void changePwmCharge(uint8_t mode,uint16_t *array){
//0 -режим разрядки 1 - зарядки
volatile uint8_t normal=(mode)?normalAmperage:dischargeAmperage;
if(array[currentAmperage]!=array[normal]){
array[currentPWM]=changePWM(array[currentAmperage],array[normal]);
}
}
void Motor::changeSpeed(int Speed) {
// Just to change the speed (In percentage)
if (Speed > 100)
Speed = 100;
if (Speed < -100)
Speed = -100;
speed = Speed;
changePWM(Speed * mean_speed / 100);
}
void Motor::moveMotor(int Pwm) { // +ve for CW and -ve for CCW.
if (Pwm >= 0) {
digitalWrite(dir1_pin, HIGH);
digitalWrite(dir2_pin, LOW);
} else {
digitalWrite(dir1_pin, LOW);
digitalWrite(dir2_pin, HIGH);
}
changePWM(Pwm);
// Serial.println("PWM=");
// Serial.print(Pwm);
}
int main( void )
{
/*
DDRB=1;
while(1){
BM_SetBit(PORTB,0);
_delay_ms(10);
BM_ClearBit(PORTB,0);
_delay_ms(10);
}
*/
volatile uint8_t stateButtons=STATE_NO_BUTTONS;
volatile uint8_t switchMeasuring = MEASURING_VOLTAGE;
volatile uint8_t arrVal8[oldAutomatic+1];
pCharge=& arrVal8[charge];
arrVal8[charge]=0;
arrVal8[automatic]=1;
arrVal8[numDischargeCharge]=2;
volatile uint16_t arrVal[oldWindowsSettings+1];
arrVal[normalAmperage]=120;
arrVal[normalVoltage]=15;
arrVal[dischargeVoltage]=10;
arrVal[dischargeAmperage]=100;
arrVal[currentPWM]=250;
arrVal[currentVoltage]=0;
arrVal[currentAmperage]=0;
arrVal[windowsSettings]=1;
volatile uint8_t currentDisplay=DISPLAY_START;
volatile uint8_t oldCurrentDisplay=1;
volatile uint16_t timeResetDisplay=100;
USART_Init();
//инициализируем дисплей
DDRD|=(1<<PD6);
initCharge(arrVal8);
LCD_Init();
ADC_Init();
TIMER0_Init();
initButtons();
initPWM();
setPwm(arrVal[currentPWM]);
setZeroOldValue(arrVal,arrVal8);
StartConvAdc();
sei();
while(1){
volatile uint8_t codeButton=PINX_BUTTON & MASK_BUTTONS;
if(stateButtons!=STATE_ENTER_5SEC && codeButton!=NO_BUTTONS ){
stateButtons=getStateButton(codeButton);
timeResetDisplay=currentTime+5;
_delay_ms(250);
switch(stateButtons){
case STATE_ENTER:
switch(currentDisplay){
case DISPLAY_START:currentDisplay=DISPLAY_FAST_CHANGE;break;
case DISPLAY_FAST_CHANGE:currentDisplay=DISPLAY_START;break;
case DISPLAY_PROGR:currentDisplay=DISPLAY_PROGR+arrVal[windowsSettings];break;
default:currentDisplay=DISPLAY_PROGR;
}
break;
case STATE_ENTER_5SEC:
if(currentDisplay>DISPLAY_P0){
currentDisplay=DISPLAY_START;
}else{
currentDisplay=DISPLAY_PROGR;
}
break;
default:
switch(currentDisplay){
case DISPLAY_FAST_CHANGE:
arrVal8[charge]^=1;
setPwm(512);//Установка в 50 % при смене режима
break;
case DISPLAY_PROGR:
arrVal[windowsSettings]=changeVauleFromButtons(arrVal[windowsSettings],LAST_DISPLAY,stateButtons);
if(arrVal[windowsSettings]==(LAST_DISPLAY+1)){
arrVal[windowsSettings]=1;
}else if(arrVal[windowsSettings]==0){
arrVal[windowsSettings]=1;
}
break;
case DISPLAY_P0:
arrVal[normalVoltage]=changeVauleFromButtons(arrVal[normalVoltage],240,stateButtons);
break;
case DISPLAY_P1:
arrVal[dischargeVoltage]=changeVauleFromButtons(arrVal[dischargeVoltage],240,stateButtons);
break;
case DISPLAY_P2:
arrVal[dischargeAmperage]=changeVauleFromButtons(arrVal[dischargeAmperage],1000,stateButtons);
break;
case DISPLAY_P3:
arrVal[normalAmperage]=changeVauleFromButtons(arrVal[normalAmperage],1022,stateButtons);
break;
case DISPLAY_P4:
arrVal8[automatic]^=1;
break;
case DISPLAY_P5:
arrVal8[numDischargeCharge]=changeVauleFromButtons(arrVal8[numDischargeCharge],10,stateButtons);
if(arrVal8[numDischargeCharge]==11){
arrVal8[numDischargeCharge]=1;
}
break;
}
}
} else if(codeButton==NO_BUTTONS) {
if(currentDisplay!=DISPLAY_START){
if(currentTime>timeResetDisplay){
currentDisplay=DISPLAY_START;
}
}
if(stateButtons==STATE_ENTER_5SEC){
stateButtons=STATE_NO_BUTTONS;
}
}
if(numberMeasure>=NUMBER_OF_MEASURING){
adcResult=getNormalADC(adcResult);
switch (switchMeasuring)
{
case MEASURING_VOLTAGE:
switchMeasuring=MEASURING_CURRENT;
arrVal[currentVoltage]=adcResult;
//Отключаем если автомат режим
if(arrVal8[automatic] &&
(arrVal[currentVoltage]<=arrVal[dischargeVoltage] || arrVal[currentVoltage]>=arrVal[normalVoltage])){
changeChargeMode(arrVal8);
}
break;
case MEASURING_CURRENT:
arrVal[currentAmperage]=adcResult;
volatile uint8_t normal;
if(arrVal8[automatic]){
normal=(arrVal8[charge])?normalAmperage:dischargeAmperage;
//Изменяем наше текущее значение ШИМ если оно не в норме
if(arrVal[currentAmperage]!=arrVal[normal]){
arrVal[currentPWM]=changePWM(arrVal[currentAmperage],arrVal[normal]);
}
}
switchMeasuring=MEASURING_VOLTAGE;
break;
}
//Смена первым идет измерение напряжение ADC0 - напряжения
//Потом меняем на измерение ADC2 -ток
SWITCH_ADC_CHANNEL(ADMUX,CHANNEL_CURRENT);
_delay_us(250);
adcResult=0;
numberMeasure=0;
StartConvAdc();
}
if(oldCurrentDisplay!=currentDisplay){
oldCurrentDisplay=currentDisplay;
setZeroOldValue(arrVal,arrVal8);
showCurrentDisplay(currentDisplay);
}
showAndSetValue(currentDisplay,arrVal,arrVal8);
}
return 0;
}