void testmode(void)
{
char ans;
uart0_9600_init();
uart0_tx_newline();
uart0_tx_string("THE COMPENSATED READINGS ARE ::::::::::: TEST MODE ::::::: ");
uart0_tx_newline();
uart0_tx_number(com_data[7]); //Analog value channel 7
uart0_tx_string(" ");
uart0_tx_number(com_data[6]); //Analog value channel 6
uart0_tx_string(" ");
uart0_tx_number(com_data[5]); //Analog value channel 5
uart0_tx_string(" ");
uart0_tx_number(com_data[4]); //Analog value channel 4
uart0_tx_string(" ");
uart0_tx_number(com_data[3]); //Analog value channel 3
uart0_tx_string(" ");
uart0_tx_number(com_data[2]); //Analog value channel 2
uart0_tx_string(" ");
uart0_tx_number(com_data[1]); //Analog value channel 1
uart0_tx_string(" ");
uart0_tx_number(com_data[0]); //Analog value channel 0
uart0_tx_newline();
uart0_tx_newline();
uart0_tx_string("::::::::THE READINGS OF SENSORS ARE :::::::::");
uart0_tx_newline();
uart0_tx_number(ATD0DR7H); //Analog value channel 7
uart0_tx_string(" ");
uart0_tx_number(ATD0DR6H); //Analog value channel 6
uart0_tx_string(" ");
uart0_tx_number(ATD0DR5H); //Analog value channel 5
uart0_tx_string(" ");
uart0_tx_number(ATD0DR4H); //Analog value channel 4
uart0_tx_string(" ");
uart0_tx_number(ATD0DR3H); //Analog value channel 3
uart0_tx_string(" ");
uart0_tx_number(ATD0DR2H); //Analog value channel 2
uart0_tx_string(" ");
uart0_tx_number(ATD0DR1H); //Analog value channel 1
uart0_tx_string(" ");
uart0_tx_number(ATD0DR0H); //Analog value channel 0
uart0_tx_newline();
uart0_tx_string("PRESS ANY KEY:: ");
ans=uart0_rx();
uart0_tx_newline();
uart0_tx_newline();
}
int mp_hal_stdin_rx_chr(void) {
for (;;) {
int c = uart0_rx();
if (c != -1) {
return c;
}
mp_hal_delay_us(1);
mp_hal_feed_watchdog();
}
}
void testmode(void)
{
char ans;
uart0_tx_newline();
uart0_tx_string("::::::::THE READINGS OF SENSORS ARE :::::::::");
uart0_tx_newline();
uart0_tx_number(a[7]); //Analog value channel 7
uart0_tx_string(" ");
uart0_tx_number(a[6]); //Analog value channel 6
uart0_tx_string(" ");
uart0_tx_number(a[5]); //Analog value channel 5
uart0_tx_string(" ");
uart0_tx_number(a[4]); //Analog value channel 4
uart0_tx_string(" ");
uart0_tx_number(a[3]); //Analog value channel 3
uart0_tx_string(" ");
uart0_tx_number(a[2]); //Analog value channel 2
uart0_tx_string(" ");
uart0_tx_number(a[1]); //Analog value channel 1
uart0_tx_string(" ");
uart0_tx_number(a[0]); //Analog value channel 0
uart0_tx_newline();
uart0_tx_newline();
uart0_tx_string("THE COMPENSATED READINGS ARE ::::::::::: TEST MODE ::::::: ");
uart0_tx_newline();
uart0_tx_number(compensate_value(a[7],7)); //Analog value channel 7
uart0_tx_string(" ");
uart0_tx_number(compensate_value(a[6],6)); //Analog value channel 6
uart0_tx_string(" ");
uart0_tx_number(compensate_value(a[5],5)); //Analog value channel 5
uart0_tx_string(" ");
uart0_tx_number(compensate_value(a[4],4)); //Analog value channel 4
uart0_tx_string(" ");
uart0_tx_number(compensate_value(a[3],3)); //Analog value channel 3
uart0_tx_string(" ");
uart0_tx_number(compensate_value(a[2],2)); //Analog value channel 2
uart0_tx_string(" ");
uart0_tx_number(compensate_value(a[1],1)); //Analog value channel 1
uart0_tx_string(" ");
uart0_tx_number(compensate_value(a[0],0)); //Analog value channel 0
uart0_tx_newline();
uart0_tx_newline();
// The values of the ATD register are resetted on the very first read .. ******
uart0_tx_string("PRESS ANY KEY:: ");
ans=uart0_rx();
uart0_tx_newline();
uart0_tx_newline();
}
void main(void)
{
unsigned int flag1,flag2;
unsigned long cnt;
char ans;
unsigned int dtycycle=1500;
// New code related to pulse counter
unsigned char pulse_count=0;
int error_dc=0;
unsigned char setpoint =0;
int correction_dc=0;
unsigned char speed_dc = 80;
ATD0CTL1=0x87; // no external trigger
ATD0CTL2_ADPU=1; // ATD Enable
ATD0CTL2_ETRIGE=0; // no external trigger
// ATD0CTL3_S8C=1; // 8 adc channels sequence
ATD0CTL4_SRES8=1; // 8-bit Resolution
// &7th SENSOR REMOVED ..
