| 0,0 → 1,254 |
|---|
| //******** Mrakomer ********** |
| #define VERSION "2.0" |
| #define ID "$Id: irmrak.c 124 2006-10-24 15:47:15Z kakl $" |
| //**************************** |
| |
| #include "irmrak.h" |
| #include <string.h> |
| |
| #use rs232(baud=9600,parity=N,xmit=PIN_A6,bits=8) |
| |
| #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; |
| |
| #define TRESHOLD 8 // nebo 9 |
| // nad_diodou=H je + teplota |
| // pod_diodou=L je - teplota |
| |
| #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) |
| |
| #define MAX_TEMP 10000 |
| |
| 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? |
| |
| unsigned int16 teplota; // prectena teplota |
| int1 sign; // nad nulou / pod nulou |
| |
| void krok(int n) |
| { |
| while((n--)>0) |
| { |
| if (1==(j&1)) {port^=0b11000000;} else {port^=0b00110000;}; |
| output_B(port); |
| delay_ms(40); |
| j++; |
| } |
| } |
| |
| 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 |
| 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 |
| } |
| |
| void prevod() |
| { |
| unsigned int16 t; // cas |
| unsigned int16 tt; |
| |
| 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 |
| |
| 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 |
| } |
| |
| void main() |
| { |
| unsigned int8 ble; |
| |
| setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 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); // 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 |
| |
| // 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 |
| |
| output_B(0); // vypnuti motoru |
| |
| sprintf(AXstring,"Mrakomer V%s (C) 2006 KAKL", VER); |
| SendPacket(&AXstring[0]); |
| printf("%s\n\r", AXstring); |
| |
| |
| 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); |
| |
| delay_ms(1000); // 1s |
| SendPacket(&AXstring[0]); |
| printf("%s\n\r", AXstring); |
| if(!input(HALL)) break; // pokud nekdo hne trubkou, zacni merit |
| } |
| } |
| |
| port=0b01010000; // vychozi nastaveni fazi pro rizeni motoru |
| j=0; // smer dolu |
| dolu(); // otoc trubku do vychozi pozice dolu |
| nn=0; // pocitadlo packetu |
| |
| 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 |
| |
| delay_ms(1000); // pockej pro ustaleni napeti po vypnuti topeni |
| prevod(); // jeden prevod na prazdno pro synchnonisaci |
| |
| 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; |
| } |
| |
| 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); |
| |
| 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); |
| } |
| |
| 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); |
| } |
| |
| j++; // reverz |
| dolu(); // znovu otoc trubku dolu do vychozi pozice |
| |
| // 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); |
| |
| 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; |
| } |
| |
| if (nn>9999) nn=0; // pocitadlo mereni modulo 10000 |
| |
| 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 |
| } |
| } |
| } |
| } |
| |