0,0 → 1,254 |
//******** Mrakomer ********** |
#define VERSION "2.0" |
#define ID "$Id: irmrak.c 124 2006-10-24 15:47:15Z kakl $" |
//**************************** |
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#include "irmrak.h" |
#include <string.h> |
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#use rs232(baud=9600,parity=N,xmit=PIN_A6,bits=8) |
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#define TXo PIN_A3 // To the transmitter modulator |
#include "AX25.c" // Podprogram pro prenos telemetrie |
char AXstring[50]; // Buffer pro prenos telemetrie |
char G[5]; |
char S45[5]; |
char S90[5]; |
char S135[5]; |
char VER[4]=VERSION; |
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#define TRESHOLD 8 // nebo 9 |
// nad_diodou=H je + teplota |
// pod_diodou=L je - teplota |
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#define MINUS !C1OUT // je kladny impuls z IR teplomeru |
#define PLUS C2OUT // je zaporny impuls z IR teplomeru |
#define HALL PIN_A4 // Hallova sonda pro zjisteni natoceni dolu |
// topeni je na RB3 (vystup PWM) |
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#define MAX_TEMP 10000 |
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int port; // stav brany B pro krokove motory |
int j; // pro synchronisaci fazi |
unsigned int16 n, prodleva; // pocitadlo prodlevy mezi merenimi |
unsigned int16 nn; // pocitadlo mereni |
unsigned int8 topit; // na jaky vykon se ma topit? |
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unsigned int16 teplota; // prectena teplota |
int1 sign; // nad nulou / pod nulou |
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void krok(int n) |
{ |
while((n--)>0) |
{ |
if (1==(j&1)) {port^=0b11000000;} else {port^=0b00110000;}; |
output_B(port); |
delay_ms(40); |
j++; |
} |
} |
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void dolu() |
{ |
unsigned int8 err; // pocitadlo pro zjisteni zaseknuti otaceni |
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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 |
sprintf(AXstring,"Error movement."); |
SendPacket(&AXstring[0]); |
printf("%s\n\r", AXstring); |
err=0; |
} |
}; |
delay_ms(700); // cas na ustaleni trubky |
output_B(0); // vypnuti motoru |
} |
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void prevod() |
{ |
unsigned int16 t; // cas |
unsigned int16 tt; |
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t=0; |
while(!PLUS && !MINUS) |
{ |
t++; |
if(t>65000) |
{ |
sprintf(AXstring,"Error thermometer."); |
SendPacket(&AXstring[0]); |
printf("%s\n\r", AXstring); |
teplota=0; |
sign=true; |
return; |
} |
}; // ceka se na 0 |
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teplota=0; |
sign=false; |
for(t=0;t<=MAX_TEMP;t++) |
{ |
if(PLUS || MINUS) // ceka se na + nebo - |
{ |
if(MINUS) sign=true; |
for(tt=1;tt<=MAX_TEMP;tt++) |
{ |
if(!PLUS && !MINUS) {teplota=tt; break;}; // ceka se na 0 |
} |
break; |
} |
} |
teplota=teplota*19/100; // 1 stupen celsia je asi 10us |
} |
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void main() |
{ |
unsigned int8 ble; |
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setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
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setup_adc_ports(NO_ANALOGS|VSS_VDD); |
setup_adc(ADC_OFF); |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
setup_timer_1(T1_DISABLED); |
setup_ccp1(CCP_OFF); |
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru |
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
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// nastav PWM pro topeni |
set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
setup_ccp1(CCP_PWM); |
setup_timer_2(T2_DIV_BY_16,100,1); // perioda |
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output_B(0); // vypnuti motoru |
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sprintf(AXstring,"Mrakomer V%s (C) 2006 KAKL", VER); |
SendPacket(&AXstring[0]); |
printf("%s\n\r", AXstring); |
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if(input(HALL)) // pokud na zacatku byla trubka dolu, |
{ // vysilej pro nastaveni prijimace rychle za sebou 10min |
for(n=0; n<(10*60); n++) |
{ |
prevod(); |
if(sign) |
sprintf(AXstring,"Kalibrace: n %Lu, t -%Lu", n, teplota); |
else |
sprintf(AXstring,"Kalibrace: n %Lu, t %Lu", n, teplota); |
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delay_ms(1000); // 1s |
SendPacket(&AXstring[0]); |
printf("%s\n\r", AXstring); |
if(!input(HALL)) break; // pokud nekdo hne trubkou, zacni merit |
} |
} |
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port=0b01010000; // vychozi nastaveni fazi pro rizeni motoru |
j=0; // smer dolu |
dolu(); // otoc trubku do vychozi pozice dolu |
nn=0; // pocitadlo packetu |
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while(true) |
{ |
set_tris_B(0b00000111); // faze a topeni jako vystup |
set_pwm1_duty(0); // netopit |
port=0b01010000; // vychozi nastaveni fazi pro rizeni motoru |
j=1; // smer, nahoru |
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delay_ms(1000); // pockej pro ustaleni napeti po vypnuti topeni |
prevod(); // jeden prevod na prazdno pro synchnonisaci |
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prevod(); // zem |
if(sign) |
{ |
sprintf(G,"-%Lu", teplota); |
topit=10; |
if (teplota>5) topit=20; |
if (teplota>10) topit=50; |
if (teplota>20) topit=80; |
if (teplota>30) topit=100; |
} |
else |
{ |
sprintf(G,"%Lu", teplota); |
topit=0; |
} |
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krok(2); // sjeti z koncaku |
delay_ms(1000); |
krok(17); // 45 stupnu |
delay_ms(200); |
prevod(); |
if(sign) |
sprintf(S45,"-%Lu", teplota); |
else |
sprintf(S45,"%Lu", teplota); |
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strcpy(S90,"-"); |
if (sign && (teplota>29)) |
{ |
krok(6); // 90 stupnu |
delay_ms(300); |
prevod(); |
if(sign) |
sprintf(S90,"-%Lu", teplota); |
else |
sprintf(S90,"%Lu", teplota); |
} |
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strcpy(S135,"-"); |
if (sign && (teplota>29)) |
{ |
krok(6); // 135 stupnu |
delay_ms(300); |
prevod(); |
if(sign) |
sprintf(S135,"-%Lu", teplota); |
else |
sprintf(S135,"%Lu", teplota); |
} |
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j++; // reverz |
dolu(); // znovu otoc trubku dolu do vychozi pozice |
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// odeslani vysledku mereni |
sprintf(AXstring, |
"n %Lu;G %s;S45 %s;S90 %s;S135 %s", nn, G, S45, S90, S135); |
SendPacket(&AXstring[0]); |
printf("%s\n\r", AXstring); |
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if (sign && (teplota>29)) // pauza do dalsiho mereni |
{ |
prodleva=60; // 1 min |
nn++; |
} |
else |
{ |
prodleva=600; // 10 min pri teplote atmosfery vyzsi jak -30 stupnu |
nn+=10; |
} |
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if (nn>9999) nn=0; // pocitadlo mereni modulo 10000 |
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set_pwm1_duty(topit); // spust topeni |
for(n=prodleva; n>0; n--) // cekej na dalsi mereni |
{ |
delay_ms(1000); |
if (!input(HALL)) // znovuotoceni trubky dolu, kdyby ji vitr otocil |
{ |
set_pwm1_duty(0); // zastav topeni, aby byl odber do 1A |
dolu(); |
set_pwm1_duty(topit); // spust topeni |
} |
} |
} |
} |
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