ATD0CTL3_S8C=0; // 7 ADC channels sequence
ATD0CTL3_S4C=1; // 8 adc channels sequence
ATD0CTL3_S2C=1; // 8 adc channels sequence
ATD0CTL3_S1C=1; // 8 adc channels sequence
//ATDCTL5_SCAN = 1; //CONTINUOUS MODE
uart0_9600_init();
//Display Menu
//uart0_tx(0x0C);
display_menu();
for(;;)
{
ans=uart0_rx();
if(ans=='1') //LED Test
{
DDRT=0xF0; // Setting Port T pin 4,5,6,7 as output
PTT=0x0F; // Turning on all LEDs
uart0_tx_string("LEDs On: All ");
Delay(12);
PTT=0xFF; //Turning Off all LEDs
Delay(2);
PTT_PTT4=0; //LED 1 On
uart0_tx(0x0D);
uart0_tx_string("LEDs On: LED 1 ");
Delay(5);
PTT_PTT5=0; //LED 2 On
PTT_PTT4=1;
uart0_tx(0x0D);
uart0_tx_string("LEDs On: LED 2 ");
Delay(5);
PTT_PTT6=0; //LED 3 On
PTT_PTT5=1;
uart0_tx(0x0D);
uart0_tx_string("LEDs On: LED 3 ");
Delay(5);
PTT_PTT7=0; //LED 4 On
PTT_PTT6=1;
uart0_tx(0x0D);
uart0_tx_string("LEDs On: LED 4 ");
Delay(5);
PTT_PTT7=1;
uart0_tx(0x0D);
uart0_tx_string("LED Test Completed");
uart0_tx_newline();
display_menu();
}else if(ans=='2')
{
//switch test
DDRP_DDRP5=0; //Port P Pin 5 & 7 set to input
DDRP_DDRP7=0;
PERP_PERP5=1; //Port P Pin 5 & 7 Pullup Enable
PERP_PERP7=1;
flag1=0;
flag2=0;
uart0_tx_string("Press switch1 : ");
for (cnt=0;cnt<=550000;cnt++)
{
if(PTP_PTP5==0) // checking Port P Pin 5 : Switch 1
{
uart0_tx_string("SW1 Pressed ");
flag1=1;
break;
}
}
if(flag1==0) {
uart0_tx_string("Switch1 not Pressed ");
}
uart0_tx_newline();
uart0_tx_string("Press switch2 : ");
for (cnt=0;cnt<=550000;cnt++)
{
if(PTP_PTP7==0) // checking Port P Pin 7 : Switch 2
{
uart0_tx_string("SW2 Pressed ");
flag2=1;
break;
}
}
if(flag2==0) {
uart0_tx_string("Switch2 not Pressed ");
}
uart0_tx_newline();
uart0_tx_string("Switch test completed.");
uart0_tx_newline();
display_menu();
}else if(ans=='3')
{
//DC motor Test
DDRE_DDRE2=1; // Port E pin 2 & 3 set to output
DDRE_DDRE3=1;
DDRP_DDRP0=1;
DDRP_DDRP1=1;
PORTE_PE2=0;
PORTE_PE3=1;
PWMPOL_PPOL0=1; //PWM pulse High at begining of Period
PWMPOL_PPOL1=1; //PWM pulse High at begining of Period
PWMCLK_PCLK0=1; // clock SA as clock source for PWM
PWMCLK_PCLK1=1; // clock SB as clock source for PWM
PWMPRCLK =0x00; //clock A = 2MHz clockB = 2MHz
PWMSCLA =5; //clock SA = clock A / (2 * 5) = 200KHz
PWMSCLB =5; //clock SB = clock B / (2 * 5) = 200KHz
PWMPER0 = 200; // PWM Period 1KHz
PWMPER1 = 200; // PWM Period 1KHz
PWMDTY0 = 30;
PWMDTY1 = 0;
PWME_PWME0=1; //PWM channel 0 Enable
