| 0,0 → 1,265 |
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| //******** Mrakomer ****************************************** |
| #define VERSION "2.1" |
| #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,rcv=PIN_A7,bits=8) |
| |
| char VER[4]=VERSION; |
| char REV[50]=ID; |
| |
| #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 int8 uhel; // pocitadlo prodlevy mezi merenimi |
| unsigned int8 i; // pro cyklus for |
| unsigned int16 nn; // pocitadlo mereni |
| unsigned int32 timer; // casovac pro topeni |
| unsigned int8 topit; // na jaky vykon se ma topit? |
| |
| unsigned int16 teplota; // prectena teplota |
| int1 sign; // nad nulou / pod nulou |
| |
| // --- Jeden krok krokoveho motoru --- |
| void krok(int n) |
| { |
| while((n--)>0) |
| { |
| if (1==(j&1)) {port^=0b11000000;} else {port^=0b00110000;}; |
| output_B(port); |
| delay_ms(50); |
| 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("Error movement.\n\r"); |
| err=0; |
| } |
| }; |
| delay_ms(700); // cas na ustaleni trubky |
| output_B(0); // vypnuti motoru |
| } |
| |
| // --- Najeti na vychozi polohu dole --- |
| void nula() |
| { |
| int n; |
| |
| for (n=0; n<7; n++) |
| { |
| if (!input(HALL)) return; |
| krok(1); |
| } |
| } |
| |
| // --- Precti teplotu z IR teplomeru --- |
| void prevod() |
| { |
| unsigned int16 t; // cas |
| unsigned int16 tt; |
| |
| t=0; |
| while(!PLUS && !MINUS) |
| { |
| t++; |
| if(t>65000) |
| { |
| printf("Error thermometer.\n\r"); |
| 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 |
| } |
| |
| // --- Prevod a vystup jedne hodnoty --- |
| void vystup() |
| { |
| delay_ms(200); // pockej na ustaleni napeti po krokovani |
| printf(" "); |
| prevod(); // precti teplotu z teplomeru |
| if(sign) |
| printf("-%Lu", teplota); |
| else |
| printf("%Lu", teplota); |
| } |
| |
| //------------------------------------------------ |
| void main() |
| { |
| 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 |
| set_tris_B(0b00000111); // faze a topeni jako vystup |
| |
| delay_ms(1000); |
| printf("Mrakomer V%s (C) 2006 KAKL\n\r", VER); |
| printf("%s\n\r", REV); |
| |
| topit=0; // na zacatku netopime |
| |
| while(true) |
| { |
| port=0b01010000; // vychozi nastaveni fazi pro rizeni motoru |
| j=0; // smer dolu |
| dolu(); // otoc trubku do vychozi pozice dolu |
| |
| while(!kbhit()) |
| { |
| timer--; |
| if (0==timer) // casovac, aby se marakomer neupek |
| { |
| topit=0; |
| set_pwm1_duty(0); // zastav topeni |
| printf("H %u\n\r", topit); |
| }; |
| |
| 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 |
| } |
| }; // pokracuj dal, kdyz prisel po RS232 znak |
| |
| |
| uhel=getc(); // prijmi znak |
| if ((uhel>='a') && (uhel<='k')) // nastaveni topeni [a..k]=(0..100%) |
| { |
| topit=uhel-'a'; |
| topit*=10; |
| timer=500000; // cca 11s |
| |
| // ochrana proti upeceni |
| prevod(); |
| if(sign) |
| { |
| if ((teplota <= 5) && (topit > 60)) topit=0; // do -5°C se da topit maximalne na 60% |
| printf("H %u;G -%Lu\n\r", topit, teplota); // zobraz hodnotu topeni (<H>eating) |
| } |
| else |
| { |
| if (teplota > 10) topit=0; // kdyz je vic jak +10°C, tak netopit |
| if (topit > 40) topit=0; // pokud nemrzne, tak se neda topit vic jak na 40% |
| printf("H %u;G %Lu\n\r", topit, teplota); // zobraz hodnotu topeni (<H>eating) |
| } |
| set_pwm1_duty(topit); // spust topeni |
| continue; |
| }; |
| |
| |
| if ('m'==uhel) // standardni mereni ve trech polohach |
| { |
| prevod(); //jeden prevod na prazdno pro synchnonisaci |
| |
| j++; // reverz, nahoru |
| nula(); |
| |
| printf("G"); // mereni teploty Zeme (<G>round) |
| vystup(); |
| |
| krok(15); |
| printf(";S45"); // mereni teploty 45° nad obzorem |
| vystup(); |
| krok(7); |
| printf(";S90"); // mereni teploty v zenitu |
| vystup(); |
| krok(7); |
| printf(";S135"); // mereni teploty 45° nad obzorem na druhou stranu |
| vystup(); |
| printf("\n\r"); |
| |
| j++; // reverz |
| dolu(); |
| |
| continue; |
| } |
| |
| |
| if ((uhel>='0') && (uhel<='@')) // mereni v pozadovanem uhlu [0..;]=(0..11) |
| { |
| uhel-='0'; |
| }; |
| |
| if(uhel>11) continue; // ochrana, abysme neukroutili draty |
| |
| printf("A %u;", uhel); // zobraz pozadovany uhel (<A>ngle) |
| |
| prevod(); // jeden prevod na prazdno pro synchnonisaci |
| |
| j++; // reverz, nahoru |
| nula(); |
| |
| printf("G"); // mereni teploty Zeme (<G>round) |
| vystup(); |
| |
| printf(";S"); // mereni teploty pozadovanym smerem do vesmiru (<S>pace) |
| krok(12); // odkrokuj do roviny |
| for(i=0; i<uhel; i++) // dale odkrokuj podle pozadovaneho uhlu |
| { |
| krok(2); |
| }; |
| vystup(); |
| printf("\n\r"); |
| |
| j++; // reverz |
| dolu(); |
| } |
| } |
| |