelActions;
}
signed char RunOrbitProgram() {
signed char retCode = 0;
UI_Location = UI_LOC_ORBITRUN;
signed char ret;
double EndPos;
double OriginPos;
double TimeRemaining;
double DistanceRemaining;
double MPos;
LCD_ClearDisplay();
LCD_PrintString("MOVING TO START\0");
OriginPos=(double)CurrentOrbitProgram.Origin_deg;
MoveToAngle(OriginPos, 90);
while (bMove_InProgress) {
Idle();
ret = GetInput_nonblocking();
if (ret == USER_INPUT_CANCEL) {
retCode = -2;
goto labelFinished;
}
if (ret < 0) {
retCode = ret;
goto labelFinished;
}
}
double Distance = CurrentOrbitProgram.CycleCount_rev * 360;
if (CurrentOrbitProgram.EndMode == 2) Distance = 7776000;
if (!CurrentOrbitProgram.IsClockWise) Distance = -Distance;
bLock_Motor_Position = 1;
OriginPos = Motor_Position;
bLock_Motor_Position = 0;
OriginPos *= Config.Degrees_Per_Count;
EndPos = OriginPos + Distance;
LCD_ClearDisplay();
LCD_PrintString("RUNNING: T-HH:MM:SS\0");
if (CurrentOrbitProgram.EndMode == 2) {
LCD_ClearDisplay();
LCD_PrintString("ORBIT RUNNING\0");
LCD_SetPosition(1, 0);
LCD_PrintString("INFINITE RUNTIME\0");
}
double SpdConvert = 1 / CurrentOrbitProgram.Speed_deg_sec;
ret = GetInput_nonblocking();
Move(Distance, CurrentOrbitProgram.Speed_deg_sec);
while (bMove_InProgress) {
bLock_Motor_Position = 1;
MPos = Motor_Position;
bLock_Motor_Position = 0;
MPos *= Config.Degrees_Per_Count;
DistanceRemaining = EndPos - MPos;
if (DistanceRemaining < 0) DistanceRemaining = -DistanceRemaining;
TimeRemaining = DistanceRemaining*SpdConvert;
DistanceRemaining *= 0.002778;
if (!(CurrentOrbitProgram.EndMode == 2)) {
LCD_SetPosition(0, 11);
PrintTime(TimeRemaining, 0b1110, 0);
LCD_SetPosition(1, 0);
LCD_PrintFloat(DistanceRemaining, 5, 2, 0);
LCD_PrintString(" REV REMAIN\0");
}
ret = GetInput_nonblocking();
if (ret == USER_INPUT_CANCEL) {
retCode = -2;
goto labelFinished;
}
if (ret < 0) {
retCode = ret;
goto labelFinished;
}
Idle();
}
labelFinished:
bMove_InProgress = 0;
bFollowMode = 0;
bSpeedMode = 1;
Speed_SetToThis = 0;
Speed_SetPending = 1;
LCD_ClearDisplay();
LCD_PrintString("STOPPING...\0");
while (Speed_SetPending);
while (Speed_IsAccelerating){
Idle();
}
bMove_InProgress = 0;
bFollowMode = 0;
bSpeedMode=0;
return retCode;
}
void main(void) {
signed char ret = 0;
signed char lastMenu = 0;
char pnum = 0;
SetupIO();
MOTOR_FORWARD = 0;
MOTOR_REVERSE = 0;
Move_shifted_position.ul = 0;
Move_position[0].ul = 0;
Move_position[1].ul = 0;
//PID_SetPoint = 0;
char idx;
for (idx = 0; idx < 16; idx++) RotaryDetentIntervals[idx] = 0xFF;
//LoadSettings();
FactoryDefault();
SetupHardware();
LCD_PowerUp();
LCD_ClearDisplay();
LCD_PrintString("CINEFLUX ORBIT\0");
LCD_SetPosition(1,0);
LCD_PrintString(VER);
Wait_ms(2000);
const char *COMMAND_0 = "ORBIT MODE\0";
const char *COMMAND_1 = "WAYPOINT MODE\0";
const char *COMMAND_3 = "RUN PRESET\0";
const char *COMMAND_2 = "REALTIME MODE\0";
const char *COMMAND_4 = "BATTERY VOLTAGE\0";
const char *COMMAND_5 = "GO TO SLEEP\0";
const char *COMMAND_6 = "EXTERNAL CTRL MODE\0";
const char*CommandMenu[7];
CommandMenu[0] = COMMAND_0;
CommandMenu[1] = COMMAND_1;
CommandMenu[2] = COMMAND_2;
CommandMenu[3] = COMMAND_3;
CommandMenu[4] = COMMAND_4;
CommandMenu[5] = COMMAND_5;
CommandMenu[6] = COMMAND_6;
bFollowMode = 1;
LCD_ClearDisplay();
LCD_PrintString("MOVE TO ZERO DEGREES\0");
LCD_SetPosition(1, 0);