PWME_PWME1=1; //PWM channel 1 Enable
uart0_tx_string("Motor started. : forward Direction ");
//uart0_tx_number(ATD0DR4H); //Analog value channel 4
Delay(10);
PORTE_PE3=0;
PORTE_PE2=0; //STOP MOTOR
uart0_tx_string("Motor started. : forward Direction ");
// Reverse Direction
Delay(20);
PWMDTY0 = 0;
PWMDTY1 = 30;
PORTE_PE3=1;
PORTE_PE2=0;
uart0_tx_string("Reverse Direction");
Delay(10);
// Stop Motor
PORTE_PE3=0;
PORTE_PE2=0;
PTP_PTP0=0;
PTP_PTP1=0;
PWME_PWME0=0; //PWM channel disable
PWME_PWME1=0;
uart0_tx_newline();
uart0_tx_string("Motor Test completed");
uart0_tx_newline();
display_menu();
}else if(ans=='4') {
//servo motor test
PWMCTL_CON23=1;
PWME_PWME2=1; //PWM channel 2 Enable
PWME_PWME3=1; //PWM channel 3 Enable
PWMPOL_PPOL2=1; //PWM pulse High at begining of Period
PWMPOL_PPOL3=1; //PWM pulse High at begining of Period
PWMCLK_PCLK2=1; // clock SA as clock source for PWM
PWMCLK_PCLK3=1; // clock SB as clock source for PWM
PWMPRCLK =0x00; //clock A = 2MHz clockB = 2MHz
PWMSCLA =1; //clock SA = clock A / (2 * 100) = 10KHz
PWMSCLB =1; //clock SB = clock B / (2 * 100) = 10KHz
PWMPER2 = 0x4E; // PWM Period 20ms 50Hz
PWMPER3 = 0x20; // PWM Period 20ms 50Hz
PWMDTY2 = 0x05; // Pulse Width 1.5ms: Center Position
//PWMDTY3 = 0x87; // but this is 1.415ms
PWMDTY3 = 0xDC; //so this is 1.5ms
// servo_set(1200);
while(1)
{
uart0_tx_newline();
uart0_tx_string("Press 4 to inc 2 to dec");
uart0_tx_newline();
ans=uart0_rx();
// dtycycle+=500 ;
if(ans == '4')
{
uart0_tx_newline();
uart0_tx_string("RIGHT");
if(dtycycle>=1805) //1820 is possible //new finalised is 1805
{
uart0_tx_string("overshoot towards right");
uart0_tx_newline();
dtycycle=1805; //1820
}
else
dtycycle=dtycycle+5 ;
}
else if(ans == '2')
{
uart0_tx_newline();
uart0_tx_string("LEFT");
if(dtycycle<=1195) //1180 is possible //New finalised is 1195
{
uart0_tx_string("overshoot towards LEFT");
uart0_tx_newline();
dtycycle=1195; //1180
}
else
dtycycle=dtycycle-5 ;
}
else
{
dtycycle=1500;
}
uart0_tx_newline();
uart0_tx_int(dtycycle); //Analog value channel 0
uart0_tx_newline();
servo_set(dtycycle) ;
}
}else if(ans=='5'){
//Read ATD values
// ATD0CTL5_DJM = 1; //right justified result //NO BECAUSE WE ARE USING 8 BIT RESO
while(1){
//
// uart0_tx_string("ATD0STAT0_SCF value is "); //FLAG IS CLEARED AUTOMATICALLY while accessing the status register and then the result register
ATD0CTL5=0x10; // multisequence
// uart0_tx_number(ATD0STAT0_SCF);
