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#include ".\camerus.h"
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#USE FAST_IO (C)
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// kroutitka
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#define  CERVENA  1  // AN1
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#define  CERNA    4  // AN4
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#define  ZELENA   3  // AN3
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#define  MODRA    0  // AN0
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// I/O
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#define LED    PIN_C0
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#define HREF   PIN_C5
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#define PIX    PIN_C6
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#define SERVO  PIN_B7
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void main()
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{
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   int8 cas;
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   int16 offset;
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   setup_adc_ports(ALL_ANALOG);
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   setup_adc(ADC_CLOCK_INTERNAL);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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   setup_timer_1(T1_DISABLED);
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   setup_timer_2(T2_DIV_BY_16,255,1);
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   setup_ccp1(CCP_PWM); // RC1
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   setup_ccp2(CCP_PWM); // RC2
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   setup_comparator(NC_NC_NC_NC);
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   setup_vref(FALSE);
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   set_tris_c(0b11111000);
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   output_high(LED);
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   i2c_start();      // Reset
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   i2c_write(0xC0);
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   i2c_write(0x12);
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   i2c_write(0x80 | 0x24);
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   i2c_stop();
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   i2c_start();      // BW
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   i2c_write(0xC0);
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   i2c_write(0x28);
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   i2c_write(0b01000001);
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   i2c_stop();
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   i2c_start();      // Contrast
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   i2c_write(0xC0);
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   i2c_write(0x05);
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   i2c_write(0xFF);
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   i2c_stop();
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   i2c_start();      // Brightness
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   i2c_write(0xC0);
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   i2c_write(0x06);
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   i2c_write(0x80);
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   i2c_stop();
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/*
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   i2c_start();      // Band Filter
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   i2c_write(0xC0);
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   i2c_write(0x2D);
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   i2c_write(0x04 | 0x03);
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   i2c_stop();
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   i2c_start();      // 4-bit, (CLK/4)
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   i2c_write(0xC0);
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   i2c_write(0x3E);
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   i2c_write(0x10 | 0x80);
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   i2c_stop();
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*/
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   i2c_start();      // VSTRT
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   i2c_write(0xC0);
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   i2c_write(0x19);
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   i2c_write(45);
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   i2c_stop();
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   i2c_start();      // VEND
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   i2c_write(0xC0);
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   i2c_write(0x1A);
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   i2c_write(45);
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   i2c_stop();
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   output_low(LED);
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   cas=128;
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   while(true)
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   {
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      while(!input(HREF));
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      set_timer0(0);
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      while(input(HREF))
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      {
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        if(!input(PIX))
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        {
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          cas=get_timer0();
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          break;
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        }
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      };
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      cas=255-cas;
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      set_adc_channel(MODRA);
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      Delay_ms(1);
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      offset=read_adc();
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      output_high(SERVO);
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      delay_us(900);
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      delay_us(offset);
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      delay_us(cas);
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      delay_us(cas);
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      delay_us(cas);
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      output_LOW(SERVO);
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      set_pwm1_duty(cas);
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      set_pwm2_duty(255-cas);
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   };
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}