LCD_PrintString("THEN CLICK...\0");
GetClick();
bClear_MotorPosition = 1;
while (bClear_MotorPosition) Idle();
Wait_ms(10);
bFollowMode = 0;
LCD_ClearDisplay();
while (1) {
ret = DisplayMenu(CommandMenu, 6, lastMenu);
switch (ret) {
case 0:
lastMenu = 0;
if (!CreateOrbitProgram() == 0)
RealtimeMode();
break;
case 1:
lastMenu = 1;
if (!CreateWaypointProgram() == 0)
RealtimeMode();
break;
case 3:
lastMenu = 2;
ret = GetPresetNumber();
if (ret == -1) break;
if (ret == -2) break;
pnum = ret;
switch (GetPresetType(pnum)) {
case 1:
LoadPreset(pnum, (unsigned char *) &CurrentPath);
if (!RunWaypointProgram() == 0)
RealtimeMode();
break;
case 2:
LoadPreset(pnum, (unsigned char *) &CurrentOrbitProgram);
if (!RunOrbitProgram() == 0)
RealtimeMode();
break;
}
break;
case 2:
lastMenu = 2;
RealtimeMode();
break;
case 4:
lastMenu = 0;
ShowVoltage();
break;
case 5:
lastMenu = 0;
GoToSleep();
break;
case 6:
lastMenu = 0;
ExtMode();
break;
}
}
}
void main(){
int temp1, temp2,temp3; // Bien duoc do ra tu EEPROM
int keypad[10],i, position;
int B_ENTER, B_EXIT, E0;
temp1 = read_eeprom(add_setup_temp_1);
temp2 = read_eeprom(add_setup_temp_2);
temp3 = read_eeprom(add_setup_temp_3);
nhietdo_setup = temp1*10 + temp2 + temp3*0.1; //Gia tri nhiet do setup
Output_low(LCD_RW);
LCD_Init();
TRISB = 0xFF;
TRISE = 0xFF;
LCD_PutCmd(0x01);
LCD_SetPosition(0x00); //Chuyen vi tri con tro sang dong 1
printf(lcd_putchar,"Setup: %.1f",nhietdo_setup);
lcd_putchar(223);
printf(lcd_putchar,"C");
while (true){
//Doc gia tri nhiet do tu cam bien DS18B20
temp_float = ds18b20_read();
LCD_SetPosition(0x40); //Chuyen vi tri con tro sang dong 2
printf(lcd_putchar,"Measure: %.1f",temp_float);
lcd_putchar(223);
printf(lcd_putchar,"C");
OF_RELAY(temp_float, nhietdo_setup);
E0 = input(SETUP_EXIT);
if (E0 == 0){
//while (input(SETUP_EXIT)==0) ;
LCD_PutCmd(0x01);
LCD_SetPosition(0x00);
printf(lcd_putchar,"SETUP TEMP: ");
delay_ms(1000);
i = 0;
position = 64;
//Khi chua nhan nut EXIT hay ENTER
B_EXIT = input(SETUP_EXIT);
B_ENTER = input(ENTER);
while ((B_ENTER==1) | (B_EXIT == 1)){
int value;
B_EXIT = input(SETUP_EXIT);
B_ENTER = input(ENTER);
value = READ_BUTTON();
//Chi cho nhap va hien thi 3 so
if ((value >= 0) && (value < 10) && (i<=2)){
LCD_SetPosition(position);
printf(lcd_putchar,"%d",value);
delay_ms(1000);
keypad[i] = value;
i++;
position++;
}
else
//Khi da nhap du 3 so va nhan nut ENTER
if ((value == 100) && (i>=3)){
write_eeprom(add_setup_temp_1,keypad[0]);
write_eeprom(add_setup_temp_2,keypad[1]);
write_eeprom(add_setup_temp_3,keypad[2]);
temp1 = read_eeprom(add_setup_temp_1);
temp2 = read_eeprom(add_setup_temp_2);
temp3 = read_eeprom(add_setup_temp_3);
nhietdo_setup = temp1*10 + temp2 + temp3*0.1; //Gia tri nhiet do setup
LCD_PutCmd(0x01);
LCD_SetPosition(0x00); //Chuyen vi tri con tro sang dong 1
printf(lcd_putchar,"Setup: %.1f",nhietdo_setup);
lcd_putchar(223);
printf(lcd_putchar,"C");
temp_float = ds18b20_read();
LCD_SetPosition(0x40); //Chuyen vi tri con tro sang dong 2
printf(lcd_putchar,"Measure: %.1f",temp_float);
lcd_putchar(223);
printf(lcd_putchar,"C");
break;
}
else
if (value == 50){ //Khi da nhan nut EXIT thi thoat khoi vong lap
LCD_PutCmd(0x01);
LCD_SetPosition(0x00); //Chuyen vi tri con tro sang dong 1
printf(lcd_putchar,"Setup: %.1f",nhietdo_setup);
lcd_putchar(223);
printf(lcd_putchar,"C");
temp_float = ds18b20_read();
