void backlight_stop_pwm()
{
tc_disable_cc_channels(&BACKLIGHT_TIMER,TC_CCBEN);
backlight_off();
tc_disable(&BACKLIGHT_TIMER);
}
int main (void)
{
En_RC32M();
//Enable LowLevel & HighLevel Interrupts
PMIC_CTRL |= PMIC_HILVLEN_bm | PMIC_LOLVLEN_bm |PMIC_MEDLVLEN_bm;
PORT_init();
TimerD0_init();
TimerC0_init();
TimerE1_init();
USARTE0_init();
ADCA_init();
//wdt_enable();
// Globally enable interrupts
sei();
//Address[0]=Address[0] + RobotID ;
//// NRF Initialize
NRF_init () ;
while(1)
{
asm("wdr");
// BUZZER
//adc = adc +(adc_get_unsigned_result(&ADCA,ADC_CH0)-adc)*0.01;
adc = adc_get_unsigned_result(&ADCA,ADC_CH0);
if (adc<=2250)//10 volt
Buzzer_PORT.OUTSET = Buzzer_PIN_bm;
else if(shoot_alarm_flg && (charge_count>=30000))
Buzzer_PORT.OUTSET = Buzzer_PIN_bm;
else
Buzzer_PORT.OUTCLR = Buzzer_PIN_bm;
//SHOOT
PORTC_OUTCLR=KCK_SH_PIN_bm;
if((KCK_Ch_Limit_PORT.IN & KCK_Ch_Limit_PIN_bm)>>KCK_Ch_Limit_PIN_bp)
{
full_charge=1;
tc_disable_cc_channels(&TCC0,TC_CCDEN);
charge_count=0;
}
else
{
if((flg || flg_sw)==0)
{
tc_enable_cc_channels(&TCC0,TC_CCDEN);
}
}
if (charge_flg)//full_charge
{
if (Robot_D[RobotID].KCK )
{
if( KCK_Sens || (Robot_D[RobotID].KCK%2))
{
flg = 1;
}
}
}
if (KCK_DSH_SW)//bazi vaghta begir nagir dare
{
flg_sw = 1;
}
if (free_wheel >= 500 )
{
NRF_init();
}
if(KCK_Sens)
LED_Green_PORT.OUTSET = LED_Green_PIN_bm;
else
LED_Green_PORT.OUTCLR = LED_Green_PIN_bm;
// //motor test
//switch(flag2sec)
//{ case 200:
//// M.Setpoint=1000;
//Robot_D[RobotID].M0b = 0xE8;//low
//Robot_D[RobotID].M0a = 0X03;//high
//break;
//
//case 400:
////M.Setpoint=2000;
//Robot_D[RobotID].M0b = 0xD0;//low
//Robot_D[RobotID].M0a = 0X07;//high
//break;
//
//case 600:
////M.Setpoint=500;
//Robot_D[RobotID].M0b = 0xF4;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 800:
////M.Setpoint=4000;
//Robot_D[RobotID].M0b = 0xA0;//low
//Robot_D[RobotID].M0a = 0X0F;//high
//break;
//
//case 1000:
////M.Setpoint=1000;
//Robot_D[RobotID].M0b = 0xE8;//low
//Robot_D[RobotID].M0a = 0X03;//high
//break;
//
//case 1200:
////M.Setpoint=500;
//Robot_D[RobotID].M0b = 0xF4;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 1400:
////M.Setpoint=-500;
//Robot_D[RobotID].M0b = 0x0C;//low
//Robot_D[RobotID].M0a = 0XFE;//high
//break;
//
//case 1600:
////M.Setpoint=400;
//Robot_D[RobotID].M0b = 0x90;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 1800:
////M.Setpoint=350;
//Robot_D[RobotID].M0b = 0x5E;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 2000:
////M.Setpoint=340;
//Robot_D[RobotID].M0b = 0x54;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 2200:
////M.Setpoint=330;
//Robot_D[RobotID].M0b = 0x4A;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 2600:
////M.Setpoint=100;
//Robot_D[RobotID].M0b = 0x64;//low
//Robot_D[RobotID].M0a = 0X00;//high
//break;
//
//case 2800:
////M.Setpoint=50;
//Robot_D[RobotID].M0b = 0x32;//low
//Robot_D[RobotID].M0a = 0X00;//high
//break;
//
//case 3000:
////M.Setpoint=1000;
//Robot_D[RobotID].M0b = 0xE8;//low
//Robot_D[RobotID].M0a = 0X03;//high
//break;
//
//case 3200:
////M.Setpoint=-50;
//Robot_D[RobotID].M0b = 0xCE;//low
//Robot_D[RobotID].M0a = 0XFF;//high
//flag2sec=0;
//break;
//
//}
//Robot_D[RobotID].M0b = 0xD0;//0X18;//-1000//01;//low37121
//Robot_D[RobotID].M0a = 0x07;//0XFC;//high
//Robot_D[RobotID].M1b = 0XE8;//2000//ghalat17325
//Robot_D[RobotID].M1a = 0X03;
//Robot_D[RobotID].M2b = 0XDC;//1000//low13703
//Robot_D[RobotID].M2a = 0X05;//high
//Robot_D[RobotID].M3b = 0xF4;//3000//32;//ghalat30258
//Robot_D[RobotID].M3a = 0X01;//76;
////SEND TEST DATA TO FT232
//char str1[20];
//uint8_t count1 = sprintf(str1,"%d\r",adc);
//
//for (uint8_t i=0;i<count1;i++)
//{
//usart_putchar(&USARTE0,str1[i]);
//
//}
//usart_putchar(&USARTE0,'a');
}
