void main(void)
{
// Step 1. Initialize System Control registers, PLL, WatchDog,
// peripheral Clocks to default state:
// This function is found in the DSP281x_SysCtrl.c file.
InitSysCtrl();
// Step 2. Initalize GPIO:
// This example function is found in the DSP281x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP281x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in DSP281x_DefaultIsr.c.
// This function is found in DSP281x_PieVect.c.
InitPieVectTable();
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP281x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
// Step 5. User specific code
// Tests #1, #2, #3
Gpio_PortA();
// Test #4
Gpio_PortB();
// Test #5
Gpio_PortF();
program_stop();
// Step 6. IDLE loop. Just sit and loop forever (optional):
// for(;;);
}
//Chuong trinh Open Semi------------------------------------------------------//
Void program_Open_Semi(){
int8 vitri;
boolean exit,temp_close;
Open_temp = true;
keyCode = 0;
exit = 1;
temp_close = false;
denbao = 0x08;
quangbao();
xoadong(2);
lcd_putc("OPEN SEMI <--");
while(program_emergency() && program_stop() && exit){
if(Close == 0){exit = false; temp_close = true;}
vitri = kiemtra_vitri();
if(vitri == 6) {
D0 = 0;
D2 = 0;
D4 = 0;
xuat_E0();
xoadong(2);
lcd_putc(" STOP OPEN DOOR ");
exit = false;
} else if(vitri >=3) {
D0 = 1;
D2 = 1;
D4 = 1;
xuat_E0();
xoadong(2);
lcd_putc(" DANG MO CUA <-- ");
} else {
D0 = 0;
D2 = 0;
D4 = 0;
xuat_E0();
exit = 0;
xoadong(2);
lcd_putc(" DA MO CUA... ");
}
}
if(temp_close == true){
xoadong(2);
lcd_putc(" DANG DUNG THAO TAC");
D0 = 0;
D2 = 0;
D3 = 0;
D4 = 1;
xuat_E0();
delay_ms(3000);
keycode = 3;
}
Open_temp = false;
bit_clear(denbao,4);
quangbao();
}
//Chuong trinh Open Slide-----------------------------------------------------//
void program_Open_Slide()
{
boolean exit;
Slide_Open_temp = true;//Bien trung gian bao dang OPen Slide
exit = 1;
xoadong(2);
lcd_putc(" DANG MO SLIDE...");
denbao = 0x10;
quangbao();
if(SW_Close_Slide == 1 && SW_Open_Slide == 1)
{
xoadong(2);
lcd_putc(" DA MO SLIDE ");
exit = 0;
}
while(program_emergency() && program_stop() && exit){
D6 = 1;
xuat_E0();
if(SW_Open_Slide==1)
{
D6 = 0;
xuat_E0();
if(SW_Close_Slide ==1)
{
xoadong(2);
lcd_putc(" SLIDE DA MO");
} else {
xoadong(1);
lcd_putc("HONG SW CLOSE SLIDE");
xoadong(2);
lcd_putc(" DUNG THAO TAC ");
speak();//Bao dong bang coi.
error_open_slide = true;
}
exit = 0;
}
}
bit_clear(denbao,4);
Slide_Open_temp = false; // Khai bao het Open Slide
quangbao();
}
//Chuong trinh Close Slide----------------------------------------------------//
void program_Close_Slide()
{
boolean exit;
Slide_Close_temp = true; //Khai bao dang Close Slide
exit = 1;
denbao = 0x20;
quangbao();
xoadong(2);
lcd_putc(" DANG DONG SLIDE...");
if(kiemtra_vitri() != 0)
{
xoadong(2);
lcd_putc(" LOI DONG SLIDE ");
exit = 0;
}
while(program_emergency() && program_stop() && exit){
D5 = 1;
xuat_E0();
if(SW_Close_Slide==0)
{
D5 = 0;
xuat_E0();
if(SW_Open_Slide ==0)
{
xoadong(2);
lcd_putc(" SLIDE DA DONG ");
} else {
xoadong(1);
lcd_putc("ERROR SW OPEN SLIDE");
xoadong(2);
lcd_putc(" DUNG THAO TAC ");
speak();//Bao dong bang coi.
error_close_slide = true;
}
exit = 0;
}
}
bit_clear(denbao,5);
quangbao();
Slide_Close_temp = false; //Khai bao het Close Slide.