LCD_SetPosition(0x40); //Chuyen vi tri con tro sang dong 2
printf(lcd_putchar,"Measure: %.1f",temp_float);
lcd_putchar(223);
printf(lcd_putchar,"C");
break;
}
}
}
}
}
signed char GetTime(const char *prompt, double *Time, double Min, double Max, char Precision) {
char Seconds, Minutes, Hours;
int Milliseconds;
double Tm = *Time;
signed char ret = 0;
ConvertTimeToDiscrete(Tm, &Hours, &Minutes, &Seconds, &Milliseconds);
if (!(Precision & 0b1000)) Hours = 0;
if (!(Precision & 0b0100)) Minutes = 0;
if (!(Precision & 0b0010)) Seconds = 0;
if (!(Precision & 0b0001)) Milliseconds = 0;
Tm = ConvertTimeFromDiscrete(Hours, Minutes, Seconds, Milliseconds);
if (Tm < Min) Tm = Min;
if (Tm > Max) Tm = Max;
labelHours:
if (!(Precision & 0b1000)) goto labelMinutes;
LCD_ClearDisplay();
LCD_PrintString(prompt);
LCD_PrintString("<H>");
LCD_SetPosition(1, 0);
LCD_PrintString(" \0");
while (1) {
LCD_SetPosition(1, 0);
PrintTime(Tm, Precision, 0b1000);
ret = GetInput();
if (ret < 0) return ret;
switch (ret) {
case USER_INPUT_CLICK: //user has pressed the switch to accept.
goto labelMinutes;
case USER_INPUT_BACK: //user has pressed back
return (-1);
case USER_INPUT_CANCEL: //user has pressed Cancel
return (-2);
case USER_INPUT_INC: //Rot+
Tm += 3600;
if (Tm > Max) Tm = Max;
break;
case USER_INPUT_DEC:
Tm -= 3600;
if (Tm < Min) Tm = Min;
break;
}
}
labelMinutes:
if (!(Precision & 0b0100)) goto labelSeconds;
LCD_ClearDisplay();
LCD_PrintString(prompt);
LCD_PrintString("<M>");
LCD_SetPosition(1, 0);
LCD_PrintString(" \0");
while (1) {
LCD_SetPosition(1, 0);
PrintTime(Tm, Precision, 0b0100);
ret = GetInput();
if (ret < 0) return ret;
switch (ret) {
case USER_INPUT_CLICK: //user has pressed the switch to accept.
goto labelSeconds;
case USER_INPUT_BACK: //user has pressed back
goto labelHours;
case USER_INPUT_CANCEL: //user has pressed Cancel
return (-2);
case USER_INPUT_INC: //Rot+
Tm += 60;
if (Tm > Max) Tm = Max;
break;
case USER_INPUT_DEC:
Tm -= 60;
if (Tm < Min) Tm = Min;
break;
}
}
labelSeconds:
if (!(Precision & 0b0010)) goto labelMilliseconds;
LCD_ClearDisplay();
LCD_PrintString(prompt);
LCD_PrintString("<S>");
LCD_SetPosition(1, 0);
LCD_PrintString(" \0");
while (1) {
LCD_SetPosition(1, 0);
PrintTime(Tm, Precision, 0b0010);
ret = GetInput();
if (ret < 0) return ret;
switch (ret) {
case USER_INPUT_CLICK: //user has pressed the switch to accept.
goto labelMilliseconds;
case USER_INPUT_BACK: //user has pressed back
goto labelMinutes;
case USER_INPUT_CANCEL: //user has pressed Cancel
return (-2);
case USER_INPUT_INC: //Rot+
Tm += 1;
if (Tm > Max) Tm = Max;
break;
case USER_INPUT_DEC:
Tm -= 1;
if (Tm < Min) Tm = Min;
break;
}
}
labelMilliseconds:
if (!(Precision & 0b0001)) goto labelFinished;
LCD_ClearDisplay();
LCD_PrintString(prompt);
LCD_PrintString("<ms>");
LCD_SetPosition(1, 0);
LCD_PrintString(" \0");
while (1) {
LCD_SetPosition(1, 0);
PrintTime(Tm, Precision, 0b0001);
ret = GetInput();
if (ret < 0) return ret;
switch (ret) {
case USER_INPUT_CLICK: //user has pressed the switch to accept.
goto labelFinished;
case USER_INPUT_BACK: //user has pressed back
goto labelSeconds;
case USER_INPUT_CANCEL: //user has pressed Cancel
return (-2);
case USER_INPUT_INC: //Rot+
Tm += 0.1;
if (Tm > Max) Tm = Max;
break;
case USER_INPUT_DEC:
Tm -= 0.1;
if (Tm < Min) Tm = Min;
break;
}
}
labelFinished:
*Time = Tm;
return 0;
}
