| 0,0 → 1,157 |
|---|
| //******** Mrakomer2 - stepper motor control ***************** |
| #define VERSION "3.0" // Special version for BART |
| #define ID "$Id: irmrak.c 420 2006-12-29 21:43:11Z kakl $" |
| //************************************************************ |
| |
| #include "irmrak.h" |
| #include <string.h> |
| |
| char VER[4]=VERSION; |
| char REV[50]=ID; |
| |
| #bit CREN = 0x18.4 // USART registers |
| #bit SPEN = 0x18.7 |
| #bit OERR = 0x18.1 |
| #bit FERR = 0x18.2 |
| |
| #define HALL PIN_A4 // Hallova sonda pro zjisteni natoceni dolu |
| // vykonovy FET je na RB3 (vystup PWM) |
| |
| int port; // stav brany B pro krokove motory |
| int j; // pro synchronisaci fazi |
| unsigned int8 uhel; // prijaty znak |
| unsigned int8 i; // pro cyklus for |
| |
| // --- Kroky krokoveho motoru --- |
| void krok(int n) |
| { |
| while((n--)>0) |
| { |
| if (1==(j&1)) {port^=0b11000000;} else {port^=0b00110000;}; |
| output_B(port); |
| delay_ms(20); // Nutno nastavit podle dynamiky systemu. |
| j++; |
| } |
| } |
| |
| // --- Dojet dolu magnetem na cidlo --- |
| void dolu() |
| { |
| unsigned int8 err; // pocitadlo pro zjisteni zaseknuti otaceni |
| |
| err=0; |
| while(!input(HALL)) // otoceni trubky dolu az na hall |
| { |
| krok(1); |
| err++; |
| if(40==err) // do 40-ti kroku by se melo podarit otocit dolu |
| { |
| output_B(0); // vypnuti motoru |
| printf("E"); // Hlasime chybu |
| err=0; |
| } |
| }; |
| delay_ms(500); // cas na ustaleni trubky |
| output_B(0); // vypnuti motoru |
| } |
| |
| // --- Najeti na vychozi polohu dole --- |
| void nula() |
| { |
| port=0b10100000; // vychozi nastaveni fazi pro rizeni motoru |
| output_B(port); |
| j=0; // smer dolu |
| delay_ms(500); |
| } |
| |
| |
| //------------------------------------------------ |
| void main() |
| { |
| setup_oscillator(OSC_8MHZ|OSC_INTRC); // 8 MHz interni RC oscilator |
| |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_OFF); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_ccp1(CCP_OFF); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| |
| output_B(0); // vypnuti motoru a topeni |
| set_tris_B(0b00000111); // faze a topeni jako vystupy |
| |
| |
| while(true) |
| { |
| nula(); |
| dolu(); // otoc trubku do vychozi pozice dolu |
| |
| CREN=0; CREN=1; // Reinitialise USART |
| |
| while(!kbhit()) |
| { |
| if (!input(HALL)) // znovuotoceni trubky dolu, kdyby ji vitr otocil |
| { |
| dolu(); |
| } |
| }; // pokracuj dal, kdyz prisel po RS232 znak |
| |
| |
| uhel=getc(); // prijmi znak |
| if ('m'==uhel) // standardni mereni ve trech polohach |
| { |
| nula(); |
| j++; // reverz, nahoru |
| |
| krok(18); |
| printf("A"); // mereni teploty 45° nad obzorem |
| delay_ms(200); |
| krok(7); |
| printf("B"); // mereni teploty v zenitu |
| delay_ms(200); |
| krok(7); |
| printf("C"); // mereni teploty 45° nad obzorem na druhou stranu |
| delay_ms(200); |
| |
| j++; // reverz |
| dolu(); |
| printf("G"); // mereni teploty Zeme (<G>round) |
| |
| continue; |
| } |
| |
| if ('i'==uhel) {printf("I"); continue;} // Predani prikazu pro Info |
| if ('h'==uhel) {printf("H"); continue;} // Predani prikazu pro Topeni |
| if ('c'==uhel) {printf("C"); continue;} // Predani prikazu pro vypnuti topeni |
| if ('x'==uhel) // Zjisteni verze FW |
| { |
| printf("Mrakomer - Motor V%s (C) 2006 KAKL\n\r", VER); |
| printf("%s\n\r", REV); |
| } |
| |
| if ((uhel>='0') && (uhel<='@')) // mereni v pozadovanem uhlu [0..;]=(0..11) |
| { |
| uhel-='0'; |
| }; |
| |
| if(uhel>11) continue; // ochrana, abysme neukroutili draty |
| |
| nula(); |
| j++; // reverz, nahoru |
| |
| krok(12); // odkrokuj do roviny |
| for(i=0; i<uhel; i++) // dale odkrokuj podle pozadovaneho uhlu |
| { |
| krok(2); |
| }; |
| printf("S"); |
| delay_ms(200); |
| |
| j++; // reverz |
| dolu(); |
| printf("G"); // mereni teploty Zeme (<G>round) |
| } |
| } |
| |