}
//Chuong trinh dong cua-------------------------------------------------------//
void program_Close()
{
int8 vitri;
boolean exit,temp_open;
Close_temp = true;
error_open_slide = false;//Khoi phuc lai trang thai de kiem tra da sua SW chua.
keyCode = 0;
exit = 1;
temp_open = false;
xoadong(2);
lcd_putc(" DONG CUA -->");
program_Open_Slide();
denbao = 0x02;
quangbao();
if(error_open_slide) exit =0;
delay_ms(10);
while(program_emergency() && program_stop() && exit){
vitri = kiemtra_vitri();
if(Open == 0){exit = false; temp_open = true;}
if(vitri == 6) {
D1 = 0;
D2 = 0;
D3 = 0;
D4 = 0;
xuat_E0();
exit = 0;
speak();//Bao dong bang coi.
xoadong(2);
lcd_putc(" STOP CLOSE DOOR");
} else if(vitri <= 3) {
D1 = 1;
D2 = 1;
D3 = 0;
D4 = 1;
xuat_E0();
xoadong(2);
lcd_putc(" CLOSE DOOR H SPEED");
} else if(vitri == 4) {
D1 = 1;
D2 = 0;
D3 = 1;
D4 = 1;
xuat_E0();
xoadong(2);
lcd_putc(" CLOSE DOOR S SPEED");
} else {
D1 = 0;
D2 = 0;
D3 = 0;
D4 = 0;
xuat_E0();
exit = 0;
xoadong(2);
lcd_putc(" CUA DA DUOC DONG");
}
}
if(temp_open == true){
xoadong(2);
lcd_putc(" DANG DUNG THAO TAC");
D1 = 0;
D2 = 0;
D3 = 0;
D4 = 1;
xuat_E0();
delay_ms(3000);
keyCode = 4;
}
Close_temp = false;
bit_clear(denbao,1);
quangbao();
}
//Chuong trinh mo cua---------------------------------------------------------//
void program_Open()
{
int8 vitri;
boolean exit,temp_close;
Open_temp = true;
denbao = 0x01;
quangbao();
error_close_slide = false;//Khoi phuc lai trang thai ban dau de kiem tra xem da sua loi chua.
keyCode = 0;
exit = 1;
temp_close = false;
xoadong(2);
lcd_putc(" MO CUA <-- ");
while(program_emergency() && program_stop() && exit){
if(Close == 0){exit = false; temp_close = true;}
vitri = kiemtra_vitri();
if(vitri == 6) {
D0 = 0;
D2 = 0;
D3 = 0;
D4 = 0;
xuat_E0();
exit = 0;
speak();//Bao dong bang coi.
xoadong(2);
lcd_putc(" STOP OPEN DOOR ");
} else if(vitri >= 2) {
D0 = 1;
D2 = 1;
D3 = 0;
D4 = 1;
xuat_E0();
xoadong(2);
lcd_putc(" OPEN DOOR H SPEED");
} else if(vitri == 1) {
D0 = 1;
D2 = 0;
D3 = 1;
D4 = 1;
xuat_E0();
xoadong(2);
lcd_putc(" OPEN DOOR S SPEED");
} else {
D0 = 0;
D2 = 0;
D3 = 0;
D4 = 0;
xuat_E0();
exit = 0;
bit_clear(denbao,0);
//quangbao();
delay_ms(10);
program_Close_Slide();
if (!error_close_slide){
xoadong(2);
lcd_putc(" CUA DA DUOC MO");
}
}
}
if(temp_close == true){
xoadong(2);
lcd_putc(" DANG DUNG THAO TAC");
D0 = 0;
D2 = 0;
D3 = 0;
D4 = 0;
xuat_E0();
delay_ms(3000);
keycode = 3;
}
Open_temp = false;
bit_clear(denbao,0);
quangbao();
}