Delay(1); //Delay
uart0_tx_newline();
// uart0_tx_string("ATD0STAT0_SCF value is ");
// uart0_tx_number(ATD0STAT0_SCF);
// uart0_tx_newline();
// uart0_tx_newline();
// uart0_tx_string("ATD values are (AN7 -> AN0): ");
uart0_tx_number(ATD0DR7H); //Analog value channel 7
uart0_tx_string(" ");
uart0_tx_number(ATD0DR6H); //Analog value channel 6
uart0_tx_string(" ");
uart0_tx_number(ATD0DR5H); //Analog value channel 5
uart0_tx_string(" ");
uart0_tx_number(ATD0DR4H); //Analog value channel 4
uart0_tx_string(" ");
uart0_tx_number(ATD0DR3H); //Analog value channel 3
uart0_tx_string(" ");
uart0_tx_number(ATD0DR2H); //Analog value channel 2
uart0_tx_string(" ");
uart0_tx_number(ATD0DR1H); //Analog value channel 1
uart0_tx_string(" ");
uart0_tx_number(ATD0DR0H); //Analog value channel 0
uart0_tx_newline();
// uart0_tx_newline();
// uart0_tx_string("PRESS ANY BUTTON ");
ans=uart0_rx();
// uart0_tx_newline();
// uart0_tx_newline();
}
uart0_tx_newline();
display_menu();
}
else if(ans=='6'){
DDRE_DDRE2=1; // Port E pin 2 & 3 set to output
DDRE_DDRE3=1;
PORTE_PE2=0; //H-bridge enable
PORTE_PE3=1;
PBCTL_PBEN=1; //pulse counter init
TCTL4_EDG0B=1;
TCTL4_EDG0A=0;
DLYCT_DLY0=1;
DLYCT_DLY1=1;
PACN10=0;
PWMPOL_PPOL0=1; //PWM pulse High at begining of Period
PWMPOL_PPOL1=1; //PWM pulse High at begining of Period
PWMCLK_PCLK0=1; // clock SA as clock source for PWM
PWMCLK_PCLK1=1; // clock SB as clock source for PWM
PWMPRCLK =0x00; //clock A = 2MHz clockB = 2MHz
PWMSCLA =5; //clock SA = clock A / (2 * 1) = 1000KHz
PWMSCLB =5; //clock SB = clock B / (2 * 1) = 1000KHz
PWMPER0 = 200; // PWM Period 1KHz
PWMPER1 = 200; // PWM Period 1KHz
PWMDTY0 = 60;
PWMDTY1 = 0;
PWME_PWME0=1; //PWM channel enable
PWME_PWME1=1;
Delay(4);
//s motor
//uart0_tx_string("Pulse counter is running: Press any key to see number of rotation");
//ans=uart0_rx();
//PORTE_PE2=1; //disable motor
//PORTE_PE3=0;
//PWME_PWME0=0;
//PWME_PWME1=0;
setpoint = 7;
while(1)
{
pulse_count = PACN10;
PACN10=0; //resets the pulse counter
error_dc = setpoint - pulse_count;
correction_dc =(int) ( KP*error_dc);
speed_dc +=correction_dc;
if(speed_dc>=200)
{
speed_dc=200;
}
else if(speed_dc <0)
{
speed_dc =0;
}
dc_motor_speed(speed_dc);
uart0_tx_newline();
uart0_tx_string("Data is : ");
uart0_tx_int(speed_dc);
uart0_tx_string(" ::: pulse count :: ");
uart0_tx_int(pulse_count);
uart0_tx_newline();
//Delay(1);
}
display_menu();
}
}
}
